Multi-line Automatic Storage Tower

Abstract

Disclosed is a storage tower (400), an automatic storage and retrieval system (1) and a method of using the same. The storage tower (400) includes a plurality of container supports (402), each container support being configured as a matrix of container spaces having multiple columns of container spaces arranged in a first direction and multiple rows of container spaces arranged in a second direction. Each row of container spaces of the first container support (402) presents at least one opening (403') extending in the second direction, the opening size of the at least one opening (403') being at least the maximum horizontal cross-section of the storage container (106) to be stored, wherein at least one opening (403') of the first container support frame (402) and at least one opening (403') of the second container support frame (402) can be vertically aligned with respect to each other. At least one container support (402) is displaceable in the second direction.

Description

Field of the Invention

[0001] The present invention relates to a storage tower and an automated storage and retrieval system for storing / retrieving containers to / from such a storage tower. The present invention also relates to a method for storing and retrieving containers in such a storage tower in order to access containers placed deeper in a more time-saving manner. Background Art

[0002] FIG. 1 discloses a typical prior art automated storage and retrieval system 1 having a frame structure 100, and FIGS. 2 and 3 disclose two different prior art container handling carriers 201, 301 adapted to operate on such a system 1.

[0003] The frame structure 100 includes upright members 102, horizontal members 103, and a storage volume that includes storage columns 105 arranged in rows between the upright members 102 and the horizontal members 103. In these storage columns 105, storage containers 106 (also referred to as bins) are stacked one on top of another to form a stack 107. The members 102, 103 can typically be made of metal, such as extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a guide rail system 108 arranged at the top of the frame structure 100, and a plurality of container handling carriers 201, 301 operate on the guide rail system 108 to lift storage containers 106 from the storage columns 105, lower the storage containers 106 into the storage columns 105, and also transport the storage containers 106 above the storage columns 105. The guide rail system 108 includes: a first set of parallel guide rails 110 arranged to guide the container handling carriers 201, 301 to move along a first direction X at the top of the frame structure 100; and a second set of parallel guide rails 111 arranged perpendicular to the first set of guide rails 110 to guide the container handling carriers 201, 301 to move along a second direction Y perpendicular to the first direction X. The container handling carriers access the containers 106 stored in the columns 105 through an inlet 112 on the guide rail system 108. The container handling carriers 201, 301 can move laterally above the storage columns 105, i.e., move in a plane parallel to the horizontal X-Y plane.

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

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

[0007] Each prior art container handling vehicle 201, 301 further includes a lifting device (not shown) for vertically transporting the storage container 106, such as lifting the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column 105. The lifting device includes one or more gripping / engaging devices adapted to engage the storage container 106, and these gripping / engaging devices can be lowered from the vehicles 201, 301 so that the position of the gripping / engaging devices relative to the vehicles 201, 301 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. The gripping device portion of the container handling vehicle 301 is shown in FIG. 3 and is denoted by the reference numeral 304. The gripping device of the container handling device 201 is located within the vehicle body 301a in FIG. 2.

[0008] Traditionally, and for the purposes of this application, Z = 1 identifies the topmost storage container, i.e., the layer directly below the guide rail system 108, Z = 2 identifies the second layer below the guide rail system 108, Z = 3 identifies the third layer, and so on. In the exemplary prior art disclosed in FIG. 1, Z = 8 identifies the bottommost layer of the storage containers. Similarly, X = 1...n and Y = 1...n identify the positions of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z shown in FIG. 1, it can be considered that the storage container identified as 106' in FIG. 1 occupies the storage position X = 10, Y = 2, Z = 3. It can be considered that the container handling vehicles 201, 301 travel in the Z = 0 layer, and each storage column 105 can be identified by its X and Y coordinates.

[0009] The storage volume of the frame structure 100 is generally referred to as a grid 104, where the possible storage positions within this grid are called storage units. Each storage column can be identified by its position in the X direction and the Y direction, while each storage unit can be identified by the container number in the X direction, the Y direction, and the Z direction.

[0010] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and storing the storage container 106 when transporting the storage container 106 on the guide rail system 108. The storage space may include a cavity disposed at the center of the vehicle body 201a as shown in FIG. 2 and described, for example, in WO2015 / 193278A1, the content of which is incorporated herein by reference.

