[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

WO2014090684A1 - Robot for transporting storage bins - Google Patents

Robot for transporting storage bins Download PDF

Info

Publication number
WO2014090684A1
WO2014090684A1 PCT/EP2013/075671 EP2013075671W WO2014090684A1 WO 2014090684 A1 WO2014090684 A1 WO 2014090684A1 EP 2013075671 W EP2013075671 W EP 2013075671W WO 2014090684 A1 WO2014090684 A1 WO 2014090684A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
storage
section
storage system
bin
Prior art date
Application number
PCT/EP2013/075671
Other languages
French (fr)
Inventor
Ingvar Hognaland
Original Assignee
Jakob Hatteland Logistics As
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=49779863&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2014090684(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority to KR1020167018909A priority Critical patent/KR102422134B1/en
Priority to KR1020167024139A priority patent/KR102190138B1/en
Priority to JP2015546014A priority patent/JP6454645B2/en
Priority to EP19199865.7A priority patent/EP3617097A1/en
Priority to PL16166677T priority patent/PL3070027T3/en
Priority to ES13807954T priority patent/ES2716310T3/en
Priority to EP21189108.0A priority patent/EP3929109B1/en
Priority to DK13807954.6T priority patent/DK2928794T4/en
Priority to PL18163439T priority patent/PL3372534T3/en
Priority to EP21170319.4A priority patent/EP3875404A1/en
Priority to EP13807954.6A priority patent/EP2928794B2/en
Priority to PL13807954.6T priority patent/PL2928794T5/en
Priority to EA201591065A priority patent/EA028798B1/en
Priority to AU2013357548A priority patent/AU2013357548B2/en
Priority to EP16166677.1A priority patent/EP3070027B1/en
Application filed by Jakob Hatteland Logistics As filed Critical Jakob Hatteland Logistics As
Priority to KR1020247005316A priority patent/KR20240023716A/en
Priority to EP18163439.5A priority patent/EP3372534B1/en
Priority to EP18163437.9A priority patent/EP3372533A1/en
Priority to CA2890843A priority patent/CA2890843C/en
Priority to EP24177814.1A priority patent/EP4418180A3/en
Priority to CN201380064353.1A priority patent/CN104837747B/en
Priority to US14/650,757 priority patent/US9422108B2/en
Priority to EP21187560.4A priority patent/EP3922581B1/en
Priority to KR1020227024126A priority patent/KR102638712B1/en
Priority to EP19199912.7A priority patent/EP3617098A1/en
Priority to KR1020157012766A priority patent/KR102269692B1/en
Publication of WO2014090684A1 publication Critical patent/WO2014090684A1/en
Priority to HK15109344.7A priority patent/HK1208660A1/en
Priority to US15/197,391 priority patent/US9656802B2/en
Priority to AU2016204657A priority patent/AU2016204657B2/en
Priority to AU2016219545A priority patent/AU2016219545B2/en
Priority to US15/411,301 priority patent/US9856082B2/en
Priority to US15/632,441 priority patent/US9862579B2/en
Priority to US15/818,791 priority patent/US10093525B2/en
Priority to US16/122,969 priority patent/US10494239B2/en
Priority to US16/589,158 priority patent/US10696478B2/en
Priority to US16/865,443 priority patent/US11780673B2/en
Priority to US17/653,622 priority patent/US11794997B2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0464—Storage devices mechanical with access from above
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0478—Storage devices mechanical for matrix-arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—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
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—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
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—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] or computer integrated manufacturing [CIM]
    • G05B19/4189—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] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—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] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/025—Boxes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management

Definitions

  • the present invention relates to a remotely operated vehicle for picking up storage bins from a storage system as defined in the preamble of claim 1.
  • the invention also relates to a storage system using the inventive vehicle.
  • a remotely operated vehicle for picking up storage bins from a storage system is known.
  • a detailed description of a relevant prior art storage system is given in WO 98/49075. Further, details of a prior art vehicle being suitable for such a storage system is disclosed in Norwegian patent N0317366. More specifically the prior art storage system comprises a three dimensional storage grid containing storage bins that are stacked on top of each other to a certain height.
  • the storage grid is normally constructed as aluminium columns interconnected by top rails.
  • a number of remotely operated vehicles, or robots are arranged on the top rails.
  • Each vehicle is equipped with a lift for picking up, carrying, and placing bins that are stored inside the storage grid.
  • the storage system 3 comprises a robot 1 which is arranged to move on dedicated supporting rails 13 and to receive a storage bin 2 from a storage column 8 within a bin storing grid 15.
  • the storage system 3 includes a plurality of such robots 1 and a dedicated bin lift device 50, the latter being arranged to receive a storage bin 2 from the robot 1 at the top level of the bin storing grid 15 and to convey the storage bin 2 down in a vertical direction to a delivery station 60.
  • the prior art robot 1 shown in both fig. 1 and fig. 2 suffers from several important disadvantageous during their operation. Firstly, the particular design of the robot prevents access to all off the available storage columns in the storage system. Furthermore, this particular design may cause an undesirable high torque during lifting and transportation of storage bins, thereby creating potential instability problems, as well as a clear limitation of the robots maximum handling weight. An additional disadvantage caused by the prior art robot design is the fact that only one particular bin and one particular bin height may be accepted for each type of robot in order to ensure adequate stability. Finally, the presence of an integrated yoke / overhang in the upper part of the section receiving the storage bin necessitates an undesired speed reduction at the final stage of the lifting process performed by the yoke suspended vehicle lifting device.
  • the object of the present invention is to solve, or at least substantially alleviate, the above-described disadvantageous, that is to provide a vehicle / robot with higher stability properties, higher maximum handling weights, a more effective use of available space during operation and a less time consuming lifting and transporting process of storage bins.
  • the above-identified objects are achieved by a remotely operated vehicle as defined in claim 1 and storage system as defined in claim 11. Further beneficial features are defined in the dependent claims.
  • the present invention concerns a remotely operated vehicle or robot for picking up storage bins from a storage system.
  • the inventive vehicle or robot comprises a vehicle body, which vehicle body further comprises a first section for storing vehicle driving means and a second section for receiving any storage bin stored in a storage column within the storage system, a vehicle lifting device which is at least indirectly connected to the vehicle body in order to lift the storage bin into the second section, a first set of vehicle rolling means connected to the vehicle body in order to allow movement of the vehicle along a first direction (X) within the storage system during use and a second set of vehicle rolling means connected to the vehicle body in order to allow movement of the vehicle along a second direction (Y) in the storage system during use.
  • the second direction (Y) is oriented perpendicular to the first direction (X).
  • the inventive vehicle is characterized in that the second section comprises a cavity arranged centrally within the vehicle body. This cavity has at least one bin receiving opening facing towards the underlying storage columns during use. In addition, at least one of the two sets of vehicle rolling means is arranged fully within the vehicle body.
  • the storage bin In order to allow easy entrance of the storage bin into the central cavity, its volume should be larger than the largest storage bin intended to be picked from the storage system. Likewise, the cross sectional area of at least one of the at least one bin receiving opening should be larger than the cross sectional area of the storage bin walls oriented parallel to the cavity opening(s).
  • the vehicle may further comprise means for reversibly and selectively displacing either the first set of vehicle rolling means or the second vehicle rolling means away from an underlying vehicle support within the storage system during a change of vehicle direction between the first direction (X) and the second direction (Y).
  • the first section may be arranged relative to the second section in such a way that the cross section of the vehicle parallel to the underlying vehicle support deviates from a quadratic shape.
  • the vehicle body covers less or equal to the lateral cross sectional area of one central storage column in the first direction (X) and covers the lateral cross sectional area of more than one central storage column in the second direction (Y) during use.
  • the vehicle body extends beyond the lateral cross sectional area of the central storage column at both sides facing the second direction (Y), i.e. covering also some of the cross sectional areas of the adjacent storage columns extending in the second direction (Y).
  • the degree of extension from the central storage column is preferably equal on both of these sides.
  • Central storage column is defined as the storage column which is immediately below a robot when the latter has reached a position allowing pick-up of a storage bin.
  • both sets of vehicle rolling means is preferably arranged symmetrically around the cavity, for example near the lower corners of the vehicle.
  • At least one, and most preferably both, set(s) of vehicle rolling means may comprise at least four wheels.
  • Other embodiments such as the use two perpendicular oriented caterpillar belts may be envisaged.
  • both sets have an exterior design matching a corresponding exterior design on supporting rails constituting the vehicle support in order to provide increased lateral stability when interconnected.
  • Such supporting rails would be arranged in a two dimensional matrix on top of a bin storing structure or grid, where the principal directions of both the matrix and the grid are congruent with the vehicle's first direction (X) and second direction (Y).
  • the vehicle may advantageously also include position sensing means to allow measurements of the vehicle position within the storage system during use.
  • This position sensing means may comprise a plurality of position sensors arranged in at least some of the positions on the vehicle body which would transverse the locations of vehicle support where the supporting rails are crossing, for example underneath the vehicle, close to its lower corners.
  • the present invention also concerns a storage system which comprises a remotely operated vehicle in accordance with the above mentioned features, a vehicle support comprising a plurality of supporting rails forming a two dimensional matrix of guiding meshes, wherein the vehicle support is configured to guide the movements of the vehicle in the first direction (X) and the second direction (Y) during use, a bin storing structure or grid supporting the vehicle support comprising a plurality of storage columns, wherein each of the storage columns is arranged to accommodate a vertical stack of storage bins and wherein the main part of the bin storing structure coincides with positions on the vehicle support where the supporting rails are crossing, and a bin lift device arranged to convey a vehicle delivered storage bin in a direction perpendicular to the lateral plane of the vehicle support between the vehicle support and a delivery station.
  • the supporting rails arranged at the outer lateral border areas of the vehicle support form outer guiding meshes having reduced average cross sectional areas compared to the average cross sectional area of the remaining guiding meshes in the vehicle support.
  • the average reduced cross sectional areas of the outer guiding meshes may be about half of the average cross sectional area of the remaining guiding meshes in the vehicle support.
  • these cross sectional areas of the outer guiding meshes are reduced only along the second direction (Y) of the vehicle support.
  • the central arrangement of the cavity in the vehicle body relative to the second direction (Y) effectively remove the undesired torque, thereby improving the stability of the robot or vehicle.
  • This arrangement also results in a lifting and transporting process having a weight distribution with a high degree of symmetry.
  • the novel design allows the same vehicle to be used for lifting and transporting storage bins of heights significantly less than the cavity height (i.e. the height extending from the suspension points of the lifting device and to the lower edge of the vehicle) since the framework / body surrounding at least part of the bin receiving cavity effectively hinders any undesired bin reeling / wobbling.
  • the presence of the cavity surrounding body also allows maintaining full or nearly full lifting speed almost all the way to its end position within the cavity, as well as initiation of stable bin transportations towards the delivery station prior to a fully completed bin lifting from a storage column.
  • the protective body around the cavity also gives the possibility of starting a descent of the lifting device event prior to the time the vehicle has come to a final halt above the storage column in question. A significantly higher stability and time efficiency is thus achieved.
  • Fig. 1 is a perspective view of a prior art storage system
  • Fig. 2 is a sectional view of a prior art robot or vehicle forming part of a storage system as illustrated in fig. 1;
  • Fig. 3 is a perspective base view of a remotely operated vehicle according to the present invention
  • Fig. 4 is a perspective top view of a remotely operated vehicle according to the present invention
  • Fig. 5 is a perspective top view of a robot assembly comprising a remotely operated vehicle according to the present invention, a storage bin and a fully enclosing cover
  • Fig. 6 is a perspective top view of a bin storing grid and a vehicle support in accordance with the present invention
  • Fig. 7 is a perspective side view of a bin storing grid and a vehicle support in accordance with the present invention.
  • Fig. 8 is a perspective side view of part of a storage system in accordance with the present invention including a bin storing grid, a vehicle support and a remotely operated vehicle; and
  • Fig. 9 is a schematic top view of a remotely operated vehicle moving on a two dimensional matrix of supporting rails.
  • Fig. 1 is a schematic, partly cut perspective view of a storage system according to the prior art
  • fig. 2 is a sectional view of a corresponding prior art robot. Both figures have already been referred to earlier in the text.
  • Fig. 3 and 4 gives a perspective view in two different angles of the inventive robot 1 comprising a rectangular vehicle body or framework 4 with a cavity 7 centrally arranged within the body 4, a top lid 72 covering the top part of the body 4, a first set of four wheels 10 mounted inside the cavity 7 and in parallel to the interior walls of the body 4 and a second set of four wheels 11 mounted in parallel to the exterior walls of the body 4.
  • the first and second set of wheels 10,11 are oriented perpendicular to each other.
  • the vehicle body 4 also includes side parts 5,5a,5b arranged on both sides of the cavity 7 along at least one of the robots 1 direction of movements.
  • a Cartesian coordinate system is shown with its X, Y and Z axes aligned along the principal directions of the rectangular vehicle body 4.
  • the size of the cavity 7 is adapted to contain necessary component for a lifting device 9 and to at least completely contain the largest storage bin 2 intended to be picked up by the robot 1.
  • Fig. 5 gives a perspective view of a robot assembly where the body 4 is completely covered by an enclosing cover 73 comprising handles 74 and transmission means / control panel 75.
  • the design of the enclosing cover 73 is adapted to the particular shape given by the body 4 and the protruding wheels 10.
  • Fig. 5 also shows a small part of a storage bin 2 arranged fully inside the cavity 7 and a small part of the lifting device 9.
  • the latter is preferably composed of inter alia four vertically moveable metal bands suspended on the cavity facing side of the top lid 72 in their upper ends and steering rods at the lower ends capable of being steered and fastened into adapted cavities / areas in the storage bin 2 to be picked.
  • a grid assembly comprising a bin storing structure or grid 15, integrated supporting rails 13 constituting the vehicle support 14 and a grid supporting base 76 are illustrated in figs. 6 and 7.
  • the grid 15 comprises a plurality of pillars being arranged with internal distances adapted to accommodate storage bins 2 to be stored in stacks inside the grid 15.
  • the rectangular arrangements of four adjacent pillars therefore constitute a storage column 8.
  • Both the pillars and the rails 13 may be made of Aluminium.
  • fig. 3 and 4 a Cartesian coordinate system is shown aligned along the principal directions of the grid assembly to ease the understanding.
  • the supporting rails 13 form a two dimensional matrix of rectangular meshes, and the cross sectional area of most of these meshes coincide with the cross sectional area of each storage columns 8 set up by the underlying grid 15.
  • the meshes at the border area 17,18 of the vehicle support 14 (at both sides in direction Y) is illustrated with cross sectional areas smaller than the remaining meshes.
  • the size of the border meshes 17,18 should preferably be adapted to the degree of extension beyond a central storage column 8a situated immediately below the cavity 7 of the robot 1 when the latter is in a position for initiating pick up of a storage bin 2 contained in the central storage column 8a (see fig. 8 and 9). In this way the robot 1 may reach all the storage columns 8 in the storage system 3, i.e.
  • the robot 1 independently of the robot orientation in the Y direction.
  • the cross sectional area of the meshes 17,18 at the border area in the Y direction should be approximately 1 ⁇ 2 of the cross sectional area of the remaining meshes.
  • the primary function of these border meshes 17,18 is thus to allow sufficient space for the robot 1 having the novel design.
  • Fig. 8 shows the robot 1 in a lifting position above the central storage column 8a adjacent to the border area 17,18 of the grid assembly.
  • the vehicle lifting device 9 is in this embodiment lowered a distance into the central storage column 8a in order to hook onto and lift up the underlying storage bin 2.
  • the robot 1, having the body 4 extended in the Y direction compared to the X direction may be driven all the way to the edge of the grid 15 when the border area is designed with additional border meshes 17,18 with a Y directional width approximately 1 ⁇ 2 of the Y directional widths of the remaining meshes in the grid 15.
  • Such sensors should 16 preferably be mounted in one or more areas of the robot 1 which ensures that the sensors 16 have both non-obstructed view to the underlying supporting rails 13 and that they pass directly above or close to the positions on the vehicle support 14 in which the rails 13 are crossing.
  • the readings from the sensors 16 may inter alia dictate the further movement of the robot 1 and/or the operation of the vehicle lifting device 9. All operations of the robot 1 are controlled by wireless communication means 75 and remote control units. This includes control of the robot movement, the vehicle lifting device and the position measurements.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • Economics (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • General Physics & Mathematics (AREA)
  • Quality & Reliability (AREA)
  • Theoretical Computer Science (AREA)
  • Marketing (AREA)
  • Strategic Management (AREA)
  • Tourism & Hospitality (AREA)
  • General Business, Economics & Management (AREA)
  • Human Resources & Organizations (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Operations Research (AREA)
  • Development Economics (AREA)
  • Civil Engineering (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mathematical Physics (AREA)
  • Accounting & Taxation (AREA)
  • Finance (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Manufacturing & Machinery (AREA)
  • General Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

The present invention concerns a remotely operated vehicle or robot for picking up storage bins from a storage system. The inventive vehicle or robot comprises a vehicle body, which vehicle body further comprises a first section for storing vehicle driving means and a second section for receiving any storage bin stored in a storage column within the storage system, a vehicle lifting device which is at least indirectly connected to the vehicle body in order to lift the storage bin into the second section, a first set of vehicle rolling means connected to the vehicle body in order to allow movement of the vehicle along a first direction (X) within the storage system during use and a second set of vehicle rolling means connected to the vehicle body in order to allow movement of the vehicle along a second direction (Y) in the storage system during use. The second direction (Y) is oriented perpendicular to the first direction (X). The inventive vehicle is characterized in that the second section comprises a cavity arranged centrally within the vehicle body. This cavity has at least one bin receiving opening facing towards the underlying storage columns during use. In addition, at least one of the two sets of vehicle rolling means is arranged fully within the vehicle body.

