WO2018033426A1 - Single cell robot with control unit - Google Patents

Single cell robot with control unit Download PDF

Info

Publication number
WO2018033426A1
WO2018033426A1 PCT/EP2017/070016 EP2017070016W WO2018033426A1 WO 2018033426 A1 WO2018033426 A1 WO 2018033426A1 EP 2017070016 W EP2017070016 W EP 2017070016W WO 2018033426 A1 WO2018033426 A1 WO 2018033426A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
control unit
storage system
remotely operated
control panel
Prior art date
Application number
PCT/EP2017/070016
Other languages
French (fr)
Inventor
Ivar Fjeldheim
Ingvar Hognaland
Trond Austrheim
Original Assignee
Autostore Technology 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
Application filed by Autostore Technology AS filed Critical Autostore Technology AS
Publication of WO2018033426A1 publication Critical patent/WO2018033426A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0464—Storage devices mechanical with access from above
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • 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
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots

Definitions

  • the present invention relates to a remotely operated vehicle, or robot, for picking up storage bins from a storage system.
  • the vehicle occupies a single cell holding storage bins, and comprises control means for manually overriding a remote controlled operation.
  • 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 detail in Norwegian patent no. 317366 B l .
  • Such prior art storage systems comprise a three dimensional storage grid holding 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, onto which a plurality of remotely operated vehicles, or robots, are arranged to move laterally.
  • Each vehicle is equipped with a lift for picking up, carrying, and placing bins that are stored in the storage grid.
  • a vehicle further comprises a rechargeable battery in order to supply electrical power to a motor incorporated in the vehicle.
  • the vehicle typically comprises a control unit adapted for communication with a control system via a wireless link which is provided with power from the internal rechargeable battery that is recharged at a charging station when needed.
  • the storage system 10 includes a plurality of remotely operated vehicles 80 configured to move in X and Y directions on dedicated supporting rails 20, and to receive a storage bin 60 from a storage column 30 within a bin storing grid 50.
  • the prior art storage system 10 may also include a dedicated bin lift device 70, the latter being arranged to receive a storage bin 60 from a vehicle 80 at the top level of the storage system 10 and to convey the storage bin 60 down in a vertical direction to a delivery port or station 40.
  • Said known system comprises vehicles 80, each covering a cross section of the underlying storage system 10 corresponding to two storage columns 30.
  • each vehicle occupying only a single cell.
  • Each vehicle will operate very close to each other, e.g. as close as 4mm. This does however introduce a problem related to congestion if one or more vehicles fail to operate which may result in blocking of other vehicles. If congestion or jamming occurs it will be hard to operate and move the automated vehicles. Control signals to and from vehicles may be blocked. It is thus an object of the present invention to provide a single cell vehicle with control means for manually overriding a remote operation thereby enabling manual operation of the vehicle.
  • the present invention relates to a remotely operated vehicle, or robot, for picking up storage bins from a storage system.
  • the invention is defined by a remotely operated vehicle for picking up storage bins from an underlying storage system, comprising an internal lifting device for lifting storage bins from the underlying storage system, rolling means allowing movement of the vehicle along first and second directions (x, y) on the underlying storage system, driving means situated at or at least partly within the rolling means for providing driving force to the vehicle while occupying minimum space, and a control unit configured to control the movements of the vehicle, where the control unit is connected to said driving means and provided with wireless communication to and from the vehicle by means of a wireless communication link.
  • the remotely operated vehicle is characterized in that the control unit is connected to a control panel with input means for manual overriding a remote controlled operation of the vehicle.
  • Figure 1 is a perspective view of a prior art storage system comprising a grid and a plurality of remotely operated vehicles;
  • Figure 2 shows a section of the storage system seen from above where several vehicles are arranged directly above five neighbouring storage columns;
  • Figure 3 shows a remotely operated vehicle according to one embodiment of the invention
  • FIG. 4 shows the control unit and its connection to different control means. Detailed description of the invention
  • the present invention addresses a problem related to remotely operated single cell vehicles for picking up storage bins from a storage system.
