[go: up one dir, main page]

WO2024231287A1 - Véhicule automatisé à antenne directionnelle - Google Patents

Véhicule automatisé à antenne directionnelle Download PDF

Info

Publication number
WO2024231287A1
WO2024231287A1 PCT/EP2024/062289 EP2024062289W WO2024231287A1 WO 2024231287 A1 WO2024231287 A1 WO 2024231287A1 EP 2024062289 W EP2024062289 W EP 2024062289W WO 2024231287 A1 WO2024231287 A1 WO 2024231287A1
Authority
WO
WIPO (PCT)
Prior art keywords
storage
access point
vehicle
control system
retrieval system
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
PCT/EP2024/062289
Other languages
English (en)
Inventor
Henning NORDTVEIT
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autostore Technology AS
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 WO2024231287A1 publication Critical patent/WO2024231287A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/125—Means for positioning
    • H01Q1/1257—Means for positioning using the received signal strength
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
    • H01Q3/04—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying one co-ordinate of the orientation
    • H01Q3/06—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying one co-ordinate of the orientation over a restricted angle
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0283—Position of the load carrier

Definitions

  • TITLE Automated vehicle with directional antenna
  • the present invention relates to an automated storage and retrieval system for storage and retrieval of containers, in particular to an automated vehicle for operation in such a system, equipped with a rotatable, directional antenna for receiving and transmitting wireless signals.
  • Fig. 1 discloses a prior art automated storage and retrieval system 1 with a framework structure 100 and Figs. 2, 3 and 4 disclose three different prior art container handling vehicles 201,301,401 suitable for operating on such a system 1.
  • the framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102.
  • storage columns 105 storage containers 106, also known as bins, are stacked one on top of one another to form stacks 107.
  • the members 102 may typically be made of metal, e.g. extruded aluminum profiles.
  • the framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of framework structure 100, on which rail system 108 a plurality of container handling vehicles 201,301,401 may be operated to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105.
  • the rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 201,301,401 in a first direction A across the top of the frame structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 201,301,401 in a second direction Y which is perpendicular to the first direction X.
  • Containers 106 stored in the columns 105 are accessed by the container handling vehicles 201,301,401 through access openings 112 in the rail system 108.
  • the container handling vehicles 201,301,401 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.
  • the upright members 102 of the framework structure 100 may be used to guide the storage containers during raising of the containers out from and lowering of the containers into the columns 105.
  • the stacks 107 of containers 106 are typically self- supporting.
  • Each prior art container handling vehicle 201,301,401 comprises a vehicle body 201a, 301a, 401a and first and second sets of wheels 201b, 201c, 301b, 301c, 401b, 401c which enable the lateral movement of the container handling vehicles 201,301,401 in the A direction and in the Y direction, respectively.
  • the first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails of the first set 110 of rails
  • the second set of wheels 201c,301c,401c is arranged to engage with two adjacent rails of the second set 111 of rails.
  • At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be lifted and lowered, so that the first set of wheels 201b, 301b, 401b and/or the second set of wheels 201c, 301c, 401c can be engaged with the respective set of rails 110, 111 at any one time.
  • Each prior art container handling vehicle 201,301,401 also comprises a lifting device for vertical transportation of storage containers 106, e.g. raising a storage container 106 from, and lowering a storage container 106 into, a storage column 105.
  • the lifting device comprises one or more gripping / engaging devices which are adapted to engage a storage container 106, and which gripping / engaging devices can be lowered from the vehicle 201,301,401 so that the position of the gripping / engaging devices with respect to the vehicle 201,301,401 can be adjusted in a third direction Z which is orthogonal the first direction X and the second direction Y.
  • Parts of the gripping device of the container handling vehicles 301,401 are shown in Figs. 3 and 4 indicated with reference number 304,404.
  • the gripping device of the container handling device 201 is located within the vehicle body 201a in Fig. 2 and is thus not shown.
  • each storage column 105 can be identified by its X and Y coordinates.
  • the storage volume of the framework structure 100 has often been referred to as a grid 104, where the possible storage positions within this grid are referred to as storage cells.
  • Each storage column may be identified by a position in an X- and Y- direction, while each storage cell may be identified by a container number in the X-, Y- and Z-direction.
  • Each prior art container handling vehicle 201,301,401 comprises a storage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 across the rail system 108.
