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公开(公告)号：US20230002156A1
公开(公告)日：2023-01-05
申请号：US17783964
申请日：2020-12-02
发明人： Øystein Gjerdevik , Ragnar Stuhaug
摘要： A method handles malfunctioning vehicles on a track system constituting part of a storage and retrieval system configured to store a plurality of stacks of storage containers. The track system forms a grid pattern of adjacent cells. The storage and retrieval system includes a plurality of remotely operated vehicles configured to move laterally on the track system, wherein each of the plurality of remotely operated vehicles comprises driving wheels, and a control system for monitoring and controlling wirelessly movements of the plurality of remotely operated vehicles. The control system performs at least the following steps by wireless data communication: detecting an anomaly in an operational condition of a vehicle on the track system, registering the vehicle with the anomalous operational condition as a malfunctioning vehicle, registering a halt position of the malfunctioning vehicle relative to the supporting track system, and setting up a two-dimensional shutdown zone on the track system. The setting up a two-dimensional shutdown zone on the track system includes a malfunctioning vehicle zone including the halt position of the malfunctioning vehicle, and an entrance zone for entry into the malfunctioning vehicle zone. The entrance zone extends between the malfunctioning vehicle zone and a location at a periphery of the track system. The control system further performs ordering the remotely operated vehicles in operation within the shutdown zone to either move out of the shutdown zone, a halt or a combination thereof, and indicating allowance of entry into the entrance zone for an external operator by at least one of: unlocking a gateway at the periphery, and producing an entry-allowed signal registrable by a human operator located at the periphery such that the human operator may enter the entrance zone through the gateway.
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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：US12071305B2
公开(公告)日：2024-08-27
申请号：US17283261
申请日：2019-09-23
CPC分类号： B65G1/137 , B65D88/022 , B65D88/121 , B65D90/0006 , B65G1/0464
摘要： The invention relates to a mobile storage system having a mobile container with an automated storage and retrieval system arranged inside. The automated storage and retrieval system has a storage grid structure having vertical members defining multiple columns, such as storage columns for storing storage bins on top of each other in vertical stacks. The vertical members are interconnected at their upper ends by a first rail system arranged to guide at least one bin handling vehicle thereon. The bin handling vehicle is configured to raise storage bins from, and lower storage bins into, the storage columns, and to transport the storage bins above the storage columns. The invention also relates to a method for providing such a system. The invention also relates to a mobile storage system having a plurality of mobile containers connected together and a method for providing such a system.
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公开(公告)号：US20230300872A1
公开(公告)日：2023-09-21
申请号：US18322896
申请日：2023-05-24
发明人： Ragnar Stuhaug , Ingvar Hognaland
IPC分类号： H04W72/542 , H04W74/08 , B65G1/04 , H04W72/563 , H04L7/00 , H04W40/24 , H04W48/16 , H04W48/18 , H04W72/0446
CPC分类号： H04W72/542 , H04W74/0816 , B65G1/0464 , H04W72/563 , H04L7/0008 , H04W40/244 , H04W48/16 , H04W48/18 , H04W72/0446
摘要： In a wireless communication network, a node communicates with a central communication unit via at least one access point. An operating method of the communication node includes receiving, at the node, a wireless signal from the access point; determining, by the node, channel quality information based on the received wireless signal; and determining, by the node, an order of active channels ranked according to the determined channel quality. The operating method further includes selecting, by the node, an active channel for transmitting wireless signals in accordance with the determined order; and transmitting, by the node, wireless signals on the selected, active channel. The access point is configured to filter a message. When operating the access point in a beacon transmit mode, the access point transmits wireless beacon data to the node. In a listening mode, the access point relays data received from the node to the central communication unit.
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公开(公告)号：USD978212S1
公开(公告)日：2023-02-14
申请号：US35513228
申请日：2021-12-09
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公开(公告)号：US20240190017A1
公开(公告)日：2024-06-13
申请号：US18556297
申请日：2022-04-08
CPC分类号： B25J11/008 , B25J5/007 , B25J5/02 , B25J9/1697 , B25J15/0608 , B65G1/0464 , B65G1/0478 , B65G1/065 , B65G2201/0235 , B65G2203/0275
摘要： A service vehicle unit (SVU) is for manoeuvring a container handling vehicle that has stalled on an automated storage and retrieval system. The system includes a rail system having a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) across the top of a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y), which is perpendicular to the first direction (X). The first and second sets of parallel rails dividing the rail system into a plurality of grid cells. At least one container handling vehicle is configured to operate on the rail system. The SVU includes a wheel module configured with a first and second set of wheels, which enable movement of the container handling vehicle in the X and Y direction and which is configured to operate on the rail system. The SVU has a turret and a turret mounted positioner that is attached to the wheel module, and the turret rotates the turret mounted positioner horizontally to attach to the container handling vehicle, used for manoeuvring a container handling vehicle to a predetermined position on the grid by the wheel module.
