# US 12,006,145 B2 · Automated storage and retrieval system comprising container identification means and methods of identifying a container or a vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,006,145 B2 - Document ID: US12006145B2 - Status: Granted - Kind: B2 - Application number: 16/981,109 - Filed: 2019-03-13 - Published: 2021-01-21 - Granted: 2024-06-11 - Earliest claimed: 2018-03-23 - Assignees: Autostore Technology AS - Applicants: Autostore Technology AS - Inventors: Jørgen Djuve Heggebø; Ivar Fjeldheim; Trond Austrheim - Web page: https://patentgrep.com/patent/US12006145B2 ## CPC - B65G 1/0464: {with access from above} - B65G 1/0478: {for matrix-arrangements} - B65G 1/1371: {with data records} - B65G 1/1375: {the orders being assembled on a commissioning stacker-crane or truck} - B65G 1/1378: {the orders being assembled on fixed commissioning areas remote from the storage areas} - B66C 13/48: Automatic control of crane drives for producing a single or repeated working cycle; Program control - B66C 17/06: specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes (B66C17/04 takes precedence) - G06K 7/10316: {using at least one antenna particularly designed for interrogating the wireless record carriers (antennas in general H01Q1/22)} - B65G 2203/046: RFID - B65G 2209/04: Indication location means - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - B66C: CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES ({specially adapted for lifting invalids A61G7/10;} rope, cable, or chain winding mechanisms, braking or detent devices therefor B66D; specially adapted for nuclear reactors G21) - G06K: GRAPHICAL DATA READING (image or video recognition or understanding G06V); PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS ## Abstract An automated storage and retrieval system includes a guiding assembly and a vehicle. The guiding assembly includes a first guiding system arranged in a first horizontal plane and extending in a first direction, and a second guiding system arranged in a second horizontal plane and extending in a second direction which is orthogonal to the first direction, and a plurality of storage containers. The vehicle includes a lifting device for picking up storage containers that includes a lifting frame connectable to a storage container via lifting bands including powering and control cables for controlling a gripping device on the lifting frame. The vehicle includes at least one reader arranged on the lifting frame configured to read at least one label of a storage container of the system. The at least one reader is power and signally connected to onboard controls and communications systems of the vehicle. ## Claims ### Claim 1 An automated storage and retrieval system comprising: a guiding assembly comprising: a first guiding system arranged in a first horizontal plane and extending in a first direction, and a second guiding system arranged in a second horizontal plane and extending in a second direction which is orthogonal to the first direction, and a plurality of storage containers stacked on top of one another to form stacks of storage containers arranged in storage columns below the first and second guiding systems, wherein each storage column is located vertically below a grid opening of a plurality of adjacent grid cells, the grid cells forming a grid pattern in the horizontal plane, a vehicle comprising a lifting device for picking up storage containers from the storage columns to a position above the highest level of the storage columns, wherein the lifting device comprises a lifting frame connectable to a storage container via lifting bands comprising powering and control cables for controlling a gripping device on the lifting frame, a transport mechanism for transporting the vehicle along the first and second guiding systems in the first and second directions, wherein the vehicle comprises at least one reader, and wherein the system further comprises a storage container with at least one label, the at least one label being arranged inside the storage container and comprises storage container information, and wherein the at least one reader is configured to read the at least one label such as to identify the storage container, and wherein the at least one reader is arranged on the lifting frame of the vehicle and is power and signally connected to onboard controls and communications systems of the vehicle via cables arranged in the lifting bands. ### Claim 2 (depends on 1) The automated storage and retrieval system according to claim 1, wherein the guiding assembly comprises a rail system comprising a first set of parallel tracks arranged in the first horizontal plane and extending in the first direction, and a second set of parallel tracks arranged in the second horizontal plane and extending in the second direction. ### Claim 3 (depends on 1) The automated storage and retrieval system according to claim 1, wherein the storage container information represents at least one of the following parameters: storage container height, storage container maximum allowable weight of content, storage container material, orientation of storage container. ### Claim 4 (depends on 1) The automated storage and retrieval system according to claim 1, wherein the at least one reader is in communication with a central control system, and wherein the at least one reader is able to transmit data representing the storage container to the central control system and to receive data representing a storage container from the central control system. ### Claim 5 (depends on 1) The automated storage and retrieval system according to claim 1, wherein at least one additional reader is arranged inside a cavity, inside a body the vehicle or on a wall of a storage space arranged on the side of a body of the vehicle. ### Claim 6 (depends on 1) The automated storage and retrieval system according to claim 1, wherein the first horizontal plane and the second horizontal plane are the same horizontal plane. ### Claim 7 (depends on 1) The automated storage and retrieval system according to claim 1, wherein the first horizontal plane and the second horizontal plane are different horizontal planes. ### Claim 8 (depends on 1) The automated storage and retrieval system