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1. 发明申请

WO2019238673A1 STORAGE GRID WITH CONTAINER ACCESSING STATION WITH LOCKING DEVICE TO LOCK REMOTELY OPERATED VEHICLE 审中-公开
公开(公告)号：WO2019238673A1
公开(公告)日：2019-12-19
申请号：PCT/EP2019/065204
申请日：2019-06-11
申请人： AUTOSTORE TECHNOLOGY AS
发明人： AUSTRHEIM, Trond , GJERDEVIK, Øystein , FAGERLAND, Ingvar
IPC分类号： B65G1/04 , B65G1/137 , B65G1/06
摘要： An automated storage and retrieval system comprising a grid-based rail structure and a plurality of remotely operated vehicles arranged to operate on the grid-based rail structure. The automated storage and retrieval system comprising a locking device arranged in a zone of the grid-based rail structure where a human and/or a robotic operator is permitted to interact with the remotely operated vehicle or contents of a storage container that the remotely operated vehicle is carrying. The locking device being arranged to lock the remotely operated vehicle against accidental displacement prior to interaction with the human and/or robotic operator, and wherein the locking device being arranged to unlock the remotely operated vehicle once interaction with the human and/or robotic operator is no longer required. The invention is also directed to a method of accessing a storage container through a container accessing station.

2. 发明申请

WO2019238662A1 METHOD FOR HANDLING MALFUNCTIONING VEHICLES ON A RAIL SYSTEM AND A STORAGE AND RETRIEVAL SYSTEM USING SUCH A METHOD 审中-公开
公开(公告)号：WO2019238662A1
公开(公告)日：2019-12-19
申请号：PCT/EP2019/065185
申请日：2019-06-11
申请人： AUTOSTORE TECHNOLOGY AS
发明人： STUHAUG, Ragnar , GJERDEVIK, Øystein
IPC分类号： B65G1/04 , B65G1/06 , B65G1/137 , B65G43/00 , B65G43/02 , G05B19/418 , G05D1/02
摘要： A method for handling malfunctioning vehicles (240,340) on a rail system (108,308) constituting part of a storage and retrieval system (1) configured to store a plurality of stacks (107) of storage containers (106), 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 rail system (108,308) and - a control system (109) for monitoring and controlling wirelessly movements of the plurality of vehicles (230,330,240,340,250,350), the control system (109) forms by wireless data communication at least the following steps: A. registering an anomaly in an operational condition of a vehicle (this 240,340) on the rail system (108,308), B. registering the vehicle with the anomalous operational condition as a malfunctioning vehicle (240,340), C. bringing the malfunctioning vehicle (240,340) to a halt, D. registering a halt position of the malfunctioning vehicle (240,340) relative to the supporting rail system (108,308), E. setting up a two-dimensional shutdown zone (225) within the rail system (108,308) into which the malfunctioning vehicle (240,340) is halted and F. updating movement pattern of the plurality of remotely operated vehicles (230,330, 250,350) outside the two-dimensional shutdown zone (225) such that entrance into the two-dimensional shutdown zone (225) is avoided.

