公开(公告)号：US20250053173A1

公开(公告)日：2025-02-13

申请号：US18924890

申请日：2024-10-23

Applicant: AutoStore Technology AS

Inventor： Ingvar Hognaland ,  Ivar Fjeldheim ,  Jørgen Djuve Heggebø

IPC: G05D1/00

Abstract: A vehicle for an automated storage and retrieval system is configured to follow a route relative to tracks of the automated storage and retrieval system. The route includes one or more track crossings. The vehicle includes a first set of wheels capable of moving the vehicle in a first direction; a second set of wheels capable of moving the vehicle in a second direction perpendicular to the first direction; and one or more sensors attached to the vehicle and configured to detect the one or more track crossings while the vehicle is moving in the first direction or the second direction.

公开(公告)号：US12156244B2

公开(公告)日：2024-11-26

申请号：US18322896

申请日：2023-05-24

Applicant: Autostore Technology AS

Inventor： Ragnar Stuhaug ,  Ingvar Hognaland

IPC: H04W72/542 ,  B65G1/04 ,  H04L7/00 ,  H04W40/24 ,  H04W48/16 ,  H04W48/18 ,  H04W72/0446 ,  H04W72/563 ,  H04W74/0816

Abstract: In a wireless communication network, a node communicates with a central communication unit via at least one access point. An operating method of the communication node includes receiving, at the node, a wireless signal from the access point; determining, by the node, channel quality information based on the received wireless signal; and determining, by the node, an order of active channels ranked according to the determined channel quality. The operating method further includes selecting, by the node, an active channel for transmitting wireless signals in accordance with the determined order; and transmitting, by the node, wireless signals on the selected, active channel. The access point is configured to filter a message. When operating the access point in a beacon transmit mode, the access point transmits wireless beacon data to the node. In a listening mode, the access point relays data received from the node to the central communication unit.

公开(公告)号：US11801999B2

公开(公告)日：2023-10-31

申请号：US17649232

申请日：2022-01-28

Applicant: Autostore Technology AS

Inventor： Ingvar Hognaland

IPC: B65G1/04

CPC classification number: B65G1/0464 ,  B65G1/0478

Abstract: A bin holding device includes two side elements vertically spaced to accommodate a storage bin between the two side elements. Each side element is provided with a bin supporting assembly comprising a bin support. The bin support comprises an upper bin interacting part configured to interact with the storage bin when the storage bin is accommodated in the bin holding device, such that a top edge of the accommodated storage bin is held at a predetermined level.

公开(公告)号：US20230331476A9

公开(公告)日：2023-10-19

申请号：US16569688

申请日：2019-09-13

Applicant: Autostore Technology AS

Inventor： Ingvar Hognaland

IPC: G06F16/958 ,  H04L29/08 ,  G06N20/00 ,  G06Q50/00 ,  G06F17/27

CPC classification number: G06F16/958 ,  H04L67/1097 ,  G06N20/00 ,  G06Q50/01 ,  G06F17/2785 ,  G06F17/277

Abstract: A storage system comprises a first grid structure of storage cells, each cell being arranged to accommodate a vertical stack of storage bins, the first grid structure having a top level. The system further comprises a first vehicle, arranged to move horizontally at the top level of the first grid structure, and a bin lift device, arranged to convey a bin in a vertical direction between the top level of the grid structure and a delivery station. The first vehicle is further arranged to receive a storage bin from a storage cell at the top level of the first grid structure and to deliver the storage bin to the bin lift device. The bin lift device is arranged to receive a bin from the vehicle at the top level of the first grid structure and to convey the bin to the delivery station. The storage system further comprises one or more additional grid structures of storage cells at a different vertical level than the first grid structure, and additional vehicles that is arranged to move horizontally at the top level of the additional grid structures.

公开(公告)号：US20220097968A1

公开(公告)日：2022-03-31

申请号：US17643358

申请日：2021-12-08

Applicant: Autostore Technology AS

Inventor： Ingvar Hognaland ,  Ivar Fjeldheim ,  Jørgen Djuve Heggebø

IPC: B65G1/04 ,  B25J5/00 ,  G05D1/02

Abstract: A method for controlling movement of a robot on a plurality of tracks laid out on a frame structure forming a grid includes detecting a current speed and an angular position for one wheel in a pair of wheels of the robot; tracking a current position of the robot relative to at least a portion of the frame structure; and setting a driving sequence for the pair of wheels, based on a position information of the robot.