  • the storage space may comprise a cavity arranged internally within the vehicle body 201a,401a as shown in Figs. 2 and 4 and as described in e.g. WO2015/193278A1 and WO2019/206487A1, the contents of which are incorporated herein by reference.
  • Fig. 3 shows an alternative configuration of a container handling vehicle 301 with a cantilever construction.
  • a container handling vehicle 301 with a cantilever construction.
  • Such a vehicle is described in detail in e.g. NO317366, the contents of which are also incorporated herein by reference.
  • the cavity container handling vehicle 201 shown in Fig. 2 may have a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a storage column 105, e.g. as is described in WO2015/193278A1, the contents of which are incorporated herein by reference.
  • the term ‘lateral’ used herein may mean ‘horizontal’.
  • the cavity container handling vehicles 401 may have a footprint which is larger than the lateral area defined by a storage column 105 as shown in Fig. 1 and 4, e.g. as is disclosed in W02014/090684A1 or WO2019/206487A1.
  • the rail system 108 typically comprises rails with grooves in which the wheels of the vehicles run.
  • the rails may comprise upwardly protruding elements, where the wheels of the vehicles comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively known as tracks.
  • Each rail may comprise one track, or each rail 110,111 may comprise two parallel tracks.
  • each rail in one direction e.g. an X direction
  • each rail in the other, perpendicular direction e.g. a Y direction
  • Each rail 110,111 may also comprise two track members that are fastened together, each track member providing one of a pair of tracks provided by each rail.
  • WO2018/146304A1 illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both X and Y directions.
  • a majority of the columns are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107.
  • storage columns 105 there are special-purpose columns within the framework structure.
  • columns 119 and 120 are such special-purpose columns used by the container handling vehicles 201,301,401 to drop off and/or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside of the framework structure 100 or transferred out of or into the framework structure 100.
  • such a location is normally referred to as a ‘port’ and the column in which the port is located may be referred to as a ‘port column’ 119,120.
  • the transportation to the access station may be in any direction, that is horizontal, tilted and/or vertical.
  • the storage containers 106 may be placed in a random or dedicated column 105 within the framework structure 100, then picked up by any container handling vehicle and transported to a port column 119,120 for further transportation to an access station.
  • the transportation from the port to the access station may require movement along various different directions, by means such as delivery vehicles, trolleys or other transportation lines.
  • tilted means transportation of storage containers 106 having a general transportation orientation somewhere between horizontal and vertical.
  • the first port column 119 may for example be a dedicated drop-off port column where the container handling vehicles 201,301,401 can drop off storage containers 106 to be transported to an access or a transfer station
  • the second port column 120 may be a dedicated pick-up port column where the container handling vehicles 201,301,401 can pick up storage containers 106 that have been transported from an access or a transfer station.
  • the access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers 106.
  • the storage containers 106 are normally not removed from the automated storage and retrieval system 1 , but are returned into the framework structure 100 again once accessed.
  • a port can also be used for transferring storage containers to another storage facility (e.g. to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.
  • a conveyor system comprising conveyors is normally employed to transport the storage containers between the port columns 119,120 and the access station.
  • the conveyor system may comprise a lift device with a vertical component for transporting the storage containers 106 vertically between the port column 119,120 and the access station.
  • the conveyor system may be arranged to transfer storage containers 106 between different framework structures, e.g. as is described in WO2014/075937A1, the contents of which are incorporated herein by reference.
  • one of the container handling vehicles 201,301,401 is instructed to retrieve the target storage container 106 from its position and transport it to the drop-off port column 119.
  • This operation involves moving the container handling vehicle 201,301,401 to a location above the storage column 105 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the container handling vehicle’s 201,301,401 lifting device (not shown), and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within a stack 107, i.e.
  • the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container 106 from the storage column 105.
  • This step which is sometimes referred to as “digging” within the art, may be performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port column 119, or with one or a plurality of other cooperating container handling vehicles.