Description

ROBOT FOR TRANSPORTING STORAGE BINS
The present invention relates to a remotely operated vehicle for picking up storage bins from a storage system as defined in the preamble of claim 1.
The invention also relates to a storage system using the inventive vehicle.
A remotely operated vehicle for picking up storage bins from a storage system is known. A detailed description of a relevant prior art storage system is given in WO 98/49075. Further, details of a prior art vehicle being suitable for such a storage system is disclosed in Norwegian patent N0317366. More specifically the prior art storage system comprises a three dimensional storage grid containing storage bins that are stacked on top of each other to a certain height. The storage grid is normally constructed as aluminium columns interconnected by top rails. A number of remotely operated vehicles, or robots, are arranged on the top rails. Each vehicle is equipped with a lift for picking up, carrying, and placing bins that are stored inside the storage grid.
Such a prior art storage system art and prior art robot is illustrated in figures 1 and 2, respectively. The storage system 3 comprises a robot 1 which is arranged to move on dedicated supporting rails 13 and to receive a storage bin 2 from a storage column 8 within a bin storing grid 15. The storage system 3 includes a plurality of such robots 1 and a dedicated bin lift device 50, the latter being arranged to receive a storage bin 2 from the robot 1 at the top level of the bin storing grid 15 and to convey the storage bin 2 down in a vertical direction to a delivery station 60.
However, the prior art robot 1 shown in both fig. 1 and fig. 2 suffers from several important disadvantageous during their operation. Firstly, the particular design of the robot prevents access to all off the available storage columns in the storage system. Furthermore, this particular design may cause an undesirable high torque during lifting and transportation of storage bins, thereby creating potential instability problems, as well as a clear limitation of the robots maximum handling weight. An additional disadvantage caused by the prior art robot design is the fact that only one particular bin and one particular bin height may be accepted for each type of robot in order to ensure adequate stability. Finally, the presence of an integrated yoke / overhang in the upper part of the section receiving the storage bin necessitates an undesired speed reduction at the final stage of the lifting process performed by the yoke suspended vehicle lifting device.
The object of the present invention is to solve, or at least substantially alleviate, the above-described disadvantageous, that is to provide a vehicle / robot with higher stability properties, higher maximum handling weights, a more effective use of available space during operation and a less time consuming lifting and transporting process of storage bins. The above-identified objects are achieved by a remotely operated vehicle as defined in claim 1 and storage system as defined in claim 11. Further beneficial features are defined in the dependent claims.
In particular, the present invention concerns a remotely operated vehicle or robot for picking up storage bins from a storage system. The inventive vehicle or robot comprises a vehicle body, which vehicle body further comprises a first section for storing vehicle driving means and a second section for receiving any storage bin stored in a storage column within the storage system, a vehicle lifting device which is at least indirectly connected to the vehicle body in order to lift the storage bin into the second section, a first set of vehicle rolling means connected to the vehicle body in order to allow movement of the vehicle along a first direction (X) within the storage system during use and a second set of vehicle rolling means connected to the vehicle body in order to allow movement of the vehicle along a second direction (Y) in the storage system during use. The second direction (Y) is oriented perpendicular to the first direction (X).
The inventive vehicle is characterized in that the second section comprises a cavity arranged centrally within the vehicle body. This cavity has at least one bin receiving opening facing towards the underlying storage columns during use. In addition, at least one of the two sets of vehicle rolling means is arranged fully within the vehicle body.
In order to allow easy entrance of the storage bin into the central cavity, its volume should be larger than the largest storage bin intended to be picked from the storage system. Likewise, the cross sectional area of at least one of the at least one bin receiving opening should be larger than the cross sectional area of the storage bin walls oriented parallel to the cavity opening(s).
The vehicle may further comprise means for reversibly and selectively displacing either the first set of vehicle rolling means or the second vehicle rolling means away from an underlying vehicle support within the storage system during a change of vehicle direction between the first direction (X) and the second direction (Y).
Furthermore, in an embodiment the first section may be arranged relative to the second section in such a way that the cross section of the vehicle parallel to the underlying vehicle support deviates from a quadratic shape.
In a preferred embodiment the vehicle body covers less or equal to the lateral cross sectional area of one central storage column in the first direction (X) and covers the lateral cross sectional area of more than one central storage column in the second direction (Y) during use. In a more specific example the vehicle body extends beyond the lateral cross sectional area of the central storage column at both sides facing the second direction (Y), i.e. covering also some of the cross sectional areas of the adjacent storage columns extending in the second direction (Y). The degree of extension from the central storage column is preferably equal on both of these sides. Central storage column is defined as the storage column which is immediately below a robot when the latter has reached a position allowing pick-up of a storage bin.
In order to inter alia allow high vehicle stability both sets of vehicle rolling means is preferably arranged symmetrically around the cavity, for example near the lower corners of the vehicle. At least one, and most preferably both, set(s) of vehicle rolling means may comprise at least four wheels. Other embodiments such as the use two perpendicular oriented caterpillar belts may be envisaged. Furthermore, both sets have an exterior design matching a corresponding exterior design on supporting rails constituting the vehicle support in order to provide increased lateral stability when interconnected. Such supporting rails would be arranged in a two dimensional matrix on top of a bin storing structure or grid, where the principal directions of both the matrix and the grid are congruent with the vehicle's first direction (X) and second direction (Y).
The vehicle may advantageously also include position sensing means to allow measurements of the vehicle position within the storage system during use. This position sensing means may comprise a plurality of position sensors arranged in at least some of the positions on the vehicle body which would transverse the locations of vehicle support where the supporting rails are crossing, for example underneath the vehicle, close to its lower corners.
The present invention also concerns a storage system which comprises a remotely operated vehicle in accordance with the above mentioned features, a vehicle support comprising a plurality of supporting rails forming a two dimensional matrix of guiding meshes, wherein the vehicle support is configured to guide the movements of the vehicle in the first direction (X) and the second direction (Y) during use, a bin storing structure or grid supporting the vehicle support comprising a plurality of storage columns, wherein each of the storage columns is arranged to accommodate a vertical stack of storage bins and wherein the main part of the bin storing structure coincides with positions on the vehicle support where the supporting rails are crossing, and a bin lift device arranged to convey a vehicle delivered storage bin in a direction perpendicular to the lateral plane of the vehicle support between the vehicle support and a delivery station.
In a preferred embodiment at least some of the supporting rails arranged at the outer lateral border areas of the vehicle support form outer guiding meshes having reduced average cross sectional areas compared to the average cross sectional area of the remaining guiding meshes in the vehicle support. For example, the average reduced cross sectional areas of the outer guiding meshes may be about half of the average cross sectional area of the remaining guiding meshes in the vehicle support. In a particularly preferred embodiment these cross sectional areas of the outer guiding meshes are reduced only along the second direction (Y) of the vehicle support.
The central arrangement of the cavity in the vehicle body relative to the second direction (Y) effectively remove the undesired torque, thereby improving the stability of the robot or vehicle. This arrangement also results in a lifting and transporting process having a weight distribution with a high degree of symmetry. Furthermore, the novel design allows the same vehicle to be used for lifting and transporting storage bins of heights significantly less than the cavity height (i.e. the height extending from the suspension points of the lifting device and to the lower edge of the vehicle) since the framework / body surrounding at least part of the bin receiving cavity effectively hinders any undesired bin reeling / wobbling. The presence of the cavity surrounding body also allows maintaining full or nearly full lifting speed almost all the way to its end position within the cavity, as well as initiation of stable bin transportations towards the delivery station prior to a fully completed bin lifting from a storage column. The protective body around the cavity also gives the possibility of starting a descent of the lifting device event prior to the time the vehicle has come to a final halt above the storage column in question. A significantly higher stability and time efficiency is thus achieved.
By arranging at least one set of vehicle rolling means fully within the vehicle or robot body additional stability is obtained during the lifting process since the rolling means is situated closer to the storage bin to be lifted. Of the same reason this arrangement reduces the total load on the lifting device. Furthermore, the arrangement is more space efficient relative to the prior art robot illustrated in figure 2 since the roller means does not give any additional extensions in at least one of the two robots moving directions (X and Y). Production of smaller sized robots / vehicles is also rendered possible.
These and other characteristics of the invention will be clear from the following description of a preferential form of embodiment, given as a non-restrictive example, with reference to the attached drawings wherein:
Fig. 1 is a perspective view of a prior art storage system;
Fig. 2 is a sectional view of a prior art robot or vehicle forming part of a storage system as illustrated in fig. 1;
Fig. 3 is a perspective base view of a remotely operated vehicle according to the present invention; Fig. 4 is a perspective top view of a remotely operated vehicle according to the present invention;
Fig. 5 is a perspective top view of a robot assembly comprising a remotely operated vehicle according to the present invention, a storage bin and a fully enclosing cover, Fig. 6 is a perspective top view of a bin storing grid and a vehicle support in accordance with the present invention;
Fig. 7 is a perspective side view of a bin storing grid and a vehicle support in accordance with the present invention;
Fig. 8 is a perspective side view of part of a storage system in accordance with the present invention including a bin storing grid, a vehicle support and a remotely operated vehicle; and
Fig. 9 is a schematic top view of a remotely operated vehicle moving on a two dimensional matrix of supporting rails.
Fig. 1 is a schematic, partly cut perspective view of a storage system according to the prior art, and fig. 2 is a sectional view of a corresponding prior art robot. Both figures have already been referred to earlier in the text.
Fig. 3 and 4 gives a perspective view in two different angles of the inventive robot 1 comprising a rectangular vehicle body or framework 4 with a cavity 7 centrally arranged within the body 4, a top lid 72 covering the top part of the body 4, a first set of four wheels 10 mounted inside the cavity 7 and in parallel to the interior walls of the body 4 and a second set of four wheels 11 mounted in parallel to the exterior walls of the body 4. The first and second set of wheels 10,11 are oriented perpendicular to each other. Further, the vehicle body 4 also includes side parts 5,5a,5b arranged on both sides of the cavity 7 along at least one of the robots 1 direction of movements. For the sake of clarity a Cartesian coordinate system is shown with its X, Y and Z axes aligned along the principal directions of the rectangular vehicle body 4. The size of the cavity 7 is adapted to contain necessary component for a lifting device 9 and to at least completely contain the largest storage bin 2 intended to be picked up by the robot 1.
Fig. 5 gives a perspective view of a robot assembly where the body 4 is completely covered by an enclosing cover 73 comprising handles 74 and transmission means / control panel 75. The design of the enclosing cover 73 is adapted to the particular shape given by the body 4 and the protruding wheels 10. Fig. 5 also shows a small part of a storage bin 2 arranged fully inside the cavity 7 and a small part of the lifting device 9. The latter is preferably composed of inter alia four vertically moveable metal bands suspended on the cavity facing side of the top lid 72 in their upper ends and steering rods at the lower ends capable of being steered and fastened into adapted cavities / areas in the storage bin 2 to be picked. The structural principles of a grid assembly comprising a bin storing structure or grid 15, integrated supporting rails 13 constituting the vehicle support 14 and a grid supporting base 76 are illustrated in figs. 6 and 7. The grid 15 comprises a plurality of pillars being arranged with internal distances adapted to accommodate storage bins 2 to be stored in stacks inside the grid 15. The rectangular arrangements of four adjacent pillars therefore constitute a storage column 8. Both the pillars and the rails 13 may be made of Aluminium. As for fig. 3 and 4 a Cartesian coordinate system is shown aligned along the principal directions of the grid assembly to ease the understanding. The supporting rails 13 form a two dimensional matrix of rectangular meshes, and the cross sectional area of most of these meshes coincide with the cross sectional area of each storage columns 8 set up by the underlying grid 15. The meshes at the border area 17,18 of the vehicle support 14 (at both sides in direction Y) is illustrated with cross sectional areas smaller than the remaining meshes. The size of the border meshes 17,18 should preferably be adapted to the degree of extension beyond a central storage column 8a situated immediately below the cavity 7 of the robot 1 when the latter is in a position for initiating pick up of a storage bin 2 contained in the central storage column 8a (see fig. 8 and 9). In this way the robot 1 may reach all the storage columns 8 in the storage system 3, i.e. independently of the robot orientation in the Y direction. For example, if the robot 1 extends exactly over the cross sectional area of one central storage column 8a in the X direction and over ½ of the cross sectional area of the adjacent storage column 8b in the Y direction, the cross sectional area of the meshes 17,18 at the border area in the Y direction should be approximately ½ of the cross sectional area of the remaining meshes. The primary function of these border meshes 17,18 is thus to allow sufficient space for the robot 1 having the novel design.
Fig. 8 shows the robot 1 in a lifting position above the central storage column 8a adjacent to the border area 17,18 of the grid assembly. The vehicle lifting device 9 is in this embodiment lowered a distance into the central storage column 8a in order to hook onto and lift up the underlying storage bin 2. As seen in the exemplary situation in figs. 8 the robot 1, having the body 4 extended in the Y direction compared to the X direction, may be driven all the way to the edge of the grid 15 when the border area is designed with additional border meshes 17,18 with a Y directional width approximately ½ of the Y directional widths of the remaining meshes in the grid 15.
To better illustrate the movement of the robot 1 on the supporting rails 13 constituting the vehicle support 14 some exemplary positions of robots 1 on a grid assembly is illustrated in fig. 9. The thick arrows drawn in the centre of the robots 1 indicate allowed moving directions. When the robot 1 is situated with its cavity 7 exactly above a central storage column 8a, as is the case for the top left and mid centred robot 1, the arrangement of the supporting rails 13 allow movement in both X and Y directions. Any other positions on the grid assembly restrict the robot's 1 movement on the vehicle support 14 either in X direction (lower right robot 1) or in Y direction (top centered and bottom left robot 1). To allow determination of the robot position it is considered advantageous to equip each robot 1 with one or more position sensors 16, for example optical sensors. Such sensors should 16 preferably be mounted in one or more areas of the robot 1 which ensures that the sensors 16 have both non-obstructed view to the underlying supporting rails 13 and that they pass directly above or close to the positions on the vehicle support 14 in which the rails 13 are crossing. The readings from the sensors 16 may inter alia dictate the further movement of the robot 1 and/or the operation of the vehicle lifting device 9. All operations of the robot 1 are controlled by wireless communication means 75 and remote control units. This includes control of the robot movement, the vehicle lifting device and the position measurements.
In the preceding description, various aspects of the apparatus according to the invention have been described with reference to the illustrative embodiment. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the apparatus and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiment, as well as other embodiments of the apparatus, which are apparent to persons skilled in the art to which the disclosed subject matter pertains, are deemed to lie within the scope of the present invention.
Figure imgf000009_0001

Claims

CLAIMS 1. Remotely operated vehicle (1) for picking up storage bins (2) from a storage system (3), comprising
a vehicle body (4) comprising a first section (5,Sa,Sb) for storing vehicle driving means (6) and a second section (7) for receiving any storage bin (2) stored in a storage column (8,8a,8b) within the storage system (3),
a vehicle lifting device (9) at least indirectly connected to the vehicle body (4) for lifting the storage bin (2) into the second section (7),
a first set of vehicle rolling means (10) connected to the vehicle body (4) allowing movement of the vehicle (1) along a first direction (X) within the storage system (3) during use and
a second set of vehicle rolling means (11) connected to the vehicle body (4) allowing movement of the vehicle (1) along a second direction (Y) in the storage system (3) during use,
the second direction (Y) being perpendicular to the first direction (X), characterized in that
the second section (7) comprising a centrally arranged cavity (7) within the vehicle body (4), the cavity (7) having at least one bin receiving opening (12) facing towards the storage columns (8,8a,8b) during use, and
at least one of the sets of vehicle rolling means (11) is arranged fully within the vehicle body (4).
2. Remotely operated vehicle (1) in accordance with claim 1, characterized in that the vehicle further comprising means for reversibly and selectively displacing either the first set of vehicle rolling means or the second vehicle rolling means away from an underlying vehicle support (14) within the storage system (3) during a change of vehicle direction between the first direction (X) and the second direction (Y).
3. Remotely operated vehicle (1) in accordance with claim 1 or 2, characterized in that the vehicle body (4) covers at most the lateral cross section of one central storage column (8a) in the first direction (X) and covers the lateral cross section of more than one central storage column (8a,8b) in the second direction (Y) during use.
4. Remotely operated vehicle (1) in accordance with claim 3, characterized in that the vehicle body (4) extends beyond the lateral cross section of the central storage column (8a, 8b) at both sides in the second direction (Y).
5. Remotely operated vehicle (1) in accordance with claim 4, characterized in that the extension beyond the lateral cross section of the central storage column (8a,8b) is equal on both sides in the second direction (Y).
6. Remotely operated vehicle (1) in accordance with one of the preceding claims, characterized in that both sets of vehicle rolling means (10,11) are symmetrically distributed around the centrally arranged cavity (7).
7. Remotely operated vehicle (1) in accordance with one of the preceding claims, characterized in that at least one set of vehicle rolling means (10,11) comprises at least four wheels.
8. Remotely operated vehicle (1) in accordance with one of the preceding claims, characterized in that both sets of vehicle rolling means (10,11) have an exterior design matching a corresponding exterior design on supporting rails (13) constituting the vehicle support (14) in order to provide increased lateral stability when interconnected,
wherein the supporting rails (13) are arranged in a two dimensional matrix on top of a bin storing structure (15), the principal directions of the matrix and the bin storing structure (15) being congruent with the first direction (X) and second direction (Y) of the vehicle (1).
9. Remotely operated vehicle (1) in accordance with one of the preceding claims, characterized in that the vehicle (1) comprises position sensing means (16) to allow measurements of the vehicle position within the storage system (3) during use.
10. Remotely operated vehicle (1) in accordance with claim 9, characterized in that the position sensing means (16) comprising a plurality of sensors arranged in at least some of the positions on the vehicle body (4) which, during use, transvers the positions of vehicle support (14) where the supporting rails (13) are crossing.
11. Storage system (3), characterized by comprising
- a remotely operated vehicle (1) in accordance with one of claims 1-10,
- a vehicle support (14) comprising a plurality of supporting rails (13) forming a two dimensional matrix of guiding meshes, the vehicle support (14) being configured to guide the movements of the vehicle (1) in the first direction (X) and the second direction (Y) during use,
- a bin storing structure (15) supporting the vehicle support (14), the structure (15) comprising a plurality of storage columns (8,8a,8b), wherein
each storage columns (8,8a,8b) is arranged to accommodate a vertical stack of storage bins (2), and
the main part of the bin storing structure (15) coincides with positions on the vehicle support (14) where the supporting rails (13) are crossing, and - a bin lift device (50) arranged to convey a vehicle delivered storage bin (2) in a direction perpendicular to the lateral plane of the vehicle support (14) between the vehicle support (14) and a delivery station (60).
12. Storage system (3) in accordance with claim 11, characterized in that at least some of the supporting rails (13) arranged at the outer lateral border areas (17,18) of the vehicle support (14) form outer guiding meshes having reduced average cross section compared to the average cross section of the remaining guiding meshes in the vehicle support (14).
13. Storage system (3) in accordance with claim 12, characterized in that the average reduced cross section of the outer guiding meshes are about half of the average cross section of the remaining guiding meshes in the vehicle support (14).
14. Storage system (3) in accordance with claims 12 or 13, characterized in that the size of the outer guiding meshes are reduced only along the second direction (Y) of the vehicle support (14).
PCT/EP2013/075671 2012-12-10 2013-12-05 Robot for transporting storage bins WO2014090684A1 (en)

Priority Applications (37)

Application Number Priority Date Filing Date Title
CA2890843A CA2890843C (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
KR1020157012766A KR102269692B1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
JP2015546014A JP6454645B2 (en) 2012-12-10 2013-12-05 System for transporting containment
EP19199865.7A EP3617097A1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
PL16166677T PL3070027T3 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
ES13807954T ES2716310T3 (en) 2012-12-10 2013-12-05 Robot for transporting storage containers
EP21189108.0A EP3929109B1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
DK13807954.6T DK2928794T4 (en) 2012-12-10 2013-12-05 ROBOT FOR TRANSPORTING STORAGE CONTAINERS
PL18163439T PL3372534T3 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
EP21170319.4A EP3875404A1 (en) 2012-12-10 2013-12-05 Storage system with robot for transporting storage bins
EP13807954.6A EP2928794B2 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
PL13807954.6T PL2928794T5 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
EA201591065A EA028798B1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
EP24177814.1A EP4418180A3 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
EP16166677.1A EP3070027B1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
KR1020167024139A KR102190138B1 (en) 2012-12-10 2013-12-05 storage system
KR1020247005316A KR20240023716A (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
EP18163439.5A EP3372534B1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
EP18163437.9A EP3372533A1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
KR1020167018909A KR102422134B1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
AU2013357548A AU2013357548B2 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
CN201380064353.1A CN104837747B (en) 2012-12-10 2013-12-05 For the robot of shipping storage case
US14/650,757 US9422108B2 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
EP21187560.4A EP3922581B1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
KR1020227024126A KR102638712B1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
EP19199912.7A EP3617098A1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
HK15109344.7A HK1208660A1 (en) 2012-12-10 2015-09-23 Robot for transporting storage bins
US15/197,391 US9656802B2 (en) 2012-12-10 2016-06-29 Robot for transporting storage bins
AU2016204657A AU2016204657B2 (en) 2012-12-10 2016-07-05 Robot for transporting storage bins
AU2016219545A AU2016219545B2 (en) 2012-12-10 2016-08-22 Storage system
US15/411,301 US9856082B2 (en) 2012-12-10 2017-01-20 Storage system
US15/632,441 US9862579B2 (en) 2012-12-10 2017-06-26 Automated storage system
US15/818,791 US10093525B2 (en) 2012-12-10 2017-11-21 Robot for transporting storage bins
US16/122,969 US10494239B2 (en) 2012-12-10 2018-09-06 Automated storage system and robot for transporting storage bins
US16/589,158 US10696478B2 (en) 2012-12-10 2019-10-01 Automated storage system
US16/865,443 US11780673B2 (en) 2012-12-10 2020-05-04 Method for operating a bin storage system and robot vehicle for transporting storage bins
US17/653,622 US11794997B2 (en) 2012-12-10 2022-03-04 Method for operating a bin storage system and robot vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20121488 2012-12-10
NO20121488A NO335839B1 (en) 2012-12-10 2012-12-10 Robot for transporting storage containers

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US14/650,757 A-371-Of-International US9422108B2 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
US15/197,391 Continuation US9656802B2 (en) 2012-12-10 2016-06-29 Robot for transporting storage bins

Publications (1)

Publication Number Publication Date
WO2014090684A1 true WO2014090684A1 (en) 2014-06-19

Family

ID=49779863

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2013/075671 WO2014090684A1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins

Country Status (16)

Country Link
US (10) US9422108B2 (en)
EP (11) EP3372534B1 (en)
JP (3) JP6454645B2 (en)
KR (5) KR20240023716A (en)
CN (3) CN106241154B (en)
AU (3) AU2013357548B2 (en)
CA (1) CA2890843C (en)
CZ (1) CZ37166U1 (en)
DK (5) DK3372534T3 (en)
EA (3) EA031514B1 (en)
ES (5) ES2907792T3 (en)
HK (2) HK1208660A1 (en)
NO (1) NO335839B1 (en)
PL (6) PL3929109T3 (en)
TW (3) TWI583612B (en)
WO (1) WO2014090684A1 (en)