[0011] FIG. 3 shows an alternative configuration of the container handling vehicle 301 having a cantilever configuration. For example, such a vehicle is described in detail in NO317366, the content of which is also incorporated herein by reference.

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

[0013] Alternatively, the footprint of the central cavity container handling vehicle 101 may be larger than the lateral area defined by the storage column 105, as disclosed, for example, in WO2014 / 090684A1.

[0014] The guide rail system 108 generally includes guide rails with grooves in which the wheels of the vehicle travel. Alternatively, the guide rails may include upwardly projecting elements, where the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as tracks. Each guide rail may include one track, or each guide rail may include two parallel tracks.

[0015] WO2018146304 (the content of which is incorporated herein by reference) shows a typical configuration of the guide rail system 108, which includes guide rails and parallel tracks in the X and Y directions.

[0016] In the frame structure 100, most of the columns 105 are storage columns 105, that is, columns 105 in which storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In FIG. 1, columns 119 and 120 are such columns for special purposes, and are used for container handling vehicles 201, 301 to unload and / or pick up storage containers 106 so that the storage containers can be transported to an access station (not shown), where the storage containers 106 can be accessed from outside the frame structure 100 or transferred out of or into the frame structure 100. In the art, such a location is generally referred to as a "port", and the column where the port is located can be called a "port column" 119, 120. It can be transported to the access station in any direction, that is, horizontally, obliquely, and / or vertically. For example, the storage container 106 can be placed in a random or dedicated column 105 within the frame structure 100, and then picked up by any container handling vehicle and transported to the port columns 119, 120 for further transportation to the access station. Note that the term "oblique" means that the storage container 106 has a general transportation orientation when being transported somewhere between horizontal and vertical.

[0017] In FIG. 1, the first port column 119 can be, for example, a dedicated unloading port column where container handling vehicles 201, 301 can unload storage containers 106 to be transported to an access station or a transfer station, and the second port column 120 can be a dedicated pickup port column where container handling vehicles 201, 301 can pick up storage containers 106 that have been transported out from an access station or a transfer station.

[0018] The access station can generally be a pickup station or a storage station where product items are taken out of the storage container 106 or put into the storage container 106. In the pickup station or the storage station, the storage container 106 is generally not removed from the automated storage and retrieval system 1, but instead the storage container 106 returns to the frame structure 100 again once the access is completed. The port can also be used to transfer the storage container to another storage facility (for example, to another frame structure or another automated storage and retrieval system), to a transportation vehicle (for example, a train or a truck), or to a production facility.

[0019] A conveyor system including conveyors is generally used to transport storage containers between the port columns 119, 120 and the access station.

[0020] If the port columns 119, 120 and the access station are at different heights, the conveyor system can include a lifting device having a vertical component for vertically transporting the storage container 106 between the port columns 119, 120 and the access station.

[0021] The transfer system can be arranged to transfer the storage container 106 between different frame structures, as described in WO2014 / 075937A1, the content of which is incorporated herein by reference.

[0022] When it is desired to access a storage container 106 stored in one of the columns 105 disclosed in FIG. 1, one of the container handling vehicles 201, 301 is instructed to retrieve the target storage container 106 from the location where the target storage container 106 is located and transport it to the discharge port column 119. This operation includes moving the container handling vehicle 201, 301 to a position above the storage column 105 where the target storage container 106 is located, using a lifting device (not shown) of the container handling vehicle 201, 301 to retrieve the storage container 106 from the storage column 105, and transporting the storage container 106 to the discharge port column 119. If the target storage container 106 is located deep within the stack 107, i.e., there is one or more other storage containers 106 above the target storage container 106, the operation also includes temporarily moving the storage containers located above before lifting the target storage container 106 from the storage column 105. This step is sometimes referred to in the art as "digging" and can be performed with the same container handling vehicle that is subsequently used to transport the target storage container to the discharge port column 119, or with one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have a container handling vehicle dedicated to the task of temporarily removing storage containers from the storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers can be repositioned back into the original storage column 105. However, alternatively, the removed storage containers can be repositioned to other storage columns.

