PL3807183T3 - Sposób obsługi zautomatyzowanego systemu magazynowania i pobierania - Google Patents

Sposób obsługi zautomatyzowanego systemu magazynowania i pobierania

Info

Publication number
PL3807183T3
PL3807183T3 PL19730163.3T PL19730163T PL3807183T3 PL 3807183 T3 PL3807183 T3 PL 3807183T3 PL 19730163 T PL19730163 T PL 19730163T PL 3807183 T3 PL3807183 T3 PL 3807183T3
Authority
PL
Poland
Prior art keywords
pick
operate
automated storage
automated
storage
Prior art date
Application number
PL19730163.3T
Other languages
English (en)
Inventor
Jørgen DJUVE HEGGEBØ
Ole Alexander Mæhle
Synnøve Matre
Ingvar FAGERLAND
Ragnar STUHAUG
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
Priority claimed from NO20181005A external-priority patent/NO344662B1/en
Priority claimed from NO20181098A external-priority patent/NO348639B1/en
Application filed by Autostore Technology AS filed Critical Autostore Technology AS
Priority claimed from PCT/EP2019/065201 external-priority patent/WO2019238670A1/en
Publication of PL3807183T3 publication Critical patent/PL3807183T3/pl

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • 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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0414—Storage devices mechanical using stacker cranes provided with satellite cars adapted to travel in storage racks
    • 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
    • B65G1/0457—Storage devices mechanical with suspended load carriers
    • 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
    • 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
    • B65G1/0471—Storage devices mechanical with access from beneath
    • 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
    • B65G1/0478—Storage devices mechanical for matrix-arrangements
    • 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
    • B65G1/0485—Check-in, check-out devices
    • 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
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • 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
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
    • 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
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/06—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • 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
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • 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
    • B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
    • B65G63/06—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially-vertical transit
    • 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
    • B65G65/00—Loading or unloading
    • B65G65/23—Devices for tilting and emptying of containers
    • 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
    • B65G67/00—Loading or unloading vehicles
    • B65G67/02—Loading or unloading land vehicles
    • B65G67/24—Unloading land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/19—Additional means for facilitating unloading
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/24—Direction of travel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • 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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • 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
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0258—Trays, totes or bins
    • 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
    • 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
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • 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
    • B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
    • B65G63/002—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles
    • B65G63/004—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles for containers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • G05D1/0229—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area in combination with fixed guiding means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions [2D]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/693—Coordinated control of the position or course of two or more vehicles for avoiding collisions between vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mathematical Physics (AREA)
  • Structural Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Warehouses Or Storage Devices (AREA)
PL19730163.3T 2018-06-12 2019-06-11 Sposób obsługi zautomatyzowanego systemu magazynowania i pobierania PL3807183T3 (pl)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
NO20180813 2018-06-12
NO20181005A NO344662B1 (en) 2018-06-12 2018-07-19 An automated storage and retrieval system and a method of transporting storage containers between an automated storage and retrieval grid and a second location
NO20181039A NO346265B1 (en) 2018-06-12 2018-08-02 Storage system
NO20181098A NO348639B1 (en) 2018-06-12 2018-08-21 A method of operating an automated storage and retrieval system
PCT/EP2019/065201 WO2019238670A1 (en) 2018-06-12 2019-06-11 A method of operating an automated storage and retrieval system

Publications (1)

Publication Number Publication Date
PL3807183T3 true PL3807183T3 (pl) 2025-02-10

Family

ID=87554170

Family Applications (1)

Application Number Title Priority Date Filing Date
PL19730163.3T PL3807183T3 (pl) 2018-06-12 2019-06-11 Sposób obsługi zautomatyzowanego systemu magazynowania i pobierania

Country Status (7)

