The present invention provides a storage system comprising a first region (50) and a second region (50') of a rail system (108), wherein each of the first region and the second region has rails (110,111) with a profiled upper surface that define one or more tracks (27', 27'') for supporting container handling vehicles (201, 301, 401), and each rail of at least one pair of parallel rails (110) of the first region (50) is connected to a corresponding rail of a pair of rails (110') of the second region (50') via an expansion joint (10,10'), the expansion joint comprises: - a first rail element (12) and a second rail element (11), the rail elements (12, 11) being elongate and configured at a first end (22, 23) to allow the first ends (22, 23) of the first and second rail elements to move relative to one another in a longitudinal direction in a junction area (14) where they overlap, and - a profiled upper surface that defines one or more tracks (27', 27''), the tracks (27', 27'') extending from the first rail element (12) through the junction area (14) to the second rail element (11), and wherein a second end (24) of the first rail element (12) is pivotably connected to the first region (50) of the rail system (108) around a first vertical axis (VI), and a second end (25) of the second rail element (11) is pivotably connected to the second region (50') of the rail system (108) around a second vertical axis (V2).
The invention concerns an access station for an automated storage and retrieval system and a method for operating such an access station. The access station comprises a receiving area for receiving storage containers from an automated storage and retrieval system; a first picking position for presentation of the storage container to a picker, the first picking position being arranged on a first side of the receiving area; a second picking position for presentation of the storage container to a picker, the second picking position being arranged on a second side of the receiving area, opposite the first side; and a primary carriage for transporting a storage container between the picking positions and the receiving area.
A service vehicle unit (SVU) and a method for operating a service vehicle unit (SVU) for manoeuvring a container handling vehicle that has stalled on an automated storage and retrieval system, wherein the system comprises: a rail system comprising 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 configured to operate on the rail system, wherein the SVU comprises a wheel module 708 which is configured to operate on the rail system and wherein the SVU has a turret mounted positioner 701 used for manoeuvring a container handling vehicle to a predetermined position on the grid.
The invention concerns a coupler adapted for releasable connection to a container. The coupler comprises a coupler frame comprising a lower coupler frame face and an upper coupler frame face, a handle protruding from the upper coupler frame face for releasable connection to an operative end of a robotic picking device and a gripping mechanism for releasable connection to a container. The invention also concerns a product handling system using such a coupler and a method thereof.
The invention concerns a lifting device assembly for handling a delivery container stored within a storage container, a delivery container coupler for use in the lifting device assembly, a container handling vehicle using the lifting device assembly, a storage and retrieval system onto which the container handling vehicle is operating, a method for lifting a delivery container out of a storage container by use of the delivery container coupler and a computer-readable medium having stored thereon a computer program comprising instructions to execute the method steps.
The invention concerns a container handling vehicle fitted with a coupler for coupling to a delivery container and/or to a storage container, wherein the delivery container is arranged inside the storage container. The invention also concerns such a coupler, a method for operating the container handling vehicle and a computer-readable medium for executing the method.
A bracing arrangement and method bracing a framework structure (100) of an automated storage and retrieval system (1). The arrangement includes multiple twin-post upright members (602) arranged in at least one row (604) of the framework structure, the twin-post upright members formed by a pair of upright member sections (606) arranged with a space (610) therebetween. At least one elongated bracing member is connected at a first end to a first connection point and at a second end to a second connection point in order to brace the framework structure. Each elongated bracing member arranged to pass through the spaces between the vertical sections of the pairs of upright member sections arranged in the at least one row.
The present invention provides a storage system (1) comprising a framework structure (100) featuring multiple storage columns (105) in which storage containers (106) are stored stacked on top of one another in vertical stacks (107), and at least one of the storage columns comprises a cover (7) and a pair of cover interaction elements (8), wherein the cover (7) comprises a horizontal cover plate (9), having a periphery that can be accommodated within an inner periphery of the storage column (105), and at least two cover holding assemblies (10) arranged at opposite sides of the cover plate (9); the cover interaction elements (8) are arranged each at opposite sides of the inner periphery of the storage column (105); each of the cover holding assemblies (10) comprises a stop (11) and an actuator portion (12), and is pivotably connected relative to the cover plate (9) such that the stop (11) is moved in a horizontal direction outwardly beyond the inner periphery of the storage column (105), from a first position to a second position, when the actuator portion (12) is deflected inwardly of the inner periphery of the storage column by interaction with a corresponding cover interaction element (8) during lowering of the cover (7) relative to the storage column (105); and the stop (11) is biased towards the first position and arranged to hold the cover (7) at a predetermined level by interaction with a ledge (13,14) at the inner periphery of the storage column (105) when in the second position.
The present invention provides a framework structure (100',100'') for a storage system, the framework structure (100',100'') comprises a plurality of vertical column profiles (102) and a horizontal rail system (108) supported upon the vertical column profiles (102), wherein at least a lower section of each of the column profiles (102) is thermally divided from the rail system by a thermal break (2, 2') positioned at each column profile between a lower section of the column profile and a connection to the rail system, the thermal break being configured to restrict thermal conductivity between the lower section of the column profile (102) and the rail system (108).
F25D 13/02 - Stationary devices associated with refrigerating machinery, e.g. cold rooms with several cooling compartments, e.g. refrigerated locker systems
F25D 13/04 - Stationary devices associated with refrigerating machinery, e.g. cold rooms with several cooling compartments, e.g. refrigerated locker systems the compartments being at different temperatures
F25D 17/06 - Arrangements for circulating cooling fluids; Arrangements for circulating gas, e.g. air, within refrigerated spaces for circulating gas, e.g. by natural convection by forced circulation
The present invention relates to a storage container assembly (10) comprising a storage container (20), a holder (30) and a delivery container (40). The holder (30) is telescopically retained within the storage container (20) and extendable from the opening (20o) of the storage container (20). The holder (30) has a side-access opening (30so) which is revealed on extension of the holder (30) from the storage container (20). The delivery container (40) can be guided into and out from the side-access opening (30so) of the holder (30). The delivery container (40) can be slidably retained within the holder (30) for storage within the storage container (20).
A method of measuring level deviation in an automated storage and retrieval system, wherein the system comprises: a rail system comprising 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 configured to operate on the rail system, wherein the at least one container handling vehicle is provided with at least one orientation sensor configured to measure at least one orientation parameter of the sensor in a three-dimensional cartesian reference system, a central control unit configured to receive, transmit and process data signals of the container handling vehicle and to receive and process data signals of the sensor, wherein the method comprises the steps of: arranging the container handling vehicle in a predetermined position on the grid, transmitting a data signal from the central control unit to the container handling vehicle commanding the container handling vehicle to move a distance in one direction (X, Y) along the grid, measuring at predetermined intervals, using the orientation sensor, at least one orientation parameter to produce orientation measurements that are indicative of the container handling vehicle's orientation within the three-dimensional cartesian reference system, transmitting data concerning the orientation measurements to the central control unit, and processing the orientation measurements using the central control unit in order to identify portions of the rail system that deviate from predetermined values.
It is described a storage container (106) for an automated storage and retrieval system, ASRS, (1) the storage container (106) being configured to be stacked in a stack of storage containers (106) where an underlying storage container (106) supports the storage container(s) (106) positioned above, the storage container (106) being adapted to be lifted by grippers (304) on a lifting device such that the storage container (106) can be lifted from above, wherein the storage container (106) comprises: a base (10); four sides (11',11'',11''',11''''), each hingedly connected to an edge (14',14'',14''',14'''') of the base (10); four corner posts (12',12'',12''',12''''), each configured to interconnect a pair of adjacent sides (11',11'',11''',11'''') to each other in a horizontal direction when the sides (11',11'',11''',11'''') are positioned substantially 90 degrees relative the base (10) and relative each other. It is further described an automated storage and retrieval system (1) comprising a two-dimensional rail system (108) and one or more storage container(s) (106). It is further described methods of transporting a storage container (106) and assembling the storage container (106).
B65D 6/18 - Containers having bodies formed by interconnecting or uniting two or more rigid, or substantially rigid, components made wholly or mainly of metal, plastics, wood or substitutes therefor collapsible with hinged components
B65D 6/26 - Devices for holding collapsible containers in erected state
B65D 21/02 - Containers specially shaped, or provided with fittings or attachments, to facilitate nesting, stacking, or joining together
B65D 21/06 - Containers specially shaped, or provided with fittings or attachments, to facilitate nesting, stacking, or joining together with movable parts adapted to be placed in alternative positions for nesting the containers when empty and for stacking them when full
13.
AUTOMATED STORAGE AND RETRIEVAL SYSTEM COMPRISING AN ACCESS STATION COMPARTMENT
The present invention relates to an automated storage and retrieval system (1) comprising a framework structure (100), wherein the framework structure (100) comprises upright members (102), a storage volume comprising columns (105) provided between the members (102), wherein storage containers (106) are stackable in stacks (107) within the columns (105); and a rail system (108) provided on top of the members (102). The automated storage and retrieval system (1) comprises an access station (10); and container handing vehicles (201, 203) configured to move on the rail system (108). The framework structure (100) comprises an access station compartment (90). The access station (10) is insertable into and retrievable out from the access station compartment (90).
The present invention relates to an access station (10) for presentation of a storage container (106) from an automated storage and retrieval system (1) to a picker (P). The access station (10) comprises an access module (20) comprising a frame (21) defining a drawer compartment (25) provided within the frame (21) and a drawer (40) comprising a drawer base (41) and a drawer front (42). The drawer (40) is movably connected to the frame (21). A first actuator (62) is used for moving the drawer (40) relative to the frame (21) between a presentation position (PP) in which the drawer (40) is protruding from the drawer compartment (25) and a retracted position (RP) in which the drawer (40) is retracted within the drawer compartment (25). The drawer base (41) comprises a support (50) on which the storage container (106) can be supported in a front position (PI) or in a rear position (P2). The access station (10) comprises a second actuator (64) for moving the storage container (106) from the front position (PI) to the rear position (P2). The storage container (106) is presented to the picker (P) when the storage container (106) is in the front position (PI) and when the drawer (40) is in the presentation position (PP).
