Storage Grid

Abstract

The present disclosure relates to a storage grid having a support structure forming a horizontal grid of columns, wherein each column is arranged for vertical storage of a plurality of storage containers, and the storage grid has a container support member movable between: an unfolded position in which a storage container can be lowered below one of the columns on a container support member; and a retracted position in which a storage container can be lowered below the column past the container support member.

Description

Technology Field

[0001] The present disclosure relates to a storage grid. More specifically, the present invention relates to a storage grid having columns for vertical storage, a robotic vehicle, a method for operating a storage grid, and a computer-readable medium. Background Technology

[0002] Traditional storage solutions generally involve the arrangement of goods in rows on shelves within a warehouse. The shelf location for each item is recorded in the inventory, and goods are retrieved from the shelves by a stock picker. As goods are received and shipped from the warehouse, shelves are replenished and the inventory is updated as needed.

[0003] Warehouse workers can be assisted by robotic pickers and automated inventory management systems. Automated transport systems can also be implemented in a traditional warehouse setup to move goods from the inventory location to a picking and / or packing station.

[0004] An alternative to traditional warehouse setups is an automated storage and retrieval system in which robots retrieve items from their designated locations within the warehouse and deliver them to packing stations or ports. Such systems can reduce or eliminate the space required to pass between rows of shelves to access inventory, thereby eliminating the need for wide aisles within the warehouse. An example of such a system involves placing goods in bins or containers configured to be stacked side-by-side within a three-dimensional grid. A rail system is arranged at the top of the grid, and a robotic container handling vehicle configured to lift containers from the grid can move along it. The container handling vehicle is configured to transport containers from the grid so that the goods within them can be picked and packed, and to deliver these containers to ports or stations at the periphery of the grid.

[0005] Stacking containers directly on top of each other can cause wear, tearing, or more significant damage to the containers. Furthermore, in this configuration, containers must be manufactured from materials strong enough to support the weight of one or more containers stacked on top of them, and / or reinforced designs may be implemented to provide reinforced containers. The number of containers stacked is also limited, as the bottom container must be capable of withstanding the weight of all containers stacked on top of it. This may limit the height of the grid. Moreover, stacking containers directly on top of each other enables reduced airflow between vertically adjacent containers. This can pose challenges in thermal environments, such as frozen food storage.

[0006] One or more aspects of the present invention of this application are described in the claims. Brief explanation of the drawing

[0007] The present disclosure will now be described in more detail in connection with a number of exemplary embodiments illustrated in the accompanying drawings. FIG. 1 illustrates a perspective view of a storage system comprising a grid and a plurality of robotic container handling vehicles configured to retrieve and / or rearrange goods stored within the grid. Figure 2 shows a plan view of the system of Figure 1. FIG. 3a shows a side view of a first robotic container handling vehicle suitable for use in the system of FIG. 1. FIG. 3b shows a side view of a second robotic container handling vehicle suitable for use in the system of FIG. 1. Fig. 3c is a side perspective view of the robot of Fig. 3b. FIG. 4 illustrates a computing device for implementing the operation described in the present specification. Fig. 5a shows a side view of a storage container inside a column of the system of Fig. 1. FIG. 5b shows a side view of a storage container placed within a column of the system of FIG. 1. Figure 6 shows a bottom view of a storage container placed within a column of the system of Figure 1. FIG. 7a shows a side view of a storage container lowered into a column of the system of FIG. 1. FIG. 7b shows a side view of a storage container placed inside a column of the system of FIG. 1. FIG. 8a shows a side view of a gripping device of a robotic container handling vehicle suitable for use in the system of FIG. 1. FIG. 8b shows a bottom view of a gripping device of a robotic container handling vehicle suitable for use in the system of FIG. 1. FIG. 9a shows a side view of a container support in a retracted position and an extended position, along with a gripping device of a robotic container handling vehicle suitable for use in the system of FIG. 1. FIG. 9b shows a bottom view of a gripping device of a robotic container handling vehicle suitable for use in the system of FIG. 1. FIG. 10 shows a side view of a robotic container handling vehicle having a gripping device suitable for use in the system of FIG. 1. FIG. 11 illustrates a simplified side view of a gripping device of a robotic container handling vehicle at different stages engaging with a container support suitable for use in the system of FIG. 1. Figure 12 illustrates a flowchart of a method for moving a container support suitable for use in the system of Figure 1. Specific details for implementing the invention

[0008] In summary, the present disclosure relates to a storage grid for storing goods. The storage grid comprises a support structure that forms a grid of columns to form an array or grid structure in which goods can be stored. The columns are arranged for the vertical storage of goods. The goods may be stored in storage bins. The storage grid comprises a bin support for supporting the storage bins. The bin support is movable between an extended position, in which the bin support is positioned so that the storage bin can be lowered below one of the columns over the bin support, and a retracted position, in which the bin support is positioned so that the storage bin can be lowered below the column past the bin support. The bin support in the extended position enables the storage bin to be stored in the vertical column without applying the weight of the storage bin to the bottom of the storage bin, and reduces or prevents the occurrence of wear or damage to the bottom of the storage bin(s). Moving the bin support between the extended position and the retracted position enables the storage bin to be lowered below the column without obstruction (e.g., by positioning the bin support in the retracted position) and also supports the vertically stored storage bins in a space-efficient manner.

[0009] Overview of Automated Storage and Retrieval System

[0010] Referring to the embodiment illustrated in FIG. 1, the grid (100) comprises a frame formed by a plurality of generally straight adjacent vertical columns (102) that are formed between vertical frame members (104) and extend in the X and Y directions (108, 110). The grid elements may be manufactured from any suitable material; for example, the frame members may be formed from extruded aluminum. Storage containers or tubs (112) are stacked on top of each other in the Z direction (114) of the columns (102), preferably in a freestanding manner, to form a storage volume of storage cells for each tub (112) extending in the X, Y, and Z directions (108, 110, 114).

[0011] A rail system or network (116) is formed on the top of the grid (100) and includes pairs of vehicle rails or tracks (118a, 118b and 120a, 120b) extending in the X and Y directions (108, 110), respectively. A robotic container handling vehicle, or robot (122), which may have various sizes, shapes and functions, is provided and configured to travel on the rails (118, 120) and transport containers (112) in both the X and Y directions (108, 110). The robot (122) is additionally configured to lift and lower containers (112) from / into the column (102) in the Z direction (114), and the containers (112) are optionally guided by a vertical frame member (104). The robot (122) is on the column (102) and accesses the container (112) through an access opening (124) formed between the rails (118, 120).

