Storage system, method for retrieving and storing items in a storage system, and transfer method

Abstract

A storage system, a method for retrieving and storing items in the storage system, and a transfer method, the storage system comprising a storage grid structure and a plurality of container handling vehicles, the storage grid structure comprising vertical column profiles defining a plurality of storage columns and at least one transfer column, in the storage columns, storage containers can be stored one on top of another in a vertical stack, the vertical column profiles are interconnected at the upper ends by top rails forming a horizontal top rail grid, the container handling vehicles can move in two vertical directions on the horizontal top rail grid, the container handling vehicles can retrieve storage containers from the storage columns and store storage containers in the storage columns, the storage containers are transported on the storage grid structure, the method comprising the steps of: storing items in the storage containers; arranging the storage containers on the container transfer vehicle, the container transfer vehicle being a mobile storage device for items; and moving the container transfer vehicle to a pick-up / storage station when the items are to be picked up.

Description

[0001] This application is a divisional application of the Chinese patent application with application number 201980039693.6 and name “Storage System” (based on the international patent application with international application date of June 11, 2019 and international application number PCT / EP2019 / 065233). Technical Field

[0002] The present invention relates to an automated storage and retrieval system and a method of using an automated storage and retrieval system. Background Art

[0003] Figure 1A and Figure 2B A typical prior art automated storage and retrieval system 1 having a frame structure 100 is disclosed. Figure 1B and Figure 2B They were published in Figure 1A and Figure 2A Prior art container handling vehicles 200, 300 operating in the system 1 disclosed in .

[0004] The frame structure 100 defines a storage grid 104, which includes a plurality of upright members 102 and optionally a plurality of horizontal members 103 supporting the upright members 102. The members 102, 103 may typically be made of metal, such as extruded aluminum.

[0005] The storage grid 104 includes a plurality of grid columns 112, each grid column being defined by four upright members 102. Most of the grid columns are also referred to as storage columns 105, in which storage containers 106, also referred to as boxes, are stacked one on top of another to form stacks 107.

[0006] Each storage container 106 may typically hold a plurality of products (not shown), and the products within the storage containers 106 may be the same or may be different product types, depending on the application.

[0007] The storage grid 104 prevents horizontal movement of the storage containers 106 in the stack 107 and guides vertical movement of the containers 106, but does not generally support the storage containers 106 when stacked. Guidance of vertical movement of the storage containers is achieved by having the upright members 102 have four corner sections, wherein each corner section is arranged to accommodate a corner of a storage box, such as disclosed in NO317366, WO 98 / 49075 and WO 2015 / 019055.

[0008] The automated storage and retrieval system 1 comprises a rail system 108 (or a top rail grid) arranged in a grid pattern on top of the storage grid 104, on which a plurality of container handling vehicles 200, 300 (such as Figure 1B and Figure 2B 106 from the storage row 105 and lower the storage container 106 into the storage row 105, and also transport the storage container 106 above the storage row 105. The horizontal range of one of the grid cells 122 constituting the grid pattern is Figure 1A and Figure 2A Marked with bold lines.

[0009] Each grid unit 122 has a width typically in the interval of 30cm to 150cm and a length typically in the interval of 50cm to 200cm. Due to the horizontal extension of the rails 110, 111, the width and length of each grid opening 115 are typically 2cm to 10cm smaller than the width and length of the grid unit 122.

[0010] The track system 108 includes a first set of parallel tracks 110 arranged to guide container handling vehicles 200, 300 to move across the top of the frame structure 100 in a first direction X, and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 200, 300 to move in a second direction Y perpendicular to the first direction X. In this way, the track system 108 defines the upper end of a grid column 112 over which the container handling vehicles 200, 300 can move laterally, i.e., in a plane parallel to the horizontal XY plane. Typically, at least one of the track sets 110, 111 is constructed of a double track track, thereby allowing two container handling vehicles to pass each other on adjacent grid cells 122. Double track tracks are well known and are disclosed in, for example, WO 2015 / 193278 A1 and WO 2015 / 140216 A1, the contents of which are incorporated herein by reference.

[0011] Each prior art container handling vehicle 200, 300 comprises a vehicle body and a wheel arrangement of eight wheels 201, 301, 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 rails 110, 111 at any one time.

[0012] Each prior art container handling vehicle 200, 300 also includes a lifting device (not shown) for vertically transporting storage containers 106, such as lifting storage containers 106 from storage rows 105 and lowering storage containers 106 into storage rows 105. The lifting device includes one or more clamping / engaging devices (not shown) suitable for engaging storage containers 106, and the clamping / engaging devices can be lowered from the vehicle 201, 301 so that the position of the clamping / 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.

[0013] Conventionally, and also for the purposes of the present application, Z=1 identifies the topmost layer of the grid 104, i.e., the layer directly below the track system 108, Z=2 identifies the second layer below the track system 108, Z=3 identifies the third layer, etc. Figure 1A and Figure 2A In the prior art storage grid disclosed in , Z=8 identifies the bottommost layer of the grid 104. Therefore, as an example, and using Figure 1A and Figure 2B The Cartesian coordinate system X, Y, Z indicated in, Figure 1A The storage container identified as 106' in FIG. 1 may be referred to as occupying grid position or cell X = 10, Y = 2, Z = 3. The container handling vehicle 200, 300 may be referred to as traveling in layer Z = 0, and each grid column may be identified by its X and Y coordinates.

[0014] Each container handling vehicle 200 includes a storage compartment or space (not shown) for receiving and loading storage containers 106 as they are transported across the top of the storage grid 104. The storage space may include a centrally disposed cavity within the vehicle body, such as described in WO 2014 / 090684A1, the contents of which are incorporated herein by reference.

[0015] 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.

[0016] The container handling vehicle 200 may have a footprint, i.e., an extent in the X and Y directions, that is substantially equal to the horizontal area of ​​the grid cells 122, i.e., the extent of the grid cells 122 in the X and Y directions, such as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference.

[0017] Alternatively, the container handling vehicle 200 may have a footprint that is larger than the horizontal area of ​​the grid cells 122, such as disclosed in WO 2014 / 090684 A1.

[0018] In the storage grid 104, most of the grid columns 112 are storage columns 105, i.e., grid columns in which storage containers 106 are stored in stacks 107. However, the grid 104 typically has at least one grid column 112 which is not used for storing storage containers 106, but is arranged at a location where a container handling vehicle 200, 300 can unload and / or pick up a storage container 106 so that it can be transported to a second location (not shown) where the storage container 106 can be accessed from outside the grid 104 or transferred out of or into the grid 104. In the art, such a location is typically referred to as a "port", and the grid column in which the port is located may be referred to as a transfer column 119, 120. The unloading and picking ports are the upper ends / openings of the respective transfer columns 119, 120.

[0019] Figure 1A and Figure 2A The prior art storage grid 104 in the embodiment of the present invention comprises two transfer columns 119 and 120. The first transfer column 119 may, for example, comprise a dedicated unloading port at which a container handling vehicle 200, 300 may unload a storage container 106 to be transported by the transfer column 119 and further unload to, for example, a pick-up / deposit station, and the second transfer column 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 by the transfer column 120 from, for example, a pick-up / deposit station. The storage container may be transported through the transfer column by using a lifting device of the container handling vehicle 200, 300 or by using a storage container lifting device arranged in the transfer column. Each port of the first transfer column and the second transfer column may be suitable for picking up and unloading a storage container.

[0020] The second position may typically be a pick / store station where products are removed from and / or positioned in storage containers 106. In the pick / store station, storage containers 106 are typically never removed from the automated storage and retrieval system 1, but are returned to the storage grid 104 once accessed.

[0021] In order to monitor and control the automatic storage and retrieval system 1, for example, to monitor and control the positions of the corresponding storage containers 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 transported to the desired location at the desired time without the container handling vehicles 200, 300 colliding with each other, the automatic storage and retrieval system 1 includes a computer control system (not shown), which typically includes a database for tracking the storage containers 106.

[0022] A conveyor system including a conveyor belt or rollers is typically used to transport the storage containers from the lower end of the transfer train 119, 120 to, for example, a pick-up / deposit station.

[0023] The conveyor system may also be arranged to transfer storage containers between different storage grids, for example as described in WO 2014 / 075937 A1, the content of which is incorporated herein by reference.

[0024] Furthermore, WO 2016 / 198467 A1, the contents of which are incorporated herein by reference, discloses an example of a prior art access system having a conveyor belt ( Figure 5 a and Figure 5 b) and a framed track (WO2016 / 198467A1 Figure 6 a and Figure 6 b) for transporting storage containers between transfer trains and stations where operators can access the storage containers.

