公开(公告)号：US12071305B2

公开(公告)日：2024-08-27

申请号：US17283261

申请日：2019-09-23

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  Kjetil Velde ,  Synnove Solberg Matre ,  Ragnar Stuhaug

IPC: B65G1/137 ,  B65D88/02 ,  B65D88/12 ,  B65D90/00 ,  B65G1/04

CPC classification number: B65G1/137 ,  B65D88/022 ,  B65D88/121 ,  B65D90/0006 ,  B65G1/0464

Abstract: The invention relates to a mobile storage system having a mobile container with an automated storage and retrieval system arranged inside. The automated storage and retrieval system has a storage grid structure having vertical members defining multiple columns, such as storage columns for storing storage bins on top of each other in vertical stacks. The vertical members are interconnected at their upper ends by a first rail system arranged to guide at least one bin handling vehicle thereon. The bin handling vehicle is configured to raise storage bins from, and lower storage bins into, the storage columns, and to transport the storage bins above the storage columns. The invention also relates to a method for providing such a system. The invention also relates to a mobile storage system having a plurality of mobile containers connected together and a method for providing such a system.

公开(公告)号：US20230300872A1

公开(公告)日：2023-09-21

申请号：US18322896

申请日：2023-05-24

Applicant: Autostore Technology AS

Inventor： Ragnar Stuhaug ,  Ingvar Hognaland

IPC: H04W72/542 ,  H04W74/08 ,  B65G1/04 ,  H04W72/563 ,  H04L7/00 ,  H04W40/24 ,  H04W48/16 ,  H04W48/18 ,  H04W72/0446

CPC classification number: H04W72/542 ,  H04W74/0816 ,  B65G1/0464 ,  H04W72/563 ,  H04L7/0008 ,  H04W40/244 ,  H04W48/16 ,  H04W48/18 ,  H04W72/0446

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：USD978212S1

公开(公告)日：2023-02-14

申请号：US35513228

申请日：2021-12-09

Applicant: Autostore Technology AS

Designer： Ole Alexander Mæhle ,  Ragnar Stuhaug ,  Christian Håkon Pløen

公开(公告)号：US12195053B2

公开(公告)日：2025-01-14

申请号：US18488799

申请日：2023-10-17

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  Ragnar Stuhaug

IPC: B61B13/00 ,  B60W50/00 ,  B65G1/04 ,  B65G1/06 ,  B65G1/137 ,  B65G43/00 ,  B65G47/06 ,  B65G47/52 ,  B65G57/03 ,  B65G63/00 ,  B65G63/06 ,  B65G65/23 ,  B65G67/24 ,  B66F9/06 ,  B66F9/19 ,  G05D1/00 ,  G05D1/02

Abstract: A container accessing station for accessing a storage container of an automated storage and retrieval grid. The container accessing station comprising: an access opening through which a human and/or robot may access contents of the storage container; a base opening; and a lifting device arranged to retrieve the storage container from a first level beneath the base opening and lift it up through the base opening to a second level so that the storage container may be accessed through the access opening. The invention is also directed to a container accessing system and a method thereof.

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.

公开(公告)号：US20230002156A1

公开(公告)日：2023-01-05

申请号：US17783964

申请日：2020-12-02

Applicant: Autostore Technology AS

Inventor： Øystein Gjerdevik ,  Ragnar Stuhaug

IPC: B65G1/04 ,  B65G1/06 ,  B65G1/137 ,  B65G43/02 ,  G05B19/418 ,  G05D1/02

Abstract: A method handles malfunctioning vehicles on a track system constituting part of a storage and retrieval system configured to store a plurality of stacks of storage containers. The track system forms a grid pattern of adjacent cells. The storage and retrieval system includes a plurality of remotely operated vehicles configured to move laterally on the track system, wherein each of the plurality of remotely operated vehicles comprises driving wheels, and a control system for monitoring and controlling wirelessly movements of the plurality of remotely operated vehicles. The control system performs at least the following steps by wireless data communication: detecting an anomaly in an operational condition of a vehicle on the track system, registering the vehicle with the anomalous operational condition as a malfunctioning vehicle, registering a halt position of the malfunctioning vehicle relative to the supporting track system, and setting up a two-dimensional shutdown zone on the track system. The setting up a two-dimensional shutdown zone on the track system includes a malfunctioning vehicle zone including the halt position of the malfunctioning vehicle, and an entrance zone for entry into the malfunctioning vehicle zone. The entrance zone extends between the malfunctioning vehicle zone and a location at a periphery of the track system. The control system further performs ordering the remotely operated vehicles in operation within the shutdown zone to either move out of the shutdown zone, a halt or a combination thereof, and indicating allowance of entry into the entrance zone for an external operator by at least one of: unlocking a gateway at the periphery, and producing an entry-allowed signal registrable by a human operator located at the periphery such that the human operator may enter the entrance zone through the gateway.

