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1.发明公开公开(公告)号：US20230384796A1
公开(公告)日：2023-11-30
申请号：US18249610
申请日：2021-11-12
Applicant: Autostore Technology AS
Inventor： Jørgen Djuve Heggebø
CPC classification number: G05D1/0287 , G05D1/0055 , B65G1/1373 , B65G1/0464 , G05D2201/0216
Abstract: A plurality of container handling vehicles operate on a rail system arranged at least partially across a top of framework structure of an automated storage and retrieval system, on which rail system the plurality of container handling vehicles are operable to handle storage containers. A control system is in communication with a local controller in each container handling vehicle and performs a method of controlling movement of the plurality of container handling vehicles. The method includes instructing a first container handling vehicle to move in a first direction towards a grid cell designated as a first target position on the rail system, instructing a second container handling vehicle to move in the first direction towards the first target position such that the second container handling vehicle physically contacts the first container handling vehicle, and the second container handling vehicle after contact applies a push force on the first container handling vehicle to maintain physical contact.
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公开(公告)号：US20230382642A1
公开(公告)日：2023-11-30
申请号：US18247947
申请日：2021-10-18
Applicant: Autostore Technology AS
Inventor： Jørgen Djuve Heggebø , Kenneth Müller
CPC classification number: B65G1/0492 , B65G1/0478 , B65G1/0464 , B65G1/065
Abstract: A container handling vehicle operates on a two-dimensional rail system. The two-dimensional rail system includes a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across the top of a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicles in a second direction which is perpendicular to the first direction. The container handling vehicle includes a wheel base unit, a support section, a cantilever section, a lifting frame, four guiding sheaves, four lifting bands, a lifting shaft, and a lifting device motor. The wheel base unit includes first and second sets of wheels for guiding the container handling vehicle along the rail system in the first and second directions respectively. The support section extends vertically from the wheel base unit. The support section has a footprint with a horizontal extent. The cantilever section extends from the support section. The lifting frame is suspended in a horizontal orientation from the cantilever section by a plurality of lifting bands. The lifting frame includes a releasable connection for connecting to a storage container. The guiding sheaves are provided in the cantilever section. Each of the guiding sheaves are arranged for guiding and supporting one of the four plurality of lifting bands and the lifting frame. The lifting shaft for winding up and unwinding the plurality of lifting bands. The lifting device motor rotates the at least one lifting shaft. A first and second wheel in a first pair of wheels in the first set of wheels are arranged closer to the cantilever section than a third and fourth wheel in a second pair of wheels of the first set of wheels. At least one of the lifting shaft and the lifting device motor are arranged closer to the third and fourth wheel than the first and second wheel in the first set of wheels. At least one of the lifting shaft and the lifting device motor is arranged within the wheel base unit.
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公开(公告)号：US20230373537A1
公开(公告)日：2023-11-23
申请号：US18030408
申请日：2021-11-15
Applicant: Autostore Technology AS
Inventor： Jørgen Djuve Heggebø , Kenneth Müller
CPC classification number: B61C13/04 , B65G1/0478 , B65G1/0492 , B61D19/00 , E05F15/70 , B61B5/02
Abstract: A service vehicle operates on a rail system of a storage and retrieval grid. The service vehicle is configured for retrieving a remotely operated vehicle for service. The service vehicle includes a first vehicle area in which the remotely operated vehicle can be received by the service vehicle while the remotely operated vehicle is still on the rail system, and a second vehicle area in which the remotely operated vehicle can be supported by the service vehicle for servicing. The first vehicle area is configured as a vehicle pen for holding the remotely operated vehicle before entry to the second vehicle area. The first vehicle area is linked to the second vehicle area for passage of the remotely operated vehicle via the vehicle pen. The vehicle pen includes an entry barrier to regulate entry of the remotely operated vehicle into the service vehicle and the vehicle pen, and an exit barrier on exit from the vehicle pen into the second vehicle area to regulate the passage of the remotely operated vehicle through the first vehicle area and into the second vehicle area.
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公开(公告)号：US20230202754A1
公开(公告)日：2023-06-29
申请号：US17928477
申请日：2021-06-02
Applicant: Autostore Technology AS
Inventor： Jørgen Djuve Heggebø
CPC classification number: B65G1/0492 , B60L3/0046
Abstract: An automated storage and retrieval system includes a rail system, at least one vehicle operating on the rail system, at least one charging station on or at the perimeter of the rail system, and a control system. The rail system includes a first set of parallel rails extending in a first direction and a second set of parallel rails extending in second direction. The second direction is perpendicular to the first direction. The at least one vehicle includes at least one power storage source, and a local controller adapted to control movements of the at least one vehicle. The at least one charging station is adapted to be electrically connected with the at least one power storage source of the at least one vehicle. The control system is adapted to communicate with the local controller in the at least one vehicle and the at least one charging station. The control system is further adapted to, upon detecting a failure with the charging station, instruct the at least one vehicle to move to the at least one charging station such that the at least one power storage source of the vehicle electrically connects to the at least one charging station. The at least one charging station is further adapted to, transmit a charger diagnostic to the control system using power from the at least one power storage source of the at least one vehicle.