Cited By (335)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015019055A1 (en) * 2013-08-09 2015-02-12 Ocado Innovation Limited Apparatus for retrieving units from a storage system
WO2015197696A1 (en) * 2014-06-25 2015-12-30 Ocado Innovation Limited Parcel sorter system and method
CN105438704A (en) * 2015-11-20 2016-03-30 常州工学院 High level rack with intelligent and automatic loading and unloading functions
WO2016063197A1 (en) * 2014-10-20 2016-04-28 Nelson Mandela Metropolitan University Warehouse system and transfer vehicle
EP3050824A1 (en) * 2015-01-28 2016-08-03 Jakob Hatteland Logistics AS Robot for transporting storage bins
DE102015001410A1 (en) * 2015-02-06 2016-08-11 Gebhardt Fördertechnik GmbH Pallet transport device
WO2016172793A1 (en) * 2015-04-27 2016-11-03 Attabotics Inc. Storage and retrieval system
GB2540838A (en) * 2015-04-15 2017-02-01 Ocado Innovation Ltd Robotic parking device and handling method
JPWO2016039023A1 (en) * 2014-09-10 2017-06-01 村田機械株式会社 Temporary storage system, transport system using the same, and temporary storage method
WO2017134033A1 (en) 2016-02-01 2017-08-10 Autostore Technology AS Cleaning bin for cleaning a storage grid of a storage system
US9758305B2 (en) 2015-07-31 2017-09-12 Locus Robotics Corp. Robotic navigation utilizing semantic mapping
GB2550027A (en) * 2016-03-10 2017-11-08 Ocado Innovation Ltd Method and apparatus for retrieving units from a storage system
US20180044110A1 (en) * 2015-04-15 2018-02-15 Ocado Innovation Limited Storage system with partition means and methods
EP2962962B1 (en) 2012-12-10 2018-04-25 Autostore Technology AS Robot for transporting storage bins
WO2018162757A1 (en) 2017-03-10 2018-09-13 Autostore Technology AS Automated storage and retrieval system
WO2018206478A1 (en) 2017-05-08 2018-11-15 Autostore Technology AS A remotely operated vehicle
WO2018233886A1 (en) 2017-06-23 2018-12-27 Autostore Technology AS Storage system and container handling station
WO2019001816A1 (en) 2017-06-29 2019-01-03 Autostore Technology AS Automated storage and retrieval system comprising different temperature zones
DE102017121638A1 (en) 2017-09-19 2019-03-21 Heron Sondermaschinen Und Steuerungen Gmbh Railbound transport robot with lifting platform
WO2019057442A1 (en) 2017-09-20 2019-03-28 Autostore Technology AS Container handling vehicle
WO2019076760A1 (en) 2017-10-19 2019-04-25 Autostore Technology AS Vehicle for an automated storage and retrieval system.
WO2019076516A1 (en) 2017-10-20 2019-04-25 Autostore Technology AS Bin holding device
WO2019081092A1 (en) 2017-10-24 2019-05-02 Autostore Technology AS An automated storage and retrieval system
WO2019086237A1 (en) 2017-11-02 2019-05-09 Autostore Technology AS An automated storage and retrieval system, a method of operating the system and a multi trolley vehicle
WO2019101366A1 (en) 2017-11-22 2019-05-31 Autostore Technology AS Multi bin vehicle for an automated storage and retrieval system comprising a three dimensional grid
WO2019101725A1 (en) 2017-11-23 2019-05-31 Autostore Technology AS Automated storage and retrieval system
WO2019101367A1 (en) 2017-11-22 2019-05-31 Autostore Technology AS Storage system
WO2019137870A1 (en) 2018-01-09 2019-07-18 Autostore Technology AS Container handling vehicle with direct drive on lifting axle(s), associated methods and system.
WO2019137866A1 (en) 2018-01-09 2019-07-18 Autostore Technology AS A displacement mechanism for a remotely operated vehicle
DE102018201929A1 (en) 2018-02-07 2019-08-08 Gebhardt Fördertechnik GmbH Transport vehicle for the automated operation of a warehouse
EP3115319B1 (en) 2015-07-09 2019-08-28 Schmitz Cargobull AG Commercial vehicle for sending of postal article
WO2019179856A1 (en) 2018-03-23 2019-09-26 Autostore Technology AS Automated storage and retrieval system comprising container identification means and methods of identifying a container or a vehicle
WO2019206439A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Container handling vehicle with first and second sections with motor in second section
WO2019206488A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Container handling vehicle with first and second sections and larger wheel motors on two of the wheels in the second section
WO2019206440A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Container handling vehicle with first and second sections and with battery in second section
WO2019206482A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Container-handling vehicle
WO2019206437A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Container-handling vehicle
WO2019206438A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Container-handling vehicle
WO2019206971A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Automated storage and retrieval system comprising a relay module and a method of operating such a system
WO2019206672A2 (en) 2018-04-26 2019-10-31 Autostore Technology AS Support vehicle for performing support operations in an automated storage and retrieval system
WO2019206487A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Container handling vehicle with first and second sections and lifting device motor in second section
WO2019206490A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS An automated storage and retrieval system with a charging station for charging of a replaceable power supply of a container handling vehicle
WO2019229170A2 (en) 2018-05-31 2019-12-05 Autostore Technology AS An automated storage and retrieval system comprising a storage container lift assembly
WO2019233632A1 (en) 2018-06-06 2019-12-12 Autostore Technology AS Service vehicle for a storage system
WO2019233749A1 (en) 2018-06-06 2019-12-12 Autostore Technology AS Service vehicle for extinguishing fire on and within an automated storage and retrieval system and a method thereof
NO20181098A1 (en) * 2018-06-12 2019-12-13 Autostore Tech As A method of operating an automated storage and retrieval system
NO20181524A1 (en) * 2018-06-12 2019-12-13 Autostore Tech As Safety device for a delivery vehicle
NO20181581A1 (en) * 2018-06-12 2019-12-13 Autostore Tech As An automated storage and retrieval system with an access point and a method thereof
NO20181005A1 (en) * 2018-06-12 2019-12-13 Autostore Tech As An automated storage and retrieval system and a method of transporting storage containers between an automated storage and retrieval grid and a second location
WO2019238681A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS A vehicle tilting device, an access station, a delivery system and a method of accessing a storage container
WO2019238664A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS A delivery system with an access point and a method of accessing an access point of the delivery system
WO2019238662A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Method for handling malfunctioning vehicles on a rail system and a storage and retrieval system using such a method
WO2019238702A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Automated storage system with a container vehicle and a charging system
WO2019238673A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Storage grid with container accessing station with locking device to lock remotely operated vehicle
WO2019238642A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Unloading arrangement and unloading station, as well as method of unloading an item from a storage container
WO2019238639A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS System for storing and transporting storage containers
WO2019238645A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS 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
WO2019238661A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Container accessing station with lifting device
WO2019238698A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Storage system
WO2019238676A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS A safety device for a remotely operated vehicle, a system and a method of improving the operational safety of a grid system
WO2019238697A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Automated storage system
WO2019238641A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS System and applicable methods of collecting items from storage containers using robotic operator
WO2019238703A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Storage system with modular container handling vehicles
WO2019238687A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS A method and system for controlling the operation of container handling vehicles and drones serving an automated storage and retrieval system
WO2019238670A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS A method of operating an automated storage and retrieval system
WO2020074717A1 (en) 2018-10-12 2020-04-16 Autostore Technology AS Access station for picking storage containers
WO2020074242A1 (en) 2018-10-12 2020-04-16 Autostore Technology AS Mobile storage system
WO2020074243A1 (en) 2018-10-12 2020-04-16 Autostore Technology AS Container arrangement, method
WO2020074257A1 (en) 2018-10-09 2020-04-16 Autostore Technology AS Expansion joint, system and method for connecting regions of a rail-based grid storage system
WO2020094337A1 (en) 2018-11-06 2020-05-14 Autostore Technology AS Remotely operated vehicle for an automated storage and retrieval system
WO2020094339A1 (en) 2018-11-06 2020-05-14 Autostore Technology AS Container handling vehicle with an open top, and method of handling product items into storage container carried by the vehicle
WO2020094336A1 (en) 2018-11-06 2020-05-14 Autostore Technology AS Automated storage and retrieval system
EP3653540A1 (en) 2012-05-11 2020-05-20 Ocado Innovation Limited Storage systems and methods for retrieving units from a storage system
WO2020109495A1 (en) 2018-11-28 2020-06-04 Autostore Technology AS Storage container for automated storage and retrieval system
WO2020126725A1 (en) 2018-12-20 2020-06-25 Autostore Technology AS A container accessing station for an automated storage and retrieval system
WO2020127060A1 (en) 2018-12-20 2020-06-25 Autostore Technology AS Transport of container handling vehicles between storage grids of different heights
WO2020151866A1 (en) 2019-01-23 2020-07-30 Autostore Technology AS Service vehicle
EP3535633B1 (en) 2016-11-02 2020-08-05 Autostore Technology AS Controlling movements of a robot running on tracks
WO2020169287A1 (en) 2019-02-19 2020-08-27 Autostore Technology AS Storage system
WO2020169474A1 (en) 2019-02-18 2020-08-27 Autostore Technology AS System and a method for harvesting energy from a container handling vehicle.
NO20190433A1 (en) * 2019-03-29 2020-09-30 Autostore Tech As Method and computer program for controlling storage and retrieval of personal storage containers in an automated storage and retrieval system
WO2020193475A1 (en) 2019-03-25 2020-10-01 Autostore Technology AS Automated grid storage and retrieval system with foam-based fire prevention system
WO2020193470A1 (en) 2019-03-25 2020-10-01 Autostore Technology AS Automated grid storage and retrieval system with passive fire prevention arrangement
WO2020200799A1 (en) 2019-04-03 2020-10-08 Autostore Technology AS Robot position detection system
WO2020200631A1 (en) 2019-04-02 2020-10-08 Autostore Technology AS Storage system
WO2020200739A1 (en) 2019-03-29 2020-10-08 Autostore Technology AS A system for providing secure storing and retrieving of personal storage containers via an interaction area
WO2020207777A1 (en) 2019-04-12 2020-10-15 Autostore Technology AS Lifting frame with wireless communication
WO2020216608A1 (en) 2019-04-25 2020-10-29 Autostore Technology AS 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
WO2020224828A1 (en) 2019-05-03 2020-11-12 Autostore Technology AS Storage system
WO2020233978A1 (en) 2019-05-20 2020-11-26 Autostore Technology AS Method and control system for preparing orders of goods stored in an automated storage system
WO2020249331A1 (en) 2019-06-11 2020-12-17 Autostore Technology AS Storage system
WO2020259883A1 (en) 2019-06-28 2020-12-30 Autostore Technology AS Automated storage and retrieval system comprising a barrier
WO2021008766A1 (en) 2019-07-12 2021-01-21 Autostore Technology AS A method and system for autonomous controlling of movements of container handling vehicles operating in an automated storage and retrieval system
US10913572B2 (en) 2016-02-12 2021-02-09 Ocado Innovation Limited Storage systems, methods and containers
US10913601B2 (en) 2016-03-03 2021-02-09 Murata Machinery, Ltd. Temporary storage system
US10913641B2 (en) 2018-06-08 2021-02-09 Attabotics Inc. Storage units and robotic storage/retrieval vehicles for a three-dimensional storage system
WO2021032888A1 (en) 2019-08-22 2021-02-25 Autostore Technology AS A delivery system, an automated storage and retrieval system and a method of transporting a container
WO2021037488A1 (en) 2019-08-27 2021-03-04 Autostore Technology AS Automated storage and retrieval system comprising a flow path extending through a plurality of stacked containers
WO2021043597A1 (en) 2019-09-02 2021-03-11 Autostore Technology AS Method, and associated system, of providing an operator access to a target storage position in an automated storage and retrieval system
WO2021052807A1 (en) 2019-09-16 2021-03-25 Autostore Technology AS Automated storage and retrieval system using an automated loader and methods of replacing power supplies
US10961054B2 (en) 2018-06-08 2021-03-30 Attabotics Inc. Storage and retrieval systems performing internal sortation by orchestrated navigation of storage grid robots to workstation intake points
WO2021058434A1 (en) 2019-09-25 2021-04-01 Autostore Technology AS An automated storage and retrieval system with a vehicle pen
WO2021058217A2 (en) 2019-09-25 2021-04-01 Autostore Technology AS Gas isolated storage system
WO2021058218A1 (en) 2019-09-25 2021-04-01 Autostore Technology AS Gas isolated storage system
WO2021058442A1 (en) 2019-09-26 2021-04-01 Autostore Technology AS System and method for power management
WO2021089305A1 (en) 2019-11-08 2021-05-14 Autostore Technology AS Storage container
WO2021094161A1 (en) 2019-11-12 2021-05-20 Autostore Technology AS Rescue system and methods for retrieving a malfunctioning vehicle from a rail system
WO2021099082A1 (en) 2019-11-22 2021-05-27 Autostore Technology AS Method for distribution of storage containers in an automated storage and retrieval system
WO2021110616A1 (en) 2019-12-03 2021-06-10 Autostore Technology AS Service vehicle with drone bases
WO2021115864A1 (en) 2019-12-10 2021-06-17 Autostore Technology AS Method for handling malfunctioning vehicles on a track system and a storage and retrieval system using such a method
WO2021122218A1 (en) 2019-12-20 2021-06-24 Autostore Technology AS Picking system, storage system comprising a picking system and method of picking
WO2021122619A1 (en) 2019-12-20 2021-06-24 Autostore Technology AS A remotely operated vehicle with an arrangement to provide a pre-alert and tracking of a position of the vehicle
WO2021139917A1 (en) 2020-01-07 2021-07-15 Autostore Technology AS Vehicle
WO2021151906A1 (en) 2020-01-31 2021-08-05 Autostore Technology AS Sensor testing station
WO2021152170A1 (en) 2020-01-31 2021-08-05 Autostore Technology AS Automated storage system with framework mounted modular plate system and bracing arrangement
WO2021151911A1 (en) 2020-01-31 2021-08-05 Autostore Technology AS A system and method for monitoring atmospheric conditions in an automated storage and retrieval system
WO2021151916A1 (en) 2020-01-31 2021-08-05 Autostore Technology AS System and method for performing measurements in storage containers
WO2021165030A1 (en) 2020-02-18 2021-08-26 Autostore Technology AS Conveyor system
DE102020203221A1 (en) 2020-03-12 2021-09-16 Gebhardt Fördertechnik GmbH Vehicle for a storage system and charging station for the vehicle
WO2021190995A1 (en) 2020-03-24 2021-09-30 Autostore Technology AS Delivery vehicle, system and method for moving storage containers between a first conveyor on the delivery vehicle and an external conveyor
WO2021197867A1 (en) 2020-03-30 2021-10-07 Autostore Technology AS Container handling vehicle
WO2021197942A1 (en) 2020-03-31 2021-10-07 Autostore Technology AS Automated storage tower with carousel
WO2021198036A1 (en) 2020-03-31 2021-10-07 Autostore Technology AS Automated storage and retrieval system
WO2021198093A1 (en) 2020-03-31 2021-10-07 Autostore Technology AS System and method for condition based maintenance
WO2021197914A1 (en) 2020-03-31 2021-10-07 Autostore Technology AS Section based speed reduction
WO2021197941A1 (en) 2020-03-31 2021-10-07 Autostore Technology AS Automated storage tower with multiple rows
WO2021198170A1 (en) 2020-03-31 2021-10-07 Autostore Technology AS Automated storage system having a storage tower in isolating housing
WO2021197681A1 (en) 2020-03-31 2021-10-07 Autostore Technology AS Robotic consolidation station and storage system
WO2021209337A1 (en) 2020-04-16 2021-10-21 Autostore Technology AS Container handling vehicle comprising a container carrying position, associated system and methods
WO2021209338A2 (en) 2020-04-16 2021-10-21 Autostore Technology AS Container handling vehicle with cantilever construction and automated storage and retrieval system comprising a plurality of the container handling vehicles
WO2021219742A1 (en) 2020-04-30 2021-11-04 Autostore Technology AS 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
WO2021219459A1 (en) 2020-04-28 2021-11-04 Autostore Technology AS Adjustable storage container
WO2021219612A1 (en) 2020-04-29 2021-11-04 Autostore Technology AS Method for monitoring a storage system with a flying drone
WO2021239509A1 (en) 2020-05-25 2021-12-02 Autostore Technology AS Container handling vehicle
WO2021239515A1 (en) 2020-05-25 2021-12-02 Autostore Technology AS Container handling vehicle which can load and/or unload itself
WO2021249865A2 (en) 2020-06-12 2021-12-16 Autostore Technology AS Delivery vehicle with rotatable container carrier, and methods of use thereof
WO2021249840A1 (en) 2020-06-08 2021-12-16 Autostore Technology AS System and method of determining status of a charging station
WO2021255235A1 (en) 2020-06-19 2021-12-23 Autostore Technology AS Container handling vehicle elevator
WO2021259644A1 (en) 2020-06-24 2021-12-30 Autostore Technology AS Access station
WO2021260004A1 (en) 2020-06-25 2021-12-30 Autostore Technology AS Multiposition search
WO2021259796A1 (en) 2020-06-26 2021-12-30 Autostore Technology AS Automated storage and retrieval system for storing fresh food and produce
WO2021259632A1 (en) 2020-06-25 2021-12-30 Autostore Technology AS System and method of operating an automated storage and retrieval system
US20220009710A1 (en) * 2018-11-14 2022-01-13 Ocado Innovation Limited Container-Manoeuvring Apparatus
WO2022008670A1 (en) 2020-07-10 2022-01-13 Autostore Technology AS Container handling vehicle with extendable wheel base
WO2022023038A1 (en) 2020-07-28 2022-02-03 Autostore Technology AS Product handling system
EP3423164B1 (en) 2016-02-29 2022-02-09 Ocado Innovation Limited Robotic fire extinguishing device and handling method
WO2022034128A1 (en) 2020-08-12 2022-02-17 Autostore Technology AS System and method for detection of anomalies in the tracks on a three-dimensional storage system
WO2022043573A1 (en) 2020-08-31 2022-03-03 Autostore Technology AS A method and system for picking products in a picking station of an automatic storage and retrieval system
WO2022043404A1 (en) 2020-08-26 2022-03-03 Autostore Technology AS Routing of container handling vehicles operating an automated storage system
WO2022053373A1 (en) 2020-09-11 2022-03-17 Autostore Technology AS System of temperature control in an automated storage system
WO2022053372A1 (en) 2020-09-11 2022-03-17 Autostore Technology AS System and method of circulating a gas in an automated grid based storage and retrieval system
GB2598991A (en) * 2020-08-13 2022-03-23 Ocado Innovation Ltd Storage system, methods and devices
WO2022084229A1 (en) 2020-10-22 2022-04-28 Autostore Technology AS Container handling vehicle with increased stability
US20220135324A1 (en) * 2019-02-19 2022-05-05 Ocado Innovation Limited Storage systems and methods
WO2022101105A1 (en) 2020-11-11 2022-05-19 Autostore Technology AS A distribution dock, a distribution system and a method thereof
WO2022106287A1 (en) 2020-11-17 2022-05-27 Autostore Technology AS An access station for an automated storage and retrieval system with container tilt functionality and a method for using same
WO2022106346A2 (en) 2020-11-23 2022-05-27 Autostore Technology AS A service vehicle with a vehicle pen
WO2022106286A1 (en) 2020-11-17 2022-05-27 Autostore Technology AS An access station for an automated storage and retrieval system with container transfer functionality and a method for using same
WO2022106318A1 (en) 2020-11-17 2022-05-27 Autostore Technology AS Method, system and computer program product for controlling movement of a plurality of container handling vehicles
NO20201317A1 (en) * 2020-11-30 2022-05-31 Autostore Tech As A vehicle for transporting storage containers in an automated storage and retrieval system
WO2022112166A1 (en) 2020-11-30 2022-06-02 Autostore Technology AS A remotely operated vehicle for handling a storage container on a rail system of an automated storage and retrieval system
WO2022112153A1 (en) 2020-11-27 2022-06-02 Autostore Technology AS Container handling module
WO2022112137A1 (en) 2020-11-25 2022-06-02 Autostore Technology AS System and method of temperature control in an automated grid based storage and retrieval system
WO2022112228A1 (en) 2020-11-25 2022-06-02 Autostore Technology AS Vehicle rotation device and system
WO2022112055A1 (en) 2020-11-30 2022-06-02 Autostore Technology AS Remotely operated picking vehicle
US11352016B2 (en) 2018-06-12 2022-06-07 Autostore Technology AS Storage system
WO2022122434A1 (en) 2020-12-11 2022-06-16 Autostore Technology AS A dual carriage access station for an automated storage and retrieval system and a method for using same
WO2022136423A1 (en) 2020-12-23 2022-06-30 Autostore Technology AS Automated storage and retrieval system comprising an access station compartment
WO2022148720A1 (en) 2021-01-05 2022-07-14 Autostore Technology AS Vehicle with non-motorized guiding wheels and motorized belt drive and methods of operating the vehicle
WO2022152907A1 (en) 2021-01-18 2022-07-21 Autostore Technology AS A storage container handling system and a method of transferring a storage container
WO2022162134A1 (en) 2021-01-29 2022-08-04 Autostore Technology AS System and method for using a camera to detect robot position on grid.
WO2022162170A1 (en) 2021-01-29 2022-08-04 Autostore Technology AS Controlling storage locations of products stored in storage containers in an automated storage and retrieval system
WO2022161863A1 (en) 2021-01-27 2022-08-04 Autostore Technology AS Storage container, a system comprising one or more of the storage containers and methods of assembling the storage containers
WO2022167609A1 (en) 2021-02-08 2022-08-11 Autostore Technology AS Grid survey module
WO2022180025A1 (en) 2021-02-24 2022-09-01 Autostore Technology AS Storage container assembly
EP3569525B1 (en) 2015-06-11 2022-09-07 Autostore Technology AS Storage system
WO2022184472A1 (en) 2021-03-01 2022-09-09 Autostore Technology AS An automated storage system
WO2022184470A1 (en) 2021-03-01 2022-09-09 Autostore Technology AS Improved cooling air distribution in an automated storage system
WO2022189301A1 (en) 2021-03-09 2022-09-15 Autostore Technology AS An automated storage system
WO2022200517A1 (en) 2021-03-25 2022-09-29 Autostore Technology AS Bracing arrangement
WO2022200567A2 (en) 2021-03-25 2022-09-29 Autostore Technology AS Bracing arrangement with damper
WO2022214578A1 (en) 2021-04-09 2022-10-13 Autostore Technology AS Product handling system
WO2022214579A1 (en) 2021-04-09 2022-10-13 Autostore Technology AS A lifting device assembly for handling a delivery container stored within a storage container
WO2022214580A1 (en) 2021-04-09 2022-10-13 Autostore Technology AS A container handling vehicle for handling a delivery container stored within a storage container and a method thereof
US11479407B2 (en) 2018-01-09 2022-10-25 Autostore Technology AS Displacement mechanism for a remotely operated vehicle
WO2022223325A1 (en) 2021-04-20 2022-10-27 Autostore Technology AS A method and vehicle for rescuing a stalled container handling vehicle
US11485375B2 (en) 2018-06-12 2022-11-01 Autostore Technology AS Unloading arrangement and unloading station, as well as method of unloading an item from a storage container
WO2022228894A1 (en) 2021-04-28 2022-11-03 Autostore Technology AS Container handler and method for handling a storage container
WO2022228956A1 (en) 2021-04-27 2022-11-03 Autostore Technology AS A double ended access station for an automated storage and retrieval system and a method for using same
WO2022228862A1 (en) 2021-04-30 2022-11-03 Autostore Technology AS A storage container handling system and a method thereof
US11498757B2 (en) 2018-06-12 2022-11-15 Autostore Technology AS Storage system
NO20210629A1 (en) * 2021-05-21 2022-11-22 Autostore Tech As Automated storage and retrieval system comprising a transfer column with side opening with blocker and methods of operating blocker
WO2022243153A1 (en) 2021-05-21 2022-11-24 Autostore Technology AS A storage column module for coupling to a framework structure of an automated storage and retrieval system
WO2022248451A1 (en) 2021-05-28 2022-12-01 Autostore Technology AS An automated storage and retrieval system with a dynamic storage section and a method of using same
WO2022248333A1 (en) 2021-05-27 2022-12-01 Autostore Technology AS Expansion joint for connecting a first region and a second region of a rail system
WO2022248470A1 (en) 2021-05-28 2022-12-01 Autostore Technology AS A remotely operated vehicle with top guiding and a method of using same
WO2022248264A1 (en) 2021-05-28 2022-12-01 Autostore Technology AS An assembly for retrieving storage elements
WO2022253952A1 (en) 2021-06-04 2022-12-08 Autostore Technology AS Service vehicle unit
WO2022258451A1 (en) 2021-06-10 2022-12-15 Autostore Technology AS A storage container for an automated, grid-based storage and retrieval system
WO2023274864A1 (en) 2021-06-30 2023-01-05 Autostore Technology AS An access station for an automated storage and retrieval system
WO2023274765A1 (en) 2021-06-30 2023-01-05 Autostore Technology AS System, method and computer program product of determining a position of a container handling vehicle in an automated grid based storage and retrieval system
WO2023274863A1 (en) 2021-06-30 2023-01-05 Autostore Technology AS An access station for an automated storage and retrieval system
WO2023283662A1 (en) 2021-07-16 2023-01-19 Perstling Manuel Method for operating a high-bay racking system, as well as high-bay racking system, carriage, and lifting unit therefor
US11572231B2 (en) 2018-06-12 2023-02-07 Autostore Technology AS Storage system with modular container handling vehicles
EP3374291B1 (en) 2015-11-11 2023-02-22 Ocado Innovation Limited Picking systems and methods
WO2023025708A1 (en) 2021-08-23 2023-03-02 Autostore Technology AS Disinfection station for a storage container
WO2023025875A1 (en) 2021-08-27 2023-03-02 Autostore Technology AS A gripper assembly
EP4144669A1 (en) 2021-09-07 2023-03-08 Autostore Technology AS System and method for gravitational unloading of items from a container
WO2023036794A1 (en) 2021-09-07 2023-03-16 Autostore Technology AS Storage container for produce
WO2023041449A1 (en) 2021-09-17 2023-03-23 Autostore Technology AS Storage system
WO2023041513A1 (en) 2021-09-17 2023-03-23 Autostore Technology AS A container buffering assembly, a storage system comprising the container buffering assembly, and associated methods
WO2023046519A1 (en) 2021-09-24 2023-03-30 Autostore Technology AS Storage grid for vertical farming
WO2023052158A1 (en) 2021-09-29 2023-04-06 Autostore Technology AS A hatch assembly for a port of a storage and retrieval system
US11628849B2 (en) 2018-06-12 2023-04-18 Autostore Technology AS Express bin lift for automated storage system
WO2023061835A1 (en) 2021-10-13 2023-04-20 Autostore Technology AS A delivery port for delivery of goods contained in goods holders
US11635769B2 (en) 2014-06-03 2023-04-25 Ocado Innovation Limited Methods, systems and apparatus for controlling movement of transporting devices
WO2023066750A1 (en) 2021-10-19 2023-04-27 Autostore Technology AS An assembly, a storage module and an automated storage and retrieval system
WO2023066849A1 (en) 2021-10-18 2023-04-27 Autostore Technology AS A service vehicle for an automated storage and retrieval system
WO2023072612A1 (en) 2021-10-25 2023-05-04 Autostore Technology AS Access station comprising safety mechanism
WO2023072447A1 (en) 2021-11-01 2023-05-04 Autostore Technology AS Storage system
WO2023073094A1 (en) 2021-10-29 2023-05-04 Autostore Technology AS Robotic container handler, an access and distribution station, a storage and retrieval system and a method thereof
WO2023083658A1 (en) 2021-11-10 2023-05-19 Autostore Technology AS A vehicle-portable grid assessment device
WO2023083729A1 (en) 2021-11-11 2023-05-19 Autostore Technology AS Vehicle gate arrangement with first and second shutters, system comprising the arrangement and method of operation
WO2023088911A1 (en) 2021-11-16 2023-05-25 Autostore Technology AS Lifting frame assembly with extendible and retractable guide members, container handling vehicle and storage system, and associated method
WO2023099256A1 (en) 2021-11-30 2023-06-08 Autostore Technology AS Method for transporting a product item to an access station
WO2023099309A1 (en) 2021-11-30 2023-06-08 Autostore Technology AS A storage module for an automated storage and retrieval system and method for using same
WO2023099348A1 (en) 2021-12-03 2023-06-08 Autostore Technology AS A levelling assembly for a storage and retrieval system
WO2023110561A1 (en) 2021-12-15 2023-06-22 Autostore Technology AS An air flow control device, an automated storage and retrieval system comprising such a device and a method for thermally managing air in an automated storage and retrieval system
WO2023113709A1 (en) * 2021-12-16 2023-06-22 Erkul Kozmeti̇k Sanayi̇ Ve Ti̇caret Anoni̇m Şi̇rketi̇ A storage system
WO2023110547A2 (en) 2021-12-14 2023-06-22 Autostore Technology AS Port magazine
WO2023110500A1 (en) 2021-12-17 2023-06-22 Autostore Technology AS An automated storage and retrieval system and a method of operating such an automated storage and retrieval system.
WO2023110531A1 (en) 2021-12-15 2023-06-22 Autostore Technology AS System and method of temperature control in an automated grid based storage and retrieval system
WO2023110702A1 (en) 2021-12-13 2023-06-22 Autostore Technology AS Method for delivering goods to a customer utilizing optical character recognition
WO2023110649A1 (en) 2021-12-16 2023-06-22 Autostore Technology AS Crossing with thermal expansion joint for a rail-based grid
US11685391B2 (en) 2018-06-12 2023-06-27 Autostore Technology AS Automated storage and retrieval system and a method of transporting storage containers between an automated storage and retrieval grid and a second location
WO2023117870A1 (en) 2021-12-21 2023-06-29 Autostore Technology AS Trash handling arrangement for an automated storage system
WO2023117801A1 (en) 2021-12-21 2023-06-29 Autostore Technology AS The present invention relates to an illuminable storage grid for storing and cultivating crops, an automated storage and retrieval system for storing and retrieving crops from/to such a storage grid and a method thereof
US11697422B2 (en) 2018-06-12 2023-07-11 Autostore Technology AS 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
WO2023131605A1 (en) 2022-01-07 2023-07-13 Autostore Technology AS Variable temperature zone
WO2023135050A1 (en) 2022-01-11 2023-07-20 Autostore Technology AS Storage system
WO2023161045A1 (en) 2022-02-23 2023-08-31 Autostore Technology AS Adjustment method and device
WO2023161154A1 (en) 2022-02-28 2023-08-31 Autostore Technology AS A device and a method for determining rotational position of a rotating shaft
NO20220361A1 (en) * 2022-03-08 2023-09-11 Autostore Tech As Track sensor arrangement
WO2023169901A1 (en) 2022-03-08 2023-09-14 Autostore Technology AS Container handling vehicle
WO2023169805A1 (en) 2022-03-08 2023-09-14 Autostore Technology AS A remotely operated vehicle, an automated storage and retrieval system and a method of operating a remotely operated vehicle for handling a goods holder of an automated storage and retrieval system
WO2023169987A1 (en) 2022-03-08 2023-09-14 Autostore Technology AS Track sensor arrangement
WO2023169900A1 (en) 2022-03-08 2023-09-14 Autostore Technology AS Container handling vehicle
WO2023174837A1 (en) 2022-03-15 2023-09-21 Autostore Technology AS Service trolley, an automated storage and retrieval system comprising the trolley, and method of operating the trolley
WO2023180150A1 (en) 2022-03-23 2023-09-28 Autostore Technology AS A remotely operated vehicle for an automated storage and retrieval system
US11772685B2 (en) 2018-06-12 2023-10-03 Autostore Technology AS System for storing and transporting storage containers
US11772892B2 (en) 2014-06-19 2023-10-03 Autostore Technology AS Remotely operated vehicle for a storage system
WO2023186802A1 (en) 2022-03-30 2023-10-05 Autostore Technology AS Method, system and computer program product for determining a route for a container handling vehicle
WO2023186716A1 (en) 2022-03-30 2023-10-05 Autostore Technology AS Storage system with containers and access frames
WO2023208850A1 (en) 2022-04-28 2023-11-02 Autostore Technology AS A system, method and computer program product for rental of physical items
WO2023208608A2 (en) 2022-04-29 2023-11-02 Autostore Technology AS Two part storage container with an assembled configuration and a split configuration
WO2023208694A1 (en) 2022-04-29 2023-11-02 Autostore Technology AS A conveyor access station for an automated storage and retrieval system and a method for using same
NO20220501A1 (en) * 2022-05-02 2023-11-03 Autostore Tech As Positioning tool
WO2023213585A1 (en) 2022-05-03 2023-11-09 Autostore Technology AS A container handler, a storage and retrieval system comprising the container handler and a method for handling a container by means of the container handler
WO2023213747A1 (en) 2022-05-03 2023-11-09 Autostore Technology AS Local positioning system for vehicles on a grid of an automated storage system
WO2023217635A1 (en) 2022-05-11 2023-11-16 Autostore Technology AS Container handling vehicle with all wheel drive in at least one direction, associated system and method of assembling
WO2023232763A1 (en) 2022-05-31 2023-12-07 Autostore Technology AS Weighing method
EP4290329A2 (en) 2018-06-12 2023-12-13 Autostore Technology AS A method of operating an automated storage and retrieval system
WO2023241900A1 (en) 2022-06-17 2023-12-21 Autostore Technology AS A method and a system for determining condition of a component of a remotely operated vehicle
WO2023247430A1 (en) 2022-06-21 2023-12-28 Autostore Technology AS An access station for an automated storage and retrieval system
US11858738B2 (en) 2013-08-09 2024-01-02 Ocado Innovation Limited Apparatus for retrieving units from a storage system
WO2024002887A1 (en) 2022-06-29 2024-01-04 Autostore Technology AS Container handling vehicle
WO2024002712A1 (en) 2022-06-29 2024-01-04 Autostore Technology AS Rail vehicle
WO2024002885A1 (en) 2022-06-29 2024-01-04 Autostore Technology AS Container handling vehicle with motor at lower elevation than first and second lifting shafts, a system comprising the container handling vehicle, and method of driving the first and second lifting shafts
WO2024008627A1 (en) 2022-07-08 2024-01-11 Autostore Technology AS Dynamic tuning of dig-down
US11873014B2 (en) 2018-06-12 2024-01-16 Autostore Technology AS Delivery system with an access point and a method of accessing an access point of the delivery system
EP3152956B2 (en) † 2014-06-05 2024-01-17 Ocado Innovation Limited Systems and methods for communication
US11891095B2 (en) 2018-06-12 2024-02-06 Autostore Technology AS Method for handling malfunctioning vehicles on a rail system and a storage and retrieval system using such a method
WO2024033543A1 (en) 2022-08-12 2024-02-15 Autostore Technology AS An automated storage and retrieval system having a container transfer apparatus, and a method thereof
WO2024033542A1 (en) 2022-08-12 2024-02-15 Autostore Technology AS An automated storage and retrieval system having a container transfer system and a method thereof
WO2024042137A1 (en) 2022-08-25 2024-02-29 Autostore Technology AS Batch picking interface
WO2024046798A1 (en) 2022-08-30 2024-03-07 Autostore Technology AS A crane trolley assembly, a crane and a system comprising the assembly and associated methods
WO2024046981A1 (en) 2022-08-29 2024-03-07 Autostore Technology AS Storage system
WO2024047063A1 (en) 2022-09-01 2024-03-07 Autostore Technology AS System and method for rearranging containers in an automated storage and retrieval system
WO2024047018A1 (en) 2022-09-01 2024-03-07 Autostore Technology AS System and method for controlling the movement of containers in an automated storage and retrieval system
WO2024046797A1 (en) 2022-08-30 2024-03-07 Autostore Technology AS An automated storage and retrieval system comprising a first type of container handling vehicle, a crane and a gantry arrangement, and a method of transferring a storage container.
WO2024052075A1 (en) 2022-09-06 2024-03-14 Autostore Technology AS A system and a method for extracting air from an evaporator unit associated with an automated storage and retrieval system
WO2024068512A1 (en) 2022-09-27 2024-04-04 Autostore Technology AS An automated storage and retrieval system comprising a temperature management system and a method for managing temperature in the automated storage and retrieval system
WO2024068528A1 (en) 2022-09-26 2024-04-04 Autostore Technology AS Container handling vehicle
WO2024068475A2 (en) 2022-09-29 2024-04-04 Autostore Technology AS An automated storage and retrieval system, a container transfer apparatus and a method thereof
WO2024068544A1 (en) 2022-09-26 2024-04-04 Autostore Technology AS Access station
WO2024068359A1 (en) 2022-09-29 2024-04-04 Autostore Technology AS A buffer system for temporarily storing containers in an automated storage and retrieval system
WO2024078865A1 (en) 2022-10-11 2024-04-18 Autostore Technology AS An assembly and a method for transferring a plurality of goods holders
WO2024083632A1 (en) 2022-10-18 2024-04-25 Autostore Technology AS A container transport vehicle with internal receiving space for receiving a storage container from another vehicle, associated system and methods
WO2024089150A1 (en) 2022-10-28 2024-05-02 Autostore Technology AS Method for the stocking of goods in an automated storage and retrieval system
WO2024088934A1 (en) 2022-10-26 2024-05-02 Autostore Technology AS Sensor station and method for predicting vehicle malfunction
WO2024088933A1 (en) 2022-10-26 2024-05-02 Autostore Technology AS Detachable sensor jig and method for predicting vehicle malfunction
WO2024089152A1 (en) 2022-10-28 2024-05-02 Autostore Technology AS A device and method for inserting storage containers into an automated storage and retrieval system
WO2024089149A1 (en) 2022-10-28 2024-05-02 Autostore Technology AS A device and method for inserting of storage containers with temperature-sensitive goods into a temperature controlled section of an automated storage and retrieval system
US11975744B2 (en) 2018-06-12 2024-05-07 Autostore Technology AS Method and system for controlling the operation of container handling vehicles and drones serving an automated storage and retrieval system
EP4365118A1 (en) 2022-11-03 2024-05-08 Autostore Technology AS A goods holder rotation station and a method of extracting goods from a goods holder
US11993163B2 (en) 2018-06-12 2024-05-28 Autostore Technology AS Automated storage system with a container vehicle and a charging system
WO2024110121A1 (en) 2022-11-25 2024-05-30 Autostore Technology AS A unit for moving a plurality of goods holders and a method of moving the plurality of goods holders.
WO2024110120A1 (en) 2022-11-25 2024-05-30 Autostore Technology AS An assembly for transporting a plurality of goods holders to/from a grid-based storage and retrieval system
WO2024110162A1 (en) 2022-11-24 2024-05-30 Autostore Technology AS Vertical farming system
WO2024115271A1 (en) 2022-11-29 2024-06-06 Autostore Technology AS Automated storage and retrieval system with large-sized storage containers
WO2024115179A1 (en) 2022-11-29 2024-06-06 Autostore Technology AS A service vehicle with center drive, method, and system thereof
WO2024120840A2 (en) 2022-12-05 2024-06-13 Autostore Technology AS Lift arrangement and method for moving a storage container in a multiframework storage system
WO2024120858A1 (en) 2022-12-09 2024-06-13 Autostore Technology AS Clamp for anchoring a safety harness to a rail system and a method of using same
EP4385922A2 (en) 2018-06-12 2024-06-19 Autostore Technology As A vehicle tilting device, an access station, a delivery system and a method of accessing a storage container
WO2024125908A1 (en) 2022-12-16 2024-06-20 Autostore Technology AS A container transport vehicle, an automated storage and retrieval system and a method thereof
WO2024126230A1 (en) 2022-12-16 2024-06-20 Autostore Technology AS An automated storage and retrieval system with logically operable barriers for safe enter and exit into a transport vehicle, and an associated method
WO2024126232A1 (en) 2022-12-16 2024-06-20 Autostore Technology AS An automated storage and retrieval system comprising lockable barriers for safe transfer of persons into a transport vehicle on a live grid, and associated method
WO2024133111A1 (en) 2022-12-20 2024-06-27 Autostore Technology AS System and method for weighing containers
WO2024133389A1 (en) 2022-12-23 2024-06-27 Autostore Technology AS A service vehicle for an automated storage and retrieval system
WO2024132391A1 (en) 2022-12-21 2024-06-27 Autostore Technology AS A remotely operated picking vehicle, an automated storage and retrieval system, and a method of using same
WO2024133147A1 (en) 2022-12-20 2024-06-27 Autostore Technology AS System and maintenance for condition based maintenance of port
WO2024132390A1 (en) 2022-12-20 2024-06-27 Autostore Technology AS Container handling vehicle and storage system
WO2024133118A1 (en) 2022-12-19 2024-06-27 Autostore Technology AS Container handling vehicle for handling of smaller-sized storage containers in an automated storage and retrieval system
WO2024132389A1 (en) 2022-12-20 2024-06-27 Autostore Technology AS An automated storage and retrieval system comprising a service vehicle and a service sled
WO2024133494A1 (en) 2022-12-21 2024-06-27 Autostore Technology AS Robotic picking and conveyor system
WO2024133300A1 (en) 2022-12-23 2024-06-27 Autostore Technology AS Method, system and computer program product for moving a storage container
WO2024133306A1 (en) 2022-12-20 2024-06-27 Autostore Technology AS System and method for condition based maintenance of a port of an automated storage and retrieval system
WO2024141363A1 (en) 2022-12-27 2024-07-04 Autostore Technology AS A storage system for storage containers comprising a framework structure, stacker frames, storage containers, a stacker frame lifter and a container lifter
WO2024141364A1 (en) 2022-12-27 2024-07-04 Autostore Technology AS A storage system for storage containers comprising a framework structure, stacker frames, storage containers, a stacker frame lifter and a container lifter
US12030716B2 (en) 2015-04-15 2024-07-09 Ocado Innovation Limited Storage system with partition means and methods
WO2024180088A1 (en) 2023-02-27 2024-09-06 Autostore Technology AS Actuator for moving a storage container
WO2024180093A1 (en) 2023-02-27 2024-09-06 Autostore Technology AS Access station for an automated storage and retrieval system
WO2024184340A1 (en) 2023-03-06 2024-09-12 Autostore Technology AS An adapter for a goods holder
WO2024184409A1 (en) 2023-03-06 2024-09-12 Autostore Technology AS A method for adapting a goods holder and an adapter for a goods holder
WO2024189232A1 (en) 2023-03-16 2024-09-19 Autostore Technology AS A vertically displaceable lifting frame for transporting a goods holder to/from a storage volume of an automated storage and retrieval system
WO2024189159A1 (en) 2023-03-14 2024-09-19 Autostore Technology AS Storage system
WO2024194481A1 (en) 2023-03-22 2024-09-26 Autostore Technology AS Container transfer system
WO2024200638A1 (en) 2023-03-31 2024-10-03 Autostore Technology AS Service device for fastening screws of a storage and retrieval system
WO2024200324A1 (en) 2023-03-24 2024-10-03 Autostore Technology AS Leveling device
WO2024200304A1 (en) 2023-03-27 2024-10-03 Autostore Technology AS Charging station service/inspection tool
WO2024200791A1 (en) 2023-03-28 2024-10-03 Autostore Technology AS Storage system
WO2024223916A1 (en) 2023-04-28 2024-10-31 Autostore Technology AS Access station with stopper mechanism
WO2024223738A1 (en) 2023-04-28 2024-10-31 Autostore Technology AS A rail system, particularly for an automated storage and retrieval system for storage and retrieval of containers
US12134411B2 (en) 2018-06-12 2024-11-05 Autostore Technology AS Modular container accessing station
US12139336B2 (en) 2018-12-20 2024-11-12 Autostore Technology AS Transport of container handling vehicles between storage grids of different heights