[0023] When it is desired to store a storage container 106 in one of the columns 105, one of the container handling vehicles 201, 301 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a position above the storage column 105 where it is to be stored. After any storage containers located at or above the target position within the storage column stack 107 have been removed, the container handling vehicle 201, 301 positions the storage container 106 in the desired location. The removed storage containers can then be lowered back into the storage column 105 or repositioned to other storage columns.

[0024] To monitor and control an automated storage and retrieval system 1, such as monitoring and controlling the position of respective storage containers 106 within a framework structure 100, the contents of each storage container 106, and the movement of container handling vehicles 201, 301 such that a desired storage container 106 can be transported to a desired location at a desired time without the container handling vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0025] FIG. 4 shows an example of a product item 80 stored in a storage container 106. The storage container 106 shown in FIG. 4 has a height Hf, a width Wf, and a length Lf. The storage container 106 has a horizontal cross-section Af.

[0026] For systems that contain a large number of bins in each stack, when the target bin is deep within the grid, the above "digging" can be both time-consuming and space-consuming. For example, if the position of the target bin is Z = 5, then before reaching the target bin, the vehicle must lift 4 non-target bins and place them in other locations, usually at the top of the grid (Z = 0). Before placing the non-target bins back into the grid, the non-target bins may force other robots to choose non-optimal paths to perform their respective operations.

[0027] Accordingly, it is an object of the present invention to provide a storage grid and a storage and retrieval system using such a storage grid that can provide a more time-efficient storage and retrieval method compared to prior art systems. Summary of the Invention

[0028] The independent claims set forth the invention, and the dependent claims describe certain alternative features of the invention.

[0029] Specifically, the present invention relates to a storage tower for storing storage containers. The storage tower includes a plurality of horizontal container support frames that are vertically distributed and vertically offset.

[0030] The plurality of horizontal container support frames includes a first horizontal container support frame and at least one second container support frame, the at least one second container support frame being arranged below and parallel to the first container support frame.

[0031] The first container support frame and the at least one second container support frame include horizontally extending container supports, the main directions of the container supports being in a first direction and an orthogonal second direction, each container support being configured as a matrix of container spaces, wherein a plurality of columns of container spaces are arranged in the first direction and a plurality of rows of container spaces are arranged in the second direction.

[0032] In addition, each row of container spaces of at least the first container support frame is configured to receive a plurality of storage containers and presents at least one opening extending in a second direction, the opening size of the at least one opening being at least the maximum horizontal cross-section of the storage containers to be stored.

[0033] At least one opening of the first container support frame (e.g., the total area of at least one opening in each row) and at least one opening of at least one second container support frame can be vertically aligned with respect to each other.

[0034] At least one container support can be displaced in the second direction.

[0035] At least one container support frame further includes support displacement means configured to displace the displaceable container support.

[0036] Thus, a storage tower is realized in which a remotely operated vehicle can pick up storage containers without having to dig.

[0037] Thus, a storage tower is realized that can more time-efficiently deliver product items to a customer or other recipient of an item stored in a storage container.

[0038] Thus, a storage tower is realized that can provide product items, such as on-sale product items or other high-demand products, with high throughput.

[0039] The horizontal container support frame can have a repeating geometry, especially the second container support.

[0040] It can be seen that the horizontal container support frame provides a set of displaceable storage shelves for the storage containers, and the contents of the storage containers can be easily accessed by aligning the openings in the upper container support frame with the target storage containers below.

[0041] The container support can be a plate, such as a continuous plate or several plates connected to form the container support. In other words, the container support can provide a continuous surface for placing the storage containers. Alternatively, the container support can have a frame structure, i.e., there is no internal structure or material between the frame members of the frame structure. In addition, the container support can be a combination of both. The container support in the storage tower can also be a mixture of both.

