Remotely operated delivery vehicles

Abstract

A remotely operated transport vehicle comprises a motorized vehicle body and a container support arranged above the vehicle body for carrying a storage container, the transport vehicle can move on a transport grid of a transport rail system, the transport rail system comprises: at least a first group of parallel rails arranged in a horizontal plane and extending in a first direction; and at least a second group of parallel rails arranged in a horizontal plane and extending in a second direction orthogonal to the first direction, the first group of parallel rails and the second group of parallel rails together define a transport grid of a transport grid unit, the remotely operated transport vehicle is arranged to transport the storage container from the transport port of the storage grid across the transport grid to an access point and return it to the transport port for storage in the storage grid, characterized in that the container support can be tilted around a pivot axis oriented in the main movement direction of the remotely operated transport vehicle by means of a dedicated shifting device.

Description

[0001] This application is a divisional application of the Chinese patent application with application number 201980038106.1 and name “Conveying system with access points and method for accessing access points of conveying system” (based on the international patent application with international application date of June 11, 2019 and international application number PCT / EP2019 / 065189). Technical Field

[0002] The present invention relates to an automated storage and retrieval system comprising a storage grid for storing storage containers and a conveying system for conveying the storage containers between the storage grid and access points of the conveying system, and a method of operating a conveying vehicle to and from the access point.

[0003] The present invention also relates to an access point for a conveying system, wherein the access point is arranged so that there is more than one path to and from the access point for a remotely operated conveying vehicle carrying a storage container. Background Art

[0004] Figure 1A and 1C A typical prior art automated storage and retrieval system 1 having a frame structure 100 is disclosed. Figure 1B and 1D Disclosed separate operations Figure 1A and 1C A prior art container handling vehicle 101 of the system 1 disclosed in FIG.

[0005] The frame structure 100 includes a plurality of upright members 102 and a plurality of horizontal members 103 that optionally support the upright members 102. The members 102, 103 may be generally made of metal, such as extruded aluminum profiles.

[0006] The frame structure 100 defines a storage grid 104 which comprises storage columns 105 arranged in rows, wherein the storage columns 105 store containers 106 (also called bins), which are stacked one above the other to form a stack 107 .

[0007] Each storage container 106 may typically hold multiple product items (not shown), and depending on the application, the product items within the storage containers 106 may be the same or may be different product types.

[0008] The storage grid 104 prevents horizontal movement of the storage containers 106 in the stack 107 and guides vertical movement of the storage containers 106, but generally does not otherwise support the storage containers 106 when stacked.

[0009] The automated storage and retrieval system 1 comprises a rail system 108 arranged in a grid pattern on top of a storage grid 104, on which a plurality of container handling vehicles 200, 300 (eg Figure 1B and 1D 105) to raise the storage container 106 from the storage row 105 or lower the storage container 106 into the storage row 105, and also transport the storage container 106 above the storage row 105. Figure 1A and 1C , a horizontal extent of one of the grid cells 122 constituting the grid pattern is marked with a bold line.

[0010] Each grille unit 122 has a width typically in the interval of 30 to 150 cm and a length typically in the interval of 50 to 200 cm. Due to the horizontal extent of the rails 110 , 111 , the width and length of each grille opening 115 are typically 2 to 10 cm smaller than the width and length of the grille unit 122 .

[0011] The rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 200, 300 on top of the frame structure 100 in a first direction X, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 200, 300 in a second direction Y perpendicular to the first direction X. In this way, the rail system 108 defines a grid row above which the container handling vehicles 200, 300 can move laterally above the storage row 105 (i.e. in a plane parallel to the horizontal XY plane).

[0012] Each prior art container handling vehicle 200, 300 comprises a vehicle body and a wheel arrangement 201, 301 of eight wheels, wherein a first set of four wheels enables lateral movement of the container handling vehicle 200, 300 in the X direction, and a second set of the remaining four wheels enables lateral movement in the Y direction. One or both sets of wheels in the wheel arrangement can be raised and lowered so that the first set of wheels and / or the second set of wheels can engage with a corresponding set of guide rails 110, 111 at any time.

[0013] Each prior art container handling vehicle 200, 300 also includes a lifting device (not shown) for vertically transporting storage containers 106, such as lifting the storage containers 106 from the storage row 105 and lowering the storage containers 106 into the storage row 105. The lifting device includes one or more gripping / engaging devices (not shown) that are adapted to engage the storage container 106 and that can be lowered from the vehicle 201, 301 so that the position of the gripping / engaging device relative to the vehicle 201, 301 can be adjusted in a third direction Z that is orthogonal to the first direction X and the second direction Y.

[0014] Conventionally, and also for the purposes of this application, Z=1 identifies the uppermost layer of the grid 104, i.e., the layer immediately below the rail system 108, Z=2 is the second layer below the rail system 108, Z=3 is the third layer, and so on. Figure 1A and 1C In the exemplary prior art grid 104 disclosed in , Z=8 identifies the bottom layer of the grid 104. Therefore, as an example, and using Figure 1A and 1D The Cartesian coordinate system X, Y, Z shown in Figure 1A The storage container identified as 106' in FIG. 1 occupies grid position or cell X = 10, Y = 2, Z = 3. The container handling vehicle 101 can be said to be travelling in level Z = 0, and each grid column can be identified by its X and Y coordinates.

[0015] Each container handling vehicle 200 includes a storage compartment or space (not shown) for receiving and storing storage containers 106 when transported on the rail system 108. The storage space may include a centrally disposed cavity within the vehicle body, such as described in WO 2014 / 090684 A1, the contents of which are incorporated herein by reference.

[0016] Alternatively, the container handling vehicle 300 may have a cantilever structure, as described in NO 317366, the contents of which are also incorporated herein by reference.

[0017] The container handling vehicle 200 may have a footprint, i.e., an extent in the X and Y directions, which is generally equal to the lateral extent of the grid units 122, i.e., the extent of the grid units 122 in the X and Y directions, for example as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein may mean "horizontal".

[0018] Alternatively, the container handling vehicle 200 may have a footprint that is greater than the lateral extent of the grid columns 105 (the lateral area defined by the grid columns), for example as disclosed in WO 2014 / 090684 A1.

[0019] like Figure 2A As shown, the guide rail system 108 can be a single-track system. Alternatively, the guide rail system 108 can be a double-track system, such as Figure 2B As shown, a container handling vehicle 201 having a footprint that generally corresponds to the lateral area defined by the grid columns 112 is allowed to travel along a row of grid columns even if another container handling vehicle 200 is located above the grid columns adjacent to the row. The single-track system and the dual-track system, or a combination of single-track and dual-track arrangements in the single-track system 108, form a grid pattern in the horizontal plane P that includes a plurality of rectangular and uniform grid positions or grid cells 122, wherein each grid cell 122 includes a grid opening 115 defined by a pair of rails 110a, 110b of the first set of rails 110 and a pair of rails 111a, 111b of the second set of rails 111. Figure 2B In FIG. 1 , the grid unit 122 is represented by a dotted frame.