The invention concerns an access station for an automated storage and retrieval system and a method for operating such an access station. The access station comprises a primary carriage and a secondary carriage moveable along a guiding frame, wherein the primary carriage and the secondary carriage are provided with respective displacement motors enabling independent movement along the guiding frame, and wherein the secondary carriage is configured to receive a storage container being displaced from the primary carriage by means of a transfer device.
The invention relates to a remotely operated vehicle (500) for handling a storage container (106) or a further vehicle on a two-dimensional rail system (108) of an automated storage and retrieval system (1). The vehicle (500) comprises a mass balancing system (450) configured to purposely displace a balance weight (452) in order to improve stability of the remotely operated vehicle (500). The invention further relates to a method for operating a remotely operated vehicle (500).
The invention relates to a remotely operated vehicle (500) that can change footprint depending on the load of storage containers (106). Further, the vehicle (500) can arrange a storage container support (550) in a position for receiving a storage container (106) from a delivering device. Further the invention relates to a storage and retrieval system (1) comprising such vehicle (500), and a method for operating such vehicle (500).
The present invention provides a container handling module (13) for an access station (7) in a storage system (1), the container handling module (13) comprises a first container holder (8a), a second container holder (8b), a shuttle (14) and a rail assembly (15,16), the first and second container holders (8a,8b) are rotatably mounted to the shuttle (14) via a rotary shaft (9), wherein each of the first and second container holders (8a,8b) is arranged to accommodate a storage container (106) and is rotatable around an axis of rotation (C) between a first angular position (P1) and a second angular position (P2), the second angular position being opposite the first angular position relative to a centreline (C) of the rotary shaft (9), and the shuttle (14) being configured for linear movement in a horizontal direction (H) between a first linear position (L1) and a second linear position (L2) relative to the rail assembly.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 35/06 - Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
B65G 54/02 - Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
B65G 47/244 - Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning them about an axis substantially perpendicular to the conveying plane
19.
SYSTEM AND METHOD OF TEMPERATURE CONTROL IN AN AUTOMATED GRID BASED STORAGE AND RETRIEVAL SYSTEM
System and method of controlling a plurality of storage volume temperatures in an automated grid based storage and retrieval system. A plurality of storage volumes (406) is arranged adjacent one another below horizontal rails (110), a plurality of vertical walls (402) surrounding each of the plurality of storage volumes (406), a cooler system (403) drawing air from an input (404) of the cooler system (403), cool the air, and blow cooled air through an output (405) of the cooler system (403), for each of the plurality of storage volumes (406), a first air damper (408) connected between the output (405) of the cooler system (403) and an air release area (409) above the storage volumes (406), and a second air damper (410) connected between a void (411) beneath the storage volumes and the input (404) of the cooler system (403). A controller (414) for each of the plurality of storage volumes adjust airflow through the first air damper (408) to control an overpressure and air temperature in the air release area (409), and adjust airflow through the second air damper (410) to control an underpressure in the void (411), such that a storage volume temperature is controlled separately for each of the plurality of storage volumes (406), the storage volume temperature being defined by the air temperature in the air release area (409) and a differential pressure between the overpressure in the air release area (409) and the underpressure in the void (411).
F25D 13/04 - Stationary devices associated with refrigerating machinery, e.g. cold rooms with several cooling compartments, e.g. refrigerated locker systems the compartments being at different temperatures
F25D 25/04 - Charging, supporting, or discharging the articles to be cooled by conveyors
20.
AN ACCESS STATION FOR AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM WITH CONTAINER TILT FUNCTIONALITY AND A METHOD FOR USING SAME
The invention concerns an access station (400) for an automated storage and retrieval system and a method for operating such an access station. The access station comprises an inner carriage (420) movable along a guiding frame (410), wherein a ramp (470) is arranged to tilt a container support (422) of the inner carriage into a picking position.
A service vehicle (50) for operating on a rail system of a storage and retrieval grid, the service vehicle being configured for retrieving a remotely operated vehicle for service. The service vehicle comprises a first (51) and a second (52) vehicle area. Wherein the first vehicle area is configured as a vehicle pen for holding the remotely operated vehicle before entry to the second vehicle area, and wherein the first vehicle area is linked to the second vehicle area for passage of the remotely operated vehicle via the vehicle pen.
The invention concerns an access station for an automated storage and retrieval system and a method for operating such an access station. The access station comprises an inner carriage and an outer carriage moveable along a guiding frame, wherein the inner carriage is provided with an elevation mechanism enabling the inner carriage to transfer a storage container to the outer carriage.
The present invention provides a storage system comprising at least one container handling vehicle (8), a horizontal rail grid (108) and a charging system for charging a rechargeable power source (9) of the container handling vehicle, wherein the container handling vehicle comprises a vehicle framework (18), a first set of wheels (10a) and a second set of wheels (10b) for moving the container vehicle upon the rail grid in two perpendicular directions; the charging system comprises two separated charge-receiving elements (11) arranged on a sidewall (20) of the container vehicle and connected to the power source (9), and a charging station (12) comprising a support structure (17) and two separated charge-providing elements (13) connected to a power source charger (14), and the charge-receiving elements (11) are arranged to couple with the corresponding charge-providing elements (13) when the container vehicle is moved in a horizontal connection direction (Y') towards and adjacent to the charging station; wherein each of the charge-providing elements (13) and/or each of the charge-receiving elements (11) are resiliently mounted to the support structure (17) or the vehicle framework (18) and configured to allow independent elastic movement of the resiliently mounted charge-providing element and/or charge-receiving element from a neutral position in a direction perpendicular to the connection direction during coupling of the charge-providing and charge-receiving elements.
The present invention relates to an automated grid based storage and retrieval system and a method of circulating gas therein. The system comprises a framework structure (100) comprising upright members (102) and a grid of horizontal rails (110) provided at upper ends of the upright members (102), the framework structure defining a storage volume comprising a plurality of columns (105) arranged in a grid pattern below the horizontal rails (110) between the upright members (102), a plurality of storage containers (106) stacked vertically in stacks (107) in the columns to provide a plurality of storage columns (105), an under-stack void (402) extending beneath the stacks of storage containers, a plurality of inlets (403) to the under-stack void (402) between the stacks of storage containers, at least one column, which is empty of storage containers and arranged amongst the storage columns, to provide a ventilation column (404), the ventilation column (404) comprising a fan (405), wherein a plurality of duct walls (410) surrounding the ventilation column define a duct (406) having a first end (407) adjacent the 15 horizontal rails (110) and a second end (408) adjacent the under-stack void (402), wherein the fan (405) is arranged to circulate gas along sides of the stacks (107) via the plurality of inlets (403), the under-stack void (402) and through the duct (406).
A method, control system (500) and computer program for routing and rerouting of container handling vehicles (201) handling storage containers (106) in an automated storage and retrieval system comprising a framework structure (100) forming a three-dimensional storage grid structure (104) for storing the storage containers 106 in storage columns (105), the framework structure including a grid-based rail system (108) arranged above the storage columns (105) with the rail system (108) providing available routes for the container handling vehicles (201) handling and transferring the storage containers (106) to and from the storage columns (105), and wherein each container handling vehicle (201) comprises a first set of wheels configured to move the vehicle along a first lateral direction (X) of the grid-based rail system and a second set of wheels configured to move the vehicle along a second lateral direction (Y) of the grid-based rail system (108), the second direction (Y) being perpendicular to the first direction (X), the movements of the container handling vehicles being controlled by a control system (500), that determines which tasks are to be done by specified container handling vehicles (201), destination locations for performing the tasks and which routes the container handling vehicles (201) are to travel on the rail system (108). The method comprises the following steps performed by the control system (500) when executing the computer program: running (410) a multi- agent pathfinding algorithm, MAPF, in the control system (500) for establishing and assigning routes on the rail system (108) for the container handling vehicles (201) from their current locations to assigned tasks at destination locations; determining (420) how far the container handling vehicles (201) can travel on a first part of the assigned routes within a set time interval, the first part being shorter than the assigned routes to the destinations; locking (430) the first parts of the assigned routes that the container handling vehicles (201) can travel within the set time interval; instructing (440) the container handling vehicles (201) to move from their current locations to an end location on the assigned locked routes; repeating steps above.
26.
SYSTEM AND METHOD FOR DETECTION OF ANOMALIES IN THE TRACKS ON A THREE-DIMENSIONAL STORAGE SYSTEM
A system (600) and method for condition-based maintenance of an automated storage and retrieval system comprising a framework structure (100) forming a three-dimensional storage grid structure (104) for storing storage containers (106) for storing items, a rail system (108) arranged on the framework structure (100) providing available routes for container handling vehicles (201) handling and transferring the storage containers (106) to and from storage columns (105), comprises at least one container handling vehicle having at least two sensors set up to report a condition of the rails of the rail system (108).
The present invention provides an access station (7) for a storage system, the access station comprises at least one container holder (8a,8b) arranged to rotate about an axis of rotation (C), wherein the axis of rotation (C) is inclined at a first angle (X) relative to a vertical (V); and the container holder (8a,8b) is arranged to accommodate a storage container (106) and is configured such that a centreline (D) of the storage container (106) when supported by the container holder is inclined at a second angle (Y) relative to the axis of rotation (C), wherein the container holder (8a,8b) may rotate between a first position (P1), where the centreline (D) of an accommodated storage container (106) is vertical, and a second position (P2) being opposite the first position relative to the axis of rotation (C), where the centreline (D) of an accommodated storage container (106) is inclined at a third angle (XY) relative to the vertical (V), the third angle being equal to the sum of the first angle and the second angle.