[0042] The container space matrix can be a hypothetical division mainly set by the dimensions of the storage containers. The dimensions of the container space matrix are associated with the number of rows and columns of the matrix. A matrix including l rows and m columns can extend along the first direction X by a distance substantially equal to l*L f and extend along the second direction Y by a distance substantially equal to m*W fThe distance. Alternatively, a matrix including l rows and m columns may extend along a first direction X by an amount substantially equal to l*W f The distance, and extend along a second direction Y by an amount substantially equal to m*L f The distance. Thus, the extent of the matrix substantially corresponds to the size and number of storage containers. If a guide rail system is used, adjacent storage containers will be spaced apart by at least an amount corresponding to the width of each guide rail. The total width of the spacing will depend on the number of rows and columns of the matrix, i.e., the number of storage containers and the number of spaces between them. The total width of the guide rails can be calculated as (l - 1)*W r or (m - 1)*W r , W r is the width of each guide rail. The spacing of the storage containers will increase the size of the container space matrix in the first direction X and the second direction Y. If a transport system (usually including a crane) is used, the storage containers can be stored more closely together compared to a system with guide rails. When a transport system is used, any spacing of the storage containers should also be added to the size of the matrix.

[0043] One or more openings in a row of container spaces or in some rows of container spaces may be staggered (i.e., not all openings are aligned along the first direction X). The arrangement of the openings of the container supports may be offset from each other.

[0044] If the storage tower includes only two container supports, the uppermost container support may be movable to align its opening with the lowermost container support, while the lowermost container support is non - movable.

[0045] At least one second container support frame may include a plurality of container supports.

[0046] An example is a storage tower in which each second container support frame includes two container supports, each container support being configured to have a matrix of container spaces of four rows and three columns (i.e., a 4×3 matrix). The two container supports may be independently displaced along the second direction Y, so that an opening may be provided between the rows of the two container supports. Alternatively, by displacing one container support at a time, an opening may be provided at either end of the container support frame in the second direction Y. The first container support frame may include one container support configured to have a matrix of container spaces of four rows and five columns (i.e., a 4×5 matrix). Then, a target container located in a third container support frame (having the same configuration as the second container support frame) may be accessed through an opening provided at either end of the container support frame in the second direction Y. Then, the two container supports of the second container support frame should be displaceable by two spaces.

[0047] Each row of container spaces of the first container support frame and preferably at least one second container support frame may be configured to receive a plurality of storage containers and present at least one opening extending in a second direction, the opening size of the at least one opening being at least the maximum horizontal cross-section of the storage containers to be stored.

[0048] Within the same storage tower, the vertical offsets of each container support frame may be different. Different container support frames of the same storage tower may be configured to store storage containers of different heights. To optimize the use of the available space in the storage tower, the container support frames configured to store storage containers of different heights may preferably have different vertical offsets.

[0049] The support member shifting device may include a linear actuator, a gear drive (such as a rack and pinion), a chain drive, a belt drive, or any combination thereof. This includes ball screws and cam-type rotary devices that result in linear movement. It should also be understood to include electric, hydraulic, and pneumatic actuators. The support member shifting device may be a follower wheel arranged on the container support member or the container support frame.

[0050] The support member shifting device may include a motor for driving a linear actuator, a gear drive, a chain drive, a belt drive, or any combination thereof, the motor being arranged outside the horizontal extent of the respective container support frame containing at least one shiftable container support member to be shifted.

[0051] The shifting device may include a centered actuator positioned to push and pull the container support member. Alternatively, the shifting device may be arranged at the edges of the container support frame, preferably at opposite edges.

[0052] The shifting devices of adjacent container support frames may be arranged at opposite edges.

[0053] The shifting device may be a direct drive mechanism arranged on the container support member. The direct drive mechanism may be connected, for example, to a roller arranged on the container support member.

[0054] Each container support member may further include a plurality of horizontally moving support rollers rotatably arranged on at least one side of the container support member, extending along the second direction, the horizontally moving support rollers having a horizontal axis of rotation along the first direction.

[0055] In addition, each of the plurality of container support frames may further include a set of guide tracks arranged on each side of the container support frame along the second direction and oriented such that their longitudinal direction is parallel to the second direction.

[0056] In addition, each guide track may include a horizontal portion for supporting and guiding the plurality of horizontally moving support rollers.

[0057] The horizontally movable support rollers can be, for example, a plurality of wheels or linear guide rails.

[0058] Each container support may further include a plurality of support guides, which are arranged at least on one side of the container support including the plurality of horizontally movable support rollers.

[0059] In addition, each guide rail may include a vertical portion for guiding the plurality of support guides.

[0060] The support guides can be, for example, a plurality of wheels, linear guide rails or sliding surfaces (i.e., surfaces with low friction relative to the typical contact surfaces of the guide rails).