公开(公告)号：US20210130090A1

公开(公告)日：2021-05-06

申请号：US17251760

申请日：2019-06-11

Applicant: Autostore Technology AS

Inventor： Ragnar Stuhaug ,  Karl Hatteland ,  Ingvar Fagerland ,  Øystein Gjerdevik ,  Trond Austrheim ,  Synnøve Matre

IPC: B65G1/04

Abstract: The operation of container handling vehicles and remotely operated specialized container handling vehicles are controlled by a method such that total elapsed time or waiting time cost for transferring specified storage containers between them is minimal or optimal. The specialized container handling vehicles are operating at a level below an automated storage and retrieval system having a framework structure defining a storage grid for storing storage containers in grid cells. The storage containers are stored and retrieved by container handling vehicles running on top of the storage grid. At least one operational controller, which is in communication with a first type of controller in each container handling vehicle and a second type of controller in each specialized container handling vehicle, performs the followings steps: when a specified storage container is to be transferred from a storage column and its corresponding grid cell to a specialized container handling vehicle: assigning and instructing a container handling vehicle to pick up the storage container from the grid cell and lower it to a selected port, located at the lower end of an identified free delivery column by transmitting instructions to the first type of controller of the assigned container handling vehicle, where the port selected is included as a variable in a weighting function together with time and waiting cost to derive a trade-off of the container handling vehicle and the specialized container handling vehicle having the best matching travel time to the port; moving the container handling vehicle to the grid cell, picking up the storage container and transporting it to a grid cell of the delivery column where the port is; transmitting a signal to the specialized container handling vehicles comprising information of the selected port at a first location and when the storage container will be available at the port; based on responses from the specialized container handling vehicles, assigning and instructing a specialized container handling vehicle to retrieve the specified storage container at the selected port; moving the assigned specialized container handling vehicle to the selected port at the first location, picking up the storage container and bringing it to a second location; and/or, when a specified storage container is to be transferred to a grid cell, for storage in its corresponding storage column, by a specialized container handling vehicle: determining which port at a first location that is to be used, where the port selected is included as a variable in a weighting function together with time and waiting cost to derive a trade-off of the container handling vehicle and the specialized container handling vehicle having the best matching travel time to the port; transmitting instructions to the second type of controller of the specialized container handling vehicle, to transport the storage container from its current location representing the second location, to said determined port at the first location; moving the specialized container handling vehicle from the second location to the determined port at the first location; transmitting a signal to the container handling vehicles comprising information of the determined port to retrieve the storage container from; based on responses from the container handling vehicles, assigning and instructing a container handling vehicle to lift and retrieve the specified storage container from the determined port to be used at the first location; lifting the storage container from the determined port through the delivery column and moving the container handling vehicle for transporting the storage container to a grid cell corresponding to the storage column the specified storage container is to be transferred to.

公开(公告)号：US20240391506A1

公开(公告)日：2024-11-28

申请号：US18790937

申请日：2024-07-31

Applicant: AutoStore Technology AS

Inventor： Jørgen Djuve Heggebø ,  Ole Alexander Mæhle ,  Synnøve Matre ,  Ingvar Fagerland ,  Ragnar Stuhaug

IPC: B61B13/00 ,  B60W50/00 ,  B65G1/04 ,  B65G1/06 ,  B65G1/137 ,  B65G43/00 ,  B65G47/06 ,  B65G47/52 ,  B65G57/03 ,  B65G63/00 ,  B65G63/06 ,  B65G65/23 ,  B65G67/24 ,  B66F9/06 ,  B66F9/19

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.

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：US20240190017A1

公开(公告)日：2024-06-13

申请号：US18556297

申请日：2022-04-08

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： Ragnar Stuhaug ,  Ingvar Fagerland ,  Trond Austrheim ,  Ole Alexander Mæhle

IPC: B25J11/00 ,  B25J5/00 ,  B25J5/02 ,  B25J9/16 ,  B25J15/06 ,  B65G1/04 ,  B65G1/06

CPC classification number: B25J11/008 ,  B25J5/007 ,  B25J5/02 ,  B25J9/1697 ,  B25J15/0608 ,  B65G1/0464 ,  B65G1/0478 ,  B65G1/065 ,  B65G2201/0235 ,  B65G2203/0275

Abstract: A service vehicle unit (SVU) is for manoeuvring a container handling vehicle that has stalled on an automated storage and retrieval system. The system includes a rail system having a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) 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 vehicle in a second direction (Y), which is perpendicular to the first direction (X). The first and second sets of parallel rails dividing the rail system into a plurality of grid cells. At least one container handling vehicle is configured to operate on the rail system. The SVU includes a wheel module configured with a first and second set of wheels, which enable movement of the container handling vehicle in the X and Y direction and which is configured to operate on the rail system. The SVU has a turret and a turret mounted positioner that is attached to the wheel module, and the turret rotates the turret mounted positioner horizontally to attach to the container handling vehicle, used for manoeuvring a container handling vehicle to a predetermined position on the grid by the wheel module.