Families Citing this family (85)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB201310784D0 (en) 2013-06-17 2013-07-31 Ocado Ltd Systems and Methods for Order Processing
NO340313B1 (en) 2014-01-08 2017-03-27 Jakob Hatteland Logistics As Remote controlled vehicle for picking up storage containers from a storage system, storage system for storage of containers and method for replacing a power source
NO337145B1 (en) * 2014-02-05 2016-02-01 Storepal Systems As storage System
NO338156B1 (en) * 2014-02-19 2016-08-01 Jakob Hatteland Logistics As Cooled storage system
JP6213404B2 (en) * 2014-07-11 2017-10-18 株式会社ダイフク Moving object for goods transportation
NL2013200B1 (en) * 2014-07-16 2016-07-14 Vanderlande Ind Bv System for storing product holders.
BR102014023154B1 (en) 2014-09-18 2022-03-29 Carmine Alexandre Cifelli Modular base to compose installations and method for storage by stacking and moving boxes
EP3224160A1 (en) * 2014-11-27 2017-10-04 Identytec GmbH & Co. KG Material logistics system
US20160260142A1 (en) 2015-03-06 2016-09-08 Wal-Mart Stores, Inc. Shopping facility assistance systems, devices and methods to support requesting in-person assistance
US12084824B2 (en) 2015-03-06 2024-09-10 Walmart Apollo, Llc Shopping facility assistance systems, devices and methods
US20180099846A1 (en) 2015-03-06 2018-04-12 Wal-Mart Stores, Inc. Method and apparatus for transporting a plurality of stacked motorized transport units
US11078061B2 (en) * 2015-04-09 2021-08-03 Grey Orange Pte Ltd. Lifting apparatus
EP3633115A1 (en) * 2015-04-15 2020-04-08 Ocado Innovation Limited Robotic storage system and method of providing such robotic storage system
EP4368546A3 (en) 2015-04-15 2024-10-16 Ocado Innovation Limited Object handling system and method
GB201509661D0 (en) * 2015-06-03 2015-07-15 Ocado Innovation Ltd Temperature controlled storage system
JP6733138B2 (en) * 2015-08-11 2020-07-29 中西金属工業株式会社 Storage facility using a self-propelled carrier
GB201521488D0 (en) * 2015-12-06 2016-01-20 Ocado Innovation Ltd Sequencing systems and methods
US10850959B2 (en) * 2016-02-26 2020-12-01 Baumueller Nuernberg Gmbh Storage and retrieval device for parallel operation of a high-bay warehouse and operating method therefor
NO343383B1 (en) * 2016-08-18 2019-02-18 Autostore Tech As Single cell robot with control unit
JP6745178B2 (en) * 2016-09-21 2020-08-26 日本コンベヤ株式会社 Picking system
US10062048B2 (en) * 2016-09-29 2018-08-28 Walmart Apollo, Llc Systems and methods to distribute and authenticate product delivery lockers
GB201616597D0 (en) * 2016-09-30 2016-11-16 Ocado Innovation Limited Method and apparatus for retrieving units form a storage system
NO341707B1 (en) * 2016-11-02 2018-01-02 Autostore Tech As Track sensors for detecting position of vehicle relative to tracks
GB201619748D0 (en) * 2016-11-22 2017-01-04 Ocado Innovation Ltd Optical communications system
CA3047728A1 (en) * 2016-12-21 2018-06-28 Walmart Apollo, Llc Autonomous locker delivery
CN106927276A (en) * 2016-12-23 2017-07-07 知识产权全资有限公司 track transmission system
GB201701615D0 (en) * 2017-02-01 2017-03-15 Ocado Innovation Ltd Safety system for an automated storage and picking system and method of operating thereof
EP3601107A1 (en) 2017-03-20 2020-02-05 Berkshire Grey, Inc. Systems and methods for processing objects including mobile matrix carrier systems
US10576621B2 (en) 2017-03-23 2020-03-03 Berkshire Grey, Inc. Systems and methods for processing objects, including automated mobile matrix bins
US10470841B2 (en) 2017-03-28 2019-11-12 Steris Inc. Robot-based rack processing system
NL2018723B1 (en) 2017-04-14 2018-10-24 Logiqs B V Vehicle for moving a container and system allowing such vehicle to move the container
CN110809553B (en) * 2017-05-16 2021-10-15 自动存储科技股份有限公司 Automated storage and retrieval system
GB201707922D0 (en) 2017-05-17 2017-06-28 Ocado Innovation Ltd Modular storage systems and methods
EP3431418B8 (en) * 2017-07-20 2020-04-01 Mikhail Voloskov Shuttle for use in a three-dimensional warehouse system
CN107499812B (en) * 2017-08-18 2019-05-31 石家庄学院 Control method without tunnel tiered warehouse facility
CN107842910B (en) * 2017-09-10 2020-08-25 浙江广播电视大学 Green intelligent house management system
JP1608459S (en) * 2017-10-06 2018-07-09
US11117760B2 (en) 2017-10-27 2021-09-14 Berkshire Grey, Inc. Systems and methods for processing objects including mobile matrix carrier systems
WO2019094511A1 (en) * 2017-11-07 2019-05-16 Nordstrom, Inc. Systems and methods for storage, retrieval, and sortation in supply chain
US12103771B2 (en) 2017-11-14 2024-10-01 Hai Robotics Co., Ltd. Handling robot
US12006143B2 (en) 2017-11-14 2024-06-11 Hai Robotics Co., Ltd. Handling robot
US11396424B2 (en) 2017-11-14 2022-07-26 Hai Robotics Co., Ltd. Handling robot
AU2018368407B2 (en) 2017-11-14 2021-08-12 Hai Robotics Co., Ltd. Handling robot and method for retrieving inventory item based on handling robot
US11465840B2 (en) 2017-11-14 2022-10-11 Hai Robotics Co., Ltd. Handling robot
CN107792593B (en) * 2017-12-03 2023-12-22 金胜昔 Stereoscopic warehouse plane storage and transportation unit with cargo space capable of moving in four directions
CN107826414B (en) * 2017-12-11 2023-09-22 上海诺亚木木机器人科技有限公司 Store cabinet and be used for removing robot of storing cabinet
GB2570119B (en) * 2018-01-10 2022-06-08 Ocado Innovation Ltd A controller and method for transporting devices
CN108382869A (en) * 2018-02-11 2018-08-10 苏州市优福通铝合金升降机械有限公司 A kind of Intelligent logistics transmission mechanism
GB201803771D0 (en) * 2018-03-09 2018-04-25 Ocado Innovation Ltd Transporting device position determining apparatus and method
GB201804867D0 (en) * 2018-03-27 2018-05-09 Ocado Innovation Ltd A transporting device
CN108584336B (en) * 2018-05-05 2023-08-18 隆链智能科技（上海）有限公司 Roller reversing and jacking device of mechanical rail carrying equipment
RU2681471C1 (en) * 2018-06-08 2019-03-06 Андрей Иванович Бодренко Method of movement of tarno-piece goods in the storage
IL260144B2 (en) * 2018-06-19 2023-04-01 Arkadi Buberman Automated modular plant growth system
CN109081034B (en) * 2018-06-26 2021-08-17 北京云迹科技有限公司 Intelligent container delivery method and device and intelligent container
CN112888651B (en) 2018-07-19 2024-08-16 能源库公司 Energy storage system and method
DE102018213677B4 (en) * 2018-08-14 2024-02-15 Gebhardt Fördertechnik GmbH Device for sorting goods
DE102018213678B4 (en) * 2018-08-14 2024-02-08 Gebhardt Fördertechnik GmbH Device for sorting goods
TWI689877B (en) 2018-09-14 2020-04-01 財團法人工業技術研究院 Goods picking and replenishment method, picking cars and goods picking and replenishment system
WO2020086610A1 (en) * 2018-10-22 2020-04-30 Piaggio Fast Forward, Inc. Mobile carrier with interchangeable payloads
NO344988B1 (en) * 2018-11-05 2020-08-10 Autostore Tech As A station for providing access to contents in a storage container
CN111319909B (en) * 2018-12-13 2022-04-26 菜鸟智能物流控股有限公司 Management system and method based on logistics object bearing equipment
US11597598B2 (en) 2019-02-01 2023-03-07 Hai Robotics Co., Ltd. Handling robot
US11542135B2 (en) 2019-02-01 2023-01-03 Hai Robotics Co., Ltd. Handling robot
NL2022800B1 (en) * 2019-03-25 2020-10-02 Vanderlande Ind Bv System and method for the intralogistics transport of products.
US12091248B2 (en) 2019-06-05 2024-09-17 Patou Investments (Pty) Ltd Bi-directional shuttle
CN110329696B (en) * 2019-07-15 2021-06-22 南京翌星自动化系统有限公司 Handling equipment
CN112338923A (en) * 2019-08-09 2021-02-09 深圳市普渡科技有限公司 Robot distribution system
DE102020122000A1 (en) 2019-08-22 2021-02-25 Flexlink Systems Gmbh Self-propelled transport system
FR3105784B1 (en) 2019-12-30 2022-01-07 Fives Syleps AUTOMATED STORAGE SYSTEM
DE102020103303B3 (en) * 2020-02-10 2021-06-24 Deutsches Zentrum für Luft- und Raumfahrt e.V. Robotic system
GB202003047D0 (en) * 2020-03-03 2020-04-15 Ocado Innovation Ltd A grid framework structure
GB202003054D0 (en) * 2020-03-03 2020-04-15 Ocado Innovation Ltd A grid framework structure
KR20230031327A (en) 2020-06-30 2023-03-07 에너지 볼트 인코포레이티드 Energy storage and delivery systems and methods
CN112224734B (en) * 2020-11-09 2024-07-30 深圳市鲸仓科技有限公司 Transfer robot
US12132312B2 (en) 2020-12-24 2024-10-29 Energy Vault, Inc. Energy storage system with elevator lift system
CN113123621A (en) * 2021-04-25 2021-07-16 广州市伍柳建材装饰工程有限公司 Accurate assembly device and method for assembly type prefabricated part
DE102021126500B3 (en) 2021-10-13 2023-02-02 Stöcklin Logistik Ag Shelf storage system with a three-dimensional shelf store and at least one vehicle for storing and retrieving load carriers
CN116262588A (en) * 2021-12-13 2023-06-16 能源库公司 Energy storage and delivery system and method
CN114212362A (en) * 2021-12-31 2022-03-22 北京合锐赛尔电力科技股份有限公司 Robot-based chemical reagent storage device and control method
CN114368576B (en) * 2022-01-29 2022-11-04 上海方仓智能科技有限公司 Non-shelf type full-automatic storehouse
CN114701778B (en) * 2022-02-28 2024-02-02 长城信息股份有限公司 Box-shaped medium dispensing device
PL440660A1 (en) * 2022-03-17 2023-09-18 Loop Store Spółka Z Ograniczoną Odpowiedzialnością Robot, system and method for storage of containers
CN114476482B (en) * 2022-03-24 2022-12-20 深圳市海柔创新科技有限公司 Method, device, equipment, system, medium and product for controlling bin conveying
WO2023196362A1 (en) 2022-04-06 2023-10-12 Nimble Robotics, Inc. Pillar for grid-based storage system having constraining features
US11982261B1 (en) 2023-04-10 2024-05-14 Energy Vault, Inc. Energy storage and delivery system and method