  • Using single cell vehicles in a storage system described in the background section above allow more vehicles to operate simultaneously. They may then operate very close to each other, e.g. as close as 4mm. This may however introduce a problem if one or more vehicles fails or is stuck. Congestion may then occur resulting in several blocked vehicles. If congestion and jamming occurs it will be hard to operate and move the automated vehicles. Control signals to and from vehicles may further be blocked. It is thus an object of the present invention to provide a single cell vehicle with control means enabling manually overriding of a remote controlled operation of the vehicle.
  • Figure 1 is a perspective view of a prior art storage system 10 comprising a storing grid 50 and a plurality of remotely operated vehicles 80.
  • the upper part of the storage grid is provided with dedicated supporting rails 20 for the vehicles to run on.
  • the vehicles 80 are configured to move in X and Y directions on the rails 20, and to receive a storage bin 60 from a storage column 30 within a bin storing grid 50.
  • the storage system 10 may also include a dedicated bin lift device 70, the latter being arranged to receive a storage bin 60 from a vehicle 80 at the top level of the storage system 10 and to convey the storage bin 60 down in a vertical direction to a delivery station or port 40.
  • Figure 2 shows a section of the storage system 10 seen from above, and where several vehicles 80 are arranged directly above five neighbouring storage columns 30. This figure illustrates the problem occurring if the remotely operated vehicle 80 located in the middle is stuck. It will then block the passage for the other vehicles 80 making a storage operation more time consuming and possibly preventing it totally.
  • FIG. 3 shows a remotely operated vehicle 80 according to one embodiment of the invention.
  • the vehicle 80 is adapted for picking up storage bins 60 from an underlying storage system 10.
  • the body of the vehicle 80 comprises a cavity for receiving a storage bin 60.
  • the cavity is arranged centrally within and is surrounded by the body of the vehicle 80.
  • the body of the vehicle 80 further comprises A lifting device for lifting and lowering a storage bin 60 is further provided in the body of the vehicle 80.
  • the vehicle 80 further comprises rolling means 85 allowing movement of the vehicle 80 along first and second directions (x, y) on the underlying storage system 10.
  • the rolling means are connected to driving means 90 situated at or at least partly within the rolling means 85 for providing driving force to the vehicle 80. This configuration will occupy minimum space within the vehicle 80, thereby freeing space for other installations in the vehicle.
  • the vehicle 80 further comprises a control unit 95 configured to control the movements of the vehicle 80.
  • the control unit 95 is connected to the driving means 90 and provided with wireless communication to and from the vehicle 80 by means of a wireless communication link 75.
  • control unit 95 In addition to controlling the vehicle 80 by means of wireless input signals, the control unit 95 is also connected to a control panel 100 with input means for manually overriding a remote controlled operation of the vehicle 80. This manual overriding feature is important if congestion with several vehicles 80 occurs.
  • control unit 95 is installed in the top section 1 10 of the vehicle 80, e.g. above the cavity holding a storage bin 60.
  • the control panel 100 may be installed in the top section 1 10 of the vehicle 80 and with input means that are accessible from the outside of the vehicle 80. This configuration is favourable for vehicles 80 occupying only a single cell. Even though all sides of a vehicle are blocked due to other neighbouring vehicles 80, the outer part of the top section will always be accessible.
  • the control panel 100 may in one embodiment comprise input buttons for controlling movements of the vehicle 80.
  • the control panel 100 comprises an emergency stop button 105 stopping all operations of the vehicle 80. This may be necessary if the wireless connection is lost.
  • the emergency stop button 105 and the control panel 100 will be accessible for operation from the outside of the vehicle. This opens for different scenarios for pressing the stop button 105 and operating the control panel 100.
  • One or more vehicles may for instance be equipped with a robot arm enabled to access the control panel of an adjacent vehicle 80.
  • a robot arm enabled to access the control panel of an adjacent vehicle 80.
  • There may also be an
  • a vehicle By placing a control panel 100 with a stop button 105 on the top part 1 10 of the vehicle 80, a vehicle may be operated despite of a broken wireless control link.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A remotely operated vehicle (80) for picking up storage bins (60) from an underlying storage system (10), comprising an internal lifting device for lifting storage bins (60) from the underlying storage system (10), rolling means (85) allowing movement of the vehicle (80) along first and second directions (x, y) on the underlying storage system (10), driving means (90) situated at or at least partly within the rolling means (85) for providing driving force to the vehicle (80) while occupying minimum space, and a control unit (95) configured to control the movements of the vehicle (80), where the control unit (95) is connected to said driving means (90) and provided with wireless communication to and from the vehicle (80) by means of a wireless communication link (75). The control unit (95) is connected to a control panel (100) with input means for manual overriding a remote controlled operation of the vehicle (80).