[0012] Some columns (102) may be used for purposes other than container storage. For example, port columns (126, 128) include port or access columns that allow the transfer of containers (112) into and / or out of the grid (100). Port columns (126, 128) provide a vertical channel for lifting containers (112) from ports or ports (130, 132) or for lowering containers (112) to ports or ports (130, 132). Although ports (130, 132) are shown at the lowest level of the grid in FIG. 1, ports may be located at any vertical position along the columns. Each port column (126, 128) may be assigned to remove ('drop-off') containers (112) from / to the grid (100) and / or return or transfer ('pick-up'). Accordingly, the port (130, 132) is configured to allow the tube (112) to be removed and reintroduced (horizontally) into the associated port column. As such, the port (130, 132) may include a conveyor (not shown in FIG. 1) over which the tube (112) can be lowered and transported horizontally to the outside of the port column. The port column (126, 128) includes an opening or access point through which the tube (112) can enter and exit the column.

[0013] The container (112) may be transported by a robot (122) along the top of the grid (100) to a port column (126, 128) and / or from the port column and from the port (130, 132) to an access station (not shown) for processing the container (112) or its contents, for example, a picking station for adding contents to the container (112) or removing contents from the container. In an alternative example (not shown), the container (112) may be transported to a port on another grid on the same or different level or to an external facility. The transport of the container (112) to and from the port (130, 132) may be carried out by any suitable means (not shown), including a conveyor, a transport vehicle, a lift, or a robot.

[0014] Referring to the embodiment illustrated in FIG. 2, the XY configuration (200) of the rail system (116) can be seen in more detail with different types of robots (202, 204). The rail system includes a rail (206) that forms a vertical column access opening (124) between them for access to the tube (112). The rail (206) may be any suitable type to allow movement of the robot (202, 204) in the X and Y directions (108, 110), including a grooved rail for receiving a vehicle wheel or a protruding rail for engaging with a wheel recess (not illustrated). Each rail (206) may include a single track or multiple parallel tracks in each of the X and Y directions (108, 110).

[0015] A first 'cantilever' type robot (202) is illustrated in more detail in FIG. 3a and includes a body (300), a set of wheels (302), and a lifting device (304). The body (300) includes motion equipment (not illustrated) for the robot (202) including a drive, power, and control system. The wheels (302) allow movement of the robot (202) in one of the X and Y directions, and an additional set of wheels (not visible in this figure) allow movement in the other of the X and Y directions, in both cases, movement along each rail or track (206). One or both sets of wheels may be raised or lowered to allow selective engagement of the rail for movement in the desired direction. The lifting device (304) includes a cantilever element (306) extending in the XY plane from the top of the main body (300), and a gripping device (308) capable of rising and falling from the cantilever element (306). The gripping device (308) is configured to grip or engage the container (112), for example, by gripping a portion of the container (112), or by passively or actively engaging a suitably configured portion of the container (112).

[0016] A second, ‘internal cavity’ type robot (204) is illustrated in more detail in FIG. 3b and, as an alternative to a cantilevered lifting system, includes an internal cavity (310) within the main body (300), and a lifting device (312) including a gripping device (not illustrated) is positioned within the internal cavity. In this case, the main body (300) includes the robot’s operating equipment and storage space for one or more containers (112) for use during transport, for example, of containers (112).

[0017] FIG. 3c illustrates a side perspective view of the robot of FIG. 3b in which the first set of wheels (302) of FIG. 3b is visible. An additional set of wheels, mentioned above but not shown in FIG. 3b, is shown in FIG. 3c as wheels (303). The additional set of wheels (303) is arranged perpendicular to the first set of wheels (302) to allow the robot (204) to roll in the X and Y directions, respectively, on the first and second sets of wheels (302, 303). The first and second sets of wheels (302, 303) shown in FIG. 3c may be configured to descend independently to engage with the rails (and conversely to ascend away from engagement with the rails) so as to allow the robot (202) to move in the X and Y directions across the arrangement of rails shown in FIG. 2. The perspective view shown in FIG. 3c is of the robot (204) of FIG. 3b, but it will be understood that a similar vertical wheel arrangement can be applied to the robot (202) of FIG. 3a.

[0018] Control and monitoring system

[0019] Control and monitoring of an automated storage and retrieval system, including monitoring and storage of barrel locations and control of barrel delivery, retrieval and transport, and robot routing and collision avoidance, is performed by a control system illustrated in FIG. 4 that communicates with robots and / or other controllable system components. Control may be performed locally or remotely and may be implemented, for example, by a processing system in the form of a computing device. Accordingly, the method described herein may form a computer-implemented method or all or part of a system configured to perform the method described herein.

[0020] With reference to FIG. 4, a processing system (400) suitable for performing the method described herein will now be described. FIG. 4 illustrates a block diagram of one embodiment of a processing system (400) in the form of a computing device, in which a set of instructions for causing the computing device to perform any one or more of the methods described herein may be executed therein. In some embodiments, the computing device may be connected (e.g., networked) to another machine in a local area network (LAN), intranet, extranet, or the Internet. The computing device may operate as a server or client machine in a client-server network environment or as a peer machine in a peer-to-peer (or distributed) network environment. The computing device may be a personal computer (PC), tablet computer, set-top box (STB), personal information terminal (PDA), mobile phone, web device, server, network router, switch or bridge, or any machine capable of executing a set of instructions (sequential or otherwise) that specify the action to be taken by the machine. Additionally, although only a single computing device is exemplified, the term “computing device” should also be considered to include any set of machines (e.g., computers) that execute a set (or a number of sets) of instructions individually or jointly to perform any one or more of the methods described herein.

[0021] An exemplary processing system (400) includes a processor (402) communicating with each other via a bus (430), a main memory (404) (e.g., dynamic random access memory (DRAM) such as read-only memory (ROM), flash memory, synchronous DRAM (SDRAM) or Rambus DRAM (RDRAM)), a static memory (406) (e.g., flash memory, static random access memory (SRAM)), and an auxiliary memory (e.g., a data storage device (418)).

[0022] The processor (402) represents one or more general-purpose processors, such as a microprocessor, a central processing unit, etc. More specifically, the processor (402) may be a complex instruction set computing (CISC) microprocessor, a reduced instruction set computing (RISC) microprocessor, a very long instruction word (VLIW) microprocessor, a processor implementing other instruction sets, or a processor implementing a combination of instruction sets. The processor (402) may also be one or more special-purpose processors, such as an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a digital signal processor (DSP), a network processor, etc. The processor (402) is configured to execute processing logic (instructions (422)) for performing the operations and steps described herein.