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公开(公告)号：US11975744B2
公开(公告)日：2024-05-07
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： B65G1/137 , B61B13/00 , B65G1/04 , B65G1/06 , B65G47/06 , B65G47/52 , B65G57/03 , B65G63/06 , B65G65/23 , B65G67/24 , B66F9/06 , B66F9/19 , G05D1/00 , B60W50/00 , B65G43/00 , B65G63/00
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 , G05D2201/0216
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：US20210163222A1
公开(公告)日：2021-06-03
申请号：US15734409
申请日：2019-06-11
发明人： Trond Austrheim , Ragnar Stuhaug
IPC分类号： B65G1/04
摘要： An automated storage and retrieval system includes an automated storage and retrieval grid, a container accessing station, a delivery rail system, and a delivery vehicle operating on the delivery rail system. The automated storage and retrieval grid includes a container handling vehicle rail system for guiding a plurality of container handling vehicles, the container handling vehicle rail system comprising a first set of parallel rails arranged in a horizontal plane (P) and. extending in a first direction (X), and a second set of parallel rails 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 form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent container handling vehicle grid cells, each container handling vehicle grid cell comprising a container handling vehicle grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails; and a delivery column adapted for transport of a storage container arranged in a stack of storage containers beneath the container handling vehicle rail system between a container handling vehicle and a delivery port situated at a lower end of the delivery column. The delivery rail system includes at least a first set of parallel rails arranged in a horizontal plane (P1) and extending in a first direction (X), and at least a second set of parallel rails arranged in the horizontal plane (P1) and extending in a second direction (Y) which is orthogonal to the first direction (X), the first and second sets of rails together defining a delivery grid of delivery grid cells. The delivery vehicle includes a motorized vehicle body and a container carrier provided above the motorized vehicle body for carrying the storage container. The delivery vehicle is arranged to transport the storage container from the delivery port of the storage grid across the delivery grid to the delivery grid cell situated below the container accessing station. The container accessing station includes an access opening through which a human and/or robot may access contents of the storage container; a base opening; and a lifting device arranged to retrieve the storage container from a first level beneath the base opening and lift it up through the base opening to a second level so that the storage container may be accessed through the access opening. The delivery vehicle is arranged to deliver the storage container to the lifting device of the container accessing station, or receive a storage container from the lifting device and return the storage container to the delivery port for storage within the storage grid.
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公开(公告)号：US20240246578A1
公开(公告)日：2024-07-25
申请号：US18627225
申请日：2024-04-04
发明人： Ragnar Stuhaug , Karl Hatteland , Ingvar Fagerland , Øystein Gjerdevik , Trond Austrheim , Synnøve Matre
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
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 , B60W50/0098 , B60W2710/06 , B60W2720/10 , B60W2720/24 , B65G1/1378 , B65G43/00 , B65G63/004 , B65G2201/0235 , B65G2201/0258 , B65G2203/0283 , B65G2203/042
摘要： A method controls the operation of container handling vehicles and remotely operated specialized container handling vehicles. A specified storage container is to be transferred from a storage column and its corresponding grid cell to a specialized container handling vehicle. The method includes determining, by an operational controller, which container handling vehicle shall be assigned for the job; sending instructions to a first controller in the selected container handling vehicle instructing the selected container handling vehicle to pick up the storage container from the grid cell and to lower the storage container to a selected port; assigning a specific specialized container handling vehicle of the remotely operated specialized container handling vehicles to retrieve the specified storage container from the port; and transmitting instructions from the operational controller to a second controller in the specific specialized container handling vehicle to retrieve the specified storage container at the selected port. The specific specialized container handling vehicle is selected based on minimizing the total elapsed time for transferring the storage container between the selected container handling vehicle and the specific specialized container handling vehicle.
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10.发明公开公开(公告)号：US20240132119A1
公开(公告)日：2024-04-25
申请号：US18545595
申请日：2023-12-19
发明人： Ragnar Stuhaug , Øystein Gjerdevik
IPC分类号： B61B13/00 , B65G1/04 , B65G1/06 , B65G1/137 , B65G47/06 , B65G47/52 , B65G57/03 , B65G63/06 , B65G65/23 , B65G67/24 , B66F9/06 , B66F9/19
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 , B60W50/0098
摘要： A method for handling malfunctioning vehicles on a rail system constituting part of a storage and retrieval system includes storing a plurality of stacks of storage containers and a control system. The storage and retrieval system includes a plurality of remotely operated vehicles configured to move laterally on the rail system. The method includes wirelessly monitoring and controlling, via the control system, movements of the plurality of vehicles. The method includes forming the control system by wireless data communication including: registering an anomaly in an operational condition of a vehicle on the rail system; registering the vehicle with the anomalous operational condition as a malfunctioning vehicle; bringing the malfunctioning vehicle to a halt; registering a halt position of the malfunctioning vehicle relative to the rail system; setting up a two-dimensional shutdown zone within the rail system into which the malfunctioning vehicle is halted; and updating movement pattern of the plurality of remotely operated vehicles outside the two-dimensional shutdown zone such that entrance into the two-dimensional shutdown zone is avoided.
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