Description

SINGLE CELL ROBOT WITH CONTROL UNIT
Introduction
The present invention relates to a remotely operated vehicle, or robot, for picking up storage bins from a storage system. The vehicle occupies a single cell holding storage bins, and comprises control means for manually overriding a remote controlled operation.
Background
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 detail in Norwegian patent no. 317366 B l .
Such prior art storage systems comprise a three dimensional storage grid holding 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, onto which a plurality of remotely operated vehicles, or robots, are arranged to move laterally. Each vehicle is equipped with a lift for picking up, carrying, and placing bins that are stored in the storage grid. A vehicle further comprises a rechargeable battery in order to supply electrical power to a motor incorporated in the vehicle. The vehicle typically comprises a control unit adapted for communication with a control system via a wireless link which is provided with power from the internal rechargeable battery that is recharged at a charging station when needed.
An example of a prior art storage system is illustrated in figure 1. The storage system 10 includes a plurality of remotely operated vehicles 80 configured to move in X and Y directions on dedicated supporting rails 20, and to receive a storage bin 60 from a storage column 30 within a bin storing grid 50. The prior art storage system 10 may also include a dedicated bin lift device 70, the latter being arranged to receive a storage bin 60 from a vehicle 80 at the top level of the storage system 10 and to convey the storage bin 60 down in a vertical direction to a delivery port or station 40.
Said known system comprises vehicles 80, each covering a cross section of the underlying storage system 10 corresponding to two storage columns 30.
In order to allow an increase in the number of remotely operated vehicles operating simultaneously on the top rails of the three dimensional storage grid, the applicant has also developed single cell vehicles, where each vehicle occupying only a single cell. Each vehicle will operate very close to each other, e.g. as close as 4mm. This does however introduce a problem related to congestion if one or more vehicles fail to operate which may result in blocking of other vehicles. If congestion or jamming occurs it will be hard to operate and move the automated vehicles. Control signals to and from vehicles may be blocked. It is thus an object of the present invention to provide a single cell vehicle with control means for manually overriding a remote operation thereby enabling manual operation of the vehicle.
Summary of the invention The present invention relates to a remotely operated vehicle, or robot, for picking up storage bins from a storage system.
More specifically, the invention is defined by a remotely operated vehicle for picking up storage bins from an underlying storage system, comprising an internal lifting device for lifting storage bins from the underlying storage system, rolling means allowing movement of the vehicle along first and second directions (x, y) on the underlying storage system, driving means situated at or at least partly within the rolling means for providing driving force to the vehicle while occupying minimum space, and a control unit configured to control the movements of the vehicle, where the control unit is connected to said driving means and provided with wireless communication to and from the vehicle by means of a wireless communication link.
The remotely operated vehicle is characterized in that the control unit is connected to a control panel with input means for manual overriding a remote controlled operation of the vehicle.
Other features of the invention are defined in the dependent claims.
Brief description of the drawings
Figure 1 is a perspective view of a prior art storage system comprising a grid and a plurality of remotely operated vehicles;
Figure 2 shows a section of the storage system seen from above where several vehicles are arranged directly above five neighbouring storage columns;
Figure 3 shows a remotely operated vehicle according to one embodiment of the invention, and
Figure 4 shows the control unit and its connection to different control means. Detailed description of the invention
