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公开(公告)号：WO2021043597A1
公开(公告)日：2021-03-11
申请号：PCT/EP2020/073453
申请日：2020-08-21
Applicant: AUTOSTORE TECHNOLOGY AS
Inventor： FJELDHEIM, Ivar , AUSTRHEIM, Trond
Abstract: It is described a method of providing an operator access to a target storage position in an automated storage and retrieval system (1), the automated storage and retrieval system (1) comprising: a rail system (108) for guiding a plurality of container handling vehicles (200,300), the rail system (108) comprising a first set of parallel rails (110) arranged in a horizontal plane (P) and extending in a first direction (X), and a second set of parallel rails (111) arranged in the horizontal plane (P) and extending in a second direction (Y) which is orthogonal to the first direction (X), which first and second sets of rails (110,111) form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent grid cells (122), each grid cell (122) comprising a grid opening (115) defined by a pair of neighboring rails (110a,110b) of the first set of rails (110) and a pair of neighboring rails (111a,111b) of the second set of rails (111); the automated storage and retrieval system (1) further comprising a storage volume (500) beneath the rail system (108), wherein the storage volume (500) comprises storage columns for storing storage containers (106) and the container handling vehicles (200,300) are operable to retrieve a storage container (106) from a stack (107) of storage containers within the storage volume (500), wherein the method comprises the steps of: - operating a master control system (800) to allocate and instruct at least one container handling vehicle (200, 300) to remove storage containers along a first path (900) between a position at a side edge or a top surface of the storage volume (500) and the target storage position (400,401) such that an operator can access the target storage position through the first path when the at least one container handling vehicle has removed the storage containers along the first path. It is further described an automated storage and retrieval system.
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公开(公告)号：WO2021008766A1
公开(公告)日：2021-01-21
申请号：PCT/EP2020/064940
申请日：2020-05-29
Applicant: AUTOSTORE TECHNOLOGY AS
Inventor： FAGERLAND, Ingvar
Abstract: A method (200), computer program product and system for controlling movements of container handling vehicles (150) operating in a storage and retrieval system (10) comprising a grid structure with storage columns (105) and a corresponding rail system (108) above the storage columns (105) for guiding movements of the vehicles (150) adapted for transferring storage containers (106) to and from the storage (columns 105), where each vehicle (150) comprises a vehicle controller (410) connected to driving means (420) and sensors (430) for controlling movements of the vehicle (150) along the rail system (108) relative to movements of other vehicles (150). The method comprises different steps performed in the vehicle controller (410) of each vehicle (150). The steps comprises using a map (210) defining rail layout and traffic rules for where and when vehicles (150) can move on the rail system (108), and where the map is the same for all vehicles (150) operating in the storage and retrieval system (10); synchronizing (220) the vehicle controller (410) to a clock common for all vehicles (150); receiving an instruction from a master controller (400) instructing the vehicle (150) to move to a specified destination (230) on the rail system (108) relative to the map; letting the vehicle controller (410) determine a route to follow (240) on the rail system (108) from a current position of the vehicle (150) to the specified destination based on the map, the traffic rules, distance to other vehicles (150) and movements of the other vehicles (150); controlling the movements (260) of the vehicle (150) along the rails system (108) from its current position to the specified destination according to the determined route, and repeating the steps until the vehicle (150) has reached the specified destination.
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公开(公告)号：WO2020260516A1
公开(公告)日：2020-12-30
申请号：PCT/EP2020/067924
申请日：2020-06-25
Applicant: AUTOSTORE TECHNOLOGY AS
Inventor： KORGE-HÅRAJUVET, Geir
IPC: B65G1/02 , B65G1/04 , F16P3/08 , G05D1/02 , H04B10/116
Abstract: An automated storage system (1) comprising a three-dimensional storage grid (104) for storing storage containers (106), at least one container handling vehicle (201, 301) operating the storage grid (104), and a central communication system (500) with a system transmitter (401) and a system receiver (401) for controlling and communicating with the at least one container handling vehicle (201, 301) for handling storage containers (106) in the storage grid (104) wherein said at least one container handling vehicle (201, 301) comprises a vehicle communication system with a vehicle transmitter and a vehicle receiver for communication with the central communication system (500), wherein the system and vehicle transmitters and receivers are configured to use light for wireless communication, and wherein the system transmitter (401) and the system receiver are located in the automatic storage system (1) on or around the storage grid (104).