according to claim 1, wherein the at least one reader is a RFID reader and the at least one label is a RFID label. ### Claim 9 (depends on 1) The automated storage and retrieval system according to claim 1, wherein each storage container comprises at least two labels. ### Claim 10 (depends on 1) The automated storage and retrieval system according to claim 1, wherein each storage container comprises one label, and wherein the one label is arranged at the same position in each of the storage containers. ### Claim 11 A method of identifying at least one storage container in an automated storage and retrieval system, the automated storage and retrieval system comprising guiding assembly comprising a first guiding system arranged in a first horizontal plane and extending in a first direction, and a second guiding system arranged in a second horizontal plane and extending in a second direction which is orthogonal to the first direction, and a plurality of stacks of storage containers arranged in storage columns below the first and second guiding systems, wherein each storage column is located vertically below a grid opening of a plurality of adjacent grid cells, the grid cells forming a grid pattern in the horizontal plane, a transport mechanism for transporting a vehicle along the first and second guiding systems in the first and second directions, the vehicle comprising a lifting device for picking up storage containers from the storage columns to a position above the highest level of the storage columns using a lifting device comprising a lifting frame connectable to a storage container, the method comprising: controlling a vehicle to a position above a storage column in which storage column a storage container is assumed to be found, lowering the lifting frame to a position of a storage container, utilizing at least one reader which is powered and signally connected to onboard controls and communications systems of the vehicle via cables arranged in lifting bands, wherein the at least one reader is positioned on the lifting frame to read storage container information comprised in at least one label positioned inside of the storage container such as to identify the storage container. ### Claim 12 (depends on 11) The method according to claim 11, further comprising: utilizing at least one additional reader positioned in the storage space to read storage container information comprised in at least one label of the storage container such as to identify the storage container. ### Claim 13 (depends on 11) The method according to claim 11, and further comprising the steps of: transmitting the storage container information and a position of said storage container to a central control system, identifying the storage container by processing the storage container information in the central control system, retrieving a record of positional data for storage containers stored in the central control system, comparing the position of the identified storage container with a recorded position of said storage container. ### Claim 14 (depends on 13) The method according to claim 13, wherein the step of comparing the position of the identified storage container with a recorded position of said storage container determines that the record of positional data for storage containers stored in the central control system is incorrect, the method further comprises: moving the storage container to another storage column, updating the record of positional data for storage containers stored in the central control system, repeating the steps in the method until the position of all identified storage containers match with a recorded position of said storage containers in the record of positional data for storage containers stored in the central control system. ### Claim 15 (depends on 11) The method according to claim 11, further comprising: transmitting the storage container information to a central control system, identifying the storage container by processing the storage container information in the central control system, moving the storage container to another storage column, updating a record of positional data for storage containers stored in the central control system, repeating the steps in the method until the position of all storage containers are accounted for in the record of positional data for storage containers stored in the central control system. ### Claim 16 (depends on 11) The method according to claim 11, further comprising: transmitting the storage container information to a central control system, identifying the storage container by processing the storage container information in the central control system, retrieving a record of positional data for storage containers stored in the central control system, determining a position of the vehicle by comparing the identity of the storage container with a recorded position of said storage container, transmitting the determined position of the vehicle to the control and communications system onboard said vehicle. ### Claim 17 A vehicle operable on an automated storage and retrieval system, the vehicle comprises: a transport mechanism for transporting the vehicle along a first guiding system in a X direction and a second guiding system in a Y direction, which Y direction is orthogonal to the X direction, a lifting device for picking up storage containers from storage columns arranged below the vehicle to a position above the highest level of the storage columns, wherein the lifting device comprises a lifting frame connectable to a storage container via lifting bands comprising powering and control cables for controlling a gripping device on the lifting frame, wherein the vehicle further comprises at least one reader for reading at least one label positioned inside a storage container such as to identify the storage container, and wherein the at least one reader is arranged on the lifting frame of the vehicle and is powered and signally connected to onboard controls and communications systems of the vehicle via cables arranged in the lifting bands. ### Claim 18 (depends on 17) The vehicle according to claim 17, wherein at least one additional reader is arranged in a storage space inside a body or a space arranged on the side of the body.