WO2015104263A2 - Robot for transporting storage bins - Google Patents

Robot for transporting storage bins Download PDF

Info

Publication number
WO2015104263A2
WO2015104263A2 PCT/EP2015/050103 EP2015050103W WO2015104263A2 WO 2015104263 A2 WO2015104263 A2 WO 2015104263A2 EP 2015050103 W EP2015050103 W EP 2015050103W WO 2015104263 A2 WO2015104263 A2 WO 2015104263A2
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
power source
vehicle assembly
accordance
charging station
Prior art date
Application number
PCT/EP2015/050103
Other languages
French (fr)
Other versions
WO2015104263A3 (en
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=52354957&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2015104263(A2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority to AU2015205653A priority Critical patent/AU2015205653A1/en
Priority to EA201691338A priority patent/EA201691338A1/en
Priority to PL15700422.7T priority patent/PL3092187T5/en
Priority to KR1020167020706A priority patent/KR20160106098A/en
Priority to CN201580003996.4A priority patent/CN105899398B/en
Priority to EP15700422.7A priority patent/EP3092187B2/en
Priority to CA2934020A priority patent/CA2934020C/en
Application filed by Jakob Hatteland Logistics As filed Critical Jakob Hatteland Logistics As
Priority to SG11201605571YA priority patent/SG11201605571YA/en
Priority to DK15700422.7T priority patent/DK3092187T4/en
Priority to EP21173167.4A priority patent/EP3882182A1/en
Priority to US15/110,245 priority patent/US9821959B2/en
Priority to JP2016546031A priority patent/JP6978202B2/en
Priority to ES15700422T priority patent/ES2883569T5/en
Priority to MX2016008933A priority patent/MX2016008933A/en
Publication of WO2015104263A2 publication Critical patent/WO2015104263A2/en
Publication of WO2015104263A3 publication Critical patent/WO2015104263A3/en
Priority to HK16112195.0A priority patent/HK1223888A1/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
    • 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
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/40—Adaptation of control equipment on vehicle for remote actuation from a stationary place
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/64—Constructional details of batteries specially adapted for electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • 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
    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
    • H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
    • H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
    • H02J13/00022—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using wireless data transmission
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2310/00—The network for supplying or distributing electric power characterised by its spatial reach or by the load
    • H02J2310/40—The network being an on-board power network, i.e. within a vehicle
    • H02J2310/48—The network being an on-board power network, i.e. within a vehicle for electric vehicles [EV] or hybrid vehicles [HEV]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02B90/20—Smart grids as enabling technology in buildings sector
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S40/00—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
    • Y04S40/12—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
    • Y04S40/126—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment using wireless data transmission

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 , a storage system for storage of bins and a method for changing a power source.
  • 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 presented in WO 98/49075, and details of a prior art vehicle being suitable for such a storage system is disclosed in Norwegian patent N0317366.
  • Such a prior art storage system comprises a three dimensional storage grid containing storage bins that are stacked on top of each other up to a certain height.
  • the storage grid is normally constructed as aluminium columns interconnected by top rails, and a number of remotely operated vehicles, or robots, are arranged to move laterally on these rails.
  • Each robot is equipped with a lift for picking up, carrying, and placing bins that are stored in the storage grid, and a rechargeable battery in order to supply electrical effect to a robot incorporated motor.
  • the robot typically communicates with a control system via a wireless link and is recharged at a charging station when needed, typically at night.
  • the storage system 3 includes a plurality of robots 1 configured 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 prior art storage system 3 may also include 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 storage system 3 and to convey the storage bin 2 down in a vertical direction to a delivery station, or port 60.
  • 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 storage system 3 and to convey the storage bin 2 down in a vertical direction to a delivery station, or port 60.
  • the invention concerns a remotely operated vehicle assembly for picking up storage bins from a storage system, comprising a vehicle body which displays a cavity for receiving a storage bin situated somewhere within the storage system, a vehicle lifting device at least indirectly connected to the vehicle body for lifting the storage bin into the cavity, driving means connected to the vehicle body allowing remotely controlled movements of the vehicle assembly within the storage system, wireless communication means for providing wireless communication between the vehicle assembly and a remote control unit such as a computer, one or more main power sources supplying electrical power to the driving means and vehicle coupling means for operational and releasable coupling of the main power source to the vehicle body.
  • Operational coupling is defined as a coupling that ensures power flow between the power source and the driving means.
  • the coupling means is configured to allow automatic interchange / transfer of the main power source to a charging station after receiving at least one communication signal from the control unit, i.e. a transfer performed without any needs of human intervention.
  • the vehicle assembly further comprises one or more auxiliary power sources for supplying electrical power to the driving means.
  • This or these auxiliary power source(s) may be operated in addition to, or in absence of, one, several, or all of the main power sources.
  • the vehicle assembly further comprises a management system for managing at least one of the power sources.
  • a management system comprises means for monitoring at least one of voltage, temperature, state of charge, depth of discharge, state of health, coolant flow and current, and/or recharging controlling means for controlling at least one parameter related to recharging of at least one of the power sources such as one or more of the above mentioned monitoring parameters.
  • the minimum amount of power stored in the auxiliary power source(s) equals the power required to move the vehicle assembly from one charging station to an adjacent charging station during operation.
  • the one or more auxiliary power sources and the one or more main power sources are interconnected such that the main power source(s) may charge the auxiliary power source(s) while the main power source(s) provides electrical power to the vehicle.
  • At least one of the power sources i.e. at least one of the main power sources and/or at least one of the auxiliary power sources, is a capacitor, for example a supercapacitor such as a double-layer capacitor, a pseudocapacitor and/or a hybrid capacitor.
  • a capacitor for example a supercapacitor such as a double-layer capacitor, a pseudocapacitor and/or a hybrid capacitor.
  • the at least one of the power sources i.e. at least one of the main power sources and/or at least one of the auxiliary power sources
  • the at least one of the power sources is a rechargeable battery.
  • rechargeable batteries are Lithium-Ion battery, Nickel-Cadmium battery, Nickel-Metal Hydride battery, Lithium-Ion Polymer battery, Lithium Sulfur battery, Thin Film battery, Smart battery Carbon Foam- based Lead Acid battery, Potassium-Ion battery. Sodium-Ion battery or a combination thereof.
  • the vehicle assembly may further comprise a battery management system (BMS) in the form of a printed circuit board managing / controlling for example the charge to at least one of the power sources. This BMS is advantageously operatively arranged at or within the main power source.
  • BMS battery management system
  • the main power source comprises a receiving means enabling releasable connection to a corresponding charge station connection means situated on a charge station, where at least one of the receiving means may advantageously be a hook receiving means such as a recess, an aperture or a hank, allowing releasable connection with a corresponding pivotable charge station hook situated on a charge station.
  • the vehicle connection means further comprises at least one battery hook pivotable connected to the vehicle body, enabling releasable connection between the main power source(s) and the vehicle body.
  • the invention also concerns a storage system for storage of bins, for example a storage system having a structure similar to the structure disclosed in detail in Norwegian patent application NO20121488.
  • the system comprises
  • a vehicle support comprising a plurality of supporting rails and
  • bin storing structure supporting the vehicle support, and containing a plurality of storage columns, wherein each storage columns is arranged to accommodate a vertical stack of storage bins.
  • the main part of the bin storing structure coincides with positions on the vehicle support in which the supporting rails are crossing.
  • the invention furthermore concerns a method for charging a power source arranged in, near or on a remotely operated vehicle.
  • a method for charging a power source arranged in, near or on a remotely operated vehicle comprises the following steps:
  • the charging stations are preferably arranged on an underlying support onto which the vehicle assembly is moving.
  • the lowering and raising of the vehicle body is achieved by elongation means connected to, or being an integral part of, the driving means.
  • the method steps are controlled by transmitting communication signals between a control unit and a wireless communication means within the vehicle.
  • the vehicle assembly used in the method may advantageously be of the type as disclosed above.
  • Fig. 1 is a perspective view of a prior art storage system
  • Fig. 2 is a perspective base view of a remotely operated vehicle according to the invention.
  • Fig. 3 is a perspective top view of a remotely operated vehicle according to the invention.
  • Fig. 4 is a perspective side view of part of a storage system in accordance with the invention including a bin storing grid, a vehicle support and a robot;
  • Fig. 5 is a perspective side view of part of a storage system in accordance with the invention including a bin storing grid, a vehicle support, a robot and a plurality of charging stations;
  • Figure 6 is a block diagram of a robot showing a main power source and an auxiliary power source, wherein figure 6 (a) and (b) shows the main power source being operationally connected to, and disconnected from, the robot, respectively,
  • Figure 7 is a cross sectional view of a robot and a charging station,
  • Figures 8 (a)-(d) are cross sectional views of a robot and a charging station, wherein figure 8 (a) shows a battery containing robot in a raised position and at a distance from its charging position, figures 8 (b) and 8 (c) show a battery containing robot in a raised position and a lowered position, respectively, situated adj acent to its charging position and figure 8 (d) shows the robot in a lowered position at a distance from its charging position after transfer of the battery to the charging station and,
  • Figures 9 (a)-(c) are cross sectional cut-outs providing further details of the connection mechanisms in figures 8 (b)-(d), wherein figures 9 (a) and (b) show connecting hooks on the robot and the charging stations in raised and lowered position, respectively, and figure 9 (c) shows the connecting hooks after successful connection of the battery to the charging station.
  • figures 9 (a) and (b) show connecting hooks on the robot and the charging stations in raised and lowered position, respectively
  • figure 9 (c) shows the connecting hooks after successful connection of the battery to the charging station.
  • Fig. 2 and 3 give perspective views in two different angles of a robot 1 comprising a rectangular vehicle body or framework 4 displaying a cavity 7 centrally arranged there within, 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 a second set of four wheels 1 1 mounted at the exterior walls of the body 4.
  • the first and second set of wheels 10, 1 1 are oriented perpendicular to each other.
  • 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 (see figure 4) and to contain the largest storage bin 2 intended to be picked up by the robot 1 .
  • Fig. 4 shows a part of a storage system 2 where the robot 1 is in a lifting position on a vehicle support 14, directly above a storage column 8 within a supporting bin storing structure 15.
  • a vehicle lifting device 9 is lowered a distance into the storage column 8 in order to hook onto and lift up any storage bin 2 within the column 8.
  • All operations of the robot 1 are controlled by wireless communication means 19 and remote control units. This includes control of the robot movement, the vehicle lifting device 9 and any vehicle position measurements.
  • the robot 1 is in fig. 5 shown arranged on a vehicle support 14 composed of a plurality of supporting rails 13, which vehicle support 14 is supported on a bin storing structure 15 constituting a plurality of storage columns 8.
  • the robot 1 of fig. 5 comprises a main battery 6, battery holding means 22-24 for holding a main battery 6 during operation, as well as enabling flow of necessary power to the robots 1 driving means 10,1 1 , an enclosing cover 73 with handles 74 and a control panel 75.
  • the inventive storage system 3 further comprises several charging stations 20,20' being fixed to the vehicle support 14 in positions that are accessible for the part of the vehicle body 4 including the main battery 6 and/or the robot connection means 22- 24.
  • Each charging station 20, 20' comprises corresponding station connection means 25,26 which aids in the transfer of the main battery 6, as well as ensure stable connection and electrical charging.
  • Fig. 5 shows the particular situation where the robot 1 is approaching the charging station 20 in order to transfer an almost discharged main battery 6 to a battery vacant charging station 20. After a successful transfer, the robot 1 is moved to another charging station 20', typically being the closest charging station 20' that contains a main battery 6 being charged to a fully operational level. Such a movement from a first charging station 20 to a second charging station 20' along the vehicle support 14 may be ensured by means of an auxiliary power source or battery 21 as schematically indicated in the block diagram of fig. 6, where fig.
  • FIG. 6 (a) and 6 (b) shows the robot 1 having the main battery connected and disconnected, respectively.
  • the terminals of the main battery 6 are electrically connected to circuit board 19, which again is controlling the power flow to the driving means 10,11.
  • driving means 10,1 1 includes all mechanisms and/or components within the robot 1 that at least ensures lateral movements, including wheels, motor, gears, etc.
  • both fig. 6 (a) and 6 (b) indicates the above mentioned auxiliary battery 21 , which terminals are electrically connected to the same circuit board 19 as the main battery 6.
  • Fig. 7 is a cross sectional view of a robot 1 and a charging station 20 arranged on top of the vehicle support 14, showing in further details the location of the main battery 6, in this embodiment arranged within a dedicated main battery cavity 24, and the components constituting the robot holding means 22,23 on the side of the robot 1 and the station holding means 25,26 on the side of the charging station 20.
  • the robot connection means 22,23 are illustrated as at least one robot hook 22 pivotably fixed to the side walls of the main battery cavity 24, thereby fixing the main battery 6 in position, and at least one robot aperture 23 present at the side of the main battery 6 facing the charging station 20,20'.
  • the side of the charging station 20,20' facing the robot 1 comprises at least one pivotable charge station hook 25 that may be releasably fastened to the robot aperture(s) 23 and at least one charge station aperture 26 that may be releasably receiving the pivotable robot hook(s) 22.
  • the robot 1 is in the lateral position shown in fig. 7 adjustable in vertical direction, i.e.
  • fig. 8 illustrates four different stages (a)-(d) of the main battery transfer process from the robot 1 to the charging station 20,20'.
  • the robot 1 containing the main battery 6 is approaching the charging station 20,20' in an elevated position.
  • the charge station situated charge station hooks 25 are being guided into their corresponding main battery situated robot apertures 23.
  • the robot 1 is subsequently lowered a predetermined distance towards the underlying vehicle support 14 (fig.
  • Fig. 9 (a)-(c) presents an even more detailed presentation of the main battery transfer process from the robot 1 to the charging station 20.
  • Fig. 9 (a) corresponds to the situation depicted in Fig. 8 (b), that is, when the elevated robot 1 has been moved to a transfer position relative to the charging station 20 and the charge station hook 25 has been successfully guided and hooked to the corresponding robot aperture 23.
  • fig. 9 (b) corresponds to the situation depicted in Fig. 8 (c), when the robot 1 has been lowered, thereby releasing the robot hook 22 from the main battery 6.
  • fig. 9 (c) corresponds to the situation depicted in Fig. 8 (d), when the robot 1 has been retracted from the charging station 20 by means of the auxiliary power source 21, leaving the main battery in a charging connection to the charging station 20.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Sustainable Development (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Sustainable Energy (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Stand-By Power Supply Arrangements (AREA)

