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51. 发明申请

US20210147145A1 CONTAINER HANDLING VEHICLE WITH FIRST AND SECOND SECTIONS WITH MOTOR IN SECOND SECTION 有权
公开(公告)号：US20210147145A1
公开(公告)日：2021-05-20
申请号：US17047293
申请日：2018-10-11
申请人： Autostore Technology AS
发明人： Trond Austrheim
IPC分类号： B65G1/04 , B65G1/137
摘要： A container handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system includes a first set of wheels, arranged at opposite portions of a vehicle body of the container handling vehicle, for moving the vehicle along a first direction on a rail system of the grid; and a second set of wheels, arranged at opposite portions of the vehicle body, for moving the vehicle along a second direction on the rail system of the grid. The second direction is being perpendicular to the first direction. The vehicle body includes walls on all sides forming a footprint defined by horizontal peripheries in the first and second directions of the vehicle body. The container handling vehicle further includes a first section and a second section arranged side-by-side such that a centre point of a footprint of the first section is arranged off centre relative a centre point of the footprint of the vehicle body, and a size ratio of the footprint of the first section relative a footprint of the second section is at least 2:1. The first section is configured to accommodate a storage container, and the second section includes an assembly of motors for driving at least one wheel of each of the sets of wheels.

52. 发明申请

US20210130090A1 A METHOD AND SYSTEM FOR CONTROLLING THE OPERATION OF CONTAINER HANDLING VEHICLES AND DRONES SERVING AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM 有权
公开(公告)号：US20210130090A1
公开(公告)日：2021-05-06
申请号：US17251760
申请日：2019-06-11
申请人： Autostore Technology AS
发明人： Ragnar Stuhaug , Karl Hatteland , Ingvar Fagerland , Øystein Gjerdevik , Trond Austrheim , Synnøve Matre
IPC分类号： B65G1/04
摘要： 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.

53. 发明申请

US20200307911A1 MULTI BIN VEHICLE FOR AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM COMPRISING A THREE DIMENSIONAL GRID 审中-公开
公开(公告)号：US20200307911A1
公开(公告)日：2020-10-01
申请号：US16765563
申请日：2018-03-05
申请人： Autostore Technology AS
发明人： Trond Austrheim , Jørgen Djuve Heggebø
IPC分类号： B65G1/137 , B65G1/04 , B66F9/18
摘要： A container-handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system includes a first set of wheels arranged at opposite sides of a vehicle body, for moving the vehicle along a first direction on the grid; a second set of wheels arranged at opposite sides of the vehicle body, for moving the vehicle along a second direction on the grid, the second direction being perpendicular to the first direction; and the first set of wheels displaceable in a vertical direction between a first position, wherein the first set of wheels allow movement of the vehicle along the first direction, and a second position, wherein the second set of wheels allow movement of the vehicle along the second direction. The vehicle body surrounds a cavity within which at least a first lifting device and a second lifting device are positioned adjacent to each other, each lifting device is arranged to lift a storage container from the grid and into the cavity, such that a bottom of the storage container is at a level above the lowest level of the second set of wheels.

54. 发明授权

US10654661B2 Cleaning bin for cleaning a storage grid of a storage system 有权
公开(公告)号：US10654661B2
公开(公告)日：2020-05-19
申请号：US16072705
申请日：2017-01-31
申请人： Autostore Technology AS
发明人： Ingvar Hognaland , Ivar Fjeldheim , Trond Austrheim
IPC分类号： B65G45/24 , B65G1/04 , B08B1/00 , B08B7/04 , B65G45/22 , B08B7/00 , B65G1/06
摘要： A vehicle operated cleaning bin for cleaning a storage grid of a storage system includes a connector suitable for attaching the cleaning bin to a lifting device of a remotely operating vehicle being configured to vertically convey the cleaning bin into the storage grid by aid of the lifting device. Further, the vehicle operated cleaning bin includes a cleaner provided for removing foreign debris from the storage grid.

55. 发明申请

US20190031446A1 CLEANING BIN FOR CLEANING A STORAGE GRID OF A STORAGE SYSTEM 审中-公开
公开(公告)号：US20190031446A1
公开(公告)日：2019-01-31
申请号：US16072705
申请日：2017-01-31
申请人： Autostore Technology AS
发明人： Ingvar Hognaland , Ivar Fjeldheim , Trond Austrheim
IPC分类号： B65G45/24 , B65G1/06 , B08B1/00 , B08B7/04 , B65G1/04 , B08B7/00
摘要： A vehicle operated cleaning bin for cleaning a storage grid of a storage system includes a connector suitable for attaching the cleaning bin to a lifting device of a remotely operating vehicle being configured to vertically convey the cleaning bin into the storage grid by aid of the lifting device. Further, the vehicle operated cleaning bin includes a cleaner provided for removing foreign debris from the storage grid.

56. 发明申请

US20190009984A1 A STORAGE SYSTEM FOR STORING AND TRANSPORTING BINS 审中-公开
公开(公告)号：US20190009984A1
公开(公告)日：2019-01-10
申请号：US16069620
申请日：2016-11-15
申请人： Autostore Technology AS
发明人： Ingvar Hognaland , Ivar Fjeldheim , Trond Austrheim , Øystein Gjerdevik
IPC分类号： B65G1/04 , B65G43/10 , B65G47/57
摘要： Method and systems for storing and transporting a plurality of storage bins to and from an upper and a lower location of a three dimensional storage grid, which is constructed by columns interconnected by top rails. The system includes a movable continuous chain running from the upper location to the lower location of said storage grid. The chain may have compartments fitted for holding the bins. Robot vehicles are running on the upper location of the storage grid. These are adapted for loading and unloading bins 4 from the compartments in the chain. A control system is configured for controlling loading and unloading of the bins from the compartments in the chain.

