Patents Assigned to Autostore Technology AS
  • Publication number: 20240092581
    Abstract: 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 o
    Type: Application
    Filed: November 30, 2023
    Publication date: March 21, 2024
    Applicant: Autostore Technology AS
    Inventors: Tommy Hatteland, Torgeir Lilleskog, Vegard Syre-Aaker
  • Publication number: 20240092529
    Abstract: A storage container, which is for an automated storage and retrieval system (ASRS), is configured to be stacked in a stack of storage containers where an underlying storage container supports the storage container(s) positioned above. The storage container is adapted to be lifted by grippers on a lifting device such that the storage container can be lifted from above. The storage container includes a base, four sides, and four corner posts. The four sides are each hingedly connected to an edge of the base. The four corner posts are each configured to interconnect a pair of adjacent sides to each other in a horizontal direction when the sides are positioned substantially 90 degrees relative the base and relative each other.
    Type: Application
    Filed: January 21, 2022
    Publication date: March 21, 2024
    Applicant: Autostore Technology AS
    Inventors: Trond Austrheim, Ivar Fjeldheim, Simen Aarseth, Magne Hatteland
  • Patent number: 11919711
    Abstract: An automated storage and retrieval system includes at least one relay module for relaying storage containers between a port column and an access station. The relay module is arranged below a port column. The relay module includes a port station, a first conveyor, a second conveyor, each arranged at a side of the port station, and a lateral displacement device. The port station arranged at a lower end of the port column receives storage containers dropped off from and to be picked up through the port column. The first conveyor is adapted to transport storage containers to an access station. The second conveyor is adapted for transporting storage containers from the access station. The lateral displacement device is coupled to the port station and is arranged to transport storage containers between the port station and the first conveyor, and between the second conveyor and the port station.
    Type: Grant
    Filed: October 4, 2022
    Date of Patent: March 5, 2024
    Assignee: Autostore Technology AS
    Inventors: Ivar Fjeldheim, Trond Austrheim
  • Patent number: 11912498
    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 arranged at opposite portions of the vehicle body, for moving the vehicle along a second direction on the rail system of the grid, the second direction being perpendicular to the first direction. The vehicle body includes walls on all sides forming a footprint defined by horizontal peripheries in the X and Y directions of the vehicle body.
    Type: Grant
    Filed: July 14, 2022
    Date of Patent: February 27, 2024
    Assignee: Autostore Technology AS
    Inventors: Ivar Fjeldheim, Trond Austrheim
  • Patent number: 11912314
    Abstract: 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.
    Type: Grant
    Filed: September 27, 2022
    Date of Patent: February 27, 2024
    Assignee: Autostore Technology AS
    Inventor: Trond Austrheim
  • Patent number: 11912501
    Abstract: An automated storage and retrieval system includes a track system including a first set of tracks arranged in a horizontal plane and extending in a first direction, and a second set of tracks arranged in the horizontal plane and extending in a second direction that is orthogonal to the first direction. The first set of tracks and the second set of tracks form a grid pattern in the horizontal plane including a plurality of adjacent grid cells. Each grid cell includes an opening defined by the first set of tracks and the second set of tracks such that the track system includes a plurality of openings. A plurality of storage containers are arranged in columns beneath the track system such that the storage containers are located vertically below the openings. A plurality of container handling vehicles for lifting and moving the storage containers are configured to move on the track system and access the storage containers via the openings.
    Type: Grant
    Filed: February 2, 2023
    Date of Patent: February 27, 2024
    Assignee: Autostore Technology AS
    Inventors: Trond Austrheim, Ivar Fjeldheim, Ingvar Fagerland
  • Publication number: 20240059328
    Abstract: A storage network includes a plurality of storage systems. Each storage system includes a storage grid structure, having at least one transfer column and a horizontal top rail grid upon which the container handling vehicle moves in two perpendicular directions, and at least one container handling vehicle. The storage system includes at least one container transfer vehicle and transfer rails forming a transfer rail grid upon which the container transfer vehicle moves in at least one horizontal direction. The container transfer vehicle includes a container carrier for carrying a storage container and a wheel arrangement for moving the container transfer vehicle in two perpendicular directions upon the transfer rail grid. The at least one transfer column extends from the top rail grid to the transfer section, such that a storage container may be transferred between the top rail grid and the container carrier of the container transfer vehicle.
