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公开(公告)号：US20230174302A1
公开(公告)日：2023-06-08
申请号：US17924217
申请日：2021-05-18
CPC分类号： B65G1/065 , B65G1/0464 , B65G1/0478 , B60B19/003 , B65G2201/0235
摘要： A container handling vehicle for lifting a storage container from an underlying framework structure includes a vehicle body and a container lifting assembly for lifting the storage container. The vehicle body includes a wheeled base, a support, and at least one cantilevered section. The wheeled base includes a first set of wheels, arranged on opposite sides of the vehicle body, for moving the vehicle along a first direction on a rail grid at a top level of the underlying framework structure, and a second set of wheels arranged on other opposite sides of the vehicle body, for moving the vehicle along a second direction on the rail grid, the second direction being perpendicular to the first direction. The support includes a lower end connected to the wheeled base and an upper portion connected to the cantilevered section. The container lifting assembly includes a lifting frame and a plurality of lifting bands. The lifting frame is for releasable connection to a storage container and suspended from the cantilevered section by the lifting bands, such that the lifting frame may be raised or lowered relative to the cantilevered section. The cantilevered section extends laterally from the upper portion of the support and is arranged to rotate horizontally about a vertical axis relative to the wheeled base between a first position and a second position. In the first position, the cantilevered section extends beyond the wheeled base, such that the lifting frame may retrieve or deliver a storage container from/to a storage column of the framework structure. In the second position the cantilevered section extends in an opposite direction relative to the direction in the first position. The support holds the cantilevered section above the wheeled base at a height corresponding to a height of multiple storage containers, such that a vertical distance between the lifting frame, when the lifting frame is in an upper position, and the lower end of the support is larger than the height of two storage containers stacked on top of each other.
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公开(公告)号：US20230145325A1
公开(公告)日：2023-05-11
申请号：US17907598
申请日：2021-03-23
发明人： Trond Austrheim , Ingvar Fagerland
CPC分类号： B65G1/1373 , B65G1/026 , B65G1/0464
摘要： A storage tower for storing storage containers includes a plurality of horizontally extending container supporting frameworks distributed with vertical offsets. The plurality of horizontal container supporting frameworks includes a first container supporting framework and at least one second container supporting framework arranged beneath and extending parallel to the first container supporting framework. Each of the first and the at least one second container supporting frameworks includes a horizontally extending container support with principal directions in a first direction and an orthogonal second direction. Each container support is configured as a matrix of container spaces with a plurality of columns of container spaces arranged in the first direction and a plurality of rows of container spaces arranged in the second direction. Each row of container spaces of the first container supporting framework is configured to receive a plurality of storage containers and displays at least one opening extending along the second direction, the at least one opening having an opening size being at least a maximum horizontal cross section of the storage containers to be stored. The at least one opening of the first container supporting framework and the at least one opening of the at least one second container supporting framework can be aligned vertically with respect to each other. At least one container support is displaceable along the second direction. At least one container supporting framework further includes a support displacement device configured to displace the displaceable container support.
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公开(公告)号：US20230136087A1
公开(公告)日：2023-05-04
申请号：US17907636
申请日：2021-03-23
发明人： Ingvar Fagerland
摘要： Movement is controlled of a plurality of container handling vehicles on a rail system arranged at least partially across a top of a framework structure of an automated storage and retrieval system, on which rail system the plurality of container handling vehicles are operable to raise storage containers from, and lower storage containers into, storage columns arranged in rows between upright members and horizontal members of the framework structure. The storage containers are also transported above the storage columns. The movement control is performed by a central operational controller which is in communication with a local controller in each container handling vehicle. The central operational controller receives data relating to a subsection of the rail system. The data includes a container handling vehicle movement threshold for the subsection. The central operational controller instructs a container handling vehicle to follow a path which takes in at least a part of the subsection. The central operational controller instructs the container handling vehicle to reduce speed and/or acceleration such that the movement of the container handling vehicle within the subsection is below the container handling vehicle movement threshold of the sub section.