The invention relates to an automated storage and retrieval system comprising a plurality of container handling vehicles on a rail system operable to handle storage containers, each container handling vehicle comprises a positioning node. The system comprises a positioning system having reference positioning nodes spaced in fixed positions on and/or proximate the rail system to determine the position of each of the container handling vehicles. The control system communicates each container handling vehicle and the positioning system, and instructs a first container handling vehicle to move to a target position, repeatedly receives position data from the positioning system of a position of the first container handling vehicle and repeatedly receive position data from the positioning system of a position of a second container handling vehicle, and instructs the second container handling vehicle to move with the first container handling vehicle at a predetermined separation from the first container handling vehicle
A system and method for allocating jobs and/or targets to robots (201, 301, 401) in an automated storage and retrieval system comprising a framework structure (100) forming a three-dimensional storage grid structure (104) for storing storage containers (106) for storing items, and where the framework structure (100) comprises a rail system (108), the rail system (108) providing available routes for the robots (201, 301, 401) handling and transferring the storage containers (106) to and from the storage columns (105), and wherein the at least one container handling vehicle (201, 301, 401) comprises a first set of wheels configured to move the vehicle along a first horizontal direction (X) of the grid-based rail system and a second set of wheels configured to move the vehicle along a second horizontal direction (Y) of the grid-based rail system, the second direction (Y) being perpendicular to the first direction (X), the movement of the robots are controlled by a central computer system comprising a router and an assigner wherein the router decides which routes the robots travel and the assigner has control over which jobs to be done and which targets to reach and wherein the assigner is configured to create a list of jobs to be done and a list of targets to reach and which is accessible to the router, wherein the router is configured to decide which container handling vehicle to solve which job, which target to reach and which route to take to reach the job, the choice of target being based on the location of the container handling vehicle in question and the distance to the job and the target.
The present invention relates to an automated storage and retrieval system (1) for storing storage containers (106) wherein container handling vehicles (201, 301) are configured to raise storage containers (106) from, and lower storage containers (106) into, storage columns (105), and to transport the storage containers (106) horizontally above the storage columns (105). In particular, the invention relates to such system comprising a container handling vehicle elevator (600) having a vertically extending support (612), a platform (602) and a lift mechanism (604). The lift mechanism (604) is arranged to move the platform (602) between a first lift stop position (P1), which establishes access between the platform (602) and the rail system (108), and a second lift stop position (P2), which establishes access between the platform (602) and a accessing area (700) for a human operator (800) and/or robot to perform in-situ maintenance on the container handling vehicle (201,301) when arranged at the second lift stop position.
The present invention provides a container handling vehicle (10) for lifting a storage container (106) from an underlying framework structure (100), the vehicle comprises a vehicle body (8) and a container lifting assembly (3,5) for lifting the storage container; the vehicle body (8) comprises a wheeled base (9), a support (11) and at least one cantilevered section (6); wherein the wheeled base (9) comprises a first set of wheels (21a), arranged on opposite sides of the vehicle body (8), for moving the vehicle (10) along a first direction (X) on a rail grid (108) at a top level of the underlying framework structure (100), and a second set of wheels (21b) arranged on other opposite sides of the vehicle body (8), for moving the vehicle (10) along a second direction (Y) on the rail grid (108), the second direction (Y) being perpendicular to the first direction (X); and the support (11) comprises a lower end (17) connected to the wheeled base (9) and an upper portion (18) connected to the cantilevered section (6); the container lifting assembly comprises a lifting frame (3) and a plurality of lifting bands (5), the lifting frame (3) being for releasable connection to a storage container (106) and suspended from the cantilevered section (6) by the lifting bands (5), such that the lifting frame (3) may be raised or lowered relative to the cantilevered section (6); the cantilevered section (6) extends laterally from the upper portion (18) of the support (11) and is arranged to rotate horizontally about a vertical axis relative to the wheeled base (9) between a first position and a second position, in the first position, the cantilevered section (6) extends beyond the wheeled base (9), such that the lifting frame (3) may retrieve or deliver a storage container (106) from/to a storage column of the framework structure (100), and in the second position the cantilevered section (6) extends in an opposite direction relative to the direction in the first position, wherein the support (11) holds the cantilevered section (6) above the wheeled base (9) at a height corresponding to a height of multiple storage containers, such that a vertical distance (H3) between the lifting frame (3), when the lifting frame (3) is in an upper position, and the lower end (17) of the support (11) is larger than the height of two storage containers stacked on top of each other.
It is described a container handling vehicle (401,501,601,701,801,901,1001,1101,1201,1301,1401,1501) for operation on a two- dimensional rail system (108) comprising a first set of parallel rails (110) arranged to guide movement of container handling vehicles (401) in a first direction (X) across the top of a frame structure (100), and a second set of parallel rails (111) arranged perpendicular to the first set of rails (110) to guide movement of the container handling vehicles in a second direction (Y) which is perpendicular to the first direction, the first and second sets of parallel rails (110,111) forming a grid which divides the rail system (108) into a plurality of grid cells (122), wherein the container handling vehicle comprises: - a base (2) comprising moving means for guiding the container handling vehicle along the rail system (108) in the first direction (X) and the second direction (Y) respectively; - a support structure (402) provided on the base (2), the support structure (402) extending from a lower section at the base (2) to an upper section; - a container lifting device (414) comprising a lifting frame (415) for lifting a storage container (106) up from a storage position below the rail system (108), the lifting frame (415) being suspended from a set of suspension points (423) of the upper section of the support structure (402); - a support surface (425) for supporting the storage container (106), the support surface (425) providing a first holding position arranged at a lower elevation than the lifting frame (415) when the lifting frame (415) is in a docked state adjacent the upper section of the support structure (402); wherein the container handling vehicle comprises a movement mechanism (426,426',426'',427,427',427'') to translate horizontally the set of suspension points (423) or the support surface (425) with respect to the base (2), such that a lifted storage container (106) can be placed on the support surface (425) and the lifting frame (415) disconnected from it. It is further described an associated automated storage and retrieval system and a method of loading and unloading a storage container (106) between a stacked position in an automated storage and retrieval system and a storage position on a container handling vehicle.
A method of monitoring an automated storage and retrieval system (1) utilizing a flying drone (400) to locate and inspect anomalies in the operation of the system.
OPTIMAL UTILIZING OF OPERATIONAL CAPACITY OF CONTAINER HANDLING VEHICLES ASSIGNED TO INTERACT WITH SAME PORT FOR TRANSFERRING STORAGE CONTAINERS TO AND FROM AN AUTOMATIC STORAGE AND RETRIEVAL SYSTEM
A method, control system (500) and computer program for utilizing operational capacity of container handling vehicles (201) when assigned tasks of delivering or retrieving identified storage containers (106) at same port (119') of an automatic storage and retrieval system (1) comprising a framework structure (100) defining a storage grid (104) for storing storage containers (106) in storage columns (105), and where the storage containers (106) are handled by the container handling vehicles (201) running on top of the storage grid (104), and where the port (119') is used for transferring storage containers (106) to and from the storage and retrieval system (1). The following steps are performed by the control system (500) communicating with a vehicle controller (230) in each container handling vehicle (201): assigning tasks without deadlines (310) for the container handling vehicles (201); calculating end times and end positions of the container handling vehicles (201) when the assigned tasks complete (330); assigning tasks with a deadline (320) for the container handling vehicles (201) to arrive at the port (119'); checking if the container handling vehicles (201) can meet the deadline after first completing the task without a deadline; ranking the tasks (360) assigned to the container handling vehicles (201), where tasks that can meet the deadline, after first finishing a task without a deadline, are ranked first, and further according to arrival times of the container handling vehicles (201) at the port (119'); executing tasks by communicating instructions to the container handling vehicles (201) according to the ranking of tasks (370).
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
35.
CONTAINER HANDLING VEHICLE COMPRISING A CONTAINER CARRYING POSITION, ASSOCIATED SYSTEM AND METHODS
It is described a container handling vehicle (401) for operation on a two- dimensional rail system (108) comprising a first set of parallel rails (110) arranged to guide movement of container handling vehicles (401) in a first direction (X) across the top of the frame structure (100), and a second set of parallel rails (111) arranged perpendicular to the first set of rails (110) to guide movement of the container handling vehicles (401) in a second direction (Y) which is perpendicular to the first direction, the first and second sets of parallel rails (110,111) dividing the rail system (108) into a plurality of grid cells (122), wherein the container handling vehicle (401) comprises: - a wheel base unit (2) comprising first and second sets of wheels (32a, 32b) for guiding the container handling vehicle (401) along the rail system (108) in the first and second directions (X, Y) respectively, wherein the first and second sets of wheels (32a, 32b) form outer peripheries of the wheel base unit (2); - a body unit (410) comprising: a lower section (411) which is provided on the wheel base unit (2), the lower section (411) having a footprint with a horizontal extent which is equal to or less than the wheel base unit (2), the lower section (411) having an upper surface, wherein the upper surface (425) provides a first container carrying position (425) for carrying a storage container (106); a support section (412) extending vertically from the lower section (411), the support section (412) having a footprint with a horizontal extent which is smaller than the footprint of the lower section (411); and a cantilever section (413) extending horizontally from the support section (412) beyond the footprint of the lower section (411); and a lifting device (414) comprising a lifting frame (415) that is suspended from the cantilever section (413). It is further described an associated automated storage and retrieval system as well as methods for transferring a storage container (106) between a first and second container handling vehicles (401), as well as between a container handling vehicle (401) and an external conveyor.
CONTAINER HANDLING VEHICLE WITH CANTILEVER CONSTRUCTION AND AUTOMATED STORAGE AND RETRIEVAL SYSTEM COMPRISING A PLURALITY OF THE CONTAINER HANDLING VEHICLES
A container handling vehicle for operation on a two-dimensional rail system (108) comprising a body unit (410) with a lower section (411), a support section (412) extending vertically from the lower section, a cantilever section (413) extending horizontally from the support section and a lifting device (414) with a lifting frame (415) suspended from the cantilever section wherein the lowermost part of the lifting frame when docked is above the top surface of the lower section.