[0020] Thus, rails 110a and 110b form a pair of rails defining parallel rows of grid cells extending in the X-direction, and rails 111a and 111b form a pair of rails defining parallel rows of grid cells extending in the Y-direction.

[0021] like Figure 2C As shown, each grid unit 122 has a width W typically in the range of 30 to 150 cm. c and a length L usually in the range of 50 to 200 cm c The width W of each grille opening 115 is o and length L o Typically, the width W of the grid unit 122 is greater than c and length L c Small 2 to 10cm.

[0022] In the X direction and the Y direction, adjacent grid units are arranged to be in contact with each other so that there is no space therebetween.

[0023] In the storage grid 104, most of the grid rows are storage rows 105, i.e. grid rows 105, in which storage containers 106 are stored in stacks 107. However, the grid 104 usually has at least one grid row which is not used for storing storage containers 106, but which includes such a position at which a container handling vehicle 200, 300 can drop off and / or pick up storage containers 106 so that they can be transported to a second position (not shown) where storage containers 106 can be accessed from the outside of the grid 104 or moved out of or into the grid 104. Such positions are usually referred to in the art as "ports", and the grid rows in which the ports are located can be referred to as "transport rows" 119, 120. The drop-off port and the pick-up port of the container handling vehicle are referred to as "upper ports of the transport row" 119, 120. The opposite end of the transport row is referred to as "lower port of the transport row".

[0024] Figure 1A and 1C The storage grid 104 in the embodiment of the present invention comprises two conveying lanes 119 and 120. The first conveying lane 119 may, for example, comprise a dedicated drop-off port at which a container handling vehicle 200, 300 may drop off a storage container 106 to be transported by the conveying lane 119 and further transported to an access station or a transfer station, and the second conveying lane 120 may comprise a dedicated pick-up port at which a container handling vehicle 200, 300 may pick up a storage container 106 that has been transported from an access station or a transfer station by the conveying lane 120. Each port of the first and second conveying lanes may comprise a port suitable for picking up and dropping off a storage container.

[0025] The second location may typically be a pick-up station or inventory station where product items are removed from or positioned in storage containers 106. In the pick-up station or inventory station, storage containers 106 are typically not removed from the automated storage and retrieval system 1, but are returned to the storage grid 104 once they have been accessed. In order to deliver storage containers out of or into the storage grid 104, lower ports are also provided in the conveying train, for example, such lower ports are used to deliver storage containers 106 to another storage facility (e.g., to another storage grid), directly to a transport vehicle (e.g., a train or truck), or to a production facility.

[0026] In order to monitor and control the automated storage and retrieval system 1 (for example, to monitor and control the position of each storage container 106 within the storage grid 104; the contents of each storage container 106; and the movement of the container handling vehicles 200, 300 so that the desired storage container 106 can be delivered to the desired location at the desired time without the container handling vehicles 200, 300 colliding with each other), the automated storage and retrieval system 1 includes a control system (not shown), which is typically computerized and which typically includes a database for tracking the storage containers 106.

[0027] A conveyor system including a conveyor belt may be used to transport the storage containers between the lower end of the conveyor train and the access station.

[0028] If the lower port and the access station of the conveyor train are located at different heights, the conveyor belt system may comprise a lifting device for transporting the storage containers vertically between the port and the access station.

[0029] The conveyor belt system may be arranged to convey storage containers between different grids, for example as described in WO 2014 / 075937 A1 , the contents of which are incorporated herein by reference.

[0030] In addition, WO2016 / 198467A1 (the contents of which are incorporated herein by reference) discloses an example of a prior art storage and retrieval system having a conveyor belt (Figures 5a and 5b in WO2016 / 198467A1) and frame mounting rails (Figures 6a and 6b in WO2016 / 198467A1) for transporting storage containers between a conveyor train and a workstation where an operator can access the storage containers.

[0031] When accessing data stored in Figure 1A104, one of the container handling vehicles 200, 300 is instructed to retrieve the target storage container 106 from its position in the grid 104 and transport it to or through the delivery line 119. This operation involves moving the container handling vehicle 200, 300 to a grid position above the storage line 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage line 105 using a lifting device (not shown) of the container handling vehicle, and transporting the storage container 106 to the delivery line 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers are located above the target storage container 106, the operation also involves temporarily moving the storage containers located above before lifting the target storage container 106 from the storage line 105. This step, sometimes referred to in the art as "digging," may be performed with the same container handling vehicle 200, 300 that is subsequently used to transport the target storage container 106 to the delivery train, or with one or more other cooperating container handling vehicles 200, 300. Alternatively or additionally, the automated storage and retrieval system 1 may have a container handling vehicle 200, 300 that is dedicated to the task of temporarily retrieving a storage container 106 from a storage train 105. Once the target storage container 106 is retrieved from the storage train 105, the temporarily retrieved storage container may be relocated in the initial storage train 105. However, the retrieved storage container may alternatively be relocated to another storage train 105.

[0032] When a storage container 106 is stored in the grid 104, one of the container handling vehicles 200, 300 is instructed to pick up a storage container 106 from the delivery row 120 and transport it to a grid position above the storage row 105 where the storage container is stored. After retrieving any storage container located at or above the target location within the storage row stack 107, the container handling vehicle 200, 300 positions the storage container 106 at the desired location. The retrieved storage container can then be lowered back into the storage row 105 or repositioned into another storage row 105.

[0033] A problem associated with known automated storage and retrieval systems 1 is that the area around the pick-up ports and drop-off ports can become congested with container handling vehicles 200, 300 that are instructed to drop off or pick up storage containers 106. This can seriously hinder the operation of the automated storage and retrieval system 1. This can be alleviated in small systems by adding conveyor trains to the grid, as this will allow the container handling vehicles 200, 300 to be distributed to the ports of a greater number of conveyor trains to avoid congestion. However, if ports and trains are added, the conveyor system infrastructure must generally be increased. This requires space, which may not always be available. In addition, adding conveyor system infrastructure is costly.