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4.发明公开公开(公告)号：US20240002150A1
公开(公告)日：2024-01-04
申请号：US18252639
申请日：2021-11-19
CPC分类号： B65G1/0464 , B65G1/065 , F25D13/04 , F25D17/005 , F25D17/045
摘要： An automated grid based storage and retrieval system includes a framework structure including upright members and a grid of horizontal rails provided at upper ends of the upright members. The framework structure defines a plurality of storage volumes arranged adjacent one another below the horizontal rails. The storage volumes are open against the horizontal rails such that storage container vehicles may lower and raise storage containers into and out of the storage volumes. The system includes a plurality of vertical walls surrounding each of the plurality of storage volumes, and a cooler system adapted to draw air from an input of the cooler system, cool the air drawn from the input, and blow cooled air through an output of the cooler system. For each of the plurality of storage volumes, the system further includes a first air damper connected between the output of the cooler system and an air release area above the storage volume, and a second air damper connected between a void beneath the storage volumes and the input of the cooler system. The system includes a controller. The controller is adapted, independently for each of the plurality of storage volumes, to adjust airflow through the first air damper associated with that storage volume to control an overpressure and air temperature in the air release area, and to adjust airflow through the second air damper associated with that storage volume to control an underpressure in the void, such that a storage volume temperature is controlled separately for each of the plurality of storage volumes. The storage volume temperature is regulated by the air temperature in the air release area and by controlling a pressure differential between the overpressure in the air release area and the underpressure in the void in each of the storage volumes.
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公开(公告)号：US20230142454A1
公开(公告)日：2023-05-11
申请号：US17906961
申请日：2021-03-26
CPC分类号： B65G1/1375 , B65G1/0464 , B65G1/0478 , B65G1/1371
摘要： A system for condition-based maintenance of an automated storage and retrieval system includes a framework structure with a rail system forming a three-dimensional storage grid structure for storing storage containers for storing items. The grid structure forms vertical storage columns each having a horizontal area defined by the size of an access opening between rails of the rail system that are arranged on the framework structure. The rail system provides available routes for container handling vehicles handling and transferring the storage containers to and from the storage columns. At least one container handling vehicle which has a container handling platform with a set of grippers for handling the storage containers. The grid structure includes one or more ports for extracting containers from the storage grid so that the storage containers can be picked and a service station for performing maintenance on the components of the storage and retrieval system. The system further includes a plurality of sensors configured to be attached to components of the storage and retrieval system for providing condition-based information linked to parts and components of the storage and retrieval system, a service regime manager configured to retrieve condition-based information from the plurality of sensors and create a service regime based on the condition-based information linked to parts and components of the storage and retrieval system and send the service regime to a local service station where condition-based maintenance is performed, and a central computer system. The central computer system is configured to: receive the condition-based information from the plurality of sensors and decide what information is to be sent to a global computer system that is part of the system for condition-based maintenance, and further sending only the information that can be of interest to other storage and retrieval systems. The global computer system is configured to receive the condition-based information from the central computer system and determine trends regarding component servicing or changing of components and further the global computer system transfers the information on the trend to the individual central computer system's service regime manager.
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公开(公告)号：US20220267094A1
公开(公告)日：2022-08-25
申请号：US17596367
申请日：2020-05-07
发明人： Ingvar Fagerland
摘要： A storage system includes at least one consolidation vehicle, a transfer rail grid, an item picking area, and an item delivery station. The consolidation vehicle includes a wheel arrangement for moving the consolidation vehicle in two perpendicular directions upon the transfer rail grid. The consolidation vehicle may be positioned upon the item picking area to receive multiple items picked from at least one storage container, and an item picker is arranged to pick items from the storage container and transfer them to the consolidation vehicle. The consolidation vehicle may be positioned upon the item delivery station to deliver items received from the storage container to a packaging/processing assembly. The consolidation vehicle includes an item carrier arranged such that items may be emptied from the item carrier when the consolidation vehicle is positioned at the item delivery station.