[0023] The processing system (400) may further include a network interface device (408). The processing system (400) may also include any of a video display unit (410) (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)), an alphanumeric input device (412) (e.g., a keyboard or a touchscreen), a cursor control device (414) (e.g., a mouse or a touchscreen), and an audio device (416) (e.g., a speaker).

[0024] It will be apparent that some features of the processing system (400) illustrated in FIG. 4 may be absent. For example, the processing system (400) may not have a need for a display device (410) (or any associated adapter). This may be, for example, the case of a specific server-side computer device that is used solely for its processing capabilities and does not need to display information to the user. Similarly, a user input device (412) may not be required. In its simplest form, the processing system (400) includes a processor (402) and a main memory (404).

[0025] The data storage device (418) may include one or more machine-readable storage media (or more specifically one or more non-transient computer-readable storage media) (428) in which a set of one or more instructions (422) embodying any one or more of the methods or functions described herein are stored. The instructions (422) may also reside in the main memory (404) and / or in the processor (402) during execution by the processing system (400), the main memory (404), and the computer-readable storage media (428).

[0026] The various methods described herein may be implemented by a computer program. A computer program may include computer code arranged to instruct a computer to perform one or more of the functions of the various methods described herein. A computer program and / or code for performing such methods may be provided on a device such as a computer on one or more computer-readable media or, more generally, on a computer program product. The computer-readable media may be transient or non-transient. One or more computer-readable media may be, for example, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, or propagation media for data transmission for downloading code, for example, over the Internet. Alternatively, one or more computer-readable media may take the form of one or more physical computer-readable media, such as semiconductor or solid-state memory, magnetic tape, removable computer diskette, random access memory (RAM), read-only memory (ROM), rigid magnetic disk, or optical disks such as CD-ROM, CD-R / W, or DVD.

[0027] A computer program can be executed by a processor (402) to perform the functions of the system and method described in this specification.

[0028] In an embodiment, the modules, components, and other features described herein may be implemented as discrete components or integrated into the functions of hardware components such as ASICs, FPGAs, DSPs, or similar devices.

[0029] A 'hardware component' is a tangible (e.g., non-transient) physical component (e.g., a set of one or more processors) capable of performing a specific operation and may be configured or arranged in a specific physical manner. A hardware component may include dedicated circuits or logic permanently configured to perform a specific operation. A hardware component may be or include a special-purpose processor, such as a Field Programmable Gate Array (FPGA) or an ASIC. A hardware component may also include programmable logic or circuits that are temporarily configured by software to perform a specific operation.

[0030] Accordingly, the phrase 'hardware component' should be understood to include a type entity that can be physically configured to operate in a specific manner or to perform a specific operation described herein, permanently configured (e.g., wired), or temporarily configured (e.g., programmed).

[0031] Furthermore, modules and components may be implemented as firmware or functional circuits within a hardware device. Additionally, modules and components may be implemented as any combination of hardware devices and software components, or solely as software (e.g., code stored in a machine-readable medium or transmission medium, or embodied in other ways).

[0032] Operation of the automated storage and retrieval system

[0033] During operation, each container (112) is provided with a unique identifier that can be marked on the container (112) using a computer-readable identifier (e.g., a barcode, a rapid response code, or a radio frequency identification tag) to facilitate identification of the container (112). The database of the processing system (400) stores the location and optionally the contents of each container (112) in association with the unique identifier. When the container (112) is moved (e.g., when it is retrieved from the grid (100)), the database is updated to record the change in location.

[0034] When it is desired to retrieve a container (112) from the grid (100), under the control of the processing system (400), a robot (202, 204) is routed through a rail system (116) to a vertical column (102) containing a storage cell, in which, according to a database, the container (112) is located, and a lifting device (304, 312) is positioned above a corresponding access opening (124) adjacent to or below the robot (202, 204) (depending on the robot type). The robot (202, 204) engages with the container (112), grasps it, and lowers a grasping device (308) that is lifted by the robot (202, 204). The robot (202, 204) then transports the barrel (112) to, for example, a drop-off port column (126, 128) for delivery to the port (130, 132) and subsequent processing outside the grid (100). If the target or designated barrel (112) is located under another barrel in the stack, the robot (202, 204) or a plurality of robots that may be dedicated to the task are then controlled in a 'digging' motion to sequentially lift and reposition the barrels, either temporarily or permanently, over the target barrel (112) so that the barrels can be recovered. It will be understood that other actions involving the barrel (112) may be performed in a similar manner. For example, a container (112) is transferred from the port (130, 132) of the pickup port column (126, 128) to be stored within the grid (100), is grasped and lifted by a robot (202, 204), and can be transferred to a desired storage cell, and the container above the desired position is repositioned if necessary as described above.

[0035] Explanation of specific improvements

[0036] FIG. 5a illustrates a side view of a storage container (112) within a column (102) of a grid (100). In FIG. 5a, the storage container (112) is shown in a process of descending below the column (102) formed between vertical frame members (104). For simplification, the side view is shown in two dimensions. Additionally, a portion of the column (102) is shown. The column (102) may be larger or smaller than shown and may be suitable for vertically storing any number of storage containers (112).

[0037] The first container support (502a) is shown in the extended position, and the second container support (502b) is shown in the retracted position. In the extended position, the first container support (502a) is positioned so that it protrudes into the column (102) from one or more vertical frame members (104) to allow a storage container (112) to be placed thereon. The second container support (502b) is shown in FIG. 5a in the retracted position. When the container support (502) is in the retracted position as the second container support (502b), the container support (502) is positioned so that the storage container (112) or gripping device (308) of the robot (202, 204) can move past the container support (502) without obstruction. That is, when the container support (502) is in the retracted position, the storage container(s) (112) can be lowered or raised through the vertical column (102), and / or the gripping device (308) can be lowered or raised through the vertical column (102) and move past the container support (502). That is, the container support (502) may be retractable. The container support (502) may take the form of a pin, a ledge, a protrusion, a support structure, etc.