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04235822A (en) * 1991-01-17 1992-08-24 Toyota Autom Loom Works Ltd Lift mechanism of overhead traveling type carrier car
JPH10203647A (en) * 1997-01-20 1998-08-04 Shinko Electric Co Ltd Conveyer
WO1998049075A1 (en) 1997-04-30 1998-11-05 Autostore As Method for organising the storage of different units
JPH11165980A (en) * 1997-11-28 1999-06-22 Toshiba Corp Overhead traveling crane traversing gear
US20030229416A1 (en) * 2002-06-06 2003-12-11 Murata Kikai Kabushiki Kaisha Automated guided vehicle system
NO317366B1 (en) 1999-07-01 2004-10-18 Autostore As Storage system with remote controlled wagons with two wheelsets and lifting device for operation on rails arranged in cross over columns of storage units separated by vertical profile posts
WO2005077789A1 (en) * 2004-01-16 2005-08-25 Icam S.R.L. An automated warehouse, and an autonomous vehicle for transferring load units for said automated warehouse
JP2012116651A (en) * 2010-12-03 2012-06-21 Nippon Yusoki Co Ltd Automated warehouse
WO2013167907A1 (en) * 2012-05-11 2013-11-14 Ocado Limited Storage systems and methods for retrieving units from a storage system

Family Cites Families (105)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1556071A1 (en) * 1967-07-25 1969-09-11 Mannesmann Ag Mechanized pallet racking warehouse
US3779403A (en) * 1968-03-29 1973-12-18 Kaiser Ind Corp Container storage and handling apparatus
SU505600A1 (en) * 1972-07-18 1976-03-05 Центральное Проектно-Конструкторское И Технологическое Бюро Научной Организации Производства , Труда И Управления Automated warehouse
JPS5149734Y2 (en) * 1972-11-04 1976-11-30
US3800963A (en) * 1972-12-04 1974-04-02 E Holland Material storage and handling system
JPS4983778A (en) 1972-12-15 1974-08-12
US4088232A (en) * 1974-04-01 1978-05-09 Clark Equipment Co. Apparatus with storage cells disposed adjacent vertical shafts having covers and a lift means movable thereabove
SU630134A1 (en) * 1977-05-23 1978-10-30 Ленинградский технологический институт холодильной промышленности Warehouse
DE7718050U1 (en) * 1977-06-08 1979-01-04 Theobald, Adolf, 5758 Froendenberg DEVICE FOR STORAGE OF PALLETS FOR STORAGE
JPS58778B2 (en) 1978-11-15 1983-01-07 松下電工株式会社 Roof panel with eave gutter support fittings
JPS5856553B2 (en) 1979-07-09 1983-12-15 三重油脂化工株式会社 Phosphate-based heat-resistant paint composition
CH632466A5 (en) 1979-08-21 1982-10-15 Sibonne Sa STORAGE INSTALLATION.
JPS57124503A (en) 1981-01-26 1982-08-03 Nippon Steel Corp Production of roughly-shaped steel for shape steel
JPS57125895A (en) 1981-01-29 1982-08-05 Nippon Atomic Ind Group Co Nuclear reactor power conditioning device
JPS6316442Y2 (en) * 1981-01-30 1988-05-11
CH640797A5 (en) 1981-04-08 1984-01-31 Sibonne Sa Storage installation comprising carriages which can be moved in two directions
JPS59217502A (en) * 1983-05-23 1984-12-07 Okamura Seisakusho:Kk Automatic warehouse and its using method
SU1713855A1 (en) * 1988-10-10 1992-02-23 Стахановское Производственное Объединение Вагоностроения Transportation store system
US4998595A (en) 1989-03-14 1991-03-12 Cheng Chen Lin Structure of lateral driving device for car
JP2876335B2 (en) 1990-05-10 1999-03-31 有限会社タクマ精工 Drive wheel lifting and lowering device for self-propelled bogie
JP2920667B2 (en) 1990-08-31 1999-07-19 アイシン精機株式会社 Torque fluctuation absorber
US5190427A (en) 1991-10-02 1993-03-02 Necer International Co., Ltd. Computer-controlled block to block shifting type multi-floor multi-block equipment conveying and storage system
FR2730715B1 (en) 1995-02-22 1997-04-04 Gec Alsthom Syst Et Serv SELF-PROPELLED TROLLEY AND STORAGE STORE SERVED BY SUCH TROLLEYS
JPH10278596A (en) 1997-04-08 1998-10-20 Hiroshi Shimizu Electric vehicle
JPH10299280A (en) 1997-04-21 1998-11-10 Daiwa Kosan Kk Three-dimensional housing device for automobile, freight, etc.
JPH11278607A (en) * 1998-03-25 1999-10-12 Murata Mach Ltd Automatic warehouse
RU2167088C2 (en) * 1998-04-28 2001-05-20 Михаил Ефимович Гренадер Unit-load multiple-stage storehouse
JP2000134185A (en) 1998-10-21 2000-05-12 Fujitsu Ltd Transmission line control system
DE19935742A1 (en) 1999-07-29 2001-02-08 Juergen Klein Automated storage system for pallets and containers of different sizes comprises frame with n levels and m storage positions on each level, n-1 undercarriages being mounted on rails beneath these on which pallets are stored
AUPQ297399A0 (en) 1999-09-20 1999-10-14 Rapini Pty Ltd Storage unit
FR2798915B1 (en) * 1999-09-27 2001-12-21 Savoye Automated Storage COMPACT AUTOMATED STORAGE STORE
CZ296074B6 (en) 1999-10-07 2006-01-11 Huhtamaki Ronsberg Zweigniederlassung Der Huhtamaki Deutschland Gmbh & Co. Kg Plastic foil
CN1288287A (en) 2000-01-18 2001-03-21 裴建盟 Magnetomotive motor
WO2002000542A1 (en) 2000-06-28 2002-01-03 Hitachi, Ltd. Passenger conveyor
JP3558012B2 (en) * 2000-07-04 2004-08-25 村田機械株式会社 Transport system
ITPO20010004A1 (en) * 2001-04-24 2002-10-24 Immobiliare La Valluccia Srl AUTOMATIC STORAGE SYSTEM
DE60235621D1 (en) 2001-05-24 2010-04-22 Bryan P Prucher ELECTRIC WHEEL HUB DRIVE SYSTEM
US7184855B2 (en) * 2002-03-13 2007-02-27 Stingel Iii Frederick J Automated container storage and delivery system
US7202622B2 (en) 2002-04-30 2007-04-10 International Rectifier Corporation Method for controlling an electric motor to reduce EMI
JP2004014749A (en) * 2002-06-06 2004-01-15 Murata Mach Ltd Automatic guided vehicle system
SE524006C2 (en) 2002-10-31 2004-06-15 Eab Ab Trolley for transporting a load along a rail pair
US8651790B2 (en) * 2006-09-25 2014-02-18 Charles E. Benedict Warehouse storage system
US8628289B1 (en) * 2003-05-06 2014-01-14 Charles E. Benedict Material handling and storage/warehouse system
US7991505B2 (en) * 2003-08-29 2011-08-02 Casepick Systems, Llc Materials-handling system using autonomous transfer and transport vehicles
JP2006051886A (en) * 2004-08-12 2006-02-23 Murata Mach Ltd Ceiling traveling vehicle system
EP1789630A4 (en) * 2004-08-24 2009-07-22 Brooks Automation Inc Transportation system
US7381022B1 (en) * 2004-12-18 2008-06-03 Rodney Joe King Automated 3-dimensional multitasking, stocking, storage, and distribution system
US20060182552A1 (en) * 2005-01-24 2006-08-17 Jiang Qi F Warehousing system
US20080289309A1 (en) 2005-02-09 2008-11-27 Gust Jackie R Mower with Hybrid Prime Mover Having Fuel Cell, Brushless Electric Motors for Driving Cutting Units, and Electric/Hydraulic Actuator for Lift and Lower System
WO2007007354A1 (en) * 2005-07-07 2007-01-18 Marco Martelli System for the general warehouse management of pallets, motor vehicles or the like
JP4577568B2 (en) * 2005-09-09 2010-11-10 株式会社ダイフク Article conveying device in article storage facility
CN101277879A (en) 2005-10-03 2008-10-01 日精株式会社 Bracket transferring mechanism and article storing apparatus using the same
DE102005058478A1 (en) 2005-12-07 2007-06-14 Walter Winkler Display shelf for e.g. fruit, has shelf board with conveyor belt provided above storage surface on upper side of shelf board and transported in endless loop via end face, where belt is provided with drive
US7850412B2 (en) 2006-09-25 2010-12-14 Bec Companies, Inc. Overhead boat storage system
US20080226437A1 (en) * 2006-12-22 2008-09-18 Packmax Ip Holdings, Llc System, method and apparatus for space-efficient object storage
US8700239B2 (en) 2007-01-16 2014-04-15 Charles Hampton Perry Machine for augmentation, storage, and conservation of vehicle motive energy
US8357538B2 (en) * 2007-04-06 2013-01-22 Qiagen Gaithersburg, Inc. Automated assay and system
US8703492B2 (en) * 2007-04-06 2014-04-22 Qiagen Gaithersburg, Inc. Open platform hybrid manual-automated sample processing system
AT505757B1 (en) * 2007-11-22 2009-04-15 Miguel Muser MANIPULATION DEVICE FOR LOADING AND UNLOADING A SHELF
CN101480796B (en) * 2008-09-06 2010-06-02 傅黎明 One-hoisting dual-purpose multi-position conveying robot
JP4983778B2 (en) 2008-11-28 2012-07-25 ダイキン工業株式会社 Engagement heat insulating part, heat insulating structure, and method of assembling heat insulating structure
DE102009017241B4 (en) * 2009-04-09 2016-12-01 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. storage system
TWI615337B (en) * 2009-04-10 2018-02-21 辛波提克有限責任公司 Automated case unit storage system and method for handling case units that are configured for being arrayed into a palletized load of case units for shipping to or from a storage facility
US8476794B2 (en) 2009-05-27 2013-07-02 Empire Technology Development Llc Wheel motor with rotating outer rotor
JP5282971B2 (en) * 2009-07-14 2013-09-04 株式会社ダイフク Goods storage facility
ITTO20090771A1 (en) 2009-10-09 2011-04-10 Icam S R L SHUTTLE OF AN AUTOMATED WAREHOUSE
DE102010047872A1 (en) 2009-10-26 2011-05-19 Westfalia Intralogistic Gmbh bearing arrangement
DE202009014456U1 (en) 2009-10-26 2011-03-10 Westfalia Intralogistic Gmbh bearing arrangement
CN102470985B (en) * 2009-11-27 2015-07-22 株式会社大福 Ceiling conveyor car
US20110168465A1 (en) 2010-01-14 2011-07-14 Gary Starr Hub wheel motor
JP5429570B2 (en) * 2010-03-08 2014-02-26 株式会社ダイフク Goods transport equipment
US20110259658A1 (en) 2010-04-22 2011-10-27 Lin Hsiang Huang Power output device for wheeled vehicle
US8731740B2 (en) * 2010-06-21 2014-05-20 Murata Machinery, Ltd. Automatic warehouse and warehousing method into automatic warehouse
US9020636B2 (en) * 2010-12-16 2015-04-28 Saied Tadayon Robot for solar farms
EP2479052A1 (en) 2011-01-25 2012-07-25 A&T - Creation Oy Working machine
ITMO20110060A1 (en) 2011-03-16 2012-09-17 C R D Ct Ricerche Ducati Trent O S R L WHEEL FOR ASSISTED RIDING BICYCLES
EP2691996A4 (en) 2011-03-30 2015-01-28 Ambature Inc Electrical, mechanical, computing, and/or other devices formed of extremely low resistance materials
AU2012267207A1 (en) 2011-06-10 2014-01-09 Axiflux Holdings Pty Ltd Electric motor/generator
DK2562072T5 (en) 2011-08-25 2015-06-08 Maxon Motor Ag Electrical hjulnavdrev for a vehicle, especially a bicycle
KR101294124B1 (en) 2011-10-21 2013-08-08 주식회사 만도 In wheel motor system
US9231504B2 (en) 2012-05-15 2016-01-05 Robert Lyle Fuller Electrical control system
US8721250B2 (en) * 2012-07-11 2014-05-13 Sergey N. Razumov Robotic device movable in three mutually perpendicular directions
KR101552982B1 (en) 2012-07-12 2015-09-14 현대모비스 주식회사 In-wheel motor and in-wheel working device
US20140086714A1 (en) 2012-09-27 2014-03-27 Ohad MALIK Automated warehousing systems and method
US8734079B1 (en) * 2012-11-13 2014-05-27 Sergey N. Razumov Self-lifting robotic device with load handling mechanism
JP2014104776A (en) 2012-11-24 2014-06-09 Toyota Motor Corp Control unit of hybrid vehicle
NO335839B1 (en) 2012-12-10 2015-03-02 Jakob Hatteland Logistics As Robot for transporting storage containers
DE102013100957B4 (en) 2013-01-30 2015-07-02 Ipek International Gmbh Direct drive inspection car
GB201310125D0 (en) 2013-06-06 2013-07-24 Ocado Ltd Storage and retrieval system
GB201310124D0 (en) 2013-06-06 2013-07-24 Ocado Ltd Order filling system
GB201310784D0 (en) 2013-06-17 2013-07-31 Ocado Ltd Systems and Methods for Order Processing
BG66641B1 (en) 2013-06-26 2018-02-15 „Алмотт“ Оод Electric machine with internal stator
GB201314313D0 (en) 2013-08-09 2013-09-25 Ocado Ltd Apparatus for retrieving units from a storage system
GB201404870D0 (en) 2014-03-18 2014-04-30 Ocado Ltd Robotic service device and handling method
NO340313B1 (en) * 2014-01-08 2017-03-27 Jakob Hatteland Logistics As Remote controlled vehicle for picking up storage containers from a storage system, storage system for storage of containers and method for replacing a power source
CN103818672B (en) 2014-02-28 2016-06-29 上海速锐物流科技有限公司 The intelligent shuttle of a kind of 3 D stereo traveling and control method thereof
CN204046343U (en) 2014-06-06 2014-12-24 浙江亚特电器有限公司 Embedded external rotor electric machine directly drives hay mover driving wheel and hay mover
CN104079113B (en) 2014-06-06 2016-06-08 浙江亚特电器有限公司 Interior embedded external rotor electric machine directly drives mower driving wheel and mower
NO337544B1 (en) 2014-06-19 2016-05-02 Jakob Hatteland Logistics As Remote controlled vehicle assembly to pick up storage containers from a storage system
DE102014212157A1 (en) 2014-06-25 2015-12-31 Robert Bosch Gmbh Housing device for a hand tool
GB2527543A (en) 2014-06-25 2015-12-30 Ocado Innovation Ltd System and method for managing shipping containers
ES2751745T3 (en) * 2015-01-28 2020-04-01 Autostore Tech As Robot to transport storage containers
JP6338286B2 (en) 2015-02-04 2018-06-06 矢崎総業株式会社 Wire harness
GB201616597D0 (en) 2016-09-30 2016-11-16 Ocado Innovation Limited Method and apparatus for retrieving units form a storage system
NO344310B1 (en) 2017-11-22 2019-11-04 Autostore Tech As Automated storage and retrieval system comprising a three dimensional grid, container-handling vehicle and method of retrieving at least one storage container from the storage 40 storage and retrieval system

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04235822A (en) * 1991-01-17 1992-08-24 Toyota Autom Loom Works Ltd Lift mechanism of overhead traveling type carrier car
JPH10203647A (en) * 1997-01-20 1998-08-04 Shinko Electric Co Ltd Conveyer
WO1998049075A1 (en) 1997-04-30 1998-11-05 Autostore As Method for organising the storage of different units
JPH11165980A (en) * 1997-11-28 1999-06-22 Toshiba Corp Overhead traveling crane traversing gear
NO317366B1 (en) 1999-07-01 2004-10-18 Autostore As Storage system with remote controlled wagons with two wheelsets and lifting device for operation on rails arranged in cross over columns of storage units separated by vertical profile posts
US20030229416A1 (en) * 2002-06-06 2003-12-11 Murata Kikai Kabushiki Kaisha Automated guided vehicle system
WO2005077789A1 (en) * 2004-01-16 2005-08-25 Icam S.R.L. An automated warehouse, and an autonomous vehicle for transferring load units for said automated warehouse
JP2012116651A (en) * 2010-12-03 2012-06-21 Nippon Yusoki Co Ltd Automated warehouse
WO2013167907A1 (en) * 2012-05-11 2013-11-14 Ocado Limited Storage systems and methods for retrieving units from a storage system

