Container handling vehicle and automated storage and retrieval system

Abstract

The present invention provides a container handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system, comprising: a first set of wheels for moving the vehicle in a first direction; and a second set of wheels for moving the vehicle in a second direction, the second direction being perpendicular to the first direction; wherein the vehicle body includes walls on all sides, the walls forming a footprint defined by the horizontal perimeter of the vehicle body in the X and Y directions, and the container handling vehicle further includes a first section and a second section arranged side by side such that the center point of the footprint of the first section is arranged eccentrically with respect to the center point of the footprint of the vehicle body, and the size ratio of the footprint of the first section to the footprint of the second section is at least 2:1; wherein the first section is configured to accommodate storage containers, and the second section includes a component of an electric motor for driving at least one wheel in each set of wheels. The present invention also provides an automated storage and retrieval system.

Description

[0001] This application is a divisional application of the Chinese patent invention application "Container handling vehicle with a first section, a second section, and an electric machine in the second section" with an application date of October 11, 2018 and an application number of 201880092677.9. Technical Field

[0002] The present invention relates to the field of container handling vehicles for automated storage and retrieval systems, and to an automated storage and retrieval system including such a container handling vehicle. Background Art

[0003] An automated storage system known to the applicant is a storage system including a three-dimensional storage grid structure, in which storage containers / containers are stacked on top of each other to a certain height. Such prior art systems are shown in Figure 1 This storage system is disclosed in detail, for example, in NO317366 and WO2014 / 090684A1.

[0004] Figure 1 The frame structure of a typical prior art automated storage and retrieval system 1 is disclosed, and Figure 2A and Figure 2B a known container handling vehicle for such a system is disclosed.

[0005] The frame structure includes a plurality of upright members / profiles 2 and a plurality of horizontal members 3 supported by the upright members 2. The members 2, 3 can typically be made of metal, such as extruded aluminum profiles.

[0006] The frame structure defines a storage grid 4, which includes a plurality of grid openings / posts 12 arranged in rows. Most of the grid posts 12 are storage posts 5, in which storage containers 6, also referred to as containers or boxes, are stacked on top of each other to form a stack 7. Each storage container 6 (or simply referred to as a container) can typically accommodate a plurality of product items (not shown), and depending on the application, the product items within the storage container 6 can be the same or can have different product types. The frame structure prevents horizontal movement of the stack 7 of storage containers 6 and guides the vertical movement of the containers 6, but typically does not support the storage containers 6 when stacking.

[0007] The upper horizontal member 3 includes a guide rail system 8 which is arranged across the top of the grid columns 12 in a grid pattern. A plurality of container handling vehicles 9 operate on the guide rail system 8 to lift storage containers 6 from the storage columns 5 and lower the storage containers 6 into the storage columns, and also to transport the storage containers 6 above the storage columns 5. The guide rail system 8 includes: a first set of parallel guide rails 10 which are arranged to guide the movement of the container handling vehicles 9 across the top of the frame structure in a first direction X; and a second set of parallel guide rails 11 which are arranged perpendicular to the first set of guide rails 10 to guide the movement of the container handling vehicles 9 in a second direction Y perpendicular to the first direction X, see Figure 3 . Thus, the guide rail system 8 defines the upper end of the storage column 5 above which the container handling vehicles 9 can move laterally (i.e., in a plane parallel to the horizontal X - Y plane) above the storage column 5.

[0008] Each container handling vehicle 9 includes a vehicle body 13 and a first set of wheels 22 and a second set of wheels 23 which enable the container handling vehicle 9 to move laterally (i.e., in the X and Y directions). In Figures 2A to 2C , two wheels in each set are visible. The first set of wheels 22 is arranged to engage two adjacent guide rails in the first set of guide rails 10, and the second set of wheels 23 is arranged to engage two adjacent guide rails in the second set of guide rails 11. One of the sets of wheels 22, 23 can be lifted and lowered such that the first set of wheels 22 and / or the second set of wheels 23 can engage their respective sets of guide rails 10, 11 at any time.

[0009] Each container handling vehicle 9 further includes a lifting device 18 (not shown in Figure 1 and Figure 2A but visible in Figure 2B ) for vertically transporting the storage container 6, such as lifting the storage container 6 from the storage column 5 and lowering the storage container 6 into the storage column. The lifting device 18 includes a lifting frame (not shown in Figure 2A but similar to the lifting frame labeled 17 in Figure 2B ) which is adapted to engage the storage container 6. The lifting frame can be lowered from the vehicle body 13 such that the position of the lifting frame relative to the vehicle body 13 can be adjusted in a third direction Z which is orthogonal to the first direction X and the second direction Y.

[0010] Generally, and for the purposes of the present application, Z = 1 represents the topmost layer of the grid 4, i.e., the layer directly below the guide rail system 8 (in the present application, the guide rail system 8 is referred to as the top level of the grid), Z = 2 is the second layer below the guide rail system 8, Z = 3 is the third layer, and so on. In the embodiment disclosed in Figure 1 , Z = 8 represents the bottommost layer of the grid 4. Thus, by way of example and using Figure 1The Cartesian coordinate system X, Y, Z indicated therein Figure 1 The storage container marked as 6' therein can be said to occupy the grid position or cell X = 10, Y = 2, Z = 3. The container handling vehicle 9 can be said to travel in the layer Z = 0, and each grid post 12 can be identified by its X and Y coordinates.

[0011] Each container handling vehicle 9 includes a storage compartment or space for receiving and loading the storage container 6 when transporting the storage container 6 across the grid 4. The storage space can include a central cavity 21 arranged within the vehicle body 13, for example, as described in WO2014 / 090684A1, the content of which is incorporated herein by reference.

[0012] Alternatively, the container handling vehicle can have a cantilever construction, as described in NO317366, the content of which is also incorporated herein by reference.

[0013] The single-unit container handling vehicle 9 can have a footprint F, that is, a horizontal perimeter in the X and Y directions (see Figure 4A ), which is approximately equal to the lateral or horizontal extent of the grid post 12, that is, the perimeter / boundary of the grid post 12 in the X and Y directions, for example, as described in WO2015 / 193278A1, the content of which is incorporated herein by reference. Alternatively, the container handling vehicle 9 can have a footprint greater than the lateral extent of the grid post 12, for example, as disclosed in WO2014 / 090684A1.

[0014] The guide rail system 8 can be a single-rail system as Figure 3 shown. Preferably, the guide rail system 8 is a double-rail system as Figure 4A shown, thereby allowing the container handling vehicle 9 having a footprint F generally corresponding to the lateral extent of the grid post 12 to travel along a row of grid posts in the X or Y direction, even if another container handling vehicle 9 is located above the grid post 12 adjacent to that row.