[0025] When accessing data stored in Figure 1A 104, 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 transfer column 119. This operation includes moving the container handling vehicle 200, 300 to a grid position above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using a lifting device (not shown) of the container handling vehicle, and transporting the storage container 106 to the transfer column 119. If the target storage container 106 is located deep within the stack 107, i.e., where one or more other storage containers are positioned above the target storage container 106, the operation also includes 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 using the same container handling vehicle 200, 300 that is subsequently used to transport the target storage container 106 to the transfer column, or using 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 removing a storage container 106 from a 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 105.

[0026] When a storage container 106 is to be stored in the grid 104, one of the container handling vehicles 200, 300 is instructed to pick up a storage container 106 from the transfer column 120 and transport it to a grid position above the storage column 105, where it is stored. After any storage container located at or above the target position within the storage column stack 107 has been removed, the container handling vehicle 200, 300 positions the storage container 106 at the desired position. The removed storage container can then be lowered back into the storage column 105, or repositioned to another storage column 105.

[0027] A problem associated with known automated storage and retrieval systems 1 is that the area around the pick-up and unloading ports may become blocked by container handling vehicles 200, 300 that are instructed to unload or pick up storage containers 106. This may seriously hinder the operation of the automated storage and retrieval system 1. In small systems, this situation may be alleviated by adding additional transfer columns to the grid, because this will allow the container handling vehicles 200, 300 to be distributed in a large number of ports of the transfer columns to avoid blockage. However, if additional ports and columns are added, the number of pick-up / deposit stations and conveyor system infrastructure must be increased. This requires space, which may not necessarily be available. Moreover, it is expensive to increase the conveyor system infrastructure and additional pick-up / deposit stations.

[0028] In prior art solutions for transferring storage containers out of or into a storage grid, ports and corresponding transfer columns 119, 120 need to be arranged at grid columns 112 in / at the periphery of the storage grid, or ports are arranged at extensions of the track system 108 extending beyond the grid columns 112 at the periphery of the storage grid 104. Examples of such prior art solutions are disclosed in, for example, WO 2014 / 203126 A1, WO 2012 / 026824 A1, WO 2016 / 198467 A1, and WO 2017 / 211596 A1. This requirement makes the number of transfer columns 119, 120 and any associated structures for storage container handling (e.g., pick-up / deposit stations) limited by the available space at the periphery of the storage grid. In addition, by arranging transfer columns 119, 120 at or outside the periphery of the storage grid, container handling vehicles are typically required to travel a long distance on the storage grid to reach the nearest port. The latter is an obstacle to achieving optimal efficiency, particularly when operating large storage grids where the distance from the central section of the storage grid to the periphery is long.

[0029] Another problem with prior art solutions is the lack of flexibility regarding the handling of storage containers leaving or entering the storage grid. That is, storage containers from which items are to be picked up or in which items are to be deposited must be delivered to a port specifically designated for picking up / depositing items. Similarly, storage containers leaving the grid for the purpose of being transported, for example, to an adjacent storage grid or assembly line must be delivered to a port specifically designated for this purpose.

[0030] Some of the above-mentioned problems with flexibility can be solved by using a wide range of conveyor systems (i.e., conveyor belts, rollers, etc.) and dedicated storage container elevators. However, such systems are expensive, service intensive, and susceptible to single point failure events that may disrupt the operation of the storage system.

[0031] The efficiency problem of the prior art automated storage and retrieval system 1 is that the separate unloading ports and pick-up ports of the transfer trains 119, 120 require the container handling vehicles 200, 300 to move to the storage trains 105 or pick-up ports after unloading to retrieve new storage containers 106. Likewise, when the container handling vehicles 200, 300 are delivered to the pick-up ports 120 to pick up storage containers, they must be emptied of the storage containers 106. This is generally inefficient and results in increased congestion around the ports as the container handling vehicles 200, 300 move back and forth on the grid without the storage containers 106 as payload.

[0032] In view of the above, it is an object of the present invention to provide an automated storage and retrieval system, and method for operating such a system, 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.

[0033] 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 the jamming of container handling vehicles at the transfer train.

[0034] Another object is to provide an automated storage and retrieval system that increases the availability of transfer trains for container handling vehicles operating on top of the storage grid.

[0035] Yet another object is to provide an automated storage and retrieval system that is less susceptible to single point failure events that could disrupt the operation of the storage system.

[0036] Yet another object is to provide a flexible automated storage and retrieval system wherein the storage container transfer capabilities as well as the purpose / function of the storage container handling system can be easily increased or modified after installation. Summary of the invention

[0037] The present invention is defined by the appended claims and the following:

[0038] In a first aspect, the present invention provides a storage system comprising a storage grid structure comprising vertical row profiles defining a plurality of storage rows and at least one transfer row in which storage containers can be stored one on top of another in a vertical stack, the row profiles being interconnected at the upper ends by top rails forming a horizontal top rail grid on which the container handling vehicles can move in two vertical directions, the container handling vehicles being able to retrieve storage containers from the storage rows and store storage containers in the storage rows and being able to transport storage containers on the storage grid structure,

[0039] wherein the storage grid structure comprises at least one horizontal transfer section; and

[0040] The storage system includes a plurality of container transfer vehicles and transfer rails forming a transfer rail grid on which the container transfer vehicles can move in at least one horizontal direction, and

[0041] - a transfer section is arranged at a height below the top rail grid and extends from the outside of the storage grid structure to a position below the at least one transfer column and comprises at least a portion of the transfer rail grid on which container transfer vehicles can pass each other and move in two perpendicular horizontal directions; and

[0042] - each container transfer vehicle comprises a container carrier for carrying a storage container and a wheel arrangement for moving the container transfer vehicle in two perpendicular directions on a grid of transfer tracks; and

[0043] Therein, the at least one transfer row extends from the top rail grid to the transfer section such that storage containers can be transferred between the top rail grid and a container carrier of one of the container transfer vehicles.

[0044] In other words, the at least one transfer column extends from the top rail grid to the transfer section so that when a container transfer vehicle is arranged on the transfer rail grid at a position below the transfer column, storage containers can be transferred between the top rail grid and a container carrier of one of the container transfer vehicles.

[0045] The at least one transfer column may also be defined as a column for vertically transferring storage containers between different heights of the grid structure, preferably by using container handling vehicles.

[0046] In other words, the transfer section may be defined as being arranged at a height below the height of the top track grid.

[0047] In one embodiment of the storage system, the transfer tracks extending in at least one of the two vertical directions of the transfer track grid may be double track tracks, such that container transfer vehicles may pass each other on adjacent grid cells of the transfer track grid when moving in one direction. In other words, the transfer tracks of the transfer track grid may extend in two vertical horizontal directions, and the transfer tracks extending in at least one of the two vertical directions of the transfer track grid may be double track tracks, such that container transfer vehicles may pass each other on adjacent grid cells of the transfer track grid when moving in one direction.

[0048] In one embodiment of the storage system, the transfer track may be a double track such that container transfer vehicles may pass each other on adjacent grid cells of the transfer track grid.

[0049] In one embodiment of the storage system, each container transfer vehicle may have a horizontal perimeter that fits within a horizontal area defined by the grid cells of the transfer track grid. In other words, the transfer track grid may include a plurality of grid cells defined by the transfer track grid, and each container transfer vehicle may have a horizontal perimeter that fits within a horizontal area defined by one of the grid cells of the transfer track grid such that the container transfer vehicles may pass each other on adjacent grid cells of the transfer track grid; in other words, such that the container transfer vehicles may pass each other when moving on adjacent grid cells of the transfer track grid.

[0050] In one embodiment of the storage system, the height of the transfer section may be sufficient to allow a container transfer vehicle to travel within the transfer section when transporting storage containers.

[0051] The transfer track may be defined as forming, providing, and / or being part of a transfer track grid on which a container transfer vehicle may move in at least one horizontal direction. In addition, the container transfer vehicle may move in two vertical horizontal directions when at least a segment of the transfer track grid is part of a transfer section. In other words, the transfer track grid, at least as a part of a transfer section, provides at least two vertical transfer vehicle paths, thereby allowing the container transfer vehicle to move in two vertical directions on the transfer track grid.

[0052] In one embodiment of the storage system, at least a portion of the transfer track grid may be formed or provided by transfer tracks arranged outside the storage grid. In other words, at least a portion of the transfer track grid may be arranged outside the storage grid.

[0053] In one embodiment of the storage system, the transfer rail and the transfer rail grid may be similar or identical in design to the top rail and the top rail grid, respectively.

[0054] In one embodiment of the storage system, the transfer track grid and the top track grid have substantially similar or identical dimensions. In other words, the transfer track and the top track provide respective track grids having grid cells of the same horizontal extent and / or dimensions. This feature is advantageous because it allows for a plurality of adjacent transfer columns by which storage containers can be simultaneously transferred to respective adjacent container transfer vehicles disposed in the transfer section.