Abstract

The invention concerns a remotely operated vehicle assembly for picking up storage bins from a storage system and a method for changing a power source arranged within the vehicle assembly. The remotely operated vehicle assembly comprises a vehicle body which displays a cavity for receiving a storage bin situated somewhere within the storage system, a vehicle lifting device at least indirectly connected to the vehicle body for lifting the storage bin into the cavity, driving means connected to the vehicle body allowing remotely controlled movements of the vehicle assembly within the storage system, wireless communication means for providing wireless communication between the vehicle assembly and a remote control unit such as a computer, one or more main power sources supplying electrical power to the driving means and vehicle coupling means for operational and releasable coupling of the main power source to the vehicle body.

Description

Title:
ROBOT FOR TRANSPORTING STORAGE BINS Technical Field:
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 , a storage system for storage of bins and a method for changing a power source.
Background and prior art:
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 presented in WO 98/49075, and details of a prior art vehicle being suitable for such a storage system is disclosed in Norwegian patent N0317366. Such a prior art storage system comprises a three dimensional storage grid containing storage bins that are stacked on top of each other up to a certain height. The storage grid is normally constructed as aluminium columns interconnected by top rails, and a number of remotely operated vehicles, or robots, are arranged to move laterally on these rails. Each robot is equipped with a lift for picking up, carrying, and placing bins that are stored in the storage grid, and a rechargeable battery in order to supply electrical effect to a robot incorporated motor. The robot typically communicates with a control system via a wireless link and is recharged at a charging station when needed, typically at night.
An example of a prior art storage system art is illustrated in figure 1. The storage system 3 includes a plurality of robots 1 configured 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 prior art storage system 3 may also include 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 storage system 3 and to convey the storage bin 2 down in a vertical direction to a delivery station, or port 60. However, with this known system there is an undesired robot standstill due to the need of recharge, thereby reducing the operational cycle of the storage system 3 as a whole to typically 16 hours per day.
It is thus an object of the present invention to provide a solution that enables a significant increase in the overall operational cycle, preferably close to 24 hours per day. Summary of the invention :
The present invention is set forth and characterized in the main claims, while the dependent claims describe other characteristics of the invention.
In particular, the invention concerns a remotely operated vehicle assembly for picking up storage bins from a storage system, comprising a vehicle body which displays a cavity for receiving a storage bin situated somewhere within the storage system, a vehicle lifting device at least indirectly connected to the vehicle body for lifting the storage bin into the cavity, driving means connected to the vehicle body allowing remotely controlled movements of the vehicle assembly within the storage system, wireless communication means for providing wireless communication between the vehicle assembly and a remote control unit such as a computer, one or more main power sources supplying electrical power to the driving means and vehicle coupling means for operational and releasable coupling of the main power source to the vehicle body. Operational coupling is defined as a coupling that ensures power flow between the power source and the driving means. in a preferred embodiment the coupling means is configured to allow automatic interchange / transfer of the main power source to a charging station after receiving at least one communication signal from the control unit, i.e. a transfer performed without any needs of human intervention.
In another preferred embodiment the vehicle assembly further comprises one or more auxiliary power sources for supplying electrical power to the driving means. This or these auxiliary power source(s) may be operated in addition to, or in absence of, one, several, or all of the main power sources.
Tn another preferred embodiment the vehicle assembly further comprises a management system for managing at least one of the power sources. Such a management system comprises means for monitoring at least one of voltage, temperature, state of charge, depth of discharge, state of health, coolant flow and current, and/or recharging controlling means for controlling at least one parameter related to recharging of at least one of the power sources such as one or more of the above mentioned monitoring parameters.
In another preferred embodiment the minimum amount of power stored in the auxiliary power source(s) equals the power required to move the vehicle assembly from one charging station to an adjacent charging station during operation. In another preferred embodiment the one or more auxiliary power sources and the one or more main power sources are interconnected such that the main power source(s) may charge the auxiliary power source(s) while the main power source(s) provides electrical power to the vehicle.
In another preferred embodiment at least one of the power sources, i.e. at least one of the main power sources and/or at least one of the auxiliary power sources, is a capacitor, for example a supercapacitor such as a double-layer capacitor, a pseudocapacitor and/or a hybrid capacitor.
In another preferred embodiment the at least one of the power sources, i.e. at least one of the main power sources and/or at least one of the auxiliary power sources, is a rechargeable battery. Examples of rechargeable batteries are Lithium-Ion battery, Nickel-Cadmium battery, Nickel-Metal Hydride battery, Lithium-Ion Polymer battery, Lithium Sulfur battery, Thin Film battery, Smart battery Carbon Foam- based Lead Acid battery, Potassium-Ion battery. Sodium-Ion battery or a combination thereof. In order to monitor and control the performance of the at least one battery the vehicle assembly may further comprise a battery management system (BMS) in the form of a printed circuit board managing / controlling for example the charge to at least one of the power sources. This BMS is advantageously operatively arranged at or within the main power source.
In another preferred embodiment the main power source comprises a receiving means enabling releasable connection to a corresponding charge station connection means situated on a charge station, where at least one of the receiving means may advantageously be a hook receiving means such as a recess, an aperture or a hank, allowing releasable connection with a corresponding pivotable charge station hook situated on a charge station. In another preferred embodiment the vehicle connection means further comprises at least one battery hook pivotable connected to the vehicle body, enabling releasable connection between the main power source(s) and the vehicle body.
The invention also concerns a storage system for storage of bins, for example a storage system having a structure similar to the structure disclosed in detail in Norwegian patent application NO20121488. The system comprises
- one or more remotely operated vehicles in accordance with the above disclosed vehicle,
- one or more charging stations,
- a vehicle support comprising a plurality of supporting rails and
- a bin storing structure supporting the vehicle support, and containing a plurality of storage columns, wherein each storage columns is arranged to accommodate a vertical stack of storage bins. The main part of the bin storing structure coincides with positions on the vehicle support in which the supporting rails are crossing.
The invention furthermore concerns a method for charging a power source arranged in, near or on a remotely operated vehicle. Such a method comprises the following steps:
a) moving the remotely operated vehicle assembly to a charging position adjacent to a first charging station,
b) transferring a first main power source connected to a vehicle body of the vehicle assembly to the first charging station,
c) moving the vehicle assembly to a second charging station using an auxiliary power source supplying auxiliary electrical power to driving means and d) transferring a second main power source connected to the second charging station to the vehicle body, the second main power source having been charged for a time period by the second charging station.
The charging stations are preferably arranged on an underlying support onto which the vehicle assembly is moving.
In a preferred embodiment the method further comprises the steps:
- lowering the vehicle body towards the underlying vehicle support step b) and during step d), thereby disconnecting the main power source from the vehicle body and
- raising the vehicle body away from the underlying vehicle support step b) and after step d), thereby allowing connection of the main power source (6) to the charging station.
The lowering and raising of the vehicle body is achieved by elongation means connected to, or being an integral part of, the driving means.
In another preferred embodiment the method steps are controlled by transmitting communication signals between a control unit and a wireless communication means within the vehicle.
The vehicle assembly used in the method may advantageously be of the type as disclosed above.
In the following description, numerous specific details are introduced to provide a thorough understanding of embodiments of the claimed vehicle, system and method. One skilled in the relevant art, however, will recognize that these embodiments can be practiced without one or more of the specific details, or with other components, systems, etc. In other instances, well-known structures or operations are not shown, or are not described in detail, to avoid obscuring aspects of the disclosed embodiments. Brief description of the drawings:
Fig. 1 is a perspective view of a prior art storage system;
Fig. 2 is a perspective base view of a remotely operated vehicle according to the invention;
Fig. 3 is a perspective top view of a remotely operated vehicle according to the invention;
Fig. 4 is a perspective side view of part of a storage system in accordance with the invention including a bin storing grid, a vehicle support and a robot;
Fig. 5 is a perspective side view of part of a storage system in accordance with the invention including a bin storing grid, a vehicle support, a robot and a plurality of charging stations;
Figure 6 is a block diagram of a robot showing a main power source and an auxiliary power source, wherein figure 6 (a) and (b) shows the main power source being operationally connected to, and disconnected from, the robot, respectively, Figure 7 is a cross sectional view of a robot and a charging station,
Figures 8 (a)-(d) are cross sectional views of a robot and a charging station, wherein figure 8 (a) shows a battery containing robot in a raised position and at a distance from its charging position, figures 8 (b) and 8 (c) show a battery containing robot in a raised position and a lowered position, respectively, situated adj acent to its charging position and figure 8 (d) shows the robot in a lowered position at a distance from its charging position after transfer of the battery to the charging station and,
Figures 9 (a)-(c) are cross sectional cut-outs providing further details of the connection mechanisms in figures 8 (b)-(d), wherein figures 9 (a) and (b) show connecting hooks on the robot and the charging stations in raised and lowered position, respectively, and figure 9 (c) shows the connecting hooks after successful connection of the battery to the charging station. Detailed description of the invention
Fig. 2 and 3 give perspective views in two different angles of a robot 1 comprising a rectangular vehicle body or framework 4 displaying a cavity 7 centrally arranged there within, 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 a second set of four wheels 1 1 mounted at the exterior walls of the body 4. The first and second set of wheels 10, 1 1 are oriented perpendicular to each other. 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 (see figure 4) and to contain the largest storage bin 2 intended to be picked up by the robot 1 .
Fig. 4 shows a part of a storage system 2 where the robot 1 is in a lifting position on a vehicle support 14, directly above a storage column 8 within a supporting bin storing structure 15. A vehicle lifting device 9 is lowered a distance into the storage column 8 in order to hook onto and lift up any storage bin 2 within the column 8.
All operations of the robot 1 are controlled by wireless communication means 19 and remote control units. This includes control of the robot movement, the vehicle lifting device 9 and any vehicle position measurements.
As in fig. 4 the robot 1 is in fig. 5 shown arranged on a vehicle support 14 composed of a plurality of supporting rails 13, which vehicle support 14 is supported on a bin storing structure 15 constituting a plurality of storage columns 8. The robot 1 of fig. 5 comprises a main battery 6, battery holding means 22-24 for holding a main battery 6 during operation, as well as enabling flow of necessary power to the robots 1 driving means 10,1 1 , an enclosing cover 73 with handles 74 and a control panel 75. In order to allow charging of the main battery 6 the inventive storage system 3 further comprises several charging stations 20,20' being fixed to the vehicle support 14 in positions that are accessible for the part of the vehicle body 4 including the main battery 6 and/or the robot connection means 22- 24. Each charging station 20, 20' comprises corresponding station connection means 25,26 which aids in the transfer of the main battery 6, as well as ensure stable connection and electrical charging. Fig. 5 shows the particular situation where the robot 1 is approaching the charging station 20 in order to transfer an almost discharged main battery 6 to a battery vacant charging station 20. After a successful transfer, the robot 1 is moved to another charging station 20', typically being the closest charging station 20' that contains a main battery 6 being charged to a fully operational level. Such a movement from a first charging station 20 to a second charging station 20' along the vehicle support 14 may be ensured by means of an auxiliary power source or battery 21 as schematically indicated in the block diagram of fig. 6, where fig. 6 (a) and 6 (b) shows the robot 1 having the main battery connected and disconnected, respectively. When connected, the terminals of the main battery 6 are electrically connected to circuit board 19, which again is controlling the power flow to the driving means 10,11. Note that driving means 10,1 1 includes all mechanisms and/or components within the robot 1 that at least ensures lateral movements, including wheels, motor, gears, etc. Furthermore, both fig. 6 (a) and 6 (b) indicates the above mentioned auxiliary battery 21 , which terminals are electrically connected to the same circuit board 19 as the main battery 6. As a result the robot 1 may with this configuration provide sufficient power to the driving means 10,11 to allow operation (lateral movements, elevations, operation of lifting device 9) of the robot 1 even in the complete (physical and/or electrical) absence of the main battery 6 (fig. 6 (b)). When the main battery 6 is connected, the auxiliary battery 21 may either remain electrically disconnected or function as an additional power source during the continuous operation of the robot 1. Fig. 7 is a cross sectional view of a robot 1 and a charging station 20 arranged on top of the vehicle support 14, showing in further details the location of the main battery 6, in this embodiment arranged within a dedicated main battery cavity 24, and the components constituting the robot holding means 22,23 on the side of the robot 1 and the station holding means 25,26 on the side of the charging station 20. The robot connection means 22,23 are illustrated as at least one robot hook 22 pivotably fixed to the side walls of the main battery cavity 24, thereby fixing the main battery 6 in position, and at least one robot aperture 23 present at the side of the main battery 6 facing the charging station 20,20'. Likewise, the side of the charging station 20,20' facing the robot 1 comprises at least one pivotable charge station hook 25 that may be releasably fastened to the robot aperture(s) 23 and at least one charge station aperture 26 that may be releasably receiving the pivotable robot hook(s) 22. The robot 1 is in the lateral position shown in fig. 7 adjustable in vertical direction, i.e. perpendicular to the vehicle support 14, to ensure reliable and easy fastening of the robot and charge station hooks 22,25 into their respective robot and charge station apertures 23,26. This movement is further detailed in fig. 8 which illustrates four different stages (a)-(d) of the main battery transfer process from the robot 1 to the charging station 20,20'. In the first stage (fig. 8 (a)) the robot 1 containing the main battery 6 is approaching the charging station 20,20' in an elevated position. When the robot 1 is in the lateral transfer position relative to the charging station 20,20' (fig. 8 (b)) the charge station situated charge station hooks 25 are being guided into their corresponding main battery situated robot apertures 23. The robot 1 is subsequently lowered a predetermined distance towards the underlying vehicle support 14 (fig. 8 (c)), resulting in a release of the robot hooks 22 from the main battery 6. Finally the robot 1 is retracted away from the charging station 20,20' using the auxiliary power source 22 while remaining in the lowered position (fig. 8 (d). The robot 1 may then regain the elevated position and move along the vehicle support 14 to a charging station 20' with a sufficiently charged main battery 6. Fig. 9 (a)-(c) presents an even more detailed presentation of the main battery transfer process from the robot 1 to the charging station 20. Fig. 9 (a) corresponds to the situation depicted in Fig. 8 (b), that is, when the elevated robot 1 has been moved to a transfer position relative to the charging station 20 and the charge station hook 25 has been successfully guided and hooked to the corresponding robot aperture 23. Further, fig. 9 (b) corresponds to the situation depicted in Fig. 8 (c), when the robot 1 has been lowered, thereby releasing the robot hook 22 from the main battery 6. And finally, fig. 9 (c) corresponds to the situation depicted in Fig. 8 (d), when the robot 1 has been retracted from the charging station 20 by means of the auxiliary power source 21, leaving the main battery in a charging connection to the charging station 20.
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.
List of reference numerals / letters:
1 Remotely operated vehicle assembly / robot
2 Storage bin
3 Storage system
4 Vehicle body / framework
6 Main power source / main battery
7 Cavity
8 Storage column
9 Vehicle lifting device
10 First set of vehicle rolling means / first set of wheels / driving means
1 1 Second set of vehicle rolling means / second set of wheels / driving means
13 Supporting rail
14 Vehicle support
15 Bin storing structure / bin storing grid
19 Circuit board / management system / battery management system
20 Charging station / first charging station
20' Adjacent charging station / second charging station
21 Auxiliary power source / auxiliary battery
22 Vehicle connection means / robot hook
23 Receiving means / robot aperture
24 Main battery cavity
25 Charge station connection means / charge station hook
26 Charge station aperture
50 Bin lift device
60 Delivery station / port
72 Top lid
73 Enclosing cover
74 Handles
75 Wireless communication means / control panel