[0015] In the storage grid, most of the grid posts 12 are storage posts 5, that is, the grid posts in which the storage containers are stored in stacks. However, the grid typically has at least one grid post 12 that is not for storing the storage container but includes a position where the container handling vehicle can unload and / or pick up the storage container, so that the storage container can be transported to an access station, at which the storage container 6 can be accessed from outside the grid or transferred out of or into the grid, that is, the container handling station. In the art, such a position is generally referred to as a "port", and the grid post where the port is located can be called a port post.

[0016] Figure 1The grid 4 therein includes two port columns 19 and 20. The first port column 19 can be, for example, a dedicated unloading port column, where a container handling vehicle 9 can unload a storage container to be transported to a proximity station or a transfer station (not shown), and the second port column 20 can be a dedicated pickup port column, where the container handling vehicle 9 can pick up a storage container that has been transported from the proximity station or the transfer station to the grid 4.

[0017] When approaching a storage container 6 in the grid 4 disclosed in Figure 1 one of the container handling vehicles 9 is instructed to retrieve the target storage container from its position in the grid 4 and transport it to the unloading port 19. This operation involves moving the container handling vehicle 9 to the grid position above the storage column 5 where the target storage container is located, using the lifting device (not shown, arranged internally in the central cavity of the vehicle but similar to Figure 2B the lifting device 18 of the second prior art vehicle) of the container handling vehicle to retrieve the storage container 6 from the storage column 5, and transporting the storage container to the unloading port 19. The second prior art vehicle 9 is shown in Figure 2B to better illustrate the overall design of the lifting device. The details of the second vehicle 9 are described in Norwegian patent NO317366. The lifting devices 18 of the two prior art vehicles 9 include a set of lifting belts that are connected near the corners of the lifting frame 17 (which can also be referred to as a clamping device) for releasably connecting to the storage container. To raise or lower the lifting frame 17 (and optionally the connected storage container 6), the lifting belts are wound onto / unwound from at least one rotating lifting shaft or drum (not shown) arranged in the container handling vehicle. Various designs of the at least one lifting shaft are described in, for example, WO2015 / 193278A1 and PCT / EP2017 / 050195. The lifting frame 17 is characterized by a container connection element for releasably connecting to the storage container and a guide pin. If the target storage container is located deep within the stack 7, i.e., one or more other storage containers are positioned above the target storage container, the operation also includes temporarily moving the storage containers positioned above before lifting the target storage container from the storage column. This step, sometimes referred to as "digging" in the art, can be performed using the same container handling vehicle that is subsequently used to transport the target storage container to the unloading port 19, or using one or more other collaborative container handling vehicles. Alternatively or additionally, the automated storage and retrieval system can have a container handling vehicle dedicated to the task of temporarily removing storage containers from the storage column. Once the target storage container has been removed from the storage column, the temporarily removed storage container can be repositioned to the original storage column. However, the removed storage container can alternatively be relocated to other storage columns.

[0018] When a storage container 6 is to be stored in a grid 4, one of the container handling vehicles 9 is instructed to pick up the storage container from the pick-up port 20 and transport it to a grid position above the storage post 5, where the storage container is stored. After any storage container located at or above the target position within the storage post stack has been removed, the container handling vehicle 9 positions the storage container at the desired location. Then, the removed storage container can be lowered back into the storage post or relocated to another storage post.

[0019] To monitor and control the automated storage and retrieval system, such as monitoring the positions of individual storage containers within the grid 4, the contents of each storage container 6, and the movement of the container handling vehicles 9, such that a desired storage container can be delivered to a desired location at a desired time without the container handling vehicles 9 colliding with each other, the automated storage and retrieval system includes a control system, which is typically computerized and includes a database for keeping track of the storage containers.

[0020] Prior art solutions include so-called cantilever robots and single-unit robots. Cantilever robots can have available space for larger motors. However, the robots can be less stable than their single-unit counterparts. Thus, larger motors with increased acceleration can cause the robots to tilt excessively. Some embodiments of single-unit robots have in-wheel motors configured with an in-wheel construction. The in-wheel construction allows the in-wheel motors to be assembled inside the wheels and the body, thus not occupying the space within the cavity for receiving the storage containers. Therefore, prior art single-unit robots do not have any available space for larger in-wheel motors without affecting the storage container space inside the robot.

[0021] Accordingly, prior art solutions may have potential drawbacks related to the stability of the robots and / or limited space for larger, higher-power in-wheel motors, particularly for single-unit robots, where the motors can have a so-called in-wheel construction in order to be assembled as small as possible within the wheels and the body while not occupying the cavity for receiving the storage containers.

[0022] In view of the above, it is desirable to provide a container handling vehicle, and an automated storage and retrieval system including the container handling vehicle, that solves or at least mitigates one or more of the above problems related to robots.

[0023] In particular, an object of the present invention is to provide a robot with improved acceleration and / or speed.

[0024] Another object of the present invention is to provide a robot with a lifting device having improved acceleration, lifting capacity, and / or speed. Summary of the Invention

[0025] The present invention is defined in the appended claims and in the following.

[0026] In a first aspect, the present invention provides a container handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system, comprising

[0027] - a first set of wheels arranged at opposite parts of the vehicle body of the container handling vehicle for moving the vehicle along a first direction on the guide rail system of the grid; and

[0028] - a second set of wheels arranged at opposite parts of the vehicle body for moving the vehicle along a second direction on the guide rail system of the grid, the second direction being perpendicular to the first direction;

[0029] wherein

[0030] the vehicle body includes walls on all sides (the walls are substantially vertical), the walls forming an occupation area defined by the horizontal perimeter of the vehicle body in the X and Y directions, and the container handling vehicle further comprises:

[0031] - a first section and a second section arranged side by side such that the center point of the occupation area of the first section is arranged eccentrically with respect to the center point of the occupation area FV of the vehicle body, and

[0032] - wherein the size ratio of the occupation area F1 of the first section to the occupation area F2 of the second section is at least 2:1, and wherein

[0033] - the first section is configured to accommodate a storage container,

[0034] - the second section includes a component of a motor for driving at least one wheel in each set of wheels.