The present invention addresses a problem related to remotely operated single cell vehicles for picking up storage bins from a storage system. Using single cell vehicles in a storage system described in the background section above allow more vehicles to operate simultaneously. They may then operate very close to each other, e.g. as close as 4mm. This may however introduce a problem if one or more vehicles fails or is stuck. Congestion may then occur resulting in several blocked vehicles. If congestion and jamming occurs it will be hard to operate and move the automated vehicles. Control signals to and from vehicles may further be blocked. It is thus an object of the present invention to provide a single cell vehicle with control means enabling manually overriding of a remote controlled operation of the vehicle.
Figure 1 is a perspective view of a prior art storage system 10 comprising a storing grid 50 and a plurality of remotely operated vehicles 80. The upper part of the storage grid is provided with dedicated supporting rails 20 for the vehicles to run on. The vehicles 80 are configured to move in X and Y directions on the rails 20, and to receive a storage bin 60 from a storage column 30 within a bin storing grid 50. The storage system 10 may also include a dedicated bin lift device 70, the latter being arranged to receive a storage bin 60 from a vehicle 80 at the top level of the storage system 10 and to convey the storage bin 60 down in a vertical direction to a delivery station or port 40.
Figure 2 shows a section of the storage system 10 seen from above, and where several vehicles 80 are arranged directly above five neighbouring storage columns 30. This figure illustrates the problem occurring if the remotely operated vehicle 80 located in the middle is stuck. It will then block the passage for the other vehicles 80 making a storage operation more time consuming and possibly preventing it totally.
Figure 3 shows a remotely operated vehicle 80 according to one embodiment of the invention. The vehicle 80 is adapted for picking up storage bins 60 from an underlying storage system 10.
The body of the vehicle 80 comprises a cavity for receiving a storage bin 60. The cavity is arranged centrally within and is surrounded by the body of the vehicle 80. The body of the vehicle 80 further comprises A lifting device for lifting and lowering a storage bin 60 is further provided in the body of the vehicle 80. The vehicle 80 further comprises rolling means 85 allowing movement of the vehicle 80 along first and second directions (x, y) on the underlying storage system 10. The rolling means are connected to driving means 90 situated at or at least partly within the rolling means 85 for providing driving force to the vehicle 80. This configuration will occupy minimum space within the vehicle 80, thereby freeing space for other installations in the vehicle.
The vehicle 80 further comprises a control unit 95 configured to control the movements of the vehicle 80. The control unit 95 is connected to the driving means 90 and provided with wireless communication to and from the vehicle 80 by means of a wireless communication link 75.
In addition to controlling the vehicle 80 by means of wireless input signals, the control unit 95 is also connected to a control panel 100 with input means for manually overriding a remote controlled operation of the vehicle 80. This manual overriding feature is important if congestion with several vehicles 80 occurs.
In one embodiment, the control unit 95 is installed in the top section 1 10 of the vehicle 80, e.g. above the cavity holding a storage bin 60.
The control panel 100 may be installed in the top section 1 10 of the vehicle 80 and with input means that are accessible from the outside of the vehicle 80. This configuration is favourable for vehicles 80 occupying only a single cell. Even though all sides of a vehicle are blocked due to other neighbouring vehicles 80, the outer part of the top section will always be accessible. The control panel 100 may in one embodiment comprise input buttons for controlling movements of the vehicle 80.
In one embodiment, the control panel 100 comprises an emergency stop button 105 stopping all operations of the vehicle 80. This may be necessary if the wireless connection is lost. The emergency stop button 105 and the control panel 100 will be accessible for operation from the outside of the vehicle. This opens for different scenarios for pressing the stop button 105 and operating the control panel 100.
One or more vehicles may for instance be equipped with a robot arm enabled to access the control panel of an adjacent vehicle 80. There may also be an
installation, located above the upper part of the storage grid, having means for moving to a specific vehicle 80 and accessing the control panel 100 and the stop button 105. An operator may also operate the control panel 100 directly.
By placing a control panel 100 with a stop button 105 on the top part 1 10 of the vehicle 80, a vehicle may be operated despite of a broken wireless control link.