Claims

1. A remotely operated vehicle assembly (1) for picking up storage bins (2) from an underlying storage system (3), comprising
a vehicle body (4) displaying a cavity (7) for receiving a storage bin (2) within the storage system (3),
a vehicle lifting device (9) at least indirectly connected to the vehicle body (4) for vertically lifting the storage bin (2) from the underlying storage system (3) into the cavity (7),
driving means (10,1 1) connected to the vehicle body (4) allowing remotely controlled movements of the vehicle assembly (1) within the storage system (3), wireless communication means (75) for providing wireless communication between the vehicle assembly (1) and a remote control unit and
a main power source (6) supplying electrical power to the driving means (10,1 1),
characterized in that the vehicle assembly ( 1 ) further comprising
vehicle coupling means (22) for re-leasable coupling the the main power source
(6) to the vehicle body (4),
wherein said coupling means (22,23) is configured to allow interchange of the main power source (6) to a stationary charging station (20) after receiving at least one communication signal from the control unit.
2. The vehicle assembly (1) in accordance with claim 1,
characterized in that the vehicle assembly (1) further comprising an auxiliary power source (21) for supplying electrical power to the driving means (10,11).
3. The vehicle assembly (1 ) in accordance with claim 1 or 2,
characterized in that at the vehicle assembly (1) further comprising a management system (19) for managing at least one of the power sources (6,21),
said management system (19) comprising
means for monitoring at least one of voltage, temperature, state of charge
(SOC), depth of discharge (DOD), state of health (SOH), coolant flow and current and
recharging controlling means for controlling at least one parameter related to recharging of at least one of the power sources (6,21).
4. The vehicle assembly (1) in accordance with claim 3,
characterized in that, during the operation of the vehicle (1), the minimum amount of power stored in the auxiliary power source (21) equals the power required to move the vehicle assembly (1) from one charging station (20) to an adjacent charging station (20').
5. The vehicle assembly (1) in accordance with claim 3 or 4, characterized in that the auxiliary power source (21) and the main power source (6) are interconnected such that the main power source (6) may charge the auxiliary power source (21) when the main power source (6) is operationally connected to the vehicle assembly (1).
6. The vehicle assembly (1) in accordance with one of the preceding claims, characterized in that at least one of the power sources (6.21 ) is a capacitor.
7. The vehicle assembly (1) in accordance with one of the preceding claims, characterized in that at least one of the power sources (6,21) is a rechargeable battery.
8. The vehicle assembly (1) in accordance with one of claim 7, characterized in that the vehicle assembly (1) further comprising a battery management system (BMS) (19) managing at least one of the power sources (6,21).
9. The vehicle assembly (1) in accordance with one of the preceding claims, characterized in that the main power source (6) comprising
a receiving means (23) enabling releasable connection to a corresponding charge station connection means (25) situated on a charge station (20,20').
10. The vehicle assembly (1) in accordance with claim 9, characterized in that at least one of the receiving means (23) is a hook receiving means.
1 1. The vehicle assembly (1) in accordance with one of the preceding claims, characterized in that the vehicle connection means (22) further comprising
at least one battery hook (22) pivotable connected to the vehicle body (4), enabling releasable connection between the main power source (6) and the vehicle body (4).
12. Storage system (3) for storage of bins (2), characterized by comprising
- a remotely operated vehicle assembly (1 ) in accordance with any of claims 1-1 1, - a charging station (20,20'),
- a vehicle support (14) and
- 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).
13. Method for charging a power source (6,6') arranged in a remotely operated vehicle assembly (1), the method comprising the following steps:
a) moving the remotely operated vehicle assembly (1 ) to a charging position adjacent to a first charging station (20),
b) transferring a first main power source (6) connected to a vehicle body (4) of the vehicle assembly (1) to the first charging station (20),
c) moving the vehicle assembly (1) to a second charging station (20') using an auxiliary power source (21) supplying auxiliary electrical power to driving means (10,1 1) and
d) transferring a second main power source (6') connected to the second charging station (20') to the vehicle body (4), the second main power source (6') having been charged for a time period (T) by the second charging station (20).
14. Method in accordance with claim 13, characterized by
- lowering the vehicle body (4) towards an underlying vehicle support (14) during step b) and during step d), thereby disconnecting the main power source (6) from the vehicle body (4), and
- raising the vehicle body (4) away from the underlying vehicle support (14) after step b) and after step d), thereby allowing comiection of the main power source (6) to the charging station (20,20'),
wherein said lowering and raising of the vehicle body (4) is achieved by elongation means connected to, or being an integral part of, the driving means (10,1 1).
15. Method in accordance with claim 14, characterized in that the method steps are controlled by transmitting communication signals between a control unit and a wireless communication means (75) within the vehicle assembly (1).
16. Method in accordance with claims 14 or 15, characterized in that the vehicle (1) is in accordance with any of claims 1-11.
PCT/EP2015/050103 2014-01-08 2015-01-06 Robot for transporting storage bins WO2015104263A2 (en)

Priority Applications (15)

Application Number Priority Date Filing Date Title
SG11201605571YA SG11201605571YA (en) 2014-01-08 2015-01-06 Robot for transporting underlying bins with interchangeable main power source
DK15700422.7T DK3092187T4 (en) 2014-01-08 2015-01-06 ROBOT FOR TRANSPORTATION OF UNDERLYING CONTAINERS WITH REPLACEABLE MAIN ENERGY SOURCE
EA201691338A EA201691338A1 (en) 2014-01-08 2015-01-06 ROBOT FOR TRANSPORTATION OF WAREHOUSE CONTAINERS
EP21173167.4A EP3882182A1 (en) 2014-01-08 2015-01-06 Robot for transporting storage bins
CN201580003996.4A CN105899398B (en) 2014-01-08 2015-01-06 It is remotely controlled carrier loader component, the stocking system for storage bin and related charging method
EP15700422.7A EP3092187B2 (en) 2014-01-08 2015-01-06 Robot for transporting underlying bins with interchangeable main power source
CA2934020A CA2934020C (en) 2014-01-08 2015-01-06 Robot for transporting storage bins
AU2015205653A AU2015205653A1 (en) 2014-01-08 2015-01-06 Robot for transporting underlying bins with interchangeable main power source
MX2016008933A MX2016008933A (en) 2014-01-08 2015-01-06 Robot for transporting underlying bins with interchangeable main power source.
PL15700422.7T PL3092187T5 (en) 2014-01-08 2015-01-06 Robot for transporting underlying bins with interchangeable main power source
KR1020167020706A KR20160106098A (en) 2014-01-08 2015-01-06 Robot for transporting storage bins
US15/110,245 US9821959B2 (en) 2014-01-08 2015-01-06 Robot for transporting storage bins
JP2016546031A JP6978202B2 (en) 2014-01-08 2015-01-06 Storage system and method for charging
ES15700422T ES2883569T5 (en) 2014-01-08 2015-01-06 Robot for transporting underlying containers with interchangeable main power supply
HK16112195.0A HK1223888A1 (en) 2014-01-08 2016-10-24 Robot for transporting underlying bins with interchangeable main power source

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20140015 2014-01-08
NO20140015A NO340313B1 (en) 2014-01-08 2014-01-08 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

Publications (2)

Publication Number Publication Date
WO2015104263A2 true WO2015104263A2 (en) 2015-07-16
WO2015104263A3 WO2015104263A3 (en) 2015-10-01

Family

ID=52354957

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2015/050103 WO2015104263A2 (en) 2014-01-08 2015-01-06 Robot for transporting storage bins

Country Status (17)

Country Link
US (1) US9821959B2 (en)
EP (2) EP3882182A1 (en)
JP (2) JP6978202B2 (en)
CN (1) CN105899398B (en)
AU (1) AU2015205653A1 (en)
CA (1) CA2934020C (en)
CL (1) CL2016001735A1 (en)
DK (1) DK3092187T4 (en)
EA (1) EA201691338A1 (en)
ES (1) ES2883569T5 (en)
HK (1) HK1223888A1 (en)
MX (1) MX2016008933A (en)
NO (1) NO340313B1 (en)
PL (1) PL3092187T5 (en)
SG (1) SG11201605571YA (en)
TW (1) TW201529448A (en)
WO (1) WO2015104263A2 (en)

