Picking system, storage system including the picking system, and picking method

Abstract

A picking system (400) is configured to pick items from a storage container (106) and place the items into the storage container, wherein the picking system (400) includes a picking station (410), and wherein the picking station (410) includes: a picking system controller (401) configured to receive a product order from a warehouse management system (402); at least one container content handling position (408); a camera (407) configured to generate an image of the contents of the storage container (106); an image processing system (406) in communication with the camera (407) for processing the image generated by the camera (407) to identify the location of a specific item in the storage container (106), the image processing system (406) further communicating with the picking system controller (401) and being adapted to provide the picking system controller with a display of the image. a picking system controller (401) notifying the location of a specific item; a robotic picking device (405), wherein the robotic picking device (405) is in communication with the picking system controller (401) and is configured to pick the specific item from the location in the storage container (106) under the guidance of the picking system controller (401); wherein the camera (407) and the robotic picking device (405) are arranged to operate on different containers (106) in either case, so that while the robotic picking device (405) is handling a second storage container based on an earlier image that has been generated by the camera (407) and processed by the image processing system (406), the camera (407) generates an image and the image processing system (406) processes the generated image of the contents of the storage container (106) in the first product order. An automated storage and retrieval system and a method of picking items from and placing items into containers at a picking station are also described.

Description

Technical Field

[0001] The present invention relates to a picking system, an automated storage and retrieval system and a method for picking objects from a container and placing objects into a container at a picking station. Background Art

[0002] FIG. 1 discloses a typical prior art automated storage and retrieval system 1 with a frame structure 100 , and FIGS. 2 and 3 disclose two different prior art container handling vehicles 201 , 301 suitable for operating on such a system 1 .

[0003] The frame structure 100 comprises upright members 102, horizontal members 103 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102 and the horizontal members 103. In these storage columns 105, storage containers 106, also called bins, are stacked one above the other to form a stack 107. The members 102, 103 may typically be made of metal, for example of extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a rail system 108 arranged across the top of the frame structure 100, on which a plurality of container handling vehicles 201, 301 are operated to lift storage containers 106 from storage columns 105 and lower storage containers 106 into storage columns, and also transport storage containers 106 over storage columns 105. The rail system 108 includes: a first set of parallel rails 110 arranged to guide the movement of the container handling vehicles 201, 301 across the 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 the movement of the container handling vehicles 201, 301 in a second direction Y perpendicular to the first direction X. The container handling vehicles access the containers 106 stored in the columns 105 through access openings 112 in the rail system 108. The container handling vehicles 201 , 301 can move laterally above the storage row 105 , ie in a plane parallel to the horizontal XY plane.

[0005] The upright members 102 of the frame structure 100 may be used to guide the storage containers during the lifting of the containers out of the row 105 and the lowering of the containers into the row. The stack 107 of containers 106 is generally self-supporting.

[0006] Each prior art container handling vehicle 201, 301 comprises a body 201a, 301a and a first set of wheels 201b, 301b and a second set of wheels 201c, 301c, which enable the container handling vehicle 201, 301 to move laterally in the X direction and in the Y direction, respectively. In Figures 2 and 3, the two wheels in each set are fully visible. The first set of wheels 201b, 301b is arranged to engage with two adjacent rails of the first set of rails 110, and the second set of wheels 201c, 301c is arranged to engage with two adjacent rails of the second set of rails 111. At least one of the sets of wheels 201b, 301b, 201c, 301c can be raised and lowered so that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c can engage with the respective set of rails 110, 111 at any one time.

[0007] Each prior art container handling vehicle 201, 301 further comprises a lifting device (see FIG. 3) for vertically transporting storage containers 106, such as lifting storage containers 106 from storage columns 105 and lowering storage containers 106 into storage columns. The lifting device comprises one or more gripping / engaging devices adapted to engage storage containers 106, and these gripping / engaging devices can be lowered from the vehicle 201, 301 so that the position of the gripping / engaging devices relative to the vehicle 201, 301 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. A portion of the gripping device of the container handling vehicle 301 is shown in FIG. 3, indicated by reference numeral 304. The gripping device of the container handling device 201 is located within the vehicle body 301a in FIG. 2.

[0008] Conventionally, and also for the purposes of the present application, Z=1 identifies the uppermost layer of storage containers, i.e., the layer immediately below the rail system 108, Z=2 identifies the second layer below the rail system 108, Z=3 identifies the third layer, and so on. In the exemplary prior art disclosed in FIG. 1 , Z=8 identifies the lowermost layer of storage containers. Similarly, X=1...n and Y=1...n identify the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z indicated in FIG. 1 , the storage container identified as 106' in FIG. 1 can be said to occupy storage position X=10, Y=2, Z=3. The container handling vehicle 201, 301 can be said to be traveling in the Z=0 layer, and each storage column 105 can be identified by its X and Y coordinates.

[0009] The storage volume of the frame structure 100 is often referred to as a grid 104, wherein the possible storage locations within the grid are referred to as storage cells. Each storage column can be identified by its position in the X and Y directions, and each storage cell can be identified by its container number in the X, Y and Z directions.

[0010] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and storing the storage container 106 while transporting the storage container 106 across the rail system 108. The storage space may include a cavity arranged in the center of the vehicle body 201a, as shown in Figure 2 and as described in, for example, WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0011] Figure 3 shows an alternative configuration of a container handling vehicle 301 with a cantilever configuration. Such a vehicle is described in detail in, for example, NO 317366, the contents of which are also incorporated herein by reference.

[0012] The central cavity container handling vehicle 201 shown in Figure 2 can have a footprint that covers an area whose dimensions in the X and Y directions are generally equal to the lateral extent of the storage column 105, for example, as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein can mean "horizontal".

[0013] Alternatively, the central cavity container handling vehicle 101 may have a footprint that is larger than the lateral area defined by the storage columns 105, for example as disclosed in WO 2014 / 090684 A1.

[0014] The guide rail system 108 typically includes a guide rail with grooves in which the wheels of the vehicle run. Alternatively, the guide rail may include an upwardly protruding element, wherein the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly protruding elements are collectively referred to as tracks. Each guide rail may include one track, or each guide rail may include two parallel tracks.

[0015] WO2018146304 (the contents of which are incorporated herein by reference) describes a typical configuration of a guide rail system 108 comprising guide rails in both X and Y directions and parallel tracks.

[0016] In the frame structure 100, most of the columns 105 are storage columns 105, i.e., columns 105 in which storage containers 106 are stored in the form of stacks 107. However, some columns 105 may have other purposes. In FIG. 1, columns 119 and 120 are such special columns, i.e., they are used by container handling vehicles 201, 301 to put down and / or pick up storage containers 106 so as to transport them to access stations (not shown), where storage containers 106 can be approached from the outside of the frame structure 100 or storage containers can be transferred out of the frame structure 100 or transferred into the frame structure. In the art, such positions are generally referred to as "ports", and the columns where the ports are located can be referred to as "port columns" 119, 120. Transport to the access station can be in any direction, i.e., horizontal, inclined and / or vertical. For example, storage containers 106 may be placed in random or dedicated rows 105 within the frame structure 100 and then picked up by any container handling vehicle and transported to port rows 119, 120 for further transport to a storage and retrieval station. Note that the term "inclined" refers to the transport of storage containers 106 with an overall transport orientation somewhere between horizontal and vertical.