[0035] According to the first aspect, the present invention can also be defined as a container handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system, comprising

[0036] - a first set of wheels arranged at opposite parts of the vehicle body of the container handling vehicle for moving the vehicle along a first direction on the guide rail system of the grid; and

[0037] - a second set of wheels arranged at opposite parts of the vehicle body for moving the vehicle along a second direction on the guide rail system of the grid, the second direction being perpendicular to the first direction;

[0038] wherein

[0039] The vehicle body includes walls on all sides (the walls are substantially vertical), the walls forming an area defined by the horizontal perimeter of the vehicle body in the X and Y directions, and the container handling vehicle further includes:

[0040] - A first section and a second section, the first section and the second section being arranged side by side such that the center point of the area of the first section is arranged eccentrically with respect to the center point of the area FV of the vehicle body, and

[0041] - wherein, the dimensional ratio of the area F1 of the first section to the area F2 of the second section is at least 2:1, and wherein

[0042] - The first section is configured to accommodate a storage container,

[0043] - The second section includes any one of a plurality of in-wheel motors for driving two wheels in each set of wheels, a motor for driving a lifting device, and / or a rechargeable battery.

[0044] In one embodiment of the container handling vehicle, the first section includes a cavity for accommodating a storage container, and a lifting device arranged at the top section / higher level of the cavity.

[0045] In one embodiment of the container handling vehicle, a first set of wheels can be displaced vertically between a first position and a second position, in the first position, the first set of wheels allows the vehicle to move along a first direction, and in the second position, a second set of wheels allows the vehicle to move along a second direction.

[0046] In one embodiment of the container handling vehicle, the assembly of motors includes at least one first motor for driving a first set of wheels and at least one second motor for driving a second set of wheels.

[0047] In one embodiment, the container handling vehicle includes a lifting device for picking up a storage container from a three-dimensional grid, and the assembly of motors includes a lifting device motor connected to the lifting device.

[0048] In one embodiment of the container handling vehicle, the first section houses the first, second, third, and fourth wheels of a first set of wheels and the first and second wheels of a second set of wheels, and the second section houses the third and fourth wheels of the second set of wheels.

[0049] In one embodiment of the container handling vehicle, the first section houses the first and third wheels of a first set of wheels and the first and second wheels of a second set of wheels, and the second section houses the second and fourth wheels of the first set of wheels and the third and fourth wheels of the second set of wheels.

[0050] In an embodiment of the container handling vehicle, the first section includes four corners, and the rims of the first, second, third, and fourth wheels of the first set of wheels and the first and second wheels of the second set of wheels are arranged at the corners of the first section.

[0051] In an embodiment of the container handling vehicle, the at least one first motor includes in-wheel motors for each of the first and fourth wheels of the first set of wheels, and the at least one second motor includes in-wheel motors for each of the third and fourth wheels of the second set of wheels. In other words, each of the first and fourth wheels of the first set of wheels and each of the third and fourth wheels of the second set of wheels are driven by separate / dedicated in-wheel motors.

[0052] In an embodiment of the container handling vehicle, the first set of wheels and the second set of wheels are arranged at the lateral extent of the vehicle body or within the lateral extent of the vehicle body.

[0053] In an embodiment of the container handling vehicle, the footprint of the first section corresponds to a grid cell of the guide rail system, and wherein, during use, when the container handling vehicle is in the position of lifting or lowering a stored container, the second section is horizontally displaced relative to the grid cell and partially extends into an adjacent grid cell.

[0054] In an embodiment of the container handling vehicle, the assembly of motors includes a plurality of in-wheel motors, and each of the first and fourth wheels of the first set of wheels and the third and fourth wheels of the second set of wheels includes a separate in-wheel motor. Preferably, the in-wheel motors of the first and fourth wheels of the first set of wheels and the third and fourth wheels of the second set of wheels extend into the second section.

[0055] In a second aspect, the present invention provides an automated storage and retrieval system, which includes a three-dimensional grid and at least one container handling vehicle, the grid including a guide rail system and a plurality of stacks for storing containers, and the container handling vehicle can move on the guide rail system;

[0056] - The guide rail system includes a first set of parallel tracks arranged in a horizontal plane and extending in a first direction and a second set of parallel tracks arranged in a horizontal plane and extending in a second direction orthogonal to the first direction, wherein the first set of tracks and the second set of tracks form a grid pattern including a plurality of adjacent grid cells in the horizontal plane, and each grid cell includes a grid opening defined by a pair of opposite tracks of the first set of tracks and a pair of opposite tracks of the second set of tracks;

[0057] - The plurality of stacks for storing containers are arranged in storage columns located below the guide rail system, wherein each storage column is vertically below a grid opening;

[0058] - The container handling vehicle includes a vehicle body and a first section and a second section arranged side by side. The vehicle body includes substantially vertical walls on all sides, and the walls form an occupied area defined by the horizontal perimeter of the vehicle body in the X direction and the Y direction;

[0059] - The first section is configured to accommodate a storage container; and

[0060] - The second section includes at least a component of a motor for driving at least one wheel in each set of wheels, wherein

[0061] The occupied area of the first section is substantially equal to the grid unit defined by the cross-sectional area including the track width between a pair of opposite tracks of the first set of tracks and a pair of opposite tracks of the second set of tracks, and when the first section is positioned above an adjacent grid opening, the second section partially extends into the adjacent grid opening.

[0062] In an embodiment of the automated storage and retrieval system, the occupied area of the container handling vehicle has a range LX in the X direction and a range LY in the Y direction as follows:

[0063] - In the X direction, LX = 1.0 grid unit, and

[0064] - In the Y direction, 1 grid unit < LY < 1.5 grid units,

[0065] wherein the grid unit is defined as the cross-sectional area including the track width between the midpoints of two guide rails extending in the X direction and the midpoints of two guide rails extending in the Y direction.

[0066] In an embodiment of the automated storage and retrieval system, the second section extends into the adjacent grid opening by less than 50%.

[0067] In an embodiment of the automated storage and retrieval system, the container handling vehicle is a container handling vehicle according to any embodiment of the first aspect.

[0068] As described above, the container handling vehicle has a first section and a second section. The occupied area of the first section may be equal to the size of the following grid unit, and the second section is an extended section that horizontally extends beyond the occupied area of the first section.

[0069] The grid unit opening may be defined as the open cross-sectional area between two opposite guide rails extending in the X direction and two opposite guide rails extending in the Y direction.