[0055] In one embodiment of the storage system, the transfer track grid extends from a position below the at least one transfer column to a second position outside the storage grid structure. In other words, the transfer track grid extends from a position below the at least one transfer column to a second position outside the storage grid structure so that a container transfer vehicle can move from a position below the at least one transfer column to a second position.

[0056] In one embodiment of the storage system, the transfer track provides at least one transfer vehicle path extending from a position below the at least one transfer column to a second position outside the storage grid structure, i.e., so that a container transfer vehicle can move from a position below the at least one transfer column to a second position. The transfer track may provide a plurality of transfer vehicle paths extending from a position below the at least one transfer column to a second position outside the storage grid structure.

[0057] In one embodiment of the storage system, the wheel arrangement of each container transfer vehicle comprises eight wheels, wherein a first set of four wheels enables the container transfer vehicle to move laterally in a first direction, and a second set of the remaining four wheels enables lateral movement in a second direction perpendicular to the first direction. One or both sets of wheels in the wheel arrangement are connected to a wheel lifting mechanism and 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 tracks of the transfer track grid at any one time.

[0058] In one embodiment of the storage system, each container handling vehicle includes wheel arrangements similar to the wheel arrangements of the container transfer vehicles for engaging a respective set of top rails of the top rail grid.

[0059] In one embodiment of the storage system, the at least one transfer column extends from the top rail grid to the transfer section so that the container handling vehicles can transfer storage containers between the top rail grid and a container carrier of one of the container transfer vehicles. Each container handling vehicle may include a lifting device for vertically transferring storage containers.

[0060] In one embodiment of the storage system, the transfer section extends from a first opening at the outside of the storage grid structure to at least a second opening at the outside of the storage grid structure. In other words, the transfer section extends from the first opening at the outside of the storage grid structure through an inner section of the storage grid structure to at least a second opening at the same or different outside of the storage grid structure. The term "opening" is intended to mean a gap in the storage grid structure through which at least one container transfer vehicle can pass while transporting storage containers. Preferably, the first opening and / or the second opening has a width that allows at least two container transfer vehicles to pass through simultaneously.

[0061] In one embodiment of the storage system, the first opening and the second opening are arranged at separate outer sides of the storage grid structure, preferably the first opening and the second opening are arranged at opposite outer sides of the storage grid structure.

[0062] In one embodiment of the storage system, the transfer track and / or the transfer track grid provide at least two adjacent transfer vehicle paths so that at least two container transfer vehicles can pass each other in the transfer section, i.e., can pass each other when moving on the transfer track or transfer track grid in the transfer section. Preferably, the transfer track grid includes a double track track, thereby allowing container transfer vehicles to pass each other at adjacent grid cells of the transfer track grid. In another embodiment, the transfer track or transfer track grid provides at least three transfer vehicle paths so that at least three container transfer vehicles can pass each other in the transfer section in one direction. In one embodiment, the storage system may include multiple transfer columns.

[0063] In one embodiment of the storage system, the transfer section extends below the plurality of transfer columns. Preferably, the transfer section extends below a plurality of adjacent transfer columns.

[0064] In one embodiment of the storage system, the plurality of transfer columns are arranged above one of the transfer vehicle paths.

[0065] In one embodiment, each of the plurality of transfer columns is arranged over a grid cell of the transfer track grid, and may be arranged over only one grid cell, ie, over a corresponding grid cell of the transfer track grid.

[0066] In another embodiment, the plurality of transfer trains may be arranged over only one of several (e.g., two or three) transfer vehicle paths. In this way, one (or a single) vehicle path may be dedicated to receiving storage containers from the at least one transfer train or delivering storage containers to the container transfer vehicles of the at least one transfer train, while the remaining vehicle paths are dedicated to the transfer out of the transfer section / movement into the transfer section of the container transfer vehicles that may optionally transport storage containers.

[0067] In one embodiment of the storage system, the transfer track grid extends from an outside of the storage grid to a second position external to the storage grid structure.

[0068] In one embodiment of the storage system, the transfer track grid extends from a position below the at least one transfer column to a second position outside the storage grid structure. The second position can be at any suitable area, device or station for handling or transferring storage containers or their contents, or at any suitable location for parking container transfer vehicles, for example, a loading station for a battery-powered container transfer vehicle or a temporary storage location for storage containers arranged on a container transfer vehicle.

[0069] In one embodiment of the storage system, the second location is arranged at a pick-up / deposit station or area so that an operator / robot can access the contents of the storage container when arranged on a container transfer vehicle.

[0070] In one embodiment of the storage system, the second position is below the transfer column in the transfer section of the second storage grid structure. The second storage grid structure includes any features of the storage grid structure of the first aspect and its embodiments, as defined above. Alternatively, the first aspect can be defined as a storage system including at least a first storage grid structure. In another embodiment, the transfer track or transfer track grid extends to a third position below the transfer column in the transfer section of the third storage grid structure. In a storage system including a first storage grid structure and a second storage grid structure, the second storage grid structure can be arranged at any height and / or position relative to the first storage grid structure. When the first storage grid structure and the second storage grid structure are arranged at different heights, the transfer track grid may include a container transfer vehicle elevator for lifting the container transfer vehicle between different heights of the transfer track grid.

[0071] An advantage of the present invention is that it is possible to easily interconnect a plurality of individual storage grid structures, and optionally any third party storage systems. This provides an improvement in fire safety, since the plurality of storage grid structures are easily separable in a manner that prevents the spread of fire from one storage grid structure to another. In addition, the use of a plurality of individual storage grid structures allows for improved utilization of available space in a storage house or location. Therefore, the storage system of the first aspect may also include a plurality of storage grid structures. Each storage grid structure may be interconnected by a transfer track grid, so that a container transfer vehicle may be moved between any of the plurality of storage grid structures.

[0072] In one embodiment of the storage system, the transfer track grid may include an interface that can be connected to a third-party storage, production and / or distribution system. The transfer track grid may be integrated with the third-party storage, production and distribution system so that storage containers can be transported between the storage system of the first aspect and the third-party storage, production and / or distribution system. The transfer track grid may be connected to a third-party storage, production and distribution system, such as a production facility, a storage grid, an assembly facility, a receiving or shipping location, etc. The connection may be achieved by a connectable track system or a conveyor system that includes a conveyor for transporting storage containers between the transfer track grid and the third-party storage, production and / or distribution system.

[0073] In one embodiment of the storage system, the second location is at a production facility, such as an assembly line or station.

[0074] In one embodiment of the storage system, the transfer track grid includes at least one transfer vehicle path, which is arranged outside the storage grid structure and connects the first opening and the second opening of the transfer section arranged at a separate outer side (or side section) of the storage grid structure to each other, for example, so that the transfer section extends between two opposite sides / walls of the storage grid.

[0075] In one embodiment of the storage system, the at least one transfer column is spaced apart from a horizontal perimeter of the storage grid structure, ie the at least one transfer column is separated from the perimeter of the storage grid structure by at least one column, such as a storage column.

[0076] In one embodiment of the storage system, the transfer section extends to a segment or portion of a storage grid structure or a position within a storage grid structure, wherein the horizontal distance to any outside of the storage grid corresponds to the width of at least five adjacent grid columns, or wherein the horizontal distance to the outside of the storage grid from which the transfer section extends corresponds to the width of at least five adjacent grid columns.

[0077] In one embodiment of the storage system, the length of the transfer section is equal to at least half the length of an outer side of the storage grid structure, which outer side extends in the same direction as the transfer section.

[0078] In one embodiment of the storage system, the transfer section comprises or is defined by a plurality of horizontal roof profiles, vertical support profiles arranged at opposite ends of at least some of the roof profiles (e.g. at opposite ends of at least some of the roof profiles), and a transfer rail or a section of the transfer rail grid arranged within the storage grid. The roof and support profiles may also be referred to as roof and support beams.

[0079] In one embodiment of the storage system, the plurality of horizontal top profiles are provided or arranged as a horizontal support grid. The horizontal support grid defines a plurality of support grid cells, and at least some of the support grid cells may be transfer ports through which storage containers may be transferred.

[0080] In one embodiment of the storage system, at least some of the plurality of horizontal top profiles may be narrower than the vertical column profiles. This feature enables the presence of two or more adjacent rows of adjacent transfer columns.

[0081] In one embodiment of the storage system, each vertical row of profiles comprises four corner sections, wherein each corner section is arranged to accommodate a corner section of a storage box.

