Patents Assigned to Autostore Technology AS
  • Patent number: 11814058
    Abstract: A storage system includes a storage grid structure and multiple container handling vehicles. The storage grid structure includes vertical column profiles defining multiple storage columns, in which storage containers can be stored one on top of another in vertical stacks, and at least one transfer column, the column profiles are interconnected at their upper ends by top rails forming a horizontal top rail grid upon which the container handling vehicles may move in two perpendicular directions, the container handling vehicles are able to retrieve storage containers from, and store storage containers in, the storage columns, and transport the storage containers on the storage grid structure. The storage grid structure includes at least one horizontal transfer section. The storage system includes multiple container transfer vehicles and transfer rails forming a transfer rail grid upon which the container transfer vehicles may move in at least one horizontal direction.
    Type: Grant
    Filed: May 6, 2022
    Date of Patent: November 14, 2023
    Assignee: Autostore Technology AS
    Inventor: Trond Austrheim
  • Publication number: 20230359950
    Abstract: A method picks products from at least one storage container in a picking zone of a picking station of an automated storage and retrieval system. The picking is controlled by a picking system controller communicating with a warehouse management system, WMS. The picking is performed by a picking device in the picking zone by placing picked products in one or more consolidation containers according to orders. The picking system controller is adapted for controlling the picking device and picking station for executing the method.
    Type: Application
    Filed: August 31, 2021
    Publication date: November 9, 2023
    Applicant: Autostore Technology AS
    Inventor: Ingvar Fagerland
  • Patent number: 11807457
    Abstract: A method for storing product items in storage bins in a storage system includes a bin storing grid in which storage bins are stored above each other in columns. The method includes: inserting product items to or retrieving product items from the respective storage bins at a port; determining a weight for each storage bin after one or more product items have been inserted to or retrieved from the storage bin; determining a storage position for the storage bin in the bin storing grid based on the weight; and transporting the storage bin from the port to the determined storage position by means of a vehicle and a bin lift device provided on each vehicle.
    Type: Grant
    Filed: January 21, 2019
    Date of Patent: November 7, 2023
    Assignee: Autostore Technology AS
    Inventor: Trond Austrheim
  • Patent number: 11807452
    Abstract: The invention concerns an automated storage and retrieval system (1), a storage container handling vehicle (3) and a method for operating such a system. The system (1) comprises one or more vehicle (3) configured to lift and move storage containers (106) stacked in the system (1). Each vehicle (3) comprises a storage container lifting device (16), a drive system (18) with a wheel arrangement (19, 20) configured to drive and maneuver the vehicle (3) along the track system (108), abase (31) onto which the wheel arrangement (19, 20) is connected, a rotational part (30) rotationally connected via a swivel device (32) to the base (31) and a rotational drive system (34) for rotating the rotational part (30) relative to the base (31).
    Type: Grant
    Filed: November 20, 2018
    Date of Patent: November 7, 2023
    Assignee: Autostore Technology AS
    Inventors: Ivar Fjeldheim, Trond Austrheim
  • Patent number: 11802000
    Abstract: A container handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system includes: a first set of wheels, arranged at opposite portions of a vehicle body of the container handling vehicle, for moving the vehicle along a first direction on a rail system of the grid; and a second set of wheels for moving the vehicle along a second direction on the rail system of the grid. The container handling vehicle further comprises a first section and a second section arranged side-by-side such that a centre point of a footprint of the first section (F1) is arranged off centre relative a centre point of the footprint of the vehicle body (FV), and a size ratio of the footprint of the first section (F1) relative a footprint of the second section (F2) is at least 2:1.
    Type: Grant
    Filed: August 31, 2022
    Date of Patent: October 31, 2023
    Assignee: Autostore Technology AS
    Inventor: Trond Austrheim
  • Patent number: 11801999
    Abstract: A bin holding device includes two side elements vertically spaced to accommodate a storage bin between the two side elements. Each side element is provided with a bin supporting assembly comprising a bin support. The bin support comprises an upper bin interacting part configured to interact with the storage bin when the storage bin is accommodated in the bin holding device, such that a top edge of the accommodated storage bin is held at a predetermined level.