Cited By (545)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3653540B1 (en) 2012-05-11 2021-03-17 Ocado Innovation Limited Storage systems and methods for retrieving units from a storage system
EP3653540A1 (en) 2012-05-11 2020-05-20 Ocado Innovation Limited Storage systems and methods for retrieving units from a storage system
EP2847105B1 (en) 2012-05-11 2021-06-23 Ocado Innovation Limited Storage systems and methods for retrieving units from a storage system
US11780673B2 (en) 2012-12-10 2023-10-10 Autostore Technology AS Method for operating a bin storage system and robot vehicle for transporting storage bins
US11794997B2 (en) 2012-12-10 2023-10-24 Autostore Technology AS Method for operating a bin storage system and robot vehicle
EP3070027B1 (en) 2012-12-10 2018-11-21 Autostore Technology AS Robot for transporting storage bins
EP2962962B1 (en) 2012-12-10 2018-04-25 Autostore Technology AS Robot for transporting storage bins
EP2928794B1 (en) 2012-12-10 2019-03-06 Autostore Technology AS Robot for transporting storage bins
EP3556689B1 (en) 2013-08-09 2020-09-09 Ocado Innovation Limited A storage system with a load handling device
EA037241B1 (en) * 2013-08-09 2021-02-25 Окадо Инновейшн Лимитед Apparatus for retrieving units from a storage system
EP3795501A1 (en) * 2013-08-09 2021-03-24 Ocado Innovation Limited A load handling device for retrieving units from a storage system
US10961051B1 (en) 2013-08-09 2021-03-30 Ocado Innovation Limited Apparatus for retrieving units from a storage system
EP3293129B1 (en) 2013-08-09 2019-11-27 Ocado Innovation Limited Storage system and a load handling device for occupying onlye one grid space in a storage system
EP4101791B1 (en) 2013-08-09 2023-01-18 Ocado Innovation Limited A grid frame structure
US11066237B2 (en) 2013-08-09 2021-07-20 Ocado Innovation Limited Apparatus for retrieving units from a storage system
US11851275B2 (en) 2013-08-09 2023-12-26 Ocado Innovation Limited Apparatus for retrieving units from a storage system
US11939157B2 (en) 2013-08-09 2024-03-26 Ocado Innovation Limited Robotic service device and handling method
EP3967629B1 (en) 2013-08-09 2022-05-18 Ocado Innovation Limited A load handling device for retrieving units from a storage system
US11858738B2 (en) 2013-08-09 2024-01-02 Ocado Innovation Limited Apparatus for retrieving units from a storage system
EP3632821A1 (en) * 2013-08-09 2020-04-08 Ocado Innovation Limited A load handling device for a storage system
US10577178B2 (en) 2013-08-09 2020-03-03 Ocado Innovation Limited Apparatus for retrieving units from a storage system
US10829302B2 (en) 2013-08-09 2020-11-10 Ocado Innovation Limited Apparatus for retrieving units from a storage system
EP3030504B1 (en) 2013-08-09 2018-02-07 Ocado Innovation Limited Apparatus for retrieving units from a storage system
WO2015019055A1 (en) * 2013-08-09 2015-02-12 Ocado Innovation Limited Apparatus for retrieving units from a storage system
EP3795501B1 (en) 2013-08-09 2022-02-16 Ocado Innovation Limited A load handling device for retrieving units from a storage system
EP3293129A1 (en) * 2013-08-09 2018-03-14 Ocado Innovation Limited A load handling device for occupying onlye one grid space in a storage system
EP3299316A1 (en) * 2013-08-09 2018-03-28 Ocado Innovation Limited A storage system with a load handling device
US10913602B2 (en) 2013-08-09 2021-02-09 Ocado Innovation Limited Apparatus for retrieving units from a storage system
EP3922582A1 (en) * 2013-08-09 2021-12-15 Ocado Innovation Limited A load handling device for a storage system
EP3556689A1 (en) * 2013-08-09 2019-10-23 Ocado Innovation Limited A storage system with a load handling device
US10000337B2 (en) 2013-08-09 2018-06-19 Ocado Innovation Limited Apparatus for retrieving units from a storage system
EP3299316B1 (en) 2013-08-09 2019-10-09 Ocado Innovation Limited A storage system with a load handling device
EP3967629A1 (en) * 2013-08-09 2022-03-16 Ocado Innovation Limited A load handling device for retrieving units from a storage system
US11650601B2 (en) 2014-06-03 2023-05-16 Ocado Innovation Limited Methods, systems and apparatus for controlling movement of transporting devices
US12030718B2 (en) 2014-06-03 2024-07-09 Ocado Innovation Limited Methods, systems and apparatus for controlling movement of transporting devices
US11640176B2 (en) 2014-06-03 2023-05-02 Ocado Innovation Limited Methods, systems and apparatus for controlling movement of transporting devices
US11635769B2 (en) 2014-06-03 2023-04-25 Ocado Innovation Limited Methods, systems and apparatus for controlling movement of transporting devices
EP3152956B2 (en) † 2014-06-05 2024-01-17 Ocado Innovation Limited Systems and methods for communication
US12016046B2 (en) 2014-06-05 2024-06-18 Ocado Innovation Limited System and method for allocating communication links
US11772892B2 (en) 2014-06-19 2023-10-03 Autostore Technology AS Remotely operated vehicle for a storage system
WO2015197709A1 (en) * 2014-06-25 2015-12-30 Ocado Innovation Limited Robotic object handling system, device and method
JP2020117399A (en) * 2014-06-25 2020-08-06 オカド・イノベーション・リミテッド System, device and method of article handling by robot
WO2015197696A1 (en) * 2014-06-25 2015-12-30 Ocado Innovation Limited Parcel sorter system and method
JP2017522245A (en) * 2014-06-25 2017-08-10 オカド・イノベーション・リミテッド Robot object handling system, device and method
KR102359874B1 (en) * 2014-06-25 2022-02-07 오카도 이노베이션 리미티드 Robotic object handling system, device and method
US11261025B2 (en) 2014-06-25 2022-03-01 Ocado Innovation Limited Robotic object handling system, device and method
JP2017521333A (en) * 2014-06-25 2017-08-03 オカド・イノベーション・リミテッド Parcel sorter system and method
CN106575391A (en) * 2014-06-25 2017-04-19 奥卡多创新有限公司 Robotic object handling system, device and method
KR102512253B1 (en) * 2014-06-25 2023-03-20 오카도 이노베이션 리미티드 Parcel sorter system and method
US11708215B2 (en) 2014-06-25 2023-07-25 Ocado Innovation Limited Robotic object handling system, device and method
EP4099244A1 (en) * 2014-06-25 2022-12-07 Ocado Innovation Limited Robotic object handling system, device and method
JP7005666B2 (en) 2014-06-25 2022-02-10 オカド・イノベーション・リミテッド Robotic object handling systems, devices and methods
CN106575393A (en) * 2014-06-25 2017-04-19 奥卡多创新有限公司 Parcel sorter system and method
KR20170024046A (en) * 2014-06-25 2017-03-06 오카도 이노베이션 리미티드 Robotic object handling system, device and method
KR20170020901A (en) * 2014-06-25 2017-02-24 오카도 이노베이션 리미티드 Parcel sorter system and method
EP3792853A1 (en) * 2014-06-25 2021-03-17 Ocado Innovation Limited Parcel sorter system and method
JPWO2016039023A1 (en) * 2014-09-10 2017-06-01 村田機械株式会社 Temporary storage system, transport system using the same, and temporary storage method
US10266341B2 (en) * 2014-09-10 2019-04-23 Murata Machinery, Ltd. Temporary storage system, conveyance system using same, and temporary storage method
EP3209583A4 (en) * 2014-10-20 2018-11-14 Nelson Mandela Metropolitan University Warehouse system and transfer vehicle
WO2016063197A1 (en) * 2014-10-20 2016-04-28 Nelson Mandela Metropolitan University Warehouse system and transfer vehicle
US10442621B2 (en) 2014-10-20 2019-10-15 Nelson Mandela Metropolitan University Warehouse system and transfer vehicle
EP3050824B1 (en) 2015-01-28 2019-10-09 Autostore Technology AS Robot for transporting storage bins
JP7013239B2 (en) 2015-01-28 2022-01-31 アウトストア・テクノロジー・エーエス Storage box transfer robot
US10551828B2 (en) 2015-01-28 2020-02-04 Autostore Technology AS Robot for transporting storage bins
JP7149400B2 (en) 2015-01-28 2022-10-06 アウトストア・テクノロジー・エーエス Storage box transfer robot
EP3250481B1 (en) 2015-01-28 2019-03-06 Autostore Technology AS Robot for transporting storage bins
CN111268340A (en) * 2015-01-28 2020-06-12 自动存储科技股份有限公司 Remotely operated vehicle for picking up storage bins and storage system for storage bins
WO2016120075A1 (en) * 2015-01-28 2016-08-04 Jakob Hatteland Logistics As Robot for transporting storage bins
EP3050824A1 (en) * 2015-01-28 2016-08-03 Jakob Hatteland Logistics AS Robot for transporting storage bins
JP2018504337A (en) * 2015-01-28 2018-02-15 アウトストア・テクノロジー・エーエスＡｕｔｏｓｔｏｒｅ Ｔｅｃｈｎｏｌｏｇｙ Ａｓ Storage box transfer robot
CN107428464B (en) * 2015-01-28 2020-06-12 自动存储科技股份有限公司 Robot for transporting storage bins
JP2022017443A (en) * 2015-01-28 2022-01-25 アウトストア・テクノロジー・エーエス Storage box transfer robot
EP4238906A3 (en) * 2015-01-28 2023-11-15 Autostore Technology AS Robot for transporting storage bins
US10474140B2 (en) 2015-01-28 2019-11-12 Autostore Technology AS Robot for transporting storage bins
EP4238906A2 (en) 2015-01-28 2023-09-06 Autostore Technology AS Robot for transporting storage bins
CN107428464A (en) * 2015-01-28 2017-12-01 自动存储科技股份有限公司 For transporting the robot of storage warehouse
CN111573097B (en) * 2015-01-28 2022-03-25 自动存储科技股份有限公司 Remotely operated vehicle and storage system for storage bins
EP3447007A1 (en) 2015-01-28 2019-02-27 Autostore Technology AS Robot for transporting storage bins
CN111573097A (en) * 2015-01-28 2020-08-25 自动存储科技股份有限公司 Remotely operated vehicle and storage system for storage bins
US10351344B2 (en) 2015-02-06 2019-07-16 Gebhardt Foerdertechnik Gmbh Pallet transport device
DE102015001410A1 (en) * 2015-02-06 2016-08-11 Gebhardt Fördertechnik GmbH Pallet transport device
GB2540838A (en) * 2015-04-15 2017-02-01 Ocado Innovation Ltd Robotic parking device and handling method
US11053073B2 (en) * 2015-04-15 2021-07-06 Ocado Innovation Limited Storage system with partition means and methods
US10766698B2 (en) 2015-04-15 2020-09-08 Ocado Innovation Limited Robotic parking device and handling method
US20180086559A1 (en) * 2015-04-15 2018-03-29 Ocado Innovation Limited Robotic parking device and handling method
US11161688B2 (en) 2015-04-15 2021-11-02 Ocado Innovation Limited Robotic parking device and handling method
US20180044110A1 (en) * 2015-04-15 2018-02-15 Ocado Innovation Limited Storage system with partition means and methods
US12030716B2 (en) 2015-04-15 2024-07-09 Ocado Innovation Limited Storage system with partition means and methods
US10336540B2 (en) 2015-04-27 2019-07-02 Attabotics Inc. Storage and retrieval system
US20180148259A1 (en) * 2015-04-27 2018-05-31 Attabotics Inc. Storage and Retrieval System
US11008165B2 (en) 2015-04-27 2021-05-18 Attabotics Inc. Storage and retrieval system with shaft-traversing tracks
EP3288865A4 (en) * 2015-04-27 2018-12-26 Attabotics Inc. Storage and retrieval system
AU2016253994B2 (en) * 2015-04-27 2020-10-15 Attabotics Inc. Storage and retrieval system
WO2016172793A1 (en) * 2015-04-27 2016-11-03 Attabotics Inc. Storage and retrieval system
US10906739B2 (en) 2015-04-27 2021-02-02 Attabotics Inc. Storage/retrieval vehicle with variable footprint size
EP3569525B1 (en) 2015-06-11 2022-09-07 Autostore Technology AS Storage system
EP3115319B1 (en) 2015-07-09 2019-08-28 Schmitz Cargobull AG Commercial vehicle for sending of postal article
US9758305B2 (en) 2015-07-31 2017-09-12 Locus Robotics Corp. Robotic navigation utilizing semantic mapping
EP3374291B1 (en) 2015-11-11 2023-02-22 Ocado Innovation Limited Picking systems and methods
CN105438704A (en) * 2015-11-20 2016-03-30 常州工学院 High level rack with intelligent and automatic loading and unloading functions
CN105438704B (en) * 2015-11-20 2017-12-12 常州工学院 A kind of intelligent automatic loading and unloading High Level Rack
EP3643413A1 (en) 2016-02-01 2020-04-29 Autostore Technology AS Cleaning bin for cleaning a storage grid of a storage system
US11104522B2 (en) 2016-02-01 2021-08-31 Autostore Technology AS Cleaning bin for cleaning a storage grid of a storage system
EP4306227A1 (en) 2016-02-01 2024-01-17 Autostore Technology AS Cleaning bin for cleaning a storage grid of a storage system
US10654661B2 (en) 2016-02-01 2020-05-19 Autostore Technology AS Cleaning bin for cleaning a storage grid of a storage system
WO2017134033A1 (en) 2016-02-01 2017-08-10 Autostore Technology AS Cleaning bin for cleaning a storage grid of a storage system
EP4424432A2 (en) 2016-02-01 2024-09-04 AutoStore Technology AS Cleaning bin for cleaning a storage grid of a storage system
US12060707B2 (en) 2016-02-12 2024-08-13 Ocado Innovation Limited Storage systems, methods and containers
US10913572B2 (en) 2016-02-12 2021-02-09 Ocado Innovation Limited Storage systems, methods and containers
US11597562B2 (en) 2016-02-12 2023-03-07 Ocado Innovation Limited Storage systems, methods and containers
EP3423164B1 (en) 2016-02-29 2022-02-09 Ocado Innovation Limited Robotic fire extinguishing device and handling method
US11701531B2 (en) 2016-02-29 2023-07-18 Ocado Innovation Limited Robotic fire extinguishing device and handling method
US10913601B2 (en) 2016-03-03 2021-02-09 Murata Machinery, Ltd. Temporary storage system
US11273980B2 (en) 2016-03-10 2022-03-15 Ocado Innovation Limited Method and apparatus for retrieving units from a storage system
US11858737B2 (en) 2016-03-10 2024-01-02 Ocado Innovation Limited Method and apparatus for retrieving units from a storage system
GB2550027B (en) * 2016-03-10 2019-12-11 Ocado Innovation Ltd Method and apparatus for retrieving units from a storage system
GB2550027A (en) * 2016-03-10 2017-11-08 Ocado Innovation Ltd Method and apparatus for retrieving units from a storage system
US11225377B2 (en) 2016-11-02 2022-01-18 Autostore Technology AS Controlling movements of a robot running on tracks
EP3535633B1 (en) 2016-11-02 2020-08-05 Autostore Technology AS Controlling movements of a robot running on tracks
US11167921B2 (en) 2017-03-10 2021-11-09 Autostore Technology AS Automated storage and retrieval system
WO2018162757A1 (en) 2017-03-10 2018-09-13 Autostore Technology AS Automated storage and retrieval system
WO2018206478A1 (en) 2017-05-08 2018-11-15 Autostore Technology AS A remotely operated vehicle
WO2018233886A1 (en) 2017-06-23 2018-12-27 Autostore Technology AS Storage system and container handling station
WO2019001816A1 (en) 2017-06-29 2019-01-03 Autostore Technology AS Automated storage and retrieval system comprising different temperature zones
US11027917B2 (en) 2017-09-19 2021-06-08 Heron Innovations Factory Gmbh Rail-bound transport robot with lifting platform
DE102017121638A1 (en) 2017-09-19 2019-03-21 Heron Sondermaschinen Und Steuerungen Gmbh Railbound transport robot with lifting platform
WO2019057442A1 (en) 2017-09-20 2019-03-28 Autostore Technology AS Container handling vehicle
US11208265B2 (en) 2017-09-20 2021-12-28 Autostore Technology AS Container handling vehicle
EP3981713A1 (en) 2017-10-19 2022-04-13 Autostore Technology As Vehicle for an automated storage and retrieval system
WO2019076760A1 (en) 2017-10-19 2019-04-25 Autostore Technology AS Vehicle for an automated storage and retrieval system.
WO2019076516A1 (en) 2017-10-20 2019-04-25 Autostore Technology AS Bin holding device
US11235927B2 (en) 2017-10-20 2022-02-01 Autostore Technology AS Bin holding device
US11801999B2 (en) 2017-10-20 2023-10-31 Autostore Technology AS Bin holding device
US11713189B2 (en) 2017-10-24 2023-08-01 Autostore Technology AS Automated storage and retrieval system
US11299345B2 (en) 2017-10-24 2022-04-12 Autostore Technology AS Automated storage and retrieval system
US12145799B2 (en) 2017-10-24 2024-11-19 Autostore Technology AS Automated storage and retrieval system
EP4180361A1 (en) 2017-10-24 2023-05-17 Autostore Technology AS An automated storage and retrieval system
WO2019081092A1 (en) 2017-10-24 2019-05-02 Autostore Technology AS An automated storage and retrieval system
WO2019086237A1 (en) 2017-11-02 2019-05-09 Autostore Technology AS An automated storage and retrieval system, a method of operating the system and a multi trolley vehicle
US12049360B2 (en) 2017-11-02 2024-07-30 Autostore Technology AS Automated storage and retrieval system, a method of operating the system and a multi trolley vehicle
US11390461B2 (en) 2017-11-02 2022-07-19 Autostore Technology AS Automated storage and retrieval system, a method of operating the system and a multi trolley vehicle
WO2019101366A1 (en) 2017-11-22 2019-05-31 Autostore Technology AS Multi bin vehicle for an automated storage and retrieval system comprising a three dimensional grid
US11866259B2 (en) 2017-11-22 2024-01-09 Autostore Technology AS Multi bin vehicle
WO2019101367A1 (en) 2017-11-22 2019-05-31 Autostore Technology AS Storage system
US11591160B2 (en) 2017-11-22 2023-02-28 Autostore Technology AS Multi bin vehicle for an automated storage and retrieval system comprising a three dimensional grid
US11441308B2 (en) 2017-11-22 2022-09-13 Autostore Technology AS Storage system
US11668087B2 (en) 2017-11-22 2023-06-06 Autostore Technology AS Storage system
US11807452B2 (en) 2017-11-23 2023-11-07 Autostore Technology AS Automated storage and retrieval system
WO2019101725A1 (en) 2017-11-23 2019-05-31 Autostore Technology AS Automated storage and retrieval system
EP4234441A1 (en) 2018-01-09 2023-08-30 Autostore Technology AS Container handling vehicle with direct drive on lifting axle(s), associated methods and system
US11745945B2 (en) 2018-01-09 2023-09-05 Autostore Technology AS Container handling vehicle with direct drive on lifting axle(s), associated methods and system
US11548731B2 (en) 2018-01-09 2023-01-10 Autostore Technology AS Displacement mechanism for a remotely operated vehicle
US11479407B2 (en) 2018-01-09 2022-10-25 Autostore Technology AS Displacement mechanism for a remotely operated vehicle
US11420822B2 (en) 2018-01-09 2022-08-23 Autostore Technology AS Container handling vehicle with direct drive on lifting axle(s), associated methods and system
WO2019137866A1 (en) 2018-01-09 2019-07-18 Autostore Technology AS A displacement mechanism for a remotely operated vehicle
WO2019137870A1 (en) 2018-01-09 2019-07-18 Autostore Technology AS Container handling vehicle with direct drive on lifting axle(s), associated methods and system.
WO2019154467A1 (en) 2018-02-07 2019-08-15 Gebhardt Foerdertechnik Gmbh Transport vehicle for the automated operation of a warehouse
DE102018201929A1 (en) 2018-02-07 2019-08-08 Gebhardt Fördertechnik GmbH Transport vehicle for the automated operation of a warehouse
US12006145B2 (en) 2018-03-23 2024-06-11 Autostore Technology AS Automated storage and retrieval system comprising container identification means and methods of identifying a container or a vehicle
WO2019179856A1 (en) 2018-03-23 2019-09-26 Autostore Technology AS Automated storage and retrieval system comprising container identification means and methods of identifying a container or a vehicle
EP4249406A2 (en) 2018-03-23 2023-09-27 Autostore Technology AS Automated storage and retrieval system comprising container identification means and methods of identifying a container or a vehicle
WO2019206482A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Container-handling vehicle
WO2019206438A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Container-handling vehicle
US11377298B2 (en) 2018-04-25 2022-07-05 Autostore Technology AS Container handling vehicle with first and second sections and lifting device motor in second section
EP4011806A1 (en) 2018-04-25 2022-06-15 Autostore Technology AS Container handling vehicle with first and second sections and assembly of motors in second section for driving at least one wheel of each of the sets of wheels
US11312575B2 (en) 2018-04-25 2022-04-26 Autostore Technology AS Container handling vehicle with first and second sections and with battery in second section
US11472631B2 (en) 2018-04-25 2022-10-18 Autostore Technology AS Container handling vehicle with first and second sections with motor in second section
CN114590511A (en) * 2018-04-25 2022-06-07 自动存储科技股份有限公司 Container handling vehicle and automated storage and retrieval system
WO2019206439A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Container handling vehicle with first and second sections with motor in second section
WO2019206488A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Container handling vehicle with first and second sections and larger wheel motors on two of the wheels in the second section
EP4257518A2 (en) 2018-04-25 2023-10-11 Autostore Technology AS Automated storage and retrieval system comprising a relay module and a method of operating such a system
WO2019206440A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Container handling vehicle with first and second sections and with battery in second section
US11891246B2 (en) 2018-04-25 2024-02-06 Autostore Technology AS Container handling vehicle with first and second sections and lifting device motor in second section
US12059966B2 (en) 2018-04-25 2024-08-13 Autostore Technology AS Automated storage and retrieval system with a charging station for charging of a replaceable power supply of a container handling vehicle
EP4151558A2 (en) 2018-04-25 2023-03-22 Autostore Technology As Automated storage and retrieval system
EP4410590A2 (en) 2018-04-25 2024-08-07 AutoStore Technology AS Automated storage and retrieval system
CN114789868A (en) * 2018-04-25 2022-07-26 自动存储科技股份有限公司 Container handling carrier and automated storage and retrieval system including same
WO2019206437A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Container-handling vehicle
US11912498B2 (en) 2018-04-25 2024-02-27 Autostore Technology AS Container handling vehicle with first and second sections and assembly of motors in second section for driving at least one wheel of each of the sets of wheels
US12030717B2 (en) 2018-04-25 2024-07-09 Autostore Technology AS Container-handling vehicle
WO2019206971A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Automated storage and retrieval system comprising a relay module and a method of operating such a system
EP4234445A2 (en) 2018-04-25 2023-08-30 Autostore Technology AS Container-handling vehicle
WO2019206490A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS An automated storage and retrieval system with a charging station for charging of a replaceable power supply of a container handling vehicle
WO2019206487A1 (en) 2018-04-25 2019-10-31 Autostore Technology AS Container handling vehicle with first and second sections and lifting device motor in second section
US11661280B2 (en) 2018-04-25 2023-05-30 Autostore Technology AS Container handling vehicle with first and second sections and with battery in second section
US11465842B2 (en) 2018-04-25 2022-10-11 Autostore Technology AS Container handling vehicle with first and second sections and larger wheel motors on two of the wheels in the second section
US11802000B2 (en) 2018-04-25 2023-10-31 Autostore Technology AS Container handling vehicle with first and second sections and motor in second section
EP4450425A1 (en) 2018-04-25 2024-10-23 AutoStore Technology AS Container-handling vehicle
US11434075B2 (en) 2018-04-25 2022-09-06 Autostore Technology AS Container-handling vehicle
EP4269283A2 (en) 2018-04-25 2023-11-01 Autostore Technology AS Container-handling vehicle
US12122649B2 (en) 2018-04-25 2024-10-22 Autostore Technology AS Container-handling vehicle
US12012280B2 (en) 2018-04-26 2024-06-18 Autostore Technology AS Support vehicle for performing support operations in an automated storage and retrieval system
WO2019206672A2 (en) 2018-04-26 2019-10-31 Autostore Technology AS Support vehicle for performing support operations in an automated storage and retrieval system
EP4428064A2 (en) 2018-04-26 2024-09-11 AutoStore Technology AS Support vehicle for performing support operations in an automated storage and retrieval system
EP4194367A1 (en) 2018-04-26 2023-06-14 Autostore Technology AS Support vehicle for performing support operations in an automated storage and retrieval system
WO2019229170A2 (en) 2018-05-31 2019-12-05 Autostore Technology AS An automated storage and retrieval system comprising a storage container lift assembly
US12145801B2 (en) 2018-05-31 2024-11-19 Autostore Technology AS Automated storage and retrieval system comprising a storage container lift assembly
WO2019233749A1 (en) 2018-06-06 2019-12-12 Autostore Technology AS Service vehicle for extinguishing fire on and within an automated storage and retrieval system and a method thereof
EP4335785A1 (en) 2018-06-06 2024-03-13 Autostore Technology AS Service vehicle for extinguishing fire on and within an automated storage and retrieval system and a method thereof
US12145011B2 (en) 2018-06-06 2024-11-19 Autostore Technology AS Service vehicle for extinguishing fire on and within an automated storage and retrieval system and a method thereof
US12145012B2 (en) 2018-06-06 2024-11-19 Autostore Technology AS Service vehicle for a storage system
WO2019233632A1 (en) 2018-06-06 2019-12-12 Autostore Technology AS Service vehicle for a storage system
US11484736B2 (en) 2018-06-06 2022-11-01 Autostore Technology AS Service vehicle for a storage system
US10913641B2 (en) 2018-06-08 2021-02-09 Attabotics Inc. Storage units and robotic storage/retrieval vehicles for a three-dimensional storage system
US10961054B2 (en) 2018-06-08 2021-03-30 Attabotics Inc. Storage and retrieval systems performing internal sortation by orchestrated navigation of storage grid robots to workstation intake points
US11008166B2 (en) 2018-06-08 2021-05-18 Attabotics Inc. Storage and retrieval systems sharing a common robotic fleet between a storage grid and external workstations
WO2019238698A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Storage system
WO2019238676A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS A safety device for a remotely operated vehicle, a system and a method of improving the operational safety of a grid system
US11912314B2 (en) 2018-06-12 2024-02-27 Autostore Technology AS Express bin lift for automated storage system
EP4279420A2 (en) 2018-06-12 2023-11-22 Autostore Technology AS Storage system
US11820389B2 (en) 2018-06-12 2023-11-21 Autostore Technology AS Container accessing station with lifting device
EP4290329A2 (en) 2018-06-12 2023-12-13 Autostore Technology AS A method of operating an automated storage and retrieval system
WO2019238681A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS A vehicle tilting device, an access station, a delivery system and a method of accessing a storage container
US11814058B2 (en) 2018-06-12 2023-11-14 Autostore Technology AS Storage system
US11975744B2 (en) 2018-06-12 2024-05-07 Autostore Technology AS Method and system for controlling the operation of container handling vehicles and drones serving an automated storage and retrieval system
US11993163B2 (en) 2018-06-12 2024-05-28 Autostore Technology AS Automated storage system with a container vehicle and a charging system
WO2019238664A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS A delivery system with an access point and a method of accessing an access point of the delivery system
US11891095B2 (en) 2018-06-12 2024-02-06 Autostore Technology AS Method for handling malfunctioning vehicles on a rail system and a storage and retrieval system using such a method
WO2019238662A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Method for handling malfunctioning vehicles on a rail system and a storage and retrieval system using such a method
EP4385922A2 (en) 2018-06-12 2024-06-19 Autostore Technology As A vehicle tilting device, an access station, a delivery system and a method of accessing a storage container
US11498757B2 (en) 2018-06-12 2022-11-15 Autostore Technology AS Storage system
WO2019238702A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Automated storage system with a container vehicle and a charging system
WO2019238673A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Storage grid with container accessing station with locking device to lock remotely operated vehicle
WO2019238642A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Unloading arrangement and unloading station, as well as method of unloading an item from a storage container
WO2019238639A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS System for storing and transporting storage containers
WO2019238645A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS 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
WO2019238661A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Container accessing station with lifting device
US11485375B2 (en) 2018-06-12 2022-11-01 Autostore Technology AS Unloading arrangement and unloading station, as well as method of unloading an item from a storage container
NO20181098A1 (en) * 2018-06-12 2019-12-13 Autostore Tech As A method of operating an automated storage and retrieval system
EP4417544A2 (en) 2018-06-12 2024-08-21 AutoStore Technology AS Storage system
US12071167B2 (en) 2018-06-12 2024-08-27 Autostore Technology AS Storage grid with container accessing station with locking device to lock remotely operated vehicle
US11505198B2 (en) 2018-06-12 2022-11-22 Autostore Technology AS Vehicle tilting device, an access station, a delivery system and a method of accessing a storage container
US11572231B2 (en) 2018-06-12 2023-02-07 Autostore Technology AS Storage system with modular container handling vehicles
US11834268B2 (en) 2018-06-12 2023-12-05 Autostore Technology AS Storage system with modular container handling vehicles
US11772685B2 (en) 2018-06-12 2023-10-03 Autostore Technology AS System for storing and transporting storage containers
NO20181524A1 (en) * 2018-06-12 2019-12-13 Autostore Tech As Safety device for a delivery vehicle
NO345059B1 (en) * 2018-06-12 2020-09-14 Autostore Tech As Safety device for a delivery vehicle
WO2019238697A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Automated storage system
WO2019238641A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS System and applicable methods of collecting items from storage containers using robotic operator
WO2019238703A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Storage system with modular container handling vehicles
WO2019238687A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS A method and system for controlling the operation of container handling vehicles and drones serving an automated storage and retrieval system
EP4137423A1 (en) 2018-06-12 2023-02-22 Autostore Technology AS Container accessing station with lifting device
US11603107B2 (en) 2018-06-12 2023-03-14 Autostore Technology AS Unloading arrangement and unloading station, as well as method of unloading an item from a storage container
NO20181581A1 (en) * 2018-06-12 2019-12-13 Autostore Tech As An automated storage and retrieval system with an access point and a method thereof
NO20181005A1 (en) * 2018-06-12 2019-12-13 Autostore Tech As An automated storage and retrieval system and a method of transporting storage containers between an automated storage and retrieval grid and a second location
WO2019238652A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS An automated storage and retrieval system and a method of transporting storage containers between an automated storage and retrieval grid and a second location
US11873014B2 (en) 2018-06-12 2024-01-16 Autostore Technology AS Delivery system with an access point and a method of accessing an access point of the delivery system
WO2019238670A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS A method of operating an automated storage and retrieval system
WO2019238694A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Storage system
NO344662B1 (en) * 2018-06-12 2020-03-02 Autostore Tech As An automated storage and retrieval system and a method of transporting storage containers between an automated storage and retrieval grid and a second location
US11697422B2 (en) 2018-06-12 2023-07-11 Autostore Technology AS 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
US11691635B2 (en) 2018-06-12 2023-07-04 Autostore Technology AS Storage grid with container accessing station with locking device to lock remotely operated vehicle
US11685391B2 (en) 2018-06-12 2023-06-27 Autostore Technology AS Automated storage and retrieval system and a method of transporting storage containers between an automated storage and retrieval grid and a second location
NO344742B1 (en) * 2018-06-12 2020-03-30 Autostore Tech As A delivery system with an access point and a method of accessing an access point of the delivery system
US11628849B2 (en) 2018-06-12 2023-04-18 Autostore Technology AS Express bin lift for automated storage system
US12134411B2 (en) 2018-06-12 2024-11-05 Autostore Technology AS Modular container accessing station
US12145632B2 (en) 2018-06-12 2024-11-19 Autostore Technology AS Vehicle tilting device, an access station, a delivery system and a method of accessing a storage container
WO2020249244A1 (en) 2018-06-12 2020-12-17 Autostore Technology AS A modular container accessing station
US11352016B2 (en) 2018-06-12 2022-06-07 Autostore Technology AS Storage system
EP4435180A2 (en) 2018-10-09 2024-09-25 AutoStore Technology AS Expansion joint, system and method for connecting regions of a rail-based grid storage system
WO2020074257A1 (en) 2018-10-09 2020-04-16 Autostore Technology AS Expansion joint, system and method for connecting regions of a rail-based grid storage system
US11597590B2 (en) 2018-10-12 2023-03-07 Autostore Technology AS Container arrangement and method
WO2020074717A1 (en) 2018-10-12 2020-04-16 Autostore Technology AS Access station for picking storage containers
US12071305B2 (en) 2018-10-12 2024-08-27 Autostore Technology AS Mobile storage system
WO2020074242A1 (en) 2018-10-12 2020-04-16 Autostore Technology AS Mobile storage system
US12098029B2 (en) 2018-10-12 2024-09-24 Autostore Technology AS Access station for picking storage containers
WO2020074243A1 (en) 2018-10-12 2020-04-16 Autostore Technology AS Container arrangement, method
NO344852B1 (en) * 2018-11-06 2020-06-02 Autostore Tech As Robot vehicle with picking system
WO2020094339A1 (en) 2018-11-06 2020-05-14 Autostore Technology AS Container handling vehicle with an open top, and method of handling product items into storage container carried by the vehicle
WO2020094336A1 (en) 2018-11-06 2020-05-14 Autostore Technology AS Automated storage and retrieval system
US11383926B2 (en) 2018-11-06 2022-07-12 Autostore Technology AS Automated storage and retrieval system
WO2020094337A1 (en) 2018-11-06 2020-05-14 Autostore Technology AS Remotely operated vehicle for an automated storage and retrieval system
US12071302B2 (en) 2018-11-06 2024-08-27 Autostore Technology AS Container handling vehicle with an open top, and method of handling product items into storage container carried by the vehicle
US20220009710A1 (en) * 2018-11-14 2022-01-13 Ocado Innovation Limited Container-Manoeuvring Apparatus
US12024364B2 (en) * 2018-11-14 2024-07-02 Ocado Innovation Limited Container-manoeuvring apparatus
EP4242124A2 (en) 2018-11-28 2023-09-13 Autostore Technology AS Storage container for automated storage and retrieval system
WO2020109495A1 (en) 2018-11-28 2020-06-04 Autostore Technology AS Storage container for automated storage and retrieval system
US11673712B2 (en) 2018-11-28 2023-06-13 Autostore Technology AS Storage container for automated storage and retrieval system
WO2020127060A1 (en) 2018-12-20 2020-06-25 Autostore Technology AS Transport of container handling vehicles between storage grids of different heights
WO2020126725A1 (en) 2018-12-20 2020-06-25 Autostore Technology AS A container accessing station for an automated storage and retrieval system
US12098030B2 (en) 2018-12-20 2024-09-24 Autostore Technology AS Vehicle lift for an automated storage and retrieval system
US12139336B2 (en) 2018-12-20 2024-11-12 Autostore Technology AS Transport of container handling vehicles between storage grids of different heights
US11420854B2 (en) 2019-01-09 2022-08-23 Attabotics Inc. Methods for robotic handling of storage units in a three-dimensional storage system
WO2020151866A1 (en) 2019-01-23 2020-07-30 Autostore Technology AS Service vehicle
WO2020169474A1 (en) 2019-02-18 2020-08-27 Autostore Technology AS System and a method for harvesting energy from a container handling vehicle.