[0034] Another problem with the prior art automated storage and retrieval system 1 is that the separate drop ports 119 and pick-up ports 120 of the delivery train require the container handling vehicles 200, 300 to move to the storage train 105 after drop-off to retrieve new storage containers 106. Likewise, when the container handling vehicles 200, 300 are sent to the pick-up ports 120 to pick up storage containers, they must be free of storage containers 106. This results in inefficiencies and leads to increased congestion around the port as the container handling vehicles 200, 300 move around on the grid without storage containers 106 as payload. In addition, the delivery trains 119, 120 may take up space on the grid 104 that could be used for other purposes, such as movement of container handling vehicles 200, 300.

[0035] In view of the foregoing, it would be desirable to provide an automated storage and retrieval system and a method for operating the same which solves or at least alleviates one or more of the above-mentioned problems associated with the use of prior art storage and retrieval systems. Summary of the invention

[0036] It is an object of the present invention to provide an automated storage and retrieval system which is more efficient than prior art systems by avoiding or at least reducing congestion of storage containers around conveyor trains.

[0037] Another object is to provide an automated storage and retrieval system that increases the availability of transport trains for container handling vehicles operating on a rail system.

[0038] Another object is to provide an efficient automated storage and retrieval system that is easy to install and whose transport capacity can be easily increased after installation is completed.

[0039] Yet another object is to provide a dedicated area in which storage containers and items stored therein can be handled efficiently and easily and in the correct sequence.

[0040] The invention is set out in the independent claim and the dependent claims describe alternatives to the invention.

[0041] In the following, the term "remotely operated delivery vehicle" is referred to as "delivery vehicle", and the term "automated storage and retrieval grid" is referred to as "storage grid". The term "storage container" is also referred to as "bin" in the prior art. The term "pick-up and inventory station" is also referred to as "storage and retrieval station" or "storage and retrieval station".

[0042] The present invention relates to an automated storage and retrieval system comprising a storage grid for storing storage containers and a conveying system for transferring said storage containers between a delivery opening of the storage grid and an access point of the conveying system, the access point being suitable for handling items stored in the storage containers by a robotic operator or a human operator.

[0043] The delivery system includes:

[0044] - a conveyor rail system comprising at least a first set of parallel rails arranged in a horizontal plane (P1) and extending in a first direction (X), and at least a second set of parallel rails arranged in the horizontal plane (P1) and extending in a second direction (Y) orthogonal to the first direction (X), the first set of rails and the second set of rails together defining a conveyor grid of a conveyor grid unit,

[0045] - A remotely operated transport vehicle comprising a motorised vehicle body and a container support arranged above the motorised vehicle body for carrying one of the storage containers, and wherein the transport vehicle is movable on a transport grid of a transport rail system.

[0046] wherein the conveying grid provides one or more conveying grid units for a remotely operated transport vehicle at an access point, and multiple conveying grid units are provided near the one or more conveying grid units at the access point, so that there is more than one path for the remotely operated transport vehicle to and from the access point via the multiple conveying grid units, and wherein the remotely operated transport vehicle is arranged to transport storage containers from a conveying port of the storage grid across the conveying grid to the access point, and then return them to the conveying port for storage in the storage grid.

[0047] A storage grid for storing storage containers includes a storage grid rail system arranged in a grid pattern on top of the storage grid, on which a plurality of container handling vehicles operate to raise and lower storage containers from and into a storage row, and also to transport storage containers above the storage row.

[0048] The storage grid has at least one grid row which is not used to store storage containers, but which includes a position at which a container handling vehicle can drop off and / or pick up a storage container so that it can be transported to an access station of the conveying system where the storage container can be accessed.

[0049] The drop-off and pick-up ports of the container handling vehicles are called the "upper ports" of the conveyor train. The port leading to the conveyor system at the opposite end of the conveyor train is called the delivery port. The delivery port is thus defined as the port (grid unit) where a storage container enters or leaves the storage grid.

[0050] A conveyor rail system extends between a location vertically below a delivery opening of the storage grid to an access point suitable for handling items stored in the storage container by a robotic operator or operator. A remotely operated conveyor vehicle is arranged for transporting the storage container between the delivery opening and the access point.

[0051] In order to obtain the maximum storage space for storing containers in the storage and retrieval grid, it may be advantageous to arrange the conveyor rail system so that it extends as little as possible into the storage grid. This means that the storage and retrieval grid may comprise a plurality of storage rows extending from the upper level of the storage grid to the bottom of the storage grid, thus allowing the maximum possible storage capacity since the entire storage row can be used for storage.

[0052] In order to maintain the maximum possible storage capacity, the portion of the conveying rail system extending into the storage grid can be kept as small as possible (smaller range). Therefore, the conveying rail system and the conveying vehicle can occupy the smallest possible space of the storage and retrieval grid, which can be used to store storage containers.

[0053] Furthermore, at least one of the plurality of transport vehicle grid units of the transport rail system, preferably each transport vehicle grid unit, may be arranged directly below a container handling vehicle grid unit of the container handling vehicle rail system. The transport rail system may extend within the frame structure of the storage grid. Thus, the second position will be located inside the frame structure of the storage grid.

[0054] The conveyor rail system can extend to the outside of the frame structure of the storage grid, preferably to the access points. When the access points are located outside the storage grid, they do not occupy the storage capacity of the grid.

[0055] The transport rail system may include a first rail system located within the frame structure of the storage grid and a second rail system located outside the frame structure of the storage grid, and wherein the first and second rail systems are connected such that a transport vehicle can operate between the rail systems.

[0056] The access point can be connected to a second rail system.

[0057] The access point may include a single grid unit of the conveyor grid system, or the access point may include two or more conveyor grid units. The conveyor vehicle is operated such that when the conveyor vehicle is located at the access point, it allows a human operator and / or a robotic operator to access the contents of the storage container.

[0058] According to the present invention, the transport vehicle has more than one path to and from the access point via multiple transport grid units. This allows the operator to coordinate the order in which the transport vehicles can enter or leave the access point.

[0059] In an embodiment, the transport vehicle may enter the access point at a first end and exit the access point at a second end, such that the storage containers may enter the access point successively one after the other.

[0060] The access point includes one or more conveying grid units for conveying vehicles at the access point. The conveying grid further provides a plurality of conveying grid units adjacent to the one or more conveying grid units of the access point, so that there is more than one path to and from the access point. For example; each grid unit of the access point may include four entrances or exits for conveying vehicles; two in the X direction and two in the Y direction. Since the operator or robot operator needs to stand adjacent to the access point on one side to facilitate access to the stored items, it is preferred that the access point includes, for example, three entrances or exits; two in the X direction and one in the Y direction. Therefore, in this embodiment, the conveying vehicle can enter or leave the access point from above in the Y direction and at both ends in the X direction. This means that the conveying vehicle has at least three paths to and from the access point, allowing one conveying vehicle to pass another conveying vehicle in the order of arriving at the access station.