[0082] In one embodiment of the storage system, the height of the transfer section is defined by the distance between the lowermost surface of the top profile and the upper surface of the opposite transfer rail of the transfer rail grid. In other words, the height is defined by the distance between the top profile and the opposite transfer rail. Thus, when a container transfer vehicle carrying a storage container is arranged on the transfer rail grid, its height is lower than the height of the transfer section.

[0083] In one embodiment of the storage system, the width of the transfer section is defined by the distance between two supporting profiles connected at opposite ends of a common top profile.

[0084] In one embodiment of the storage system, the plurality of transfer columns are defined by vertical column profiles extending from the top rail grid to the top profile and / or the support grid.

[0085] In one embodiment of the storage system, each of the plurality of transfer columns includes a transfer port at its lower end. The transfer port may be arranged at a height above the transfer track grid, thereby allowing a container transfer vehicle to be positioned directly below the transfer port to receive or deliver a storage container.

[0086] In one embodiment, the storage system comprises a plurality of storage rows arranged above the transfer section, the rows comprising blocking elements such that storage containers arranged in the storage rows are prevented from entering the transfer section.

[0087] In one embodiment, the storage system includes an operator access channel arranged adjacent to at least one side of the transfer section. The access channel can be arranged below a plurality of storage columns arranged adjacent to at least one side of the transfer section, and the storage column includes a blocking element to prevent storage containers arranged in the storage column from entering the access channel. The access channel can extend adjacent to the transfer section so that an operator or maintenance personnel can approach a container transfer vehicle arranged on a vehicle path in a transfer track grid or transfer section. The blocking element can be arranged at a suitable height to allow an operator to walk below any storage container in a row of storage columns accommodated adjacent to the transfer section.

[0088] In one embodiment, the transfer of storage containers between the top rail grid and the container carriers of a container transfer vehicle is performed by a dedicated container lifter arranged in the transfer column. However, preferably, the transfer of storage containers between the top rail grid and the container carriers of a container transfer vehicle is performed by any container handling vehicle, i.e. by using the lifting device of any container handling vehicle.

[0089] Preferably, the at least one transfer column is arranged so that a container handling vehicle can lower a storage container from the top track grid via the transfer column to a container transfer vehicle arranged below the transfer column. Thus, the lower end of the transfer column has an opening, i.e. a transfer port, allowing storage containers to enter the transfer section from above.

[0090] In one embodiment of the storage system, the transfer section extends to the inner section of the storage grid structure, wherein the horizontal distance to the outside, sidewall or section of the storage grid corresponds to the width of at least five, at least six or at least seven adjacent grid columns. In other words, the transfer section can extend to the position below the transfer column, which is separated from any outer section of the storage grid structure. The transfer column can be separated from any outer section of the storage grid structure by at least five, at least six or at least seven adjacently arranged storage columns, or can be arranged near the center of the storage grid structure. The transfer section having a sufficient length extending in the storage grid structure ensures that the distance between the storage column and the transfer column is minimized. Therefore, the container handling vehicle will spend less time traveling back and forth to the transfer column, and optimizes the operation of the system.

[0091] The container carrier may be arranged to receive the container from above and thereby deliver the container above the container transfer vehicle, for example to a height above the body of the container transfer vehicle. The storage system may be arranged so that, in use, the container passes directly between the container handling vehicle and the container transfer vehicle.

[0092] The container transfer vehicle may include a weighing mechanism to measure the weight of the storage containers, such as a commercially available electronic weighing scale. The weighing mechanism may provide information about the contents of each storage container, such as the total weight, the number of units, the internal weight distribution, and / or the location where the storage container should be placed within the storage grid.

[0093] In a second aspect, the present invention provides a method for retrieving storage containers from a storage system, the storage system comprising a storage grid structure and a plurality of container handling vehicles, the storage grid structure comprising vertical column profiles, the vertical profiles defining a plurality of storage columns and at least one transfer column, in which storage containers can be stored one on top of another in a vertical stack, the column profiles being interconnected at the upper ends by top rails forming a horizontal top rail grid, the container handling vehicles being movable in two vertical directions on the horizontal top rail grid, the container handling vehicles being capable of retrieving storage containers from and storing storage containers in the storage columns and being capable of transporting storage containers on the storage grid structure,

[0094] wherein the storage grid structure comprises at least one horizontal transfer section; and

[0095] The storage system includes a plurality of container transfer vehicles and transfer rails forming a transfer rail grid on which the container transfer vehicles can move in at least one horizontal direction, and

[0096] - a transfer section is arranged at a height below the top rail grid and extends from the outside of the storage grid structure to a position below the at least one transfer column and comprises at least a portion of the transfer rail grid on which container transfer vehicles can pass each other and move in two perpendicular horizontal directions; and

[0097] - each container transfer vehicle comprises a container carrier for carrying a storage container and a wheel arrangement for moving the container transfer vehicle in two perpendicular directions on a grid of transfer tracks; and

[0098] wherein the at least one transfer column extends from the top track grid to the transfer section; wherein the method comprises the following steps:

[0099] - Retrieving storage containers from a storage column using a container handling vehicle;

[0100] - Move container handling vehicles and storage containers to transfer columns;

[0101] - lowering the storage container to a container transfer vehicle which is arranged in the transfer section at a position below the transfer column; and

[0102] -Move container transfer vehicles and storage containers to locations outside the storage grid structure.

[0103] In one embodiment of the method of retrieving a storage container from a storage system, the storage system may comprise any of the features of embodiments of the first aspect.

[0104] In one embodiment of a method for retrieving a storage container from a storage system, a location outside the storage grid is selected from: a location at a pick / put away station or area so that an operator or robot can access the contents of a storage container while the container is arranged on a container transfer vehicle; a location below a transfer column in a transfer section of a second storage grid structure; and a location at a production facility, such as an assembly line or assembly station.

[0105] In a third aspect, the present invention provides a method for retrieving and storing items in a storage system comprising a storage grid structure and a plurality of container handling vehicles, the storage grid structure comprising vertical row profiles, the vertical row profiles defining a plurality of storage rows and at least one transfer row, in which storage containers can be stored one on top of another in a vertical stack, the row profiles being interconnected at the upper ends by top rails forming a horizontal top rail grid, the container handling vehicles being movable in two vertical directions on the horizontal top rail grid, the container handling vehicles being capable of retrieving storage containers from and storing storage containers in the storage rows and being capable of transporting storage containers on the storage grid structure,

[0106] wherein the storage grid structure comprises at least one horizontal transfer section; and

[0107] The storage system includes a plurality of container transfer vehicles and transfer rails forming a transfer rail grid on which the container transfer vehicles can move in at least one horizontal direction, and

[0108] - a transfer section is arranged at a height below the top rail grid and extends from the outside of the storage grid structure to a position below the at least one transfer column and comprises at least one section of the transfer rail grid on which container transfer vehicles can pass each other and move in two perpendicular horizontal directions; and

[0109] - each container transfer vehicle comprises a container carrier for carrying a storage container and a wheel arrangement for moving the container transfer vehicle in two perpendicular directions on a grid of transfer tracks; and

[0110] wherein the at least one transfer column extends from the top track grid to the transfer section; wherein the method comprises the following steps:

[0111] -Store items in storage containers;

[0112] - arranging the storage container on a container transfer vehicle, which is a mobile storage device for the article;

[0113] -When items are to be picked up, move the container transfer vehicle to the pickup / deposit station.

[0114] In one embodiment of the method of retrieving and storing at least one item, the storage system may comprise any of the features of the embodiments of the first aspect.

[0115] In one embodiment of the method of retrieving and storing at least one item, the transfer track grid may include a storage area for parking a container transfer vehicle including a storage container with a high turnover item. The method of the third aspect may then include the steps of parking the container transfer vehicle at the storage area and / or moving the container transfer vehicle from the storage area to a pickup / deposit station when an item is to be picked up.

[0116] The at least one item may also be referred to as a high turnover item, ie, an item that is frequently retrieved from the storage system.