[0038] Once the storage container (102) is lowered onto the first container support (502a), the second container support (502b) may be moved from the retracted position shown in FIG. 5a to the unfolded position shown in FIG. 5b. In some embodiments, the weight of the storage container (112) on the first container support (502a) may trigger the second container support (502b) to move from the retracted position to the unfolded position. For example, the first container support (502a) may be mechanically or electronically coupled to the second container support (502b). The weight of the storage container (112) on the first container support (502a) may cause the second container support (502b) to move from the retracted position to the unfolded position. Similarly, for example, when the storage container (112) is removed or raised through the vertical column (102), the release of the weight of the storage container (112) from the first container support (502a) may cause the second container support (502b) to move from the deployed position to the retracted position. That is, the container support (502) may be arranged to move from the retracted position to the deployed position following the storage container (112) passing through the container support (502) and descending onto a trigger mechanism, such as a weight sensor or a spring. In some embodiments, an additional container support (502a) for supporting the storage container (112) below the container support (502b) may form part of the trigger mechanism. The additional container support (502a) may be movable between an additional deployment position where the storage container (112) can be lowered below the column (102) over the additional container support (502a) and an additional retraction position where the storage container (112) can be lowered below the column (102) past the additional container support (502a). The container support (502) may also be arranged so that the storage container (112) moves from the deployment position to the retraction position following the raising of the storage container (112) from a trigger mechanism such as the additional container support (502a).

[0039] For example, the first container support (502a) may be electronically or mechanically coupled to a weight sensor configured to detect when a storage container (112) is placed on the first container support (502a). Upon detection by the weight sensor of a storage container (112) placed on the first container support (502a), an electronic, electric, optical, wireless, or analog signal or command may be transmitted to the second container support (502b) to trigger the second container support (502b) to move from a retracted position to an unfolded position. The electronic or analog signal may be transmitted via a cable or via a pneumatic system. Similarly, when a weight sensor detects the lifting of the storage container (112) from the first container support (502a), the release of the weight of the storage container (112) may trigger the second container support (502b) to move from the deployed position to the retracted position so that the storage container (112) is raised through the column (102) past the second container support (502b). In some embodiments, the container support (502) may be arranged to move from the retracted position to the deployed position following the storage container (112) being lowered past the container support (502), and / or the container support (502) may be arranged to move from the deployed position to the retracted position following the storage container being raised from below the container support.

[0040] In some embodiments, a sensor may be provided (e.g., attached or placed) on a gripping device (308) of a robot (122) (e.g., robot (202) or robot (204)). For example, a sensor may be placed on a portion of the gripping device (308) that is lowered through a column (102) to lift or place a storage container (112). The sensor may be arranged to determine the position (e.g., retracted position or unfolded position) of the container support (502) relative to the position (e.g., location) of the portion of the gripping device (308). The sensor may be used to ensure that any container support (502) between the current position of the storage container (112) and the destination position of the storage container (112) is in a retracted position so that the storage container (112) can pass through the container support (502). In some embodiments, the container support (502) may be arranged to move from a retracted position to an unfolded position following the storage container (112) descending past the container support (502), and / or the container support (502) may be arranged to move from an unfolded position to a retracted position following the storage container rising from below the container support.

[0041] In some embodiments, one or more tube support members (502) may be electronically controlled, for example, by a central unit. Thus, the tube support members (502) may be moved between a retracted position and an extended position as needed. In some embodiments, the tube support members (502) may be arranged to receive electrical, optical, and / or wireless commands and to move between a retracted position and an extended position upon receiving such commands.

[0042] In some embodiments, one or more vertical frame members (104) may be electronically coupled to one or more sensors (not shown). One or more sensors may be used to determine the position of one or more storage containers (112) that can be used to automatically move the container support (502) between the deployed position and the retracted position as needed. For example, in response to the detection that the first storage container (112) is stored within the vertical column (102), and / or in response to the detection that an additional storage container (112) is lowered below the column (102), the container support (502) above the first storage container (112) stored within the column (102) may be automatically moved from the retracted position to the deployed position. In some embodiments, the container support (502) may be arranged to move from a retracted position to an unfolded position following the storage container (112) descending past the container support (502), and / or the container support (502) may be arranged to move from an unfolded position to a retracted position following the storage container rising from below the container support.

[0043] Various embodiments regarding a mechanism for moving the tube support member (502) from a retracted position to an unfolded position will be described in detail with reference to FIGS. 7a to 11.

[0044] FIG. 6 illustrates a bottom view of a storage container (112) placed within a column (102) of a grid (100). The storage container (112) is shown as being placed on the first container support (502a) of FIG. 5a. A relevant section of a vertical frame member (104) is also shown.

[0045] Several embodiments regarding the mechanism by which the container support (502) moves between a retracted position and an extended position will be described. In all such embodiments, the presence of a retractable container support (502) for supporting the storage container (112) may enable the storage container (112) to be manufactured from a lighter material and may additionally enable the design of the storage container (112) to be simplified. For example, reinforcing ribs on the storage container (112) may be reduced or avoided, thereby simplifying the manufacturing process of the storage container (112), as the weight of any additional storage container (112) stored vertically within the column (102) is supported by the container support (502). Furthermore, the use of the container support (502) enables air flow between two vertically adjacent storage containers (112), which may enable a more controllable thermal environment, as in a system for storing frozen food.

[0046] FIG. 7a illustrates a side view of a storage container (112) being lowered into a column (102) of the system (100) of FIG. 1, and FIG. 7b illustrates a side view of a storage container (112) positioned within a column (102) of the system (100) of FIG. 1. For simplification, a single vertical frame member (104) is illustrated. It should be understood that the description provided herein may apply to any number of vertical frame members (104). Although two container supports (502a, 502b) are mentioned in the specification, it should be understood that any number of container supports (502) may exist. FIG. 7a and FIG. 7b illustrate an embodiment in which the container supports (502) are arranged to move between a retracted position and an extended position using energy derived from the lowered storage container (112). However, this is not limited to other embodiments for using energy derived from a descending storage container (112) are also considered.