[0017] In Figure 1, for example, the first port column 119 can be a dedicated unloading port column, where the container handling vehicles 201, 301 can put down the container 106 for delivery to the access station or transfer station, and the second port column 120 can be a dedicated pickup port column, where the container handling vehicles 201, 301 can pick up the storage container 106 that has been delivered from the access station or transfer station.

[0018] The access station may typically be a picking station or an inventory station, where product items are removed from or positioned in the storage container 106. In the picking station or the inventory station, the storage container 106 is typically not removed from the automated storage and retrieval system 1, but once accessed, the storage container is returned again to the frame structure 100. The port may also be used to transfer the storage container to another storage facility (e.g., another frame structure or another automated storage and retrieval system), a transport vehicle (e.g., a train or truck), or a production facility.

[0019] A conveyor system including conveyors is typically used to transport storage containers between the port rows 119, 120 and access stations.

[0020] If the port rows 119, 120 and the access station are located at different height levels, the conveyor system may include a lifting device with a vertical assembly for transporting the storage containers 106 vertically between the port rows 119, 120 and the access station.

[0021] The conveyor system may be arranged to transfer storage containers 106 between different frame structures, for example as described in WO 2014 / 075937 A1, the contents of which are incorporated herein by reference.

[0022] When access is to be made to a storage container 106 stored in one of the columns 105 disclosed in FIG1 , one of the container handling vehicles 201, 301 is instructed to take out the target storage container 106 from its position and to deliver the target storage container to the discharge port column 119. This operation involves moving the container handling vehicle 201, 301 to a position above the storage column 105 where the target storage container 106 is located, taking out the storage container 106 from the storage column 105 using a lifting device (not shown) of the container handling vehicle 201, 301, and delivering the storage container 106 to the discharge port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are positioned above the target storage container 106, the operation also involves temporarily moving the storage container positioned above before lifting the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as "digging," may be performed with the same container handling vehicle that is subsequently used to deliver the target storage container to the discharge port column 119, or with one or more other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have a container handling vehicle dedicated to the task of temporarily removing storage containers from the storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container may be relocated to the original storage column 105. However, the removed storage container may alternatively be relocated to another storage column.

[0023] When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201, 301 is instructed to pick up a storage container 106 from the pickup port column 120 and transport the storage container to a position above the storage column 105 where the storage container is to be stored. The container handling vehicle 201, 301 positions the storage container 106 at the desired position after any storage container positioned at or above the target position within the storage column stack 107 has been removed. The removed storage container may then be lowered back into the storage column 105, or repositioned to another storage column.

[0024] In order to monitor and control the automated storage and retrieval system 1, for example, to monitor and control the positions of the corresponding storage containers 106 within the frame structure 100, the contents of each storage container 106 and the movement of the container handling vehicles 201, 301, so that the desired storage container 106 can be delivered to the desired location at the desired time without the container handling vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0025] Prior art includes WO 2017 / 081281 A1 which discloses a picking system in which a camera is used as an onboard camera on a picker / robotic arm to assist in correct picking / placing within a bin.

[0026] Picking systems are costly and one problem to solve is to optimize the utilization of the different components of the picking system. This includes balancing the capacity used by automated storage and retrieval system (ASRS) bin deliveries and optimizing the movement of the picking devices.

[0027] It is an object of the present invention to provide a picking system by which the throughput of items is increased. Summary of the invention

[0028] The invention is set forth and characterized in the independent claim, while the dependent claims describe further characteristics of the invention.

[0029] The present invention addresses how to control a picking system comprising an area divided into sub-areas (locations from which picking is done and to which picking is done), wherein delivery of storage containers and / or packages to these sub-areas is controlled by an automated storage and retrieval system (ASRS) control system, cameras, image processing systems and picking devices operating within the area.

[0030] A picking system is described, the picking system being configured to receive instructions from a picking system controller, the picking system controller receiving a product order from a warehouse management system, wherein a picking station is further configured to pick items from a storage container and place the items into the storage container, wherein the picking system comprises a picking station, wherein the picking station comprises:

[0031] - at least one container contents handling position;

[0032] - a camera configured to generate an image of the contents of the storage container;

[0033] - an image processing system in communication with the camera and for processing images generated by the camera to identify the location of a particular item in the storage container, the image processing system further in communication with the picking system controller and adapted to notify the picking system controller of the location of the particular item;

[0034] - a robotic picking device, wherein the robotic picking device is in communication with a picking system controller and is configured to pick the specific item from the location in the storage container under the direction of the picking system controller;

[0035] wherein the camera and the robotic picking device are arranged to operate on different containers in either case such that the camera generates an image and the image processing system processes an image of the contents of the storage container in the generated first product order while the robotic picking device is handling a second storage container based on an earlier image generated by the camera and processed by the image processing system.

[0036] This parallel operation in and / or on different containers results in that the robotic picking device knows in advance the position of one or more specific objects in the storage container when the robotic picking device is to pick one or more objects from the storage container in the second storage container based on an earlier image generated by the camera and processed by the image processing system. Thus, according to the present invention, the camera and the image processing system are at least one step ahead of the robotic picking device.

[0037] The picking system provides separation of concerns by disentangling the dependencies of the various subcomponents involved.

[0038] The image processing device may communicate directly with the camera or indirectly with the camera, for example via a picking system controller.

[0039] The camera and image processing system can take a picture and process the image to determine the contents of a storage container that is different from the storage container that the robotic picking device is processing. Information about the location of one or more items in the storage container is then forwarded to the robotic picking device by the picking system controller, so that the robotic picking device knows in advance the relative location of the one or more items to be picked, and which items are most accessible, before picking from the storage container. This provides the possibility of parallel operation, thereby performing two operations at the same time.

[0040] The picking system controller (PSC) can control the picking device and the camera (including camera movement) and the image processing system.

[0041] The system controller (AC) can inform the picking system controller (PSC) of bin deliveries (which bins are ready at which location, and the possible expected upcoming bin delivery time). Each location may have its own bin delivery schedule, and its own exchange time delays.

[0042] The picking operations in a product order can be defined by an external system (Warehouse Management System (WMS) or Inventory Management) and can communicate with the Picking System Controller (PSC). The picking operations can be defined by the following information or parameters: PickFrom (bins and compartments), PickTo (bins and compartments), Quantity (number of items) and possible additional parameters (about the items and about the picking operation, such as speed operation limits, etc.). These operations are defined independently of the actual delivery of bins to / from the work area, because they refer to the IDs of the bins, not their physical locations.

[0043] The robotic picking device may be configured to reach multiple container handling locations within a picking station.

[0044] At least one pair of container content handling locations may be arranged next to each other (on adjacent grid rows); or one above the other, and so on.

[0045] The picking system can be configured to perform route calculations, i.e., sequences of picking operations, for the robotic picking devices and incorporate the workflow sequences from these route calculations into the operating sequences of the picking devices. This is done to optimize the picking parameters and which storage containers to pick from and into which storage containers to place items in order to reduce picking time and increase throughput of completed / partially completed product orders.