[0117] In a fourth aspect, the present invention provides a method for transferring storage containers in a storage system, the storage system comprising a first storage grid structure, a second storage grid structure and a plurality of container handling vehicles, each storage grid structure comprising vertical column profiles, the vertical column profiles defining a plurality of storage columns and at least one transfer column, in which storage containers can be stored one on top of another in a vertical stacking manner, the column profiles being interconnected at their upper ends by top rails forming a horizontal top rail grid, the container handling vehicles being movable in two vertical directions on the horizontal top rail grid, the container handling vehicles being capable of retrieving storage containers from and storing storage containers in the storage columns, and being capable of transporting storage containers on the storage grid structures,

[0118] wherein each storage grid structure comprises at least one horizontal transfer section; and

[0119] The storage system includes a plurality of container transfer vehicles and transfer rails forming a transfer rail grid on which the container transfer vehicles can move in at least one horizontal direction, and

[0120] - each transfer section is arranged at a height below the top rail grid and extends from the outside of the storage grid structure to a position below the at least one transfer column and comprises at least one section of the transfer rail grid on which container transfer vehicles can pass each other and move in two perpendicular horizontal directions; and

[0121] - each container transfer vehicle comprises a container carrier for transporting a storage container and a wheel arrangement for moving the container transfer vehicle in two perpendicular directions on a grid of transfer tracks; and

[0122] wherein the at least one transfer column extends from the top track grid to the transfer section; wherein the method comprises the following steps:

[0123] - retrieving a storage container from a storage row in the first storage grid structure using a first container handling vehicle;

[0124] - moving a first container handling vehicle and a storage container to a first transfer row in a first storage grid structure;

[0125] - lowering the storage container, preferably by using a lifting device of the first container handling vehicle, to a container transfer vehicle which is arranged in the transfer section of the first storage grid structure at a position below the first transfer column;

[0126] - moving the container transfer vehicle and the storage container on the transfer track grid to a transfer section of a second storage grid structure;

[0127] - arranging a container transfer vehicle at a position below a second transfer row in the second storage grid structure; and

[0128] - Transferring the storage container to the second container handling vehicle via the second transfer train, preferably by using the lifting device of the second container handling vehicle.

[0129] In one embodiment, the method of transferring a storage container in a storage system includes the step of moving a second container handling vehicle and the storage container to a storage row in a second storage grid structure. This step may also include lowering the storage container into a storage row in the second storage grid structure, for example, by using a lifting device of the second container handling vehicle.

[0130] In one embodiment of the method of transferring a storage container in a storage system, the storage system may comprise any of the features of the embodiments of the first aspect.

[0131] In a fifth aspect, the present invention provides a method for retrieving storage containers from a storage system, the storage system comprising a storage grid structure and a plurality of container handling vehicles, the storage grid structure comprising vertical row profiles, the vertical row profiles defining a plurality of storage rows and at least one transfer row, in which storage containers can be stored one on top of another in a vertical stacking manner, the row profiles being interconnected at the upper ends by top rails forming a horizontal top rail grid, the container handling vehicles being movable in two vertical directions on the horizontal top rail grid, the container handling vehicles being capable of retrieving storage containers from and storing storage containers in the storage rows, and being capable of transporting storage containers on the storage grid structure,

[0132] wherein the storage grid structure comprises at least one horizontal transfer section; and

[0133] The storage system includes a plurality of container transfer vehicles and transfer rails forming a transfer rail grid on which the container transfer vehicles can move in at least one horizontal direction, and

[0134] - a transfer section is arranged at a height below the top rail grid and extends from the outside of the storage grid structure to a position below the at least one transfer column and comprises at least a portion of the transfer rail grid on which container transfer vehicles can pass each other and move in two perpendicular horizontal directions; and

[0135] - each container transfer vehicle comprises a container carrier for transporting a storage container and a wheel arrangement for moving the container transfer vehicle in two perpendicular directions on a grid of transfer tracks; and

[0136] wherein the at least one transfer column extends from the top track grid to the transfer section; wherein the method comprises the following steps:

[0137] - retrieving a first storage container from a storage train using a container handling vehicle;

[0138] - moving the container handling vehicle and the first storage container to the transfer column;

[0139] - lowering the first storage container to a first container transfer vehicle arranged at a position below the transfer column in the transfer section by using a lifting device of the container handling vehicle;

[0140] - raising the lifting device sufficiently to separate the lifting device from the first storage container;

[0141] - moving the first container transfer vehicle and the first storage container from positions below the transfer column;

[0142] - moving a second container transfer vehicle carrying a second storage container into position below the transfer column; and

[0143] - Retrieving the second storage container via the transfer train by using the lifting device.

[0144] In one embodiment of the fifth aspect, the method includes the step of moving a container handling vehicle and a second storage container into a storage column in the storage grid structure. This step may also include, for example, lowering the second storage container into a storage column in the storage grid structure by using a lifting device of the container handling vehicle. Thus, the container handling vehicle may receive the second storage container from the second container transfer vehicle immediately after lowering the first storage container to the first container transfer vehicle and before fully retracting its lifting device.

[0145] In one embodiment of the fifth aspect, the storage system may include any features of the embodiments of the first aspect.

[0146] In a sixth aspect of the invention, a storage network is provided, comprising a plurality of storage systems according to the first aspect of the invention, wherein the transfer track grids of the respective storage systems are connected to provide access to the container transfer vehicles of each storage system to each storage grid structure, and to enable transfer of storage containers between the storage grid structures of the respective storage systems. The storage network can allow the volume of each grid structure to be maintained at an optimal size, thereby maintaining the ratio of its outer surface to its volume, and thus maintaining access efficiency to the stored containers. In other words, the total storage volume can be increased while maintaining an optimal working effective outer surface area to volume ratio.

[0147] The term "transfer section" is intended in the present application to mean a substantially horizontal passage / passageway and / or recess in a storage grid structure, which has at least one open end or open side, i.e. an opening, at the outside or wall of the storage grid. The opening allows a container transfer vehicle to enter / leave the transfer section from a location outside the storage grid structure. Alternatively, the term "transfer section" may be replaced by a "transfer section space" or "transfer space". BRIEF DESCRIPTION OF THE DRAWINGS

[0148] The present invention is described in detail below by way of example only and with reference to the following drawings:

[0149] Figures 1A to 2B is a perspective view of a prior art automated storage and retrieval system, wherein Figure 1A and Figure 2A shows the complete system, and Figure 1B and Figure 2B An example of a prior art container handling vehicle suitable for use with the system is shown.

[0150] Figure 3 is a perspective view of a first exemplary storage grid for use in a storage system according to the present invention.

[0151] Figure 4 yes Figure 3 A perspective side view of the storage grid in .

[0152] Figure 5 yes Figure 3 and Figure 4 A perspective view of a storage grid in FIG. 1 , featuring a container handling vehicle and a container transfer vehicle.

[0153] Figure 6 yes Figures 3 to 5 A perspective view of a storage grid in which storage rows are filled with storage containers.

[0154] Figure 7 is a perspective view of a second exemplary storage grid for use in a storage system according to the present invention.

[0155] Figure 8 yes Figure 6 A perspective view of a storage grid in FIG. 1 , featuring a container handling vehicle and a container transfer vehicle.

[0156] Fig. 9 is a perspective top view of a third exemplary storage grid for use in a storage system according to the present invention.

[0157] Fig.10 is a perspective side view of a third exemplary storage grid for use in a storage system according to the present invention.

[0158] Fig.11 is a schematic top view of an exemplary storage system according to the present invention.

[0159] Fig.12 yes Figure 8 Detailed view of a section of a storage system in FIG.

[0160] Fig.13 is a perspective view of a storage system according to the present invention.

[0161] Fig.14A and Fig. 14B is a perspective view of an exemplary container transfer vehicle of a storage system according to the present invention. DETAILED DESCRIPTION

[0162] In the following, 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 some features are described only with respect to the system, it is obvious that they are also valid for the related method, and vice versa.

[0163] Figure 3 and Figure 4 One embodiment of a storage grid for an automated storage and retrieval system according to the present invention is shown in FIG. Figure 5 FIG. 4 shows the same storage grid featuring a container handling vehicle 300 and a container transfer vehicle 6. The number of storage columns of the grid is scaled down to better illustrate the inventive features of the storage grid. The main portion of the storage grid is shown in FIG. Figure 1A and Figure 2AThe storage grid structure 104 is constructed in the same manner as the prior art system shown. That is, the storage grid structure 104 includes vertical column profiles 102 that define a plurality of storage columns 105, wherein storage containers 106 can be stored one on top of another in the form of vertical stacks 107. The column profiles 102 are interconnected at their top ends by top rails 110, 111 that form a horizontal track grid 108 (hereinafter referred to as the top track grid) on which the container handling vehicles 200, 300 can move in two vertical directions. In order to guide the vertical movement of the storage containers, each vertical column profile 102 has a cross-section characterized by four corner sections, wherein each corner section is arranged to accommodate a corner of the storage box 106.

[0164] In addition to the storage columns 105, the storage grid structure of the storage system of the present invention includes a plurality of transfer columns 119, 120 by which storage containers can be transferred between the top track grid 108 (i.e., the top height of the grid) and a transfer section 2 (or channel / passageway) extending within the storage grid structure at a height below the top track grid. The transfer section extends from an opening in the outer side of the grid structure 104 and is located below the plurality of transfer columns 119, 120. In an advantageous embodiment, particularly when connected to a large storage grid, the transfer section can extend to a substantially central position of the storage grid and even pass through the storage grid via a substantially central section of the storage grid structure 104 to reduce the distance that the storage handling vehicles 200, 300 must travel to reach the transfer columns.