It is disclosed a storage tower (400), an automated storage and retrieval system (1) and a method of using same. The storage tower (400) comprises a vertically extending supporting structure having a vertical axis, and a plurality of horizontally oriented container supports (402a-m) arranged along the vertical axis of the supporting structure and distributed at vertical intervals. Each container support (40a-m) is rotationally connected to the support structure and configured to support at least one storage container. The container supports (402a-l) each displays at least one opening (403) having a size being at least a maximum horizontal cross section of the storage containers (106) to be stored. The container supports (402a-l) can be rotated about the vertical axis independently such that the at least one opening (403) of each container supports (402a-l) is vertically alignable with the at least one opening (403) of the other container supports (402a-l) by individual rotation of the container supports (402a-l).
It is disclosed a storage tower (400), an automated storage and retrieval system (1) and a method of using same. The storage tower (400) comprises a plurality of container supports (402), each being configured as a matrix of container spaces with a plurality of columns of container spaces arranged in a first direction and a plurality of rows of container spaces arranged in a second direction. Each row of container spaces of a first container support (402) displays at least one opening (403') extending along the second direction, the at least one opening (403) having an opening size being at least a maximum horizontal cross section of the storage containers (106) to be stored, wherein the at least one opening (403') of the first container support framework (402) and the at least one opening (403') of a second container supporting framework (402) can be aligned vertically with respect to each other. At least one container support (402) is displaceable along the second direction.
A system and method for condition-based maintenance of an automated storage and retrieval system comprising a framework structure (100) with a rail system forming a three-dimensional storage grid structure (104) for storing storage containers (106) for storing items, where the grid structure (104) forms vertical storage columns (105) each having a horizontal area defined by the size of an access opening (112) between rails (105) and where a rail system (108) that are arranged on the framework structure (100), the rail system (108) providing available routes for container handling vehicles (201) handling and transferring the storage containers (106) to and from the storage columns (105), at least one container handling vehicle (201, 301) which has, and a container handling platform (500) with a set of grippers for handling the storage containers (106), the grid structure comprising one or more ports for extracting containers from the storage grid so that they can be picked (106) and a service station (502) for performing maintenance on the components of the storage and retrieval system (1) and further comprising a central computer system (506) and a service regime manager (507) configured to retrieve condition-based information linked to the parts and components of the storage and retrieval system and to analyse and create a service regime based on the retrieved condition-based information and to send the service regime to at least one service station (502).
The invention concerns a storage grid (400) for storing storage containers (106) and a method for operating such a storage grid (400). The storage grid (400) comprises a plurality of horizontal container supporting frameworks (401) distributed vertically with vertical offsets (?dV), each comprising one or more displaceable container supports (402a), wherein each container support (402a) displays at least one hole (403a-c) with an opening size being at least a maximum horizontal cross section of the storage containers (106) to be stored.
The invention relates to a system and a method for controlling movement of a plurality of container handling vehicles (201, 301) on a rail system (108), where each container handling vehicle (201, 301) comprises a local controller adapted to control movements of the container handling vehicle (201, 301), and the where a central operational controller (501) in communication with the local controller in each container handling vehicle (201, 301) is adapted to receiving data relating to a subsection (401a, 401b) of the rail system (108), the data comprising a container handling vehicle movement threshold for the subsection (401a, 401b), instructing a container handling vehicle (201, 301) to follow a path (402, 403) which takes in at least a part of the subsection (401a, 401b), and instructing the container handling vehicle (201, 301) to reduce speed and/or acceleration such that the movement of the container handling vehicle (201, 301) within the subsection (401a, 401b) is below the container handling vehicle movement threshold of the subsection (401a, 401b).
An automated storage and retrieval system for storing specialized goods in storage containers (106) in an isolating housing (800), having walls and a roof. Openable and closable hatches (804) are arranged in the roof. A rail system is arranged above the roof, upon which rail system may travel container handling vehicles (301), which may be positioned with its lifting device positioned above a hatch. A storage tower (400) is arranged inside the isolating housing, the storage tower being accessible to a container handling vehicle though the hatch. The storage tower has a number of vertically stacked, horizontally movable container supports (402) in the form of shelves upon which may rest a plurality of storage containers and one or more openings (403) corresponding in size to a storage container such that storage containers may pass therethrough. The container supports may align their openings to form a tower port beneath a hatch, through which the container handling vehicle may lower its lifting device though the hatch, down the tower port, and access the target container.
The present invention provides a container handling vehicle (10) for lifting a storage container (106) from an underlying framework structure (100), the vehicle comprises a container lifting assembly (3, 5, 7a, 7b) for lifting the storage container and a vehicle body (8); the container lifting assembly comprises a lifting frame (3) for releasable connection to a storage container (106), a lifting shaft assembly (7a, 7b) and a plurality of lifting bands (5), the lifting bands (5) are connected to the lifting frame (3) and the lifting shaft assembly (7a, 7b) such that the lifting frame (3) may be raised or lowered by operating the lifting shaft assembly; and the vehicle body (8) comprises a sidewall (9) and a cantilevered section (6) from which the lifting frame (3) depends, the cantilevered section (6) extends laterally from an upper end (11) of the sidewall (9); wherein the container lifting assembly features a lifting frame guide assembly comprising a first guide device (12) and a cooperating second guide device (13); the first guide device (12) is provided on the lifting frame (3); and the second guide device (13) is slidably connected to the sidewall (9) via at least one vertically extending rail (19), such that the second guide device can move in a vertical direction relative to the sidewall (9); the first guide device (12) and the second guide device (13) are arranged to interact with each other when the lifting frame is adjacent the sidewall (9), such that horizontal movement of the lifting frame relative to the vehicle body is restricted.
A modular plate system where plate members (16) of various functions can be easily inserted between the upright members of the framework structure of a storage and retrieval system. The modular plate system of the invention may function as a stabilizing arrangement for the framework structure. According to this aspect of the invention, the plate members (16) of the system are bracing plate members that may be connected between adjacent upright members (102) of a framework structure (100). In another aspect, the plate members may provide some function other than or in addition to stabilization, for example, the functional plate members may be thermally insulated plates, fire barrier plates, sound insulated plates and the like, whereby the plates may be used to form zones or barriers in the framework, for example for forming a refrigerated zone, a sound insulated zone or a fire barrier wall for creating a fire protected zone.
A measuring system for monitoring atmospheric conditions in an automated storage and retrieval system having a three-dimensional storage grid structure (104) for storing storage containers (106), wherein at least one container handling vehicle (201, 301) has a container handling platform (500) with a first set of grippers for handling the storage containers (106), the measuring system is housed in a box-shaped measuring unit (501) having same size and features as a storage container (106), where the box-shaped measuring unit (501) comprises measuring equipment for measuring at least one atmospheric condition, a transmitter for transmitting the measurements to a computer system, at least one rechargeable power source and a data recorder for recording measurement data, wherein the box-shaped mesuring unit (501) comprises at least one piece of measuring equipment on each side of the box-shaped measuring unit (501).
A system and method for performing measurements in storage containers (106) for storing items, the storage containers (106) are stored in an automated storage system comprising a framework structure (100) forming a three-dimensional storage grid structure (104) for storing the storage containers (106), where the grid structure (104) forms vertical storage columns (105) each having same horizontal area defined by the size of an access opening (112) of the vertical storage columns (105) and where a rail system (108) is arranged on the framework structure (100) defining the circumference of each access opening (112) on top of each storage column (105), the rail system (108) providing available routes for container handling vehicles (201) handling and transferring the storage containers (106) to and from the storage columns (105), each vehicle (201) comprising a vehicle controller (230) communicating with a central computer system controlling the operation of the storage system, and wherein said system is further wherein a container handling platform (401) of a container handling vehicle (201, 301) comprises measuring equipment configured to perform measurements in containers and is further comprises communication means configured to communicate measurement data to the central computer system.
A system and method for performing measurements in storage containers (502) for storing items, the storage containers (502) are stored in an automated storage system comprising a framework structure (100) forming a three-dimensional storage grid structure (104) for storing the storage containers (502), where the grid structure (104) forms vertical storage columns (105) each having same horizontal area defined by the size of an access opening (112) of the vertical storage columns (105) and where a rail system (108) is arranged on the framework structure (100) defining the circumference of each access opening (112) on top of each storage column (105), the rail system (108) providing available routes for container handling vehicles (201) handling and transferring the storage containers (502) to and from the storage columns (105), each vehicle (201) comprising a vehicle controller (230) communicating with a central computer system controlling the operation of the storage system, and wherein said system is further wherein the system further comprises a testing station (504), accessible to a container handling vehicle via the rail system (108), with measuring equipment for measuring atmospheric conditions and for performing measurements in said storage container (502) and where the testing station (504) is configured to communicate measurement data to a computer system.
A remotely operated vehicle (401,501) comprising a first set of wheels (401b, 501b) comprising a first pair of wheels (10) and a second pair of wheels (11), allowing movement of the vehicle (401,501) along a first direction (X); a second set of wheels (401c, 501c) comprising a third pair of wheels (13) and a fourth pair of wheels (14), allowing movement of the vehicle (401,501) along a second direction (Y) being perpendicular to the first direction (X); a wheel displacement assembly (15) arranged to move the second set of wheels (401c, 501c) in a vertical direction (Z); and a wheel drive assembly comprising a first motor (16), a drive band (18) and a band drive wheel (17), and the drive band (18) interconnecting the band drive wheel and the third pair of wheels (13), wherein the third pair of wheels (13) and the first motor (16) are mounted to a cross-plate (23) arranged to move vertically as part of the wheel displacement assembly, such that the cross-plate supports the third pair of wheels (13) and the band drive wheel (17) in a fixed spatial configuration where each wheel of the third pair of wheels (13) is located at an end portion of the cross-plate (23) and the band drive wheel (17) is positioned at a central portion of the cross-plate (23).
