Autostore Technology As

Ingvar Fagerland

Trond Austrheim

Ivar Fjeldheim

Øystein Gjerdevik

Ragnar Stuhaug

Synnøve Matre

Karl Hatteland

Jørgen Djuve Heggebø

Uwe Gruenbeck

Ole Alexander Mæhle

Ole Andreas Haddeland

HeggebØ Jørgen Djuve

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.

System and method of temperature control in an automated grid based storage and retrieval system

A method for storing containers in an automated storage and retrieval system includes a framework structure including upright members, horizontal members and storage columns provided between the members. Storage containers are stackable in stacks within the storage columns. The method includes: defining a first storage area, wherein the first storage area includes specific storage columns within the framework structure; setting a first maximum weight threshold for the first storage area; determining a total weight for all storage containers stored in the first storage area; determining a weight for a further storage container which is to be stored within the framework structure; and determining a storage position for the further storage container to be within the first storage area if the sum of the total weight and the weight of the further storage container is below the first maximum weight threshold, or determining the storage position for the further storage container to be outside of the first storage area if the sum of the total weight and the weight of the further storage container is above the first maximum weight threshold.

Method for distribution of storage containers in an automated storage and retrieval system

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.

Method and system for controlling the operation of container handling vehicles and drones serving an automated storage and retrieval system

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.

Method and system for autonomous controlling of movements of container handling vehicles operating in an automated storage and retrieval system

A storage tower for storing storage containers includes a vertically extending supporting structure having a vertical axis, and m horizontally oriented container supports arranged along the vertical axis of the supporting structure and supported by container supporting frameworks to provide different levels where storage containers can be stored. The container supports are distributed at vertical intervals and m is a positive integer of 2 or more. Each container support is rotationally connected to the support structure and configured to support at least one storage container. Each level of the l container supports that are arranged above the remaining levels of m−l container supports each displays at least one opening having a size being at least a maximum horizontal cross section of the storage containers to be stored, l being a positive integer of 1 to m−1. The l container supports can be rotated about the vertical axis independently such that at least one opening of each level of the l container supports is vertically alignable with at least one opening of the other levels of the l container supports by individual rotation of the container supports.

Automated storage tower with carousel

The present invention relates to an automated storage and retrieval system having: a track system forming a grid pattern comprising a plurality of adjacent grid cells, each comprising an opening below which is a storage column for storing a stack of storage containers; a container handling vehicle for lifting storage containers, the vehicle comprising a lower part having at least one container storage compartment, an upper part above the lower part, rolling means for movement along the track system, and a compartment in the upper part for accommodating/receiving a replaceable power supply; the replaceable power supply which has a charging connection; and a charging station comprising a charging connection for connection with the power supply and a support for releasably supporting the power supply during charging; wherein the vehicle comprises a second battery to allow movement of the vehicle when void of the replaceable power supply.

Automated storage and retrieval system

A container handling vehicle includes a lower part and an upper part. The lower part includes a width and a length that form a vehicle footprint of the container handling vehicle; and a storage space configured to accommodate a storage container. The lower part includes a first set of wheels oriented in a first vertical plane and a second set of wheels oriented in a second vertical plane orthogonal to the first vertical plane. The lower part includes a first set of vertical side walls that are co-planar to the first vertical plane, and a second set of vertical side walls that are co-planar to the second vertical plane. The first set of wheels, the second set of wheels, the first set of vertical side walls, and the second set of vertical side walls are arranged such that the lower part of the container handling vehicle has a cuboid shape. The upper part is disposed vertically above the lower part, and includes a protruding section and a recessed section. The protruding section is configured to extend beyond the lower part. The recessed section has a shape complimentary to the protruding section such that the recessed section is configured to receive other protruding sections of other container handling vehicles.

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 into a neighbouring grid cell, and a recessed section arranged to accommodate the protruding sections of another container handling vehicle.