    Type: Application
    Filed: October 9, 2023
    Publication date: February 22, 2024
    Applicant: Autostore Technology AS
    Inventor: Trond Austrheim
  • Publication number: 20240051748
    Abstract: An automated storage and retrieval system includes: a track system having a first set of parallel tracks and a second set of parallel tracks, which form a grid pattern in the horizontal plane including a plurality of adjacent grid cells, each having a grid opening defined by a pair of neighboring tracks of the first set of tracks and a pair of neighboring tracks of the second set of tracks; a plurality of storage containers arranged in storage columns located beneath the track system, wherein each storage column is located vertically below a grid opening; and a vehicle configured to move on top of the track system above the storage columns, including a storage container lifting device for lifting storage containers and a drive system including a wheel arrangement, configured to drive the vehicle along the track system in at least one of the first direction and the second direction.
    Type: Application
    Filed: October 2, 2023
    Publication date: February 15, 2024
    Applicant: Autostore Technology AS
    Inventors: Ivar Fjeldheim, Trond Austrheim
  • Publication number: 20240043045
    Abstract: 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.
    Type: Application
    Filed: October 17, 2023
    Publication date: February 8, 2024
    Applicant: Autostore Technology AS
    Inventors: Trond Austrheim, Ragnar Stuhaug
  • Patent number: 11891095
    Abstract: 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.
    Type: Grant
    Filed: June 11, 2019
    Date of Patent: February 6, 2024
    Assignee: Autostore Technology AS
    Inventors: Ragnar Stuhaug, Oystein Gjerdevik
  • Patent number: 11891246
    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 an X direction on a rail system of the grid; and a second set of wheels for moving the vehicle along a Y direction on the rail system of the grid. The Y direction is perpendicular to the X direction. The container handling vehicle includes a vehicle body having a vehicle body footprint defined by horizontal peripheries in the X and Y directions of the vehicle body. The vehicle body includes a first section and a second section. The first section has a first footprint and the second section has a second footprint. The first and second footprints are defined by horizontal peripheries in the X and Y directions of the first and second sections, respectively.
    Type: Grant
    Filed: June 2, 2022
    Date of Patent: February 6, 2024
    Assignee: Autostore Technology AS
    Inventor: Trond Austrheim
  • Publication number: 20240034559
    Abstract: An access station, which is for presentation of a storage container from an automated storage and retrieval system to a picker, has a receiving area for receiving storage containers, forward of the receiving area a picking position for picking products from the storage container. The access station includes a guiding frame, a primary carriage, and a secondary carriage. The guiding frame is arranged in a horizontal plane and extends between the picking position and the receiving area. The primary carriage, which is for transporting a storage container, includes a primary carriage base, a primary carriage displacement motor, a first storage container support, and a transfer device. The primary carriage base is movable along the guiding frame. The primary carriage displacement motor is configured to move the primary carriage along the guiding frame. The first storage container support is connected to the primary carriage base.
    Type: Application
    Filed: November 29, 2021
    Publication date: February 1, 2024
    Applicant: Autostore Technology AS
    Inventor: Trond Austrheim
  • Publication number: 20240025457
    Abstract: A system for storing and transporting storage containers includes an automated storage and retrieval grid including vertical members defining multiple storage columns for storing storage containers on top of each other in vertical stacks. The vertical members are interconnected at their upper ends by a container handling vehicle rail system arranged to guide at least one container handling vehicle being configured to raise storage containers from, and lower storage containers into, the storage columns, and to transport the storage containers above the storage columns.
    Type: Application
    Filed: August 24, 2023
    Publication date: January 25, 2024
    Applicant: Autostore Technology AS
    Inventor: Trond Austrheim
  • Publication number: 20240025643
    Abstract: An automated storage and retrieval system includes a framework structure. The framework structure includes upright members, a storage volume comprising columns provided between the members, and a rail system provided on top of the members. Storage containers are stackable in stacks within the columns. The automated storage and retrieval system includes an access station and container handing vehicles configured to move on the rail system. The framework structure includes an access station compartment. The access station compartment comprises an access module, wherein the access module is one single independent access module with a self-supporting frame provided with wheels. The one single independent access module with a self-supporting frame is insertable into and retrievable out from the access station compartment.
