# US 12,179,808 B2 · System for storing and transporting storage containers > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,179,808 B2 - Document ID: US12179808B2 - Status: Granted - Kind: B2 - Application number: 18/455,420 - Filed: 2023-08-24 - Published: 2024-01-25 - Granted: 2024-12-31 - Earliest claimed: 2018-06-12 - Assignees: Autostore Technology AS - Applicants: Autostore Technology AS - Inventors: Trond Austrheim - Web page: https://patentgrep.com/patent/US12179808B2 ## CPC - B61B 13/00: Other railway systems - B65G 1/0414: {provided with satellite cars adapted to travel in storage racks} - B65G 1/0457: {with suspended load carriers} - B65G 1/0464: {with access from above} - B65G 1/0471: {with access from beneath} - B65G 1/0478: {for matrix-arrangements} - B65G 1/0485: {Check-in, check-out devices} - B65G 1/0492: {with cars adapted to travel in storage aisles} - B65G 1/065: {with self propelled cars} - B65G 1/1375: {the orders being assembled on a commissioning stacker-crane or truck} - B65G 47/06: from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines (de-stacking devices B65G59/00) - B65G 47/52: Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices (loading or unloading by means not incorporated in, or not operatively associated with, conveyors B65G65/00; transfer of workpieces during metal rolling B21B41/00) - B65G 57/03: from above - B65G 63/06: with essentially-vertical transit - B65G 65/23: Devices for tilting and emptying of containers - B65G 67/24: Unloading land vehicles - B66F 9/063: {Automatically guided} - B66F 9/19: Additional means for facilitating unloading - G05D 1/0011: {associated with a remote control arrangement} - G05D 1/021: {specially adapted to land vehicles} - G05D 1/0291: {Fleet control (monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127)} - G05D 1/221: Remote-control arrangements - G05D 1/223: Command input arrangements on the remote controller, e.g. joysticks or touch screens - G05D 1/69: Coordinated control of the position or course of two or more vehicles - G05D 1/692: involving a plurality of disparate vehicles - B60W 50/0098: {Details of control systems ensuring comfort, safety or stability not otherwise provided for} - B60W 2710/06: Combustion engines, Gas turbines - B60W 2720/10: Longitudinal speed - B60W 2720/24: Direction of travel - B65G 1/1378: {the orders being assembled on fixed commissioning areas remote from the storage areas} - B65G 43/00: Control devices, e.g. for safety, warning or fault-correcting - B65G 63/004: {for containers} - B65G 2201/0235: Containers - B65G 2201/0258: Trays, totes or bins - B65G 2203/0283: Position of the load carrier - B65G 2203/042: Sensors - G05D 1/02: Control of position or course in two dimensions - G05D 1/0229: {in combination with fixed guiding means} - G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)} - G05D 1/0259: {using magnetic or electromagnetic means} - G05D 1/0289: {with means for avoiding collisions between vehicles (vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93)} - G05D 1/2244: {Optic} - G05D 1/24: Arrangements for determining position or orientation - G05D 1/243: Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals (using passive navigation aids external to the vehicle G05D1/244; using signals from positioning sensors located off-board the vehicle G05D1/249) - G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons - G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras - G05D 1/43: Control of position or course in two dimensions [2D] - G05D 1/611: Station keeping, e.g. for hovering or dynamic anchoring - G05D 1/639: Resolving or avoiding being stuck or obstructed - G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path - G05D 1/693: for avoiding collisions between vehicles - G05D 2111/10: Optical signals - B61B: RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR (lifts or hoists, elevators, escalators, moving walkways B66B) - 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) - B66F: HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract A system for storing and transporting storage containers includes an automated storage and retrieval grid including vertical members defining multiple storage columns for storing storage containers on top of each other in vertical stacks. The vertical members are interconnected at their upper ends by a container handling vehicle rail system arranged to guide at least one container handling vehicle being configured to raise storage containers from, and lower storage containers into, the storage columns, and to transport the storage containers above the storage columns. The container handling vehicle rail system includes a first set of parallel rails arranged in a first horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the first horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the first horizontal plane including a plurality of adjacent container handling vehicle grid cells. Each container handling vehicle grid cell includes a container handling vehicle grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails. A transfer column is adapted for transport of a storage container between the container handling vehicle and a delivery space is situated at a lower end of the transfer column. A delivery system includes a first delivery rail system having at least one set of parallel rails arranged in a second horizontal plane guiding at least one delivery vehicle thereon. The delivery