Country Link
US (2) US12179806B2 (pl)
EP (3) EP4290329A3 (pl)
JP (3) JP7357647B2 (pl)
CN (1) CN112262084B (pl)
CA (1) CA3099882A1 (pl)
ES (1) ES2991321T3 (pl)
PL (1) PL3807183T3 (pl)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111232524B (zh) * 2020-03-09 2023-06-13 深圳市海柔创新科技有限公司 一种控制搬运机器人的方法、装置及搬运机器人
JP7402996B2 (ja) 2020-03-09 2023-12-21 ハイ ロボティクス カンパニー リミテッド 搬送ロボットを制御する方法及び装置、並びに立設架台、搬送ロボット
NO347437B1 (en) * 2020-08-12 2023-11-06 Autostore Tech As System and method for detection of anomalies in the tracks on a three-dimensional storage system
EP4195908A1 (en) * 2020-08-13 2023-06-21 Ocado Innovation Limited Storage system, methods and devices
NO348058B1 (en) * 2021-01-29 2024-07-08 Autostore Tech As Controlling storage locations of products stored in storage containers in an automated storage and retrieval system
US12473146B2 (en) 2021-08-12 2025-11-18 Symbotic Llc Autonomous transport vehicle with vision system
EP4416083A1 (en) * 2021-10-15 2024-08-21 Berkshire Grey Operating Company, Inc. Systems and method for providing detection processing with velocity matching
DE102021132413B3 (de) * 2021-12-09 2023-05-11 Ssi Schäfer Automation Gmbh (At) Kommissionier-Shuttle und Verfahren zum Kommissionieren innerhalb einer Shuttle-Regalgasse
CN114701781A (zh) * 2022-03-25 2022-07-05 深圳市海柔创新科技有限公司 货箱存放方法、控制终端及仓储系统
CN115019165B (zh) * 2022-04-24 2025-05-09 大连海事大学 一种基于检测-跟踪-检测的时空联合红外海面目标高精度检测方法