[0047] As illustrated in FIG. 7a, the storage container (112) is lowered through the column (102). In the embodiment illustrated in FIG. 7a and FIG. 7b, the container support (502a, 502b) is mechanically actuated, such as by a spring (702, 704). For example, the container support (502a, 502b) may be coupled to the spring (702, 704). Before the storage container (112) is placed on the first container support (502a), the first spring (702) under the first container support (502a) may be in a first state, such as a resting state, in which the first spring (702) is not compressed or is only partially compressed. The first spring (702) may be located directly below the first container support (502a), or there may be one or more additional components between the first container support (502a) and the first spring (702). As illustrated in FIG. 7b, when the storage container (112) is lowered onto the first container support (502a), the first spring (702) is compressed due to the weight of the storage container (112) on the first container support (502a). The first container support (502a) may be shifted downward in the Z direction (114) to compress the first spring (702) under the weight of the storage container (112) placed thereon. In some embodiments, the compression of the first spring (702) may trigger the second container support (502b) to move from a retracted position to an unfolded position. For example, the first spring (702) may be mechanically or electronically coupled to the second tube support (502b). Compression of the first spring (702) may trigger or induce the second tube support (502b) to move from a retracted position to an extended position (e.g., mechanically or electronically).The release or extension of the first spring (702) (e.g., caused by the reduction or removal of the weight compressing the first spring (702)) may trigger or cause the second container support (502b) to move from an extended position to a retracted position (e.g., mechanically or electronically) to enable the storage container (112) to be lifted through the column (102).

[0048] As can be seen in FIGS. 7a and 7b, the first tube support (502a) is mechanically coupled to the second tube support (502b). In some embodiments, the first tube support (502a) is connected to the second tube support (502b) by a cable (not shown) guided by a plurality of pulleys (not shown). This mechanical coupling enables vertical movement of the first spring (702) to cause horizontal movement of the second tube support (502b). Horizontal movement of the second tube support (502b) can be achieved, for example, by using one or more horizontal springs (706, 708).

[0049] In the order illustrated (particularly refer to FIG. 7a), each barrel support (502) is mechanically or electronically coupled to a vertical spring (e.g., springs (702, 704)). Each barrel support (502) may be additionally coupled (e.g., mechanically or electronically) to one or more horizontal springs (706, 708) that may be attached to a radial extension element (not illustrated) within the vertical frame member(s) (104) and to an inner wall of the vertical frame member (104). Although the horizontal springs (706, 708) are illustrated as being coupled to the second barrel support (502b), it should be understood that this is merely exemplary. Each barrel support (502) may similarly be coupled to one or more horizontal springs. In some embodiments, the barrel support (502) may refer to a barrel support unit comprising the barrel support (502), one or more horizontal springs (706, 708), and a vertical movable component (710). The vertical movable component (710) may include a horizontally movable T-shaped element (712) composed of a bar and a stem. The stem may be a component on which the storage container (112) rests when lowered onto the container support (502). As can be seen, the vertical movable component (710b) may be connected to one or more additional vertical movable components (710a) corresponding to each of one or more additional container supports (502). More specifically, one or more cables (not shown) coupled to the vertical spring (702) of the vertical movable component (710b) may be communicated to the bar of the T-shaped element (712) of the additional vertical movable component (710a) which is positioned along the vertical frame member (104) vertically above and / or below the vertical movable component (710b).

[0050] The stem of the T-shaped element (712) of the vertical movable component (710) can serve as a tube support (502). Accordingly, the vertical movement of the lower vertical movable component (710) may be by a cable and a pulley (not shown), if present. The vertical movement of the lower vertical movable component (710a) can be transferred and converted into the horizontal movement of the T-shaped element (712) of the vertical movable component (710b). This horizontal movement of the T-shaped element (712) may subsequently cause the retraction or protrusion of the tube support (502) (e.g., the second tube support (502b)) and the extension or compression of the horizontal springs (706, 708). When the stem of the T-shaped element (712) protrudes into the column (102), the tube support (502) may be in an extended position. Therefore, the container support (502) may be in a position ready to support the storage container (112).

[0051] In some embodiments, the compression or extension of the vertical springs (702, 704) may be a function of the movement of the vertical movable component (710). The movement of the vertical movable component (710) may then be caused by the storage container (112) being placed on the container support (502) when the container support (502) is in the unfolded position. In the illustrated embodiment (e.g., see FIG. 7b together with FIG. 7a), the compression of the vertical spring (702) coupled to the vertical movable component (710a) may cause the compression of the horizontal springs (706, 708) of the vertical movable component (710a). As a result, the stem of the container support (502), for example, the T-shaped element (712), moves to the unfolded position and is ready to support the storage container (112), as illustrated in FIG. 7b.

[0052] Accordingly, the presence of the storage container (112) on the first container support (502a) (e.g., the weight of the storage container (112) on the container support (502a)) can cause the second container support (502b) to move from a retracted position to an unfolded position. In this way, the storage container (112) is no longer stored in a stacked configuration but is placed on the container support (502). This may enable lighter materials to be used for the storage container (112), which can simplify manufacturing and reduce costs. In some embodiments, a simplified storage container design may be used, for example, by reducing or eliminating the need to reinforce ribs. Thus, reducing the structural complexity of the storage container (112) can simplify the manufacturing process of the storage container.

[0053] FIG. 8a illustrates a side view of a gripping device (308) of a robotic container handling vehicle or robot (122, 202, 204) suitable for use on a grid (100). FIG. 8a illustrates a cantilevered robot (202), but it should be understood that this is merely illustrative. An internal joint robot (204) may be used similarly. For simplification, the robot (122) will be referred to, and it is understood that this may refer to any type of robot, such as a cantilevered robot (e.g., robot (202)) or an internal joint robot (e.g., robot (204)). Furthermore, the illustration in FIG. 8a is simplified—the wheels of the robot (122) are arranged to extend along rails placed along the top of the grid (100) in the x and y directions, as previously described. The top of the grid (100) is not illustrated in FIG. 8a for simplification. As in the previous drawing, only one vertical frame member (104) is shown, but it should be understood that other vertical frame members (104) forming the column (102) may have a configuration, function, and layout similar to the vertical frame member (104) shown.

[0054] The robot (122) includes a gripping device (308) configured to rise or fall into a vertical column (102) to retrieve or place a storage container (112). As shown in FIG. 8a, the gripping device (308) falls down the column (102) toward a storage container (112) placed on a first container support (502a), as indicated by the arrow.

[0055] As illustrated in FIG. 8a, the second container support (502b) is in an extended position, for example, due to the presence of the storage container (112) on the first container support (502a) (described). As the second container support (502b) protrudes into the vertical column (102) when in the extended position, the gripping device (308) is configured to avoid collision with the second container support (502b) through one of several means.