[0061] An access point may be defined as a predetermined location where a storage container may be accessed and / or handled. The term "handling of a storage container" may include depositing items to / from a container, as well as introducing / removing containers to / from a storage grid. An access point may be any predetermined location that allows access to a storage container from a location external to the storage grid.

[0062] The access point may be located in a container access station arranged to separate an operator from the conveyor rail system and the conveyor vehicle.

[0063] The conveying grid may extend to or into the container access station. The conveying grid provides one or more conveying grid units for the remotely operated transport vehicle at the access point, and multiple conveying grid units are provided in the vicinity of the conveying grid units at the access point, so that there is more than one path for the remotely operated transport vehicle to and from the access point via multiple conveying grid units. The remotely operated transport vehicle is arranged to transport storage containers from a delivery opening of the storage grid across the conveying grid to the access point of the container access station and return it to the delivery opening for storage in the storage grid.

[0064] The container access station may include means for protecting the operator from components of the conveying system (guide rails and conveying vehicles) and allowing easy handling of the storage container and its contents. The means may be either a wall or a cabinet.

[0065] The container access station may include a wall, and the access point may be an area corresponding to one or more conveying grid units of the conveying grid, which are arranged on one side of the conveying grid of the wall in such a position that items in storage containers carried by a remotely operated conveying vehicle can be reached by a robot or operator crossing the wall.

[0066] In various aspects, the container access station can be a cabinet having side walls and a roof, which are arranged to define an interior volume of the cabinet. The interior volume includes an open end so that the conveyor rail system extends into the interior volume of the cabinet. More specifically, at least one conveyor grid unit of the conveyor grid system extends into the interior space of the cabinet.

[0067] In one embodiment, the container access station comprises a cabinet including an opening disposed above the access point, and wherein items stored in the storage container are accessible at the access point through the opening. The opening may be disposed in a top panel of the cabinet such that items stored in the storage container are accessible from above.

[0068] The transport vehicle can be operated so that its container support and storage container are in an inclined position when in the access position. In the inclined position of the storage container, in addition to easier access to the contents and a better working position for the operator, it also provides increased visibility of the contents of the storage container. The aim is finally to reduce the strain on the operator's back and knees.

[0069] In an embodiment, the conveyor rail system provides a conveyor grid comprising three or more adjacent rows of conveyor grid units extending to or into the container access station.

[0070] For example, a container access station may include a cabinet covering at least three grid cells; a left grid cell, a middle grid cell, and a right grid cell, wherein the access point may be located at the middle grid cell, and the transport vehicles may be operated such that they enter the cabinet at the left grid cell, move to the middle grid cell, where the transport vehicles stop so that their storage containers can be accessed by at least one of a robot or an operator, and then move further to the right grid cell before they exit the cabinet.

[0071] The container access station may be provided with an activation device, such as a switch, button, or lever, for reactivating the transport vehicle after a storage container has been accessed at the intermediate grid unit location. In operation, at least one of the robot or the operator may access the contents of the storage container located at the access point. After the storage container has been accessed, at least one of the robot or the operator may push the activation device, causing the transport vehicle to move forward, thereby allowing another transport vehicle to enter the access point.

[0072] In an embodiment, the container access station can be arranged adjacent to or separate from the storage grid, wherein a conveying rail system is arranged between the delivery opening of the storage grid and the container access station. Therefore, the storage container can be transported on the conveying rail system between the delivery opening and the container access station.

[0073] The remotely operated transport vehicle is adapted to be movable on a transport rail system. Furthermore, the transport rail system may be a single rail system or a dual rail system. The transport rail system defines a grid pattern on which the transport vehicle may move laterally.

[0074] In embodiments, a conveying system may benefit from many of the considerations provided for rail systems and container handling vehicles for storage grids.

[0075] To facilitate production and ensure low costs it is preferred to use already designed and tested components.It is therefore considered advantageous that the dimensions of each grid unit of the conveyor rail system are equal to or similar to the dimensions of grid units of rail systems for container handling vehicles.

[0076] More specifically, each grid unit of the conveyor rail system may have a width typically in the interval of 30 to 150 cm and a length typically in the interval of 50 to 200 cm. The width and length of each grid opening of the conveyor rail system are typically 2 to 10 cm smaller than the width and length of the grid unit.

[0077] The level P1 of the conveying rail system is arranged below the level P of the rail system of the storage grid.

[0078] The container access station may be located on the ground level so that human operators and / or robot operators may access storage containers without the need for platforms etc. Thus, the conveyor rail system may be arranged on vertical support elements so that the horizontal plane (P1) of the conveyor rail system may be located at any preferred vertical level above the ground level.

[0079] Typically, the conveying rail system is located at any level below the top layer of the storage grid. Preferably, the conveying rail system is located at a level below the conveying opening of the storage grid.

[0080] The delivery opening can be arranged on the mezzanine of the storage grid so that the transport vehicle can operate on the transport rails arranged below the mezzanine for delivering storage containers to / receiving storage containers from the delivery opening. The mezzanine is actually a raised bottom or floor of the storage grid, thereby providing a "top" for the area where the transport vehicle works. The mezzanine is therefore adapted to the total height of the storage container when it is located on the transport vehicle and the height of the transport rail system. This means that the upright members of the storage grid frame must be made short in order to suspend them in the mezzanine. The mezzanine can be supported by upright support columns that span from the transport column to support the mezzanine. The height of the upright support columns defines the height of the mezzanine (the rails of the transport rail system themselves can be suspended above the floor of the warehouse building).

[0081] Furthermore, the extent of the mezzanine in the horizontal plane depends at least in part on the total number of conveying columns arranged in the storage grid. Thus, the number of conveying columns and the size (extent) of the mezzanine in the X and Y directions can be tailored to the overall size of the storage system and the desired efficiency of the system. Thus, the use of conveying columns implies a loss of storage space in the storage grid. However, since congestion of storage containers at the conveying columns is avoided or at least reduced by means of the conveying system according to the invention, the advantage is that the conveying efficiency of the storage containers in the automated storage and retrieval system is increased.

[0082] The present invention also relates to a conveyor system for conveying storage containers between a pick-up / drop-off port of the conveyor system and an access point suitable for handling items stored in the storage container by a robotic operator or human operator.

[0083] The delivery system includes:

[0084] - a conveyor rail system comprising: at least a first set of parallel rails arranged in a horizontal plane (P1) and extending in a first direction (X), and at least a second set of parallel rails arranged in the horizontal plane (P1) and extending in a second direction (Y) orthogonal to the first direction (X), the first set and the second set of rails together defining a conveyor grid of a conveyor grid unit,

[0085] - A remotely operated transport vehicle comprising a motorised vehicle body and a container support for storage containers arranged above the motorised vehicle body for carrying storage containers, and wherein the transport vehicle is movable on a transport grid of a transport rail system.