Cited By (63)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2542265A (en) * 2015-08-14 2017-03-15 Wal Mart Stores Inc Shopping facility track system and method of routing motorized transport units
WO2017115091A1 (en) 2015-12-30 2017-07-06 Hyperdrive Innovation Limited Battery management system
WO2017134033A1 (en) 2016-02-01 2017-08-10 Autostore Technology AS Cleaning bin for cleaning a storage grid of a storage system
US9757002B2 (en) 2015-03-06 2017-09-12 Wal-Mart Stores, Inc. Shopping facility assistance systems, devices and methods that employ voice input
WO2017220627A1 (en) 2016-06-21 2017-12-28 Autostore Technology AS Charging station with multiple power sources
US10017322B2 (en) 2016-04-01 2018-07-10 Wal-Mart Stores, Inc. Systems and methods for moving pallets via unmanned motorized unit-guided forklifts
GB2558798A (en) * 2015-04-15 2018-07-18 Ocado Innovation Ltd System and method for configuration of self-storage
WO2018210851A1 (en) 2017-05-16 2018-11-22 Autostore Technology AS Automated storage and retrieval system
WO2018210923A1 (en) 2017-05-16 2018-11-22 Autostore Technology AS Automated storage and retrieval system
CN109314975A (en) * 2016-06-30 2019-02-05 自动存储科技股份有限公司 The operating method of communication node in cordless communication network, associated communication node, communication system and storage system
WO2019092029A1 (en) 2017-11-07 2019-05-16 Autostore Technology AS Multi charging station for a storage system
WO2019101725A1 (en) 2017-11-23 2019-05-31 Autostore Technology AS Automated storage and retrieval system
US10346794B2 (en) 2015-03-06 2019-07-09 Walmart Apollo, Llc Item monitoring system and method
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
US10495657B2 (en) 2017-01-31 2019-12-03 Roche Diagnostics Operations, Inc. Laboratory sample distribution system and laboratory automation 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
US10509049B2 (en) 2014-09-15 2019-12-17 Roche Diagnostics Operations, Inc. Method of operating a laboratory sample distribution system, laboratory sample distribution system and laboratory automation system
WO2019238702A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Automated storage system with a container vehicle and a charging system
GB2574935A (en) * 2018-05-09 2019-12-25 Ocado Innovation Ltd Apparatus and method for charging a robotic load handling device
US10520520B2 (en) 2016-02-26 2019-12-31 Roche Diagnostics Operations, Inc. Transport device with base plate modules
US10564170B2 (en) 2015-07-22 2020-02-18 Roche Diagnostics Operations, Inc. Sample container carrier, laboratory sample distribution system and laboratory automation system
US10578632B2 (en) 2016-02-26 2020-03-03 Roche Diagnostics Operations, Inc. Transport device unit for a laboratory sample distribution system
US10605819B2 (en) 2016-02-26 2020-03-31 Roche Diagnostics Operations, Inc. Transport device having a tiled driving surface
WO2020074243A1 (en) 2018-10-12 2020-04-16 Autostore Technology AS Container arrangement, method
WO2020074242A1 (en) 2018-10-12 2020-04-16 Autostore Technology AS Mobile storage system
NO20181418A1 (en) * 2018-11-06 2020-05-07 Autostore Tech As Robot vehicle assembly with picking system
NO20191456A1 (en) * 2019-02-19 2020-08-20 Autostore Tech As A storage system, a vehicle for use in the storage system and a method of charging a vehicle in the storage system
WO2020169287A1 (en) 2019-02-19 2020-08-27 Autostore Technology AS Storage 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
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
US10962557B2 (en) 2017-07-13 2021-03-30 Roche Diagnostics Operations, Inc. Method of operating a laboratory sample distribution system, laboratory sample distribution system and laboratory automation system
EP3807190A1 (en) * 2018-06-12 2021-04-21 Autostore Technology As Automated storage system with a container vehicle and a charging system
US10989726B2 (en) 2016-06-09 2021-04-27 Roche Diagnostics Operations, Inc. Laboratory sample distribution system and method of operating a laboratory sample distribution system
US10989725B2 (en) 2017-06-02 2021-04-27 Roche Diagnostics Operations, Inc. Method of operating a laboratory sample distribution system, laboratory sample distribution system, and laboratory automation system
NO345589B1 (en) * 2019-09-26 2021-05-03 Autostore Tech As System and method for power management
US10996233B2 (en) 2016-06-03 2021-05-04 Roche Diagnostics Operations, Inc. Laboratory sample distribution system and laboratory automation system
US11046562B2 (en) 2015-03-06 2021-06-29 Walmart Apollo, Llc Shopping facility assistance systems, devices and methods
US11092613B2 (en) 2015-05-22 2021-08-17 Roche Diagnostics Operations, Inc. Method of operating a laboratory sample distribution system, laboratory sample distribution system and laboratory automation system
US11112421B2 (en) 2016-08-04 2021-09-07 Roche Diagnostics Operations, Inc. Laboratory sample distribution system and laboratory automation system
US11110464B2 (en) 2017-09-13 2021-09-07 Roche Diagnostics Operations, Inc. Sample container carrier, laboratory sample distribution system and laboratory automation system
US11110463B2 (en) 2017-09-13 2021-09-07 Roche Diagnostics Operations, Inc. Sample container carrier, laboratory sample distribution system and laboratory automation system
DE102020203221A1 (en) 2020-03-12 2021-09-16 Gebhardt Fördertechnik GmbH Vehicle for a storage system and charging station for the vehicle
GB2593280A (en) * 2020-01-24 2021-09-22 Ocado Innovation Ltd Rechargeable power source for a load handling device
GB202111638D0 (en) 2021-08-13 2021-09-29 Ocado Innovation Ltd Load handling device, storage and retrieval system & method
WO2021214228A1 (en) * 2020-04-24 2021-10-28 Ocado Innovation Limited Energy storage system for a load handling device
US11174103B2 (en) 2015-04-15 2021-11-16 Ocado Innovation Limited System and method for configuration of buildings or storage
NO20200674A1 (en) * 2020-06-08 2021-12-09 Autostore Tech As System and method of determining status of a charging station
US11204361B2 (en) 2017-02-03 2021-12-21 Roche Diagnostics Operations, Inc. Laboratory automation system
GB2596621A (en) * 2020-01-30 2022-01-05 Ocado Innovation Ltd Apparatus and method for charging a load handling device
US11226348B2 (en) 2015-07-02 2022-01-18 Roche Diagnostics Operations, Inc. Storage module, method of operating a laboratory automation system and laboratory automation system
EP3423164B1 (en) 2016-02-29 2022-02-09 Ocado Innovation Limited Robotic fire extinguishing device and handling method
WO2022063545A1 (en) * 2020-09-28 2022-03-31 Autostore Technology AS Storage system
US11709171B2 (en) 2018-03-16 2023-07-25 Roche Diagnostics Operations, Inc. Laboratory system, laboratory sample distribution system and laboratory automation system
US11747356B2 (en) 2020-12-21 2023-09-05 Roche Diagnostics Operations, Inc. Support element for a modular transport plane, modular transport plane, and laboratory distribution system
WO2024008945A1 (en) * 2022-07-07 2024-01-11 Ocado Innovation Limited Storage and retrieval system
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
FR3139560A1 (en) 2022-09-14 2024-03-15 Exotec Centering and support interface, and storage rack comprising such an interface.
FR3139810A1 (en) 2022-09-20 2024-03-22 Exotec Method and system for energy management in an automated storage and recovery system
US11971420B2 (en) 2018-03-07 2024-04-30 Roche Diagnostics Operations, Inc. Method of operating a laboratory sample distribution system, laboratory sample distribution system and laboratory automation system
US12000850B2 (en) 2020-06-19 2024-06-04 Roche Diagnostics Operations, Inc. Laboratory sample distribution system and corresponding method of operation
US12000851B2 (en) 2020-07-15 2024-06-04 Roche Diagnostics Operations, Inc. Laboratory sample distribution system and method for operating the same
US12084824B2 (en) 2015-03-06 2024-09-10 Walmart Apollo, Llc Shopping facility assistance systems, devices and methods

Families Citing this family (60)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO335839B1 (en) * 2012-12-10 2015-03-02 Jakob Hatteland Logistics As Robot for transporting storage containers
US9139363B2 (en) 2013-03-15 2015-09-22 John Lert Automated system for transporting payloads
US11203486B2 (en) 2015-06-02 2021-12-21 Alert Innovation Inc. Order fulfillment system
US11142398B2 (en) 2015-06-02 2021-10-12 Alert Innovation Inc. Order fulfillment system
CN108290685B (en) 2015-06-02 2021-03-02 阿勒特创新股份有限公司 Access system
GB201602505D0 (en) * 2016-02-12 2016-03-30 Ocado Innovation Ltd Storage systems,methods and containers
GB201603520D0 (en) * 2016-02-29 2016-04-13 Ocado Innovation Ltd Robotic service device and handling method
GB201604100D0 (en) 2016-03-10 2016-04-20 Ocado Innovation Ltd Apparatus for retrieving units from a storage system
GB201617727D0 (en) 2016-10-19 2016-11-30 Ocado Innovation Limited Storage systems and methods
NO20161733A1 (en) 2016-11-02 2018-03-19 Autostore Tech As Controlling movements of a robot running on tracks
JP7137562B2 (en) 2016-11-17 2022-09-14 アラート イノヴェイション インコーポレイテッド Automated service retail system and method
MX2019005988A (en) 2016-11-29 2019-10-14 Alert Innovation Inc Automated retail supply chain and inventory management system.
MX2019008112A (en) 2017-01-10 2019-10-24 Alert Innovation Inc Automated store with interchangeable automated mobile robots.
NO343227B1 (en) * 2017-01-30 2018-12-10 Autostore Tech As Remotely operated vehicle and storage system comprising such vehicle
USD897623S1 (en) * 2017-02-17 2020-09-29 Autostore Technology AS Dual track
EP4044083B1 (en) 2017-02-24 2023-09-13 Walmart Apollo, Llc Inventory management system and method
CA3056892C (en) 2017-03-20 2023-01-03 Berkshire Grey, Inc. Systems and methods for processing objects including mobile matrix carrier systems
CN113460559B (en) 2017-03-23 2023-04-07 伯克希尔格雷营业股份有限公司 System and method for processing objects comprising an automatically moving matrix carrier
WO2018175770A1 (en) 2017-03-23 2018-09-27 Berkshire Grey, Inc. Systems and methods for processing objects, including automated mobile matrix bins
JP6286084B1 (en) * 2017-03-24 2018-02-28 本田技研工業株式会社 Containment device
NO344463B1 (en) * 2017-05-16 2019-12-23 Autostore Tech As Automated storage and retrieval system and method of operating same
US10384541B2 (en) * 2017-05-19 2019-08-20 UBTECH Robotics Corp. Laser radar module and robot
NO343676B1 (en) * 2017-09-20 2019-05-06 Autostore Tech As Container handling vehicle
US11117760B2 (en) 2017-10-27 2021-09-14 Berkshire Grey, Inc. Systems and methods for processing objects including mobile matrix carrier systems
NO346519B1 (en) * 2017-11-02 2022-09-19 Autostore Tech As An automated storage and retrieval system, use of a multi trolley vehicle on the system and a method of operating the system
CN108045754B (en) * 2018-01-02 2024-01-26 上海木爷机器人技术有限公司 Storage cabinet and transport robot capable of charging storage cabinet
JP7234258B2 (en) 2018-01-09 2023-03-07 アウトストア・テクノロジー・エーエス Displacement mechanism for remotely operated vehicles
NO346364B1 (en) * 2018-04-25 2022-06-27 Autostore Tech As Container handling vehicle with first and second sections and battery in second section, and system.
NO346347B1 (en) * 2018-04-25 2022-06-20 Autostore Tech As Container handling vehicle comprising first and second section and assembly of motors in second section, and system
AU2019218868B2 (en) * 2018-02-08 2022-01-20 Walmart Apollo, Llc Opportunistic charging system for an automated storage and retrieval system
KR102275879B1 (en) * 2018-03-12 2021-07-08 주식회사 엘지에너지솔루션 Auxiliary Battery storage device for Electric vehicle
CN114604550A (en) 2018-04-25 2022-06-10 自动存储科技股份有限公司 Container handling vehicle and automated storage and retrieval system
NO344808B1 (en) 2018-06-12 2020-05-04 Autostore Tech As Express bin lift for automated storage system
JP7386186B2 (en) 2018-06-12 2023-11-24 アウトストア・テクノロジー・エーエス storage system
JP7360403B2 (en) 2018-06-12 2023-10-12 アウトストア・テクノロジー・エーエス Method and system for controlling operation of container handling vehicles and drones for automated storage and retrieval systems
CA3100103A1 (en) * 2018-06-12 2019-12-19 Autostore Technology AS Storage grid with container accessing station with locking device to lock remotely operated vehicle
US11572231B2 (en) 2018-06-12 2023-02-07 Autostore Technology AS Storage system with modular container handling vehicles
JP7373507B2 (en) * 2018-06-12 2023-11-02 アウトストア・テクノロジー・エーエス A delivery system with an access point and how to access the access point of the delivery system
JP7319309B2 (en) 2018-06-12 2023-08-01 アウトストア・テクノロジー・エーエス Method for handling defective vehicles on rail systems and warehouse system utilizing said method
CA3099101A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Storage system
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
NO345886B1 (en) 2018-06-12 2021-09-27 Autostore Tech As Vehicle tilting Device and Method of accessing a Storage container
JP7407745B2 (en) 2018-06-12 2024-01-04 アウトストア・テクノロジー・エーエス Unloading structures and unloading stations and methods for unloading items from storage containers.
US11772685B2 (en) 2018-06-12 2023-10-03 Autostore Technology AS System for storing and transporting storage containers
NO344750B1 (en) 2018-06-12 2020-04-06 Autostore Tech As Unloading arrangement and unloading station, as well as method of unloading an item from a storage container
DK3807180T3 (en) 2018-06-12 2023-11-06 Autostore Tech As CONTAINER ACCESS STATION WITH LIFTING DEVICE
EP3807178A1 (en) 2018-06-12 2021-04-21 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
US11235712B2 (en) * 2018-08-08 2022-02-01 Uatc, Llc Automatically adjustable partition wall for an autonomous vehicle
NO20190219A1 (en) * 2019-02-18 2020-08-19 Autostore Tech As System and a method for harvesting energy from a container handling vehicle.
NO346042B1 (en) 2019-03-29 2022-01-17 Autostore Tech As Dynamic Power Management
NO347473B1 (en) * 2019-04-12 2023-11-13 Autostore Tech As Li-Fi for data communication in Autostore
NO346306B1 (en) * 2019-08-22 2022-05-30 Autostore Tech As A delivery system, an automated storage and retrieval system and a method of transporting a container
CN112978248A (en) * 2019-12-12 2021-06-18 菜鸟智能物流控股有限公司 Logistics object transportation device
CN111410011A (en) * 2020-03-10 2020-07-14 浙江衣拿智能科技股份有限公司 Management control system and method suitable for logistics transportation
KR20230004793A (en) * 2020-04-24 2023-01-06 오카도 이노베이션 리미티드 Energy storage systems for cargo handling units
NO20200927A1 (en) * 2020-08-26 2022-02-28 Autostore Tech As Routing of container handling vehicles operating an automated storage system
CN111924404B (en) * 2020-09-17 2020-12-22 成都恒坤自动化设备有限公司 Dispensing system based on AGV dolly
JP7471193B2 (en) 2020-10-05 2024-04-19 株式会社 ゼンショーホールディングス Transport robot and transport system
US20230089840A1 (en) * 2021-09-17 2023-03-23 Beta Air, Llc Systems and methods for adaptive electric vehicle charging
CN114256917A (en) * 2021-12-03 2022-03-29 济宁市海富电子科技有限公司 Robot automatic charging control method and system and robot