A remotely operated vehicle comprising an arrangement to provide a pre-alert and tracking of a position of the vehicle following a travelling route relative to tracks laid out on rails in x-, y-directions on a rail system, the vehicle having first and seconds sets of wheels connected to drives for moving the vehicle in corresponding x-, y-directions on the rail system, wherein the arrangement comprises at least three sensors: - a first sensor directed to the rails in the x-direction, - a second sensor directed to the rails in the y-direction, and - a third sensor directed to a corner of an intersection between the rails in the x-direction and y-direction, wherein each of the sensors are directed downwardly towards the rails in x-, y-directions for determining the position of the vehicle relative to the rails.
The present invention relates to an automated storage and retrieval system (1) for storing product items (80). The system (1) comprises a framework structure (100) with upright members (102) and horizontal members (103) and a storage volume comprising storage columns (105) between the members (102, 103), wherein the framework structure (100) comprises a rail system (108) arranged above the members (102, 103). Storage containers (6, 106) are stackable in stacks (107) within the storage columns (105). Container handling vehicles (201, 301) are moving along the rail system (108) for transporting the storage containers (6, 106). The rail system (108) comprises rails (110, 111), each rail (110, 111) comprising tracks (110a, 110b, 111a, 111b). Adjacent tracks (111a, 111b) of at least one rail (111) of the rail system (108) are separated by a ventilation slot (30) extending in a vertical plane (VP) between two adjacent storage columns (105).
A method for handling malfunctioning vehicles (240,340) on a track system (108,308) constituting part of a storage and retrieval system (1), the track system (108,308) forming a grid pattern of adjacent cells, wherein the storage and retrieval system (1) comprises - a plurality of remotely operated vehicles (230,330,240,340,250,350) configured to move laterally on the track system, wherein each of the plurality of remotely operated vehicles comprises driving wheels, and - a control system (500) for monitoring and controlling wirelessly movements of the plurality of remotely operated vehicles, wherein 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, setting up a two-dimensional shutdown zone (225) on the track system comprising a malfunctioning vehicle zone (225a) including the halt position of the malfunctioning vehicle and an entrance zone (225b) for entry into the malfunctioning vehicle zone, the entrance zone ( extending between the malfunctioning vehicle zone and a location at a periphery of the track system, 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 zonefor an external operator by at least one of unlocking a gateway at the periphery, 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.
A service vehicle and a method for servicing at least one container handling vehicle in an automated storage system comprising a three-dimensional storage grid (104) for storing storage containers (106), at least one container handling vehicle (201, 301, 404) operating on the storage grid with at least a first set of tracks running substantially perpendicular to at least a second set of tracks and said service vehicle comprises two sets of wheels wherein a first set of wheels are arranged to engage with the first set of tracks and the second set of wheels are arranged to engage with the second set of tracks characterized in that a platform is mounted on the two sets of wheels and said platform is enclosed and that said enclosure has at least one door.
A method, system and computer program for controlling operation of an automated storage and retrieval system (1) during rebuilding its physical design. The method comprises a planning and designing phase where a new design is established and were storage columns (105) with a rail system (108) that is affected by the rebuilding are excludes from a selection of available routes for container handling vehicles (201) operating on the storage system (1), a relocation phase where storage containers (201) located in excluded storage columns (105) are relocated to other storage columns (105), a rerouting phase were traffic flow of container handling vehicles (201) are rerouted according to available routes and where the master controller (220) is instructed to control the vehicles (201) according to the available routes, a rebuilding phase were the storage system (1) is rebuilt according to the new physical design, and a final routing phase were the routing planner (200) controls traffic flow of the vehicles (201) according to available routes on the rail system (108) of the rebuilt physical design.
Rescue system for retrieving a malfunctioning vehicle (240,340) from a rail system (108,308) of an automated storage and retrieval system (1), the rail system (108,308) comprising a plurality of rails with tracks extending in an X-direction and a plurality of rails with tracks extending in a Y-direction perpendicular to the X-direction, a plurality of remotely operated vehicles (201,301,340) configured to move in the X and Y-directions on the tracks of the rail system, - a first rescue vehicle (40) configured to run on the tracks of the rail system (108,308), the first rescue vehicle (40) being provided with a lifting device (41) on one side of the vehicle (40), the lifting device (41) facing for engagement in a first X-direction; - a second rescue vehicle (40) configured to run on the tracks of the rail system (108,308), the second rescue vehicle (40) being provided with a lifting device (41) on an opposite side of the vehicle (40), the lifting device (41) facing for engagement in a second X-direction opposite to the first; - wherein the first and second rescue vehicles (40) are configured to work in tandem so that when one of the plurality of remotely operated vehicles (201,301,340) malfunctions, the first and second rescue vehicles (40) can position themselves on the rail system (108,308) on opposite sides of the malfunctioning vehicle (240,340) to engage their respective lifting devices (41) with the opposite sides of the malfunctioning vehicle (240,340) and operate their lifting devices simultaneously so as to lift the malfunctioning vehicle (240,340) off the rail system (108,308) and transport the malfunctioning vehicle (240,340). It is further described and automated storage and retrieval system comprising a rescue system, methods of operating a rescue system and rescue vehicles for use in a rescue system.
The invention relates to an automated storage and retrieval system (1) comprising a rail system (108,308) with perpendicular tracks in X and Y direction, wherein the storage and retrieval system (1) comprises: - a plurality of remotely operated container handling vehicles (230,330,240,340,250,350) configured to move laterally on the rail system (108,308); and - a main control system (109) using a first communication system for communicating with the plurality of remotely operated container handling vehicles (230,330,240,340,250,350), wherein the main control system (109) monitors and controls the movement of the plurality of container handling vehicles (230,330,240,340,250,350) via the first communication system; - at least one service vehicle movable on the rail system (108,308), wherein the at least one service vehicle is configured to bring a malfunctioning remotely operated container handling vehicle to a service area (160) outside of the rail system where the remotely operated container handling vehicles (230,330,240,340,250,350) operate; wherein the system further comprises: - a secondary control system using a second communication system, wherein the second communication system is independent of the main communication system, wherein the secondary control system for communicating with the at least one service vehicle on the rail system such as to monitor and control the movement of the at least one service vehicle. The invention also relates to a method of operating an automated storage and retrieval system and a main control system.
An automated storage and retrieval system comprising a storage grid configured to store a plurality of storage containers in vertical stacks, a plurality of remotely operated vehicles and a rail system comprising rails and tracks onto which the plurality of remotely operated vehicle operates. The automated storage and retrieval system further comprises a first area and a second area, wherein 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 comprising an entry barrier and an exit barrier to regulate the passage of the of one or more vehicles between the first and second area, and wherein the entry and exit barrier are moveable between an open position in which it allows passage of the one or more of the vehicles, and a closed position in which is restricts passage of the one or more vehicles, and wherein 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.
A system and method for power management of an automated storage and retrieval system (1) comprising a plurality container handling vehicle (201, 301) with at least one rechargeable power source for handling containers in a three dimensional underlying storage grid (104), a charging device (404) for charging the rechargeable power sources (405) of the container handling vehicles (201, 301), a power source (401) for supplying power to the storage system (1), a monitoring system (402) for monitoring energy prices, wherein said monitoring system (402) is configured to continuously update a power manager with energy prices, and said power manager is configured to adapt a power strategy to the system according to the energy prices.
The invention concerns a storage facility comprising a gas isolated storage space containing an automated storage and retrieval system and a method for using such a storage facility.
The invention concerns a storage facility comprising a gas isolated storage space containing an automated storage and retrieval system and a method for using such a storage facility.
It is described a method of providing an operator access to a target storage position in an automated storage and retrieval system (1), the automated storage and retrieval system (1) comprising: a rail system (108) for guiding a plurality of container handling vehicles (200,300), the rail system (108) comprising a first set of parallel rails (110) arranged in a horizontal plane (P) and extending in a first direction (X), and a second set of parallel rails (111) 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 (110,111) form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent grid cells (122), each grid cell (122) comprising a grid opening (115) defined by a pair of neighboring rails (110a,110b) of the first set of rails (110) and a pair of neighboring rails (111a,111b) of the second set of rails (111); the automated storage and retrieval system (1) further comprising a storage volume (500) beneath the rail system (108), wherein the storage volume (500) comprises storage columns for storing storage containers (106) and the container handling vehicles (200,300) are operable to retrieve a storage container (106) from a stack (107) of storage containers within the storage volume (500), wherein the method comprises the steps of: - operating a master control system (800) to allocate and instruct at least one container handling vehicle (200, 300) to remove storage containers along a first path (900) between a position at a side edge or a top surface of the storage volume (500) and the target storage position (400,401) such that an operator can access the target storage position through the first path when the at least one container handling vehicle has removed the storage containers along the first path. It is further described an automated storage and retrieval system.
The present invention relates to an automated grid based storage and retrieval system (1), comprising a plurality of storage containers (106; 20) for storing product items (8) therein; and a storage grid (4) in which the storage containers (106; 20) are stacked vertically in stacks (7) arranged beneath openings of a grid-based rail system (8) to provide storage columns (5) of a storage volume (V). The storage volume (V) comprises a flow path (FP) extending through a plurality of the stacks (7), wherein the flow path (FP) is formed by spacers (40) positioned within the stacks (7), the spacers (40) being configured to allow a fluid to flow through the spacer (40), each spacer (40) being stacked at a predetermined level (z) between storage containers (106; 20) in a stack (7) and adjacent another of the spacers (40) in a neighboring stack (7) to provide adjacent sections of the flow path (FP). The present invention also relates to a method of storing storage containers in storage columns (5) of an automated grid based storage and retrieval system (1).