[0086] wherein the conveying grid provides one or more conveying grid units for a remotely operated conveying vehicle at an access point, and multiple conveying grid units are provided near the one or more conveying grid units at the access point, so that there is more than one path to and from the access point of the remotely operated conveying vehicle via the multiple conveying grid units, and wherein the remotely operated conveying vehicle is arranged to transport storage containers from a pick-up port and / or drop-off port of the conveying system on the conveying grid to the access point, and then return it to the pick-up port and / or drop-off port of the conveying system.

[0087] The pick-up / drop-off ports of the conveying system constitute a conveying grid unit which is located below the conveying column of the storage grid and is arranged so that the conveying vehicle can receive storage containers from the storage grid and on the conveying vehicle through the conveying column when the conveying vehicle is located at the pick-up / drop-off ports.

[0088] The conveyor rail system may include at least one transfer area for temporarily storing storage containers on a conveyor vehicle when transporting them between a delivery opening of a storage grid and a container access station. This area may be an area where conveyor vehicles may queue up on the route to the access point. The conveyor area may constitute one or more conveyor grid units for conveying vehicles at the conveyor area. The conveyor area may be located inside or outside the container access station.

[0089] The present invention also relates to a method of operating a remotely operated conveying vehicle into and out of an access point of a conveyor rail system, where a robot or operator on the conveyor rail system accesses items stored in a storage container that has been conveyed to the access point.

[0090] The delivery system includes:

[0091] - a conveyor rail system comprising: at least a first set of parallel rails arranged in a horizontal plane (P1) and extending in a first direction (X), and at least a second set of parallel rails arranged in the horizontal plane (P1) and extending in a second direction (Y) orthogonal to the first direction (X), the first set and the second set of rails together defining a conveyor grid of a conveyor grid unit,

[0092] - a remotely operated transport vehicle comprising a motorized vehicle body and a container support disposed above the motorized vehicle body and adapted to carry a storage container, and wherein the transport vehicle is movable on a transport grid of a transport rail system,

[0093] The conveying grid provides one or more conveying grid units for a remotely operated conveying vehicle at an access point, and multiple conveying grid units are provided near the conveying grid units at the access point, so that there is more than one path to and from the access point of the remotely operated conveying vehicle via multiple conveying grid units.

[0094] The method comprises the following steps:

[0095] a) operating the transport vehicle to direct it to one of a plurality of transport grid units adjacent to one or more transport grid units of the access point,

[0096] b) operating a transport vehicle to enter a transport grid unit of one or more grid units at the access point from one of a plurality of transport grid units adjacent to the one or more transport grid units at the access point,

[0097] c) Allowing a robot or operator to access items stored in a storage container at an access point,

[0098] d) operating the transport vehicle to cause the one or more transport grid units of the access point to exit into one of a plurality of transport grid units adjacent to the one or more transport grid units of the access point.

[0099] The access point may be provided in a container access station arranged to separate the robot or operator from the conveyor rail system and the remotely operated conveyor vehicle. Thus, the conveyor grid extends to or into the container access station. BRIEF DESCRIPTION OF THE DRAWINGS

[0100] The accompanying drawings are included to facilitate understanding of the present invention.

[0101] Figures 1A to 2C A perspective view of a prior art automated storage and retrieval system, wherein Figure 1A and Figure 2A shows the entire system, and Figure 1B and Figure 2B An example of an operational prior art container handling vehicle system is shown.

[0102] 3A-3C are side views of a remotely operated delivery vehicle according to one embodiment of the present invention.

[0103] Figures 4A-4C is a perspective view of a remotely operated delivery vehicle according to one embodiment of the present invention.

[0104] Figure 5A-5B As seen from the bottom Figure 4A A perspective view of a remotely operated delivery vehicle.

[0105] Figure 6A-6B is a perspective view of another automated storage and retrieval grid and conveyor system according to one embodiment of the present invention.

[0106] Figure 7A-7B A perspective view of a set of exemplary container access stations.

[0107] Figures 8A-8B is a perspective view of another exemplary automated storage and retrieval grid and conveyor system including a container access station.

[0108] Figures 9A-9B is a perspective view of another exemplary automated storage and retrieval grid and conveyor system including a container access station.

[0109] Fig.10 is a top view of another exemplary automated storage and retrieval grid and conveyor system according to the present invention. DETAILED DESCRIPTION

[0110] In the following, various embodiments of the present invention will be discussed in more detail 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 in the drawings. In addition, even if certain features are described only with respect to the system, it is clear that they are also valid for the transport vehicle and related methods, and vice versa. Therefore, any features and / or related methods described only with respect to the transport vehicle are also valid for the system.

[0111] refer to Figures 1A-1D The storage grids 104 of each storage structure 1 form a frame 100 of a total of 143 grid columns 112, wherein the width and length of the frame correspond respectively to the width and length of 13 and 11 grid columns 112. The top layer of the frame 100 is a rail system 108 on which a plurality of container handling vehicles 200, 300 operate.

[0112] The frame 100 of the storage system 1 is constructed according to the above-mentioned prior art frame 100, i.e., a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102, and further, the horizontal members 103 include a rail system 108 of parallel rails 110, 111 arranged across the top of the storage column 105 in the X-direction and the Y-direction, respectively. The horizontal area of ​​a single grid unit 122, i.e., along the X- and Y-directions, can be defined by the distance between adjacent rails 110 and 111, respectively (see also FIGS. 3 and 4). Figure 1A and 1C In FIG. 1 , such a grid unit 122 is marked by a thick line on the rail system 108 .

[0113] The rail system 108 allows the container handling vehicles 200 , 300 to move horizontally between different grid positions, wherein each grid position is associated with a grid unit 122 .

[0114] exist Figure 1A and 1C In the embodiment, the storage grid 104 is shown as having a height of eight units. However, it should be understood that the storage grid 104 can in principle have any size. In particular, it should be understood that the storage grid 104 can be larger than Figure 1A and 1C For example, the grille 104 may have a horizontal extent of more than 700x700 grille units 122. Also, the grille 104 may be wider and / or longer than the sizes disclosed in the drawings. Figure 1A and 1C For example, the storage grid 104 can be deeper than twelve grid units.

[0115] The storage container vehicles 200, 300 may be of any type known in the art, such as any of the automated container handling vehicles disclosed in WO2014 / 090684A1, NO317366 or WO2015 / 193278A1.