    Type: Grant
    Filed: January 28, 2022
    Date of Patent: October 31, 2023
    Assignee: Autostore Technology AS
    Inventor: Ingvar Hognaland
  • Patent number: 11801874
    Abstract: A vehicle tilting device for tilting a delivery vehicle for increasing access to items from a storage container transported on the delivery vehicle. The vehicle tilting device comprises a base structure and a tiltable platform connected to the base structure, wherein the tiltable platform comprises guiding features adapted to guide the delivery vehicle onto the tiltable platform. The tiltable platform is arranged to be connected to a delivery grid cell of a delivery rail system such that that there is a path to and/or from the tiltable platform for the delivery vehicle via the delivery grid cell. The invention is also related to an access station, a delivery system and a method of accessing a storage container.
    Type: Grant
    Filed: September 14, 2022
    Date of Patent: October 31, 2023
    Assignee: Autostore Technology AS
    Inventor: Trond Austrheim
  • Publication number: 20230339685
    Abstract: A container handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system includes a first set of wheels, for moving the vehicle along a first direction on a rail system in the grid; and a second set of wheels, for moving the vehicle along a second direction on the rail system in the grid, the second direction being perpendicular to the first direction. A vehicle body includes walls on all sides and forms a quadrilateral footprint. The footprint is defined by horizontal peripheries in the first and second directions of the vehicle body. The container handling vehicle further includes a first section and a second section arranged side-by-side such that a centre point of a footprint of the first section is arranged off centre relative a centre point of the footprint formed by the vehicle body. The first and second sections are separated by a divider element.
    Type: Application
    Filed: June 7, 2023
    Publication date: October 26, 2023
    Applicant: Autostore Technology AS
    Inventor: Trond Austrheim
  • Publication number: 20230339683
    Abstract: An automated storage and retrieval system includes a plurality of storage container handling vehicles. Each vehicle includes a vehicle body, a thereto connected wheel assembly configured to guide the vehicle along the track system, a container picking device for releasably attaching to a storage container, which include one or more arms. The configuration of the container picking device is such that it is movable between a first lifting position enabling the container picking device to lift at least one storage container from a position beyond a horizontal extent of the vehicle body and a second transport position enabling the container picking device to hold the at least one storage container at least partly within the horizontal extent of the vehicle body and above the vehicle body.
    Type: Application
    Filed: June 22, 2023
    Publication date: October 26, 2023
    Applicant: Autostore Technology AS
    Inventors: Ivar Fjeldheim, Trond Austrheim
  • Patent number: 11794997
    Abstract: A method of operating a bin storage system including a plurality of storage columns for the storage of a plurality of vertically-stacked storage bins, and a plurality of robot vehicles for transporting storage bins, the method includes: positioning a cavity of one of the plurality of robot vehicles such that it is aligned with one of the storage columns, receiving a storage bin from the storage column into the cavity, and moving the robot vehicle along the bin storage system, using a plurality of rolling members attached to the vehicle body about the cavity that are arranged for travelling in a first direction and a perpendicular second direction along the bin storage system.
    Type: Grant
    Filed: March 4, 2022
    Date of Patent: October 24, 2023
    Assignee: Autostore Technology AS
    Inventor: Ingvar Hognaland
  • Publication number: 20230331242
    Abstract: An automated storage and retrieval system includes a grid-based rail structure and a plurality of remotely operated delivery vehicles arranged to operate on the grid-based rail structure. The automated storage and retrieval system includes a locking device arranged in a zone of the grid-based rail structure where a human and/or a robotic operator is permitted to interact with the remotely operated vehicle or contents of a storage container that the remotely operated vehicle is carrying. The locking device is arranged to latch to a motorized vehicle body of the remotely operated delivery vehicle, and to lock the remotely operated delivery vehicle against accidental displacement prior to interaction with the human and/or robotic operator. The locking device is arranged to unlock the remotely operated delivery vehicle once interaction with the human and/or robotic operator is no longer required.
