Autostore Technology As

Jørgen Djuve Heggebø

Trond Austrheim

Ivar Fjeldheim

Ingvar Hognaland

Helge Steinbru Lauvsnes

Ingvar Fagerland

Øystein Gjerdevik

Ragnar Stuhaug

Børge Bekken

Uwe Gruenbeck

Geir Korge-Hårajuvet

Ole Alexander Mæhle

Synnøve Matre

Kenneth Müller

ØYstein Gjerdevik

A container handling vehicle operates on a two-dimensional rail system. The two-dimensional rail system includes a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction 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 vehicles in a second direction which is perpendicular to the first direction. The container handling vehicle includes a wheel base unit, a support section, a cantilever section, a lifting frame, four guiding sheaves, four lifting bands, a lifting shaft, and a lifting device motor. The wheel base unit includes first and second sets of wheels for guiding the container handling vehicle along the rail system in the first and second directions respectively. The support section extends vertically from the wheel base unit. The support section has a footprint with a horizontal extent. The cantilever section extends from the support section. The lifting frame is suspended in a horizontal orientation from the cantilever section by a plurality of lifting bands. The lifting frame includes a releasable connection for connecting to a storage container. The guiding sheaves are provided in the cantilever section. Each of the guiding sheaves are arranged for guiding and supporting one of the four plurality of lifting bands and the lifting frame. The lifting shaft for winding up and unwinding the plurality of lifting bands. The lifting device motor rotates the at least one lifting shaft. A first and second wheel in a first pair of wheels in the first set of wheels are arranged closer to the cantilever section than a third and fourth wheel in a second pair of wheels of the first set of wheels. At least one of the lifting shaft and the lifting device motor are arranged closer to the third and fourth wheel than the first and second wheel in the first set of wheels. At least one of the lifting shaft and the lifting device motor is arranged within the wheel base unit.

Container handling vehicle with increased stability

A container handling vehicle for lifting a storage container from an underlying framework structure includes a container lifting assembly for lifting the storage container and a vehicle body. The container lifting assembly includes a lifting frame for releasable connection to a storage container, a lifting shaft assembly, and a plurality of lifting bands. The lifting bands are connected to the lifting frame and the lifting shaft assembly such that the lifting frame may be raised or lowered by operating the lifting shaft assembly. The vehicle body includes a sidewall and a cantilevered section from which the lifting frame depends. The cantilevered section extends laterally from an upper end of the sidewall. The container lifting assembly features a lifting frame guide assembly comprising a first guide device and a cooperating second guide device. The first guide device is provided on the lifting frame. The second guide device is slidably connected to the sidewall via at least one vertically extending rail, such that the second guide device can move in a vertical direction relative to the sidewall. The first guide device and the second guide device are arranged to interact with each other when the lifting frame is adjacent the sidewall, such that horizontal movement of the lifting frame relative to the vehicle body is restricted.

Container handling vehicle

A control system controls an automated storage and retrieval system to perform a method including receiving a plurality of orders in an order list; allocating each order to one of a plurality of pick-up entities; ranking the plurality of orders in the order list according to time received; estimating, for each order, a preparation time for preparing and delivering the order to a pick-up point for pick-up by the allocated pick-up entity; estimating, for each order, a pick-up time at which the allocated pick-up entity will be ready to pick up the order based on information about the allocated pick-up entity; comparing, for each order, the estimated preparation time and the estimated pick-up time; updating the ranking of the orders in the order list so that each order will be delivered at the pick-up point at a time within a predetermined time interval overlapping the estimated pick-up time of the allocated pick-up entity; and controlling the automated storage and retrieval system for preparing and delivering the orders of goods at the pick-up point according to the updated ranking of orders in the order list.

Method and control system for preparing orders of goods stored in an automated storage system

A vehicle, which is for use in an automated storage and retrieval system, includes a transport mechanism and a lifting device. The transport mechanism is for transporting the vehicle along a first guiding system in a first direction and a second guiding system in a second direction. The second direction is orthogonal to the first direction. The lifting device is for lifting storage containers from storage columns arranged below the vehicle. The lifting device includes a lifting frame connectable to a storage container. The vehicle further includes at least one reader for reading at least one label of a storage container such as to identify the storage container. The at least one reader is arranged on the lifting frame of the vehicle.

Automated storage and retrieval system comprising container identification means and methods of identifying a container or a vehicle

An automated storage and retrieval system includes a rail system, at least one vehicle operating on the rail system, at least one charging station on or at the perimeter of the rail system, and a control system. The rail system includes a first set of parallel rails extending in a first direction and a second set of parallel rails extending in second direction. The second direction is perpendicular to the first direction. The at least one vehicle includes at least one power storage source, and a local controller adapted to control movements of the at least one vehicle. The at least one charging station is adapted to be electrically connected with the at least one power storage source of the at least one vehicle. The control system is adapted to communicate with the local controller in the at least one vehicle and the at least one charging station. The control system is further adapted to, upon detecting a failure with the charging station, instruct the at least one vehicle to move to the at least one charging station such that the at least one power storage source of the vehicle electrically connects to the at least one charging station. The at least one charging station is further adapted to, transmit a charger diagnostic to the control system using power from the at least one power storage source of the at least one vehicle.