[0070] The footprint of the second section is less than half the size of the footprint of the first section (less than 1:2 with respect to the size of the first section). When the container handling vehicle is positioned above a grid cell in a position where it can lift a stored container into or lower it from the first section, the second section extends into an adjacent grid cell. However, the footprint of the vehicle body is less than 1.5 cells (in the Y direction) and is at most one grid cell wide in the other direction (the X direction). In other words, the lateral extent of the container handling vehicle in a first direction corresponds to the lateral extent of the track in one cell and is at most 1.5 grid cells in a direction perpendicular to the first direction. Thus, in an example system for storing and retrieving stored containers, where the two above-mentioned container handling vehicles operate and are oriented in opposite directions, when traveling in a first direction (e.g., in the X direction) it occupies three grid cells, while when traveling in a second direction (e.g., in the Y direction) it can travel along grid cells in adjacent rows that occupy two grid cells.

[0071] The first section of the container handling vehicle may include a cavity for receiving a stored container and a lifting device arranged to vertically transport the stored container between a storage position in a stack and a transport position inside the cavity. The lifting device may include gripping means configured to releasably grip the stored container; and a lifting motor configured to raise and lower the gripping means relative to the cavity.

[0072] The second section enables at least some wheels to be driven by hub motors that are larger and more powerful than those possible in prior art single-cell robots.

[0073] The hub motors arranged in the second section (or extending into the second section) are arranged with a limited distance between them. Due to the small distance between the motors, it may be possible to require fewer, for example, one brushless DC (BLDC) card instead of four BLDC cards in prior art single-cell robots. In prior art solutions, the distance between the motors driving the wheels in a container handling vehicle is such that typically four BLDC cards are required. The cost of BLDC cards is quite high. However, since the distance between the motors can be significantly reduced by arranging the motors in the second section, the total cost of the container handling vehicle can be reduced due to the need for fewer BLDC cards (e.g., only one BLDC card).

[0074] In an embodiment of the first aspect, the container handling vehicle includes a replaceable battery. The replaceable battery may be arranged in an upper part of the vehicle, above the container storage compartment and the lifting device. The replacement sequence of the replaceable battery may include the following steps:

[0075] - The vehicle or the overall control system determines that the battery should be replaced,

[0076] - Operate the vehicle to move to a battery replacement station,

[0077] - Remove the replaceable battery from the battery housing,

[0078] - Using, for example, a capacitive power source arranged in a controller box in the vehicle, operate the vehicle to move to a battery replacement station with a charged battery,

[0079] - Install the charged battery into the battery housing,

[0080] - The vehicle is ready for use.

[0081] In the following, many specific details are introduced only by way of example to provide a full understanding of the embodiments of the present invention. However, those skilled in the relevant art will recognize that these embodiments can be practiced without one or more of the specific details or by using other components, systems, etc. In other instances, well-known structures or operations are not shown or described in detail to avoid obscuring aspects of the disclosed embodiments.

[0082] In the present disclosure, related terms such as up, down, lateral, vertical, X-direction, Y-direction, Z-direction, etc. should be interpreted using the above-mentioned storage system of the prior art ( Figure 1 ) as a reference system. Therefore, a feature that is lateral with respect to the ranges in the X-direction and Y-direction of the vehicle should be understood as the ranges of the vehicle in the X-direction and Y-direction, for example, the footprint of the vehicle in the X-direction and Y-direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] Certain embodiments of the present invention will now be described in detail only by way of example and with reference to the following drawings:

[0084] Figure 1 is a perspective side view of a storage and retrieval system of the prior art;

[0085] Figure 2A and Figure 2B depict two different prior art container handling vehicles, and Figure 2C shows the prior art container handling vehicle of Figure 2B in a second configuration;

[0086] Figure 3 and Figure 4A are top schematic views of two types of guide rail systems for use in the storage system in Figure 1 ;

[0087] Figure 4B and Figure 4C are similar to Figure 4ATop view of the guide rail system, which shows the extent of the grid cells and the extent of the single-unit vehicle operating thereon;

[0088] Figure 5A Is an enlarged perspective side view of an exemplary lifting device that can be installed in a container handling vehicle and components of a related container that can be lifted thereby;

[0089] Figure 5B 、 Figure 5C 、 Figure 5D Shows the footprint areas of the exemplary container handling vehicle FV, the first section F1, and the second section F2, where in each case the footprint area is shown by the shaded area;

[0090] Figure 6A Is an inclined side view as seen from above the container handling vehicle;

[0091] Figure 6B Is Figure 6A Top view of the container handling vehicle, and shows the extent of the container handling vehicle on the guide rail system in the X and Y directions;

[0092] Figure 7 Is a top view of three such container handling vehicles passing by each other and operating on the guide rail system;

[0093] Figure 8A is a perspective view as seen from below inside the container handling vehicle, where the lifting device is in the upper position within the first section;

[0094] Figure 8B is a perspective view as seen from below inside the container handling vehicle, where some details are omitted and the lifting device in the lower position has been lowered from the first section;

[0095] Figure 9 Is a side view of the container handling vehicle of Figure 8A, where two batteries are visible in the second section;

[0096] Figure 10A is a perspective side view of the container handling vehicle of Figure 8A, where certain details are omitted, including that the cover has been removed to show internal details, for example, the replaceable battery within the battery receiving unit arranged in the upper part of the container handling vehicle;

[0097] Figure 10B is another perspective view of the container handling vehicle of Figure 10A, where the assembly of the motor including the lifting device motor can be seen in the second section;

[0098] Figure 10C Is a perspective view of an alternative container handling vehicle of Figure 10B, where the lifting device motor and the angled transmission (bevel gear) can be seen in the second section;

[0099] Figure 10D and Figure 10E is Figure 10C alternative views of a container handling vehicle, wherein the hoist motor and the helical gear are rotated 90 degrees relative to the Figure 10C hoist motor and the angled gearing of the

[0100] Figure 10F and Figure 10G is a perspective view of an alternative container handling vehicle of FIG. 10B, wherein the hoist motor and the hollow shaft gear can be seen in the second section;

[0101] Figure 10H is an exploded view of the hollow shaft gear for connecting the hoist motor and the hoist shaft;

[0102] Figure 11A is a side perspective view of two container handling vehicles passing each other in the X direction of the guide rail system;

[0103] Figure 11B is Figure 11A top perspective view of the

[0104] Figure 11C is Figure 11A other side view of the, which shows the gap between two container handling vehicles passing each other in the X direction of the guide rail system;

[0105] Figure 11D shows a perspective view as seen from below the container handling vehicle;

[0106] Figures 12A to 12C shows the difference in the center of gravity of the storage container inside the storage container cavity relative to the center of the occupied area of the vehicle body, wherein, Figure 12A shows a prior art single unit robot, Figure 12B is a prior art central cavity robot, and Figure 12C shows a container handling vehicle according to the present invention;

[0107] Figures 13A to 13C shows the difference in the imaginary lines extending between each pair of opposite wheels in two pairs of the same set of wheels, and the difference in said lines that intersect or do not intersect with the imaginary lines between other wheels, wherein, Figure 13A shows a prior art single unit robot, Figure 13B is a prior art central cavity robot, and Figure 13C shows a container handling vehicle according to the present invention.