  • the automated storage and retrieval system 1 may have container handling vehicles 201,301,401 specifically dedicated to the task of temporarily removing storage containers 106 from a storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers 106 can be repositioned into the original storage column 105. However, the removed storage containers 106 may alternatively be relocated to other storage columns 105.
  • one of the container handling vehicles 201,301,401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a location above the storage column 105 where it is to be stored.
  • the container handling vehicle 201,301,401 positions the storage container 106 at the desired position. The removed storage containers 106 may then be lowered back into the storage column 105, or relocated to other storage columns 105.
  • the automated storage and retrieval system 1 For monitoring and controlling the automated storage and retrieval system 1, e.g. monitoring and controlling the location of respective storage containers 106 within the framework structure 100, the content of each storage container 106, and the movement of the container handling vehicles 201,301,401 so that a desired storage container 106 can be delivered to the desired location at the desired time without the container handling vehicles 201,301,401 colliding with each other, the automated storage and retrieval system 1 comprises a control system 500 which typically is computerized and which typically comprises a database for keeping track of the storage containers 106.
  • Wireless communication and antennas are typically is computerized and which typically comprises a database for keeping track of the storage containers 106.
  • the automated vehicles operating in the automated storage and retrieval system described above are in wireless communication with the control system of the storage system.
  • the vehicles are typically equipped with so-called omni-directional antennas that send and receive signals to and from one or more wireless access points.
  • omni-directional antennas that send and receive signals to and from one or more wireless access points.
  • the number of vehicles increases, possibly also the number of access points, each with its own antenna transmitting signals in all direction. This can generate significant signal interference.
  • the invention is related an automated vehicle for operation in an automated storage and retrieval system as described above, the vehicle being equipped with a directional antenna for sending and receiving wireless signals.
  • the antenna is rotatable by a motor so as to point at a wireless access point as the vehicle moves about the rail system of the storage and retrieval system.
  • the antenna is both rotatable and tiltable.
  • the control system of the automated storage and retrieval system calculates an angle between a grid position occupied by the vehicle and a known position of an access point and sends a signal to cause the motor to rotate and or tilt the directional antenna to point at the access point.
  • the control system causes the motor to point the antenna at a first access point.
  • the vehicle travels along the rail system it may move to a position where it is more optimal to point the antenna at a second access point, for example if the vehicle is closer to the second access point, if the angle to the second access point is more optimal, or if it is optimal to direct the vehicles antenna to a new access point if for example a number of other vehicles have their antenna pointed at the first access point.
  • the control system causes the motor to rotate and or tilt the antenna based upon measured signal strength of the wireless signal between the vehicle’s antenna and an access point.
  • Wireless Communication via the propagation through the air of electromagnetic waves, for example radio waves. Includes any protocol for communication via wireless signals, including but not limited to communication utilizing wireless LAN (local area network) technology such as Wi-Fi, Bluetooth, Microwave, etc.
  • wireless LAN local area network
  • Access Point A networking hardware device that allows wireless devices to connect to a wired local area network.
  • an access point is a stationary device that communicates wirelessly with the handling vehicle of the automated storage system, allowing the vehicles to communicate with the control system of the storage and retrieval system.
  • Directional antenna As used herein a directional antenna is to be understood as an antenna which radiates or receives greater radio wave power in a specific direction, as opposed to an omnidirectional antenna that radiates or receives radio wave power equally or substantially equally in all directions.
  • antenna gain measured in dB (decibels), dBi (decibels relative to an isotropic antenna), or dBd (decibels relative to a dipole antenna).
  • the term directional antenna as used herein refers to the term of art “high gain” employed in the field of wireless antennas, as opposed to the term of art “low gain” antenna that transmits or receives a relatively broad radio beam.
  • the invention can be describes as follows:
  • An automated storage and retrieval system comprising: a framework structure, wherein the framework structure (100) comprises:
  • a storage volume comprising storage columns provided between the upright members , wherein storage containers are stackable in stacks within the storage columns;