[0116] like Figure 2A As shown, the rail system 108 may be a monorail system. Figure 2B As shown, alternatively, the guide rail system 108 may be a dual-rail system. Details of single-rail and dual-rail systems are disclosed in the background and prior art of this specification.

[0117] 3A-3C illustrate an embodiment of a remotely operated delivery vehicle 30 , hereinafter referred to as delivery vehicle 30 , in accordance with the present invention.

[0118] The transport vehicle 30 is configured for use in automated storage and retrieval of the grid 104 (see Fig. 7Aand B) transporting storage containers 106 (not shown) between the automated storage and retrieval grid configured to store multiple stacks 107 of storage containers 106, hereinafter referred to as the storage grid 104, the access point being disposed in the container access station 60 for handling the storage containers 106 by at least one of a robotic operator and a human operator.

[0119] The transport vehicle 30 includes a vehicle body 31, roller devices 32a, 32b connected to the vehicle body 31, a roller device motor for driving the roller devices 32a, 32b on a horizontal plane (P), and a power source 43 connected to the roller device motor 33. The power source 43 should provide sufficient power to the roller device motor (not shown) to propel the roller devices 32a, 32b on a set path, such as from the storage grid 104 to the access point 65.

[0120] The transport vehicle 30 may further include a container support 35 mounted above the vehicle body 31. The container support 35 should be configured to receive the storage container 106 onto or within the container support 35, thereby preventing the storage container 106 from sliding along the horizontal plane (P1).

[0121] The container support 35 may include a container supporting device that supports the storage container 106 from below.

[0122] In FIGS. 3A-3B , a container support 35 is disclosed in the form of a storage container receiving chamber having a bottom / base and side walls. In this exemplary configuration, the volume of the receiving chamber is such that it can receive and accommodate the entire horizontal extent of the storage container and at least a portion of the vertical extent of the storage container. FIGS. 3A-3C show an example of a container support 35 accommodating an entire storage container 106, and Figures 4A-4C An alternative container stand 35 is shown that houses a portion of a storage container 106 .

[0123] The particular configuration of the container rack 35 disclosed in FIGS. 3A-3C allows the transport vehicle 30 to transport storage containers 106 having different heights.

[0124] It is noted that the size of the receiving compartment within the container support 35 can be easily adapted to receive and support multiple storage containers 106 in one operation.

[0125] 3B and 3C show a particular configuration of a transport vehicle 30, wherein the container support 35 can be arranged in an inclined position relative to the vehicle body 31 and the horizontal plane (P1). The container support 35 can be tilted by means of a dedicated displacement device. The tilting can be about a pivot axis oriented in the main directions of movement of the transport vehicle 30. If the transport vehicle 30 moves on vertical rails (see below), these main directions will be in the X direction or in the Y direction.

[0126] The tilting of the displacement device may be obtained, for example, by a lifting arm 45 coupled to the vehicle body 31 and the container support 35. In addition, the lifting arm 45 may be driven by a dedicated tilting motor 42 or a roller device motor or both.

[0127] 3B and 3C as having an L-shaped lifting arm 45, one side of which is connected to the vehicle body 31 and the other side is connected to a structure fixed to the container support 35. The other end of the arm 45 can also be directly connected to the container support 35.

[0128] The tilt motor 42 is considered to be arranged completely inside the vehicle body 31 and is directly or indirectly connected to the lifting arm 45 to move the lifting arm 45 between a lower position in which the container support 35 is not tilted relative to the horizontal plane (P) and an upper position in which the container support 35 is tilted relative to the horizontal plane (P). It is noted that the horizontal plane (P) can be defined as a plane established by the specific configuration of the wheels 32a, 32b of the roller device 32.

[0129] 3A-3C and 4A-4C show perspective views of a transport vehicle 30. In this exemplary configuration, the roller device 32 includes:

[0130] a first set of wheels 32a arranged at opposite parts of a vertical center plane passing through the vehicle body 31 to move the transport vehicle 30 in a first direction, for example in the X direction on the transport rail system; and

[0131] - a second set of wheels 32b, arranged at an opposite part of a vertical centre plane passing through the vehicle body 31, to move the transport vehicle 30 in a second direction, for example in a Y direction on the transport rail system perpendicular to the first direction X.

[0132] Figure 4C Another exemplary configuration of a remotely operated transport vehicle 30 is shown. In this configuration, a container support 35 includes a base plate, a conveyor belt disposed on the base plate, and two side walls protruding upward from the base plate. The roller device 32 and the vehicle body 31 are the same or similar to the roller device 32 and the vehicle body 31 described above in conjunction with Figures 3-5.

[0133] The conveyor belt may be provided in particular by a plurality of parallel oriented rollers 36 having a common longitudinal direction perpendicular to the two side walls. In this way, the rollers 36 allow one or more storage containers 106 to be moved into or out of the container rack 35 while being guided by the side walls. The conveyor belt may be connected to a conveyor belt motor that allows one or more rollers to rotate.

[0134] Figure 5A and 5B The transport vehicle 30 is shown from below. Figure 5A As clearly seen in the figure, the vehicle body 31 of the transport vehicle 30 includes an internal component receiving recess or compartment for accommodating components such as one or more dedicated tilt motors 42, one or more track change motors 41, one or more power storage sources such as batteries 43, and one or more control cards such as CPU and / or power supply PCB 44. Therefore, the above-mentioned components are located within the vehicle body 31, below the container support 35.

[0135] The storage container receiving compartment of the container rack 35 has in this particular configuration a rectangular floor or base with vertical side walls. The vertical side walls may be of any height as long as they ensure that the storage container 106 is constrained to move along the base of the container rack.

[0136] For example, the size of the receiving chamber 35 may correspond to the size of the storage container 106 so as to completely accommodate the storage container 106 .

[0137] Where the container rack 35 is configured to support multiple storage containers 106, the vertical wall may be sized, in one example, to be the height of each storage container 106, while the base may be sized to be the sum of the cross-sectional areas of all storage containers 106 measured relative to their outer lateral ends.

[0138] Figure 5B A transport vehicle 30 having a vehicle body 31 and a roller arrangement 32 of eight wheels 32a, 32b as described above is shown. For the transport vehicle shown in FIGS. 3A-5B , a first set of four wheels 32a enable the transport vehicle 30 to move laterally or horizontally in a first direction, while a second set of the remaining four wheels 32b enable lateral or horizontal movement in a second direction that may be perpendicular to the first direction.

[0139] If used on a conveyor rail system 50, one or both sets of wheels 32a, 32b of the roller device 32 should be raised and lowered so that the first set of wheels 32a and / or the second set of wheels 32b can engage with a corresponding set of rails provided on the conveyor rail system 50 at any time.