[0165] The transfer section 2 is defined or constructed by a portion of a plurality of horizontal top profiles 3, vertical support profiles 4, and a horizontal track grid 5 (hereinafter referred to as the transfer track grid). The top profile 3 provides a horizontal support grid 18. In order to allow adjacent rows of transfer columns 119, 120, the top profile arranged between two rows of grid columns is narrower than the column profile 102. The height H of the transfer section 2 can be defined by the distance between the lowermost surface of the top profile 3 and the upper surface of the relative tracks 110', 111' of the transfer track grid 5, and the width W of the transfer section is defined by the distance between the inner surfaces of the two support profiles 4 connected to the common top profile 3. The plurality of transfer columns 119, 120 are defined by vertical column profiles extending from the top track grid to the top profile 3. The height H of the transfer section 2 is sufficient to allow the container transfer vehicle 6 to travel in the transfer section 2 when transporting storage containers.

[0166] The top profile 3 and / or the support grid 18 are supported by vertical support profiles 4 arranged at the periphery of the transfer section 2. The support grid 18 defines a plurality of support grid cells 19, and at least some of the support grid cells 19 are transfer ports 150, see Figure 5 , the storage container 106 can be transferred through the transfer port.

[0167] Figure 5 A situation in which the storage container 106 is transferred between the container transfer vehicle 6 and the container handling vehicle 300 is shown.

[0168] The transfer track grid 5 in the transfer section 2 includes tracks 110', 111' (i.e., transfer tracks) similar to the tracks 110, 111 (i.e., top tracks) of the top track grid 108, on which the container transfer vehicle 6 (or conveyor vehicle) can move in two vertical directions. The container transfer vehicle 6 (see one embodiment of a suitable transfer vehicle) Fig.14A and Fig. 14B ) is characterized by wheel devices 32a, 32b that allow the vehicle to travel on the transfer track grid 5 and the container carrier 38 for accommodating the storage container to be transferred. The disclosed container transfer vehicle 6 is characterized by a container carrier 38 in the form of a deep pan in which the lower part of the storage container 106 can be accommodated. However, many alternative solutions for suitable container carriers can be envisioned, and the main functional feature of all suitable container carriers is the ability to receive and hold the storage container lowered to the top of the container carrier during the movement of the container transfer vehicle on the transfer track grid 5. In addition, the horizontal periphery of the container transfer vehicle 6 is preferably such that each of the multiple adjacent transfer columns 119, 120 can be used to transfer the storage container 106 to the corresponding container transfer vehicle 6 at the same time. In order to obtain the latter function, the horizontal periphery of the container transfer vehicle 6 is assembled in a horizontal area defined by a grid cell 122' of the transfer track grid 5. In addition, the transfer track 110', 111' extending in one of the two vertical directions is a double track track, see below, to allow multiple container transfer vehicles to be arranged adjacently below the multiple adjacent transfer columns 119, 120.

[0169] The transfer section 2 has a width W which provides space for three separate transfer vehicle paths 7, 7', 7" in the longitudinal direction of the transfer section. By having three separate transfer vehicle paths, three transfer vehicles 6 can pass each other at the same time. To achieve this feature, at least the track 111' extending in the longitudinal direction of the transfer section is a double track track. In, for example, WO 2015 / 193278 A1 and WO A suitable double track track is disclosed in 2015 / 140216A1. Double track tracks 110', 111' include two parallel tracks. In other words, three parallel double track tracks can provide two parallel transfer vehicle paths. The track 110' arranged in the vertical direction relative to the track 111' extending in the longitudinal direction of the transfer section can be a single track track or a double track track. In particular, when the storage grid structure 104 includes a plurality of adjacent transfer columns 119, 120, it may be advantageous that all tracks 110', 111' in the transfer track grid 5 are double track tracks, because it provides the best flexibility for the movement of the container transfer vehicle 6 to and from the position below the transfer columns 119, 120. The design of the transfer tracks 110', 111' and the wheel devices 32a, 32b of the container transfer vehicle 6 allows the vehicle to change the track when necessary, that is, the container transfer vehicle 6 can move in two vertical directions on the transfer track grid 5. The wheel device can preferably be similar to the wheel device described for the container handling vehicle 200, 300 of the prior art.

[0170] Depending on the requirements of the storage system of the invention (i.e. the size of the storage grid, the turnover of storage containers, etc.), one or more transfer vehicle paths 7, 7', 7" are arranged below a selectable number of transfer columns 119, 120. Grid columns 112 arranged above the transfer section and not designated as transfer columns can be used as storage columns 105' (see Figure 6 and Fig.12 ). This is achieved by adding a blocking element 16 (e.g. a bracket fastened to the relevant column profile) at the lower end of the corresponding grid column 102 (the blocking element in the storage column 105' arranged above the transfer section 2 is not visible in the figure). The blocking element 16 is designed to support the storage container 106 lowered into the corresponding grid column 112 and prevent it from entering the transfer section 2 below. In this way, the potential storage space loss of the storage grid structure 104 due to the transfer section 2 is minimized. The blocking element 16 can also be used to provide an operator access 17 below a row of storage columns 105' adjacent to the transfer section 2. In this way, an operator or maintenance personnel can access the container transfer vehicle 6, for example in the event of a fault that prevents the vehicle from leaving the transfer section.

[0171] The transfer track grid 5 extends out of the storage grid structure 104, and depending on the design and scope of the transfer track grid 5, the container transfer vehicle 6 can be used to transfer storage containers 106 between multiple separate storage grid structures, transfer containers from the storage grid to a pick / storage station, transfer to a dedicated storage area, transfer to an assembly line for conveying parts, etc.

[0172] Figure 7 and Figure 8 A second embodiment of a storage grid 104 for an automated storage and retrieval system according to the present invention is shown in FIG. In this embodiment, the different features of the above embodiments are taken into account in that the transfer section 2 is arranged along or adjacent to the outer section 12 of the storage grid 104 .

[0173] Fig. 9 and Fig.10 A third embodiment of a storage grid 104 for an automated storage and retrieval system according to the invention is shown in . In view of the above embodiments, the main different feature of the third embodiment is the structure of the support grid 18, which allows container transfer vehicles to leave / enter the transfer section via its longitudinal sides.

[0174] In any given storage system, the preferred arrangement and dimensions of the transfer sections 2 and the positioning of the transfer columns 119, 120 will depend on the dimensions of the storage grid structure 104, the intended use of the storage system 1, the available space in which the storage system is arranged, the shape / layout of said space, etc. Regardless of the specific positioning of the transfer sections 2 within the storage grid structure, as disclosed in this specification, the storage system according to the present invention will provide many advantages over prior art storage systems.

[0175] Fig.11 and Fig.12 A schematic overview of an exemplary layout of a storage system 1 of the invention is shown in . This exemplary layout illustrates some of the many advantages of the storage system of the invention.

[0176] Fig.11 The storage system in comprises three separate storage grid structures 104, 104', 104". Each of the first storage grid structure 104 and the third storage grid structure 104" is characterized by a transfer section 2, 2" extending through the entire corresponding storage grid structure, i.e., the transfer section extends from a first opening 11 in an outer side 12 of the storage grid to a second opening 13 in an opposite outer side 12'. In this way, a container transfer vehicle 6 that has received or delivered a storage container 106 via any one of the multiple transfer columns 119, 120 can leave the first opening 11 or the second opening 13 of the transfer section 2, depending on which path to the selected destination is most efficient.

[0177] Each of the transfer sections 2, 2', 2" is characterized by three transfer vehicle paths 7, 7', 7", see Fig. 9 . The first vehicle path 7 is arranged below a plurality of adjacent transfer columns 119, 120, through which storage containers 106 can be transferred between the top rail grid 108 and the container transfer vehicle 6. The second vehicle path 7' and the third vehicle path 7" are arranged below a plurality of storage columns 105', and are primarily used by the container transfer vehicles 6 to travel to and from the transfer columns 119, 120 within the transfer section. The transfer section 2' in the second storage grid 104' does not extend all the way through the storage grid, and the container transfer vehicles 6 will always enter and leave the transfer section via the first opening.

[0178] The transfer grid 5 connects the transfer columns 119, 120 of the first storage grid 104 with the transfer columns 119, 120 of the second storage grid 104' and the third storage grid 104", wherein the track loop / loop 14 (which can be arranged at a pick-up / deposit station, see Fig.13 ) are interconnected with the multi-purpose transfer grid area 15 and any other destination to which the transfer of storage containers is desired. The multi-purpose transfer grid area 15 can be used, for example, to deposit a large number of new items into the storage grid, as a temporary parking area for transfer vehicles that transport storage containers including high-demand items, and / or as a loading area for storage containers entering the storage grid.