A delivery system for transport of a container to an access point for handling of items held in the container by a human and/or robotic operator, the delivery system comprising: a delivery rail grid, a delivery vehicle and a container accessing station comprising at least one conveyor line extending into the access point. The delivery vehicle is arranged for delivering/receiving the container to/from the at least one conveyor line and wherein the at least one conveyor line is arranged for transport of the container between the delivery vehicle and the access point. The invention is also directed to an automated storage and retrieval system and a method of transporting a container to an access point.
A method (200), computer program product and system for controlling movements of container handling vehicles (150) operating in a storage and retrieval system (10) comprising a grid structure with storage columns (105) and a corresponding rail system (108) above the storage columns (105) for guiding movements of the vehicles (150) adapted for transferring storage containers (106) to and from the storage (columns 105), where each vehicle (150) comprises a vehicle controller (410) connected to driving means (420) and sensors (430) for controlling movements of the vehicle (150) along the rail system (108) relative to movements of other vehicles (150). The method comprises different steps performed in the vehicle controller (410) of each vehicle (150). The steps comprises using a map (210) defining rail layout and traffic rules for where and when vehicles (150) can move on the rail system (108), and where the map is the same for all vehicles (150) operating in the storage and retrieval system (10); synchronizing (220) the vehicle controller (410) to a clock common for all vehicles (150); receiving an instruction from a master controller (400) instructing the vehicle (150) to move to a specified destination (230) on the rail system (108) relative to the map; letting the vehicle controller (410) determine a route to follow (240) on the rail system (108) from a current position of the vehicle (150) to the specified destination based on the map, the traffic rules, distance to other vehicles (150) and movements of the other vehicles (150); controlling the movements (260) of the vehicle (150) along the rails system (108) from its current position to the specified destination according to the determined route, and repeating the steps until the vehicle (150) has reached the specified destination.
The present invention relates to an automated storage and retrieval system (1), comprising a three-dimensional storage grid (104) for storing storage containers (106), first and second container handling vehicles (201, 301) operating on the storage grid (104) and a central communication system (500) for controlling and communicating with the container handling vehicles (201, 301) for handling storage containers (106) in the storage grid (104). The system also comprises a barrier (402) separating the three dimensional storage grid (104) into a first section (S1) and a second section (S2), wherein the barrier (402) has two states. A first state in which the container handling vehicles (201, 301) are allowed to move between the first section (S1) and the second section (S2). A second state, in which the container handling vehicles (201, 301) are physically prevented from moving between the first section (S1) and the second section (S2) by means of the barrier (402).
F16P 3/08 - Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body in connection with the locking of doors, covers, guards, or like members giving access to moving machine parts
65.
SYSTEM AND METHOD FOR LIGHT COMMUNICATION IN A STORAGE SYSTEM
An automated storage system (1) comprising a three-dimensional storage grid (104) for storing storage containers (106), at least one container handling vehicle (201, 301) operating the storage grid (104), and a central communication system (500) with a system transmitter (401) and a system receiver (401) for controlling and communicating with the at least one container handling vehicle (201, 301) for handling storage containers (106) in the storage grid (104) wherein said at least one container handling vehicle (201, 301) comprises a vehicle communication system with a vehicle transmitter and a vehicle receiver for communication with the central communication system (500), wherein the system and vehicle transmitters and receivers are configured to use light for wireless communication, and wherein the system transmitter (401) and the system receiver are located in the automatic storage system (1) on or around the storage grid (104).
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
A modular container accessing station (60) which has been configured to offer multiple access points (62, 63) where access to each access point may be permitted through an upper working surface of the container accessing station to an underlying container (70, 106) that has been delivered to the access point. The working surface is provided by one or more working surface sections (66, 67), each working surface section having a common attachment configuration to allow either an access panel (67) or a blanking-off panel (66) to be fitted as part of the container accessing station at any of the multiple access points.
The present invention provides a storage system (1) comprising a storage grid structure (104), in which storage containers (106) are stored, and multiple container handling vehicles (200,300), the storage grid structure comprises vertical column profiles (102) interconnected at their upper ends by top rails (110,111) forming a horizontal top rail grid (108) upon which the container handling vehicles (200,300) may move in two perpendicular directions, the container handling vehicles are able to retrieve storage containers (106) from, and store storage containers in, the storage grid structure (104), and transport the storage containers on the top rail grid, characterized in that the storage system comprises at least one consolidation vehicle (6), a transfer rail grid (5), an item picking area (7) and an item delivery station (8), wherein the consolidation vehicle comprises a wheel arrangement (32a,32b) for moving the consolidation vehicle (6) in two perpendicular directions upon the transfer rail grid (5); the transfer rail grid (5) comprises transfer rails (110',111') upon which the consolidation vehicle (6) may move in two perpendicular horizontal directions; the item picking area comprises a first section (9) of the transfer rail grid, upon which the consolidation vehicle (6) may be positioned to receive multiple items (21) picked from at least one storage container (106), and an item picker (11) arranged to pick the items from the storage container (106) and transfer them to the consolidation vehicle (6); the item delivery station comprises a second section (10) of the transfer rail grid (5), upon which the consolidation vehicle may be positioned to deliver items received from the storage container to a packaging/processing assembly (12); and the consolidation vehicle (6) comprises an item carrier (13) arranged such that items may be emptied from the item carrier (13) when the consolidation vehicle is positioned at the item delivery station.
A method, system and computer program for preparing orders of goods stored in storage containers in an automated storage and retrieval system. Ordered goods are prepared and delivered to a pick-up point when the ordered goods can be picked up. This optimizes the use of storage capabilities of the automated storage and retrieval system and minimizes the need temporal storage space at a pick-up point.
69.
AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM WITH FIRE DETECTION DEVICE AND METHODS OF LOCATING AND/OR VERIFYING FIRE OR SMOKE IN AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM
It is described an automated storage and retrieval system with fire detection device and methods of locating and/or verifying fire or smoke in an automated storage and retrieval system. The automated storage and retrieval system comprising: - a rail system (108, 50) comprising a first set of parallel tracks (110;51) arranged in a horizontal plane (P) and extending in a first direction (X), and a second set of parallel tracks (111;52) 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 tracks (110,111;51,52) form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent grid cells, each comprising a grid opening (12) defined by a pair of neighboring tracks (110a,110b; 51a,51b) of the first set of tracks (110;51) and a pair of neighboring tracks (111a,111b;52a,52b) of the second set of tracks (111;52); and - a master control system (800) configured to keep track of any remotely operated vehicle (200,300;30) operating on the rail system (108;50); - a plurality of remotely operated vehicles (200,300;30) operating on the rail system (108;50), each of the remotely operated vehicles (200,300;30) comprising: first and second sets of wheels (201,301;31) for transport in the X and Y directions on the rail system (8), a fire detection device (150) configured to transmit data from the fire detection device to the master control system (800).
A container-handling vehicle (9) for picking up storage containers (6) from a three- dimensional grid (4) of an underlying storage system (1), comprising a vehicle body (13) and at least one lifting device (18) for lifting a storage container (6) from the grid (4), comprising a lifting frame (17) with gripper elements (24) for releasable connection to a storage container (6), wherein that the lifting frame (17) further comprises a first rechargeable power supply (41) for supplying energy to the gripper elements (24).
B66C 13/14 - Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts or devices to load-engaging elements or motors associated therewith
B66C 13/40 - Applications of devices for transmitting control pulses; Applications of remote control devices
B66C 19/00 - Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
System and method for managing power consumption of an automated storage and retrieval system (1) comprising a container-handling vehicle (201, 301), with a rechargeable power source, for handling storage containers in the automated storage and retrieval system (1), a charging station (404) for recharging the rechargeable power source of the container carrying vehicle (201, 301), a power supply (401) for delivering power to the storage system (1), a power monitoring device (402) coupled to the power supply (401), a control system (403) for controlling the operation of the automated storage and retrieval system, where the power monitoring device (402) is arranged to monitor available power from the power source entering the automated storage and retrieval system and communicate a signal to the control system indicative of the available power, wherein the control system (403) is arranged to be responsive to that signal and manage power consumption through being configured to modify 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, thereby providing a modified operation of the automated storage and retrieval system during periods of lower power availability.
A system and method providing secure storage and retrieval of storage containers (6) linked to different users. The system comprises an automated storage and retrieval system (50) connected to interaction areas (51) via a container transport assembly (52) and where the interaction areas (51) and the container transport assembly (52) both comprise transferring means for moving a storage container (6) to and from the container transport assembly (52) and within the interaction areas (51), and where each interaction area (51) comprises at least one access station (53) for giving access to and enabling transferring of storage containers (6) or items to and from the interaction area (51), and a user interface with identification means for identifying a user and for controlling user access to the access station (53) and for interacting with the automatic storage and retrieval system (50).
A method and computer program product for controlling transferring of a storage container (4) for storing items by transferring the storage container (4) via access station at an interaction area (6) among a plurality of interaction areas (6) of an automated storage and retrieval system (2), where the storage container (4) is linked to a user and items stored, and where the method is performed by the computer program product comprising specific modules performing different steps of the method. The modules comprise a user identification module (20) processing user identification data and giving access to the system, a registration module (30) registering items to be stored in an inventory database (10), a search module (40) for searching for stored items in the inventory database (10), a presentation module presenting search results and items stored, and an execution module (60) generating instructions that via a communication module (70) is instructing a system controller (100) of the automated storage and retrieval system (2) to retrieve or store a specific storage container.
A container-handling vehicle for handling storage containers in a three-dimensional grid of an underlying storage system, comprising: at least one lifting device for lifting storage containers from and lowering storage containers to the underlying storage system, said lifting device comprises a lifting frame for gripping a storage container, a winch system for lifting and lowering the lifting frame, a motor to drive the winch system and a driver circuit with a controller controlling the motor; and at least first and second rechargeable power sources for providing power to the motor, wherein the driver circuit further comprises a regenerative energy circuit configured to harvest energy from the motor when the lifting frame is lowered into the storage system and where the driver circuit is configured to direct harvested energy to the rechargeable power sources according to levels of charge in the rechargeable power sources.