    Type: Application
    Filed: December 21, 2021
    Publication date: January 25, 2024
    Applicant: Autostore Technology AS
    Inventors: Trond Austrheim, Ivar Fjeldheim, Magne Hatteland, Simen Aarseth, Øystein Gjerdevik
  • Patent number: 11873014
    Abstract: An automated storage and retrieval system includes 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 is adapted for handling of items held in the storage containers by a robotic operator or human operator.
    Type: Grant
    Filed: June 11, 2019
    Date of Patent: January 16, 2024
    Assignee: Autostore Technology AS
    Inventor: Trond Austrheim
  • Patent number: 11866259
    Abstract: A container-handling vehicle picks up storage containers from a three-dimensional grid of an underlying storage system. The container-handling vehicle has a vehicle body and wheels for moving the vehicle in two perpendicular directions on the grid. The vehicle body surrounds a cavity within which at least a first lifting device and a second lifting device are positioned adjacent to each other. Each lifting device is independently controlled and arranged to lift a storage container from the grid and into the cavity. The vehicle includes at least one vertical frame guiding element arranged inside the cavity. The frame guiding element extends between the lifting devices.
    Type: Grant
    Filed: January 27, 2023
    Date of Patent: January 9, 2024
    Assignee: Autostore Technology AS
    Inventors: Trond Austrheim, Jørgen Djuve Heggebø
  • Patent number: 11866260
    Abstract: An automated storage and retrieval system includes a framework structure forming a three-dimensional storage grid structure for storing the storage containers in storage columns. The framework structure includes a grid-based rail system arranged above the storage columns with the rail system providing available routes for the container handling vehicles handling and transferring the storage containers to and from the storage columns. Each container handling vehicle includes a first set of wheels configured to move the vehicle along a first lateral direction of the grid-based rail system and a second set of wheels configured to move the vehicle along a second lateral direction of the grid-based rail system. The second direction is perpendicular to the first direction.
    Type: Grant
    Filed: August 25, 2021
    Date of Patent: January 9, 2024
    Assignee: Autostore Technology AS
    Inventors: Tommy Hatteland, Torgeir Lilleskog, Vegard Syre-Aaker
  • Publication number: 20240002149
    Abstract: An access station, which is for presentation of a storage container from an automated storage and retrieval system to a picker, has a receiving position for receiving a storage container, forward of the receiving position a picking position for picking products from the storage container, and behind the receiving position a buffer area for buffering of a storage container. The access station includes a guiding frame, an inner carriage, and an outer carriage. The guiding frame is arranged in a horizontal plane and extending between the picking position, the receiving position, and the buffer area. The inner carriage, which is for transporting a storage container, includes an inner carriage base movable along the guiding frame and a first storage container support connected to the inner carriage base. The inner carriage base includes an elevation mechanism for raising and lowering the first storage container support relative to the guiding frame.
    Type: Application
    Filed: November 10, 2021
    Publication date: January 4, 2024
    Applicant: Autostore Technology AS
    Inventor: Trond Austrheim
  • Publication number: 20240002150
    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 a plurality of storage volumes arranged adjacent one another below the horizontal rails. The storage volumes are open against the horizontal rails such that storage container vehicles may lower and raise storage containers into and out of the storage volumes. The system includes a plurality of vertical walls surrounding each of the plurality of storage volumes, and a cooler system adapted to draw air from an input of the cooler system, cool the air drawn from the input, and blow cooled air through an output of the cooler system.
    Type: Application
    Filed: November 19, 2021
    Publication date: January 4, 2024
    Applicant: Autostore Technology AS
    Inventors: Ole Andreas Haddeland, Ingvar Fagerland
  • Publication number: 20240002151
    Abstract: A storage container handling system includes a base, and a delivery vehicle configured to travel on the base. The delivery vehicle includes a rolling base unit, a container carrier, and an elevating device. The rolling base unit includes first and second sets of rolling means for guiding the delivery vehicle along the base in a first and second directions respectively. The container carrier is provided on the rolling base unit. The container carrier is configured to removably support a storage container from below. The elevating device is configured to move the container carrier vertically between an upper and a lower position relative to the base. The storage container handling system includes a temporary storage station for temporarily storing a storage container to be picked-up or dropped off by the delivery vehicle. The temporary storage station includes a fixed container support configured to removably support the storage container.
    Type: Application
    Filed: January 17, 2022
    Publication date: January 4, 2024
    Applicant: Autostore Technology AS
    Inventors: Jørgen Djuve Heggebø, Trond Austrhelim