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5.发明公开公开(公告)号：US20230142253A1
公开(公告)日：2023-05-11
申请号：US17916398
申请日：2021-04-09
Applicant: Autostore Technology AS
Inventor： Jørgen Djuve Heggebø
CPC classification number: B65G1/0464 , B66C19/00
Abstract: A two-dimensional rail system includes a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across the top of the frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicles in a second direction, which is perpendicular to the first direction. The first and second sets of parallel rails divide the rail system into a plurality of grid cells. A container handling vehicle for operation on the two-dimensional rail system includes: a wheel base unit, a body unit, a support section, a cantilever section, and a lifting device. The wheel base unit includes first and second sets of wheels for guiding the container handling vehicle along the rail system in the first and second directions respectively. The first and second sets of wheels form outer peripheries of the wheel base unit. The body unit includes a lower section, which is provided on the wheel base unit. The lower section has a footprint with a horizontal extent which is equal to or less than the wheel base unit. The lower section has an upper surface. The upper surface provides a first container carrying position for carrying a storage container. The support section extends vertically from the lower section. The support section has a footprint with a horizontal extent which is smaller than the footprint of the lower section. The cantilever section extends horizontally from the support section beyond the footprint of the lower section. The lifting device includes a lifting frame that is suspended from the cantilever section.
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Patent Agency Ranking
公开(公告)号：US11603107B2
公开(公告)日：2023-03-14
申请号：US17934377
申请日：2022-09-22
Applicant: Autostore Technology AS
Inventor： Trond Austrheim , Jørgen Djuve Heggebø , Uwe Gruenbeck
IPC: B65G1/04 , B60W50/00 , G05D1/00 , B65G1/06 , 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: An automatic storage and retrieval system includes: a delivery vehicle; a storage container carried by the delivery vehicle; and an unloading station for unloading an item from the storage container while it is being carried by the delivery vehicle. The unloading station includes: an unloading device; and a destination conveyor configured to convey the item to a target destination, wherein the unloading device is configured to move the item through a side opening of the storage container to the destination conveyor.
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7.发明申请公开(公告)号：US20220289482A1
公开(公告)日：2022-09-15
申请号：US17805160
申请日：2022-06-02
Applicant: Autostore Technology AS
Inventor： Jørgen Djuve Heggebø , Trond Austrheim
IPC: B65G1/06 , B65G1/04 , B65G1/137 , G05B19/418
Abstract: An automated storage and retrieval system that includes a rail system that includes 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 that is orthogonal to the first direction; a plurality of stacks of storage containers arranged in storage columns located beneath the rail system, each storage column is located vertically below a grid opening; and a trolley for transporting the storage containers between the storage columns and at least one deployment area. The first and second sets of tracks form a grid pattern in the horizontal plane including a plurality of adjacent grid cells, each grid cell including a grid opening defined by a pair of neighboring tracks of the first set of tracks and a pair of neighboring tracks of the second set of track. The trolley is movable on any rail including: on the rail system or in a horizontal plane above or below the rail system, on dedicated transport rails between the rail system and the deployment area, on a double rail above or below the rail system or combinations thereof. The deployment area provides direct access to an area outside the grid pattern formed by the first and second sets of tracks. The trolley provides a container volume for storing at least one of the storage containers. The trolley includes moving devices allowing movement of the trolley in at least one of the first direction and the second direction.
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公开(公告)号：US20220177223A1
公开(公告)日：2022-06-09
申请号：US17600996
申请日：2020-03-19
Applicant: Autostore Technology AS
Inventor： Jørgen Djuve Heggebø
Abstract: An automated storage and retrieval system includes remotely operated vehicles, a main grid in which the vehicles operates, a service grid for placement of vehicles for service, and a control system for controlling the vehicles. The control system includes a data record for the status of a vehicle state for each vehicle. Each remotely operated vehicle includes a label and the service grid includes a reader for reading the label so as to identify each vehicle passing the reader. The control system receives a signal from the reader and, upon receipt, compares the data record with an observed vehicle state of the identified vehicle and either updates the data record with the observed vehicle state or indicates to an operator that a difference exists between the observed vehicle state and the vehicle state on the control system.
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9.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：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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