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公开(公告)号：US11352016B2
公开(公告)日：2022-06-07
申请号：US17053810
申请日：2019-06-11
Applicant: Autostore Technology AS
Inventor： Trond Austrheim
IPC: B65G1/04 , B65G1/06 , B60W50/00 , G05D1/00 , B66F9/19 , B65G1/137 , B65G47/06 , B65G47/52 , B65G57/03 , B65G63/06 , B65G65/23 , B66F9/06 , G05D1/02 , B61B13/00 , B65G67/24 , B65G43/00 , B65G63/00
Abstract: The present invention provides a storage system (1) comprising a storage grid structure (104) and multiple container handling vehicles (200,300), the storage grid structure comprises vertical column profiles (102) defining multiple storage columns (105), in which storage containers (106) can be stored one on top of another in vertical stacks (107), and at least one transfer column (119,120), the column profiles are interconnected at their upper ends by top rails (110,111) forming a horizontal top rail grid (108) upon which the container handling vehicles (200,300) may move in two perpendicular directions, the container handling vehicles are able to retrieve storage containers (106) from, and store storage containers in, the storage columns (105), and transport the storage containers on the storage grid structure, wherein the storage grid structure (104) comprises at least one horizontal transfer section (2); and the storage system comprises multiple container transfer vehicles (6) and transfer rails (110′,111) forming a transfer rail grid (5) upon which the container transfer vehicles (6) may move in at least one horizontal direction, and the transfer section (2) is arranged at a level below the top rail grid (108) and extends from an external side (12) of the storage grid structure (104) to a position below the at least one transfer column (119,120) and comprises at least a section of the transfer rail grid (5) upon which section the container transfer vehicles (6) may pass each other and move in two perpendicular horizontal directions; and each of the container transfer vehicles comprises a container carrier (38) for carrying a storage container (106) and a wheel arrangement (32a,32b) for moving the container transfer vehicle (6) in two perpendicular directions upon the transfer rail grid (5); and wherein the at least one transfer column (119,120) extends from the top rail grid (108) to the transfer section (2), such that a storage container (106) may be transferred between the top rail grid (108) and the container carrier of one of the container transfer vehicles (6).
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公开(公告)号：US20220161662A1
公开(公告)日：2022-05-26
申请号：US17432045
申请日：2020-02-14
Applicant: Autostore Technology AS
Inventor： Ivar Fjeldheim
Abstract: A container-handling vehicle for handling storage containers in a three-dimensional grid of an underlying storage system, comprising: at least one lifting device for lifting storage containers from and lowering storage containers to the underlying storage system, said lifting device comprises a lifting frame for gripping a storage container, a winch system for lifting and lowering the lifting frame, a motor to drive the winch system and a driver circuit with a controller controlling the motor; and at least first and second rechargeable power sources for providing power to the motor, wherein the driver circuit further comprises a regenerative energy circuit configured to harvest energy from the motor when the lifting frame is lowered into the storage system and where the driver circuit is configured to direct harvested energy to the rechargeable power sources according to levels of charge in the rechargeable power sources.
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公开(公告)号：US20220144543A1
公开(公告)日：2022-05-12
申请号：US17432436
申请日：2020-01-20
Applicant: Autostore Technology AS
Inventor： Trond Austrheim
Abstract: A storage system includes at least one vehicle, a horizontal rail grid, and a charging system for charging a rechargeable power source of the vehicle. The vehicle includes a first set of wheels and a second set of wheels for moving the vehicle upon the rail grid. The first set of wheels is displaceable in a vertical direction between a first position, a second position, and a third position. The first set of wheels may move the vehicle in a first direction. The first and the second set of wheels are in contact with the rail grid. The second set of wheels may move the vehicle in a second direction perpendicular to the first direction. The charging system includes at least two charge-receiving elements arranged on the vehicle and connected to the power source, and a charging station including two charge-providing elements connected to a charging power source. The charging station includes an actuator operatively connected to the charge-providing elements and arranged to move the charge-providing elements in a vertical direction, such that the charge-receiving elements may be connected with the charge-providing elements when the vehicle is positioned above the charging station.
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64.发明申请公开(公告)号：US20220019232A1
公开(公告)日：2022-01-20
申请号：US17489355
申请日：2021-09-29
Applicant: Autostore Technology AS
Inventor： Ingvar Hognaland , Ivar Fjeldheim , Jørgen Djuve Heggebø
IPC: G05D1/02
Abstract: A vehicle for an automated storage and retrieval system is configured to follow a set route on a track being laid out in the automated storage and retrieval system and having one or more track features. 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 a plurality of sensors attached to the vehicle and configured to detect track features and to measure a distance to a track feature while the vehicle is moving in the first direction or the second direction.