[0046] Based on the status from the system controller (AC) and the task queue from the warehouse management system (WMS), the picking system controller (PSC) can plan, optimize and control camera movements and camera / image processing operations (send commands to the camera / image processing system).

[0047] Based on the status from the system controller (AC) and the task queue from the warehouse management system (WMS), the picking system controller (PSC) plans, optimizes and controls the picking operation (sending commands to the picking devices).

[0048] The picking station may include at least two container content handling positions, and the robotic picking device may be configured to move to different picking positions, at which different picking positions, it is capable of picking a specific item from a first storage container positioned at a first container content handling position and picking another specific item from a second storage container positioned at a second container content handling position, which second container content handling position is different from the first container content handling position.

[0049] Multiple container content handling positions and associated multiple picking positions provide the possibility that the robotic picking device can access different containers in the picking station, and the control system provides greater flexibility with respect to the order in which the robotic picking device should / should pick from the storage containers present in the picking station.

[0050] The robotic picking device may be configured to pick from one of several container picking locations, each container picking location having a different storage container waiting to be picked.

[0051] The first storage container arranged at the first container content handling position may be a picking container, and the second storage container arranged at the second container content handling position may be a product order consolidation container. Which of the containers serves as the picking container and the product order consolidation container, respectively, may vary, and this depends on operating parameters with respect to product order settings and similar items for different containers. In addition, the ratio of consolidation containers to picking containers may vary. For example, a picking container holding one specific item to be picked in many product orders and / or several items to be picked in the same product order may be retained at the picking station for a relatively long time before being exchanged with another picking container.

[0052] The camera may be arranged to generate an image of a first storage container positioned in a first container contents transfer position and an image of a second storage container positioned in a second container contents transfer position.

[0053] The camera may be mounted for movement above the storage container. The camera may be mounted on a movable device. For example, the camera may be movable on a gantry arrangement above the picking station. The camera may be arranged on the same gantry as the robotic picking device, but may be independently movable relative to the robotic picking device.

[0054] The camera may also be arranged as part of an industrial robot. An industrial robot is typically a robot having a base mounted on a floor, with a robot arm extending from the base to a robot picking device at its opposite end. The floor is to be understood as a base on which the robot arm may be mounted, and also on a mezzanine floor or other elevated floor. The camera may be arranged on one or more linear guides for movement in the X, Y and Z directions. For example, if the camera is mounted at a relatively large distance from a storage container for which an image needs to be generated, it may be advantageous for the camera to be able to move closer to the container (i.e. in the Z direction).

[0055] The camera may be stationary and arranged to generate an image of the contents of the at least one storage container when the at least one storage container is positioned in the storage container contents transfer position.

[0056] Alternatively, the camera may be at such a height that it covers multiple locations within the picking station.

[0057] The picking system may include sections of a rail-based delivery system with vertical tracks in the X and Y directions for supporting a delivery vehicle carrying containers accessible from above. Instead of a delivery vehicle operating on a delivery rail system, the picking system may include a conveyor arrangement for transferring the containers to a picking station. The conveyor arrangement may be at different heights and presented to the robotic picking device in the form of a multi-level conveyor arrangement.

[0058] The picking system may include a conveyor for transferring containers away from the picking station.

[0059] The robotic picking device can be a bench mounted robot or an industrial robot.

[0060] The image processing system may include means for performing ID recognition of the storage container ID. This may be performed so that the image data / picker route data is recorded according to the storage container ID. Thus, it is ensured that the correct items are picked regardless of the order of the storage containers.

[0061] A storage container may be divided into two or more compartments. This may be done to separate different items within the same container, or by separating similar items within the same container, for example, if an operator only needs access to one item.

[0062] The picking system can be arranged on a mezzanine. The mezzanine height level can be arranged just below the top height level of the storage system, for example, at only one or two storage container heights below the top height level of the storage system. This reduces the vertical travel time of the storage containers, because they do not have to travel 10-20 container heights, but only 1 or 2 height levels.

[0063] Product orders may be completed at the mezzanine height level and delivered on an appropriate conveyor for shipment, or storage containers holding completed or nearly completed product orders may be delivered to the storage system for manual fulfillment at an operator-operated picking station.

[0064] Further described is an automated storage and retrieval system comprising:

[0065] - a rail system having vertical tracks in the X and Y directions, wherein the storage and retrieval system includes a plurality of remotely operated vehicles configured to move laterally on the rail system;

[0066] - a picking system controller configured to receive a product order from a warehouse management system;

[0067] - at least one container contents handling position;

[0068] a camera configured to generate an image of the contents of the storage container;

[0069] - an image processing system in communication with the camera and for processing images generated by the camera to identify the location of a particular item in the storage container, the image processing system further in communication with the picking system controller and adapted to notify the picking system controller of the location of the particular item;

[0070] - a robotic picking device, wherein the robotic picking device is in communication with a picking system controller and is configured to pick the specific item from the location in the storage container under the direction of the picking system controller;

[0071] wherein the camera and the robotic picking device are arranged to operate on different containers in either case such that the camera generates an image and the image processing system processes an image of the contents of the storage container in the generated first product order while the robotic picking device is handling based on an earlier image generated by the camera and processed by the image processing system.

[0072] The automated storage and retrieval system makes it possible for the robotic picking device to know in advance the location of one or more specific items in the storage container when the robotic picking device is to pick items from the storage container in a subsequent product order.

[0073] The camera in the automated storage and retrieval system does not have to form part of the picking station, but can be arranged in a position outside the picking station so that the containers entering the picking station have been imaged. The camera can be stationary and arranged to produce an image of the contents of at least one storage container when the at least one storage container is positioned in the storage container content handling position. The camera can, for example, be arranged at the entrance to the picking station or just before the entrance so that images of all storage containers entering the picking station are produced and the processor can determine / set the appropriate route for the robotic picking device to pick from the containers. Alternatively or in addition, each storage container feed line (such as a delivery rail system or conveyor) entering the picking system can have its own fixed camera, and the control system can pre-plan the route based on multiple image sources.

[0074] The camera may alternatively be arranged within a picking station where a robotic picking device is arranged such that the position of one or more items to be picked in each storage container is determined before the storage container enters the picking station.

[0075] The automated storage and retrieval system may further include a delivery vehicle that is arranged to receive storage containers from above and transport the storage containers to the picking station, and the robot picking device may be separated from the delivery vehicle carrying the storage container and operated independently. In this embodiment, the system may include a section of a rail-based delivery system with vertical tracks in the X and Y directions for supporting a delivery vehicle carrying a container that can be approached from above. The delivery vehicle can move freely in the X and Y directions on the delivery system in the picking station, and when they are at the picking station or in an area defined by the picking station, each storage container is carried by the delivery vehicle from the content handling position of the picking station.