[0108] In the drawings, unless otherwise expressly stated or implicitly understood from the context, the same reference numerals are used to indicate the same components, elements or features. Detailed Embodiments

[0109] Embodiments of the present invention will now be discussed in more detail by way of examples only and with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted therein, and that features described in one drawing are not necessarily dependent on the presence of other features shown in the same drawing, but may be combined with features from embodiments of other drawings.

[0110] Referring to Figures 3 to 4C , a top view of two different guide rail systems of an automated storage and retrieval system is shown.

[0111] The guide rail system forms a grid structure or grid pattern in a horizontal plane P, see Figure 1 . The grid 4 includes a plurality of rectangular and uniform grid positions or grid cells 14 (see Figure 4B ), wherein each grid cell 14 includes a grid opening 15 (i.e., the upper end of the storage column 12) defined by a pair of opposing guide rails 10a, 10b of a first set of tracks and a pair of opposing guide rails 11a, 11b of a second set of tracks. The guide rails 10a, 10b, 11a, 11b form a guide rail system 8 on which a container handling vehicle 9' operates. In Figure 4B , the grid cells 14 are represented by dashed boxes and the grid openings 15 are represented by shaded areas.

[0112] Thus, a pair of opposing guide rails 10a and 10b define parallel rows of grid cells extending in the X direction, and a pair of opposing guide rails 11a and 11b extending perpendicular to the guide rails 10a and 10b define parallel rows of grid cells extending in the Y direction.

[0113] Each grid cell 14 has a width Wc typically in the range of 30 cm to 150 cm and a length Lc typically in the range of 50 cm to 200 cm. Each grid cell 14 can be rectangular as shown, such that Wc < Lc. Each grid opening 15 has a width Wo and a length Lo, which are typically 2 cm to 10 cm smaller than the width Wc and length Lc of the grid cell 14, respectively. This difference between Wc and Wo and between Lc and Lo corresponds to the width of two opposing guide rails 10a, 10b, 11a, 11b (i.e., the width of a set of tracks), or in fact corresponds to the width of a double-track guide rail, since the grid cell extends to the midpoint of such a double-track guide rail (i.e., a double-track guide rail including 10a and 10b or 11a and 11b).

[0114] The double-track guide rail can be shaped to provide two parallel channels for the wheels of the container handling vehicle to run therein.

[0115] Figure 3Shows a prior art guide rail system, characterized by single-rail guide rails 10, 11. When using such a guide rail system, it is not allowed for two container handling vehicles to pass each other at adjacent grid cells 14.

[0116] In the case where the single-rail guide rail is used in one direction, the boundary of the grid cell extends to the side of the rail on the opposite side of the grid opening opposite to the working grid opening (adjacent grid cells will overlap this rail width in a similar manner).

[0117] Figure 4B and Figure 4C The shown guide rail system is characterized by a horizontal double-rail guide rail. Thus, each rail can accommodate two parallel wheels. In such a guide rail system, the boundary between adjacent grid cells 14 extends along the center line of the horizontal guide rail, as Figure 4B shown.

[0118] In Figure 4C it, in the middle of the shown section of the grid system, the grid cell 14 includes a grid opening / grid cell opening 15. To the left (west side) of the grid cell 14, there is an adjacent grid cell 14W including a grid opening 15W. Similarly, to the right (east side) of the grid cell 14, there is an adjacent grid cell 14E including a grid opening 15E. In addition, there is an adjacent grid cell 14S including a grid opening 15S below (south side) the grid cell 14, and an adjacent grid cell 14N including a grid opening 15N above (north side) the grid cell 14.

[0119] In Figure 4C it, the footprint area 30 of a prior art container handling vehicle is schematically shown. In this embodiment, the footprint area 30 is defined by the horizontal extent of the wheels of the vehicle. As is obvious from the figure, the horizontal extent of the footprint area 30 is smaller than the horizontal extent of the grid cell.

[0120] Figure 5A is a perspective side view of the components of a lifting device 18 that can be installed in a container handling vehicle and a container 6 to be lifted by this lifting device. The lifting device includes a lifting frame 17, which is generally connected via a lifting belt to at least one rotatable lifting shaft arranged at a higher level inside the cavity of the container handling vehicle.

[0121] Figure 5B Shows the footprint area of an exemplary container handling vehicle 9' according to the present invention, i.e., the dashed area indicated by FV in the figure. The footprint area FV is equal to the lateral extent of the container handling vehicle 9' in two directions. The container handling vehicle 9' consists of a first section 204 and a second section 205.

[0122] Figure 5CThe footprint of the first section 204 is shown, i.e., the dashed area indicated by F1 in the figure. In the disclosed embodiment, the first section includes a cavity for accommodating the storage bin 6 and the lifting device 18, as Figure 5A shown.

[0123] Figure 5D The footprint of the second section 205 is shown, i.e., the dashed area indicated by F2 in the figure.

[0124] Figure 6A is a perspective side view as seen from above the container handling vehicle 9'. The container handling vehicle 9' operates on the guide rail system 8 and is configured to move laterally in the X and Y directions shown in the figure. The X direction is perpendicular to the Y direction.

[0125] The vehicle 9' includes: a first set of wheels (not shown, see Figure 8A), which are arranged at opposite parts of the vehicle body 13 for moving the vehicle 9' along the first direction X on the guide rail system 8 of the storage system 1; and a second set of wheels (only two of the second set of wheels are shown, 202”, 202”), which are arranged at opposite parts of the vehicle body 13 for moving the vehicle 9' along the second direction Y on the guide rail system 8. The second direction Y is perpendicular to the first direction X. The first set of wheels can be displaced in the vertical direction Z between a first position and a second position. In the first position, the first set of wheels allows the vehicle 9' to move along the first direction X, while in the second position, the second set of wheels allows the vehicle 9' to move along the second direction Y. Structural details of suitable components for providing a displaceable wheel set are disclosed in, for example, WO2015 / 193278A1 and WO2017 / 153583, the content of which is incorporated herein by reference.