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公开(公告)号：US20220002076A1
公开(公告)日：2022-01-06
申请号：US17291435
申请日：2019-10-14
Applicant: Autostore Technology AS
Inventor： Trond Austrheim
Abstract: A container handling vehicle picks up storage containers from a three-dimensional grid of an underlying storage system. The container handling vehicle includes a vehicle module part (P1); and a container lifting part. The vehicle module part (P1) includes a first set of wheels for moving the container handling vehicle in a first direction (X) and a second set of wheels for moving the container handling vehicle in a second direction (Y). The second direction is perpendicular to the first direction. The container lifting part extends sideways as a cantilever from the vehicle module part (P1) and includes a hoist frame (P2) with an opening (OSP) defining an access perimeter; a hoist mechanism carried by the hoist frame (P2); a plurality of lifting bands connected to the hoist mechanism and guided by the hoist frame (P2); and a lifting frame for releasable connection to a storage container, the lifting frame being suspended in a horizontal orientation from the hoist frame (P2) by the plurality of lifting bands. The lifting frame has an opening (OLF) defining an access perimeter. The access perimeter of the opening (OSP) in the hoist frame (P2) corresponds in shape and alignment to the access perimeter of the opening (OLF) in the lifting frame to allow access to items in the storage container through the respective openings (OSP, OLF) when the lifting frame has been lifted up to the hoist frame (P2) by the hoist mechanism.
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Patent Agency Ranking
公开(公告)号：US20210362950A1
公开(公告)日：2021-11-25
申请号：US17055051
申请日：2019-06-11
Applicant: Autostore Technology AS
Inventor： Trond Austrheim
IPC: B65G1/04
Abstract: A system for storing and transporting storage containers includes an automated storage and retrieval grid including vertical members defining multiple storage columns for storing storage containers on top of each other in vertical stacks. The vertical members are interconnected at their upper ends by a container handling vehicle rail system arranged to guide at least one container handling vehicle being configured to raise storage containers from, and lower storage containers into, the storage columns, and to transport the storage containers above the storage columns. The container handling vehicle rail system includes a first set of parallel rails arranged in a first horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the first 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 first horizontal plane including a plurality of adjacent container handling vehicle grid cells. Each container handling vehicle grid cell includes a container handling vehicle grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails. A transfer column is adapted for transport of a storage container between the container handling vehicle and a delivery space is situated at a lower end of the transfer column. A delivery system includes a first delivery rail system having at least one set of parallel rails arranged in a second horizontal plane guiding at least one delivery vehicle thereon. The delivery vehicle is adapted to receive and/or deliver a storage container at a storage container delivery location arranged below the delivery space of the transfer column and to move between the storage container delivery location and a second location, the first delivery rail system covers at least an area extending from the storage container delivery location to the second location. A vehicle lift device is for transfer of the at least one delivery vehicle between a first lift stop position adjacent the second location in the second horizontal plane and a second lift stop position adjacent a third location arranged in a third horizontal plane being at a different vertical level than the second horizontal plane.
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公开(公告)号：US11167921B2
公开(公告)日：2021-11-09
申请号：US16492807
申请日：2018-03-10
Applicant: Autostore Technology AS
Inventor： Trond Austrheim
Abstract: An automated storage and retrieval system comprising a three-dimensional grid (4) comprising a plurality of storage columns (5) in which storage containers are stored one on top of another in vertical stacks, and at least one port (28, 29) through which the storage containers can be transferred out of and/or into the grid; and a plurality of container handling vehicles (9) which are operated laterally on the grid for retrieving storage containers from and storing storage containers in the storage columns, and for transporting the storage containers laterally across the grid. The grid comprises a plurality of transfer columns (36, 37) for temporarily storing storage containers when in transit between the storage columns and the at least one port, wherein the container handling vehicles are arranged to transport the storage containers between the storage columns and the transfer columns, and wherein a port access vehicle is arranged to transport the storage containers between the transfer columns and the at least one port in a plane located above the container handling vehicles.
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68.发明申请公开(公告)号：US20210269240A1
公开(公告)日：2021-09-02
申请号：US16972482
申请日：2019-11-06
Applicant: Autostore Technology AS
Inventor： Trond Austrheim , Øystein Gjerdevik , Ingvar Fagerland
Abstract: An automated storage and retrieval system includes a grid-based rail structure and a plurality of remotely operated vehicles arranged to operate on the grid-based rail structure. The automated storage and retrieval system includes a locking device arranged in a zone of the grid-based rail structure where a human and/or a robotic operator is permitted to interact with the remotely operated vehicle or contents of a storage container that the remotely operated vehicle is carrying. The locking device is arranged to lock the remotely operated vehicle against accidental displacement prior to interaction with the human and/or robotic operator, and wherein the locking device being arranged to unlock the remotely operated vehicle once interaction with the human and/or robotic operator is no longer required.
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公开(公告)号：US11104522B2
公开(公告)日：2021-08-31
申请号：US16844696
申请日：2020-04-09
Applicant: Autostore Technology AS
Inventor： Ingvar Hognaland , Ivar Fjeldheim , Trond Austrheim
Abstract: A vehicle operated cleaning bin for cleaning a storage grid of a storage system, wherein the cleaning bin includes a connector for attaching the cleaning bin to a lifting device of a remotely operating vehicle being configured to vertically convey the cleaning bin inside a column of the storage grid by aid of the lifting device, and a plurality of cleaners for removing foreign debris from the storage grid. The plurality of cleaners are arranged on at least one lateral wall of the cleaning bin.
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公开(公告)号：US20210237973A1
公开(公告)日：2021-08-05
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
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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