Claims

A remotely operated vehicle (80) for picking up storage bins (60) from an underlying storage system (10), comprising an internal lifting device for lifting storage bins (60) from the underlying storage system (10), rolling means (85) allowing movement of the vehicle (80) along first and second directions (x, y) on the underlying storage system (10), driving means (90) situated at or at least partly within the rolling means (85) for providing driving force to the vehicle (80) while occupying minimum space, and a control unit (95) configured to control the movements of the vehicle (80), where the control unit (95) is connected to said driving means (90) and provided with wireless communication to and from the vehicle (80) by means of a wireless communication link (75),
c h a r a c t e r i z e d i n that
the control unit (95) is connected to a control panel (100) installed in the top section (1 10) of the vehicle (80), the control panel (100) having input means, including an emergency stop button (105) for manual overriding a remote controlled operation of the vehicle (80).
The remotely operated vehicle (80) according to claim 1 , where the control unit (95) is installed in the top section (1 10) of the vehicle (80).
The remotely operated vehicle (80) according to claim 1 or 2, where the control panel (100) comprises input buttons for controlling movements of the vehicle (80).
The remotely operated vehicle (80) according to one of the previous claims, further comprising a robot arm installed on its top part (1 10), where the robot arm is adapted for accessing a control panel of an adjacent vehicle (80).
PCT/EP2017/070016 2016-08-18 2017-08-08 Single cell robot with control unit WO2018033426A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20161313 2016-08-18
NO20161313A NO343383B1 (en) 2016-08-18 2016-08-18 Single cell robot with control unit

Publications (1)

Publication Number Publication Date
WO2018033426A1 true WO2018033426A1 (en) 2018-02-22

Family

ID=59579629

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/070016 WO2018033426A1 (en) 2016-08-18 2017-08-08 Single cell robot with control unit

Country Status (3)

Country Link
NO (1) NO343383B1 (en)
TW (1) TW201808750A (en)
WO (1) WO2018033426A1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020074242A1 (en) 2018-10-12 2020-04-16 Autostore Technology AS Mobile storage system
WO2020193470A1 (en) 2019-03-25 2020-10-01 Autostore Technology AS Automated grid storage and retrieval system with passive fire prevention arrangement
WO2020193475A1 (en) 2019-03-25 2020-10-01 Autostore Technology AS Automated grid storage and retrieval system with foam-based fire prevention system
JP2022163110A (en) * 2018-06-08 2022-10-25 アタボティックス インコーポレイテッド Improved storage and retrieval systems

Citations (5)

* 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
US20020007235A1 (en) * 2000-07-14 2002-01-17 Hwang Gyu-Dong Automated-guided vehicle and method for controlling emergency stop thereof
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
CN203937526U (en) * 2014-07-18 2014-11-12 安徽中家智锐科技有限公司 The 8 degree-of-freedom manipulator systems on AGV chassis
KR20160087922A (en) * 2012-12-10 2016-07-22 제이콥 하테랜드 로지스틱스 에이에스 Robot for transporting storage bins

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5170352A (en) * 1990-05-07 1992-12-08 Fmc Corporation Multi-purpose autonomous vehicle with path plotting
US6832139B2 (en) * 2002-03-21 2004-12-14 Rapistan Systems Advertising Corp. Graphical system configuration program for material handling
DE20216460U1 (en) * 2002-10-25 2003-04-03 Braeutigam Antriebs Und Transp Synchronized drive for multiple locomotives on railway train has driver cabs at each end of train Synchronized by central computers
EP1352817A1 (en) * 2003-05-13 2003-10-15 TMS Automotion GmbH Transport device and method for transporting components
DE102010021705B4 (en) * 2010-05-27 2017-10-19 Sew-Eurodrive Gmbh & Co Kg Method for transporting an object, vehicle, installation
GB201404870D0 (en) * 2014-03-18 2014-04-30 Ocado Ltd Robotic service device and handling method