[0126] Figure 6B is Figure 6A a top view of the container handling vehicle 9' and shows the extent (LX and LY) of the container handling vehicle 9' in the X and Y directions on the guide rail system 8. The line C represents the center line of the grid unit 14 and the grid unit opening 15 in the Y direction. The footprint of the container handling vehicle 9' in the X direction (LX) is substantially equal to the dimension of the grid unit 14 in the X direction, and the footprint of the container handling vehicle 9' in the Y direction (the line LY) is greater than the dimension of the grid unit 14 in the Y direction, such that a part of the vehicle body extends into an adjacent unit (in the illustrated embodiment, this is the adjacent unit to the left of the working unit). The dimension of this extension of the vehicle body into the adjacent unit is less than half of the lateral extent in the Y direction of the grid unit opening in the adjacent unit, meaning that the length LY is greater than 1.0 grid unit but less than 1.5 grid units 14 in the Y direction (1.0 grid unit < LY < 1.5 grid units).

[0127] When in asFigure 6B When operating on the guide rail system 8 with rectangular grid cells 14 as shown, the footprint of the container handling vehicle 9' is substantially square because the grid cells 14 extend further in the X direction than in the Y direction, and the container handling vehicle occupies more than one grid cell 14 in the Y direction and only one grid cell 14 in the X direction. The substantially square footprint has the advantage of improving the overall stability of the vehicle 9' compared to prior art solutions, which show a more rectangular footprint and are typically combined with a relatively high center of gravity.

[0128] Figure 7 is a top view of three similar container handling vehicles 9' that are oriented in the same direction, pass by each other, and operate on a guide rail system 8 characterized by a double-track guide rail as described above. As shown, the container handling vehicle 9' has a footprint corresponding to the size of the grid cell 14 in the X direction, allowing other container handling vehicles 9' traveling in the Y direction to pass through the adjacent cells on both sides of the vehicle 9' (when they pass by each other, the container handling vehicle 9' occupies two rows of the guide rail system 8). However, since the size of the overlap with the adjacent cells is less than half of the lateral extent of the grid cell in the Y direction, similar container handling vehicles 9' traveling in the X direction can pass by each other and occupy three rows.

[0129] The presence of the second section 205 enables the use of a larger and more powerful motor 203 (see FIG. 8A) than the single-cell robots of the prior art shown to drive the wheels while maintaining many of the advantages of such robots. Figure 2A As disclosed in FIG. 8A, the first section 204 houses the first wheels 201', 201'', 201''', and 201'''' of the first set of wheels and the first wheels 202' and 202'' of the second set of wheels, and the second section houses the third wheels 202''' and 202'''' of the second set of wheels. This particular wheel arrangement is highly advantageous because it allows the use of more powerful hub motors 203 to drive the second wheels 201'' and 201'''' of the first set of wheels and the third wheels 202''' and 202'''' of the second set of wheels.

[0130] Alternatively, the second wheels 201'' and 201'''' of the first set of wheels can be housed in the second section (not shown), provided that the hub motors of said wheels are also arranged in the second section. To improve the stability of the vehicle 9', the rims of the wheels 201', 201''', 202', 202'', 202''', 202'''' are preferably arranged at the corners of the vehicle 9'.

[0131] ​

[0132] All the wheels 201', 201'', 201''', 201'''', 202', 202'', 202''', 202'''' are preferably arranged inside the lateral extents LX, LY in the X and Y directions of the vehicle body 13 (also see the description regarding Figure 9 .

[0133] The first section 204 and the second section 205 can be completely separated by a physical barrier, such as a wall or a plate or the like, at the intersection between the first section 204 and the second section 205. Alternatively, the first section 204 and the second section 205 can be partially separated at the intersection between the first section 204 and the second section 205, for example, by providing a barrier on a part of the intersection.

[0134] In FIG. 8A, the first section and the second section are separated by a wheel connecting element 212 (i.e., a connecting plate or beam), and the second wheel 201'' and the fourth wheel 201'' of the first set of wheels and their corresponding in-wheel hub motors 203 are connected to the wheel connecting element. The wheel connecting element 212 is part of a wheel displacement assembly 214, such that the second wheel 201'' and the fourth wheel 201'' of the first set of wheels (together with the first wheel 201' and the third wheel 201''' of the first set of wheels) can move in the vertical direction.

[0135] In the disclosed embodiment, the second wheel 201'' and the fourth wheel 201'' are accommodated in the first section 204, while the in-wheel hub motor 203 extends into the second section. In an alternative embodiment, the second wheel 201'' and the fourth wheel 201'' and the in-wheel hub motor can all be accommodated in the second section 205.

[0136] It should be noted that arranging the second wheel 201'' and the fourth wheel 201'' of the first set of wheels and the third wheel 202''' and the fourth wheel 202'' of the second set of wheels such that their in-wheel hub motors 203 extend / protrude into the second section 205 allows the use of motors with higher power than the case where the in-wheel hub motors are arranged such that they would extend into the first section 204. The remaining wheels (i.e., the wheels not characterized by in-wheel hub motors extending into the second section) can be passive or motorized, for example, driven by in-wheel hub motors as disclosed in WO2016 / 120075A1.

[0137] FIG. 8B is a perspective view observed from below inside the container handling vehicle 9', which shows the lifting frame 17 of the lifting device 18 in a lower position extending downward from the first section 204. The lifting device 18 can have features similar to the lifting device described regarding Figure 2A and Figure 2B .

[0138] Figure 9 is a side view of a container handling vehicle, in which the in-wheel motors 203 and two batteries 213', 213'' are arranged in the second section 205. As is clear from, for example, Figure 9 it can be seen that, in one aspect, the outward-facing side of the wheel can be arranged such that it does not extend outside the vehicle body 13 (indicated by the dashed lines on each side of the vehicle 9' in Figure 9 ). For example, the outward-facing side of the wheel in the transverse X and Y directions can be flush with the vehicle body 13. Although not shown in Figure 9 (but shown in FIGS. 8A and 8B and Figure 6B ), the same applies to the wheels in the opposite direction (X), i.e., those wheels can also be arranged such that they do not extend outside the vehicle body 13.

[0139] The vehicle body 13 includes any of the following elements, even if all elements are present or if some elements are missing, such as a vehicle body frame, side cover panels or sheets, wheel suspensions, housings for track sensors between the wheels, etc. The rotating outer surface of the wheel can thus be arranged in the same vertical plane as one of the walls in the vehicle body 13. Alternatively, the wheel can be arranged inside the vehicle body 13 such that the rotating outer surface of the wheel can be laterally displaced relative to the vertical plane formed by one of the walls in the vehicle body 13. In Figure 6B no wheels are visible in the top view, indicating that the outermost lateral components of all wheels are arranged such that they do not extend outside the vehicle body 13.