[0076] Instead of a delivery vehicle operating on a delivery rail system, the picking system may include a conveyor arrangement for transferring containers to a picking station. The conveyor arrangement may be at different heights and presented to the robotic picking device in the form of a multi-stage conveyor arrangement. In yet another alternative, instead of a delivery vehicle and / or conveyor, the storage container may be delivered to the picking station by one or more prior art container handling vehicles, which include a lifting device for transporting the storage container, for example, lifting the storage container from a storage column and lowering the storage container into the storage column, and transporting the storage container horizontally to the picking station. The picking station may include rails in the X and Y directions that are flush with the rails in the X and Y directions of the storage and retrieval system so that the container handling vehicle can enter the picking station on the same rail system. In this alternative, the container handling vehicle can lower the storage container to a content handling position within the picking station, which content handling position can be directly below the rail system so that the robotic picking device can relatively easily access the contents of the storage container.

[0077] Further described is a method of picking items from a container and placing the items into a container at a picking station under the control of a picking system controller, wherein the method comprises:

[0078] -The picking system controller receives product orders from the warehouse management system;

[0079] - A picking station receives deliveries of storage containers to be picked;

[0080] - using a camera to generate an image of the contents of the storage container;

[0081] - processing an image generated by the camera using an image processing system in communication with the camera to identify a location of a particular item in a storage container that is included in the product order to be fulfilled, and the image processing system notifies a picking system controller of the location of the particular item in the storage container;

[0082] - the picking system controller determines, based on the positions determined by the image processing system, a sequence of picking movements to be performed by the robotic picking device in order to pick a particular item from the storage container;

[0083] - conveying the storage container to a picking position of a picking station, where the storage container can be picked by a robotic picking device;

[0084] - a picking system controller instructs a robotic picking device to execute a sequence of picking moves to pick specific items from a storage container during the handling of a product order,

[0085] wherein the camera and the robotic picking device are arranged to operate on different storage containers in either case such that while the robotic picking device is handling based on an earlier image generated by the camera and processed by the image processing system, the camera generates an image of the contents of a first storage container for a first product order, the image processing system processes the image, and the picking system controller determines a sequence of picking movements of the robotic picking device for the first product order.

[0086] The camera may also be arranged outside a picking station where the robotic picking device is arranged to determine the position of one or more items to be picked in each storage container before the storage container enters the picking station.

[0087] The images may be processed by the image processing system before the storage container arrives at the picking location, and the picking system controller may have determined a set of picking moves before the storage container arrives to be picked.

[0088] The determination of the picking movement of the robotic picking device may be independent of the delivery of the storage containers to one or more picking locations.

[0089] The picking system controller may optimize the picking movement of a robotic picking device between specific items in different storage containers at different picking locations.

[0090] The image processing system may include an object database, and the image processing system may compare the generated image with the images in the object database to determine the location of a particular item in a storage container. The image processing system may have an object database so that it can identify different items. Thus, it can be ensured that the correct item is picked regardless of the orientation of the item in the storage container. The object database is particularly suitable for situations where different kinds of items are stored in the same storage container, where the object database provides input regarding the internal positioning of these different items with respect to each other.

[0091] The method may include moving a camera to a location where a storage container is present so as to produce an image of the contents of the storage container.

[0092] The image processing system may include means for performing ID recognition on one or more storage containers. This may be performed so that image data / picker route data is recorded based on the ID of the storage container.

[0093] When the robot picking device completes picking from the target storage container, the storage container can be returned from the picking station and returned to the storage column in the automated storage and retrieval system. Alternatively, the target storage container can be transported on an external conveyor for shipment.

[0094] The delivery of bins to / from the picking stations is managed by a separate control system, either the ASRS control system or the system controller (AC). BRIEF DESCRIPTION OF THE DRAWINGS

[0095] The following drawings are attached to facilitate understanding of the present invention. The drawings illustrate embodiments of the present invention, which will now be described by way of example only, wherein:

[0096] FIG1 is a perspective view of a frame structure of a prior art automated storage and retrieval system;

[0097] FIG2 is a perspective view of a prior art container handling vehicle having a centrally disposed cavity for carrying storage containers therein;

[0098] FIG3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying a storage container underneath;

[0099] Figure 4A is a diagrammatic representation of possible communication channels between a picking system controller and selected components forming part of the picking system;

[0100] Figure 4B An example of a sequence of steps performed by a picking system controller is shown;

[0101] Figure 5A An example of a picking system is shown with a picking station arranged on a grounded floor, i.e. at the lower part of a connected storage and retrieval system, with a camera movable on a stage above a stage arrangement on which a robotic picking device is mounted, and wherein the picking station comprises a double-layer conveyor for moving storage containers to and from a container content handling position in the picking station;

[0102] Figure 5B An example of a picking system is shown with a picking station arranged on a mezzanine level, i.e., the picking station is arranged at a height level close to the top height level of a rail system of a connected storage and retrieval system, with a camera movable on a stage above a stage arrangement, on which a robotic picking device is mounted, and wherein the picking station comprises a double-layer conveyor for moving storage containers to and from a container content handling position in the picking station;

[0103] Fig. 6A An example of a picking system is shown in a side view with a picking station arranged on a mezzanine level, i.e. the picking station is arranged at a height level close to the top height level of a rail system of a connected storage and retrieval system, with a camera movable on the same stage arrangement as the robotic picking device is mounted, and wherein the picking station comprises a double-layer conveyor for moving storage containers to and from a container content handling position in the picking station;

[0104] Figure 6B Shown from the other side Fig. 6A Picking system with direct view of the picking station in the longitudinal direction of the conveyor;

[0105] Fig. 7A and Figure 7B Two different views are shown Figure 5B An embodiment in which the camera is arranged on a stage or linear guide above the robotic picking device, wherein Fig. 7A is a view directly into the picking station in the longitudinal direction of the conveyor, while Figure 7B is its side view;

[0106] Figure 8A-8Dare different views of an exemplary picking system arranged on a mezzanine level, wherein a picking station includes a rail system that is flush with an overhead rail system on which a container handling vehicle operates, such that a container handling vehicle can deliver a storage container from an automated storage and retrieval system directly to a stationary container contents handling position arranged at a height level below the rail system of the picking station;

[0107] Fig. 9 An example of a picking system with a stationary camera disposed at a boundary between a volume beneath an overhead rail system and a container contents handling location on a delivery rail system is shown;

[0108] FIG10A is a side view of a remotely operated delivery vehicle;

[0109] FIG10B is a perspective view of a remotely operated delivery vehicle having a container carrier with compartments for receiving storage containers;

[0110] Fig. 10C is a perspective view of a remotely operated delivery vehicle having a container carrier provided with a conveyor;

[0111] Fig.11 is a schematic diagram of a possible arrangement of a picking system arranged on a mezzanine level and wherein an external conveyor runs through one or more picking stations on the mezzanine level;

[0112] Figure 12A-12C Various examples of cameras and bench mounted robotic picking devices are shown; and

[0113] Fig.13 Another example of a possible setup of a camera and a robotic picking device is shown. DETAILED DESCRIPTION

[0114] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. It should be understood, however, that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings.

[0115] The frame structure 100 of the automated storage and retrieval system 1 is constructed according to the prior art frame structure 100 described above in conjunction with Figures 1-3, i.e., a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102, and in addition, the frame structure 100 includes a first upper guide rail system 108 in the X direction and the Y direction.