Family Cites Families (118)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3519150A (en) 1968-04-05 1970-07-07 Westinghouse Electric Corp Storage system with means for transferring a vehicle between a plurality of paths that have control means therein
US3968888A (en) 1968-10-21 1976-07-13 The Lummus Company Warehouse sysem with parallel conductor positional control means for a stacker crane
US3608750A (en) 1969-03-03 1971-09-28 Kaiser Ind Inc Storage means and load-handling equipment therefor
US3800963A (en) 1972-12-04 1974-04-02 E Holland Material storage and handling system
JPS57194861A (en) 1981-05-25 1982-11-30 Murata Mach Ltd Automatic transfer system of workpiece in machine shop
NL8104384A (nl) 1981-09-23 1983-04-18 Staalkat Bv Werkwijze voor het ontladen van een met stapels gevulde container, alsmede inrichting voor het uitvoeren van deze werkwijze.
IT1171216B (it) 1983-07-27 1987-06-10 Italimpianti Terminale a magazzino verticale per container
JPS60137703A (ja) 1984-07-31 1985-07-22 Nippon Filing Co Ltd 機密物保管設備
US4909697A (en) 1986-01-02 1990-03-20 Computer Aided Systems, Inc. Automated work station
JPS6417707A (en) 1987-07-10 1989-01-20 Daifuku Kk Warehouse facility
JPH07110282B2 (ja) 1987-09-29 1995-11-29 テルモ株式会社 自動搬送滅菌装置
JPH01117103A (ja) 1987-10-30 1989-05-10 Ishikawajima Harima Heavy Ind Co Ltd コンテナの貯蔵設備
JP2665601B2 (ja) * 1988-09-21 1997-10-22 株式会社ダイフク 移動車の衝突防止装置
US5078566A (en) 1988-10-27 1992-01-07 Utdc, Inc. Freight discharge apparatus
JPH0767623B2 (ja) 1989-06-06 1995-07-26 日産自動車株式会社 車体部品の搬送方法
GB2233319A (en) 1989-05-27 1991-01-09 Frederick George Best Storage system
DE4016810C1 (pl) 1990-05-25 1991-11-21 Keuro Maschinenbau Gmbh & Co Kg, 7590 Achern, De
NL9101633A (nl) 1991-09-26 1993-04-16 Martinus Wilhelmus Johannus Ke Inrichting voor het beladen en inrichting voor het lossen van een eiercontainer.
JP3136782B2 (ja) * 1992-07-22 2001-02-19 株式会社明電舎 無人搬送車の交差点制御方法
US5360306A (en) 1993-07-13 1994-11-01 Kabushiki Kaisha Nakayama Egg Delivering apparatus using parallel conveyor system and shipping apparatus employed by the delivering apparatus
DE9310690U1 (de) 1993-07-16 1993-09-09 Siemens AG, 80333 München Lager mit integriertem Sortierbereich
JPH07125811A (ja) 1993-08-16 1995-05-16 Hakko Electric:Kk 自動倉庫装置
DE9412219U1 (de) 1994-07-29 1995-11-23 Varta Batterie Ag, 30419 Hannover Automatisches Kupplungssystem für Fahrzeugbatterien
ITPI940032A1 (it) 1994-11-03 1996-05-03 Gilberto Rolla Deposito interrato modulare e automatico per lo stoccaggio temporaneo o permanente di container e simili
JPH08217209A (ja) 1995-02-10 1996-08-27 Chiyoda Corp ピッキングシステム
JPH09152914A (ja) 1995-11-29 1997-06-10 Oki Electric Ind Co Ltd 移動体制御方法及び移動体制御システム
JPH11143538A (ja) * 1997-11-07 1999-05-28 Murata Mach Ltd 無人搬送車システム
JPH11147535A (ja) * 1997-11-12 1999-06-02 Gifu Plast Ind Co Ltd トレイ
JP2000044010A (ja) 1998-07-30 2000-02-15 Amada Co Ltd 自動倉庫システム
JP3375061B2 (ja) 1998-12-28 2003-02-10 村田機械株式会社 ピッキングシステム
NO317366B1 (no) 1999-07-01 2004-10-18 Autostore As Lagringsanlegg med fjernstyrte vogner med to hjulsett og heisinnretning for drift på skinner anlagt i kryss over kolonner av lagringsenheter som er adskilt med vertikale profilstolper
JP2001192103A (ja) 2000-01-11 2001-07-17 Nisshin Steel Co Ltd 自動クレーン荷役装置
JP2003137406A (ja) 2001-10-30 2003-05-14 Murata Mach Ltd 部品供給システム
JP2003146412A (ja) 2001-11-12 2003-05-21 Mitsubishi Electric Corp 搬送システム
US7101139B1 (en) 2003-05-06 2006-09-05 Benedict Charles E Automated material handling system with motorized transfer vehicles
US8628289B1 (en) 2003-05-06 2014-01-14 Charles E. Benedict Material handling and storage/warehouse system
US7591630B2 (en) 2003-08-29 2009-09-22 Casepick Systems, Llc Materials-handling system using autonomous transfer and transport vehicles
US7073634B2 (en) 2003-11-28 2006-07-11 California Natural Products Automated warehouse row cart and lift
JP4807257B2 (ja) 2004-04-30 2011-11-02 株式会社湯山製作所 トレイ排出装置
AT501062B1 (de) 2004-06-04 2007-06-15 Katt Transp Gmbh Verfahren zum fördern von gütern und anlage zur verwirklichung des verfahrens
US7920962B2 (en) * 2006-06-19 2011-04-05 Kiva Systems, Inc. System and method for coordinating movement of mobile drive units