[0061] Each row may include vertical guide plates, which are arranged at least partially around the periphery of each of the at least one opening.

[0062] The vertical guide plates can be configured such that the storage containers lifted or lowered into their respective openings are aligned in the horizontal plane.

[0063] At least one opening presented by each row of container spaces may be a separate opening.

[0064] At least one opening of each row of container spaces within at least one container support may be horizontally aligned along a first direction.

[0065] At least one opening presented by each row of container spaces of at least one container support may be combined together to form a continuous opening extending along the first direction, thereby defining a region substantially equal to a column of container spaces.

[0066] The container support may also include both separate openings and combined openings.

[0067] At least one of the plurality of horizontal container support frames may include at least one container support, the horizontal extent of which is less than the horizontal extent of the container support frame.

[0068] The extent of the container support frame in the second direction may exceed the extent of the container support, and its length is substantially equal to W f *i, where i is an integer, preferably i = 1 or i = 2.

[0069] The at least one displaceable container support may be displaced along the second direction by a distance substantially equal to W f *i, where i is an integer, preferably i = 1 or i = 2.

[0070] Each row of container spaces can be configured to receive an equal number of storage containers on either side of at least one opening. There will be no opening at the ends of such rows.

[0071] Each row of container spaces may present an opening and be configured to receive two or more storage containers on each side of the opening.

[0072] Each row may present multiple openings that are distributed in a second direction with an offset corresponding to d + 1 grid cells, where d is an integer of 1 or greater.

[0073] The matrix of container spaces of each container support may have an equal number of rows and columns.

[0074] The horizontal area of at least one second container support may be the same as the horizontal area of any other second container support.

[0075] The row of container spaces of the first container support and at least one second container support may have an equal distribution of at least one opening.

[0076] The lowermost container support may have at least one row of container spaces without openings.

[0077] At least one container support may include a plurality of sensor devices for sensing the presence of storage containers. The sensor devices may be distributed in the matrix of container spaces.

[0078] Sensors arranged on the storage container support or the container support frame may communicate with a control system.

[0079] The sensor devices may be selected from the group including piezoelectric sensors, weight sensors, magnetic sensors (requiring the storage container to be made of magnetic material or provided with a magnetic device), vision sensors, light sensors, motion sensors.

[0080] At least one container support may include sensor devices for sensing the displacement of the container support relative to the container support frame.

[0081] The storage container may be supported by at least one support plate and / or a plurality of support beams oriented in a first direction and / or a second direction.

[0082] The storage tower may further include a transport mechanism arranged above the uppermost container support frame with a first vertical offset. This offset provides a vertical clearance between the lowest point of the transport mechanism and the uppermost surface of the container space of the first container support, and this clearance is at least the maximum height of the storage containers to be stored.

[0083] Instead of a vehicle moving on a rail system with wheels, the transportation system can include a crane that can move in the X and Y directions on a storage tower. For example, the crane can move along a first direction on a slide bar that extends across the width of the storage tower. The movement in the second direction can be achieved by sliding the slide bar along two fixed bars that extend in the second direction on both sides of the storage tower. The crane can be a container handling vehicle that has a cantilever structure supported on two parallel slide bars.

[0084] Thus, a storage tower that can operate even when not horizontal is achieved. The transportation mechanism is less likely to derail than a vehicle moving on wheels. Therefore, the storage tower can be applied to marine operations, such as on-board operations.

[0085] The storage tower can also include a rail system arranged above the first container support frame with a first vertical offset. This offset provides a vertical gap between the lowest point of the rail system and the uppermost surface of the container space of the first container support, and this gap is at least the maximum height of the storage containers to be stored.

[0086] At least one container support frame can be arranged at a certain distance below the lower edge of the adjacent upper rail system and / or the lower edge of the adjacent upper container support frame, and the height corresponding to this distance is equal to or greater than the maximum height of several stacked storage containers.

[0087] The rail system can provide access to the target opening of the storage tower and adjacent storage towers and / or storage grids without having to cover the entire horizontal extent of the storage tower.

[0088] The present invention also relates to an automated storage and retrieval system configured to store a plurality of storage containers.

[0089] The rails align the storage tower with the rail system such that each container space of the first container support can be vertically aligned below the grid opening of the cantilever portion.