Patent Citations (5)

* 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
US20020007235A1 (en) * 2000-07-14 2002-01-17 Hwang Gyu-Dong Automated-guided vehicle and method for controlling emergency stop thereof
KR20160087922A (en) * 2012-12-10 2016-07-22 제이콥 하테랜드 로지스틱스 에이에스 Robot for transporting storage bins
CN203937526U (en) * 2014-07-18 2014-11-12 安徽中家智锐科技有限公司 The 8 degree-of-freedom manipulator systems on AGV chassis

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022163110A (en) * 2018-06-08 2022-10-25 アタボティックス インコーポレイテッド Improved storage and retrieval systems
JP2022163109A (en) * 2018-06-08 2022-10-25 アタボティックス インコーポレイテッド Improved storage and retrieval system
WO2020074242A1 (en) 2018-10-12 2020-04-16 Autostore Technology AS Mobile storage system
WO2020193470A1 (en) 2019-03-25 2020-10-01 Autostore Technology AS Automated grid storage and retrieval system with passive fire prevention arrangement
WO2020193475A1 (en) 2019-03-25 2020-10-01 Autostore Technology AS Automated grid storage and retrieval system with foam-based fire prevention system

Also Published As

Publication number Publication date
NO343383B1 (en) 2019-02-18
NO20161313A1 (en) 2018-02-19
TW201808750A (en) 2018-03-16

Similar Documents

Publication Publication Date Title
WO2018033426A1 (en) Single cell robot with control unit
US10858186B2 (en) Method for fetching a target bin stored in a storage system
KR101792555B1 (en) Unmanned drones automatic charging and containment system
US9205979B2 (en) Warehouse system having several aisles and automated method for operating same while the aisle is in a maintenance mode
NO344308B1 (en) Storage system comprising a charging station assembly and method of replacing the power source of a remotely operated vehicle
KR20170118876A (en) Method of operating an elevator system having a plurality of passageways and a plurality of cars
RU2717604C2 (en) Elevator control device
US20230002156A1 (en) Method for handling malfunctioning vehicles on a track system and a storage and retrieval system using such a method
CN114650955A (en) Rescue system and method for removing a faulty vehicle from a track system
JP2022537917A (en) Automated containment and retrieval system with barriers
CN203623633U (en) Prefabricated battery replacing station for passenger vehicles
CN114402269A (en) Method and system for automatically controlling movement of container handling vehicles operating in an automated storage and retrieval system
EP3807181B1 (en) Method for handling malfunctioning vehicles on a rail system and a storage and retrieval system using such a method
US20230014506A1 (en) Service vehicle with drone bases
KR20230006872A (en) Monitoring method of storage system using flying drone
WO2017081369A1 (en) Parking facility with a safety equipment for automobiles and similar vehicles
WO2020169287A1 (en) Storage system
JP6440530B2 (en) Mechanical parking lot
WO2017027495A1 (en) Configurable multicar elevator system
EP3927630A1 (en) Storage system
WO2017081367A1 (en) Parking facility with a safety equipment for automobiles and similar vehicles
WO2017121593A1 (en) Method of retrieving an article from a storage bin
US11993163B2 (en) Automated storage system with a container vehicle and a charging system
US20230202754A1 (en) System and method of determining status of a charging station
Antić et al. Automatic levelling and wireless control of a mobile hydraulic platform with telescopic crane

Legal Events

Date Code Title Description
DPE1 Request for preliminary examination filed after expiration of 19th month from priority date (pct application filed from 20040101)
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17751079

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17751079

Country of ref document: EP

Kind code of ref document: A1