[0179] The use of areas or sections of the transfer grid 5 to accommodate container transfer vehicles 6 carrying storage containers 106 including high-demand items, i.e., parking segments of the transfer grid, provides an efficient method of retrieving items with very high pick-up rates (i.e., items with particularly high turnover). In prior art systems, such high-turnover items require that specific storage containers storing these items be transferred back and forth more or less continuously between the storage columns 105 and the pick-up / deposit stations. In the storage system of the present invention, items with particularly high turnover can be permanently (or at least intermediately) stored in storage containers arranged on transfer vehicles 6. In this way, high-turnover items can be retrieved in a very short time, further minimizing congestion at the transfer columns, and avoiding unnecessary use of container handling vehicles 200, 300.

[0180] Fig.12 The schematic overview in Fig.11 Detail of a first storage grid 104 in FIG. 1 is shown, but alternative layouts of a storage system including a single storage grid 104 may also be shown.

[0181] Fig.13 Disclosed is a method having substantially Fig.12The storage system is characterized by two pick-up / deposit stations 8, wherein each station is arranged so that a container transfer vehicle 6 can pass under a container access opening 9 arranged in the pick-up / deposit station while moving on the transfer track grid 5. In other words, the pick-up / deposit station 8 is arranged so that the container transfer vehicle 6 can pass through the pick-up / deposit station via the track loop 14, as shown. Fig.11 and Fig.12 Thus, a storage container 106 containing an item to be picked up (or a storage container into which an item is to be deposited) is first retrieved by a container handling vehicle 200, 300 arranged on the top track grid 108, lowered to a container transfer vehicle 6 located below a suitable transfer column 119, 120 within the transfer section 2, and transported by the container transfer vehicle 6 to the pick-up / deposit station 8, wherein the transfer vehicle stops in a position below the container access opening 9 to allow an operator to pick up the item.

[0182] Fig.11 and Fig.12 The storage system 1 shown features three laterally separated storage grid structures 104, 104', 104". However, it is also conceivable that the storage system according to the invention may comprise storage grid structures separated in the vertical direction, for example stacked on top of each other. When separated in the vertical direction, the transfer rail grid of the storage system may, for example, comprise a container transfer vehicle lift for lifting container transfer vehicles between separated layers of the transfer rail grid so that the container transfer vehicles can access all areas of the transfer grid.

[0183] In the disclosed embodiment of the invention, the transfer section 2 comprises a section of a transfer track grid 5, characterized by three parallel vehicle paths 7, 7', 7", allowing three transfer vehicles 6 to pass each other simultaneously. However, many advantages of the storage system of the present invention can also be obtained by using a transfer section 2 comprising at least one vehicle path, as long as the track is arranged below at least one transfer column 119, 120.

[0184] In the disclosed embodiment of the present invention, the transfer tracks 110', 111' of the transfer track grid 5 are double track tracks identical to the tracks 110, 111 of the top track grid. This feature is advantageous in terms of cost because the number of different components used when constructing the storage grid structure 104 is minimized. In addition, it allows the use of a transfer vehicle 6 having a wheel arrangement similar to that used in the container handling vehicles 200, 300, which is a feature that significantly simplifies the cost of the entire system. However, the main advantages of the storage system and storage grid structure of the present invention, such as highly flexible and efficient transfer of storage containers in and out of the storage grid, and avoiding single point failures that disrupt the operation of the storage system, can also be obtained by embodiments of the present invention, wherein the transfer tracks of the transfer track grid 5 are different from the tracks of the top track grid 108. An important feature to avoid single point failures is that the container transfer vehicles can pass each other and move in two vertical directions on the segments of the transfer track grid that are at least arranged in the transfer section. This feature allows the container transfer tool to bypass, for example, an inoperative container transfer tool, which would otherwise cause an interruption in the operation of the storage system. The presence of multiple transfer queues may further minimize any risk of a single point of failure disrupting the operation of the storage system.

[0185] It should be noted that the grid cells 122 of the top track grid 108 (see Figure 1A and Figure 2A The size of the grid cells 122' (see Fig.10 ) are of similar or identical size. Grid cells having similar sizes allow for optimal use of the storage system of the present invention by allowing adjacent transfer columns to be used simultaneously.

[0186] While the use of dual track tracks 110', 111' in at least one direction of the transfer track grid 5 provides several advantages with respect to, for example, space efficiency by allowing container transfer vehicles 6 to pass each other at adjacent grid cells 122', an advantageous storage system may also be obtained by having a transfer grid comprising only a single track track. However, the use of only a single track track would require a larger transfer grid to allow container transfer vehicles 6 to pass each other than dual track tracks because such a grid would not allow container transfer vehicles 6 to pass each other on adjacent grid cells 122'. For example, Figure 3 and Figure 5 The double-track transfer tracks 110', 111' of the transfer grid 5 disclosed in the embodiment of the present invention can be replaced by a single-track track. In this case, two container transfer vehicles 6 will still be able to pass each other on the transfer grid 5, for example by having one container transfer vehicle travel on the vehicle path 7 and the other on the vehicle path 7".

[0187] As will be apparent from this disclosure, the storage system of the present invention provides a highly flexible container transfer and handling solution. The present solution not only facilitates the transfer of storage containers to or from the storage grid structure of an automated storage system, but also provides a simple and effective solution for transferring storage containers between separate storage grids and between a storage grid and any location for further handling or processing of the storage container and / or its contents. The container handling capabilities of the storage system of the present invention can be easily expanded, and / or functionally reused to accommodate any future changes in the requirements of the complete storage system. In addition, by having transfer sections and transfer grids as described above, the container transfer and handling solution of the storage system of the present invention avoids any single point of failure that could disrupt the operation of the storage system.

[0188] Reference numerals

[0189] 1 Storage system

[0190] 2 Transfer section

[0191] 3 Horizontal top profile

[0192] 4 Vertical support profiles

[0193] 5 Transfer orbital grid

[0194] 6 Container transfer vehicle

[0195] 7 Transfer vehicle path

[0196] 8 Pickup / Deposit Stations

[0197] 9 Container access opening

[0198] 10 Track loop

[0199] 11 First opening (in the outer side of the storage grid)

[0200] 12 Storage grid outside

[0201] 13 Second opening (in the outer side of the storage grid)

[0202] 14 Track loop

[0203] 15 Multipurpose transfer grid area

[0204] 16 Blocking element

[0205] 17 Operator storage channel

[0206] 18 Support Grid

[0207] 19 support grid cells

[0208] 32a, 32b Wheel assembly

[0209] 38 Container carrier

[0210] 100 Frame structure

[0211] 102 Vertical members of the frame structure, i.e. vertical column profiles

[0212] 103 Horizontal members of frame structures

[0213] 104 Storage grid, storage grid structure

[0214] 105 Storage Rows

[0215] 105' Storage row arranged above the transfer section

[0216] 106 Storage Container

[0217] 107 Stacking

[0218] 108 Top Track Grid, Track System

[0219] 110 The first set of parallel tracks in the first direction (X), the top track

[0220] 111 The second set of parallel tracks in the second direction (Y), the top track

[0221] 110' Transfer track in the first direction of the transfer track grid

[0222] 111' Transfer track of the transfer track grid in a second direction perpendicular to the first direction

[0223] 112 grid columns

[0224] 115 Grid Opening

[0225] 119 Transfer Column

[0226] 120 Transfer Column

[0227] 122 grid cells

[0228] 150 Transfer Port

[0229] 200 Container handling vehicles of the prior art

[0230] 201, 301 wheel device

[0231] 300 Second container handling vehicle

[0232] X first direction

[0233] Y Second direction

[0234] Z third direction

Claims

1. A method for retrieving and storing items in a storage system (1), the storage system comprising a storage grid structure (104) and a plurality of container handling vehicles (200, 300), the storage grid structure (104) comprising vertical row profiles (102), the vertical row profiles defining a plurality of storage rows (105) and at least one transfer row, in which storage rows storage containers (106) can be stored one on top of another in a vertical stack (107), the vertical row profiles being interconnected at the upper ends by top rails (110, 111) forming a horizontal top rail grid (108), the container handling vehicles (200, 300) being movable in two vertical directions on the horizontal top rail grid, the container handling vehicles being capable of retrieving the storage containers (106) from the storage rows (105) and storing the storage containers in the storage rows, and being capable of transporting the storage containers on the storage grid structure, in, The storage grid structure (104) comprises at least one horizontal transfer section (2); and The storage system comprises a plurality of container transfer vehicles (6) and transfer rails (110', 111') forming a transfer rail grid (5), wherein the container transfer vehicles (6) are movable in at least one horizontal direction on the transfer rail grid, and - the horizontal transfer section (2) is arranged at a height below the horizontal top track grid (108), and the horizontal transfer section extends from the outer side (12) of the storage grid structure (104) to a position below the at least one transfer column, and the horizontal transfer section includes at least a part of the transfer track grid (5), and the container transfer vehicles (6) can pass each other on the at least a part of the transfer track grid and move in two perpendicular horizontal directions; and - each of the container transfer vehicles (6) comprises a container carrier (38) for transporting the storage container (106) and wheel means (32a, 32b) for moving the container transfer vehicle (6) in two vertical directions on the transfer track grid (5); and wherein the at least one transfer column extends from the horizontal top track grid (108) to the horizontal transfer section (2); and the method comprises the following steps: - storing the item in the storage container (106); - arranging the storage container on the container transfer vehicle (6), which is a mobile storage device for the items; - When the item is to be picked up, the container transfer vehicle (6) is moved to a pick-up / deposit station (8).