3. 发明申请

WO2021094161A1 RESCUE SYSTEM AND METHODS FOR RETRIEVING A MALFUNCTIONING VEHICLE FROM A RAIL SYSTEM 审中-公开
公开(公告)号：WO2021094161A1
公开(公告)日：2021-05-20
申请号：PCT/EP2020/080929
申请日：2020-11-04
申请人： AUTOSTORE TECHNOLOGY AS
发明人： AUSTRHEIM, Trond , GJERDEVIK, Øystein
IPC分类号： B65G1/04 , B65G1/06
摘要： Rescue system for retrieving a malfunctioning vehicle (240,340) from a rail system (108,308) of an automated storage and retrieval system (1), the rail system (108,308) comprising a plurality of rails with tracks extending in an X-direction and a plurality of rails with tracks extending in a Y-direction perpendicular to the X-direction, a plurality of remotely operated vehicles (201,301,340) configured to move in the X and Y-directions on the tracks of the rail system, - a first rescue vehicle (40) configured to run on the tracks of the rail system (108,308), the first rescue vehicle (40) being provided with a lifting device (41) on one side of the vehicle (40), the lifting device (41) facing for engagement in a first X-direction; - a second rescue vehicle (40) configured to run on the tracks of the rail system (108,308), the second rescue vehicle (40) being provided with a lifting device (41) on an opposite side of the vehicle (40), the lifting device (41) facing for engagement in a second X-direction opposite to the first; - wherein the first and second rescue vehicles (40) are configured to work in tandem so that when one of the plurality of remotely operated vehicles (201,301,340) malfunctions, the first and second rescue vehicles (40) can position themselves on the rail system (108,308) on opposite sides of the malfunctioning vehicle (240,340) to engage their respective lifting devices (41) with the opposite sides of the malfunctioning vehicle (240,340) and operate their lifting devices simultaneously so as to lift the malfunctioning vehicle (240,340) off the rail system (108,308) and transport the malfunctioning vehicle (240,340). It is further described and automated storage and retrieval system comprising a rescue system, methods of operating a rescue system and rescue vehicles for use in a rescue system.

4. 发明申请

WO2019001816A1 AUTOMATED STORAGE AND RETRIEVAL SYSTEM COMPRISING DIFFERENT TEMPERATURE ZONES 审中-公开
公开(公告)号：WO2019001816A1
公开(公告)日：2019-01-03
申请号：PCT/EP2018/061886
申请日：2018-05-08
申请人： AUTOSTORE TECHNOLOGY AS
发明人： FJELDHEIM, Ivar , AUSTRHEIM, Trond , HOGNALAND, Ingvar , GJERDEVIK, Øystein
IPC分类号： B65G1/04 , F25D13/04 , F25D25/04
摘要： An automated storage and retrieval system comprising a three-dimensional grid (4) with a plurality of storage columns (5) for storing containers (6), one or more container handling vehicles (9) operating on the grid (4) for retrieving storage containers (6) from and storing storage containers (6) in the storage columns (5), and for transporting the storage containers (6) horizontally across the grid (4), and an elevator (30) for transporting containers 6 between different temperature zones arranged horizontally relative to the storage grid (4), and where the temperature zones are divided by a thermal barrier (28).

5. 发明申请

WO2022063545A1 STORAGE SYSTEM 审中-公开
公开(公告)号：WO2022063545A1
公开(公告)日：2022-03-31
申请号：PCT/EP2021/074340
申请日：2021-09-03
申请人： AUTOSTORE TECHNOLOGY AS
发明人： AUSTRHEIM, Trond , GJERDEVIK, Øystein
IPC分类号： B60L53/16 , B60L53/30 , B65G1/04 , B60L53/35
摘要： The present invention provides a storage system comprising at least one container handling vehicle (8), a horizontal rail grid (108) and a charging system for charging a rechargeable power source (9) of the container handling vehicle, wherein the container handling vehicle comprises a vehicle framework (18), a first set of wheels (10a) and a second set of wheels (10b) for moving the container vehicle upon the rail grid in two perpendicular directions; the charging system comprises two separated charge-receiving elements (11) arranged on a sidewall (20) of the container vehicle and connected to the power source (9), and a charging station (12) comprising a support structure (17) and two separated charge-providing elements (13) connected to a power source charger (14), and the charge-receiving elements (11) are arranged to couple with the corresponding charge-providing elements (13) when the container vehicle is moved in a horizontal connection direction (Y') towards and adjacent to the charging station; wherein each of the charge-providing elements (13) and/or each of the charge-receiving elements (11) are resiliently mounted to the support structure (17) or the vehicle framework (18) and configured to allow independent elastic movement of the resiliently mounted charge-providing element and/or charge-receiving element from a neutral position in a direction perpendicular to the connection direction during coupling of the charge-providing and charge-receiving elements.