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公开(公告)号：WO2020200631A1
公开(公告)日：2020-10-08
申请号：PCT/EP2020/055864
申请日：2020-03-05
Applicant: AUTOSTORE TECHNOLOGY AS
Inventor： AUSTRHEIM, Trond
Abstract: The present invention provides a storage system comprising at least one storage grid (104) and a container lift (2), the storage grid comprises vertical column profiles (102) defining a plurality of grid columns (112), the grid columns comprise 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), each of the grid columns being defined by four vertically extending column profiles (102), and the column profiles are interconnected at their upper ends by top rails (110,111) forming a horizontal top rail grid (108) of the storage grid, wherein the container lift comprises a lifting assembly (17,19) which is suspended from one or more spoolable lifting elements (16) and arranged to be raised or lowered in order to raise or lower an accompanying storage container (106) within the storage grid (104), wherein the lifting assembly comprises a lifting frame part (17) for releasable attachment to an upper section of a storage container (106) and a guide shuttle (19) arranged to guide the lifting frame part (17) and any accompanying storage container (106) as the lifting frame part (17) is raised and lowered within the storage grid (104), the guide shuttle is arranged above the lifting frame part and comprises guide elements which are each arranged to interact with one of the four column profiles (102) of a grid column (112) to stabilise and maintain horizontal alignment of the lifting frame part (17) and any accompanying storage container (106) during the raising and/or lowering of the lifting frame part; and a framework (10) featuring internal guide surfaces (118) arranged to interact with the guide elements (22a-d,12) of the guide shuttle (19) when the guide shuttle is at a level above the top rail grid, such that the horizontal alignment of the lifting frame part (17) is stabilised and maintained.
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公开(公告)号：WO2020169474A1
公开(公告)日：2020-08-27
申请号：PCT/EP2020/053909
申请日：2020-02-14
Applicant: AUTOSTORE TECHNOLOGY AS
Inventor： FJELDHEIM, Ivar
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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Patent Agency Ranking
公开(公告)号：WO2019238703A1
公开(公告)日：2019-12-19
申请号：PCT/EP2019/065244
申请日：2019-06-11
Applicant: AUTOSTORE TECHNOLOGY AS
Inventor： AUSTRHEIM, Trond
IPC: B65G1/04
Abstract: The present invention provides a storage system comprising a storage grid comprising vertical column profiles defining a plurality of grid columns, the grid columns comprise storage columns, in which storage containers can be stored one on top of another in vertical stacks, the storage grid comprising at least one rail grid at the upper ends of the column profiles, a first container handling vehicle and a second container handling vehicle, the first and the second container handling vehicles each comprising at least one wheel base unit (2) and a first container handling module (13) or a second container handling module (12 or 14), respectively, connected to the wheel base unit 82), each wheel base unit (2) having a wheel arrangement for movement of the wheel base unit in two perpendicular directions upon a rail grid of the storage system, and a horizontal periphery fitting within the horizontal area defined by a grid cell of the rail grid such that wheel base units may pass each other on any adjacent grid cells of the rail grid, each of the wheel base units comprises an upper surface configured as a connecting interface for connection to any of the first and second container handling modules, and the first container handling module is a different type of container handling module to the second container handling module.