2. The method according to claim 1, wherein: The transfer track grid (5) comprises a storage area for parking the container transfer vehicle (6), the container transfer vehicle comprising the storage container with the article.

3. The method according to claim 2, further comprising the steps of: - parking the container transfer vehicle (6) at the storage area; and / or - moving the container transfer vehicle (6) from the storage area to the pick-up / deposit station when the item is to be picked up.

4. A method for transferring storage containers (106) in a storage system (1), the storage system comprising a first storage grid structure (104), a second storage grid structure (104') and a plurality of container handling vehicles (200, 300), each storage grid structure comprising vertical row profiles (102), the vertical row profiles defining a plurality of storage rows (105) and at least one transfer row, in which storage rows the storage containers (106) can be stored one on top of another in a vertical stacking manner, the vertical row profiles being interconnected at the upper ends by top rails (110, 111) forming a horizontal top rail grid (108), the container handling vehicles being movable in two vertical directions on the horizontal top rail grid, the container handling vehicles being capable of retrieving the storage containers from the storage rows and storing the storage containers in the storage rows, and being capable of transporting the storage containers on the storage grid structures, in, The first storage grid structure (104) includes at least one horizontal transfer section (2), and the second storage grid structure (104') includes at least one horizontal transfer section (2'); and The storage system comprises a plurality of container transfer vehicles (6) and transfer rails (110', 111') forming a transfer rail grid (5), the container transfer vehicles being movable in at least one horizontal direction on the transfer rail grid, and - the horizontal transfer sections (2, 2') are each arranged at a height below the horizontal top rail grid (108), and each of the horizontal transfer sections extends from the outside of the corresponding storage grid structure to a position below the at least one transfer column, and each of the horizontal transfer sections includes at least a portion of the transfer rail grid (5), and the container transfer vehicles can pass each other on the at least a portion of the transfer rail grid and move in two perpendicular horizontal directions; and - each of the container transfer vehicles (6) comprises a container carrier (38) for transporting the storage container (106) and wheel means (32a, 32b) for moving the container transfer vehicle in two perpendicular directions on the transfer track grid; and wherein the at least one transfer column extends from the horizontal top track grid (108) to the horizontal transfer section; and the method comprises the following steps: - retrieving the storage container (106) from one of the storage rows (105) in the first storage grid structure (104) using a first container handling vehicle; - moving the first container handling vehicle and the storage container (106) to a first transfer row (119) in the first storage grid structure (104); - lowering the storage container (106) to a container transfer vehicle (6) which is arranged in the horizontal transfer section (2) of the first storage grid structure (104) at a position below the first transfer column; - moving the container transfer vehicle (6) and the storage container (106) on the transfer track grid (5) to the horizontal transfer section (2') of the second storage grid structure (104'); - arranging the container transfer vehicle (6) at a position below the second transfer row (120) in the second storage grid structure (104'); and - transferring the storage container (106) to a second container handling vehicle via the second transfer train.

5. The method according to claim 4, further comprising the steps of: The second container handling vehicle and the storage container are moved to one of the storage rows (105) in the second storage grid structure (104').

6. The method according to claim 5, further comprising the steps of: The storage containers are lowered into the storage rows (105) of the second storage grid structure (104') by using a lifting device of the second container handling vehicle.

7. A method for retrieving and storing items in a storage system (1), the storage system (1) comprising a storage grid structure (104) and a plurality of container handling vehicles (200, 300), the storage grid structure (104) comprising vertical row profiles (102), the vertical row profiles defining a plurality of storage rows (105) and at least one transfer row, in which storage rows storage containers (106) can be stored one on top of another in a vertical stack (107), the vertical row profiles being interconnected at the upper ends by top rails (110, 111) forming a horizontal top rail grid (108), the container handling vehicles (200, 300) being movable in two vertical directions on the horizontal top rail grid, the container handling vehicles being capable of retrieving the storage containers (106) from the storage rows (105) and storing the storage containers in the storage rows, and being capable of transporting the storage containers on the storage grid structure, in, The storage grid structure (104) comprises at least one horizontal transfer section (2); and The storage system comprises a plurality of container transfer vehicles (6) and transfer rails (110', 111') forming a transfer rail grid (5), wherein the container transfer vehicles (6) are movable in at least one horizontal direction on the transfer rail grid, and - the horizontal transfer section (2) is arranged at a height below the horizontal top track grid (108), and the horizontal transfer section extends from the outer side (12) of the storage grid structure (104) to a position below the at least one transfer column, and the horizontal transfer section includes at least a part of the transfer track grid (5), and the container transfer vehicles (6) can pass each other on the at least a part of the transfer track grid and move in two perpendicular horizontal directions; and - each of the container transfer vehicles (6) comprises a container carrier (38) for transporting the storage container (106) and wheel means (32a, 32b) for moving the container transfer vehicle (6) in two vertical directions on the transfer track grid (5); and wherein the at least one transfer column extends from the horizontal top track grid (108) to the horizontal transfer section (2); and the method comprises the following steps: - retrieving a first storage container from one of the storage arrays (105) using one of the container handling vehicles; - moving the container handling vehicle and the first storage container to a transfer column; - lowering the first storage container to a first container transfer vehicle by using a lifting device of the container handling vehicle, the first container transfer vehicle being arranged in the horizontal transfer section (2) at a position below the transfer train; - raising the lifting device sufficiently to separate the lifting device from the first storage container; - moving the first container transfer vehicle and the first storage container away from the position below the transfer column; - moving a second container transfer vehicle carrying a second storage container to said position below said transfer column; and - Retrieving the second storage container via the transfer train by using the lifting device.

8. The method according to claim 7, further comprising the steps of: The container handling vehicle and the second storage container are moved to one of the storage rows (105) in the storage grid structure.

9. The method according to claim 8, further comprising the steps of: The second storage container is lowered to one of the storage rows in the storage grid structure by using the lifting device of the container handling vehicle.

10. A storage system (1), comprising a storage grid structure (104) and a plurality of container handling vehicles (200, 300), the storage grid structure comprising vertical row profiles (102), the vertical row profiles defining a plurality of storage rows (105) and at least one transfer row, in which storage rows storage containers (106) can be stored one on top of another in a vertical stack (107), the vertical row profiles being interconnected at the upper ends by top rails (110, 111) forming a horizontal top rail grid (108), the container handling vehicles (200, 300) being movable in two vertical directions on the horizontal top rail grid, the container handling vehicles being capable of retrieving the storage containers (106) from the storage rows (105) and storing the storage containers in the storage rows, and being capable of transporting the storage containers on the storage grid structure, in, The storage grid structure (104) comprises at least one horizontal transfer section (2); and The storage system comprises a plurality of container transfer vehicles (6) and transfer rails (110', 111') forming a transfer rail grid (5), wherein the container transfer vehicles (6) are movable in at least one horizontal direction on the transfer rail grid (5), and - the horizontal transfer section (2) is arranged at a height below the horizontal top track grid (108), and the horizontal transfer section extends from the outer side (12) of the storage grid structure (104) to a position below the at least one transfer column, and the horizontal transfer section includes at least a part of the transfer track grid (5), and the container transfer vehicles (6) can pass each other on the at least a part of the transfer track grid and move in two perpendicular horizontal directions; and - each of the container transfer vehicles comprises a container carrier (38) for transporting the storage container (106) and wheel means (32a, 32b) for moving the container transfer vehicle (6) in two vertical directions on the transfer track grid (5); and Wherein, the at least one transfer column extends from the horizontal top track grid (108) to the horizontal transfer section (2), so that the storage container (106) can be transferred between the horizontal top track grid (108) and the container carrier of one of the container transfer vehicles (6).

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