[0140] Automated storage and retrieval system perspective view Figures 6A-9BThe system includes a storage grid 104 and a conveying system 140 , which includes a conveying rail system 50 , a plurality of conveying vehicles 30 , and an access point 65 disposed in a container access station 60 .

[0141] The storage grid 104 is equal to or similar to the prior art storage grid 104 described above, that is, the storage grid 104 includes a rail system 108; a plurality of stacks 107 of storage containers 106, a plurality of container handling vehicles 300 for lifting and moving the storage containers 106 stacked in the stacks 107, and conveying trains 119, 120 configured to receive the storage containers 106 from the container handling vehicles 300.

[0142] The rail system 108 includes a first set of parallel rails 110 arranged in a horizontal plane (P) and extending in a first direction (X) and a second set of parallel rails 111 arranged in the horizontal plane (P) and extending in a second direction (Y) orthogonal to the first direction (X). The first set of rails 110 and the second set of rails 111 form a grid pattern in the horizontal plane (P) including a plurality of adjacent grid units 122. Each grid unit 122 displays a grid opening defined by a pair of adjacent rails of the first set of rails 110 and a pair of adjacent rails of the second set of rails 111.

[0143] A plurality of stacks 107 are arranged in storage rows 105 below the rail system 108 , wherein each storage row 105 is located vertically below a grid unit 122 .

[0144] Each container handling vehicle 200 , 300 is configured to move on a rail system 108 above the storage columns 105 .

[0145] The conveying system 140 includes one or more conveying vehicles 30 as described above, i.e., conveying vehicles 30 configured to receive and support storage containers 106 for conveyance between one or more conveying trains 119, 120 and one or more container handling stations 60 located outside the storage grid 104. The container handling stations 60 may be located at any predetermined location suitable for handling containers.

[0146] The conveyor system 140 may further include a conveyor rail system 50 located below a conveyor opening 150 of one or more conveyor trains 119 , 120 .

[0147] like Figure 6A-6BAs shown, the conveyor rail system 50 can be constructed in the same or similar manner as the rail system 108 for container handling vehicles 200, 300. The conveyor rail 50 extends from at least the conveying port 150 of one or more conveyor columns 119, 120, and extends into at least one container access station 60 and further extends to an access point 65, so that each conveyor vehicle 30 can move into at least one container access station 60 and move toward the access point 65 of the container access station 60, where the items stored in the storage container 106 can be accessed.

[0148] The container access station may include a cabinet 60 including walls and a roof supported thereon. Items stored in a storage container 106 carried by a transport vehicle 30 at an access point 65 may be accessed through an opening 63 in the roof.

[0149] The cabinet 60 is arranged adjacent to the storage grid 104 , wherein the conveyor rail system 50 extends from below the conveyor opening 150 and to or into the interior volume of the cabinet 60 .

[0150] The conveyor rail system can be a single rail system or a double rail system, or a combination of the two.

[0151] The conveying guide rail system 50 may include: at least a first group of parallel guide rails arranged in a horizontal plane (P1) and extending in a first direction (X); and at least a second group of parallel guide rails arranged in a horizontal plane (P1) and extending in a second direction (Y) orthogonal to the first direction (X), the first group and the second group of guide rails together defining the conveying grid 51 of the conveying grid unit 52.

[0152] The conveyor rail system 50 may be fully or partially integrated into the storage grid 104 . Fig. 6A and Figure 6B A conveyor rail system 50 is shown partially integrated into a storage grid, wherein the portion of the conveyor rail system 50 located outside the storage grid is covered by a cabinet 61. The cabinet 61 may be provided with six grid units located in the interior volume of the cabinet 61. The conveyor grid 51 provides one or more conveyor grid units 52 for a remotely operated transport vehicle 30 at an access point 65, and multiple conveyor grid units 52 are provided near one or more conveyor grid units 52 of the access point 65, so that there is more than one path to and from the access point 65 of the remotely operated transport vehicle 30 via multiple conveyor grid units 52.

[0153] Access points 65 are associated with dedicated locations in container access station 60 where product items are removed from storage containers 106 or positioned therein.

[0154] The cabinet may include walls and a roof supported thereon. Items stored in a storage container 106 carried by a transport vehicle 30 at an access point 65 may be accessed through an opening 63 in the roof.

[0155] The conveyor rail system 50 extends to or into the container access station 60 between a position perpendicularly below the conveyor port 150 , and the remotely operated conveyor vehicle 30 is arranged for transporting storage containers between the conveyor port 150 and an access point 65 of the container loading and unloading station 60 .

[0156] Figure 6B The storage grid 104 is shown without Fig. 6A conveying system.

[0157] The container access station 60 may be located at Fig. 6A and 6B The ground floor is shown so that a human operator and / or a robot operator can access the storage container 106 at the access point 65 .

[0158] The delivery port 150 can be arranged on the mezzanine 151 of the storage grid 104 so that the transport vehicle can operate on the transport rails 50 arranged below the mezzanine 151 to deliver / receive storage containers 106 to / from the delivery port 150. Therefore, the mezzanine 155 is adapted to the overall height when the storage container 106 is positioned on the transport vehicle 30 and the transport rail system 50.

[0159] Furthermore, the extent of the interlayer 155 in the horizontal plane depends on the total number of transport columns arranged in the storage grid. Thus, the number of transport columns 119, 120 and the extent of the interlayer 155 in the X and Y directions can be customized according to the size of the storage system and the desired efficiency of the system.

[0160] The container access station 60 can be further defined as any device that protects the operator from the components of the conveying system (guide rails and conveying vehicles) and allows easy handling of the storage container 106 and its contents. In other words, it provides a barrier between the operator and the components of the conveying system.

[0161] To ensure efficient operation, the conveyor rail system 50 may be considered to have a horizontal extent of a conveyor opening 150 that covers below at least one conveyor row 119 , 120 and extends to the exterior of the storage grid 104 . Fig. 7A and 7B The illustrated configuration of the present invention allows multiple transport vehicles 30 to operate on the transport rail system 50 while avoiding congestion of storage containers around the transport train 150 .

[0162] Figures 7 and 8 show three container access stations 60, each of which includes a cabinet 60 including walls and a roof supported thereon, wherein items stored in a storage container 106 carried by a remotely operated transport vehicle 30 at an access point 65 are accessible through an opening 63 in the roof.

[0163] An opening 63 in the top cover is located directly above the conveyor grid unit 52 , defining an access point 65 .

[0164] The access point 65 may include a single grid unit of the conveying grid 50, or the access point 65 may include two or more conveying grid units 52. The transport vehicle 30 operates such that when the transport vehicle is located at the access point 65, it allows a human operator and / or a robotic operator to access the contents of the storage container.