  • a rail system provided on top of the upright members, a control system; a wireless access point affixed at a known location in relation to the framework structure; and a container handling vehicle configured to operate on the rail system , wherein the container handling vehicle is configured to be in wireless communication with the control system , and the control system is configured to direct and monitor the movement of the container handling vehicle on the rail system; and wherein the container handling vehicle comprises: a directional antenna; and a motor, wherein the motor is arranged to rotate the directional antenna to point in the direction of the access point in response to a signal from the control system.
  • Fig. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.
  • FIG. 2 and 3 are perspective views of prior art container handling vehicles.
  • Fig. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.
  • Fig 4 is a perspective view of a prior art container handling vehicle.
  • Fig 5 is a top view of automated vehicles having directional antennas according to the invention operating on the rail system of an automated storage and retrieval system.
  • Fig 6 is a side view of automated vehicles having directional antennas according to the invention operating on the rail system of an automated storage and retrieval system that comprises a plurality of access points.
  • Fig 7 is a flow chart illustrating control aspects of the invention.
  • the framework structure 100 of the automated storage and retrieval system 1 is constructed in a similar manner to the prior art framework structure 100 described above in connection with Figs. 1-3. That is, the framework structure 100 comprises a number of upright members 102, and comprises a first, upper rail system 108 extending in the X direction and Y direction.
  • the framework structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102 wherein storage containers 106 are stackable in stacks 107 within the storage columns 105.
  • the framework structure 100 can be of any size. In particular it is understood that the framework structure can be considerably wider and/or longer and/or deeper than disclosed in Fig. 1.
  • the framework structure 100 may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.
  • Fig 5 shows a top down view of the grid structure of an automate storage and retrieval system formed by the intersecting tracks of the rail system, and illustrates the functioning of the present invention.
  • the intersecting rail system defines a plurality of grid cells 10 corresponding to the opening at the top of storage columns 105.
  • Two automated vehicle 201,301, 401 are shown in two various locations on the grid.
  • a wireless access point 10 The physical location of the access points is known, and recorded in the control system 500 of the storage and retrieval system.
  • the location of each grid cell 10 in known and recorded in control system 500.
  • the directional angle between the grid cell and the access point is known and recorded.
  • control system 500 is continuously aware of which grid location of the vehicle as it travels about the rail system. For any given grid position, the control system can thus calculate or assign an angle and possible angle of inclination between the grid location and the access point.
  • the container handling vehicle 201,301,401 is equipped with a directional antenna 14 that is rotatable by a motor 16.
  • the control system calculates or assigns angle a between the grid cell where the vehicle is located and the access point, and sends a signal to the motor to rotate the antenna in the direction for the access point according to the calculated or assigned angle.
  • the grid cell location of the vehicle is continuously updated, such that the motor continuously rotates the antenna to point at the access point.
  • Fig 6 illustrates an example where the storage and retrieval system comprises more that one access point 12, designated 12, 12’ and 12”.
  • the control system continues to update the angle between the vehicle and access point 12, until a “hand off’ point 18 is reached beyond which point a more optimal signal would be possible in communication with access point 12’.
  • the control system causes the motor the rotate the antenna away from access point 12 in order to point at access point 12’.
  • control system recalculates the angle between the vehicle and access point 12’ until a new hand-off point 18 is reached whereupon the control system sends a signal to cause the motor to direct the antenna towards access point 12”.
  • Fig. 7 shows a vehicle 201,301,401 comprising directional antenna 14.
  • Antenna 14 is mounted to a rotatable shaft 20 rotatable by a motor 16.
  • antenna 14 may also be mounted on a tiltable bracket 22.
  • One skilled in the art of automated vehicle design will understand there are other ways of arranging a motor to rotate or tilt an antenna. LIST OF REFERENCE NUMBERS
  • Framework structure 102 Upright members of framework structure 104 Storage grid 105 Storage column 106 Storage container
  • Prior art container handling vehicle 201a Vehicle body of the container handling vehicle 201 201b Drive means / wheel arrangement / first set of wheels in first direction (A)
  • 201c Drive means / wheel arrangement / second set of wheels in second direction (F)
  • Prior art cantilever container handling vehicle 301a Vehicle body of the container handling vehicle 301 301b Drive means / first set of wheels in first direction (X) 301c Drive means / second set of wheels in second direction (F) 304 Gripping device
  • Prior art container handling vehicle 401a Vehicle body of the container handling vehicle 401 401b Drive means / first set of wheels in first direction (X) 401c Drive means / second set of wheels in second direction (F) 404 Gripping device