6. 发明申请

WO2019092029A1 MULTI CHARGING STATION FOR A STORAGE SYSTEM 审中-公开
公开(公告)号：WO2019092029A1
公开(公告)日：2019-05-16
申请号：PCT/EP2018/080488
申请日：2018-11-07
申请人： AUTOSTORE TECHNOLOGY AS
发明人： AUSTRHEIM, Trond , GJERDEVIK, Øystein , HEGGEBØ, Jørgen, Djuve
IPC分类号： B60L53/30 , B60L53/80 , B60L58/12 , B60S5/06
摘要： The present invention relates to a storage system (3) comprising a bin storing grid (15) for storing storage bins (2) in columns (8) of the grid (15), a base (14) with rails (13) provided on top of the grid (15) and a vehicle (1) configured to move vertically along the rails (13) in a vehicle operating space (S). The system (3) comprises a charging station assembly (100) for charging the rechargeable power sources (106a-d) of the vehicle. The charging station assembly (100) comprises a plurality of charging stations (120a-d) located above each other, each charging station (120a-d) comprising a power source carrier (122) for carrying one of the respective power sources (106a-d). A charging station support (110) is supporting the charging stations (120) in relation to the base (14). A transportation device (140) is connected to the base (14) for vertical displacement of the charging stations (120) in relation to the base (14). A holding device (150) is configured to selectively hold one of the charging stations (120a) at an exchange location (EL) in which the power source carrier (122) of the one charging station (120d) is a predetermined height (H) above the base (14). The transportation device (140) is configured to vertically displace other charging stations (120b-d) to an upper location (UL) above the vehicle operating space (S) or to a lower location (LL) below the vehicle operating space (S).

7. 发明申请

WO2017121593A1 METHOD OF RETRIEVING AN ARTICLE FROM A STORAGE BIN 审中-公开
标题翻译：从存储分区中检索文章的方法
公开(公告)号：WO2017121593A1
公开(公告)日：2017-07-20
申请号：PCT/EP2016/082148
申请日：2016-12-21
申请人： AUTOSTORE TECHNOLOGY AS
发明人： HOGNALAND, Ingvar , AUSTRHEIM, Trond , FJELDHEIM, Ivar , GJERDEVIK, Øystein
IPC分类号： B65G65/23 , B65G1/137
CPC分类号： B65G1/137 , B65G65/23
摘要： The present invention provides a method of retrieving at least one selected article (13) from at least one compartment in a multi-compartment storage bin (4) comprising a bottom plate (15), multiple walls defining multiple compartments (16), and an open face, such that each compartment has a compartment opening (25) opposite the bottom plate, the method comprises the steps of: retrieving the multi-compartment storage bin (4) from a storage column (7) in a storage system (1); covering a part of the open face by a selecting element (17), such that only the compartment opening of the at least one compartment containing the at least one selected article (13) is open; rotating the multi-compartment storage bin (4) following step b), such that the open face is arranged in a downwards direction; and allowing the at least one selected article (13) to exit the at least one compartment in which it was contained; and a system suitable for the method.
摘要翻译：本发明提供了一种从多隔间存储箱（4）中的至少一个隔室取回至少一个选定物品（13）的方法，该多隔间存储箱包括底板（15），多个壁限定多个隔室（16）和敞开的面，使得每个隔室具有与底板相对的隔室开口（25），所述方法包括以下步骤：从存储柱（7）取回多隔室存储箱（4））存储在存储系统（1）中; 通过选择元件（17）覆盖所述开放面的一部分，使得仅容纳所述至少一个选定物品（13）的所述至少一个隔室的隔室开口是开放的; 在步骤b）之后旋转所述多隔间存储仓（4），使得所述开放面沿向下的方向布置; 并允许所述至少一个选择的物品（13）离开其所容纳的至少一个隔室; 以及适合该方法的系统。