System and method of determining status of a charging station

An automated storage and retrieval system includes a storage grid configured to store a plurality of storage containers in vertical stacks, a plurality of remotely operated vehicles, and a rail system including rails and tracks onto which the plurality of remotely operated vehicle operates. The automated storage and retrieval system includes a first area and a second area. The first area is linked to the second area for passage of one or more of the plurality of remotely operated vehicles by a vehicle pen. The vehicle pen includes an entry barrier and an exit barrier to regulate the passage of the of one or more vehicles between the first and second area. The entry and exit barriers are moveable between an open position in which passage of the one or more of the vehicles is allowed, and a closed position in which passage of the one or more vehicles is restricted. The entry and exit barriers are regulated such that the entrance barrier can be opened only when the exit barrier is closed, and vice versa.

Automated storage and retrieval system with a vehicle pen

Power management system for a container-handling vehicle, with a rechargeable power source, for handling storage containers in an automated storage/retrieval system includes a charging station for recharging the rechargeable power source of the container-handling vehicle, a power supply for delivering power to the storage system, a power monitoring device coupled to the power supply, and a control system for controlling the operation of the automated storage/retrieval system. The power monitoring device monitors available power from the power source entering the automated storage/retrieval system and communicate a signal to the control system indicative of the available power. The control system is responsive to that signal and manages power consumption through modifying the operation of the container-handling vehicle and/or the charging station to reduce power consumption of the respective container-handling vehicle and/or the charging station in the event that the signal indicates that the available power has dropped below a threshold level.

Dynamic power management

An automated storage and retrieval system includes remotely operated vehicles, a main grid in which the vehicles operates, a service grid for placement of vehicles for service, and a control system for controlling the vehicles. The control system includes a data record for the status of a vehicle state for each vehicle. Each remotely operated vehicle includes a label and the service grid includes a reader for reading the label so as to identify each vehicle passing the reader. The control system receives a signal from the reader and, upon receipt, compares the data record with an observed vehicle state of the identified vehicle and either updates the data record with the observed vehicle state or indicates to an operator that a difference exists between the observed vehicle state and the vehicle state on the control system.

Robot position detection system

A system for power management of an automated storage and retrieval system includes a plurality container handling vehicles with at least one rechargeable power source for handling containers in a three dimensional underlying storage grid, a charging device for charging the at least one rechargeable power source, a power source for supplying power to the storage and retrieval system, and a monitoring system for monitoring energy prices. The monitoring system is configured to continuously update a power manager with energy prices. The power manager is configured to be updated with information regarding the level of charge of the rechargeable power sources and current resources in terms of the capacity and usage requirements of the container handling vehicles. The power manager is configured to adjust a power strategy of the automated storage and retrieval system according to the energy prices and to control the stored energy as an additional power source for the storage system during periods of high energy cost.

System and method for power management

A method for controlling movement of a robot on a plurality of tracks laid out on a frame structure forming a grid includes detecting a current speed and an angular position for one wheel in a pair of wheels of the robot; tracking a current position of the robot relative to at least a portion of the frame structure; and setting a driving sequence for the pair of wheels, based on a position information of the robot.

Controlling movements of a robot running on tracks

A vehicle for an automated storage and retrieval system is configured to follow a set route on a track being laid out in the automated storage and retrieval system and having one or more track features. The vehicle includes a first set of wheels capable of moving the vehicle in a first direction; a second set of wheels capable of moving the vehicle in a second direction perpendicular to the first direction; and a plurality of sensors attached to the vehicle and configured to detect track features and to measure a distance to a track feature while the vehicle is moving in the first direction or the second direction.

Method and system for detecting position of a vehicle relative to tracks the vehicle is running on

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

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; a plurality of stacks of storage containers arranged in storage columns located beneath the rail system, each storage column is located vertically below a grid opening; and a trolley for transporting the storage containers between the storage columns and at least one deployment area. 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 including 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 track. The trolley is movable on any rail including: on the rail system or in a horizontal plane above or below the rail system, on dedicated transport rails between the rail system and the deployment area, on a double rail above or below the rail system or combinations thereof. The deployment area provides direct access to an area outside the grid pattern formed by the first and second sets of tracks. The trolley provides a container volume for storing at least one of the storage containers. The trolley includes moving devices allowing movement of the trolley in at least one of the first direction and the second direction.

Automated storage and retrieval system, a method of operating the system and a multi trolley vehicle

An automated storage and retrieval system includes a guiding assembly and a vehicle. The guiding assembly includes a first guiding system arranged in a first horizontal plane and extending in a first direction, and a second guiding system arranged in a second horizontal plane and extending in a second direction which is orthogonal to the first direction, and a plurality of storage containers. The vehicle includes a lifting device for picking up storage containers that includes a lifting frame connectable to a storage container via lifting bands including powering and control cables for controlling a gripping device on the lifting frame. The vehicle includes at least one reader arranged on the lifting frame configured to read at least one label of a storage container of the system. The at least one reader is power and signally connected to onboard controls and communications systems of the vehicle.

A container-handling vehicle picks up storage containers from a three-dimensional grid of an underlying storage system. The container-handling vehicle has a vehicle body and wheels for moving the vehicle in two perpendicular directions on the grid. 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 independently controlled and arranged to lift a storage container from the grid and into the cavity. The vehicle includes at least one vertical frame guiding element arranged inside the cavity. The frame guiding element extends between the lifting devices.

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Ølen, Norway

Jørgen Djuve Heggebø