H02J 7/14 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
B60L 53/00 - Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
The present invention provides a storage system comprising at least one vehicle (6, 36, 300', 400), a horizontal rail grid (108,5) and a charging system for charging a rechargeable power source (20) of the vehicle, wherein the vehicle comprises a first set of wheels (32a) and a second set of wheels (32b) for moving the vehicle upon the rail grid; the first set of wheels (32a) is displaceable in a vertical direction between a first position, wherein the first set of wheels may move the vehicle in a first direction (X), a second position, wherein the first and the second set of wheels are in contact with the rail grid, and a third position wherein the second set of wheels may move the vehicle in a second direction (Y) perpendicular to the first direction; the charging system comprises at least two charge-receiving elements (21a,21b,21c) arranged on the vehicle and connected to the power source (20), and a charging station (22) comprising two charge-providing elements (23a, 23b) connected to a charging power source (33); wherein the charging station comprises an actuator (31) operatively connected to the charge-providing elements (23a, 23b) and arranged to move the charge-providing elements (23a, 23b) in a vertical direction, such that the charge-receiving elements (21a, 21b) may be connected with the charge-providing elements (23a, 23b) when the vehicle is positioned above the charging station.
The present invention relates to an automated storage and retrieval system for storage and retrieval of containers, in particular to a vehicle lift (770) for lifting a delivery vehicle (601) having a storage container (106) from a delivery rail system (608) into an accessing station (760).
The present invention relates to a storage container (6) for storing product items (5; 5a) in an automated storage and retrieval system (1). The storage container (6) comprises a base (6B), two first parallel side walls (6S1), two second parallel side walls (6S2) perpendicular to the two first parallel side walls and a top opening (6TO). The storage container further comprises two side openings (6SO), to allow one or more items to be unloaded from the storage container (6) or loaded into the storage container through one of the side openings at an unloading station (10) or at a loading station (10a). The storage container (6) is provided with a restraint which is arranged to restrain movement of the one or more items (5; 5a) from exiting through one of the side openings (6SO) during transportation of the storage container (6).
B65D 25/00 - CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES - Details of other kinds or types of rigid or semi-rigid containers
78.
A STATION FOR PROVIDING ACCESS TO CONTENTS IN A STORAGE CONTAINER AND AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM
A station for providing access to contents in a storage container of an automated storage and retrieval system comprising: - an access barrier comprising an opening, and a plurality of covers, wherein each cover is arranged to be selectively deployed to close off a respective portion of the opening; - a loading mechanism arranged to receive the storage container and move it to the opening of the access barrier; and -a housing which is able to prevent access to the opening of the access barrier; wherein the station (10) is arranged to transition between; - a loading configuration in which access to the opening of the access barrier is prevented by the housing, and - an access configuration in which the opening of the access barrier is presented to thereby enable access to contents of the storage container through the opening. The station is configured to deploy the covers to close off predetermined portions of the opening prior to transition into the access configuration to thereby restrict or permit access to contents of the storage container through predetermined portions of the opening.
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.
The invention relates to a container arrangement comprising a plurality of connected containers, each for storing an automated storage and retrieval system. A coupling arrangement connects and aligns connected containers side-by-side. The containers may be intermodal containers. The invention also relates to a method for providing such an arrangement.
The invention relates to an expansion joint (10) for connecting regions of a rail- based grid storage system (50, 50', 50"; 104, 104', 104"), the expansion joint (10) comprising: - a first rail element (12) and a second rail element (11), the rail elements (12, 11) being elongate and configured to slide relative to one another in a longitudinal direction in a junction area where they overlap, - the expansion joint (10) having a profiled upper surface that defines one or more tracks (27', 27") for supporting container handling vehicles (200, 300, 400), the tracks (27', 27") extending from the first rail element (12) through the junction area to the second rail element (11), wherein in the junction area, each rail element (11, 12) provides a portion of the or each track (27', 27") of the profiled upper surface so that there is a transition extending along the expansion joint (10) from the first rail element (12) to the second rail element (10) for the or each track (27', 27"). The invention further relates to an automated storage and retrieval system comprising said expansion joint (10) and a method of connecting regions (50, 50', 50"; 104, 104', 104") of a rail-based grid storage system and/or delivery rail system using one or more of the expansion joints (10)
A container accessing station for accessing a storage container of an automated storage and retrieval grid. The container accessing station comprising: 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 invention is also directed to a container accessing system and a method thereof.
An automated storage and retrieval system comprising a storage grid for storage of storage containers and a delivery system for transport of said storage containers between a delivery port of the storage grid and an access point of the delivery system, the access point being adapted for handling of items held in the storage containers by a robotic operator or human operator. The delivery system comprises: a delivery rail system, a remotely operated delivery vehicle, and an access point, wherein the delivery grid provides one or more delivery grid cells for the remotely operated delivery vehicle at the access point as well as a plurality of delivery grid cells adjacent the one or more delivery grid cells of the access point, such that there is more than one path to and/or from the access point or the remotely operated delivery vehicle via the plurality of delivery grid cells.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
84.
A DELIVERY VEHICLE, AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM AND A METHOD OF TRANSPORTING STORAGE CONTAINERS BETWEEN AN AUTOMATED STORAGE AND RETRIEVAL GRID AND A SECOND LOCATION
The invention concerns a remotely operated delivery vehicle for transport of a storage container between a storage grid configured to store a plurality of stacks of storage containers, and a second location. The invention also concerns a storage system using such delivery vehicles and a method thereof.
The invention concerns a method of operating an automated storage and retrieval system (1), wherein the method comprises: - detecting with the central control unit (14) that access of a first container handling vehicle (2) to a target cell (12), which is one of the plurality of grid cells, is blocked by a second container handling vehicle (2), - transmitting a data signal (16) from the central control unit (14) to the vehicle control unit (15) of the first container handling vehicle (2) commanding the first container handling vehicle (2) to move into the target cell (12) when the second container handling vehicle (3) is beyond said predetermined distance (D). Furthermore, the invention relates to an automated storage and retrieval system comprising container handling vehicles comprising a central control unit configured to perform the aforementioned method.
A method for handling malfunctioning vehicles (240,340) on a rail system (108,308) constituting part of a storage and retrieval system (1) configured to store a plurality of stacks (107) of storage containers (106), wherein the storage and retrieval system (1) comprises - a plurality of remotely operated vehicles (230,330,240,340,250,350) configured to move laterally on the rail system (108,308) and - a control system (109) for monitoring and controlling wirelessly movements of the plurality of vehicles (230,330,240,340,250,350), the control system (109) forms by wireless data communication at least the following steps: A. registering an anomaly in an operational condition of a vehicle (this 240,340) on the rail system (108,308), B. registering the vehicle with the anomalous operational condition as a malfunctioning vehicle (240,340), C. bringing the malfunctioning vehicle (240,340) to a halt, D. registering a halt position of the malfunctioning vehicle (240,340) relative to the supporting rail system (108,308), E. setting up a two-dimensional shutdown zone (225) within the rail system (108,308) into which the malfunctioning vehicle (240,340) is halted and F. updating movement pattern of the plurality of remotely operated vehicles (230,330, 250,350) outside the two-dimensional shutdown zone (225) such that entrance into the two-dimensional shutdown zone (225) is avoided.
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 43/00 - Control devices, e.g. for safety, warning or fault-correcting
B65G 43/02 - Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load- carriers, e.g. for interrupting the drive in the event of overheating
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
87.
A METHOD AND SYSTEM FOR CONTROLLING THE OPERATION OF CONTAINER HANDLING VEHICLES AND DRONES SERVING AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM
A method, system and computer program for controlling and coordinating interaction between drones (30) and container handling vehicles (200) operating respectively below and on top of the automated storage and retrieval system (10). The object is to ensure that the drones (30) and container handling vehicles (200) have minimal or the most cost-efficient waiting time when transferring storage containers (106) between them. Different steps are performed by an operational controller (210) in communication with a first type of controller (220) in each container handling vehicle (200) and a second type of controller (230) in each drone (30) and where timing information is a key factor.
An unloading arrangement, an unloading station, and a method of unloading an item (5) from a storage container (6), comprising: a delivery vehicle (30); a storage container (6) carried by the delivery vehicle (30); and an unloading station (10) for unloading an item (5) from the storage container (6) while it is being carried by the delivery vehicle (30) in an automatic storage and retrieval system (1), the unloading station (10) comprising: an unloading device (40); and a destination conveyor (60) configured to convey the item (5) to a target destination (TD), wherein the unloading device (40) is configured to move the item (5) through a side opening of the storage container (6) to the destination conveyor (60).
The invention relates to an automated storage and retrieval system comprising an automated storage and retrieval grid (104) and a delivery system (140): wherein the automated storage and retrieval grid (104) comprises: - a container handling vehicle rail system (108) for guiding a plurality of container handling vehicles (200,300), the container handling vehicle rail system comprising a first set of parallel rails (110) arranged in a horizontal plane (P) and extending in a first direction (X), and a second set of parallel rails (111) 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 (110,111) form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent container handling vehicle grid cells (122), each container handling vehicle grid cell (122) comprising a container handling vehicle grid opening (115) defined by a pair of neighboring rails (110a,110b) of the first set of rails (110) and a pair of neighboring rails (111a,111b) of the second set of rails (111), the container handling vehicles (200,300) being operable to retrieve a storage container (106) from a stack (107) of storage containers beneath the container handling rail system (108); and - a delivery column (119,120) adapted for transport of a storage container (106) between a container handling vehicle (200,300) and a delivery port (150) situated at a lower end of the delivery column (119,120); and wherein the delivery system (140) comprises a remotely operated delivery vehicle (30) comprising a container carrier (35) adapted to support the storage container (106), the delivery vehicle (30) being further adapted to transport the storage container (106) between a first location represented by the delivery port (150) and a second location, wherein the second location comprises a robotic operator (160'; 160'') for handling of product item in the storage container (106). The invention further relates to methods of moving storage containers with product items from storage grid and to a robotic operator at the second location for handling of product item in the storage container.