[0090] The automated storage and retrieval system can include the above-mentioned storage tower.

[0091] In addition, the automated storage and retrieval system can include a plurality of storage containers supported on a plurality of horizontally arranged container support frames.

[0092] In addition, the automated storage and retrieval system can include a remotely operated vehicle configured to move laterally above a plurality of container support frames, wherein the remotely operated vehicle includes a lifting device configured to grasp and vertically lift the storage containers.

[0093] In addition, the automated storage and retrieval system can include a control system configured to wirelessly monitor and control the movement of the remotely operated vehicle.

[0094] Accordingly, an automated storage and retrieval system is realized in which a remotely operated vehicle can pick up storage containers without having to dig.

[0095] Accordingly, an automated storage and retrieval system is realized that can more time-efficiently deliver product items to a user or other recipient of items stored in storage containers.

[0096] Accordingly, an automated storage and retrieval system is realized that can provide product items, such as on-sale product items or other high-demand products, with high throughput.

[0097] The automated storage and retrieval system may further include a storage grid that includes:

[0098] · A plurality of vertical storage columns for stacking storage containers on top of each other, and

[0099] · A guide rail system on which a plurality of container handling vehicles can travel, the guide rail system being arranged above the plurality of storage columns,

[0100] wherein the container handling vehicles can access the storage containers stored in the storage columns through grid openings in the guide rail system,

[0101] The guide rail system may include a cantilever portion, the horizontal extension of the cantilever portion being equal to the difference between the horizontal extension of the guide rail system and the horizontal extension of the plurality of storage columns.

[0102] One or more storage towers may be at least partially arranged below the cantilever portion of the guide rail system and positioned such that each container space of a first container support can be vertically aligned below the grid opening of the cantilever portion.

[0103] Alternatively, the automated storage and retrieval system may further include a storage grid that includes:

[0104] · A plurality of vertical storage columns for stacking storage containers on top of each other, and

[0105] · A transport mechanism, wherein the remotely operated vehicle is a crane that can move along a slide bar arranged parallel to a first direction,

[0106] The slide bar has two opposite ends and can move along two fixed bars arranged parallel to a second direction,

[0107] The transport mechanism is arranged above the plurality of storage columns,

[0108] The transport mechanism includes a cantilever portion, the horizontal extent of the cantilever portion being equal to the difference between the horizontal extent of the transport mechanism and the horizontal extent of the plurality of storage columns,

[0109] One or more storage towers may be arranged at least partially below the boom section of a mobile crane system.

[0110] Accordingly, a storage and retrieval system is realized that combines the grids of the prior art and the present invention, namely, the combination of a high chute grid and a low chute grid, in which product items can be arranged according to the turnover rate of the product items.

[0111] Accordingly, a storage and retrieval system is realized that combines storage capacity with more time-efficient delivery of product items to a customer or other recipient of the items stored in the storage containers. For example, an order can be picked up from a low chute grid with high storage capacity and then intermediate storage (buffering) can be performed in a high chute grid where the product items can be delivered to the customer more time-efficiently, and then delivered to the customer efficiently when the customer arrives.

[0112] The high chute storage tower is configured for high-frequency entry and exit of storage containers into and out of the storage tower. Compared with the low chute storage grid, the storage containers are typically stored in the high chute storage tower for a shorter time. The high chute storage tower is particularly suitable for high-demand products. The high chute storage tower provides fast access and is thus suitable for time-critical storage. The space efficiency of the high chute storage tower is lower than that of the low chute storage grid.

[0113] Compared with the high chute storage tower, the low chute storage grid is more space-saving. Compared with the high chute storage tower, the storage containers are typically stored in the low chute grid for a longer time. Compared with the high chute storage tower, the access speed of the low chute storage grid is slower and it is thus more suitable for storage with lower time requirements.

[0114] Therefore, the high chute storage tower and the low chute storage grid complement each other.

[0115] The automated storage and retrieval system may further include a guide rail system that is arranged above the uppermost container support frame with a first vertical offset. This offset provides a vertical clearance between the lowest point of the guide rail system and the uppermost surface of the container space of the first container support, and this clearance is at least the maximum height of the storage containers to be stored.