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公开(公告)号：WO2019238702A1
公开(公告)日：2019-12-19
申请号：PCT/EP2019/065241
申请日：2019-06-11
Applicant: AUTOSTORE TECHNOLOGY AS
Inventor： AUSTRHEIM, Trond
Abstract: The present invention provides a storage system comprising at least one container vehicle (6',300',400), a horizontal rail grid (108,5) and a charging system for charging a rechargeable power source (20) of the container vehicle, wherein - the container vehicle comprises a first set of wheels (32a) and a second set of wheels (32b) for moving the container vehicle upon the rail grid; - the first set of wheels (32a) is displaceable in a vertical direction between a first position, wherein the first set of wheels may move the container vehicle in a first direction (X), a second position, wherein the first and the second set of wheels are in contact with the rail grid, and a third position wherein the second set of wheels may move the container vehicle in a second direction (Y) perpendicular to the first direction; - the charging system comprises two separated charge-receiving elements (21a,21b) arranged on the container vehicle and connected to the power source (20), and a charging station (22) comprising two separated charge- providing elements (23a,23b) connected to a power source charger (24); and - each of the charge-receiving elements (21) comprises a first contact surface (25), and each of the charge-providing elements (23a,23b) comprises a second contact surface (26); wherein the first contact surfaces are arranged to be contactable with the corresponding second contact surfaces when the container vehicle is positioned above the charge-providing elements.
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公开(公告)号：WO2019238698A1
公开(公告)日：2019-12-19
申请号：PCT/EP2019/065237
申请日：2019-06-11
Applicant: AUTOSTORE TECHNOLOGY AS
Inventor： AUSTRHEIM, Trond
Abstract: The present invention provides a storage system (1) comprising a storage grid structure (104) having a top rail grid upon which container handling vehicles (200,300) work to store and retrieve storage containers (106) in and from storage columns (105) beneath the top rail grid, wherein the storage system comprises multiple transfer rails (110',111') forming a horizontal transfer rail grid (5) arranged at a level below the top rail grid, at least one transport vehicle (19) operating on the transfer rail grid, a picking/stocking station (8) for picking/stocking items between a storage container (106) and a packaging box (24), and an unloading/loading assembly (23) for unloading/loading packaging boxes containing such items, the transport vehicle (19) is arranged to move upon the transfer rail grid (5) in two perpendicular directions and comprises a carrier platform (20), wherein the transfer rail grid is arranged to allow access for the transport vehicle (19) to transport one or more packaging boxes at a time between the picking/stocking station and the unloading/loading assembly (23).
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公开(公告)号：WO2019238694A1
公开(公告)日：2019-12-19
申请号：PCT/EP2019/065233
申请日：2019-06-11
Applicant: AUTOSTORE TECHNOLOGY AS
Inventor： AUSTRHEIM, Trond
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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20.发明申请
公开(公告)号：WO2019238676A1
公开(公告)日：2019-12-19
申请号：PCT/EP2019/065210
申请日：2019-06-11
Applicant: AUTOSTORE TECHNOLOGY AS
Inventor： AUSTRHEIM, Trond
Abstract: A remotely operated delivery vehicle for transport of a storage container between an automated storage and retrieval grid, which is configured to store a plurality of stacks of storage containers, and an access station for handling of the storage container by at least one of a robotic operator and human operator. The remotely operated delivery vehicle comprising; - a vehicle body comprising a motor for driving a plurality of rolling devices for moving the remotely operated delivery vehicle in a horizontal plane; - a control unit for controlling the remotely operated delivery vehicle; and - a container carrier (35) provided above the motorized vehicle body for carrying a storage container. The remotely operated delivery vehicle comprises a safety device which transmits a signal to the control unit such that it performs an action of operating the remotely operated delivery vehicle, in the event that a collision is detected. The collision is caused by a force (F) acting on the remotely operated delivery vehicle (30) and is detected by a collision mechanism (60) of the safety device and the collision mechanism is a container carrier displacement device (60) arranged such that it trips the safety device upon displacement of the container carrier (35) relative to the motorized vehicle body (31), which first position is the undisplaced position and the second position is the displaced position.
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