    Type: Application
    Filed: May 19, 2023
    Publication date: October 19, 2023
    Applicant: Autostore Technology AS
    Inventors: Trond Austrheim, Øystein Gjerdevik, Ingvar Fagerland
  • Publication number: 20230331499
    Abstract: A product handling system for retrieving and storing products within storage containers includes a rotatable container carousel, a robotic picking device, and an access station. The rotatable container carousel includes a rotational device having a rotational carousel axis, and a storage container support connected to the rotational device at a radial carousel distance between the rotational axis of the rotational device and a horizontal center point of the storage container support, allowing rotation through at least a storage container loading position and a storage container accessing position. The robotic picking device includes a robotic base at a base center position, a first robotic segment connected to the robotic base, and a gripper connected at least indirectly to the first robotic segment. The gripper is spaced at an adjustable radial gripper distance between the base center position and the gripper such that the gripper is as least within reach of the storage container accessing position.
    Type: Application
    Filed: July 14, 2021
    Publication date: October 19, 2023
    Applicant: Autostore Technology AS
    Inventor: Trond Austrheim
  • Publication number: 20230331480
    Abstract: A floor element for an automated storage and retrieval system, which comprises a three-dimensional grid, a plurality of container handling vehicles, and multiple floor elements, each floor element arrangeable at a top end of a storage column on top of a vertical stack of containers, includes an upper surface with a substantially rectangular horizontal periphery suitable for being accommodated in a storage column. The floor element further includes lifting frame connecting elements, for releasable connection to a lifting frame, on a peripheral top section of the upper surface and a cut-out at each corner of the substantially rectangular horizontal periphery for interaction with guiding pins arranged on the lifting frame, and rail-connecting elements at the substantially rectangular horizontal periphery.
    Type: Application
    Filed: June 23, 2023
    Publication date: October 19, 2023
    Applicant: Autostore Technology AS
    Inventor: Trond Austrheim
  • Publication number: 20230331476
    Abstract: A storage system comprises a first grid structure of storage cells, each cell being arranged to accommodate a vertical stack of storage bins, the first grid structure having a top level. The system further comprises a first vehicle, arranged to move horizontally at the top level of the first grid structure, and a bin lift device, arranged to convey a bin in a vertical direction between the top level of the grid structure and a delivery station. The first vehicle is further arranged to receive a storage bin from a storage cell at the top level of the first grid structure and to deliver the storage bin to the bin lift device. The bin lift device is arranged to receive a bin from the vehicle at the top level of the first grid structure and to convey the bin to the delivery station.
    Type: Application
    Filed: September 13, 2019
    Publication date: October 19, 2023
    Applicant: Autostore Technology AS
    Inventor: Ingvar Hognaland
  • Publication number: 20230331241
    Abstract: An automated storage and retrieval system includes an automated storage and retrieval grid and a delivery system. The automated storage and retrieval grid includes a container handling vehicle rail system and a delivery column. The container handling vehicle rail system, which is for guiding a plurality of container handling vehicles, includes a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the horizontal plane including a plurality of adjacent container handling vehicle grid cells. Each container handling vehicle grid cell includes a container handling vehicle grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails.
    Type: Application
    Filed: May 15, 2023
    Publication date: October 19, 2023
    Applicant: Autostore Technology AS
    Inventor: Trond Austrheim
  • Publication number: 20230322238
    Abstract: A remotely operated delivery vehicle transports a storage container between a location directly below an automated storage and retrieval grid configured to store a plurality of stacks of storage containers, and a second location for handling of the storage container by at least one of a robotic operator and a human operator. The remotely operated delivery vehicle may include a rolling devices configured to move the remotely operated delivery vehicle in a horizontal plane along tracks of a delivery rail system. Additionally, rolling device motors are provided for driving the rolling devices. A power source provides propulsion power to the rolling device motors. A container carrier receives the storage container from above and onto or at least partly into the container carrier so that contents of the storage container are accessible by the at least one of the robotic operator and the human operator.