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公开(公告)号：US20220260982A1
公开(公告)日：2022-08-18
申请号：US17661844
申请日：2022-05-03
IPC分类号： G05B19/418 , B65G1/04 , B65G1/137 , B66F9/06
摘要： An automated storage and retrieval system includes a track system including 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 orthogonal to the first direction, forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells. Each grid cell includes a grid opening. A plurality of stacks of storage containers are arranged in storage columns located beneath the track system. Each storage column is located vertically below the grid opening. A plurality of container handling vehicles for lifting and moving storage containers stacked in the stacks are configured to move laterally on the track system above the storage columns to access the storage containers via the grid openings. Each container handling vehicle includes a protruding section which extends horizontally beyond a footprint of the container handling vehicle and, when the container handling vehicle is positioned at a grid cell, into a neighbouring grid cell, and a recessed section arranged to accommodate the protruding sections of another container handling vehicle when operating over a neighbouring grid cell.
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公开(公告)号：US20220258978A1
公开(公告)日：2022-08-18
申请号：US17625945
申请日：2020-05-29
发明人： Ingvar Fagerland
摘要： A storage and retrieval system includes a grid structure with storage columns and a corresponding rail system above the storage columns for guiding movements of the vehicles adapted for transferring storage containers to and from the storage columns. Each vehicle includes a vehicle controller connected to driving unit and sensors for controlling movements of the vehicle along the rail system relative to movements of other vehicles, A method for autonomous controlling movements of the vehicles, performed in the vehicle controller of each vehicle, includes: a) using a map defining rail layout and traffic rules for where and when vehicles can move on the rail system, and wherein the map is the same for all vehicles operating in the storage and retrieval system; b) synchronizing the vehicle controller to a clock common for all vehicles; c) receiving an instruction from a master controller instructing the vehicle to move to a specified destination on the rail system relative to the map; d) letting the vehicle controller determine a route to follow on the rail system from a current position of the vehicle to the specified destination based on the map, the traffic rules, distance to other vehicles and movements of the other vehicles; e) controlling the movements of the vehicle along the rails system from the current position of the vehicle to the specified destination according to the determined route; and f) repeating steps d) and e) until the vehicle has reached the specified destination.
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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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10.发明授权公开(公告)号：US12071167B2
公开(公告)日：2024-08-27
申请号：US18320616
申请日：2023-05-19
IPC分类号： B61B13/00 , B60W50/00 , B65G1/04 , B65G1/06 , B65G1/137 , B65G43/00 , B65G47/06 , B65G47/52 , B65G57/03 , B65G63/00 , B65G63/06 , B65G65/23 , B65G67/24 , B66F9/06 , B66F9/19 , G05D1/00 , G05D1/02
CPC分类号： B61B13/00 , B65G1/0414 , B65G1/0457 , B65G1/0464 , B65G1/0471 , B65G1/0478 , B65G1/0485 , B65G1/0492 , B65G1/065 , B65G1/1375 , B65G47/06 , B65G47/52 , B65G57/03 , B65G63/06 , B65G65/23 , B65G67/24 , B66F9/063 , B66F9/19 , G05D1/0011 , G05D1/021 , G05D1/0291 , B60W50/0098 , B60W2710/06 , B60W2720/10 , B60W2720/24 , B65G1/1378 , B65G43/00 , B65G63/004 , B65G2201/0235 , B65G2201/0258 , B65G2203/0283 , B65G2203/042 , G05D1/02 , G05D1/0229 , G05D1/0231 , G05D1/0259 , G05D1/0289
摘要： An automated storage and retrieval system includes a grid-based rail structure and a plurality of remotely operated delivery vehicles arranged to operate on the grid-based rail structure. The automated storage and retrieval system includes 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 is arranged to latch to a motorized vehicle body of the remotely operated delivery vehicle, and to lock the remotely operated delivery vehicle against accidental displacement prior to interaction with the human and/or robotic operator. The locking device is arranged to unlock the remotely operated delivery vehicle once interaction with the human and/or robotic operator is no longer required.
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