AutoStore Technology AS

A storage tower for storing storage containers includes a plurality of horizontally extending container supporting frameworks distributed with vertical offsets. The plurality of horizontal container supporting frameworks includes a first container supporting framework and at least one second container supporting framework arranged beneath and extending parallel to the first container supporting framework. Each of the first and the at least one second container supporting frameworks includes a horizontally extending container support with principal directions in a first direction and an orthogonal second direction. Each container support is configured as a matrix of container spaces with a plurality of columns of container spaces arranged in the first direction and a plurality of rows of container spaces arranged in the second direction. Each row of container spaces of the first container supporting framework is configured to receive a plurality of storage containers and displays at least one opening extending along the second direction, the at least one opening having an opening size being at least a maximum horizontal cross section of the storage containers to be stored. The at least one opening of the first container supporting framework and the at least one opening of the at least one second container supporting framework can be aligned vertically with respect to each other. At least one container support is displaceable along the second direction. At least one container supporting framework further includes a support displacement device configured to displace the displaceable container support.

A storage grid for storing storage containers includes a plurality of horizontal container supporting frameworks distributed vertically with vertical offsets. The plurality of horizontal container supporting frameworks includes a first container supporting framework and at least one second container supporting framework arranged beneath and parallel to the first container supporting framework. Each of the first and the at least one second container supporting frameworks includes a plurality of container supports arranged in parallel along a first direction. Each container support displays at least one hole with an opening size being at least a maximum horizontal cross section of the storage containers to be stored. The at least one hole of the first container supporting framework are aligned vertically with the at least one hole of the at least one second container supporting framework. At least two of the plurality of container supports of the at least one second container supporting framework are displaceable along a second direction orthogonal to the first direction.

A system and method providing secure storage and retrieval of storage containers linked to different users. The system comprises an automated storage and retrieval system connected to interaction areas via a container transport assembly and where the interaction areas and the container transport assembly both comprise transferring means for moving a storage container to and from the container transport assembly and within the interaction areas, and where each interaction area comprises at least one access station for giving access to and enabling transferring of storage containers or items to and from the interaction area, and a user interface with identification means for identifying a user and for controlling user access to the access station and for interacting with the automatic storage and retrieval system.

Measuring level deviation in an automated storage and retrieval system, the system having a rail system, container handling vehicle, and central control unit. The rail system includes first parallel rails to guide movement of a container handling vehicle in a first direction across the top of a frame structure, and second parallel rails perpendicular to the first rails to guide movement of the vehicle in a second direction perpendicular to the first. The first and second parallel rails divide the rail system into grid cells. The vehicle operates on the rail system. The vehicle has at least one orientation sensor to measure at least one orientation parameter in a 3D Cartesian reference system. The control unit can process data signals of the vehicle and the sensor. Method includes arranging the vehicle in a position on the grid, transmitting a signal from the control unit to the vehicle to move a distance in one direction, measuring at intervals, using the sensor, a parameter to produce orientation measurements of the vehicle's orientation within the reference system, transmitting and processing data concerning the orientation to the control unit to identify deviating rail system portions.

A container handling vehicle with a cantilever solution operates on an automated storage and retrieval system. The automated storage and retrieval system includes a framework structure forming a three-dimensional storage grid structure for storing storage containers for storing items. The grid structure forms vertical storage columns each having a horizontal area defined by the size of an access opening of the vertical storage columns. A rail system is arranged on the framework structure, rails of the rail system extending in an X-direction and a Y-direction to define a grid and to define a perimeter of each access opening on top of each storage column. The rail system provides available routes for container handling vehicles handling and transferring the storage containers to and from the storage columns. Each rail has a first track and a parallel second track allowing two container handling vehicles to pass each other using the same rail. Each vehicle communicates with a central computer system controlling the operation. At least one container handling vehicle has a container handling platform with a set of grippers for handling the storage containers. The wheels are on a cantilever side of the container handling vehicle, used for manoeuvring the container handling vehicle in the Y-direction, are positioned or are positionable with respect to the container handling vehicle to allow them to use an outer track of a rail in the Y-direction to manoeuvre the container handling vehicle when the wheels on an opposite side of the container handling vehicle are using an inner track of an adjacent rail in the Y-direction.