[0116] The frame structure 100 further comprises storage compartments in the form of a storage column 105 arranged between the members 102 , 103 , wherein storage containers 106 can be stacked in the form of a stack 107 within the storage column 105 .

[0117] The frame structure 100 can have any size. In particular, it should be understood that the frame structure can be much wider and / or longer and / or deeper than that disclosed in Figure 1. For example, the frame structure 100 can have a horizontal range of more than 700 x 700 columns and a storage depth of more than twelve containers.

[0118] Figure 4A is a diagram of possible communication channels in a picking system 400 between a picking system controller 401 and selected components forming part of the picking system, as indicated by arrows between the picking system controller 401 and the respective components. The picking system controller 401 communicates with a warehouse management system 402 or inventory management system (not shown), an ASRS control system 403, a camera moving arrangement 404 for moving a camera connected thereto, a robotic picking device 405, and an image processing system 406.

[0119] Figure 4B An example of a sequence of steps performed by the picking system controller 401 is shown. These steps may be as follows:

[0120] 450: Receive picking operation.

[0121] 451: Receive storage container delivery status.

[0122] 452: Plan and execute camera and image processing system operations.

[0123] 453: Plan and execute robotic picking device operations.

[0124] 454: Confirm the picking operation.

[0125] 455: Confirmation that storage container is complete.

[0126] Figure 5A An example of a picking system 400 is shown with a picking station 410 arranged on a grounded floor, i.e. at the lower part of a connected storage and retrieval system 1, with a camera 407 movable on a stand 414 above a stand arrangement 413, on which a robotic picking device 405 is mounted, and wherein the picking station 410 comprises a double-layer conveyor 411, 412 for bringing storage containers 106 into and out of the picking station 410. Figure 5AIn the example of , there are a total of eight container content transfer positions 408 on the conveyors 411, 412 of the picking station 410. Storage containers 106 occupy three of the container content transfer positions 408, while the remaining five container content transfer positions 408 on the conveyors 411, 412 are not occupied. In the disclosed embodiment, the picking station 410 includes double-layer conveyors 411, 412 for moving storage containers 106 between storage locations and container transfer positions 408 within the automated storage and retrieval system 1. The double-layer conveyors 411, 412 are disclosed as an upper conveyor 411 and a lower conveyor 412. The lower conveyor 412 is displaced relative to the upper conveyor 411 by a size equal to one storage container 106. Similarly, although not shown in the figure, in order to be able to put the storage container 106 on the conveyor 411, 412 and take the storage container 106 out of the conveyor 411, 412, the lower conveyor 412 is displaced relative to the upper conveyor 411 by the size of one storage container 106 at the opposite end of the conveyor 411, 412. In the disclosed example, the robot picking device 405 is arranged on the stage arrangement 413, and the camera 407 is movably arranged on a separate stage 414 above the stage 413 for the robot picking device 405. In operation, the container content handling position 408 on the upper conveyor 411 can be used for picking, and the container content handling position 408 on the lower conveyor 412 can be used to integrate the picking order. However, which of the container content handling positions 408 is set for picking and integration can be changed according to different needs. For example, if more container content handling positions 408 need to be used for picking or integration, this can be easily changed.

[0127] The protective plate 415 may be used to provide a physical barrier to the storage and retrieval system 1 so that an operator may safely perform manual repairs or maintenance in the picking station 410 .

[0128] Figure 5B An example of a picking system is shown with a picking station 410 arranged on a mezzanine 425, i.e., the picking station 410 is arranged at a height level close to the top height level of the rail system 108 of the connected automated storage and retrieval system 1, with a camera 407 movable on a stand 414 above a rack arrangement 143, on which a robotic picking device 405 is mounted. The picking station 410 comprises double-layer conveyors 411, 412 for moving storage containers 106 to and from a container content transfer position 408 in the picking station 410. The double-layer conveyors 411, 412 comprise an upper conveyor 411 and a lower conveyor 412, respectively. As shown from Figure 5BAs can be seen in FIG. 4 , the top of the rail system 108 can be seen behind the protective plate 415. The components of the picking system 400 are Figure 5A The example is similar to , and will not be repeated here.

[0129] Fig. 6A An example of a picking system 400 is shown in a side view, which picking system has a picking station 410 arranged on a mezzanine 425, i.e., the picking station 410 is arranged at a height level close to the top height level of the rail system of the connected automated storage and retrieval system 1, with a camera 407 that can move on the same platform arrangement 413 as the installation of the robotic picking device 405, and wherein the storage container 106 is transported to the container content handling position 408 of the picking station 410 on the double-layer conveyor 411, 412. Figure 6B Shown from the other side Fig. 6A The picking system 400 is shown in the figure, i.e. the picking station 410 is directly visible in the longitudinal direction of the conveyors 411 , 412 . Fig. 6A and Figure 6B The remaining components of the example are similar to Figure 5A and Figure 5B The same as in, and will not be repeated here.

[0130] Fig. 7A and Figure 7B Two different views are shown Figure 5B An embodiment in which the camera is arranged or mounted on a stage or linear guide above the robotic picking device 405, wherein Fig. 7A is a view directly looking at the picking station 410 in the longitudinal direction of the conveyors 411, 412, and Figure 7B It is its side view.

[0131] Figure 8A-8D are different views of an exemplary picking system 400 arranged on a mezzanine 425, wherein a picking station 410 includes a rail system 108 that is flush with the top rail system 108 of the automated storage and retrieval system 1 where the container handling vehicles 201, 301 operate, such that the container handling vehicles 201, 301 can transport storage containers 106 from the automated storage and retrieval system 1 directly to a stationary container content handling position 408 arranged at a height level below the rail system 108 of the picking system 410.

[0132] refer to Fig. 8A, which is a perspective view from above, discloses a prior art container handling vehicle 201 within a picking station 410, which delivers and / or picks a storage container 108 from a container content handling position 408 below a rail system 108 so that a robotic picking device 405 can access the contents of the storage container 106. A camera 407 and a robotic picking device 405 are disclosed as being mounted on stands 414, 413, respectively. The camera 407 is movable and can produce an image of the contents of a storage container 106 placed at any container content handling position 408 in the picking station 410. To increase the safety of any operator, a picking station protective cover 419 can be arranged around the exterior of the picking station 410.

[0133] refer to Figure 8B , which is a side view from the top of the rail system 108 of the automated storage and retrieval system to the picking station 410, discloses two different prior art container handling vehicles 201, 301 within the picking station 410, which deliver and / or pick up storage containers 108 from the container content handling position 408 below the rail system 108.

[0134] refer to Figure 8C , which is Fig. 8A and Figure 8B 410, with the container handling vehicle 201 about to enter or leave the picking station 410, i.e., the container handling vehicle 201 is about to cross the boundary formed by the protective cover 415 that horizontally separates the top height of the picking station 410 and the rail system of the connected storage and retrieval system. From directly above, one or more storage containers 106 placed in the storage content handling position 408 in the picking station 410 can be seen. An optional external conveyor 420 for transporting containers 106, boxes or bins with closed or completed product orders is disclosed as running through the picking station 410.