vehicle is adapted to receive and/or deliver a storage container at a storage container delivery location arranged below the delivery space of the transfer column and to move between the storage container delivery location and a second location, the first delivery rail system covers at least an area extending from the storage container delivery location to the second location. A vehicle lift device for transfer of the at least one delivery vehicle between a first lift stop position adjacent the second location in the second horizontal plane and a second lift stop position adjacent a third location arranged in a third horizontal plane being at a different vertical level than the second horizontal plane. ## Claims ### Claim 1 A system for storing and transporting storage containers, the system comprising: an automated storage and retrieval grid, comprising: vertical members defining multiple storage columns for storing the storage containers on top of each other in vertical stacks; at least one container handling vehicle configured to transport the storage containers above the storage columns; and a transfer column adapted for transport of a storage container between the at least one container handling vehicle and a delivery space situated at a lower end of the transfer column; a delivery system comprising a first delivery rail system having at least one set of parallel rails arranged in a first horizontal plane guiding at least one delivery vehicle thereon, wherein the delivery vehicle is adapted to receive and/or deliver a storage container at a storage container delivery location arranged below the delivery space of the transfer column and to move between the storage container delivery location and a second location, the first delivery rail system covers at least an area extending from the storage container delivery location to the second location; and a vehicle lift device for transfer of the at least one delivery vehicle between a first lift stop position adjacent the second location in the first horizontal plane and a second lift stop position adjacent a third location arranged in a second horizontal plane being at a different vertical level than the first horizontal plane. ### Claim 2 (depends on 1) The system according to claim 1, wherein the vehicle lift device comprises a lifting arrangement arranged to support the at least one delivery vehicle and a lift mechanism arranged to move the lifting arrangement between the first lift stop position to the second lift stop position, wherein the first lift stop position establishes access between the lifting arrangement and the second location for enabling relocation of the at least one delivery vehicle between a support position on the lifting arrangement and an operative position at the second location on the first delivery rail system, and the second lift stop position establishes access between the lifting arrangement and the third location for enabling relocation of the at least one delivery vehicle between the support position on the lifting arrangement and an operative position at the third location. ### Claim 3 (depends on 2) The system according to claim 2, wherein the lift mechanism is configured to move the lifting arrangement in a purely vertical direction between the first lift stop position and the second lift stop position. ### Claim 4 (depends on 2) The system according to claim 2, wherein the lifting arrangement comprises a guiding and positioning structure for maintaining the at least one delivery vehicle in a near motionless position on the lifting arrangement during transfer of the lifting arrangement between the first and second lift stop position. ### Claim 5 (depends on 4) The system according to claim 4, wherein the guiding and positioning structure comprises: a platform rail arrangement comprising: at least a first set of parallel rails, and at least a second set of parallel rails being perpendicular to the first set of parallel rails, wherein the platform rail arrangement is level with the first delivery rail system when the lifting arrangement is placed in the first lift stop position thereby enabling the at least one delivery vehicle to move between the first delivery rail system and the platform rail arrangement, and the platform rail arrangement is level with a second delivery rail system at the third location when the lifting arrangement is placed in the second lift stop position thereby enabling the at least one delivery vehicle to move between the second delivery rail system and the platform rail arrangement. ### Claim 6 (depends on 5) The system according to claim 5, wherein a horizontal extent of the platform rail arrangement is equal to or larger than a horizontal extent of the at least one delivery vehicle to be transferred between the first lift stop position and the second lift stop position. ### Claim 7 (depends on 5) The system according to claim 5, wherein the second delivery rail system comprises at least one set of parallel rails arranged in the second horizontal plane guiding the at least one delivery vehicle thereon, the second delivery rail system extending from the third location to a fourth location. ### Claim 8 (depends on 7) The system according to claim 7, wherein the second delivery rail system comprises a first set of parallel rails arranged in the second horizontal plane and extending in a fifth direction, and a second set of parallel rails arranged in the second horizontal plane