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61.发明申请公开(公告)号：US20210179355A1
公开(公告)日：2021-06-17
申请号：US16760805
申请日：2018-10-16
摘要： An automated storage and retrieval system that includes a rail system that includes 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 that is orthogonal to the first direction. The first and second sets of tracks form a grid pattern in the horizontal plane including a plurality of adjacent grid cells, each grid cell includes a grid opening defined by a pair of neighboring tracks of the first set of tracks and a pair of neighboring tracks of the second set of tracks; and a plurality of stacks of storage containers arranged in storage columns located beneath the rail system, where each storage column is located vertically below a grid opening.
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公开(公告)号：US20210147145A1
公开(公告)日：2021-05-20
申请号：US17047293
申请日：2018-10-11
发明人： Trond Austrheim
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.
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公开(公告)号：US20210130090A1
公开(公告)日：2021-05-06
申请号：US17251760
申请日：2019-06-11
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.
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公开(公告)号：US20210101744A1
公开(公告)日：2021-04-08
申请号：US17126696
申请日：2020-12-18
发明人： Ingvar Hognaland
摘要： A storage system for storing product items includes a grid structure and a number of first storage bins configured to be stored in vertical stacks in the grid structure. Each first storage bin is configured to contain at least one product item. A vehicle is arranged to move horizontally at the top level of the grid structure, and further arranged to pick up, carry, and place the first storage bins at desired locations within the grid structure. The storage system further includes a robot device that includes a movable arm with a picking mechanism in one end thereof. The robot device is configured to move a storage item between a first location and a second location by means of its picking mechanism. The first location is the location of a first storage bin stored in the storage grid.
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65.发明申请公开(公告)号：US20200307911A1
公开(公告)日：2020-10-01
申请号：US16765563
申请日：2018-03-05
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.
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66.发明授权公开(公告)号：US10703564B2
公开(公告)日：2020-07-07
申请号：US16061959
申请日：2017-01-05
发明人： Ingvar Hognaland , Ivar Fjeldheim
摘要： A remotely operated vehicle, for picking up a storage bin from an underlying storage system, may include a vehicle body having a cavity adapted to contain the entire storage bin, vehicle rolling means for movement of the vehicle on the underlying storage system, and a lifting assembly for lifting the storage bin from the underlying storage system to a position above the lowest level of the vehicle rolling means. Additionally, the lifting assembly may include a lifting frame, a rotatable lifting shaft, a first lifting band assembly, and a second lifting band assembly. Further, the lifting frame is connectable to the storage bin and the rotatable lifting shaft is arranged in an upper part of the vehicle body.
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公开(公告)号：US10654661B2
公开(公告)日：2020-05-19
申请号：US16072705
申请日：2017-01-31
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.
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公开(公告)号：US20200064854A1
公开(公告)日：2020-02-27
申请号：US16347138
申请日：2017-10-24
IPC分类号： G05D1/02
摘要： Method and vehicle for tracking the position of a remotely operated vehicle following a set route relative to tracks laid out on a frame structure forming a grid, the vehicle having first and second sets of wheels connected to drives for moving the vehicle in corresponding x- and y-directions on the grid, the method comprising: receiving information of the number of track crossings to pass between start and stop positions in x- and y-directions according to the set route; directing sensors attached to the vehicle at the tracks along the route of the vehicle; detecting and monitoring track crossings passed when moving the vehicle in the x- and y-directions according to the set route, and transmitting a signal to a controller, controlling the drives of the wheels of the vehicle, when the number of track crossings passed is close to the total number of track crossings to pass between the start and stop positions in respective x- and y-directions along the set route.
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公开(公告)号：US20200031575A1
公开(公告)日：2020-01-30
申请号：US15580881
申请日：2016-06-10
发明人： Ingvar Hognaland
摘要： A storage system for storing product items includes a grid structure and a number of first storage bins configured to be stored in vertical stacks in the grid structure. Each first storage bin is configured to contain at least one product item. A vehicle is arranged to move horizontally at the top level of the grid structure, and further arranged to pick up, carry, and place the first storage bins at desired locations within the grid structure. The storage system further comprises a robot device comprising a movable arm with a picking mechanism in one end thereof. The robot device is configured to move a storage item between a first location and a second location by means of its picking mechanism. The first location is the location of a first storage bin stored in the storage grid.
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公开(公告)号：US20190031446A1
公开(公告)日：2019-01-31
申请号：US16072705
申请日：2017-01-31
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.
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