[0135] refer to Fig.8D , which is from Figure 8A-8C 400, discloses an exemplary embodiment in which the protective sliding door in the protective cover 415 has been actuated so that the picking station 410 has been separated from the automated storage and retrieval system 1, thereby forming a barrier between the picking station 410 and the top height level of the rail system of the connected storage and retrieval system. This option may be advantageous in such a situation that maintenance or repair of the picking system 400 or one of the components of the picking station 410 is required without shutting down the operation of the container handling vehicles 201, 301 operating on the top rail system 108 in the connected automated storage and retrieval system.

[0136] Fig. 9An example of a picking system 410 is shown with a stationary camera 407 arranged at the boundary between the volume below the top rail system 108 and the container content handling position 408. The robotic picking device is in the form of two industrial robots 405. The storage containers 106 are transferred between the volume below the top rail system 108 and the container content handling position 408 of the picking station 410 by means of a delivery vehicle 30 running on the delivery rail system 308. The delivery rail system 308 extends to the top rail system 108 (at Fig. 9 In the volume directly below the horizontal plane P in the middle, the container handling vehicle ( Fig. 9 10A-10B) is operated here so that the storage container 106 can be transferred directly between the container handling vehicle and the delivery vehicle 30. The delivery vehicle 30 is shown in FIG. Fig. 10C Further described in Fig. 9 In the example of FIG. 4 , due to the arrangement of two industrial robots 405 positioned in a spaced relationship so as to cover different portions of the delivery rail system 308, all positions on the portion of the delivery rail system 308 outside the volume directly below the top rail system 108 can be used as container content handling positions 408. An industrial robot 405 is disclosed with a base 417 mounted on the floor, wherein a robot arm extends from the base to a picker 418 at an opposite end thereof.

[0137] Each of the robotic picking devices 405 is disclosed as having a robotic arm and is configured to pick product items or freight and place them into the storage container 106 in the container content transfer position 408, and may place the picked freight or product items into one or more shipping containers ( Fig. 9 Although the robot picking device 405 is disclosed as having one robot arm, it is obvious that one robot picking device 405 can have more than one robot arm, for example, two, three, four, five, ..., nine, ten arms, and so on.

[0138] The robotic picking device 405 can be operated to move in the XYZ direction, thereby allowing access to storage containers 106 at different container content handling locations 408 within the delivery rail system 308, and transferring at least one product item between the storage container 106 and a location outside the delivery rail system 308. The length of the one or more robotic arms of the one or more robotic operators 405 and other features of the one or more robotic arms can be adjusted according to the needs of the specific project, such as the number of delivery vehicles 30, the size of the delivery rail system 308, the number of robotic operators 405, etc.

[0139] FIG. 10A illustrates a remotely operated delivery vehicle 30 , hereinafter referred to as delivery vehicle 30 .

[0140] The delivery vehicle 30 is configured to transport one or more storage containers 106 on a delivery rail system 308 .

[0141] The delivery vehicle 30 may be configured to transport only one storage container 106 , or may be configured to transport more than one storage container 106 .

[0142] Refer to Figure 10A- Fig. 10C The delivery vehicle 30 includes: a body 31, a rolling device 32 connected to the body 31, and a horizontal plane P1 (see Fig. 9 ) and a power source 43 connected to one or more roller motors. The power source 43 should provide sufficient power to the roller motors to push the roller 32 from the inside of the storage and retrieval system 1 to the picking station 410 on a set route.

[0143] If used on a delivery rail system 308, one of the two sets of wheels 32a, 32b of the rolling 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 the corresponding set of rails set on the delivery rail system 308 at any one time.

[0144] The delivery vehicle 30 may further include a container carrier 35 mounted above the vehicle body 31. The container carrier 35 should be configured to receive the storage container 106 onto or within the container carrier 35 such that the storage container 106 is prevented from moving in a horizontal direction relative to the container carrier.

[0145] The container carrier 35 may include a container support device that supports the storage container 106 from below.

[0146] In FIG. 10A , a container carrier 35 is disclosed as being in the form of a storage container receiving compartment having a bottom / base and side walls. The volume of the compartment in this exemplary configuration is such that it can receive and accommodate the entire horizontal extent of a storage container as well as at least a portion of the vertical extent of a storage container. FIG. 10A shows an example of a container carrier 35 accommodating an entire storage container 106, and FIG. 10B shows an alternative container carrier 35 accommodating a portion of a storage container 106, while FIG. Fig. 10C Another alternative is shown in which a delivery vehicle 30 has a container carrier 35 provided with a conveyor 36 .

[0147] The particular configuration of the container carrier 35 disclosed in FIG. 10A allows the delivery vehicle 30 to transport storage containers 106 having different heights.

[0148] It should be noted that the dimensions of the compartments within the container carrier 35 may be readily adapted to receive and support multiple storage containers 106 in one operation.

[0149] Figure 10B shows another alternative to a remotely operated delivery vehicle 30. Similar to the container carrier 35 described above, the container carrier 35 of this configuration is a container support device for supporting a storage container 106 from below.

[0150] The container support device thus includes a base plate, which is provided with side walls along the outer circumference or periphery of the base plate, thereby defining a compartment. The horizontal extent of the compartment is adapted to be large enough to receive one or more storage containers 106 and small enough to substantially hinder their movement when one or more storage containers 106 are inserted. However, compared to the exemplary configuration of the delivery vehicle 30 shown in Figure 10A, the vertical height of one or more side walls of the container support device in Figure 10B is less than the vertical height of each storage container 106. In fact, in order to achieve the purpose of the side walls of the container carrier 35 (to substantially prevent horizontal movement when inserted), it is sufficient to have only a small vertical protrusion upward from the base plate, for example less than 5% of the height of the side walls of the storage container 106.

[0151] Fig. 10C Still another exemplary configuration of a remotely operated delivery vehicle 30 is shown. In this configuration, a container carrier 35 includes a base plate, a conveyor 36 with rollers arranged on the base plate, and two parallel side walls protruding upward from the base plate. The rolling device 32 and the body 31 are the same or similar to the rolling device 32 and the body 31 described above in conjunction with Figures 10A and 10B.

[0152] The conveyor 36 can be established by a plurality of parallel oriented rollers having a common longitudinal direction perpendicular to the two side walls. In this manner, the rollers allow one or more storage containers 106 to be moved into or out of the container carrier 35 while being guided by the side walls. The conveyor can be connected to a conveyor motor (not shown) that drives the one or more rollers to rotate.

[0153] Fig.11 is a schematic diagram of a possible setup of a picking system 400 arranged on a mezzanine 425 and wherein an external conveyor 420 runs through picking stations 410 on the mezzanine 425 for transporting containers 106, bins or boxes containing completed / finished product orders for shipping.