WO2020169287A1 (en) 2019-02-19 2020-08-27 Autostore Technology AS Storage system
US20220135324A1 (en) * 2019-02-19 2022-05-05 Ocado Innovation Limited Storage systems and methods
WO2020193475A1 (en) 2019-03-25 2020-10-01 Autostore Technology AS Automated grid storage and retrieval system with foam-based fire prevention system
WO2020193470A1 (en) 2019-03-25 2020-10-01 Autostore Technology AS Automated grid storage and retrieval system with passive fire prevention arrangement
NO345278B1 (en) * 2019-03-29 2020-11-30 Autostore Tech As Method and computer program for controlling storage and retrieval of personal storage containers in an automated storage and retrieval system
NO20190433A1 (en) * 2019-03-29 2020-09-30 Autostore Tech As Method and computer program for controlling storage and retrieval of personal storage containers in an automated storage and retrieval system
WO2020200741A1 (en) 2019-03-29 2020-10-08 Autostore Technology AS Method and computer program for controlling storage and retrieval of personal storage containers in an automated storage and retrieval system
WO2020200739A1 (en) 2019-03-29 2020-10-08 Autostore Technology AS A system for providing secure storing and retrieving of personal storage containers via an interaction area
WO2020200631A1 (en) 2019-04-02 2020-10-08 Autostore Technology AS Storage system
US11981505B2 (en) 2019-04-02 2024-05-14 Autostore Technology AS Storage system
WO2020200799A1 (en) 2019-04-03 2020-10-08 Autostore Technology AS Robot position detection system
WO2020207777A1 (en) 2019-04-12 2020-10-15 Autostore Technology AS Lifting frame with wireless communication
WO2020216608A1 (en) 2019-04-25 2020-10-29 Autostore Technology AS 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
WO2020224828A1 (en) 2019-05-03 2020-11-12 Autostore Technology AS Storage system
WO2020233978A1 (en) 2019-05-20 2020-11-26 Autostore Technology AS Method and control system for preparing orders of goods stored in an automated storage system
WO2020249331A1 (en) 2019-06-11 2020-12-17 Autostore Technology AS Storage system
WO2020259883A1 (en) 2019-06-28 2020-12-30 Autostore Technology AS Automated storage and retrieval system comprising a barrier
WO2020260516A1 (en) 2019-06-28 2020-12-30 Autostore Technology AS System and method for light communication in a storage system
WO2021008766A1 (en) 2019-07-12 2021-01-21 Autostore Technology AS A method and system for autonomous controlling of movements of container handling vehicles operating in an automated storage and retrieval system
EP4254123A2 (en) 2019-07-12 2023-10-04 Autostore Technology AS A method and system for autonomous controlling of movements of container handling vehicles operating in an automated storage and retrieval system
WO2021032888A1 (en) 2019-08-22 2021-02-25 Autostore Technology AS A delivery system, an automated storage and retrieval system and a method of transporting a container
WO2021037488A1 (en) 2019-08-27 2021-03-04 Autostore Technology AS Automated storage and retrieval system comprising a flow path extending through a plurality of stacked containers
EP4249083A2 (en) 2019-09-02 2023-09-27 Autostore Technology AS Method, and associated system, of providing an operator access to a target storage position in an automated storage and retrieval system
WO2021043597A1 (en) 2019-09-02 2021-03-11 Autostore Technology AS Method, and associated system, of providing an operator access to a target storage position in an automated storage and retrieval system
EP4234316A1 (en) 2019-09-16 2023-08-30 Autostore Technology As Automated storage and retrieval system using an automated loader and methods of replacing power supplies
WO2021052807A1 (en) 2019-09-16 2021-03-25 Autostore Technology AS Automated storage and retrieval system using an automated loader and methods of replacing power supplies
WO2021058218A1 (en) 2019-09-25 2021-04-01 Autostore Technology AS Gas isolated storage system
WO2021058217A2 (en) 2019-09-25 2021-04-01 Autostore Technology AS Gas isolated storage system
WO2021058434A1 (en) 2019-09-25 2021-04-01 Autostore Technology AS An automated storage and retrieval system with a vehicle pen
EP4249407A2 (en) 2019-09-25 2023-09-27 Autostore Technology AS An automated storage and retrieval system with a vehicle pen and a method of moving a vehicle between a first area and a second area of an automated storage an retrieval system
WO2021058442A1 (en) 2019-09-26 2021-04-01 Autostore Technology AS System and method for power management
WO2021089305A1 (en) 2019-11-08 2021-05-14 Autostore Technology AS Storage container
WO2021094161A1 (en) 2019-11-12 2021-05-20 Autostore Technology AS Rescue system and methods for retrieving a malfunctioning vehicle from a rail system
WO2021099082A1 (en) 2019-11-22 2021-05-27 Autostore Technology AS Method for distribution of storage containers in an automated storage and retrieval system
WO2021110616A1 (en) 2019-12-03 2021-06-10 Autostore Technology AS Service vehicle with drone bases
US12060042B2 (en) 2019-12-03 2024-08-13 Autostore Technology AS Service vehicle with drone bases
WO2021115864A1 (en) 2019-12-10 2021-06-17 Autostore Technology AS Method for handling malfunctioning vehicles on a track system and a storage and retrieval system using such a method
WO2021122218A1 (en) 2019-12-20 2021-06-24 Autostore Technology AS Picking system, storage system comprising a picking system and method of picking
WO2021122619A1 (en) 2019-12-20 2021-06-24 Autostore Technology AS A remotely operated vehicle with an arrangement to provide a pre-alert and tracking of a position of the vehicle
WO2021139917A1 (en) 2020-01-07 2021-07-15 Autostore Technology AS Vehicle
WO2021151906A1 (en) 2020-01-31 2021-08-05 Autostore Technology AS Sensor testing station
US12146770B2 (en) 2020-01-31 2024-11-19 Autostore Technology AS Sensor testing station
EP4371909A2 (en) 2020-01-31 2024-05-22 Autostore Technology As Sensor testing station
WO2021152170A1 (en) 2020-01-31 2021-08-05 Autostore Technology AS Automated storage system with framework mounted modular plate system and bracing arrangement
WO2021151911A1 (en) 2020-01-31 2021-08-05 Autostore Technology AS A system and method for monitoring atmospheric conditions in an automated storage and retrieval system
WO2021151916A1 (en) 2020-01-31 2021-08-05 Autostore Technology AS System and method for performing measurements in storage containers
EP4424617A2 (en) 2020-02-18 2024-09-04 AutoStore Technology AS Conveyor system
WO2021165030A1 (en) 2020-02-18 2021-08-26 Autostore Technology AS Conveyor system
DE102020203221A1 (en) 2020-03-12 2021-09-16 Gebhardt Fördertechnik GmbH Vehicle for a storage system and charging station for the vehicle
WO2021190995A1 (en) 2020-03-24 2021-09-30 Autostore Technology AS Delivery vehicle, system and method for moving storage containers between a first conveyor on the delivery vehicle and an external conveyor
WO2021197867A1 (en) 2020-03-30 2021-10-07 Autostore Technology AS Container handling vehicle
EP4458734A2 (en) 2020-03-31 2024-11-06 AutoStore Technology AS Automated storage tower with carousel
WO2021198170A1 (en) 2020-03-31 2021-10-07 Autostore Technology AS Automated storage system having a storage tower in isolating housing
WO2021197681A1 (en) 2020-03-31 2021-10-07 Autostore Technology AS Robotic consolidation station and storage system
WO2021197942A1 (en) 2020-03-31 2021-10-07 Autostore Technology AS Automated storage tower with carousel
WO2021198036A1 (en) 2020-03-31 2021-10-07 Autostore Technology AS Automated storage and retrieval system
WO2021198093A1 (en) 2020-03-31 2021-10-07 Autostore Technology AS System and method for condition based maintenance
WO2021197914A1 (en) 2020-03-31 2021-10-07 Autostore Technology AS Section based speed reduction
WO2021197941A1 (en) 2020-03-31 2021-10-07 Autostore Technology AS Automated storage tower with multiple rows
WO2021209338A2 (en) 2020-04-16 2021-10-21 Autostore Technology AS Container handling vehicle with cantilever construction and automated storage and retrieval system comprising a plurality of the container handling vehicles
WO2021209337A1 (en) 2020-04-16 2021-10-21 Autostore Technology AS Container handling vehicle comprising a container carrying position, associated system and methods
WO2021219459A1 (en) 2020-04-28 2021-11-04 Autostore Technology AS Adjustable storage container
EP4414296A2 (en) 2020-04-29 2024-08-14 AutoStore Technology AS Method for monitoring a storage system with a flying drone
WO2021219612A1 (en) 2020-04-29 2021-11-04 Autostore Technology AS Method for monitoring a storage system with a flying drone
WO2021219742A1 (en) 2020-04-30 2021-11-04 Autostore Technology AS 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
WO2021239509A1 (en) 2020-05-25 2021-12-02 Autostore Technology AS Container handling vehicle
WO2021239515A1 (en) 2020-05-25 2021-12-02 Autostore Technology AS Container handling vehicle which can load and/or unload itself
WO2021249840A1 (en) 2020-06-08 2021-12-16 Autostore Technology AS System and method of determining status of a charging station
WO2021249865A2 (en) 2020-06-12 2021-12-16 Autostore Technology AS Delivery vehicle with rotatable container carrier, and methods of use thereof
WO2021255235A1 (en) 2020-06-19 2021-12-23 Autostore Technology AS Container handling vehicle elevator
WO2021259644A1 (en) 2020-06-24 2021-12-30 Autostore Technology AS Access station
WO2021260004A1 (en) 2020-06-25 2021-12-30 Autostore Technology AS Multiposition search
WO2021259632A1 (en) 2020-06-25 2021-12-30 Autostore Technology AS System and method of operating an automated storage and retrieval system
WO2021259796A1 (en) 2020-06-26 2021-12-30 Autostore Technology AS Automated storage and retrieval system for storing fresh food and produce
NO346381B1 (en) * 2020-07-10 2022-07-04 Autostore Tech As Extendable wheel base
WO2022008670A1 (en) 2020-07-10 2022-01-13 Autostore Technology AS Container handling vehicle with extendable wheel base
WO2022023038A1 (en) 2020-07-28 2022-02-03 Autostore Technology AS Product handling system
WO2022034128A1 (en) 2020-08-12 2022-02-17 Autostore Technology AS System and method for detection of anomalies in the tracks on a three-dimensional storage system
GB2598994A (en) * 2020-08-13 2022-03-23 Ocado Innovation Ltd Farming system methods and devices
GB2598992B (en) * 2020-08-13 2023-03-08 Ocado Innovation Ltd Storage system, methods and devices
GB2598994B (en) * 2020-08-13 2023-03-08 Ocado Innovation Ltd Farming system methods and devices
GB2609418A (en) * 2020-08-13 2023-02-08 Ocado Innovation Ltd Farming system methods and devices
GB2598992A (en) * 2020-08-13 2022-03-23 Ocado Innovation Ltd Storage system, methods and devices
GB2598991B (en) * 2020-08-13 2023-03-08 Ocado Innovation Ltd Storage system, methods and devices
GB2598991A (en) * 2020-08-13 2022-03-23 Ocado Innovation Ltd Storage system, methods and devices
GB2609418B (en) * 2020-08-13 2024-06-05 Ocado Innovation Ltd Farming system methods and devices
WO2022043404A1 (en) 2020-08-26 2022-03-03 Autostore Technology AS Routing of container handling vehicles operating an automated storage system
US11866260B2 (en) 2020-08-26 2024-01-09 Autostore Technology AS Routing of container handling vehicles operating an automated storage system
EP4455823A2 (en) 2020-08-26 2024-10-30 AutoStore Technology AS Routing of container handling vehicles operating an automated storage system
WO2022043573A1 (en) 2020-08-31 2022-03-03 Autostore Technology AS A method and system for picking products in a picking station of an automatic storage and retrieval system
WO2022053373A1 (en) 2020-09-11 2022-03-17 Autostore Technology AS System of temperature control in an automated storage system
WO2022053372A1 (en) 2020-09-11 2022-03-17 Autostore Technology AS System and method of circulating a gas in an automated grid based storage and retrieval system
WO2022084229A1 (en) 2020-10-22 2022-04-28 Autostore Technology AS Container handling vehicle with increased stability
WO2022101105A1 (en) 2020-11-11 2022-05-19 Autostore Technology AS A distribution dock, a distribution system and a method thereof
WO2022106286A1 (en) 2020-11-17 2022-05-27 Autostore Technology AS An access station for an automated storage and retrieval system with container transfer functionality and a method for using same
WO2022106287A1 (en) 2020-11-17 2022-05-27 Autostore Technology AS An access station for an automated storage and retrieval system with container tilt functionality and a method for using same
WO2022106318A1 (en) 2020-11-17 2022-05-27 Autostore Technology AS Method, system and computer program product for controlling movement of a plurality of container handling vehicles
WO2022106346A2 (en) 2020-11-23 2022-05-27 Autostore Technology AS A service vehicle with a vehicle pen
WO2022112137A1 (en) 2020-11-25 2022-06-02 Autostore Technology AS System and method of temperature control in an automated grid based storage and retrieval system
WO2022112228A1 (en) 2020-11-25 2022-06-02 Autostore Technology AS Vehicle rotation device and system
WO2022112153A1 (en) 2020-11-27 2022-06-02 Autostore Technology AS Container handling module
WO2022112055A1 (en) 2020-11-30 2022-06-02 Autostore Technology AS Remotely operated picking vehicle
NO20201317A1 (en) * 2020-11-30 2022-05-31 Autostore Tech As A vehicle for transporting storage containers in an automated storage and retrieval system
WO2022111939A1 (en) 2020-11-30 2022-06-02 Autostore Technology AS A vehicle for transporting storage containers in an automated storage and retrieval system
WO2022112166A1 (en) 2020-11-30 2022-06-02 Autostore Technology AS A remotely operated vehicle for handling a storage container on a rail system of an automated storage and retrieval system
NO346409B1 (en) * 2020-11-30 2022-07-11 Autostore Tech As A vehicle for transporting storage containers in an automated storage and retrieval system
WO2022122434A1 (en) 2020-12-11 2022-06-16 Autostore Technology AS A dual carriage access station for an automated storage and retrieval system and a method for using same
WO2022136299A1 (en) 2020-12-23 2022-06-30 Autostore Technology AS An access station for an automated storage and retrieval system and method for using same
WO2022136423A1 (en) 2020-12-23 2022-06-30 Autostore Technology AS Automated storage and retrieval system comprising an access station compartment
WO2022148720A1 (en) 2021-01-05 2022-07-14 Autostore Technology AS Vehicle with non-motorized guiding wheels and motorized belt drive and methods of operating the vehicle
WO2022152907A1 (en) 2021-01-18 2022-07-21 Autostore Technology AS A storage container handling system and a method of transferring a storage container
WO2022161863A1 (en) 2021-01-27 2022-08-04 Autostore Technology AS Storage container, a system comprising one or more of the storage containers and methods of assembling the storage containers
WO2022162134A1 (en) 2021-01-29 2022-08-04 Autostore Technology AS System and method for using a camera to detect robot position on grid.
WO2022162170A1 (en) 2021-01-29 2022-08-04 Autostore Technology AS Controlling storage locations of products stored in storage containers in an automated storage and retrieval system
WO2022167609A1 (en) 2021-02-08 2022-08-11 Autostore Technology AS Grid survey module
WO2022180025A1 (en) 2021-02-24 2022-09-01 Autostore Technology AS Storage container assembly
WO2022184470A1 (en) 2021-03-01 2022-09-09 Autostore Technology AS Improved cooling air distribution in an automated storage system
WO2022184472A1 (en) 2021-03-01 2022-09-09 Autostore Technology AS An automated storage system
WO2022189301A1 (en) 2021-03-09 2022-09-15 Autostore Technology AS An automated storage system
WO2022200567A2 (en) 2021-03-25 2022-09-29 Autostore Technology AS Bracing arrangement with damper
WO2022200517A1 (en) 2021-03-25 2022-09-29 Autostore Technology AS Bracing arrangement
WO2022214580A1 (en) 2021-04-09 2022-10-13 Autostore Technology AS A container handling vehicle for handling a delivery container stored within a storage container and a method thereof
WO2022214579A1 (en) 2021-04-09 2022-10-13 Autostore Technology AS A lifting device assembly for handling a delivery container stored within a storage container
WO2022214578A1 (en) 2021-04-09 2022-10-13 Autostore Technology AS Product handling system
WO2022223325A1 (en) 2021-04-20 2022-10-27 Autostore Technology AS A method and vehicle for rescuing a stalled container handling vehicle
WO2022228956A1 (en) 2021-04-27 2022-11-03 Autostore Technology AS A double ended access station for an automated storage and retrieval system and a method for using same
WO2022228894A1 (en) 2021-04-28 2022-11-03 Autostore Technology AS Container handler and method for handling a storage container
WO2022228862A1 (en) 2021-04-30 2022-11-03 Autostore Technology AS A storage container handling system and a method thereof
NO20210629A1 (en) * 2021-05-21 2022-11-22 Autostore Tech As Automated storage and retrieval system comprising a transfer column with side opening with blocker and methods of operating blocker
NO346975B1 (en) * 2021-05-21 2023-03-20 Autostore Tech As Automated storage and retrieval system comprising a transfer column with side opening with blocker and method of operating blocker
WO2022243215A1 (en) 2021-05-21 2022-11-24 Autostore Technology AS Automated storage and retrieval system comprising a transfer column with side opening with blocker and method of operating blocker
WO2022243153A1 (en) 2021-05-21 2022-11-24 Autostore Technology AS A storage column module for coupling to a framework structure of an automated storage and retrieval system
WO2022248333A1 (en) 2021-05-27 2022-12-01 Autostore Technology AS Expansion joint for connecting a first region and a second region of a rail system
WO2022248264A1 (en) 2021-05-28 2022-12-01 Autostore Technology AS An assembly for retrieving storage elements
WO2022248470A1 (en) 2021-05-28 2022-12-01 Autostore Technology AS A remotely operated vehicle with top guiding and a method of using same
WO2022248451A1 (en) 2021-05-28 2022-12-01 Autostore Technology AS An automated storage and retrieval system with a dynamic storage section and a method of using same
WO2022253952A1 (en) 2021-06-04 2022-12-08 Autostore Technology AS Service vehicle unit
WO2022258451A1 (en) 2021-06-10 2022-12-15 Autostore Technology AS A storage container for an automated, grid-based storage and retrieval system
WO2023274864A1 (en) 2021-06-30 2023-01-05 Autostore Technology AS An access station for an automated storage and retrieval system
WO2023274863A1 (en) 2021-06-30 2023-01-05 Autostore Technology AS An access station for an automated storage and retrieval system
WO2023274765A1 (en) 2021-06-30 2023-01-05 Autostore Technology AS System, method and computer program product of determining a position of a container handling vehicle in an automated grid based storage and retrieval system
WO2023283662A1 (en) 2021-07-16 2023-01-19 Perstling Manuel Method for operating a high-bay racking system, as well as high-bay racking system, carriage, and lifting unit therefor
WO2023025708A1 (en) 2021-08-23 2023-03-02 Autostore Technology AS Disinfection station for a storage container
WO2023025875A1 (en) 2021-08-27 2023-03-02 Autostore Technology AS A gripper assembly
WO2023036743A1 (en) 2021-09-07 2023-03-16 Autostore Technology AS System and method for gravitational unloading of items from a container
EP4144669A1 (en) 2021-09-07 2023-03-08 Autostore Technology AS System and method for gravitational unloading of items from a container
WO2023036794A1 (en) 2021-09-07 2023-03-16 Autostore Technology AS Storage container for produce
WO2023041449A1 (en) 2021-09-17 2023-03-23 Autostore Technology AS Storage system
WO2023041513A1 (en) 2021-09-17 2023-03-23 Autostore Technology AS A container buffering assembly, a storage system comprising the container buffering assembly, and associated methods
WO2023046519A1 (en) 2021-09-24 2023-03-30 Autostore Technology AS Storage grid for vertical farming
WO2023052158A1 (en) 2021-09-29 2023-04-06 Autostore Technology AS A hatch assembly for a port of a storage and retrieval system
WO2023061835A1 (en) 2021-10-13 2023-04-20 Autostore Technology AS A delivery port for delivery of goods contained in goods holders
WO2023066849A1 (en) 2021-10-18 2023-04-27 Autostore Technology AS A service vehicle for an automated storage and retrieval system
WO2023066750A1 (en) 2021-10-19 2023-04-27 Autostore Technology AS An assembly, a storage module and an automated storage and retrieval system
WO2023072612A1 (en) 2021-10-25 2023-05-04 Autostore Technology AS Access station comprising safety mechanism
WO2023073094A1 (en) 2021-10-29 2023-05-04 Autostore Technology AS Robotic container handler, an access and distribution station, a storage and retrieval system and a method thereof
WO2023072447A1 (en) 2021-11-01 2023-05-04 Autostore Technology AS Storage system
WO2023083658A1 (en) 2021-11-10 2023-05-19 Autostore Technology AS A vehicle-portable grid assessment device
WO2023083729A1 (en) 2021-11-11 2023-05-19 Autostore Technology AS Vehicle gate arrangement with first and second shutters, system comprising the arrangement and method of operation
WO2023088911A1 (en) 2021-11-16 2023-05-25 Autostore Technology AS Lifting frame assembly with extendible and retractable guide members, container handling vehicle and storage system, and associated method
WO2023099256A1 (en) 2021-11-30 2023-06-08 Autostore Technology AS Method for transporting a product item to an access station
WO2023099309A1 (en) 2021-11-30 2023-06-08 Autostore Technology AS A storage module for an automated storage and retrieval system and method for using same
WO2023099348A1 (en) 2021-12-03 2023-06-08 Autostore Technology AS A levelling assembly for a storage and retrieval system
WO2023110702A1 (en) 2021-12-13 2023-06-22 Autostore Technology AS Method for delivering goods to a customer utilizing optical character recognition
WO2023110547A2 (en) 2021-12-14 2023-06-22 Autostore Technology AS Port magazine
WO2023110561A1 (en) 2021-12-15 2023-06-22 Autostore Technology AS An air flow control device, an automated storage and retrieval system comprising such a device and a method for thermally managing air in an automated storage and retrieval system
WO2023110531A1 (en) 2021-12-15 2023-06-22 Autostore Technology AS System and method of temperature control in an automated grid based storage and retrieval system
WO2023110649A1 (en) 2021-12-16 2023-06-22 Autostore Technology AS Crossing with thermal expansion joint for a rail-based grid
WO2023113709A1 (en) * 2021-12-16 2023-06-22 Erkul Kozmeti̇k Sanayi̇ Ve Ti̇caret Anoni̇m Şi̇rketi̇ A storage system
WO2023110500A1 (en) 2021-12-17 2023-06-22 Autostore Technology AS An automated storage and retrieval system and a method of operating such an automated storage and retrieval system.
WO2023117801A1 (en) 2021-12-21 2023-06-29 Autostore Technology AS The present invention relates to an illuminable storage grid for storing and cultivating crops, an automated storage and retrieval system for storing and retrieving crops from/to such a storage grid and a method thereof
WO2023117870A1 (en) 2021-12-21 2023-06-29 Autostore Technology AS Trash handling arrangement for an automated storage system
WO2023131605A1 (en) 2022-01-07 2023-07-13 Autostore Technology AS Variable temperature zone
WO2023135050A1 (en) 2022-01-11 2023-07-20 Autostore Technology AS Storage system
WO2023161045A1 (en) 2022-02-23 2023-08-31 Autostore Technology AS Adjustment method and device
WO2023161154A1 (en) 2022-02-28 2023-08-31 Autostore Technology AS A device and a method for determining rotational position of a rotating shaft
WO2023169805A1 (en) 2022-03-08 2023-09-14 Autostore Technology AS A remotely operated vehicle, an automated storage and retrieval system and a method of operating a remotely operated vehicle for handling a goods holder of an automated storage and retrieval system
NO20220361A1 (en) * 2022-03-08 2023-09-11 Autostore Tech As Track sensor arrangement
WO2023169901A1 (en) 2022-03-08 2023-09-14 Autostore Technology AS Container handling vehicle
WO2023169803A1 (en) 2022-03-08 2023-09-14 Autostore Technology AS A remotely operated vehicle, an automated storage and retrieval system and a method of driving a remotely operated vehicle for handling a goods holder of an automated storage and retrieval system
WO2023169987A1 (en) 2022-03-08 2023-09-14 Autostore Technology AS Track sensor arrangement
WO2023169900A1 (en) 2022-03-08 2023-09-14 Autostore Technology AS Container handling vehicle
WO2023174837A1 (en) 2022-03-15 2023-09-21 Autostore Technology AS Service trolley, an automated storage and retrieval system comprising the trolley, and method of operating the trolley
WO2023180150A1 (en) 2022-03-23 2023-09-28 Autostore Technology AS A remotely operated vehicle for an automated storage and retrieval system
WO2023186802A1 (en) 2022-03-30 2023-10-05 Autostore Technology AS Method, system and computer program product for determining a route for a container handling vehicle
WO2023186716A1 (en) 2022-03-30 2023-10-05 Autostore Technology AS Storage system with containers and access frames
WO2023208850A1 (en) 2022-04-28 2023-11-02 Autostore Technology AS A system, method and computer program product for rental of physical items
WO2023208694A1 (en) 2022-04-29 2023-11-02 Autostore Technology AS A conveyor access station for an automated storage and retrieval system and a method for using same
WO2023208608A2 (en) 2022-04-29 2023-11-02 Autostore Technology AS Two part storage container with an assembled configuration and a split configuration
WO2023213617A1 (en) 2022-05-02 2023-11-09 Autostore Technology AS Tool for detecting the positioning of a container handling vehicle of a storage system
NO20220501A1 (en) * 2022-05-02 2023-11-03 Autostore Tech As Positioning tool
NO347806B1 (en) * 2022-05-02 2024-03-25 Autostore Tech As Positioning tool
WO2023213747A1 (en) 2022-05-03 2023-11-09 Autostore Technology AS Local positioning system for vehicles on a grid of an automated storage system
WO2023213585A1 (en) 2022-05-03 2023-11-09 Autostore Technology AS A container handler, a storage and retrieval system comprising the container handler and a method for handling a container by means of the container handler
WO2023217635A1 (en) 2022-05-11 2023-11-16 Autostore Technology AS Container handling vehicle with all wheel drive in at least one direction, associated system and method of assembling
WO2023232763A1 (en) 2022-05-31 2023-12-07 Autostore Technology AS Weighing method
WO2023241900A1 (en) 2022-06-17 2023-12-21 Autostore Technology AS A method and a system for determining condition of a component of a remotely operated vehicle
WO2023247430A1 (en) 2022-06-21 2023-12-28 Autostore Technology AS An access station for an automated storage and retrieval system
WO2024002712A1 (en) 2022-06-29 2024-01-04 Autostore Technology AS Rail vehicle
WO2024002885A1 (en) 2022-06-29 2024-01-04 Autostore Technology AS Container handling vehicle with motor at lower elevation than first and second lifting shafts, a system comprising the container handling vehicle, and method of driving the first and second lifting shafts
WO2024002887A1 (en) 2022-06-29 2024-01-04 Autostore Technology AS Container handling vehicle
WO2024008627A1 (en) 2022-07-08 2024-01-11 Autostore Technology AS Dynamic tuning of dig-down
WO2024033542A1 (en) 2022-08-12 2024-02-15 Autostore Technology AS An automated storage and retrieval system having a container transfer system and a method thereof
WO2024033543A1 (en) 2022-08-12 2024-02-15 Autostore Technology AS An automated storage and retrieval system having a container transfer apparatus, and a method thereof
WO2024042137A1 (en) 2022-08-25 2024-02-29 Autostore Technology AS Batch picking interface
WO2024046981A1 (en) 2022-08-29 2024-03-07 Autostore Technology AS Storage system
WO2024046797A1 (en) 2022-08-30 2024-03-07 Autostore Technology AS An automated storage and retrieval system comprising a first type of container handling vehicle, a crane and a gantry arrangement, and a method of transferring a storage container.
WO2024046798A1 (en) 2022-08-30 2024-03-07 Autostore Technology AS A crane trolley assembly, a crane and a system comprising the assembly and associated methods
WO2024047018A1 (en) 2022-09-01 2024-03-07 Autostore Technology AS System and method for controlling the movement of containers in an automated storage and retrieval system
WO2024047063A1 (en) 2022-09-01 2024-03-07 Autostore Technology AS System and method for rearranging containers in an automated storage and retrieval system
WO2024052075A1 (en) 2022-09-06 2024-03-14 Autostore Technology AS A system and a method for extracting air from an evaporator unit associated with an automated storage and retrieval system
WO2024068528A1 (en) 2022-09-26 2024-04-04 Autostore Technology AS Container handling vehicle
WO2024068544A1 (en) 2022-09-26 2024-04-04 Autostore Technology AS Access station
WO2024068512A1 (en) 2022-09-27 2024-04-04 Autostore Technology AS An automated storage and retrieval system comprising a temperature management system and a method for managing temperature in the automated storage and retrieval system
WO2024068475A2 (en) 2022-09-29 2024-04-04 Autostore Technology AS An automated storage and retrieval system, a container transfer apparatus and a method thereof
WO2024068359A1 (en) 2022-09-29 2024-04-04 Autostore Technology AS A buffer system for temporarily storing containers in an automated storage and retrieval system
WO2024078865A1 (en) 2022-10-11 2024-04-18 Autostore Technology AS An assembly and a method for transferring a plurality of goods holders
WO2024083632A1 (en) 2022-10-18 2024-04-25 Autostore Technology AS A container transport vehicle with internal receiving space for receiving a storage container from another vehicle, associated system and methods
WO2024088933A1 (en) 2022-10-26 2024-05-02 Autostore Technology AS Detachable sensor jig and method for predicting vehicle malfunction
WO2024088934A1 (en) 2022-10-26 2024-05-02 Autostore Technology AS Sensor station and method for predicting vehicle malfunction
WO2024089150A1 (en) 2022-10-28 2024-05-02 Autostore Technology AS Method for the stocking of goods in an automated storage and retrieval system
WO2024089149A1 (en) 2022-10-28 2024-05-02 Autostore Technology AS A device and method for inserting of storage containers with temperature-sensitive goods into a temperature controlled section of an automated storage and retrieval system
WO2024089152A1 (en) 2022-10-28 2024-05-02 Autostore Technology AS A device and method for inserting storage containers into an automated storage and retrieval system
EP4365118A1 (en) 2022-11-03 2024-05-08 Autostore Technology AS A goods holder rotation station and a method of extracting goods from a goods holder
WO2024094390A1 (en) 2022-11-03 2024-05-10 Autostore Technology AS A goods holder rotation station and a method of extracting goods from a goods holder
WO2024110162A1 (en) 2022-11-24 2024-05-30 Autostore Technology AS Vertical farming system
WO2024110121A1 (en) 2022-11-25 2024-05-30 Autostore Technology AS A unit for moving a plurality of goods holders and a method of moving the plurality of goods holders.
WO2024110120A1 (en) 2022-11-25 2024-05-30 Autostore Technology AS An assembly for transporting a plurality of goods holders to/from a grid-based storage and retrieval system
WO2024115271A1 (en) 2022-11-29 2024-06-06 Autostore Technology AS Automated storage and retrieval system with large-sized storage containers
WO2024115179A1 (en) 2022-11-29 2024-06-06 Autostore Technology AS A service vehicle with center drive, method, and system thereof
WO2024120840A2 (en) 2022-12-05 2024-06-13 Autostore Technology AS Lift arrangement and method for moving a storage container in a multiframework storage system
WO2024120858A1 (en) 2022-12-09 2024-06-13 Autostore Technology AS Clamp for anchoring a safety harness to a rail system and a method of using same
WO2024126232A1 (en) 2022-12-16 2024-06-20 Autostore Technology AS An automated storage and retrieval system comprising lockable barriers for safe transfer of persons into a transport vehicle on a live grid, and associated method
WO2024125908A1 (en) 2022-12-16 2024-06-20 Autostore Technology AS A container transport vehicle, an automated storage and retrieval system and a method thereof
WO2024126230A1 (en) 2022-12-16 2024-06-20 Autostore Technology AS An automated storage and retrieval system with logically operable barriers for safe enter and exit into a transport vehicle, and an associated method
WO2024133118A1 (en) 2022-12-19 2024-06-27 Autostore Technology AS Container handling vehicle for handling of smaller-sized storage containers in an automated storage and retrieval system
WO2024133306A1 (en) 2022-12-20 2024-06-27 Autostore Technology AS System and method for condition based maintenance of a port of an automated storage and retrieval system
WO2024133111A1 (en) 2022-12-20 2024-06-27 Autostore Technology AS System and method for weighing containers
WO2024133147A1 (en) 2022-12-20 2024-06-27 Autostore Technology AS System and maintenance for condition based maintenance of port
WO2024132390A1 (en) 2022-12-20 2024-06-27 Autostore Technology AS Container handling vehicle and storage system
WO2024132389A1 (en) 2022-12-20 2024-06-27 Autostore Technology AS An automated storage and retrieval system comprising a service vehicle and a service sled
WO2024132391A1 (en) 2022-12-21 2024-06-27 Autostore Technology AS A remotely operated picking vehicle, an automated storage and retrieval system, and a method of using same
WO2024133494A1 (en) 2022-12-21 2024-06-27 Autostore Technology AS Robotic picking and conveyor system
WO2024133389A1 (en) 2022-12-23 2024-06-27 Autostore Technology AS A service vehicle for an automated storage and retrieval system
WO2024133300A1 (en) 2022-12-23 2024-06-27 Autostore Technology AS Method, system and computer program product for moving a storage container
WO2024141364A1 (en) 2022-12-27 2024-07-04 Autostore Technology AS A storage system for storage containers comprising a framework structure, stacker frames, storage containers, a stacker frame lifter and a container lifter
WO2024141363A1 (en) 2022-12-27 2024-07-04 Autostore Technology AS A storage system for storage containers comprising a framework structure, stacker frames, storage containers, a stacker frame lifter and a container lifter
WO2024180088A1 (en) 2023-02-27 2024-09-06 Autostore Technology AS Actuator for moving a storage container
WO2024180093A1 (en) 2023-02-27 2024-09-06 Autostore Technology AS Access station for an automated storage and retrieval system
WO2024184340A1 (en) 2023-03-06 2024-09-12 Autostore Technology AS An adapter for a goods holder
WO2024184409A1 (en) 2023-03-06 2024-09-12 Autostore Technology AS A method for adapting a goods holder and an adapter for a goods holder
WO2024189159A1 (en) 2023-03-14 2024-09-19 Autostore Technology AS Storage system
WO2024189232A1 (en) 2023-03-16 2024-09-19 Autostore Technology AS A vertically displaceable lifting frame for transporting a goods holder to/from a storage volume of an automated storage and retrieval system
WO2024194481A1 (en) 2023-03-22 2024-09-26 Autostore Technology AS Container transfer system
WO2024200324A1 (en) 2023-03-24 2024-10-03 Autostore Technology AS Leveling device
WO2024200304A1 (en) 2023-03-27 2024-10-03 Autostore Technology AS Charging station service/inspection tool
WO2024200791A1 (en) 2023-03-28 2024-10-03 Autostore Technology AS Storage system
WO2024200638A1 (en) 2023-03-31 2024-10-03 Autostore Technology AS Service device for fastening screws of a storage and retrieval system
WO2024223916A1 (en) 2023-04-28 2024-10-31 Autostore Technology AS Access station with stopper mechanism
WO2024223738A1 (en) 2023-04-28 2024-10-31 Autostore Technology AS A rail system, particularly for an automated storage and retrieval system for storage and retrieval of containers