[0140] The container handling vehicle 9' can be provided with an interface 206 for charging the batteries 213', 213'' in the container handling vehicle 9' (see FIG. 8A).

[0141] Figure 10A is a side view of a container handling vehicle 9', in which some components (such as a cover) are removed. The container handling vehicle 9' has a replaceable battery 208 disposed inside a battery receiving unit 209 arranged in an upper portion of the container handling vehicle. A controller unit 210 communicating with an overall control system is also disclosed. The controller unit 210 may also house a capacitive power source (not shown). If the main power supply fails or is lost, the capacitive power source generally has the ability to store enough power to operate any electrically driven components of the vehicle 9'. Such a situation can be, for example, when the battery 208 is to be replaced. Battery replacement generally occurs at two different locations, i.e., the battery to be replaced ("empty" battery) is unloaded at a location different from the location where the replacement battery ("fully charged" battery) is picked up, so that the capacitive power source can be used to move the robot between the two different locations. Alternatively, if the main battery fails, the capacitive power source can be used to operate the lifting device and / or move the robot to a service area. In addition, any regenerative power can be supplied to the capacitive power source to ensure that the capacitive power source has sufficient power capacity to perform any of its desired functions.

[0142] Figure 10B is another view of Figure 10A, in which an assembly of a motor including a lifting device motor 211 arranged in a second section 205 is disclosed. The lifting device motor 211 is connected to one end of a rotatable lifting shaft (not shown) of a lifting device arranged in a first section. This lifting device motor 211 can replace other lifting device motors (not shown) arranged in the first section, or be used as an auxiliary motor in addition to any lifting device motors arranged in the first section. Thus, the second section 205 enables minimizing the number of lifting device motors in the first section (even avoiding the use of lifting device motors in the first section), because the size and lifting capacity of the lifting device motor 211 arranged in the second section 205 are not limited by the available space in the first section. In other words, the lifting device motor 211 in the second section can be the only lifting device motor of the vehicle, increasing the available space in the top section of the first section of the vehicle 9', or the motor 211 can be an auxiliary motor providing an increased lifting capacity to the lifting device.

[0143] Figure 10C An embodiment of the container handling vehicle 9' is shown, in which the lifting device includes a single lifting device motor 211', and an angled transmission 215 is arranged in the second section. This embodiment is used to show how the available space in the second section allows the use of a lifting device motor 211' with a higher power (and thus larger) than might be possible if arranged solely in the first section. This allows the use of storage containers with a greater total weight (i.e., including the weight of the product stored in the container). It should be noted that Figure 2B and Figure 2CExisting technology vehicles therein will likely have available space for a motor of a similar large lifting device, but will not be able to fully utilize the possibility of increasing the lifting capacity due to the cantilever design. Referring again to Figure 10C , the angled drive 215 with the connected lifting device motor 211' is angled downward (i.e., in the predominantly vertical direction). In contrast, as Figure 10D and Figure 10E show, a similar embodiment to Figure 10C is shown, however, the angled drive 215 with the connected lifting device motor 211' is angled laterally (i.e., in the predominantly horizontal direction) relative to the embodiment in Figure 10C , rotated 90 degrees. Additionally, Figure 10E shows a lifting device shaft 216 to which an axial lifting belt connected to the lifting device 18 (not shown in Figure 10E ) is connected and which winds up and unwinds during the lifting and lowering of the lifting device.

[0144] Figure 10F and Figure 10G are perspective views of an alternative container handling vehicle of FIG. 10B, where the lifting device motor 211' and the hollow shaft gear 215 are arranged in the second section.

[0145] Figure 10H is an exploded view of the hollow shaft gear 215 for connecting the lifting device motor 211' and the lifting device shaft 216. Compared with the embodiment in Figures 10C to 10E , the lifting shaft 217 in Figures 10F to 10H has been extended, and the gear 215 is directly connected to the extended lifting shaft 217 without a dedicated connection. To enable such a direct connection, a hollow shaft gear 215 is used instead of an angled drive.

[0146] Figure 11A is a side view of two container handling vehicles 9' traveling in the X direction of the guide rail system 8 and passing each other using a total of three units in the Y direction of the guide rail system 8. This particular guide rail system includes a single-track guide rail in the X direction and a double-track guide rail in the Y direction. In some cases, a combination of a single-track guide rail and a double-track guide rail may be the most cost-effective solution, even though a guide rail system with only double-track guide rails is optimal for the possible travel paths of the container handling vehicles arranged thereon.

[0147] Figure 11B is Figure 11A 's top view, which shows the gap G between the bodies 13 in the Y direction, such that two vehicles 9' traveling in the X direction may occupy only three rows in the Y direction.

[0148] Figures 12A to 12CShows the difference in the center of gravity of the storage container within the storage container cavity relative to the center of the footprint area of the vehicle body, where, Figure 12A Shows a single-unit robot of the prior art, Figure 12B Is a central cavity robot of the prior art, and Figure 12C Shows an exemplary container handling vehicle according to the present invention.

[0149] In Figure 12A For the single-unit and central cavity robots, the center of gravity CGSC of the storage container is at the center of the cavity, which also coincides with the center CGV of the footprint area of the vehicle body.

[0150] In Figure 12B For the central cavity robot, the center of gravity CGSC of the storage container is at the center of the cavity, which also coincides with the center CGV of the footprint area of the vehicle body.

[0151] Figure 12C Shows an exemplary container handling vehicle according to the present invention, where the center of gravity CGSC of the storage container is displaced relative to the center CGV of the footprint area of the vehicle body.

[0152] Figures 13A to 13C Is a plan view that shows the difference in the imaginary lines extending between the wheel pairs of the same set of wheels, and how the lines intersect or do not intersect with the imaginary lines between the other wheels. Figure 13A Shows a single-unit robot of the prior art, Figure 13B Is a central cavity robot of the prior art, and Figure 13C Shows an exemplary container handling vehicle according to the present invention.

[0153] In Figure 13A For the single-unit and central cavity robots, each imaginary line L1, L2, L3, L4 extending between each pair of opposite wheels in each set of wheels intersects with two other imaginary lines L1, L2, L3, L4.

[0154] In Figure 13B For the central cavity robot, the imaginary lines L1, L2, L3, L4 extending between each pair of opposite wheels in each set of wheels do not intersect with another imaginary line L1, L2, L3, L4.

