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    Method and system for controlling the operation of container handling vehicles and drones serving an automated storage and retrieval system
    2.
    发明授权
    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：US11975744B2

    公开(公告)日：2024-05-07

    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： B65G1/137 ,  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.

    Container lifting and positioning support
    9.
    发明授权
    Container lifting and positioning support 有权

    公开(公告)号：US09963307B2

    公开(公告)日：2018-05-08

    申请号：US14797228

    申请日：2015-07-13

    申请人： Phillip Stoloff

    发明人： Phillip Stoloff

    IPC分类号： B65G65/23 ,  B67D7/84

    CPC分类号： B65G65/23 ,  B67D7/845

    摘要： Apparatus and associated methods relate to a user height adjustable container support system having an elevated upper base, where the upper base is designed to receive and hingedly couple to a container so that a user may tilt the container while the upper base supports the container.

    System for overturning tanks of kneading machines
    10.
    发明授权
    System for overturning tanks of kneading machines 有权

    公开(公告)号：US09907313B2

    公开(公告)日：2018-03-06

    申请号：US15253479

    申请日：2016-08-31

    申请人： Sancassiano S.p.A.

    发明人： Davide Drocco

    IPC分类号： A21C1/14 ,  B66F9/02 ,  A21C1/00 ,  B65G65/23 ,  B08B1/00

    CPC分类号： A21C1/1445 ,  A21C1/006 ,  B08B1/00 ,  B65G65/23 ,  B66F9/02

    摘要： A system for overturning tanks, in particular tanks of kneading machines, includes a vertical supporting structure, an overturning unit, which is mobile along the structure between a lowered position and a raised position and can turn about an axis transverse to the vertical direction, and a system for driving the movement of said unit between said lowered position and said raised position. A further actuation system is provided for governing the movement of rotation of said unit independently of said movement between said lowered position and said raised position.