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公开(公告)号：US12227356B2
公开(公告)日：2025-02-18
申请号：US18421382
申请日：2024-01-24
Applicant: Autostore Technology AS
Inventor： Trond Austrheim , Ivar Fjeldheim , Ingvar Fagerland
Abstract: A container handling vehicle includes a lower part and an upper part. The lower part includes a width and a length that form a vehicle footprint of the container handling vehicle; and a storage space configured to accommodate a storage container. The lower part includes a first set of wheels oriented in a first vertical plane and a second set of wheels oriented in a second vertical plane orthogonal to the first vertical plane. The lower part includes a first set of vertical side walls that are co-planar to the first vertical plane, and a second set of vertical side walls that are co-planar to the second vertical plane. The first set of wheels, the second set of wheels, the first set of vertical side walls, and the second set of vertical side walls are arranged such that the lower part of the container handling vehicle has a cuboid shape. The upper part is disposed vertically above the lower part, and includes a protruding section and a recessed section. The protruding section is configured to extend beyond the lower part. The recessed section has a shape complimentary to the protruding section such that the recessed section is configured to receive other protruding sections of other container handling vehicles.
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公开(公告)号：US20240409313A1
公开(公告)日：2024-12-12
申请号：US18702206
申请日：2022-10-12
Applicant: Autostore Technology AS
Inventor： Ingvar Fagerland
Abstract: An assembly includes a goods holder having a front side and a storage cell for storing the goods holder. At least a section of the front side is movable so as to allow access into the interior of the goods holder. The storage cell is provided with a locking mechanism configured to engage with the movable section of the front side of the stored goods holder so as to secure the movable section. The assembly is configured such that the goods holder stored in the storage cell is accessible from above by a remotely operated vehicle operating on a rail system.
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公开(公告)号：US20230174302A1
公开(公告)日：2023-06-08
申请号：US17924217
申请日：2021-05-18
Applicant: Autostore Technology AS
Inventor： Trond Austrheim , Ole Alexander Mæhle , Ingvar Fagerland
CPC classification number: B65G1/065 , B65G1/0464 , B65G1/0478 , B60B19/003 , B65G2201/0235
Abstract: A container handling vehicle for lifting a storage container from an underlying framework structure includes a vehicle body and a container lifting assembly for lifting the storage container. The vehicle body includes a wheeled base, a support, and at least one cantilevered section. The wheeled base includes a first set of wheels, arranged on opposite sides of the vehicle body, for moving the vehicle along a first direction on a rail grid at a top level of the underlying framework structure, and a second set of wheels arranged on other opposite sides of the vehicle body, for moving the vehicle along a second direction on the rail grid, the second direction being perpendicular to the first direction. The support includes a lower end connected to the wheeled base and an upper portion connected to the cantilevered section. The container lifting assembly includes a lifting frame and a plurality of lifting bands. The lifting frame is for releasable connection to a storage container and suspended from the cantilevered section by the lifting bands, such that the lifting frame may be raised or lowered relative to the cantilevered section. The cantilevered section extends laterally from the upper portion of the support and is arranged to rotate horizontally about a vertical axis relative to the wheeled base between a first position and a second position. In the first position, the cantilevered section extends beyond the wheeled base, such that the lifting frame may retrieve or deliver a storage container from/to a storage column of the framework structure. In the second position the cantilevered section extends in an opposite direction relative to the direction in the first position. The support holds the cantilevered section above the wheeled base at a height corresponding to a height of multiple storage containers, such that a vertical distance between the lifting frame, when the lifting frame is in an upper position, and the lower end of the support is larger than the height of two storage containers stacked on top of each other.