    Type: Application
    Filed: May 22, 2023
    Publication date: October 12, 2023
    Applicant: Autostore Technology AS
    Inventor: Trond Austrheim
  • Publication number: 20230322484
    Abstract: An automated storage and retrieval system includes a plurality of stacks of storage containers arranged in storage columns, and a container handling vehicle. The container handling vehicle includes a transport mechanism for transport of the vehicle, and a lifting assembly for picking up storage containers from the storage columns. The lifting assembly includes: a lifting frame connectable to a storage container, a first lifting shaft and a second lifting shaft, the first and second lifting shafts being mainly parallel, and each of the first and second lifting shafts being supported in an upper portion of the vehicle, two lifting elements extending from each of the first and second lifting shafts to the lifting frame, and a motor drive assembly having at least one motor including a first motor, and a force transferring assembly rotatably connecting the first and second lifting shafts via a force transferring element.
    Type: Application
    Filed: June 13, 2023
    Publication date: October 12, 2023
    Applicant: Autostore Technology AS
    Inventors: Ivar Fjeldheim, Børge Bekken, Trond Austrheim
  • Publication number: 20230324056
    Abstract: An automated grid based storage and retrieval system includes a framework structure and a plurality of storage containers. The framework structure includes upright members and a grid of horizontal rails provided at upper ends of the upright members. The framework structure defines a storage volume including a plurality of columns arranged in a grid pattern below the horizontal rails between the upright members. The plurality of storage containers are stacked vertically in stacks in the columns to provide a plurality of storage columns. An under-stack void extends beneath the stacks of storage containers. A plurality of inlets lead to the under-stack void between the stacks of storage containers. At least one column, which is empty of storage containers and arranged amongst the storage columns, provides a ventilation column. The ventilation column includes a fan.
    Type: Application
    Filed: September 1, 2021
    Publication date: October 12, 2023
    Applicant: Autostore Technology AS
    Inventors: Ivar Fjeldheim, Trond Austrheim
  • Patent number: 11780673
    Abstract: The present invention relates to an automated storage system, comprising a three-dimensional storage structure and plurality of remotely controlled robot vehicles. The three-dimensional storage structures comprises a plurality of pillars which are positioned with internal distances and in a rectangular arrangement, wherein the rectangular arrangement of the pillars define storage columns for the storage of a plurality of vertically-stacked storage bins, supporting rails arranged in a two-dimensional matrix on the pillars, said supporting rails arranged in a first direction and a second direction orthogonal to the first direction, the supporting rails defining openings for the storage columns.
    Type: Grant
    Filed: May 4, 2020
    Date of Patent: October 10, 2023
    Assignee: Autostore Technology AS
    Inventor: Ingvar Hognaland
  • Publication number: 20230314059
    Abstract: An automated grid based storage and retrieval system includes a framework structure including upright members and a grid of horizontal rails provided at upper ends of the upright members. The framework structure defines at least one storage volume below the horizontal rails. The at least one storage volume is open against the horizontal rails such that storage container vehicles may lower and raise storage containers into and out of the storage volume. The at least one storage volume includes a plurality of storage columns arranged adjacent one another, a plurality of walls surrounding the at least one storage volume; a void extending beneath the storage columns; and a cooler system adapted to draw air from the void, cool the air, and release the cooled air into an air release area arranged below the horizontal rails. The cooler system is arranged within an cooler enclosure arranged inside the plurality of walls and adjacent the plurality of storage columns.
    Type: Application
    Filed: September 1, 2021
    Publication date: October 5, 2023
    Applicant: Autostore Technology AS
    Inventors: Trond Austrheim, Ivar Fjeldheim