US20130302132A1 (en) 2012-05-14 2013-11-14 Kiva Systems, Inc. System and Method for Maneuvering a Mobile Drive Unit
CN101553416A (zh) 2006-09-25 2009-10-07 查尔斯·E.·贝内迪克特 仓库存储系统
JP4306723B2 (ja) 2006-12-15 2009-08-05 村田機械株式会社 搬送台車システム
US7753637B2 (en) 2007-03-01 2010-07-13 Benedict Charles E Port storage and distribution system for international shipping containers
JP5142077B2 (ja) 2008-02-05 2013-02-13 株式会社日立プラントテクノロジー 搬送台車
RU2381166C2 (ru) 2008-03-26 2010-02-10 Игорь Вадимович Барсук Система загрузки штучных грузов в контейнер
DE102009017241B4 (de) 2009-04-09 2016-12-01 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Lagersystem
MX2012000098A (es) 2009-07-02 2012-02-29 Crown Equip Corp Aparato para controlar remotamente un vehiculo de manejo de materiales.
CN102050333A (zh) 2009-11-04 2011-05-11 中粮集团有限公司 一种利用卸料装置卸载物料的方法
JP2011102166A (ja) 2009-11-10 2011-05-26 Toyota Industries Corp 搬送経路決定方法及び自動搬送システム
AT509294B1 (de) 2010-01-14 2011-10-15 Knapp Ag Regallagersystem
AT511137B1 (de) 2011-02-08 2020-10-15 Tgw Mechanics Gmbh Regallagersystem und verfahren zum betreiben desselben
CN102992012B (zh) 2011-09-15 2015-07-15 鸿富锦精密工业（深圳）有限公司 定位机构
US8831984B2 (en) * 2011-10-19 2014-09-09 Amazon Technologies, Inc. System and method for inventory management using mobile drive units
CA2855421C (en) 2011-11-20 2016-09-13 Illinois Tool Works Inc. A system for storage and retrieving items
FI2847105T4 (fi) 2012-05-11 2025-02-05 Ocado Innovation Ltd Varastojärjestelmät ja menetelmät yksiköiden hakemiseksi varastojärjestelmästä
US8721250B2 (en) 2012-07-11 2014-05-13 Sergey N. Razumov Robotic device movable in three mutually perpendicular directions
US20140086714A1 (en) 2012-09-27 2014-03-27 Ohad MALIK Automated warehousing systems and method
NO334806B1 (no) 2012-11-13 2014-06-02 Jakob Hatteland Logistics As Lagringssystem
NO335839B1 (no) 2012-12-10 2015-03-02 Jakob Hatteland Logistics As Robot for transport av lagringsbeholdere
US20150339609A1 (en) 2012-12-27 2015-11-26 Israel Aerospace Industries Ltd. A method and a system for managing a cargo storage area
US9469208B2 (en) 2013-03-15 2016-10-18 Symbotic, LLC Rover charging system
US9020632B2 (en) 2013-03-15 2015-04-28 Intelligrated Headquarters, Llc Storage, retrieval and sortation system
US9139363B2 (en) 2013-03-15 2015-09-22 John Lert Automated system for transporting payloads
DE102013009340B4 (de) 2013-06-04 2020-07-09 Extor Gmbh Einrichtung und Verfahren zum Ein- und Auslagern von stapelbaren Behältern
GB201310125D0 (en) 2013-06-06 2013-07-24 Ocado Ltd Storage and retrieval system
GB201310784D0 (en) 2013-06-17 2013-07-31 Ocado Ltd Systems and Methods for Order Processing
GB201314313D0 (en) 2013-08-09 2013-09-25 Ocado Ltd Apparatus for retrieving units from a storage system
SE538974C2 (sv) 2013-12-03 2017-03-07 Texo Application Ab Nödstoppsanordning för skyttel, samt lagersystem med skenor och skyttel
EP2881905B1 (en) 2013-12-09 2018-02-07 Cleveron AS Self-service parcel terminal
NO340313B1 (no) 2014-01-08 2017-03-27 Jakob Hatteland Logistics As Fjernstyrt kjøretøy for å plukke opp lagringsbeholdere fra et lagringssystem, lagringssystem for lagring av beholdere og fremgangsmåte for å bytte en strømkilde
US20170050809A1 (en) 2014-05-07 2017-02-23 Itoh Denki Co., Ltd. Lifting apparatus
GB201409883D0 (en) * 2014-06-03 2014-07-16 Ocado Ltd Methods, systems, and apparatus for controlling movement of transporting devices
NO337544B1 (no) 2014-06-19 2016-05-02 Jakob Hatteland Logistics As Fjernstyrt kjøretøysammenstilling for å plukke opp lagringsbeholdere fra et lagringssystem
GB2527543A (en) 2014-06-25 2015-12-30 Ocado Innovation Ltd System and method for managing shipping containers
US10377394B2 (en) 2014-07-11 2019-08-13 Mitsubishi Electric Corporation Unit storage device and railway vehicle
WO2016023869A2 (de) 2014-08-11 2016-02-18 SSI Schäfer Noell GmbH Lager- und Systemtechnik Lager- und kommissioniersystem und verfahren zum sequenzierten bereitstellen von artikeln
JP6539961B2 (ja) 2014-09-01 2019-07-10 村田機械株式会社 搬送車システム及び搬送車システムの制御方法
JP6597061B2 (ja) 2014-09-02 2019-10-30 株式会社ダイフク 物品搬送設備