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998049075A1 (en) 1997-04-30 1998-11-05 Autostore As Method for organising the storage of different units
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
NO20121488A1 (en) 2012-12-10 2014-06-11 Jakob Hatteland Logistics As Robot for transporting storage containers

Family Cites Families (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS49127377A (en) * 1973-04-12 1974-12-05
JPH065281Y2 (en) * 1988-07-12 1994-02-09 三菱重工業株式会社 Three-dimensional warehouse
JP2977206B2 (en) * 1989-07-04 1999-11-15 松下電器産業株式会社 Battery for automatic guided vehicle, automatic guided vehicle using battery, automatic battery charging device for automatic guided vehicle, and automatic charging method thereof
JPH05104957A (en) * 1991-10-14 1993-04-27 Murata Mach Ltd Battery changing device
JPH05181528A (en) * 1992-01-07 1993-07-23 Murata Mach Ltd Positioning method for mobile robot
JPH07330131A (en) * 1994-06-10 1995-12-19 Daifuku Co Ltd Conveying device using carriage
US5612606A (en) † 1994-09-15 1997-03-18 David C. Guimarin Battery exchange system for electric vehicles
JP3760544B2 (en) † 1997-01-20 2006-03-29 アシスト シンコー株式会社 Transport device
JP2000318462A (en) * 1999-05-10 2000-11-21 Araco Corp Method and structure for battery mounting and removal of electric vehicle
JP3853182B2 (en) * 2001-08-23 2006-12-06 日本輸送機株式会社 Battery replacement time management system for automated guided vehicles
JP2003212125A (en) * 2002-01-24 2003-07-30 Araco Corp Battery exchanging device
TWI233913B (en) 2002-06-06 2005-06-11 Murata Machinery Ltd Automated guided vehicle system
DE10227000A1 (en) † 2002-06-18 2004-01-08 Wyndorps, Paul, Prof. Dr.-Ing. Rapid battery changing on electrically powered vehicles involves driving vehicle over device for positioning batteries at defined distance beneath operating position and using built-in lifting device
US6694767B2 (en) * 2002-06-19 2004-02-24 Jouan Work enclosure having article supports that obstruct access openings
FR2854358A1 (en) * 2003-04-29 2004-11-05 Richard Chene AUTONOMOUS VEHICLE WITH ELECTRIC TRACTION
AT501062B1 (en) * 2004-06-04 2007-06-15 Katt Transp Gmbh METHOD FOR PROMOTING GOODS AND PLANT FOR IMPLEMENTING THE PROCESS
US7381022B1 (en) * 2004-12-18 2008-06-03 Rodney Joe King Automated 3-dimensional multitasking, stocking, storage, and distribution system
JP2008283739A (en) * 2007-05-08 2008-11-20 Asyst Technologies Japan Inc Carrier
US8006793B2 (en) † 2008-09-19 2011-08-30 Better Place GmbH Electric vehicle battery system
CN102341322B (en) † 2009-01-17 2014-08-13 布穆朗系统有限公司 Variable offset positioning antenna array for enhanced guidance of automated guided vehicles (agvs)
TWI680928B (en) * 2009-04-10 2020-01-01 美商辛波提克有限責任公司 Vertical lift system and method for transferring uncontained case unit to and from a multilevel storage structure
US20100292877A1 (en) * 2009-05-18 2010-11-18 Gabrielle W. Lee Comprehensive engineering / operation system for electric vehicle and smart networked and decentralized power storage
ITTO20090771A1 (en) * 2009-10-09 2011-04-10 Icam S R L SHUTTLE OF AN AUTOMATED WAREHOUSE
US20110106294A1 (en) * 2009-10-30 2011-05-05 John Bean Technologies Corporation Automatic battery exchange system for mobile vehicles
JP5429570B2 (en) * 2010-03-08 2014-02-26 株式会社ダイフク Goods transport equipment
JP2011234599A (en) * 2010-04-26 2011-11-17 Hisashi Tsukamoto Traveling body operation system
US8550763B2 (en) * 2010-09-30 2013-10-08 International Business Machines Corporation Cell engagement and retention carriage
JP5382470B2 (en) * 2010-11-04 2014-01-08 村田機械株式会社 Transport system and transport method
US10217160B2 (en) * 2012-04-22 2019-02-26 Emerging Automotive, Llc Methods and systems for processing charge availability and route paths for obtaining charge for electric vehicles
KR101639678B1 (en) * 2011-09-06 2016-07-14 무라다기카이가부시끼가이샤 Delivery vehicle system and charge method for delivery vehicle
FR2982223B1 (en) 2011-11-07 2013-11-01 Renault Sa SEMI-AUTOMATIC TRACTION BATTERY EXCHANGE STATION FOR AN ELECTRIC OR HYBRID VEHICLE
HUE055726T2 (en) * 2012-05-11 2021-12-28 Ocado Innovation Ltd Storage systems and methods for retrieving units from a storage system
US9156360B2 (en) * 2012-07-01 2015-10-13 Kookmin University Industry Academy Cooperation Foundation Battery exchanging-type charging station system for electric vehicle

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998049075A1 (en) 1997-04-30 1998-11-05 Autostore As Method for organising the storage of different units
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
NO20121488A1 (en) 2012-12-10 2014-06-11 Jakob Hatteland Logistics As Robot for transporting storage containers