8. 发明申请

WO2017121515A1 A STORAGE SYSTEM FOR STORING AND TRANSPORTING BINS 审中-公开
标题翻译：一种存储和传输容器的存储系统
公开(公告)号：WO2017121515A1
公开(公告)日：2017-07-20
申请号：PCT/EP2016/077691
申请日：2016-11-15
申请人： AUTOSTORE TECHNOLOGY AS
发明人： HOGNALAND, Ingvar , FJELDHEIM, Ivar , AUSTRHEIM, Trond , GJERDEVIK, Øystein
IPC分类号： B65G43/10 , B65G1/04 , B65G1/06 , B65G47/57
CPC分类号： B65G1/0464 , B65G1/0485 , B65G1/065 , B65G43/10 , B65G47/57 , B65G2201/0258
摘要： Method and system for storing and transporting a plurality of storage bins (4) to and from an upper (14) and a lower (16) location of a three dimensional storage grid, which is constructed by columns interconnected by top rails. The system comprises a movable continuous chain (12) running from the upper (14) location to the lower (16) location of said storage grid. The chain (12) comprises compartments (18) fitted for holding the bins (4). Robot vehicles (2) are running on the upper (14) location of the storage grid. These are adapted for loading and unloading bins (4) from the compartments (18) in the chain (12). A control system is adapted for controlling loading and unloading of the bins (4) from the compartments (18) in the chain (12).
摘要翻译：用于将多个存储箱（4）存储和传送到三维存储网格的上部（14）和下部（16）位置的方法和系统，所述三维存储网格由列通过顶部导轨相互连接。该系统包括从所述存储网格的上部（14）位置延伸到下部（16）位置的可移动连续链（12）。链条（12）包括适于容纳箱（4）的隔室（18）。机器人车辆（2）在存储网格的上部（14）位置运行。这些适用于从链条（12）中的隔室（18）装载和卸载箱（4）。控制系统适用于控制来自链条（12）中的隔间（18）的垃圾箱（4）的装载和卸载。

9. 发明申请

WO2022243153A1 A STORAGE COLUMN MODULE FOR COUPLING TO A FRAMEWORK STRUCTURE OF AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM 审中-公开
公开(公告)号：WO2022243153A1
公开(公告)日：2022-11-24
申请号：PCT/EP2022/062909
申请日：2022-05-12
申请人： AUTOSTORE TECHNOLOGY AS
发明人： DJUVE, HEGGEBØ, Jørgen , GJERDEVIK, Øystein
IPC分类号： B65G1/04 , B65G1/10 , B65G65/00
摘要： The invention relates to a storage column module (200) for coupling to a framework structure (100) of an automated storage and retrieval system (1), said module (200) comprising at least one storage column (105') for accommodating goods holders (106) inserted by means of a remotely operated vehicle (500) operating on a rail system (108) arranged across the top of the framework structure (100). The at least one storage column (105') comprises a plurality of storage cells (101) each comprising a goods holders support (121) movable between a first position in which said support (121) can obstruct passage of the goods holder (106) moving vertically through the storage cell (101) and a second position in which the vertically moving goods holder (106) can pass through the storage cell (101'). The invention further relates to an automated storage and retrieval system (1) comprising the storage column module (200).

10. 发明申请

WO2022136423A1 AUTOMATED STORAGE AND RETRIEVAL SYSTEM COMPRISING AN ACCESS STATION COMPARTMENT 审中-公开
公开(公告)号：WO2022136423A1
公开(公告)日：2022-06-30
申请号：PCT/EP2021/087074
申请日：2021-12-21
申请人： AUTOSTORE TECHNOLOGY AS
发明人： AUSTRHEIM, Trond , FJELDHEIM, Ivar , HATTELAND, Magne , AARSETH, Simen , GJERDEVIK, Øystein
IPC分类号： B65G1/04 , B65G1/06 , B65G1/137
摘要： The present invention relates to an automated storage and retrieval system (1) comprising a framework structure (100), wherein the framework structure (100) comprises upright members (102), a storage volume comprising columns (105) provided between the members (102), wherein storage containers (106) are stackable in stacks (107) within the columns (105); and a rail system (108) provided on top of the members (102). The automated storage and retrieval system (1) comprises an access station (10); and container handing vehicles (201, 203) configured to move on the rail system (108). The framework structure (100) comprises an access station compartment (90). The access station (10) is insertable into and retrievable out from the access station compartment (90).

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