Also Published As

Publication number Publication date
PL3070027T3 (en) 2019-02-28
EP3372533A1 (en) 2018-09-12
JP2016506346A (en) 2016-03-03
EA028798B1 (en) 2017-12-29
KR20150094602A (en) 2015-08-19
TWI609832B (en) 2018-01-01
EP3617098A1 (en) 2020-03-04
ES2930306T3 (en) 2022-12-09
US11780673B2 (en) 2023-10-10
AU2016219545A1 (en) 2016-09-08
PL2928794T5 (en) 2024-09-09
AU2013357548B2 (en) 2017-02-02
EP4418180A2 (en) 2024-08-21
PL3372534T3 (en) 2022-04-04
ES2716310T3 (en) 2019-06-11
US20230406625A1 (en) 2023-12-21
CN105947514B (en) 2018-07-10
US20170129706A1 (en) 2017-05-11
NO20121488A1 (en) 2014-06-11
EP3372534B1 (en) 2022-02-09
KR20160087922A (en) 2016-07-22
EA201691425A1 (en) 2017-02-28
CN106241154A (en) 2016-12-21
DK3372534T3 (en) 2022-03-07
EA031464B1 (en) 2019-01-31
ES2669600T3 (en) 2018-05-28
EP3070027B1 (en) 2018-11-21
TWI583612B (en) 2017-05-21
US20150307276A1 (en) 2015-10-29
EA031514B1 (en) 2019-01-31
JP6463308B2 (en) 2019-01-30
EP2928794A1 (en) 2015-10-14
NO335839B1 (en) 2015-03-02
EP3875404A1 (en) 2021-09-08
PL3922581T3 (en) 2022-11-28
DK3070027T3 (en) 2019-01-07
US9862579B2 (en) 2018-01-09
EP3070027A1 (en) 2016-09-21
TW201708083A (en) 2017-03-01
TW201429851A (en) 2014-08-01
US10494239B2 (en) 2019-12-03
US20160304278A1 (en) 2016-10-20
EP3372534A1 (en) 2018-09-12
AU2016219545B2 (en) 2018-02-15
KR20220103826A (en) 2022-07-22
JP2016183050A (en) 2016-10-20
US9656802B2 (en) 2017-05-23
EP4418180A3 (en) 2024-10-09
AU2016204657B2 (en) 2018-07-19
EP3922581B1 (en) 2022-10-26
AU2016204657A1 (en) 2016-07-21
US20170291803A1 (en) 2017-10-12
US20180072546A1 (en) 2018-03-15
EP3929109C0 (en) 2024-05-29
KR20240023716A (en) 2024-02-22
HK1219260A1 (en) 2017-03-31
DK2928794T4 (en) 2024-08-05
PL2928794T3 (en) 2019-08-30
EA201691434A1 (en) 2017-02-28
US11794997B2 (en) 2023-10-24
CN104837747B (en) 2017-05-31
EP3617097A1 (en) 2020-03-04
CA2890843C (en) 2019-02-12
US9422108B2 (en) 2016-08-23
TW201708084A (en) 2017-03-01
ES2907792T3 (en) 2022-04-26
KR102269692B1 (en) 2021-06-29
EP2928794B1 (en) 2019-03-06
PL3929109T3 (en) 2024-10-07
CN105947514A (en) 2016-09-21
DK2962962T3 (en) 2018-06-06
US10696478B2 (en) 2020-06-30
CA2890843A1 (en) 2014-06-19
DK3922581T3 (en) 2022-11-14
ES2701327T3 (en) 2019-02-21
AU2013357548A1 (en) 2015-05-21
PL2962962T3 (en) 2018-08-31
US10093525B2 (en) 2018-10-09
EA201591065A1 (en) 2015-11-30
US20200262649A1 (en) 2020-08-20
EP3929109B1 (en) 2024-05-29
US20200031640A1 (en) 2020-01-30
TWI610873B (en) 2018-01-11
US20220185584A1 (en) 2022-06-16
EP2928794B2 (en) 2024-07-10
US9856082B2 (en) 2018-01-02
KR102190138B1 (en) 2020-12-14
KR20160106777A (en) 2016-09-12
EP3929109A1 (en) 2021-12-29
JP6463307B2 (en) 2019-01-30
JP6454645B2 (en) 2019-01-16
EP2962962B1 (en) 2018-04-25
JP2017001887A (en) 2017-01-05
CZ37166U1 (en) 2023-06-30
DK2928794T3 (en) 2019-04-15
KR102422134B1 (en) 2022-07-18
CN104837747A (en) 2015-08-12
US20190002255A1 (en) 2019-01-03
CN106241154B (en) 2018-08-10
EP2962962A1 (en) 2016-01-06
KR102638712B1 (en) 2024-02-21
HK1208660A1 (en) 2016-03-11
EP3922581A1 (en) 2021-12-15

Similar Documents

Publication Publication Date Title
US11794997B2 (en) Method for operating a bin storage system and robot vehicle

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13807954

Country of ref document: EP

Kind code of ref document: A1

DPE1 Request for preliminary examination filed after expiration of 19th month from priority date (pct application filed from 20040101)
ENP Entry into the national phase

Ref document number: 2890843

Country of ref document: CA

ENP Entry into the national phase

Ref document number: 20157012766

Country of ref document: KR

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2013357548

Country of ref document: AU

Date of ref document: 20131205

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 2013807954

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 2015546014

Country of ref document: JP

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 14650757

Country of ref document: US

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 201591065

Country of ref document: EA