[0056] In some embodiments, the gripping device (308) may be communicatively coupled with one or more sensors (not shown), and likewise, each tube support (502) may be communicatively coupled with an electronic control unit. One or more sensors communicatively coupled with the gripping device (308) may be arranged to detect the position of the gripping device (308), for example, within a grid or in proximity to the deployed tube support (502). When the path of the gripping device (308) is detected to be interrupted by a tube support such as the tube support (502b), an electronic signal is transmitted to the tube support (502b) so that the tube support (502b) may be moved from the deployed position to the retracted position, thereby allowing the gripping device (308) to pass through the second tube support (502b) without obstruction. In some embodiments, the gripping device (308) may include a recess, flap, or gap within its profile arranged so that the gripping device (308) can pass through the unfolded tube support (502b) without coming into contact with the unfolded tube support (502b). Such an arrangement is illustrated in FIG. 8b.

[0057] FIG. 8b illustrates a bottom view of a gripping device (308) of a robotic container handling vehicle (122) suitable for use in a grid (100). The gripping device (308) is shown within a column (102) formed by four vertical frame members (104). In the illustration of FIG. 8b, a container support (502) is shown in an extended position, for example, protruding into the vertical column (102). The gripping device (308) may include one or more cutouts (802) arranged to enable the gripping device (308) to descend or ascend through the column (102) by passing through the container support (502) when the container support (502) is in the extended position. That is, the cut-out portion (802), also referred to as a gap or concave portion, is arranged to be aligned with the position of the tube support portion (502) within the column (102) when the tube support portion (502) is in the unfolded position.

[0058] In some embodiments, the tube support (502) may be placed on a module (804) configured to be attached to each vertical frame member (104). In this way, the tube support (502) may be installed on the vertical frame member (104) of the grid (100). Furthermore, the use of the module (804) having the tube support (502) may enable the tube support (502) to be placed at a greater distance from the corner of each vertical frame member (104), thereby allowing more space for any mechanical or electronic components such as cables, pulleys, gears, pneumatic parts, etc.

[0059] FIGS. 9a through 11 illustrate an embodiment in which the tube support member (502) is arranged to move between a retracted position and an extended position during mechanical interaction between the tube support member (502) and the gripping device (308) of a robot (122) (e.g., robot (202, 204)) that is lowered below the column (102). FIGS. 9a and 9b illustrate an embodiment in which magnetic interaction between the gripping device (308) and the tube support member (502) is used to move the tube support member (502) between a retracted position and an extended position.

[0060] FIG. 9a shows a side view of a container support member (502) in a retracted position and an unfolded position, together with a gripping device (308) of a robotic container handling vehicle (112) suitable for use in a grid (100).

[0061] FIGS. 9A and 9B illustrate an embodiment in which a magnet is used to execute movement of the tube support (502) between a retracted position and an extended position. The electromagnet (902) may be placed on or within the gripping device (308). The electromagnet (902) may be retractable. The electromagnet (902) may be arranged to extend in a direction toward the tube support (502).

[0062] The electromagnet (902) may be electronically connected to a power source (not shown) and coupled to a control unit (not shown). For example, the power source may be coupled to the control unit, and the control unit is configured to control the polarity of the electromagnet (902). In some embodiments, the power source may be placed within the robot (112), for example, within or on the body of the robot (112), within or on a lifting device, or within or on a gripping device (308).

[0063] A magnet (904) may be placed on the tube support (502). For example, the magnet (904) may be placed on the protruding end of the tube support (502); that is, on the end of the tube support (502) arranged to protrude into the column (102) when the tube support (502) is in the unfolded position. The magnet (904) may be a permanent magnet.

[0064] Figure 9a (i) illustrates a barrel support (502) being moved from a retracted position to an unfolded position. The polarity of the electromagnet (902) is selected to attract the magnet (904) of the barrel support (502). As the gripping device (308) approaches the barrel support (502) (e.g., from above or below), the barrel support (502) can thus be moved from the retracted position to the unfolded position via magnetic attraction. In some embodiments, after placing a storage barrel (112) on the lower barrel support (502); for example, when releasing the storage barrel (112), the electromagnet (902) of the gripping device (308) may be used to move the barrel support (502) from the retracted position to the unfolded position while the gripping device (308) is rising and passing the barrel support (502) over the placed storage barrel (112). In this way, the container support (502) on the placed storage container (112) can be prepared to support an additional storage container (112).

[0065] (ii) of FIG. 9a illustrates a barrel support (502) that is moved from an extended position to a retracted position. The polarity of the electromagnet (902) is selected to repel the magnet (904) of the barrel support (502). As the gripping device (308) approaches the barrel support (502) (e.g., from above or below), the barrel support (502) can thus be moved from the extended position to the retracted position through magnetic repulsion. In some embodiments, when retrieving a storage barrel (112) that was previously placed on the lower barrel support (502); for example, when lowering the gripping device (308) into the column (102) to retrieve the storage barrel (112), the electromagnet (902) of the gripping device (308) may be used to move the barrel support (502) from the extended position to the retracted position. In this way, the container support (502) above the storage container (112) can be retracted from the vertical column (102) to enable the recovered storage container (112) to pass through the container support (502) and thus enable the storage container (112) to be lifted through the vertical column (102) without colliding with the container support (502).

[0066] In some embodiments, the polarity of the electromagnet (902) may be determined based on the current activity of the robot (122). For example, when the robot (122) is performing the task of retrieving a storage container (112), the polarity of the electromagnet (902) may be set to repel the permanent magnet(s) (904) of any container support (502) vertically between the top of the grid (100) and the position of the storage container (112). As another example, when the robot (122) is performing the task of placing a storage container (112), the polarity of the electromagnet (902) may be controlled to switch from a repulsion mode to an attraction mode when the storage container (112) is released, in order to move the container support (502) directly above the placed storage container (112) from a retracted position to an extended position when preparing to place an additional storage container (112). The repulsion mode may refer to a polarity setting of the electromagnet (902) in which the polarity of the electromagnet (902) matches the polarity of the permanent magnet (904) (e.g., all N poles or all S poles). The attraction mode may refer to a polarity setting of the electromagnet (902) in which the polarity of the electromagnet (902) is opposite to the polarity of the permanent magnet (904).

[0067] In some embodiments, in a repulsion mode, the electromagnet (902) may be configured to move laterally toward the tube support (502) to move the tube support (502) from the unfolded position to the retracted position.

[0068] In some embodiments, in a power mode, the electromagnet (902) may be configured to move laterally away from the tube support (502) to move the tube support (502) from a stored retracted position.

[0069] The embodiment described with reference to FIGS. 9a and 9b is compatible with the disclosure of FIGS. 8a and 8b.