[0154] Figure 12A-12C Different examples of cameras 407 and bench mounted robotic picking devices 405 are shown, wherein Fig. 12A4 shows a combination of a camera module 421 with a camera 407 and a robot picking device module 422 with a robot picking device 405 when connected in the same structure, Fig. 12B The robot picking device module 422 is shown separated from the robot picking device module 422. Fig. 12A The camera module 421, and Fig. 12C The camera module 421 is shown separated from the camera module 421. Fig. 12A The camera module 421 and the robotic picking device module 422 each include a base 423, 424, respectively. The respective base 423, 424 may be connectable to a gantry arrangement (not shown) and may include any necessary drive means, guide means, one or more motors, control systems, etc. for operating the camera 407 and the robotic picking device 405. The base 423, 423 may include means for movably connecting relative to one or more beams in the respective gantry arrangement 413, 414 (see, e.g., FIGS. 5-7 ).

[0155] Fig.13 Another example of a possible arrangement of a camera 407 and a robotic picking device 405 is shown. Fig. 12A Compared to the example of , the camera module 423 with the camera 407 is arranged in the same vertical plane and at a greater distance from the robot picking device module 423 with the robot picking device 405. The robot picking device module 422 is mounted on the stage arrangement 413, while the camera module 421 is mounted on the stage 414.

[0156] The one or more motors, control systems and other equipment and components necessary to enable movement and operation of the robotic picking device 405 and camera 407 and forming part of the system will be known to the skilled person and will not be described in detail here.

[0157] Common to all disclosed embodiments is that, typically, once a product order from a storage container 106 at a container inventory transfer location 408 serving as a picking location is completed, the storage container 106 is returned to a storage location within the storage and retrieval system, and a new storage container 106 with items for the same or another product order is transported from a storage location in the storage and retrieval system 1 to the container contents transfer location 408. Once a product order in a storage container 106 (or box or bin) for consolidation is completed, or at least partially completed, the product items that can be picked by the robotic picking device 405 are typically removed from the container contents inventory location 408 to a conveyor (see Fig.11 ) or similarly external to the storage and retrieval system 1, either by a conveyor (see, e.g., FIGS. 5-7 ) or by a delivery vehicle 30 (see, e.g., Fig. 9) is returned to the storage and retrieval system 1 for completion of product items that are not suitable for picking by the robotic picking device 405 at a manual (i.e., operator-operated) picking station.

[0158] Furthermore, what is also common to all of the different robotic picking devices 405 described above is that they may be provided with a suitable one or more gripping devices, as well as any necessary auxiliary equipment, such as cameras, lights, distance sensors, etc., depending on the requirements of the specific project and the size and shape of the product items. Such equipment will be known to the skilled person and is not further described herein. Furthermore, the means required to mount one or more robotic picking devices 405 to the stand arrangement 413 may be any means that provide the desired functionality of movement in the XYZ direction relative to the delivery rail system 50 below, which means are known to the skilled person and will not be further described herein. Similarly, any fastening means required to mount the floor base or base on the delivery rail 308 of the robotic picking device 405 are known to the skilled person, i.e. any means that provide the necessary stability and / or facilitate the possibility of rotational movement of the robotic operator 405 relative to the floor base or delivery rail base (not shown).

[0159] In the foregoing description, various aspects of the delivery vehicle and automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. For purposes of explanation, specific numbers, systems, and configurations are set forth in order to provide a thorough understanding of the system and its operation. However, this description is not intended to be interpreted in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, which are apparent to those skilled in the art to which the disclosed subject matter belongs, are deemed to fall within the scope of the present invention.

[0160] Reference numerals list

[0161] 1 Prior Art Automated Storage and Retrieval System

[0162] 30 Delivery Vehicles

[0163] 31 Body

[0164] 32 Rolling device

[0165] 32a First set of wheels

[0166] 32b Second set of wheels

[0167] 35 Container Carrier

[0168] 36 Teleporter

[0169] 100 Frame structure

[0170] 102 Vertical members of frame structure

[0171] 103 Horizontal members of frame structures

[0172] 104 Storage Grid

[0173] 105 Storage Column

[0174] 106 Storage Container

[0175] 106' Specific location of storage container

[0176] 107 Stack

[0177] 108 Top Rail System

[0178] 110 Parallel guides in the first direction (X)

[0179] 110a A first guide rail in a first direction (X)

[0180] 110b The second guide rail in the first direction (X)

[0181] 111 Parallel guides in the second direction (Y)

[0182] 111a The first guide rail in the second direction (Y)

[0183] 111b The second guide rail in the second direction (Y)

[0184] 112 Approaching the opening

[0185] 119 First port column

[0186] 120 Second port column

[0187] 201 PRIOR ART STORAGE CONTAINER VEHICLE

[0188] 201a Body of the storage container vehicle 201

[0189] 201b Drive / wheel arrangement, first direction (X)

[0190] 201c Drive / wheel arrangement, second direction (Y)

[0191] 301 Prior Art Cantilever Storage Container Vehicle

[0192] 301a Body of storage container vehicle 301

[0193] 301b Driving device in the first direction (X)

[0194] 301c Driving device in the second direction (Y)

[0195] 304 Clamping device

[0196] 308 Delivery Rail System

[0197] 400 Picking System

[0198] 401 Picking System Controller (PSC)

[0199] 402 Warehouse Management System (WMS)

[0200] 403 ASRS (Automated Storage and Retrieval System) Control System

[0201] 404 Camera Moved

[0202] 405 Robotic Picking Device

[0203] 406 Image Processing System

[0204] 407 Camera

[0205] 408 Container Contents Handling Location

[0206] 410 Picking Station

[0207] 411 Upper Teleporter

[0208] 412 Lower Teleporter

[0209] 413 Stand for Robotic Picking Devices

[0210] 414 Stand for camera

[0211] 415 Protective cover

[0212] 416 Personnel / Manual Operator

[0213] 417 Robot Base

[0214] 418 Picker

[0215] 419 Picking Station Protective Cover

[0216] 420 External Transmitter

[0217] 421 Camera Module

[0218] 422 Robot Picking Device Module

[0219] 423 Base Camera Module

[0220] 424 Base Robot Picking Device Module

[0221] 425 Mezzanine

[0222] 500 Control System

[0223] P The horizontal plane where the container handling vehicle operates

[0224] P1 Level where the delivery vehicle operates

[0225] X first direction

[0226] Y Second direction

[0227] Z third direction

Claims

1. A picking system (400) configured to pick items from a storage container (106) and place the items into the storage container, wherein: The picking system (400) comprises a picking station (410), and wherein the picking station (410) comprises: - a picking system controller (401) configured to receive a product order from a warehouse management system (402); - at least a first container contents handling position and a second container contents handling position; - a camera (407) mounted to move over the first container contents handling position and the second container contents handling position such that the camera (407) is capable of generating an image of the contents of a first storage container at the first container contents handling position and an image of a second storage container at the second container contents handling position; - an image processing system (406) in communication with the camera (407) for processing the image generated by the camera (407) so as to identify the location of a specific item in the storage container (106), the image processing system (406) further in communication with the picking system controller (401) and adapted to inform the picking system controller (401) of the location of the specific item; - a robotic picking device (405), wherein the robotic picking device (405) communicates with the picking system controller (401) and is configured to pick the specific item from the position in the storage container (106) under the guidance of the picking system controller (401), and wherein the robotic picking device (405) is configured to move to a different picking position, at which different picking position the robotic picking device is able to pick one specific item from the first storage container positioned at the first container content handling position, and pick another specific item from the second storage container positioned at the second container content handling position different from the first container content handling position; wherein the camera (407) and the robotic picking device (405) are arranged to operate in either case on different storage containers (106) such that the camera (407) generates an image and the image processing system (406) processes the generated image of the contents of the storage container (106) in the first product order while the robotic picking device (405) is handling a second storage container based on an earlier image that has been generated by the camera (407) and processed by the image processing system (406), wherein the camera (407) is movable on a stand (414) above a stand arrangement (413) on which the robotic picking device (405) is mounted, or wherein the camera (407) is movable on the same stand arrangement (413) as the stand arrangement (413) on which the robotic picking device (405) is mounted, wherein the movement can be controlled by the picking system controller (401) and includes moving the camera (407) to a location where a storage container is present so as to produce an image of the contents of the storage container.