The invention relates to an automated storage and retrieval system comprising a plurality of container handling vehicles on a rail system operable to handle storage containers, each container handling vehicle comprises a positioning node. The system comprises a positioning system having reference positioning nodes spaced in fixed positions on and/or proximate the rail system to determine the position of each of the container handling vehicles. The control system communicates each container handling vehicle and the positioning system, and instructs a first container handling vehicle to move to a target position, repeatedly receives position data from the positioning system of a position of the first container handling vehicle and repeatedly receive position data from the positioning system of a position of a second container handling vehicle, and instructs the second container handling vehicle to move with the first container handling vehicle at a predetermined separation from the first container handling vehicle

A system for allocating jobs and/or targets to robots in an automated storage and retrieval system includes a plurality of robots and a framework structure forming a three-dimensional storage grid structure for storing containers. Each robot has wheels configured to move along two perpendicular horizontal directions on the grid. A central computer system manages robot movement and task allocation via a warehouse management system comprising an assigner and a router. The assigner generates lists of job and target options for each robot, which are made accessible to the router. The router assigns jobs and targets using a multi-position search algorithm based on each robot's location and the route required to reach the assigned job and target. This coordinated approach enables efficient task and path assignment within the storage system.

A method picks products from at least one storage container in a picking zone of a picking station of an automated storage and retrieval system. The picking is controlled by a picking system controller communicating with a warehouse management system, WMS. The picking is performed by a picking device in the picking zone by placing picked products in one or more consolidation containers according to orders. The picking system controller is adapted for controlling the picking device and picking station for executing the method. The method includes a) receiving and ranking product orders in the warehouse management system, b) moving, by means of a transport system, storage containers with ordered products towards the picking zone according to the ranking of product orders, and c) checking which storage containers are available and ready to be picked from in the picking station and which storage containers and consolidation containers will be available within a timeframe, as well as determining a current position of the picking device relative to the positions of the at least one storage container that are ready to be picked from and the consolidation containers that are ready to receive the picked products. The method further includes d) establishing different picking sequences for completing each product order from the ranked product orders. Each picking sequence lists the products to be picked from the storage containers and which consolidation containers to place the products in within the timeframe. Each picking sequence is established by estimating the following: shortest travel distance for moving the picking device for picking from one storage container to picking from another storage container; fastest completion of picking from storage containers in the picking station for enabling new storage containers to enter the picking zone of the picking station; and fastest completion of the consolidation containers for replacing with new consolidation containers. The method further includes e) ranking the picking sequences and selecting the picking sequence providing higher throughput of picked products according to ranked product orders; f) executing picking of products by letting the picking system controller control the picking device to pick products from the storage containers and place them within the consolidation containers according to the selected picking sequence within the timeframe; and g) repeating steps a) to f) above.

A system for performing measurements in storage containers for storing items includes a framework structure. The storage containers are stored in an automated storage system. The framework structure forms a three-dimensional storage grid structure for storing the storage containers. The grid structure forms vertical storage columns each having a horizontal area defined by the size of an access opening to the vertical storage columns between rails of a rail system. The rail system is arranged on top of the framework structure. The rail system provides available routes for container handling vehicles handling and transferring the storage containers to and from the storage columns. Each vehicle includes a vehicle controller communicating with a central computer system controlling the operation of the storage system. A container handling platform of a container handling vehicle includes measuring equipment configured to perform measurements in containers and includes a communication unit configured to communicate measurement data to a computer system.

An access station, which is for presentation of a storage container from an automated storage and retrieval system to a picker, includes an access module, a drawer, a first actuator, and a second actuator. The access module includes a frame defining a drawer compartment provided within the frame. The drawer includes a drawer base and a drawer front. The drawer is movably connected to the frame. The first actuator is for moving the drawer relative to the frame between a presentation position in which the drawer is protruding from the drawer compartment and a retracted position in which the drawer is retracted within the drawer compartment. The drawer base includes a support on which the storage container can be supported in a front position or in a rear position. The second actuator is for moving the storage container from the front position to the rear position. The storage container is presented to the picker when the storage container is in the front position and when the drawer is in the presentation position.