[0070] FIG. 9b shows a bottom view of a gripping device (308) of a robotic container handling vehicle (112) suitable for use in a grid (100).

[0071] As described above with reference to FIG. 8b, the gripping device (308) is shown within a column (102) formed by four vertical frame members (104). The gripping device (308) may include one or more cutouts as described in FIG. 8b. The gripping device (308) may have one or more electromagnets (902) arranged in a position to pull or push the tube support member (502) when the gripping device (308) is raised or lowered through the vertical column (102). For example, one or more electromagnets (902) may be provided on the inner edge of the cutout, as shown in FIG. 9b.

[0072] As also illustrated in FIG. 9b, the tube support (502) (indicated only once in the drawing for simplification and clarity) may include one or more permanent magnets (904). As in FIG. 8b and the associated description, the tube support (502) may be placed on a module (804) that may be part of the vertical frame member (104) or on an attachable component suitable for being installed on the vertical frame member (104).

[0073] Electronic components for providing power to one or more electromagnets (904) may be placed on or within the gripping device (308) or on or within the robot (122). An electric cable may be provided as a component of one or more cables or bands used to raise or lower the gripping device (308) or along them.

[0074] FIGS. 9a and 9b illustrate an embodiment in which a permanent magnet is placed on the tube support (502) and an electromagnet is placed on the gripping device (308), but it should be understood that the opposite arrangement is also possible. That is, the gripping device (308) may be equipped with a permanent magnet, and the tube support (502) may be equipped with an electromagnet whose polarity can be controlled through a control unit.

[0075] FIG. 10 illustrates a side view of a robotic container handling vehicle (122) having a gripping device (308) suitable for use on a grid (100), and FIG. 11 illustrates a simplified side view of the gripping device (308) of the robotic container handling vehicle (122) at different stages of engaging with a container support (502) suitable for use on a grid (100).

[0076] The embodiment illustrated in FIGS. 10 and 11 relates to the use of a hook device (1002), also referred to as a hook, which is movably attached to or coupled to a gripping device (308). The hook device (1002) is suitable for moving the barrel support (502) between a retracted position and an extended position. A mechanism through which the hook device (1002) performs the movement of the barrel support (502) will be described in detail with reference to FIG. 11.

[0077] The robot (122) may include means for operating the hook device (1002). The means may be mechanical, electronic, pneumatic, etc. The hook device (1002) may be moved laterally (e.g., in the xy plane), for example toward and away from the tube support (502), and may be rotated or lifted (e.g., in the z direction) (as shown in FIG. 11).

[0078] The tube support (502) may include a groove or a recess arranged to engage with the hook device (1002). The groove or recess is illustrated in FIG. 11.

[0079] As the gripping device (308) is lowered or raised through the column (102), the hook device (1002) is kept in a retracted state to prevent unintentional interaction with the tube support (502), which can enable the gripping device (308) to pass through the column (102) without obstruction. The retracted state of the hook device (1002) may include an upwardly oriented hook device along a cable or band used to raise or lower the gripping device (308), as illustrated in FIG. 10.

[0080] A scenario in which the container support is moved from the deployed position to the retracted position will be described first. As illustrated in FIG. 10, the gripping device (308) can be lowered into the column (102) to retrieve the storage container (112), however, the path of the gripping device (308) may be obstructed by the protrusion of the container support (502b) in the deployed position. To move the container support (502b) from the deployed position to the retracted position, the hook device (1002) may be rotated to engage with a groove or recess within the deployed container support (502b). Once the hook device (1002) engages with the groove or recess within the container support (502b), the hook device (1002) may be moved laterally, for example, in the xy plane, to push the container support (502b) to the retracted (e.g., storage) position.

[0081] In a scenario where the tube support member (502) is moved from a retracted position to an unfolded position, the hook device (1002) may first be moved laterally toward the tube support member (502) (e.g., within the xy plane) until the hook device (1002) is aligned with the groove of the tube support member (502). Once the hook device (1002) is aligned with the groove of the tube support member (502), the hook device (1002) may be rotated to engage with the groove of the tube support member (502). The hook device (1002) may then be retracted to pull the tube support member (502) away from the vertical frame member (104).

[0082] The position of the hook device (1002) may be a predetermined position. For example, in some embodiments, the barrel support (502) may be in one of two positions—an extended position or a retracted position—both of which correspond to a defined position of a groove on the barrel support (502). For example, the groove may be located 2 cm from the vertical frame member (104) when the barrel support (502) is in the retracted position, but 5 cm from the vertical frame member (104) when the barrel support (502) is in the extended position. Thus, the distance through which the hook device (1002) can move to engage with the groove of the barrel support (502) may be known.

[0083] FIG. 11 illustrates various steps in the operation of the tube support member (502) by the hook device (1002). In FIG. 11 (i), the tube support member (502) is shown in an unfolded position and protrudes into the column (102). The hook device (1002) may be in a retracted position (e.g., a retracted lateral position) and may be rotated to engage with the groove (1102) of the tube support member (502). In FIG. 11 (ii), while the hook device (1002) is engaged within the groove (1102) of the tube support member (502), the hook device (1002) may be moved laterally (e.g., within the xy plane) to push the tube support member (502) laterally toward the vertical frame member (104), thereby moving the tube support member (502) from the unfolded position to the retracted position. In (iii) of FIG. 11, the hook device (1002) may be released from the groove (1102) of the tube support (502) by, for example, rotational movement and / or lifting motion. As shown in (iv) of FIG. 11, the hook device (1002) may then be stored, for example, returned to the gripping device (308). As shown in (iv) of FIG. 11, when stored, the hook device (1002) may be positioned so as not to protrude from the gripping device (308). In some embodiments, when stored, the hook device (1002) may be positioned so as to be at least partially aligned with a cable or band used to lift or lower the gripping device (308), as shown in FIG. 10.