The present invention provides a storage system (1) comprising a storage grid structure (104) and multiple container handling vehicles (200,300), the storage grid structure comprises vertical column profiles (102) defining multiple storage columns (105), in which storage containers (106) can be stored one on top of another in vertical stacks (107), and at least one transfer column (119,120), the column profiles are interconnected at their upper ends by top rails (110,111) forming a horizontal top rail grid (108) upon which the container handling vehicles (200,300) may move in two perpendicular directions, the container handling vehicles are able to retrieve storage containers (106) from, and store storage containers in, the storage columns (105), and transport the storage containers on the storage grid structure, wherein the storage grid structure (104) comprises at least one horizontal transfer section (2); and the storage system comprises multiple container transfer vehicles (6) and transfer rails (110',111') forming a transfer rail grid (5) upon which the container transfer vehicles (6) may move in at least one horizontal direction, and the transfer section (2) is arranged at a level below the top rail grid (108) and extends from an external side (12) of the storage grid structure (104) to a position below the at least one transfer column (119,120) and comprises at least a section of the transfer rail grid (5) upon which section the container transfer vehicles (6) may pass each other and move in two perpendicular horizontal directions; and each of the container transfer vehicles comprises a container carrier (38) for carrying a storage container (106) and a wheel arrangement (32a,32b) for moving the container transfer vehicle (6) in two perpendicular directions upon the transfer rail grid (5); and wherein the at least one transfer column (119,120) extends from the top rail grid (108) to the transfer section (2), such that a storage container (106) may be transferred between the top rail grid (108) and the container carrier of one of the container transfer vehicles (6).
The present invention provides a storage system (1) comprising a storage grid structure (104) having a top rail grid upon which container handling vehicles (200,300) work to store and retrieve storage containers (106) in and from storage columns (105) beneath the top rail grid, wherein the storage system comprises multiple transfer rails (110',111') forming a horizontal transfer rail grid (5) arranged at a level below the top rail grid, at least one transport vehicle (19) operating on the transfer rail grid, a picking/stocking station (8) for picking/stocking items between a storage container (106) and a packaging box (24), and an unloading/loading assembly (23) for unloading/loading packaging boxes containing such items, the transport vehicle (19) is arranged to move upon the transfer rail grid (5) in two perpendicular directions and comprises a carrier platform (20), wherein the transfer rail grid is arranged to allow access for the transport vehicle (19) to transport one or more packaging boxes at a time between the picking/stocking station and the unloading/loading assembly (23).
The present invention provides a storage system comprising at least one container vehicle (6',300',400), a horizontal rail grid (108,5) and a charging system for charging a rechargeable power source (20) of the container vehicle, wherein - the container vehicle comprises a first set of wheels (32a) and a second set of wheels (32b) for moving the container vehicle upon the rail grid; - the first set of wheels (32a) is displaceable in a vertical direction between a first position, wherein the first set of wheels may move the container vehicle in a first direction (X), a second position, wherein the first and the second set of wheels are in contact with the rail grid, and a third position wherein the second set of wheels may move the container vehicle in a second direction (Y) perpendicular to the first direction; - the charging system comprises two separated charge-receiving elements (21a,21b) arranged on the container vehicle and connected to the power source (20), and a charging station (22) comprising two separated charge- providing elements (23a,23b) connected to a power source charger (24); and - each of the charge-receiving elements (21) comprises a first contact surface (25), and each of the charge-providing elements (23a,23b) comprises a second contact surface (26); wherein the first contact surfaces are arranged to be contactable with the corresponding second contact surfaces when the container vehicle is positioned above the charge-providing elements.
B60L 53/16 - Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
B60L 53/30 - Constructional details of charging stations
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
93.
AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM AND A METHOD OF TRANSPORTING STORAGE CONTAINERS BETWEEN AN AUTOMATED STORAGE AND RETRIEVAL GRID AND A SECOND LOCATION
The invention is related to an automated storage and retrieval system comprising an automated storage and retrieval grid and a delivery system. The delivery system comprises a remotely operated delivery vehicle comprising a container carrier adapted to support a storage container. The delivery vehicle being further adapted to transport the storage container between the delivery port of the storage grid and a second location for handling of the storage container by at least one of a robotic operator and a human operator.
A lift system for an automated storage system of the type where storage containers are stacked in storage columns arranged in a grid, and where automated container handling vehicles retrieve and replace containers from a top level of the grid. The lift system has a platform vertically movable adjacent to a face of the grid, arranged for receiving and transporting one or more containers. A dedicated mechanical device is arranged for grabbing, lifting and moving the storage containers from a staging area at the top of the grid and placing containers on the platform and vice versa.
An automated storage and retrieval system comprising a grid-based rail structure and a plurality of remotely operated vehicles arranged to operate on the grid-based rail structure. The automated storage and retrieval system comprising 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 being arranged to lock the remotely operated vehicle against accidental displacement prior to interaction with the human and/or robotic operator, and wherein the locking device being arranged to unlock the remotely operated vehicle once interaction with the human and/or robotic operator is no longer required. The invention is also directed to a method of accessing a storage container through a container accessing station.
The invention concerns a service vehicle (2) for movement on a rail system (108). The service vehicle (2) comprises a container vehicle handling part (8) for mechanical interacting with a container handling vehicle (300) operating on the rail system (108), an operational part (3) for controlling operations of the service vehicle (2) and caterpillar tracks (6) for allowing movement of the service vehicle (2) on the rail system (108) during operation.
The invention concerns a service vehicle (2) for extinguishing fire on and within an automated storage and retrieval system (1) and a method for operating such a service vehicle (2). The service vehicle comprises caterpillar tracks (6, 7) allowing movement of the service vehicle across a rail system (108) and a fire extinguisher compartment (8) for containing firefighting equipment (3a).
The present invention provides a A container handling vehicle (9') for picking up storage containers (6) from a three-dimensional grid (4) of an underlying storage system (1), comprising a first set of wheels (22), arranged at opposite portions of a vehicle body (13) of the container handling vehicle, for moving the vehicle (9') along a first direction (X) on a rail system (8) of the grid (4); and a second set of wheels (23), arranged at opposite portions of the vehicle body (13), for moving the vehicle (9') along a second direction (Y) on the rail system (8) of the grid (4), the second direction (Y) being perpendicular to the first direction (X); wherein the vehicle body (13) comprises walls on all sides forming a footprint (FV) defined by horizontal peripheries in the X and Y directions of the vehicle body (13), and the container handling vehicle further comprises a first section (204) and a second section (205) arranged side-by-side such that a centre point of a footprint (F1) of the first section (204) is arranged off centre relative a centre point of the footprint (FV) of the vehicle body (13), and a size ratio of the footprint (F1) of the first section (204) relative a footprint (F2) of the second section (205) is at least 2:1; wherein the first section (204) is configured to accommodate a storage container (6), and the second section (205) comprises an assembly of motors for driving at least one wheel of each of the sets of wheels.
A container handling vehicle (9') for picking up storage containers (6) from a three- dimensional grid (4) of an underlying storage system (1), comprising - a first set of wheels (22) for moving the vehicle (9') along an X direction (X) on a rail system (8) of the grid (4); and - a second set of wheels (23) for moving the vehicle (9') along a Y direction (Y) on the rail system (8) of the grid (4), the Y direction (Y) being perpendicular to the X direction; - a vehicle body (13), the vehicle body (13) having a vehicle body footprint (FV) defined by horizontal peripheries in the X and Y directions of the vehicle body (13), the vehicle body comprising a first section (204) and a second section (205),the first section (204) having a first footprint (F1) and the second section (205) having a second footprint (F2), the first and second footprints (F1, F2) being defined by horizontal peripheries in the X and Y directions of the first and second sections (204, 205), respectively; - a lifting device (18) for lifting storage containers (6) from the storage system (1); and 20 - a lifting device motor (211, 211') arranged to drive the lifting device (18) when lifting storage containers (6) from the storage system (1); wherein - the first section (204) and the second section (205) are arranged side-by- side such that a total area of the first and second footprints (F1, F2) equals a total area of the vehicle body footprint (FV), and a centre point of the first footprint (F1) is arranged off centre relative a centre point of the vehicle body footprint (FV); - the first section (204) defines a storage container receiving space which is configured to accommodate a storage container (6), the first section (204) also accommodating the lifting device (18) for lifting a storage container (6) from the storage system (1); and the lifting device motor (211, 211') is accommodated in the second section (205).
The present invention provides a container-handling vehicle (9') for picking up storage containers (6) from a three-dimensional grid (4) of an underlying storage system (1), comprising a vehicle body (13) and at least one lifting device (18') for lifting a storage container (6) from the grid (4), the lifting device (18') comprises a lifting band drive assembly (47, 47', 31) connected to the vehicle body (13), a horizontal lifting frame (17) for releasable connection to a storage container (6), and four lifting bands (16a,16b) connecting the lifting band drive assembly (47, 47', 31) to the lifting frame (17); the lifting band drive assembly (47, 47', 31) comprises a lifting shaft assembly (47, 47') having a lifting shaft (22, 22') and at least one motor (23) for rotating the lifting shaft (22, 22'); and the lifting shaft (22) comprises a first end section (27a) and a second end section (27b); two of the lifting bands (16a,16b) are connected at each of the first and second end sections of the lifting shaft; and the lifting shaft assembly comprises at least one electrical insulating element (35, 54) arranged such that the lifting bands connected at the first end section is electrically insulated from the lifting bands connected at the second end section.
patents