and extending in a sixth direction which is orthogonal to the fifth direction, which first and second sets of rails form a grid pattern. ### Claim 9 (depends on 7) The system according to claim 7, wherein a third horizontal plane is at a same level as the second horizontal plane. ### Claim 10 (depends on 7) The system according to claim 7, wherein the system further comprises a second vehicle lift device for transfer of the at least one delivery vehicle between the fourth location on the second delivery rail system and a fifth location arranged in a fourth horizontal plane being at a different vertical level than the second horizontal plane. ### Claim 11 (depends on 10) The system according to claim 10, wherein the fourth horizontal plane is at a same level as the first horizontal plane. ### Claim 12 (depends on 4) The system according to claim 4, wherein the guiding and positioning structure comprises a base plate structure for receiving the at least one delivery vehicle. ### Claim 13 (depends on 2) The system according to claim 2, wherein the vehicle lift device further comprises a safety barrier extending vertically for restricting horizontal displacement of the at least one delivery vehicle when the lifting arrangement is moving between the first lift stop position and the second lift stop position. ### Claim 14 (depends on 2) The system according to claim 2, wherein the lifting arrangement comprises at least two side walls for receiving the at least one delivery vehicle in the area defined by the at least two side walls and a guiding and positioning structure. ### Claim 15 (depends on 1) The system according to claim 1, wherein the vehicle lift device further comprises a first safety barrier configured to restrict further horizontal movement of the at least one delivery vehicle when the at least one delivery vehicle is moving to or from a support position. ### Claim 16 (depends on 1) The system according to claim 1, wherein the first delivery rail system comprises a first set of parallel rails arranged in the first horizontal plane and extending in a third direction, and a second set of parallel rails arranged in the first horizontal plane and extending in a fourth direction which is orthogonal to the third direction, which first and second sets of rails form a grid pattern. ### Claim 17 (depends on 1) The system according to claim 1, wherein the delivery vehicle comprises a storage container carrier provided above a chassis of the delivery vehicle. ### Claim 18 (depends on 1) The system according to claim 1, wherein the third location comprises an interface configured to connect to a third-party storage, production and distribution system. ### Claim 19 (depends on 1) A building comprising the system according to claim 1, wherein the first and second horizontal planes represent floors at different levels within the building. ### Claim 20 A method of operating a system for storing and transporting storage containers comprising: an automated storage and retrieval grid comprising: vertical members defining multiple storage columns for storing the storage containers on top of each other in vertical stacks; at least one container handling vehicle configured to transport the storage containers above the storage columns; and a transfer column adapted for transport of a storage container between the container handling vehicle and a delivery space situated at a lower end of the transfer column; a delivery system comprising a first delivery rail system having at least one set of parallel rails arranged in a first horizontal plane guiding at least one delivery vehicle thereon, wherein the delivery vehicle is adapted to receive or deliver a storage container at a storage container delivery location arranged below the delivery space of the transfer column and to move between the storage container delivery location and a second location, the first delivery rail system is at least covering an area extending from the storage container delivery location to the second location; and a vehicle lift device for transfer of the at least one delivery vehicle between the second location and a third location arranged in a second horizontal plane being at a different vertical level than the first horizontal plane, wherein the method comprises: i) moving the delivery vehicle from the second location onto a first lift position of the vehicle lift device; ii) moving the delivery vehicle to a second lift stop position of the vehicle lift device enabling access between the vehicle lift device and the third location; and iii) moving the delivery vehicle to the third location. ### Claim 21 (depends on 20) The method of operating the system according to claim 20, wherein the method prior to step i) comprises: a) moving the container handling vehicle to a location for transferring a storage container into the transfer column, b) moving the delivery vehicle to the storage container delivery location, c) transferring the storage container from the container handling vehicle through the transfer column to the delivery space and on to the delivery vehicle, d) moving the delivery vehicle from the storage container delivery location to the second location to thereby move the storage container. ### Claim 22 (depends on 20) The method according to claim 20, wherein the method further comprises: iv) moving the delivery vehicle to an access area for handling the storage container by a robotic operator and/or a human operator.