A method of operating an automated storage and retrieval system includes: a rail system including a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the horizontal plane including a plurality of adjacent grid cells, a central control unit configured to receive, transmit and process data signals of a plurality of container handling vehicles for handling storage containers of the automated storage and retrieval system. Each container handling vehicle includes a vehicle body, a wheel assembly provided on the vehicle body, the wheel assembly being configured to move the vehicle along the rail system in both of the first direction and the second direction, a vehicle control unit configured to receive data signals from, transmit data signals to and process data signals of the central control unit, and a proximity sensor system configured to detect another container handling vehicle of said plurality of container handling vehicles and determine whether or not it is within a predetermined distance. The method includes detecting with the central control unit that access of a first container handling vehicle to a target cell, which is one of the plurality of grid cells, is blocked by a second container handling vehicle, transmitting a data signal from the central control unit to the vehicle control unit of the first container handling vehicle commanding the first container handling vehicle to move into the target cell when the second container handling vehicle is beyond said predetermined distance.

Method of operating an automated storage and retrieval system

A container accessing station is configured to offer multiple access points where access to each access point may be permitted through an upper working surface of the container accessing station to an underlying container that has been delivered to the access point. The container accessing station includes one or more working surface sections, access panels and blanking-off panels. Each working surface section has a common attachment configuration to allow either the access panel or the blanking-off panel to be fitted as part of the container accessing station at any of the multiple access points.

Modular container accessing station

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.

Storage grid with container accessing station with locking device to lock remotely operated vehicle

An automated storage and retrieval system includes a track system forming a grid pattern in the horizontal plane including a plurality of adjacent grid cells, each grid cell including a grid opening. A plurality of storage columns is located beneath the track system. Each storage column is located vertically below a grid opening and arranged to store a stack of storage containers. A container handling vehicle for lifting at least one storage container stacked in the stacks is configured to move laterally on the track system above the storage columns to access the storage containers via the grid openings. The container handling vehicle includes a lower part including at least one storage compartment for storing a storage container, an upper part arranged vertically above the lower part, a wheel assembly for guiding the container handling vehicle along the track system and a power supply compartment for accommodating a replaceable power supply; a replaceable power supply for accommodation in the power supply compartment, having a power supply charging connection. A charging station for charging of the replaceable power supply includes a charging connection configured to create an electrical connection with the power supply charging connection and a power supply support for releasably supporting the power supply during charging. The power supply compartment is arranged in the upper part of the container handling vehicle and is configured to receive the replaceable power supply via an opening.

Automated storage and retrieval system with a charging station for charging of a replaceable power supply of a container handling vehicle

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.

An automated storage and retrieval system includes a track system including a first set of tracks arranged in a horizontal plane and extending in a first direction, and a second set of tracks arranged in the horizontal plane and extending in a second direction that is orthogonal to the first direction. The first set of tracks and the second set of tracks form a grid pattern in the horizontal plane including a plurality of adjacent grid cells. Each grid cell includes an opening defined by the first set of tracks and the second set of tracks such that the track system includes a plurality of openings. A plurality of storage containers are arranged in columns beneath the track system such that the storage containers are located vertically below the openings. A plurality of container handling vehicles for lifting and moving the storage containers are configured to move on the track system and access the storage containers via the openings. Each container handling vehicle of the container handling vehicles includes a lower part in contact with the track system and an upper part. The lower part has a width and a length that form a vehicle footprint. The vehicle footprint of the lower part has dimensions smaller than the opening such that a contact area of the container handling vehicle does not extend into an adjacent grid cell. The upper part, which is disposed vertically above the lower part, includes a protruding section and a recessed section. The protruding section is configured to extend beyond the lower part into the adjacent grid cell. The recessed section is of a complimentary shape to the protruding section such that the recessed section is configured to receive other protruding sections of other vehicles of the container handling vehicles. The lower part further includes a storage space configured to accommodate a storage container of the storage containers.

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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Kolnes, Norway

Ingvar Fagerland