[0165] like Figures 8A-8B As shown, the transport vehicle 30 has more than one path to and from the access point 65 via multiple transport grid units 52. This allows the operator to coordinate the order in which the transport vehicle 30 can enter or leave the access point 65.

[0166] Fig. 8A and 8B The transport vehicle 30 in the embodiment may enter the access point 65 at a first end and exit the access point 65 at a second end so that the storage containers 106 may continuously enter and exit the access point 65 one by one.

[0167] To increase visibility, ease of operation and a better working position for the operator accessing the storage container 106 at the access point 65, the transport vehicle 30 may be in an inclined position to maneuver the container toward the operator. Fig. 8A and 8B The container of the transport vehicle 30 is shown in an inclined position at the access point 65 .

[0168] Fig.9A A perspective view of an automated storage and retrieval system in combination with an auxiliary transport system including a conveyor belt is shown. The conveyor belt is arranged for transporting goods between the automated storage and retrieval system and another storage facility, a production facility, etc. The goods may be processed at the container access station 60 for further transport to a storage grid 104 in a storage container 106, or they may be collected from the storage container 106 for transport to other facilities on the conveyor belt.

[0169] Fig.9A and 9B The container access station 60 in the embodiment includes a wall 62 for separating the transport grid 51 and the transport vehicle 30 from the operator.

[0170] The access point 65 is an area corresponding to one or more conveying grid units 52 of the conveying grid 51 arranged on the conveying grid 51 side of the wall 62 at such a position that items stored in the storage container 106 carried by the remotely operated conveying vehicle 30 can be reached by a robot or operator leaning against the wall 62.

[0171] exist Fig.9A and 9B In one embodiment, the access point may include a plurality of individual conveyor grid units 52, thereby allowing an operator to access six different storage containers at the access point.

[0172] The transport vehicles 30 may be operated so that they tilt the container supports 35 and storage containers 106 at a preferred position at the access station 65 .

[0173] Fig.10 Shown on a larger scale Fig.9A The storage system comprises two storage grids 104, and the conveyor rail system 50 of the conveyor system 140 is arranged so that it connects the two separate storage grids 104. In this way, storage containers 106 can be transported between the two separate storage grid racks 104 and between the two storage grid racks 104 and the container access station 60.

[0174] Reference numerals:

[0175] 30 Transport vehicles

[0176] 31 Vehicle body

[0177] 32 Roller Unit

[0178] 32a First set of wheels

[0179] 32b Second set of wheels

[0180] 35 container support

[0181] 36 Conveyor belt rollers

[0182] 41 Shifting device

[0183] 42 Tilt Motor

[0184] 43 Power Supply

[0185] 44 Controller

[0186] 45 Lifting arm

[0187] 50 Conveyor rail system

[0188] 51 Conveyor grille

[0189] 52 Conveyor grid unit

[0190] 60 Container storage and retrieval station

[0191] 61 Cabinets

[0192] 62 wall

[0193] 63 Cabinet top cover opening

[0194] 65 access points

[0195] P1 Horizontal plane of the conveyor rail system

[0196] 100 Frame structure

[0197] 102 Vertical members of frame structure

[0198] 103 Horizontal members of frame structures

[0199] 104 Storage grid / 3D grid

[0200] 105 Storage Rows

[0201] 106 Storage Containers

[0202] 107 Stacking

[0203] 108 Rail System

[0204] 110 The first set of parallel guide rails in the first direction (X)

[0205] 111 The second set of parallel guide rails in the second direction (Y)

[0206] 115 Grille opening

[0207] 119 Conveyor train

[0208] 120 conveyor trains

[0209] 122 grid units

[0210] 140 Conveyor System

[0211] 150 Conveyor port

[0212] 151 Mezzanine

[0213] 155 Mezzanine

[0214] 200 First container handling vehicle

[0215] 201 wheel device

[0216] 300 Second container handling vehicle

[0217] 301 wheel device

[0218] X first direction

[0219] Y Second direction

[0220] P Horizontal plane of the guide rail system

Claims

1. A remotely operated transport vehicle (30) comprising a motorized vehicle body (31) and a container support (35) disposed above the motorized vehicle body for carrying one of the storage containers (106), and wherein: The transport vehicle (30) is movable on a transport grid (51) of a transport rail system (50), wherein the transport rail system (50) comprises: at least a first group of parallel rails arranged in a horizontal plane (P1) and extending in a first direction (X); and at least a second group of parallel rails arranged in the horizontal plane (P1) and extending in a second direction (Y) orthogonal to the first direction (X), wherein the first group of parallel rails and the second group of parallel rails together define a transport grid (51) of a transport grid unit (52). , and wherein the remotely operated transport vehicle (30) is arranged to transport the storage container (106) from the delivery opening (150) of the storage grid (104) across the delivery grid (51) to an access point (65) and return the storage container to the delivery opening (150) for storage in the storage grid (104), characterized in that the container support (35) can be tilted around a pivot axis oriented in the main movement direction of the remotely operated transport vehicle (30) by means of a dedicated shifting device.

2. The remotely operated delivery vehicle of claim 1, wherein: The tilting of the displacement device is obtained by a lifting arm (45) coupled to the vehicle body (31) and the container support (35).

3. The remotely operated delivery vehicle of claim 2, wherein: The lifting arm (45) is driven by a dedicated tilt motor (42) or a roller device motor or both.

4. The remotely operated delivery vehicle of claim 3, wherein: The tilt motor (42) is arranged completely inside the vehicle body (31) and is directly or indirectly connected to the lifting arm (45).

5. The remotely operated delivery vehicle of claim 1, wherein: The container support (35) comprises a base plate, a conveyor belt arranged on the base plate, and two side walls protruding upward from the base plate.

6. The remotely operated delivery vehicle of claim 5, wherein: The conveyor belt can be arranged by means of a plurality of parallel oriented rollers (36) having a common longitudinal direction perpendicular to the two side walls.

7. A remotely operated delivery vehicle according to claim 5 or 6, wherein: The conveyor belt is connected to a conveyor belt motor which allows one or more rollers to rotate.

8. A remotely operated delivery vehicle according to any one of claims 1 to 6, wherein: The remotely operated delivery vehicle (30) includes an internal component receiving recess or compartment for receiving a component.

9. The remotely operated delivery vehicle of claim 8, wherein: The components are one or more dedicated tilt motors (42), one or more track change motors (41), one or more power storage sources and one or more control cards.

10. The remotely operated delivery vehicle of claim 9, wherein: The power storage source is a battery (43), and the one or more control cards are a CPU and / or a power PCB (44).

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