2. The picking system (400) according to claim 1, wherein: The picking system controller (401) is configured to perform route calculations for the robotic picking device (405) and incorporate workflow sequences from those route calculations into an operational sequence of the robotic picking device (405).

3. The picking system (400) according to claim 1 or 2, wherein: The picking station (410) includes at least two container content handling positions (408), and wherein the robotic picking device (405) is configured to move to different picking positions, at which different picking positions the robotic picking device is capable of picking a specific item from a first storage container arranged at the first container content handling position and a second storage container arranged at the second container content handling position, wherein the first storage container is a picking container and the second storage container is a product order consolidation container.

4. The picking system (400) according to claim 1 or 2, wherein: The picking system (400) includes a section of a rail-based delivery system (308) having vertical tracks in the X and Y directions for supporting a delivery vehicle (30) carrying a storage container (106) accessible from above.

5. The picking system (400) according to claim 1 or 2, wherein: The image processing system (406) comprises a device for performing ID recognition on the ID of the storage container.

6. An automated storage and retrieval system (1), comprising: - a rail system (108) having vertical tracks in the X and Y directions, wherein the automated storage and retrieval system (1) comprises a plurality of remotely operated vehicles (201, 301) configured to move laterally on the rail system (108); - a picking system controller (401) configured to receive a product order from a warehouse management system (402); - at least two container content handling positions (408), the two container content handling positions being a first container content handling position and a second container content handling position; a camera (407) mounted to move above the first container contents handling position and the second container contents handling position so that the camera (407) can generate an image of the contents of the first storage container at the first container contents handling position and an image of the second storage container at the second container contents handling position, the camera (407) being mounted to move above the storage containers (106); - an image processing system (406) in communication with the camera (407) for processing the image generated by the camera (407) so as to identify the location of a specific item in the storage container (106), the image processing system (406) further in communication with the picking system controller (401) and adapted to inform the picking system controller (401) of the location of the specific item; - a robotic picking device (405), wherein the robotic picking device (405) is in communication with the picking system controller (401) and is configured to pick the specific item from the location in the storage container (106) under the guidance of the picking system controller (401); wherein the camera (407) and the robotic picking device (405) are arranged to operate in either case on different storage containers (106) such that the camera (407) generates an image and the image processing system (406) processes the generated image of the contents of the storage container (106) in the first product order while the robotic picking device (405) is handling a second storage container based on an earlier image that has been generated by the camera (407) and processed by the image processing system (406), wherein the camera (407) is movable on a stand (414) above a stand arrangement (413) on which the robotic picking device (405) is mounted, or wherein the camera (407) is movable on the same stand arrangement (413) as the stand arrangement (413) on which the robotic picking device (405) is mounted, wherein the movement can be controlled by the picking system controller (401) and includes moving the camera (407) to a location where a storage container is present so as to produce an image of the contents of the storage container.

7. The automated storage and retrieval system (1) according to claim 6, wherein: The camera (407) is arranged in a picking station (410), at which the robotic picking device (405) is arranged to determine the position of one or more items to be picked in each storage container (106) before the storage container (106) enters the picking station (410).

8. The automated storage and retrieval system (1) according to claim 7, further comprising a delivery vehicle (30) arranged to receive the storage container (106) from above and to transport the storage container (106) to the picking station (410), and wherein, The robotic picking device (405) is separate and operates independently from the delivery vehicle (30) carrying the storage container (106).

9. A method of picking items from a storage container and placing items into the storage container at a picking station (410) of a picking system (400) according to any one of the preceding claims 1 to 5 under the control of a picking system controller (401), wherein: The method comprises: - The picking system controller (401) receives a product order from a warehouse management system (402); - the picking station (410) receives a delivery of a storage container (106) to be picked; - generating an image of the contents of the storage container (106) using a camera (407), the camera (407) being mounted to move over the storage container (106); - processing the image generated by the camera (407) using an image processing system (406) in communication with the camera (407) to identify the location of a specific item in the storage container (106), the specific item being included in the product order to be fulfilled, and the image processing system (406) notifying the picking system controller (401) of the location of the specific item in the storage container (106); - the picking system controller (401) determines a sequence of picking movements to be performed by a robotic picking device (405) in order to pick the specific item from the storage container (106) based on the position determined by the image processing system (406); - conveying the storage container (106) to a picking position of the picking station (410), where the storage container can be picked by the robotic picking device (405); - the picking system controller (401) instructs the robotic picking device (405) to perform the sequence of picking movements during the processing of the product order to pick the specific item from the storage container (106), wherein the camera (407) and the robotic picking device (405) are arranged to operate in either case on different storage containers (106) such that while the robotic picking device (405) is handling a second storage container based on an earlier image already generated by the camera (407) and processed by the image processing system (406), the camera (407) generates an image of the contents of a first storage container for a first product order, the image processing system (406) processes the image, and the picking system controller (401) determines a sequence of picking movements of the robotic picking device (405) for the first product order, wherein the camera (407) is movable on a stand (414) above a stand arrangement (413) on which the robotic picking device (405) is mounted, or wherein the camera (407) is movable on the same stand arrangement (413) as the stand arrangement (413) on which the robotic picking device (405) is mounted, wherein the movement is controlled by the picking system controller (401) and includes moving the camera (407) to a location where a storage container is present so as to produce an image of the contents of the storage container.

10. The method according to claim 9, wherein: Before the storage container (106) arrives at a picking location, images are processed by the image processing system (406), and before the storage container (106) arrives for picking, a set of picking moves has been determined by the picking system controller (401).

11. The method according to claim 9 or 10, wherein: The picking movement of the robotic picking device (405) is determined independently of the delivery of the storage container (106) to one or more picking locations.

12. The method according to claim 10, wherein: The picking system controller (401) optimizes the picking movement of the robotic picking device (405) between specific items in different storage containers (106) at different container content handling locations (408).

13. The method according to claim 10, wherein: The image processing system (406) includes an object database, and wherein the image processing system (406) compares the generated image with images in the object database to determine the location of the particular item in the storage container (106).

14. The method of claim 10, comprising moving the camera (407) to a location where a storage container (106) is present so as to produce an image of the contents of the storage container (106).

15. The method according to claim 10, wherein: The image processing system (406) includes means for performing ID recognition on one or more storage containers (106).

Images