Cited By (158)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10509049B2 (en) 2014-09-15 2019-12-17 Roche Diagnostics Operations, Inc. Method of operating a laboratory sample distribution system, laboratory sample distribution system and laboratory automation system
US10346794B2 (en) 2015-03-06 2019-07-09 Walmart Apollo, Llc Item monitoring system and method
US10351399B2 (en) 2015-03-06 2019-07-16 Walmart Apollo, Llc Systems, devices and methods of controlling motorized transport units in fulfilling product orders
US10669140B2 (en) 2015-03-06 2020-06-02 Walmart Apollo, Llc Shopping facility assistance systems, devices and methods to detect and handle incorrectly placed items
US9801517B2 (en) 2015-03-06 2017-10-31 Wal-Mart Stores, Inc. Shopping facility assistance object detection systems, devices and methods
US10239739B2 (en) 2015-03-06 2019-03-26 Walmart Apollo, Llc Motorized transport unit worker support systems and methods
US9875502B2 (en) 2015-03-06 2018-01-23 Wal-Mart Stores, Inc. Shopping facility assistance systems, devices, and methods to identify security and safety anomalies
US9875503B2 (en) 2015-03-06 2018-01-23 Wal-Mart Stores, Inc. Method and apparatus for transporting a plurality of stacked motorized transport units
US9896315B2 (en) 2015-03-06 2018-02-20 Wal-Mart Stores, Inc. Systems, devices and methods of controlling motorized transport units in fulfilling product orders
US9908760B2 (en) 2015-03-06 2018-03-06 Wal-Mart Stores, Inc. Shopping facility assistance systems, devices and methods to drive movable item containers
US9994434B2 (en) 2015-03-06 2018-06-12 Wal-Mart Stores, Inc. Overriding control of motorize transport unit systems, devices and methods
US10570000B2 (en) 2015-03-06 2020-02-25 Walmart Apollo, Llc Shopping facility assistance object detection systems, devices and methods
US10597270B2 (en) 2015-03-06 2020-03-24 Walmart Apollo, Llc Shopping facility track system and method of routing motorized transport units
US10071891B2 (en) 2015-03-06 2018-09-11 Walmart Apollo, Llc Systems, devices, and methods for providing passenger transport
US10071893B2 (en) 2015-03-06 2018-09-11 Walmart Apollo, Llc Shopping facility assistance system and method to retrieve in-store abandoned mobile item containers
US10071892B2 (en) 2015-03-06 2018-09-11 Walmart Apollo, Llc Apparatus and method of obtaining location information of a motorized transport unit
US10239740B2 (en) 2015-03-06 2019-03-26 Walmart Apollo, Llc Shopping facility assistance system and method having a motorized transport unit that selectively leads or follows a user within a shopping facility
US10130232B2 (en) 2015-03-06 2018-11-20 Walmart Apollo, Llc Shopping facility assistance systems, devices and methods
US11679969B2 (en) 2015-03-06 2023-06-20 Walmart Apollo, Llc Shopping facility assistance systems, devices and methods
US10875752B2 (en) 2015-03-06 2020-12-29 Walmart Apollo, Llc Systems, devices and methods of providing customer support in locating products
US10138100B2 (en) 2015-03-06 2018-11-27 Walmart Apollo, Llc Recharging apparatus and method
US10189692B2 (en) 2015-03-06 2019-01-29 Walmart Apollo, Llc Systems, devices and methods for restoring shopping space conditions
US10189691B2 (en) 2015-03-06 2019-01-29 Walmart Apollo, Llc Shopping facility track system and method of routing motorized transport units
US10815104B2 (en) 2015-03-06 2020-10-27 Walmart Apollo, Llc Recharging apparatus and method
US11761160B2 (en) 2015-03-06 2023-09-19 Walmart Apollo, Llc Apparatus and method of monitoring product placement within a shopping facility
US9757002B2 (en) 2015-03-06 2017-09-12 Wal-Mart Stores, Inc. Shopping facility assistance systems, devices and methods that employ voice input
US10508010B2 (en) 2015-03-06 2019-12-17 Walmart Apollo, Llc Shopping facility discarded item sorting systems, devices and methods
US10081525B2 (en) 2015-03-06 2018-09-25 Walmart Apollo, Llc Shopping facility assistance systems, devices and methods to address ground and weather conditions
US10239738B2 (en) 2015-03-06 2019-03-26 Walmart Apollo, Llc Apparatus and method of monitoring product placement within a shopping facility
US11840814B2 (en) 2015-03-06 2023-12-12 Walmart Apollo, Llc Overriding control of motorized transport unit systems, devices and methods
US10280054B2 (en) 2015-03-06 2019-05-07 Walmart Apollo, Llc Shopping facility assistance systems, devices and methods
US10287149B2 (en) 2015-03-06 2019-05-14 Walmart Apollo, Llc Assignment of a motorized personal assistance apparatus
US12123155B2 (en) 2015-03-06 2024-10-22 Walmart Apollo, Llc Apparatus and method of monitoring product placement within a shopping facility
US12084824B2 (en) 2015-03-06 2024-09-10 Walmart Apollo, Llc Shopping facility assistance systems, devices and methods
US10315897B2 (en) 2015-03-06 2019-06-11 Walmart Apollo, Llc Systems, devices and methods for determining item availability in a shopping space
US10336592B2 (en) 2015-03-06 2019-07-02 Walmart Apollo, Llc Shopping facility assistance systems, devices, and methods to facilitate returning items to their respective departments
US10486951B2 (en) 2015-03-06 2019-11-26 Walmart Apollo, Llc Trash can monitoring systems and methods
US10351400B2 (en) 2015-03-06 2019-07-16 Walmart Apollo, Llc Apparatus and method of obtaining location information of a motorized transport unit
US11034563B2 (en) 2015-03-06 2021-06-15 Walmart Apollo, Llc Apparatus and method of monitoring product placement within a shopping facility
US10358326B2 (en) 2015-03-06 2019-07-23 Walmart Apollo, Llc Shopping facility assistance systems, devices and methods
US10633231B2 (en) 2015-03-06 2020-04-28 Walmart Apollo, Llc Apparatus and method of monitoring product placement within a shopping facility
US11046562B2 (en) 2015-03-06 2021-06-29 Walmart Apollo, Llc Shopping facility assistance systems, devices and methods
US10435279B2 (en) 2015-03-06 2019-10-08 Walmart Apollo, Llc Shopping space route guidance systems, devices and methods
US10611614B2 (en) 2015-03-06 2020-04-07 Walmart Apollo, Llc Shopping facility assistance systems, devices and methods to drive movable item containers
US11174103B2 (en) 2015-04-15 2021-11-16 Ocado Innovation Limited System and method for configuration of buildings or storage
GB2558798A (en) * 2015-04-15 2018-07-18 Ocado Innovation Ltd System and method for configuration of self-storage
US11092613B2 (en) 2015-05-22 2021-08-17 Roche Diagnostics Operations, Inc. Method of operating a laboratory sample distribution system, laboratory sample distribution system and laboratory automation system
US11226348B2 (en) 2015-07-02 2022-01-18 Roche Diagnostics Operations, Inc. Storage module, method of operating a laboratory automation system and laboratory automation system
US10564170B2 (en) 2015-07-22 2020-02-18 Roche Diagnostics Operations, Inc. Sample container carrier, laboratory sample distribution system and laboratory automation system
GB2542265A (en) * 2015-08-14 2017-03-15 Wal Mart Stores Inc Shopping facility track system and method of routing motorized transport units
WO2017115091A1 (en) 2015-12-30 2017-07-06 Hyperdrive Innovation Limited Battery management system
JP7083945B2 (en) 2016-02-01 2022-06-13 アウトストア・テクノロジー・エーエス Cleaning container for cleaning the storage grid of the storage system
EP3643413A1 (en) 2016-02-01 2020-04-29 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
JP2021151924A (en) * 2016-02-01 2021-09-30 アウトストア・テクノロジー・エーエスAutostore Technology As Cleaning container for cleaning storage grid of storage system
US10654661B2 (en) 2016-02-01 2020-05-19 Autostore Technology AS Cleaning bin for cleaning a storage grid of a storage system
JP2019509164A (en) * 2016-02-01 2019-04-04 アウトストア・テクノロジー・エーエスＡｕｔｏｓｔｏｒｅ Ｔｅｃｈｎｏｌｏｇｙ Ａｓ Cleaning container for cleaning storage grid of storage system
EP4424432A2 (en) 2016-02-01 2024-09-04 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
US11104522B2 (en) 2016-02-01 2021-08-31 Autostore Technology AS Cleaning bin for cleaning a storage grid of a storage system
US10520520B2 (en) 2016-02-26 2019-12-31 Roche Diagnostics Operations, Inc. Transport device with base plate modules
US10948508B2 (en) 2016-02-26 2021-03-16 Roche Diagnostics Operations, Inc. Transport device unit for a laboratory sample distribution system
US10605819B2 (en) 2016-02-26 2020-03-31 Roche Diagnostics Operations, Inc. Transport device having a tiled driving surface
US10578632B2 (en) 2016-02-26 2020-03-03 Roche Diagnostics Operations, Inc. Transport device unit for a laboratory sample distribution system
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
US10214400B2 (en) 2016-04-01 2019-02-26 Walmart Apollo, Llc Systems and methods for moving pallets via unmanned motorized unit-guided forklifts
US10017322B2 (en) 2016-04-01 2018-07-10 Wal-Mart Stores, Inc. Systems and methods for moving pallets via unmanned motorized unit-guided forklifts
US10996233B2 (en) 2016-06-03 2021-05-04 Roche Diagnostics Operations, Inc. Laboratory sample distribution system and laboratory automation system
US10989726B2 (en) 2016-06-09 2021-04-27 Roche Diagnostics Operations, Inc. Laboratory sample distribution system and method of operating a laboratory sample distribution system
JP2019527527A (en) * 2016-06-21 2019-09-26 アウトストア・テクノロジー・エーエスＡｕｔｏｓｔｏｒｅ Ｔｅｃｈｎｏｌｏｇｙ Ａｓ Charging station for multiple power sources
US10819126B2 (en) 2016-06-21 2020-10-27 Autostore Technology AS Charging station with multiple power sources
CN109328150A (en) * 2016-06-21 2019-02-12 自动存储科技股份有限公司 Charging station with multiple power supplys
EP3471994B1 (en) 2016-06-21 2021-10-20 Autostore Technology AS Charging station with multiple power sources
WO2017220627A1 (en) 2016-06-21 2017-12-28 Autostore Technology AS Charging station with multiple power sources
CN109328150B (en) * 2016-06-21 2022-08-19 自动存储科技股份有限公司 Charging station with multiple power sources