[0084] The sequence illustrated in (i) through (iv) of FIG. 11 illustrates the movement of the tube support (502) from the deployed position to the retracted position. However, it should be understood that the reverse sequence may follow to move the tube support (502) from the retracted position to the deployed position. For example, when moving the tube support (503) from the retracted position to the deployed position, the hook device (1002) may start in a retracted state as illustrated in (iv) of FIG. 11 and may be moved laterally toward the tube support (502) (e.g., within the xy plane). As the hook device (1002) moves toward the tube support (502), the hook device (1002) may be rotated and / or lifted in the z direction to avoid unintentional collision with the tube support (502). As illustrated in (iii) and (ii) of FIG. 11, once the hook device (1002) is aligned with the groove (1102) of the barrel support (502), the hook device (1002) can be lowered and / or rotated to engage with the groove (1102) of the barrel support (502). Once the hook device (1002) is engaged within the groove (1102) of the barrel support (502), the hook device (1002) can be moved laterally toward the gripping device (308) to pull the barrel support (502) to the unfolded position. Once the barrel support (502) is pulled to the unfolded position, the hook device (1002) can be lifted and / or rotated to be released from the groove (1102) of the barrel support (502).

[0085] FIGS. 10 and FIGS. 11 illustrate a single hook device (1002), but it should be understood that this is merely exemplary. The gripping device (308) may have a plurality of hook devices (1002) arranged to engage with, for example, a plurality of tube support members (502) (for example, located on each of a plurality of vertical frame members (104) forming a vertical column (102). For example, the gripping device (308) may have four hook devices (1002) each arranged to engage with a tube support member (502) placed on each of four vertical frame members (104) forming a column (102).

[0086] FIG. 12 illustrates a flowchart of a method (S100) for moving a container support (502) suitable for use in a grid (100).

[0087] Method (S100) is a method of moving a tube support between a retracted position and an unfolded position. Method (S100) may include an action (S100a) of moving the tube support (502) from a retracted position to an unfolded position, and / or an action (S100b) of moving the tube support (502) from an unfolded position to a retracted position. The method may include any action or mechanism described herein. That is, method (S100) may include the step of moving the tube support (502) using any means described herein: for example, through an electronic mechanism, using a mechanical mechanism such as a spring mechanism as described with reference to FIGS. 7a and 7b, using a magnetic mechanism as described with reference to FIGS. 9a and 9b, and / or using a hook device (1002) as described with reference to FIGS. 10 and 11.

[0088] Instructions corresponding to method (S100) (e.g., S100a and / or S100b) may be partially or completely stored on a temporary or non-temporary computer-readable medium.

[0089] The embodiments described in this specification may be combined. For example, a gripping device (308) may be arranged with one or more cutouts as well as a hook device (1002) and / or one or more magnets (902).

[0090] The tube support member (502) may refer to one or more protrusions from each of one or more vertical frame members (104). One or more protrusions or pins may be vertically aligned. That is, the tube support member may include a plurality of pins, ligatures, or protrusions arranged to protrude into the column (102) when in the unfolded position.

[0091] The foregoing description should be understood as illustrative and not intended to be limiting. Many other embodiments will be apparent to a person skilled in the art upon reading and understanding the foregoing description. Although the present disclosure has been described with reference to specific exemplary embodiments, it will be recognized that the present disclosure is not limited to the described embodiments and may be practiced with modifications and changes within the spirit and scope of the appended claims. Accordingly, the specification and drawings should be regarded as illustrative rather than limiting. Therefore, the scope of the present disclosure should be determined by reference to the appended claims, together with the entire scope of equivalents to which these claims qualify.

Claims

Claim 1 A storage grid having a support structure forming a horizontal grid of columns, wherein each column is arranged for the vertical storage of a plurality of storage containers, and the storage grid has: an unfolded position in which a storage container can be lowered below one of the columns onto a container support; and a retracted position in which a storage container can be lowered below the column past the container support. Claim 2 In paragraph 1, the storage grid is arranged such that the container support moves from a retracted position to an unfolded position following the storage container descending past the container support. Claim 3 In paragraph 2, the storage grid is further arranged such that the container support unit moves from an unfolded position to a retracted position following the storage container rising from below the container support unit. Claim 4 In paragraph 2 or 3, the container support is arranged to move from a retracted position to an unfolded position following the storage container being lowered over the container support onto a trigger mechanism, optionally, an additional container support for supporting the storage container below the container support forms part of the trigger mechanism, and also optionally, the additional container support is movable between: an additional unfolded position where the storage container can be lowered down a column onto the additional container support; and an additional retracted position where the storage container can be lowered down a column past the additional container support, a storage grid. Claim 5 In paragraph 4, the container support is arranged to move from an extended position to a retracted position following the storage container being raised from a trigger mechanism, in a storage grid. Claim 6 A method according to any one of paragraphs 2 to 5, wherein the container support member is arranged to move between a retracted position and an extended position using energy induced from a lowered storage container. Claim 7 A storage grid according to claim 1, wherein the tube support member is arranged to move between a retracted position and an unfolded position during mechanical interaction between the tube support member and a gripping device of a robotic vehicle lowered below the column. Claim 8 A storage grid according to claim 1 or 7, wherein the tube support is arranged to move between a retracted position and an extended position during magnetic interaction between the tube support and a gripping device of a robotic vehicle lowered below the column, and optionally the tube support includes a permanent magnet for interacting with an electromagnet of the gripping device. Claim 9 A storage grid according to any one of claims 1 through 8, wherein the supporting member receives electric, optical and / or wireless commands and is arranged to move between a retracted position and an unfolded position upon receiving such commands. Claim 10 A storage grid according to any one of claims 1 to 9, wherein the tube support member comprises a plurality of pins arranged to protrude into the column when in the unfolded position. Claim 11 A robotic vehicle comprising a main body and a gripping device, wherein the robotic vehicle is arranged to drive on the grid of the rail of a storage grid according to any one of claims 1 to 10 and to raise and lower the gripping device relative to the main body, the gripping device is arranged to grip a storage container in a releaseable manner, and has one or more cutouts that enable the gripping device to pass the container support and descend below the column when the container support is in an unfolded position. Claim 12 A robotic vehicle comprising a main body and a gripping device, wherein the robotic vehicle is arranged to travel on the grid of rails of a storage grid and to raise and lower the gripping device relative to the main body, and the gripping device is arranged to releaseably grip a storage container and to allow a container support of the storage grid to move between an extended position and a retracted position. Claim 13 A robotic vehicle according to claim 12, wherein the gripping device comprises: one or more electromagnets for causing a tube support to move between an extended position and a retracted position; and at least one of one or more hooks arranged to cause the tube support to move between an extended position and a retracted position. Claim 14 A method for operating a storage grid of any one of claims 1 to 10 and / or a robotic vehicle of claim 12 or 13, comprising the step of moving a tube support between a retracted position and an unfolded position. Claim 15 A computer-readable medium storing instructions for implementing the method of paragraph 14.

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