公开(公告)号：WO2021197914A1

公开(公告)日：2021-10-07

申请号：PCT/EP2021/057385

申请日：2021-03-23

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： FAGERLAND, Ingvar

IPC: B65G1/04 ,  B65G1/0464 ,  B65G2203/0291 ,  B65G2203/04

Abstract: The invention relates to a system and a method for controlling movement of a plurality of container handling vehicles (201, 301) on a rail system (108), where each container handling vehicle (201, 301) comprises a local controller adapted to control movements of the container handling vehicle (201, 301), and the where a central operational controller (501) in communication with the local controller in each container handling vehicle (201, 301) is adapted to receiving data relating to a subsection (401a, 401b) of the rail system (108), the data comprising a container handling vehicle movement threshold for the subsection (401a, 401b), instructing a container handling vehicle (201, 301) to follow a path (402, 403) which takes in at least a part of the subsection (401a, 401b), and instructing the container handling vehicle (201, 301) to reduce speed and/or acceleration such that the movement of the container handling vehicle (201, 301) within the subsection (401a, 401b) is below the container handling vehicle movement threshold of the subsection (401a, 401b).

公开(公告)号：WO2021152170A1

公开(公告)日：2021-08-05

申请号：PCT/EP2021/052301

申请日：2021-02-01

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： AUSTRHEIM, Trond ,  BEKKEN, Børge

IPC: B65G1/04 ,  A62C3/00 ,  B62D33/02

Abstract: A modular plate system where plate members (16) of various functions can be easily inserted between the upright members of the framework structure of a storage and retrieval system. The modular plate system of the invention may function as a stabilizing arrangement for the framework structure. According to this aspect of the invention, the plate members (16) of the system are bracing plate members that may be connected between adjacent upright members (102) of a framework structure (100). In another aspect, the plate members may provide some function other than or in addition to stabilization, for example, the functional plate members may be thermally insulated plates, fire barrier plates, sound insulated plates and the like, whereby the plates may be used to form zones or barriers in the framework, for example for forming a refrigerated zone, a sound insulated zone or a fire barrier wall for creating a fire protected zone.

公开(公告)号：WO2021151916A1

公开(公告)日：2021-08-05

申请号：PCT/EP2021/051809

申请日：2021-01-27

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： FJELDHEIM, Ivar ,  AUSTRHEIM, Trond

IPC: B65G1/04

Abstract: A system and method for performing measurements in storage containers (106) for storing items, the storage containers (106) are stored in an automated storage system comprising a framework structure (100) forming a three-dimensional storage grid structure (104) for storing the storage containers (106), where the grid structure (104) forms vertical storage columns (105) each having same horizontal area defined by the size of an access opening (112) of the vertical storage columns (105) and where a rail system (108) is arranged on the framework structure (100) defining the circumference of each access opening (112) on top of each storage column (105), the rail system (108) providing available routes for container handling vehicles (201) handling and transferring the storage containers (106) to and from the storage columns (105), each vehicle (201) comprising a vehicle controller (230) communicating with a central computer system controlling the operation of the storage system, and wherein said system is further wherein a container handling platform (401) of a container handling vehicle (201, 301) comprises measuring equipment configured to perform measurements in containers and is further comprises communication means configured to communicate measurement data to the central computer system.

公开(公告)号：WO2021151911A1

公开(公告)日：2021-08-05

申请号：PCT/EP2021/051791

申请日：2021-01-27

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： FJELDHEIM, Ivar ,  AUSTRHEIM, Trond

IPC: B65G1/04

Abstract: A measuring system for monitoring atmospheric conditions in an automated storage and retrieval system having a three-dimensional storage grid structure (104) for storing storage containers (106), wherein at least one container handling vehicle (201, 301) has a container handling platform (500) with a first set of grippers for handling the storage containers (106), the measuring system is housed in a box-shaped measuring unit (501) having same size and features as a storage container (106), where the box-shaped measuring unit (501) comprises measuring equipment for measuring at least one atmospheric condition, a transmitter for transmitting the measurements to a computer system, at least one rechargeable power source and a data recorder for recording measurement data, wherein the box-shaped mesuring unit (501) comprises at least one piece of measuring equipment on each side of the box-shaped measuring unit (501).

公开(公告)号：WO2021122619A1

公开(公告)日：2021-06-24

申请号：PCT/EP2020/086254

申请日：2020-12-15

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： AUSTRHEIM, Trond ,  GJERDEVIK, Øystein

IPC: G05D1/02 ,  B65G1/04 ,  B65G1/00 ,  B65G1/0464 ,  B65G1/0478 ,  G05D1/0238 ,  G05D2201/0216

Abstract: A remotely operated vehicle comprising an arrangement to provide a pre-alert and tracking of a position of the vehicle following a travelling route relative to tracks laid out on rails in x-, y-directions on a rail system, the vehicle having first and seconds sets of wheels connected to drives for moving the vehicle in corresponding x-, y-directions on the rail system, wherein the arrangement comprises at least three sensors: - a first sensor directed to the rails in the x-direction, - a second sensor directed to the rails in the y-direction, and - a third sensor directed to a corner of an intersection between the rails in the x-direction and y-direction, wherein each of the sensors are directed downwardly towards the rails in x-, y-directions for determining the position of the vehicle relative to the rails.