US9505556B2 (en) 2014-09-03 2016-11-29 Ottos Consultants Ltd. Storage system using lifting mechanism for collecting containers in desired sequence
JP6559413B2 (ja) 2014-11-13 2019-08-14 株式会社東芝 移載装置及び荷物取出方法
US10214354B2 (en) 2014-12-18 2019-02-26 Nextshift Robotics, Inc. Method and system for automated transport of items
GB201509921D0 (en) 2015-06-08 2015-07-22 Ocado Innovation Ltd Object storage, handling and retrieving system and method
GB2541487A (en) 2015-04-15 2017-02-22 Ocado Innovation Ltd Object handling system and method
EP4389645A3 (en) 2015-04-15 2024-10-30 Ocado Innovation Limited Storage system with partition means and methods
CN104828450B (zh) 2015-04-16 2017-03-08 昆山华恒工程技术中心有限公司 智能搬运车及智能搬运车用交叉口防撞系统
WO2016172253A1 (en) * 2015-04-21 2016-10-27 Opex Corporation Method and apparatus for storing or retrieving items
PL3288865T3 (pl) 2015-04-27 2022-04-25 Attabotics Inc. Układ magazynowy i pobierania
US9409711B1 (en) 2015-05-27 2016-08-09 Amazon Technologies, Inc. Semi-automated inventory transfer station output merge logic
WO2016196815A1 (en) 2015-06-02 2016-12-08 Alert Corporation Storage and retrieval system
NO339783B1 (en) 2015-06-11 2017-01-30 Jakob Hatteland Logistics As Storage system
IL244096A0 (en) 2015-08-09 2016-07-31 Israel Aerospace Industries Ltd Reinforcement for moving an object
NO340577B1 (en) 2015-09-04 2017-05-15 Jakob Hatteland Logistics As Method for fetching a target bin stored in a storage system and a storage system which includes a control device operating in accordance with the method
FI3374292T3 (fi) * 2015-11-11 2023-11-08 Ocado Innovation Ltd Robottikeräilyjärjestelmiä ja -laitteita
JP6995466B2 (ja) 2015-11-11 2022-01-14 トーヨーカネツ株式会社 立体自動倉庫
CN107922119B (zh) * 2015-11-25 2020-05-29 株式会社日立制作所 货架配置系统、搬运机器人以及货架配置方法
CN105383848A (zh) 2015-12-11 2016-03-09 吴美俊 一种用于仓储物流的智能存取系统
JP6531642B2 (ja) 2015-12-24 2019-06-19 株式会社ダイフク 物品搬送設備
NO20160075A1 (en) 2016-01-14 2017-04-03 Autostore Tech As Method for retrieving items from a storage system and storage system for storing and retrieving bins
NO342458B1 (en) 2016-01-14 2018-05-21 Autostore Tech As A storage system and method for storing and transporting bins
US20180118078A1 (en) 2016-01-15 2018-05-03 Abdullah Hassan Alkhaldi Autonomous mobile automated storage and retrieval system and operating model for on-demand electronic commerce
DE112017000987A5 (de) 2016-02-26 2018-11-29 Baumüller Nürnberg GmbH Regalbediengerät für einen parallelen betrieb eines hochregallagers sowie ein betriebsverfahren hierfür
GB201603518D0 (en) 2016-02-29 2016-04-13 Ocado Innovation Ltd Robotic fire extinguishing device and handling method
GB201604095D0 (en) 2016-03-10 2016-04-20 Ocado Innovation Ltd Storage systems and methods
NO344609B1 (en) 2016-06-06 2020-02-10 Autostore Tech As Conveyor with tilt function
GB201610837D0 (en) 2016-06-21 2016-08-03 Ocado Innovation Ltd Robotic cargo handling system and method
CN106064718A (zh) 2016-08-09 2016-11-02 无锡德林船舶设备有限公司 自动化货架用传动轴锁紧释放装置
US11429917B2 (en) 2016-09-02 2022-08-30 Home Valet, Inc. System and method for robotic delivery
US10395152B2 (en) 2016-09-16 2019-08-27 Amazon Technologies, Inc. Amassing pick and/or storage task density for inter-floor transfer
NO341707B1 (en) 2016-11-02 2018-01-02 Autostore Tech As Track sensors for detecting position of vehicle relative to tracks
US10336542B2 (en) 2016-11-18 2019-07-02 Amazon Technologies, Inc. Systems and methods for maximizing tote contents
CA3044850A1 (en) 2016-11-29 2018-06-07 Alert Innovation Inc. Automated retail supply chain and inventory management system
DK3364263T3 (da) * 2017-02-17 2021-08-02 Kollmorgen Automation Ab Fremgangsmåde til at styre bevægelsesbanen af automatiserede guidede transportmidler
NO343300B1 (en) 2017-03-10 2019-01-21 Autostore Tech As Automated storage and retrieval system and method of operating the same
CN106829298B (zh) 2017-04-24 2019-10-22 深圳市鸿鹭工业设备有限公司 一种智能变轨穿梭车以及自动化仓库
CN206750711U (zh) 2017-04-24 2017-12-15 深圳市鸿鹭工业设备有限公司 穿梭车及智能仓储系统
WO2019168710A1 (en) * 2018-03-02 2019-09-06 Walmart Apollo, Llc Systems and methods for delivering merchandise using autonomous ground vehicles