57. 发明申请

US20180244468A1 ROBOT FOR TRANSPORTING STORAGE BINS 审中-公开
公开(公告)号：US20180244468A1
公开(公告)日：2018-08-30
申请号：US15964084
申请日：2018-04-27
申请人： Autostore Technology AS
发明人： Ingvar Hognaland , Ivar Fjeldheim , Trond Austrheim , Borge Bekken
IPC分类号： B65G1/04
摘要： The invention concerns a remotely operated vehicle assembly for picking up storage bins from a storage system and a method for change of vehicle direction. The vehicle assembly comprises a vehicle body displaying a cavity being suitable for receiving a storage bin stored within the storage system, a vehicle lifting device being connected at least indirectly to the vehicle body and suitable for lifting the storage bin into the cavity, a displacement arrangement comprising inter alia a displacement motor situated above the cavity which is configured to at least provide the power that is necessary in order to displace one or both of the first set of vehicle rolling means and the second set of vehicle rolling means between a displaced state where the relevant vehicle rolling means is displaced away from the underlying storage system during use, and a non-displaced state where the relevant vehicle rolling means is in contact with the underlying storage system during use, and driving means coupled to the displacement arrangement. The driving means further comprises a first set of vehicle rolling means connected to the vehicle body allowing movement of the vehicle along a first direction (X) within the storage system during use and a second set of vehicle rolling means connected to the vehicle body allowing movement of the vehicle along a second direction (Y) in the storage system during use, wherein the second direction (Y) is perpendicular to the first direction (X).

58. 发明申请

US20230139127A1 STORAGE SYSTEM WITH MODULAR CONTAINER HANDLING VEHICLES 有权
公开(公告)号：US20230139127A1
公开(公告)日：2023-05-04
申请号：US18149927
申请日：2023-01-04
申请人： Autostore Technology AS
发明人： Trond Austrheim
IPC分类号： B65G1/04
摘要： A storage system including a storage grid including vertical column profiles defining a plurality of grid columns. The grid columns include storage columns, in which storage containers can be stored one on top of another in vertical stacks. The storage grid including at least one rail grid at the upper ends of the column profiles, and a first container handling vehicle and a second container handling vehicle. The first and the second container handling vehicles each include at least one wheel base unit and a first container handling module or a second container handling module. Each wheel base unit having a wheel arrangement for movement of the wheel base unit in two perpendicular directions upon a rail grid of the storage system. The first container handling module is a different type of container handling module to the second container handling module.

59. 发明申请

US20230137545A1 DELIVERY VEHICLE, SYSTEM AND METHOD FOR MOVING STORAGE CONTAINERS BETWEEN A FIRST CONVEYOR ON THE DELIVERY VEHICLE AND AN EXTERNAL CONVEYOR 有权
公开(公告)号：US20230137545A1
公开(公告)日：2023-05-04
申请号：US17911829
申请日：2021-03-16
申请人： Autostore Technology AS
发明人： Trond Austrheim
IPC分类号： B65G1/04 , B65G1/06 , B65G15/22 , B65G17/26 , B65G23/24
摘要： A delivery vehicle operates on a two-dimensional rail system with rails extending in a first direction and a second direction. The second direction is perpendicular to the first direction. The delivery vehicle includes a vehicle body; two sets of wheels connected to the vehicle body for engagement with the underlying rail system and for moving the delivery vehicle in the first and second directions; a container carrier for supporting a container from below, wherein the container carrier comprises a first conveyor; a conveyor drive shaft for driving the first conveyor; and at least one drive coupling. The at least one drive coupling includes a connection interface accessible from an outer side portion of the vehicle body. The drive coupling is rotatably connected to a motor drive shaft such that when the motor drive shaft is rotated the drive coupling and the connection interface are rotated.

60. 发明授权

US11597597B2 Automated storage and retrieval system 有权
公开(公告)号：US11597597B2
公开(公告)日：2023-03-07
申请号：US16614175
申请日：2018-05-16
申请人： Autostore Technology AS
发明人： Trond Austrheim , Ivar Fjeldheim , Ingvar Fagerland
IPC分类号： B65G1/04 , B65G1/06 , B61B5/02 , B66C13/00 , B66C19/00 , B60L50/64 , B60L53/16 , B60L53/18
摘要： The present invention relates to automated storage and retrieval system comprising: a track system comprising 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 which is orthogonal to the first direction, which first and second sets of tracks form a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each comprising a grid opening defined by a pair of adjacent tracks of the first set of tracks and a pair of adjacent tracks of the second set of tracks; a plurality of stacks of storage containers arranged in storage columns located beneath the track system, wherein each storage column is located vertically below a grid opening; a plurality of container handling vehicles for lifting and moving storage containers stacked in the stacks, the container handling vehicles being configured to move laterally on the track system above the storage columns to access the storage containers via the grid openings, wherein each of the plurality of container handling vehicles has a footprint with a horizontal extension which is equal to or less than the horizontal extension of a grid cell and comprises: a wheel assembly for guiding the container handling vehicle along the track system and a container-receiving storage space arranged within the footprint of the container handling vehicle for accommodating a storage container. Each container handling vehicle comprises a protruding section which extends horizontally beyond the footprint of the container handling vehicle and, when the container handling vehicle is positioned above a grid cell, into a neighbouring grid cell.
The present invention also relates to a container handling vehicle for such an automated storage and retrieval system.

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