公开(公告)号：WO2021115864A1

公开(公告)日：2021-06-17

申请号：PCT/EP2020/084218

申请日：2020-12-02

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： GJERDEVIK, Øystein ,  STUHAUG, Ragnar

IPC: B65G1/04 ,  B65G1/06

Abstract: A method for handling malfunctioning vehicles (240,340) on a track system (108,308) constituting part of a storage and retrieval system (1), the track system (108,308) forming a grid pattern of adjacent cells, wherein the storage and retrieval system (1) comprises - a plurality of remotely operated vehicles (230,330,240,340,250,350) configured to move laterally on the track system, wherein each of the plurality of remotely operated vehicles comprises driving wheels, and - a control system (500) for monitoring and controlling wirelessly movements of the plurality of remotely operated vehicles, wherein 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, setting up a two-dimensional shutdown zone (225) on the track system comprising a malfunctioning vehicle zone (225a) including the halt position of the malfunctioning vehicle and an entrance zone (225b) for entry into the malfunctioning vehicle zone, the entrance zone ( extending between the malfunctioning vehicle zone and a location at a periphery of the track system, 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 zonefor an external operator by at least one of unlocking a gateway at the periphery, 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：WO2021099474A1

公开(公告)日：2021-05-27

申请号：PCT/EP2020/082698

申请日：2020-11-19

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： HATTELAND, Karl

IPC: G06Q10/08 ,  G06Q10/06 ,  B65G1/04

Abstract: A method, system and computer program for controlling operation of an automated storage and retrieval system (1) during rebuilding its physical design. The method comprises a planning and designing phase where a new design is established and were storage columns (105) with a rail system (108) that is affected by the rebuilding are excludes from a selection of available routes for container handling vehicles (201) operating on the storage system (1), a relocation phase where storage containers (201) located in excluded storage columns (105) are relocated to other storage columns (105), a rerouting phase were traffic flow of container handling vehicles (201) are rerouted according to available routes and where the master controller (220) is instructed to control the vehicles (201) according to the available routes, a rebuilding phase were the storage system (1) is rebuilt according to the new physical design, and a final routing phase were the routing planner (200) controls traffic flow of the vehicles (201) according to available routes on the rail system (108) of the rebuilt physical design.

公开(公告)号：WO2021058442A1

公开(公告)日：2021-04-01

申请号：PCT/EP2020/076340

申请日：2020-09-21

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： STEINBRU LAUVSNES, Helge ,  DJUVE, HEGGEBØ, Jørgen

IPC: B60L53/64 ,  B65G54/02 ,  H02J3/00 ,  B60L53/80 ,  B60L53/53

Abstract: A system and method for power management of an automated storage and retrieval system (1) comprising a plurality container handling vehicle (201, 301) with at least one rechargeable power source for handling containers in a three dimensional underlying storage grid (104), a charging device (404) for charging the rechargeable power sources (405) of the container handling vehicles (201, 301), a power source (401) for supplying power to the storage system (1), a monitoring system (402) for monitoring energy prices, wherein said monitoring system (402) is configured to continuously update a power manager with energy prices, and said power manager is configured to adapt a power strategy to the system according to the energy prices.

公开(公告)号：WO2020200821A1

公开(公告)日：2020-10-08

申请号：PCT/EP2020/057661

申请日：2020-03-19

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： DJUVE, HEGGEBØ, Jørgen ,  STEINBRU LAUVSNES, Helge

IPC: H02J3/32 ,  B60L53/63 ,  B65G1/04 ,  B65G1/06

Abstract: System and method for managing power consumption of an automated storage and retrieval system (1) comprising a container-handling vehicle (201, 301), with a rechargeable power source, for handling storage containers in the automated storage and retrieval system (1), a charging station (404) for recharging the rechargeable power source of the container carrying vehicle (201, 301), a power supply (401) for delivering power to the storage system (1), a power monitoring device (402) coupled to the power supply (401), a control system (403) for controlling the operation of the automated storage and retrieval system, where the power monitoring device (402) is arranged to monitor available power from the power source entering the automated storage and retrieval system and communicate a signal to the control system indicative of the available power, wherein the control system (403) is arranged to be responsive to that signal and manage power consumption through being configured to modify the operation of the container-handling vehicle and/or the charging station to reduce power consumption of the respective container-handling vehicle and/or the charging station in the event that the signal indicates that the available power has dropped below a threshold level, thereby providing a modified operation of the automated storage and retrieval system during periods of lower power availability.

公开(公告)号：WO2020200799A1

公开(公告)日：2020-10-08

申请号：PCT/EP2020/057552

申请日：2020-03-19

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： HEGGEBØ, Jørgen, Djuve

IPC: B65G1/04 ,  G05D1/02 ,  F16P3/00

Abstract: An automated storage and retrieval system and corresponding method comprising; - a plurality of remotely operated vehicles (30, 200, 300), - a main grid (104, 125) in which the plurality of remotely operated vehicles operates, - a service grid (150) for placement of remotely operated vehicles for service, and - a control system for controlling the plurality of remotely operated vehicles (30, 200, 300), the control system comprising a data record for the status of a vehicle state for each vehicle, wherein each remotely operated vehicle comprises at least one label (25) comprising individual remotely operated vehicle information, and wherein the service grid (150) comprises at least one reader (21) for reading the at least one label of each remotely operated vehicle such as to identify each remotely operated vehicle and wherein the remotely operated vehicle information are updated in the control system for setting an updated vehicle state.