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un véhicule automatisé destiné à fonctionner dans un système de stockage et de récupération automatisé équipé d'une antenne directionnelle (14) destiné à envoyer et recevoir des signaux sans fil. Dans un mode de réalisation, l'antenne peut être tournée par un moteur de façon à s'orienter au niveau d'un point d'accès sans fil (12) lorsque le véhicule se déplace autour du système de rail du système de stockage et de récupération. Dans un autre mode de réalisation, l'antenne est à la fois rotative et inclinable.
PCT/EP2024/062289 2023-05-05 2024-05-03 Véhicule automatisé à antenne directionnelle Pending WO2024231287A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20230527 2023-05-05
NO20230527 2023-05-05

Publications (1)

Publication Number Publication Date
WO2024231287A1 true WO2024231287A1 (fr) 2024-11-14

Family

ID=91076585

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2024/062289 Pending WO2024231287A1 (fr) 2023-05-05 2024-05-03 Véhicule automatisé à antenne directionnelle

Country Status (1)

Country Link
WO (1) WO2024231287A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014075937A1 (fr) 2012-11-13 2014-05-22 Jakob Hatteland Logistics As Système de stockage
WO2014090684A1 (fr) 2012-12-10 2014-06-19 Jakob Hatteland Logistics As Robot pour le transport de bacs de stockage
WO2015193278A1 (fr) 2014-06-19 2015-12-23 Jakob Hatteland Logistics As Robot pour transporter des bacs de stockage
WO2018002143A1 (fr) * 2016-06-30 2018-01-04 Autostore Technology AS Procédé d'exploitation d'un nœud de communications dans un réseau de communications sans fil, nœud de communications, système de communications et système de stockage associés
WO2018146304A1 (fr) 2017-02-13 2018-08-16 Autostore Technology AS Agencement de rails destiné à un système de stockage
WO2019206487A1 (fr) 2018-04-25 2019-10-31 Autostore Technology AS Véhicule de manipulation de conteneurs doté de première et seconde sections et d'un moteur de dispositif de levage dans une seconde section
US20220359251A1 (en) * 2019-06-20 2022-11-10 Murata Machinery, Ltd. Transport vehicle

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014075937A1 (fr) 2012-11-13 2014-05-22 Jakob Hatteland Logistics As Système de stockage
WO2014090684A1 (fr) 2012-12-10 2014-06-19 Jakob Hatteland Logistics As Robot pour le transport de bacs de stockage
WO2015193278A1 (fr) 2014-06-19 2015-12-23 Jakob Hatteland Logistics As Robot pour transporter des bacs de stockage
WO2018002143A1 (fr) * 2016-06-30 2018-01-04 Autostore Technology AS Procédé d'exploitation d'un nœud de communications dans un réseau de communications sans fil, nœud de communications, système de communications et système de stockage associés
WO2018146304A1 (fr) 2017-02-13 2018-08-16 Autostore Technology AS Agencement de rails destiné à un système de stockage
WO2019206487A1 (fr) 2018-04-25 2019-10-31 Autostore Technology AS Véhicule de manipulation de conteneurs doté de première et seconde sections et d'un moteur de dispositif de levage dans une seconde section
US20220359251A1 (en) * 2019-06-20 2022-11-10 Murata Machinery, Ltd. Transport vehicle

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
VENTEV: "2.4/5 GHz 13 dBi Wi-Fi Directional Warehouse Antenna with 4 N Female Connectors", VENTEVINFRA.COM, 28 November 2022 (2022-11-28), pages 1 - 3, XP093193765, Retrieved from the Internet <URL:https://web.archive.org/web/20221128142559/https://ventevinfra.com/product/2-4-5-ghz-13-dbi-wi-fi-directional-warehouse-antenna-with-4-n-female-connectors/> [retrieved on 20240808] *

Similar Documents

Publication Publication Date Title
US11718477B2 (en) Vehicle for an automated storage and retrieval system
JP2021504265A (ja) 自動倉庫システム
EP4136041B1 (fr) Véhicule de manutention de conteneurs comprenant une position de transport de conteneurs, système et méthodes associés
US20230415993A1 (en) Remotely operated picking vehicle
CN116635314A (zh) 用于在自动储存和取回系统中运输储存容器的车辆
US20250368441A1 (en) Container handling vehicle
WO2022008670A1 (fr) Véhicule de manutention de conteneurs avec empattement extensible
KR20230025466A (ko) 접근 스테이션
WO2024231287A1 (fr) Véhicule automatisé à antenne directionnelle
US20250368437A1 (en) An automated storage and retrieval system comprising a first type of container handling vehicle, a crane and a gantry arrangement, and a method of transferring a storage container
US20230331499A1 (en) Product handling system
EP4588836A1 (fr) Véhicule pour manipuler des cadres d&#39;empilage
EP4553006A1 (fr) Véhicule de manipulation de conteneurs
EP4546070A1 (fr) Procédé et système pour améliorer la sécurité d&#39;un véhicule de service piloté
US20250187826A1 (en) A remotely operated vehicle, an automated storage and retrieval system and a method of operating a remotely operated vehicle for handling a goods holder of an automated storage and retrieval system
WO2025157367A1 (fr) Ensemble cadre de levage, véhicule de manipulation de conteneur associé et système de stockage et de récupération automatisé, et leurs procédés d&#39;utilisation
US20230399172A1 (en) A distribution dock, a distribution system and a method thereof
WO2024046981A1 (fr) Système de stockage

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 24725414

Country of ref document: EP

Kind code of ref document: A1