[0155] Figure 13C Shows an exemplary container handling vehicle according to the present invention, where the imaginary lines L1, L2 between each pair of opposite wheels in the first set of wheels intersect with an imaginary line L3 extending between two wheels in the second set of wheels, and where an imaginary line L4 between two wheels in the second set of wheels does not intersect with any imaginary line.

[0156] The present invention has been described with reference to the accompanying drawings. However, those skilled in the art will understand that changes or modifications can be made to the described embodiments without departing from the scope of the present invention as described in the appended claims.

[0157] Reference numeral

[0158]

[0159]

[0160]

Claims

1. A container handling vehicle (9') for picking up storage containers (6) from a three - dimensional grid (4) of an underlying storage system (1), comprising a first set of wheels (22) arranged at opposite parts of the body (13) of the container handling vehicle (9') for moving the container handling vehicle (9') along a first direction (X) on a guide rail system (8) of the three - dimensional grid (4); and a second set of wheels (23) arranged at opposite parts of the body (13) for moving the container handling vehicle (9') along a second direction (Y) on the guide rail system (8) of the three - dimensional grid (4), the second direction (Y) being perpendicular to the first direction (X); wherein the body (13) includes walls on all sides, the walls forming a footprint area (FV) of the body (13) defined by the horizontal perimeter of the body (13) in the first direction (X) and the second direction (Y), the container handling vehicle (9') further includes a first section (204) and a second section (205) arranged side - by - side such that the center point of the footprint area (F1) of the first section (204) is arranged eccentrically with respect to the center point of the footprint area (FV) of the body (13), the ratio of the size of the footprint area (F1) of the first section (204) to the footprint area (F2) of the second section (205) is at least 2:1; the first section (204) is configured to accommodate the storage container (6), and the second section (205) includes a component of motors for driving at least one wheel of each set of wheels; and the first section (204) houses the first wheel (201'), second wheel (201''), third wheel (201'''), and fourth wheel (201'''') of the first set of wheels and the first wheel (202') and second wheel (202'') of the second set of wheels, and the second section (205) houses the third wheel (202''') and fourth wheel (202'''') of the second set of wheels.

2. The container handling vehicle (9') according to claim 1, wherein, The component of the motors includes at least one first motor for driving the first set of wheels and at least one second motor for driving the second set of wheels.

3. The container handling vehicle (9') according to claim 1 or 2, comprising a lifting device (18) for picking up the storage container (6) from the three-dimensional grid (4), wherein, The component of the motors includes a hoisting device motor (211) connected to the hoisting device (18).

4. The container handling vehicle (9') according to claim 1 or 2, wherein, The first section (204) includes four corners, and wherein the rims of the first wheel (201'), second wheel (201''), third wheel (201'''), and fourth wheel (201'''') of the first set of wheels and the first wheel (202') and second wheel (202'') of the second set of wheels are arranged at the corners of the first section (204).

5. The container handling vehicle (9') according to claim 2, wherein - The at least one first motor includes in-wheel motors for each of a first wheel (201') and a fourth wheel (201'''') of the first set of wheels, and - The at least one second motor includes in-wheel motors for each of a third wheel (202''') and a fourth wheel (202'''') of the second set of wheels.

6. The container handling vehicle (9') according to claim 1 or 2, wherein, The first set of wheels and the second set of wheels are arranged at a lateral extent of the vehicle body (13) or within the lateral extent of the vehicle body.

7. The container handling vehicle (9') according to claim 1 or 2, wherein, The footprint area (F1) of the first section (204) corresponds to a grid cell (14) of the guide rail system (8), and wherein, during use, when the container handling vehicle (9') is in a position to lift or lower the storage container (6), the second section (205) is horizontally displaced relative to the grid cell (14) and extends partially into an adjacent grid cell (14).

8. The container handling vehicle (9') according to claim 1 or 2, wherein, The assembly of motors includes a plurality of in-wheel motors, and each of the first wheel (201') and the fourth wheel (201'''') of the first set of wheels and the third wheel (202''') and the fourth wheel (202'''') of the second set of wheels includes a separate in-wheel motor.

9. The container handling vehicle (9') according to claim 5, wherein, The in-wheel motors of the first wheel (201') and the fourth wheel (201'''') of the first set of wheels and the third wheel (202''') and the fourth wheel (202'''') of the second set of wheels extend into the second section (205).

10. An automated storage and retrieval system, comprising a three-dimensional grid (4) and at least one container handling vehicle (9') according to claim 1, the three-dimensional grid (4) including a guide rail system (8) and a plurality of stacks (7) of storage containers (6), the container handling vehicle (9') being movable on the guide rail system, wherein: The guide rail system (8) includes a first set of parallel tracks (10) arranged in a horizontal plane (P) and extending in a first direction (X), and a second set of parallel tracks (11) arranged in the horizontal plane (P) and extending in a second direction (Y) orthogonal to the first direction (X), wherein the first set of parallel tracks (10) and the second set of parallel tracks (11) form a grid pattern in the horizontal plane (P) including a plurality of adjacent grid cells (14), each grid cell (14) including a grid opening (15) defined by a pair of opposite tracks (10a, 10b) of the first set of parallel tracks (10) and a pair of opposite tracks (10a, 10b) of the second set of parallel tracks (11); The plurality of stacks (7) of the storage containers (6) are arranged in storage columns (5) located below the guide rail system (8), wherein each storage column (5) is located vertically below a grid opening (15); The footprint area (F1) of the first section (204) is substantially equal to the grid cell (14) defined by the cross-sectional area including the track width between a pair of opposing tracks (10a, 10b) of the first set of parallel tracks (10) and a pair of opposing tracks (10a, 10b) of the second set of parallel tracks (11); and When the first section is positioned above an adjacent grid opening, the second section (205) partially extends into the adjacent grid opening (15).

11. The automated storage and retrieval system according to claim 10, wherein, The footprint area (FV) of the vehicle body (13) has a range LX in the first direction (X) and a range LY in the second direction (Y) of: - In the first direction (X), LX = 1.0 grid cell (14), and - In the second direction (Y), 1 grid cell < LY < 1.5 grid cells (14), where the grid cell (14) is defined as the cross-sectional area including the track width between the midpoints of two guide rails extending in the first direction (X) and the midpoints of two guide rails extending in the second direction (Y).

12. The automated storage and retrieval system according to claim 10 or 11, wherein, The assembly of the motor includes a plurality of in-wheel motors, and each of the first wheel (201') and the fourth wheel (201'''') of the first set of wheels and each of the third wheel (202''') and the fourth wheel (202'''') of the second set of wheels includes a separate in-wheel motor extending into the second section.

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