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公开(公告)号：US20230145325A1
公开(公告)日：2023-05-11
申请号：US17907598
申请日：2021-03-23
Applicant: Autostore Technology AS
Inventor： Trond Austrheim , Ingvar Fagerland
CPC classification number: B65G1/1373 , B65G1/026 , B65G1/0464
Abstract: A storage tower for storing storage containers includes a plurality of horizontally extending container supporting frameworks distributed with vertical offsets. The plurality of horizontal container supporting frameworks includes a first container supporting framework and at least one second container supporting framework arranged beneath and extending parallel to the first container supporting framework. Each of the first and the at least one second container supporting frameworks includes a horizontally extending container support with principal directions in a first direction and an orthogonal second direction. Each container support is configured as a matrix of container spaces with a plurality of columns of container spaces arranged in the first direction and a plurality of rows of container spaces arranged in the second direction. Each row of container spaces of the first container supporting framework is configured to receive a plurality of storage containers and displays at least one opening extending along the second direction, the at least one opening having an opening size being at least a maximum horizontal cross section of the storage containers to be stored. The at least one opening of the first container supporting framework and the at least one opening of the at least one second container supporting framework can be aligned vertically with respect to each other. At least one container support is displaceable along the second direction. At least one container supporting framework further includes a support displacement device configured to displace the displaceable container support.
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公开(公告)号：US20230136087A1
公开(公告)日：2023-05-04
申请号：US17907636
申请日：2021-03-23
Applicant: Autostore Technology AS
Inventor： Ingvar Fagerland
Abstract: Movement is controlled of a plurality of container handling vehicles on a rail system arranged at least partially across a top of a framework structure of an automated storage and retrieval system, on which rail system the plurality of container handling vehicles are operable to raise storage containers from, and lower storage containers into, storage columns arranged in rows between upright members and horizontal members of the framework structure. The storage containers are also transported above the storage columns. The movement control is performed by a central operational controller which is in communication with a local controller in each container handling vehicle. The central operational controller receives data relating to a subsection of the rail system. The data includes a container handling vehicle movement threshold for the subsection. The central operational controller instructs a container handling vehicle to follow a path which takes in at least a part of the subsection. The central operational controller instructs the container handling vehicle to reduce speed and/or acceleration such that the movement of the container handling vehicle within the subsection is below the container handling vehicle movement threshold of the sub section.
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Patent Agency Ranking
公开(公告)号：US12210339B2
公开(公告)日：2025-01-28
申请号：US18505777
申请日：2023-11-09
Applicant: Autostore Technology AS
Inventor： Trond Austrheim , Ivar Fjeldheim , Ingvar Fagerland
IPC: G05B19/418 , B65G1/04 , B65G1/137 , B66F9/06
Abstract: An automated storage and retrieval system includes a track system including a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction orthogonal to the first direction, forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells. Each grid cell includes a grid opening. A plurality of stacks of storage containers are arranged in storage columns located beneath the track system. Each storage column is located vertically below the grid opening. A plurality of container handling vehicles for lifting and moving storage containers stacked in the stacks are configured to move laterally on the track system above the storage columns to access the storage containers via the grid openings. Each container handling vehicle includes a protruding section which extends horizontally into a neighbouring grid cell, and a recessed section arranged to accommodate the protruding sections of another container handling vehicle.
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公开(公告)号：US20250019164A1
公开(公告)日：2025-01-16
申请号：US18701868
申请日：2022-10-17
Applicant: Autostore Technology AS
Inventor： Trond Austrheim , Ingvar Fagerland
Abstract: An automated storage and retrieval system includes a plurality of goods holders for holding crops, and a storage section configured for storing goods holders in a plurality of columns. A service vehicle for irrigation and/or inspection of crops stored within the automated storage and retrieval system is movable above the storage section and includes irrigation equipment for irrigating crops held by a goods holder, and/or inspection equipment for inspecting crops held by a goods holder.
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公开(公告)号：US12179806B2
公开(公告)日：2024-12-31
申请号：US15734868
申请日：2019-06-11
Applicant: Autostore Technology AS
Inventor： Jørgen Djuve Heggebø , Ole Alexander Mæhle , Synnøve Matre , Ingvar Fagerland , Ragnar Stuhaug
IPC: B61B13/00 , B65G1/04 , B65G1/06 , B65G1/137 , B65G47/06 , B65G47/52 , B65G57/03 , B65G63/06 , B65G65/23 , B65G67/24 , B66F9/06 , B66F9/19 , G05D1/00 , B60W50/00 , B65G43/00 , B65G63/00
Abstract: A method of operating an automated storage and retrieval system includes: a rail system including a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the horizontal plane including a plurality of adjacent grid cells, a central control unit configured to receive, transmit and process data signals of a plurality of container handling vehicles for handling storage containers of the automated storage and retrieval system. Each container handling vehicle includes a vehicle body, a wheel assembly provided on the vehicle body, the wheel assembly being configured to move the vehicle along the rail system in both of the first direction and the second direction, a vehicle control unit configured to receive data signals from, transmit data signals to and process data signals of the central control unit, and a proximity sensor system configured to detect another container handling vehicle of said plurality of container handling vehicles and determine whether or not it is within a predetermined distance. The method includes detecting with the central control unit that access of a first container handling vehicle to a target cell, which is one of the plurality of grid cells, is blocked by a second container handling vehicle, transmitting a data signal from the central control unit to the vehicle control unit of the first container handling vehicle commanding the first container handling vehicle to move into the target cell when the second container handling vehicle is beyond said predetermined distance.