Also Published As

Publication number Publication date
JP7357647B2 (ja) 2023-10-06
US20210237973A1 (en) 2021-08-05
JP2021527011A (ja) 2021-10-11
EP4290329A3 (en) 2024-02-28
EP3807183A1 (en) 2021-04-21
EP4290329A2 (en) 2023-12-13
JP2023169367A (ja) 2023-11-29
JP2025041811A (ja) 2025-03-26
CN112262084B (zh) 2022-09-23
EP3807183C0 (en) 2024-09-11
EP4467487A1 (en) 2024-11-27
US20240391506A1 (en) 2024-11-28
CN112262084A (zh) 2021-01-22
CA3099882A1 (en) 2019-12-19
US12179806B2 (en) 2024-12-31
EP3807183B1 (en) 2024-09-11
ES2991321T3 (es) 2024-12-03

Similar Documents

Publication Publication Date Title
PL4410590T3 (pl) Zautomatyzowany system magazynowania i pobierania
PL3807183T3 (pl) Sposób obsługi zautomatyzowanego systemu magazynowania i pobierania
EP3634885C0 (en) AUTOMATED STORAGE AND RETRIEVAL SYSTEM
DK3634886T3 (da) Automatiseret opbevarings- og hentningssystem
DK3713855T3 (da) Automatiseret opbevarings- og hentningssystem
DK3700836T3 (da) Automatiseret opbevarings- og hentningssystem
EP3802374C0 (en) ENHANCED STORAGE AND RETRIEVAL SYSTEMS
PL3713854T3 (pl) Pojazd wielokoszowy do zautomatyzowanego systemu magazynowania i pobierania obejmującego trójwymiarową siatkę
EP4270209C0 (en) DEDUPLICATED, INDEXED OBJECT STORAGE FILE SYSTEM
DK3697706T3 (da) Køretøj til automatiseret opbevarings- og hentningssystem
DK3887293T3 (da) Opbevaringsbeholder til automatiseret opbevarings- og hentningssystem
PL3401977T3 (pl) Stacjonarny system magazynowania akumulatorów
DK3288865T3 (da) Opbevarings- og hentningssystem
DK3326452T3 (da) Dyrkningsopbevaringssystem
DK3278041T3 (da) Automatiseret kryogent opbevaringssystem
EP3283404C0 (en) STORAGE SYSTEM AND METHODS
EP3283403C0 (en) STORAGE SYSTEMS AND METHODS
PL3898456T3 (pl) Stanowisko dostępowe dla kontenera do zautomatyzowanego systemu magazynowania i pobierania
EP3463103A4 (en) IMPROVED COLLECTION AND STORAGE APPARATUS
EP4223667C0 (en) STORAGE SYSTEM
EP3807189C0 (en) STORAGE SYSTEM
EP3817895C0 (de) Aufbewahrungseinrichtung
DK3807187T3 (da) Lagringssystem
DK3811770T3 (da) Opbevaringssystem
IL257595A (en) Storage apparatus and storage method