JP7068202B2 (en) 2016-06-21 2022-05-16 アウトストア・テクノロジー・エーエス Charging station with multiple power sources
CN109314975A (en) * 2016-06-30 2019-02-05 自动存储科技股份有限公司 The operating method of communication node in cordless communication network, associated communication node, communication system and storage system
US11770846B2 (en) 2016-06-30 2023-09-26 Autostore Technology AS Operating method of a communication node in a wireless communication network, associated communication node, communication system and storage system
JP2022191467A (en) * 2016-06-30 2022-12-27 アウトストア・テクノロジー・エーエス Operating method of communication node in wireless communication network, associated communication node, communication system and storage system
JP7389552B2 (en) 2016-06-30 2023-11-30 アウトストア・テクノロジー・エーエス Methods of operation of communication nodes in wireless communication networks, associated communication nodes, communication systems, and storage systems
JP2019525559A (en) * 2016-06-30 2019-09-05 アウトストア・テクノロジー・エーエスＡｕｔｏｓｔｏｒｅ Ｔｅｃｈｎｏｌｏｇｙ Ａｓ Operation method of communication node in wireless communication network, related communication node, communication system, and storage system
US11112421B2 (en) 2016-08-04 2021-09-07 Roche Diagnostics Operations, Inc. Laboratory sample distribution system and laboratory automation system
US10495657B2 (en) 2017-01-31 2019-12-03 Roche Diagnostics Operations, Inc. Laboratory sample distribution system and laboratory automation system
US11204361B2 (en) 2017-02-03 2021-12-21 Roche Diagnostics Operations, Inc. Laboratory automation system
US11597597B2 (en) 2017-05-16 2023-03-07 Autostore Technology AS Automated storage and retrieval system
EP4234444A2 (en) 2017-05-16 2023-08-30 Autostore Technology AS Automated storage and retrieval system
EP4234444A3 (en) * 2017-05-16 2023-09-06 Autostore Technology AS Automated storage and retrieval system
US11360465B2 (en) 2017-05-16 2022-06-14 Autostore Technology AS Automated storage and retrieval system
US11846935B2 (en) 2017-05-16 2023-12-19 Autostore Technology AS Automated storage and retrieval system
US11912501B2 (en) 2017-05-16 2024-02-27 Autostore Technology AS Automated storage and retrieval system
EP4371908A2 (en) 2017-05-16 2024-05-22 Autostore Technology AS Automated storage and retrieval system
EP4371908A3 (en) * 2017-05-16 2024-07-24 Autostore Technology AS Automated storage and retrieval system
WO2018210923A1 (en) 2017-05-16 2018-11-22 Autostore Technology AS Automated storage and retrieval system
WO2018210851A1 (en) 2017-05-16 2018-11-22 Autostore Technology AS Automated storage and retrieval system
US10989725B2 (en) 2017-06-02 2021-04-27 Roche Diagnostics Operations, Inc. Method of operating a laboratory sample distribution system, laboratory sample distribution system, and laboratory automation system
US10962557B2 (en) 2017-07-13 2021-03-30 Roche Diagnostics Operations, Inc. Method of operating a laboratory sample distribution system, laboratory sample distribution system and laboratory automation system
US11110463B2 (en) 2017-09-13 2021-09-07 Roche Diagnostics Operations, Inc. Sample container carrier, laboratory sample distribution system and laboratory automation system
US11110464B2 (en) 2017-09-13 2021-09-07 Roche Diagnostics Operations, Inc. Sample container carrier, laboratory sample distribution system and laboratory automation system
WO2019092029A1 (en) 2017-11-07 2019-05-16 Autostore Technology AS Multi charging station for a storage system
US11465521B2 (en) 2017-11-07 2022-10-11 Autostore Technology AS Multi charging station for a storage system
WO2019101725A1 (en) 2017-11-23 2019-05-31 Autostore Technology AS Automated storage and retrieval system
US11807452B2 (en) 2017-11-23 2023-11-07 Autostore Technology AS Automated storage and retrieval system
US11971420B2 (en) 2018-03-07 2024-04-30 Roche Diagnostics Operations, Inc. Method of operating a laboratory sample distribution system, laboratory sample distribution system and laboratory automation system
US11709171B2 (en) 2018-03-16 2023-07-25 Roche Diagnostics Operations, Inc. Laboratory system, laboratory sample distribution system and laboratory automation system
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
EP4410590A2 (en) 2018-04-25 2024-08-07 AutoStore Technology AS Automated storage and retrieval system
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
EP4410590A3 (en) * 2018-04-25 2024-10-09 AutoStore Technology AS Automated storage and retrieval system
EP4151558A2 (en) 2018-04-25 2023-03-22 Autostore Technology As Automated storage and retrieval system
GB2574935A (en) * 2018-05-09 2019-12-25 Ocado Innovation Ltd Apparatus and method for charging a robotic load handling device
US12006150B2 (en) 2018-05-09 2024-06-11 Ocado Innovation Limited Apparatus and method for charging a robotic load handling device
AU2019267067B2 (en) * 2018-05-09 2022-10-13 Ocado Innovation Limited Apparatus and method for charging a robotic load handling device
GB2574935B (en) * 2018-05-09 2023-02-15 Ocado Innovation Ltd Apparatus and method for charging a robotic load handling device
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
WO2019238702A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Automated storage system with a container vehicle and a charging system
EP3807190A1 (en) * 2018-06-12 2021-04-21 Autostore Technology As Automated storage system with a container vehicle and a charging system
US11993163B2 (en) 2018-06-12 2024-05-28 Autostore Technology AS Automated storage system with a container vehicle and a charging system
WO2020074242A1 (en) 2018-10-12 2020-04-16 Autostore Technology AS Mobile storage system
US12071305B2 (en) 2018-10-12 2024-08-27 Autostore Technology AS Mobile storage system
WO2020074243A1 (en) 2018-10-12 2020-04-16 Autostore Technology AS Container arrangement, method
US11597590B2 (en) 2018-10-12 2023-03-07 Autostore Technology AS Container arrangement and method
US11383926B2 (en) 2018-11-06 2022-07-12 Autostore Technology AS Automated storage and retrieval system
NO20181418A1 (en) * 2018-11-06 2020-05-07 Autostore Tech As Robot vehicle assembly with picking system
NO344971B1 (en) * 2018-11-06 2020-08-03 Autostore Tech As Robot vehicle assembly with picking system
NO345225B1 (en) * 2019-02-19 2020-11-09 Autostore Tech As A storage system, a vehicle for use in the storage system and a method of charging a vehicle in the storage system
WO2020169287A1 (en) 2019-02-19 2020-08-27 Autostore Technology AS Storage system
NO20191456A1 (en) * 2019-02-19 2020-08-20 Autostore Tech As A storage system, a vehicle for use in the storage system and a method of charging a vehicle in the storage 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
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
NO345589B1 (en) * 2019-09-26 2021-05-03 Autostore Tech As System and method for power management
GB2593280A (en) * 2020-01-24 2021-09-22 Ocado Innovation Ltd Rechargeable power source for a load handling device
GB2621743B (en) * 2020-01-24 2024-08-28 Ocado Innovation Ltd Rechargeable power source for a load handling device
GB2621743A (en) * 2020-01-24 2024-02-21 Ocado Innovation Ltd Rechargeable power source for a load handling device
GB2614624A (en) * 2020-01-24 2023-07-12 Ocado Innovation Ltd Rechargeable power source for a load handling device
GB2614624B (en) * 2020-01-24 2023-12-27 Ocado Innovation Ltd Rechargeable power source for a load handling device
GB2593280B (en) * 2020-01-24 2023-03-29 Ocado Innovation Ltd Rechargeable power source for a load handling device
GB2596621A (en) * 2020-01-30 2022-01-05 Ocado Innovation Ltd Apparatus and method for charging a load handling device
GB2596621B (en) * 2020-01-30 2022-09-14 Ocado Innovation Ltd Apparatus and method for charging a load handling device
DE102020203221A1 (en) 2020-03-12 2021-09-16 Gebhardt Fördertechnik GmbH Vehicle for a storage system and charging station for the vehicle
WO2021214228A1 (en) * 2020-04-24 2021-10-28 Ocado Innovation Limited Energy storage system for a load handling device
WO2021249840A1 (en) 2020-06-08 2021-12-16 Autostore Technology AS System and method of determining status of a charging station
NO346054B1 (en) * 2020-06-08 2022-01-24 Autostore Tech As System and method of determining status of a charging station
NO20200674A1 (en) * 2020-06-08 2021-12-09 Autostore Tech As System and method of determining status of a charging station
US12000850B2 (en) 2020-06-19 2024-06-04 Roche Diagnostics Operations, Inc. Laboratory sample distribution system and corresponding method of operation
US12000851B2 (en) 2020-07-15 2024-06-04 Roche Diagnostics Operations, Inc. Laboratory sample distribution system and method for operating the same
WO2022063545A1 (en) * 2020-09-28 2022-03-31 Autostore Technology AS Storage system
US11747356B2 (en) 2020-12-21 2023-09-05 Roche Diagnostics Operations, Inc. Support element for a modular transport plane, modular transport plane, and laboratory distribution system
WO2023017184A1 (en) 2021-08-13 2023-02-16 Ocado Innovation Limited Load handling device, storage and retrieval system & method
GB202111638D0 (en) 2021-08-13 2021-09-29 Ocado Innovation Ltd Load handling device, storage and retrieval system & method
WO2024008945A1 (en) * 2022-07-07 2024-01-11 Ocado Innovation Limited Storage and retrieval system
WO2024056464A1 (en) 2022-09-14 2024-03-21 Exotec Centring and supporting interface, and storage rack comprising such an interface
FR3139560A1 (en) 2022-09-14 2024-03-15 Exotec Centering and support interface, and storage rack comprising such an interface.
WO2024062175A1 (en) 2022-09-20 2024-03-28 Exotec Method and system for energy management in an automated storage and retrieval system
FR3139810A1 (en) 2022-09-20 2024-03-22 Exotec Method and system for energy management in an automated storage and recovery system