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9.发明公开公开(公告)号：US20240002150A1
公开(公告)日：2024-01-04
申请号：US18252639
申请日：2021-11-19
Applicant: Autostore Technology AS
Inventor： Ole Andreas Haddeland , Ingvar Fagerland
CPC classification number: B65G1/0464 , B65G1/065 , F25D13/04 , F25D17/005 , F25D17/045
Abstract: An automated grid based storage and retrieval system includes a framework structure including upright members and a grid of horizontal rails provided at upper ends of the upright members. The framework structure defines a plurality of storage volumes arranged adjacent one another below the horizontal rails. The storage volumes are open against the horizontal rails such that storage container vehicles may lower and raise storage containers into and out of the storage volumes. The system includes a plurality of vertical walls surrounding each of the plurality of storage volumes, and a cooler system adapted to draw air from an input of the cooler system, cool the air drawn from the input, and blow cooled air through an output of the cooler system. For each of the plurality of storage volumes, the system further includes a first air damper connected between the output of the cooler system and an air release area above the storage volume, and a second air damper connected between a void beneath the storage volumes and the input of the cooler system. The system includes a controller. The controller is adapted, independently for each of the plurality of storage volumes, to adjust airflow through the first air damper associated with that storage volume to control an overpressure and air temperature in the air release area, and to adjust airflow through the second air damper associated with that storage volume to control an underpressure in the void, such that a storage volume temperature is controlled separately for each of the plurality of storage volumes. The storage volume temperature is regulated by the air temperature in the air release area and by controlling a pressure differential between the overpressure in the air release area and the underpressure in the void in each of the storage volumes.
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公开(公告)号：US20230142454A1
公开(公告)日：2023-05-11
申请号：US17906961
申请日：2021-03-26
Applicant: Autostore Technology AS
Inventor： Jørgen Djuve Heggebø , Ingvar Fagerland , Dag Arne Matre
CPC classification number: B65G1/1375 , B65G1/0464 , B65G1/0478 , B65G1/1371
Abstract: A system for condition-based maintenance of an automated storage and retrieval system includes a framework structure with a rail system forming a three-dimensional storage grid structure for storing storage containers for storing items. The grid structure forms vertical storage columns each having a horizontal area defined by the size of an access opening between rails of the rail system that are arranged on the framework structure. The rail system provides available routes for container handling vehicles handling and transferring the storage containers to and from the storage columns. At least one container handling vehicle which has a container handling platform with a set of grippers for handling the storage containers. The grid structure includes one or more ports for extracting containers from the storage grid so that the storage containers can be picked and a service station for performing maintenance on the components of the storage and retrieval system. The system further includes a plurality of sensors configured to be attached to components of the storage and retrieval system for providing condition-based information linked to parts and components of the storage and retrieval system, a service regime manager configured to retrieve condition-based information from the plurality of sensors and create a service regime based on the condition-based information linked to parts and components of the storage and retrieval system and send the service regime to a local service station where condition-based maintenance is performed, and a central computer system. The central computer system is configured to: receive the condition-based information from the plurality of sensors and decide what information is to be sent to a global computer system that is part of the system for condition-based maintenance, and further sending only the information that can be of interest to other storage and retrieval systems. The global computer system is configured to receive the condition-based information from the central computer system and determine trends regarding component servicing or changing of components and further the global computer system transfers the information on the trend to the individual central computer system's service regime manager.
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