# US 12,600,567 B2 · Container handling vehicle with extendable wheel base

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- Number: US 12,600,567 B2
- Document ID: US12600567B2
- Status: Granted
- Kind: B2
- Application number: 18/003,591
- Filed: 2021-07-08
- Published: 2023-07-27
- Granted: 2026-04-14
- Earliest claimed: 2020-07-10
- Assignees: Autostore Technology AS
- Applicants: Autostore Technology AS
- Inventors: Trond Austrheim; Øystein Gjerdevik
- Web page: https://patentgrep.com/patent/US12600567B2

## CPC

- B65G 1/065: {with self propelled cars}
- B65G 1/0464: {with access from above}
- B65G 1/0478: {for matrix-arrangements}
- B65G 57/03: from above
- B65G 59/02: De-stacking from the top of the stack
- G05B 19/41895: {using automatic guided vehicles [AGV] (control of position or course of AGV's G05D1/00)}
- G06Q 10/087: Inventory or stock management, e.g. order filling, procurement or balancing against orders
- 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)
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR

## Abstract

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.

## Claims

### Claim 1

A container handling vehicle with a cantilever for operating on an automated storage and retrieval system comprising a framework structure forming a three-dimensional storage grid structure for storing storage containers for storing items, the container handling vehicle occupying a footprint of more than one cell on the grid structure, wherein 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 and wherein 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 providing available routes for container handling vehicles handling and transferring the storage containers to and from the storage columns, each rail of the rail system has a first track and a parallel second track allowing two container handling vehicles to pass each other using the first track and the parallel second track, the container handling vehicle having a vehicle controller for communicating with a central computer system controlling the container handling vehicle, and the container handling vehicle has a container handling platform with a set of grippers for handling the storage containers,
wherein a first pair of wheels 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 the first pair of wheels to use an outer track of a first rail of the rail system in the Y-direction to manoeuvre the container handling vehicle when a second pair of wheels on an opposite side of the container handling vehicle are using an inner track of an adjacent rail in the Y-direction, wherein the opposite side of the container handling vehicle is opposite the cantilever side, wherein the first pair of wheels on the cantilever side of the container handling vehicle are positioned with respect to the container handling vehicle to provide an extension of a wheelbase of the container handling vehicle in the X-direction.

### Claim 2 (depends on 1)

A container handling vehicle according to claim 1, wherein a third pair of wheels adjacent to the cantilever side of the container handling vehicle that are used for manoeuvring the container handling vehicle in a X-direction are displaceable in the X-direction to provide an extension of a wheelbase in the X-direction, wherein the third pair of wheels and a fourth pair of wheels are arranged perpendicular to the cantilever side.

### Claim 3 (depends on 1)

A container handling vehicle according to claim 1, wherein the first pair of wheels on the cantilever side of the container handling vehicle that are used for manoeuvring the container handling vehicle in a Y-direction are positioned in an extended wheelbase position while the container handling vehicle is set to manoeuvre in a X-direction.

### Claim 4 (depends on 1)

A container handling vehicle according to claim 1, wherein the first pair of wheels on the cantilever side of the container handling vehicle that are used for manoeuvring the container handling vehicle in a Y-direction are each provided with a respective double set of wheels on a respective axel.

### Claim 5 (depends on 4)

A container handling vehicle according to claim 4, wherein each respective double set of wheels of the first pair of wheels has one wheel in each of the outer track of the first rail and an inner track of the first rail.

### Claim 6 (depends on 2)

A container handling vehicle according to claim 2, wherein the first pair of wheels and/or the third pair of wheels are configured with means for extension of the wheelbase.

### Claim 7 (depends on 6)

A container handling vehicle according to claim 6, wherein the first pair of wheels and/or the third pair of wheels are configured with means for extension of the wheelbase is controlled according to a weight of the container attached to a lifting platform of the container handling vehicle.

### Claim 8 (depends on 7)

A container handling vehicle according to claim 7, wherein the first pair of wheels and/or the third pair of wheels are configured with means for extension of the wheelbase is controlled by the central computer system.

### Claim 9

A method where a container handling vehicle with a cantilever operating on an automated storage and retrieval system comprising:
a framework structure forming a three-dimensional storage grid structure for storing storage containers for storing items,
the container handling vehicle occupying a footprint of more than one cell on the grid structure
wherein the grid structure forms vertical storage columns each having same horizontal area defined by the size of an access opening of the vertical storage columns and
wherein 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 providing available routes for container handling vehicles handling and transferring the storage containers to and from the storage columns,
each rail of the rail system has a first track and a parallel second track allowing two container handling vehicles to pass each other using the first track and the parallel second track,
the container handling vehicle comprising a vehicle controller for performing:
communicating with a central computer system controlling the container handling vehicle, wherein
the container handling vehicle has a container handling platform with a set of grippers for handling the storage containers, and
positioning a first pair of wheels on a cantilever side of the container handling vehicle that are used for manoeuvring the container handling vehicle in the Y-direction with respect to the container handling vehicle to allow the first pair of wheels to use a second track of a first rail of the rail system in the Y-direction to manoeuvre the container handling vehicle when a second pair of wheels on an opposite side of the container handling vehicle are using a first track of an adjacent rail in the Y-direction, wherein the opposite side of the container handling vehicle is opposite the cantilever side.

### Claim 10 (depends on 9)

A method according to claim 9 wherein the method comprises:
lowering a third pair of wheels and a fourth pair of wheels used for manoeuvring the container handling vehicle in a X-direction
lifting the container handling vehicle so the first pair of wheels used for manoeuvring the container handling vehicle in a Y-direction are lifted from the first track of the first rail of the rail system,
repositioning the first pair of wheels on a cantilever side of the container handling vehicle that are used for manoeuvring the container handling vehicle in a Y-direction,
raising the third pair of wheels adjacent the cantilever side of the container handling vehicle that are used for manoeuvring the container handling vehicle in a X-direction.