Also Published As

Publication number Publication date
NO340313B1 (en) 2017-03-27
EA201691338A1 (en) 2016-12-30
EP3882182A1 (en) 2021-09-22
EP3092187A2 (en) 2016-11-16
WO2015104263A3 (en) 2015-10-01
CN105899398B (en) 2018-10-23
SG11201605571YA (en) 2016-08-30
ES2883569T3 (en) 2021-12-09
EP3092187B1 (en) 2021-07-28
DK3092187T3 (en) 2021-08-23
US20160325932A1 (en) 2016-11-10
JP2021119739A (en) 2021-08-12
JP6978202B2 (en) 2021-12-08
DK3092187T4 (en) 2024-07-08
JP7307120B2 (en) 2023-07-11
US9821959B2 (en) 2017-11-21
MX2016008933A (en) 2017-01-18
CL2016001735A1 (en) 2016-12-23
CA2934020C (en) 2021-11-16
CA2934020A1 (en) 2015-07-16
PL3092187T3 (en) 2021-11-22
PL3092187T5 (en) 2024-07-15
EP3092187B2 (en) 2024-06-12
HK1223888A1 (en) 2017-08-11
TW201529448A (en) 2015-08-01
AU2015205653A1 (en) 2016-07-07
NO20140015A1 (en) 2015-07-09
CN105899398A (en) 2016-08-24
JP2017503731A (en) 2017-02-02
ES2883569T5 (en) 2024-10-10

Similar Documents

Publication Publication Date Title
CA2934020C (en) Robot for transporting storage bins
US10819126B2 (en) Charging station with multiple power sources
CN106043247B (en) Modular extensible power station switching equipment and charging rack
US9252624B2 (en) Battery control device and battery system
JP2021119739A5 (en)
JP2017503731A5 (en)
EP2623379A1 (en) Electric commercial vehicle battery replacement apparatus and battery swap system
CN113874247B (en) Battery loading mechanism for electric LHD miner
CA3130017A1 (en) System and a method for harvesting energy from a container handling vehicle.
CN102832687B (en) The device and transmission method of the energy stores on lifting platform
US20230170731A1 (en) Energy storage system for a load handling device
KR20160106098A (en) Robot for transporting storage bins
CN215663040U (en) Battery changing station
WO2024170617A1 (en) Battery exchange station and methods of exchanging a rechargeable battery at a battery exchange station
WO2024008945A1 (en) Storage and retrieval system
EA044773B1 (en) BATTERY LOADING MECHANISM FOR ELECTRIC MINING LOADING AND DELIVERY MACHINE

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: 15700422

Country of ref document: EP

Kind code of ref document: A2

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: 2934020

Country of ref document: CA

REEP Request for entry into the european phase

Ref document number: 2015700422

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 2015700422

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 2015205653

Country of ref document: AU

Date of ref document: 20150106

Kind code of ref document: A

Ref document number: 2016546031

Country of ref document: JP

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 15110245

Country of ref document: US

Ref document number: MX/A/2016/008933

Country of ref document: MX

NENP Non-entry into the national phase

Ref country code: DE

REG Reference to national code

Ref country code: BR

Ref legal event code: B01A

Ref document number: 112016015773

Country of ref document: BR

WWE Wipo information: entry into national phase

Ref document number: 201691338

Country of ref document: EA

ENP Entry into the national phase

Ref document number: 20167020706

Country of ref document: KR

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: A201607980

Country of ref document: UA

WWE Wipo information: entry into national phase

Ref document number: 14235

Country of ref document: GE

ENP Entry into the national phase

Ref document number: 112016015773

Country of ref document: BR

Kind code of ref document: A2

Effective date: 20160706