公开(公告)号：US11235927B2

公开(公告)日：2022-02-01

申请号：US16755052

申请日：2018-08-27

Applicant: Autostore Technology AS

Inventor： Ingvar Hognaland

IPC: B65G1/04

Abstract: A bin holding device includes two vertical side elements spaced to accommodate a storage bin between the two vertical side elements. Each side element is provided with a bin supporting assembly including a bin support and an actuator. The bin support includes an upper bin interacting part arranged to interact with the storage bin when the storage bin is accommodated in the bin holding device, such that a top edge of the accommodated storage bin is held at a predetermined level. The actuator is operably connected to the bin support and includes a lower bin interacting part arranged to interact with the storage bin during introduction of the storage bin into the bin holding device in a downward vertical direction, such that the upper bin interacting part is moved to interact with the storage bin.

公开(公告)号：US11225377B2

公开(公告)日：2022-01-18

申请号：US16347159

申请日：2017-10-24

Applicant: Autostore Technology AS

Inventor： Ingvar Hognaland ,  Ivar Fjeldheim ,  Jørgen Djuve Heggebø

IPC: B65G1/04 ,  B25J5/00 ,  G05D1/02

Abstract: A method and a controller for controlling movements of a robot from a start to a stop position, where the robot has pairs of wheels having drivers that are controlled by local controllers. Based on a current speed and an angular position of each wheel and a position of the robot relative to the frame structure, a master controller sets up individual speed driving sequences for the pair of wheels based on the current speed and angular position of each wheel, current global position of the robot, and the start and stop positions of the robot. The speed driving sequence is transmitted to the local controllers controlling the pair of wheels, thereby controlling acceleration and deceleration of each wheel via the individual drivers. The local controllers ensure that pairs of wheels are kept synchronised.

公开(公告)号：US10696478B2

公开(公告)日：2020-06-30

申请号：US16589158

申请日：2019-10-01

Applicant: Autostore Technology AS

Inventor： Ingvar Hognaland

IPC: B65G1/04 ,  G05B19/418 ,  B66F9/06 ,  B66F9/07 ,  G06Q10/08 ,  B65G1/06 ,  B65G1/137 ,  G05D1/00 ,  B65G1/00 ,  G06K17/00 ,  G06Q10/00

Abstract: The present invention concerns an automated storage system and remotely operated vehicle or robot for picking up storage bins from a storage system. The inventive vehicle or robot comprises a vehicle body, which vehicle body further comprises a first section for storing vehicle driving means and a second section for receiving any storage bin stored in a storage column within the storage system, a vehicle lifting device which is at least indirectly connected to the vehicle body in order to lift the storage bin into the second section, a first set of vehicle rolling means connected to the vehicle body in order to allow movement of the vehicle along a first direction (X) within the storage system during use and a second set of vehicle rolling means connected to the vehicle body in order to allow movement of the vehicle along a second direction (Y) in the storage system during use. The second direction (Y) is oriented perpendicular to the first direction (X). The inventive vehicle is characterized in that the second section comprises a cavity arranged centrally within the vehicle body. This cavity has at least one bin receiving opening facing towards the underlying storage columns during use. In addition, at least one of the two sets of vehicle rolling means is arranged fully within the vehicle body.

公开(公告)号：US20190256286A1

公开(公告)日：2019-08-22

申请号：US16347159

申请日：2017-10-24

Applicant: Autostore Technology AS

Inventor： Ingvar Hognaland ,  Ivar Fjeldheim ,  Jørgen Djuve Heggebø

IPC: B65G1/04 ,  G05D1/02 ,  B25J5/00

Abstract: A method and a controller for controlling movements of a robot from a start to a stop position, where the robot has pairs of wheels having drivers that are controlled by local controllers. Based on a current speed and an angular position of each wheel and a position of the robot relative to the frame structure, a master controller sets up individual speed driving sequences for the pair of wheels based on the current speed and angular position of each wheel, current global position of the robot, and the start and stop positions of the robot. The speed driving sequence is transmitted to the local controllers controlling the pair of wheels, thereby controlling acceleration and deceleration of each wheel via the individual drivers. The local controllers ensure that pairs of wheels are kept synchronised.

公开(公告)号：US20180244467A1

公开(公告)日：2018-08-30

申请号：US15757577

申请日：2016-08-31

Applicant: Autostore Technology AS

Inventor： Ingvar Hognaland

IPC: B65G1/04

CPC classification number: B65G1/0464 ,  B65G1/0478

Abstract: A method for fetching a target bin stored in a storage system (100), wherein the storage system includes a three-dimensional storage grid containing a plurality of bins stacked in vertical stacks, supporting rails (13) on the grid structure, and a plurality of vehicles (1), controllably arranged to move individually on the supporting rails. The method is performed by a control device in the system and comprises controlling at least one non-target vehicle to operate as intermediate storage for a bin located vertically above the target bin (5); controlling a target vehicle to pick up the target bin, and controlling the at least one non-target vehicle and the target vehicle to be positioned adjacent to each other in a linear manner on the supporting rails. A corresponding storage system has also been disclosed.