[0116] At least one container support frame may be arranged at a certain distance below the lower edge of the adjacent guide rail system above and / or below the lower edge of the adjacent container support frame above, and this distance corresponds to a height equal to or greater than the maximum height of several stacked storage containers.

[0117] The present invention also relates to a method for storing and retrieving storage containers from an automated storage and retrieval system. The automated storage and retrieval system may be the system as described above.

[0118] The plurality of horizontal container support frames preferably includes j parallel container support frames, where j is an integer of 2 or greater.

[0119] At least one container support of at least one second container support frame is preferably displaceable along a second direction orthogonal to the first direction.

[0120] The method may include the following steps:

[0121] A. Move the remotely operated vehicle to a position where its lifting device is vertically aligned above:

[0122] a) The target storage container located on the first container support frame, or

[0123] b) If the target storage container is located on one of the j - 1 parallel container support frames below the first container support frame, the target opening of the first container support frame that can be vertically aligned with the target storage container.

[0124] B. If the target storage container is not positioned vertically aligned below the target opening, then:

[0125] a) Displace the displaceable container support of the container support frame in the second direction, on which the target storage container is supported, to position the target storage container vertically aligned below the target opening of the first container support frame, or

[0126] b) If at least one container support of the first container support frame is displaceable along the second direction, displace the at least one displaceable container support of one or more upper container support frames an equal distance in the second direction opposite to the direction in a), to position the target storage container vertically aligned below the target opening of the first container support frame, where the one or more container support frames are in the same position in the first direction as the row of the displaceable container support on which the target storage container is supported, or

[0127] c) If at least one container support of the first container support frame is displaceable along the second direction, displace the displaceable container support on which the target storage container is supported as described in step a) and the one or more displaceable container supports arranged above as described in step b), to position the target storage container vertically aligned below the target opening.

[0128] C. Grasp and lift the target storage container by using the lifting device, and

[0129] D. Move the remotely operated vehicle together with the target storage container to a different horizontal position.

[0130] In a method for storing and retrieving storage containers from an automated storage and retrieval system, step B may be performed before step A or simultaneously with step A. If step B.c) is performed after step A, it may be necessary to reposition the remotely operated vehicle to a position where its lifting device is vertically aligned above the target opening of the first container support frame that is vertically aligned with the target storage container.

[0131] Accordingly, a method is implemented for picking up storage containers with a remotely operated vehicle without having to dig.

[0132] Accordingly, a method is implemented for more time-efficient delivery of product items to a customer or other recipient of the merchandise items stored in the storage containers.

[0133] Accordingly, a method is implemented for providing product items (such as on-sale product items or other high-demand products) with high throughput.

[0134] If the remotely operated vehicle or crane carries a storage container to be stored in the automated storage and retrieval system before or after retrieving the target storage container, the method may include the following steps:

[0135] E. Move the remotely operated vehicle to a position where its lifting device is vertically aligned above:

[0136] a) The empty container space of the first container support frame, or

[0137] b) If the empty container space is on one of the j - 1 parallel container support frames below the first container support frame, the target opening of the first container support frame that can be vertically aligned with the empty container space,

[0138] F. If the empty container space is not vertically aligned below the target opening:

[0139] a) Shift the displaceable container support of the container support frame where the empty container space is located in a second direction to position the empty container space vertically aligned below the target opening of the first container support frame, or

[0140] b) If at least one container support of the first container support frame is displaceable along the second direction, shift at least one displaceable container support of the one or more container support frames located above an equal distance in a second direction opposite to the direction in a) to position the empty container space vertically aligned below the target opening of the first container support frame, where the one or more container support frames are in the same position in a first direction as the row of the displaceable container support where the empty container space is located, or

[0141] c) If at least one container support of the first support frame is movable in a second direction, shift the displaceable container support of the empty container space as described in step a) and one or more displaceable container supports arranged above as described in step b) to position the empty container space vertically aligned below the target opening.

[0142] G. Lower the carried storage container to a position over the empty container space by using a lifting device.

[0143] In a method for storing and retrieving storage containers from an automated storage and retrieval system, step F may be performed before step E. If step F.c) is performed after step E, it may be necessary to reposition the remote operating vehicle to a position where its lifting device is vertically aligned above the target opening of the first container support frame that is vertically aligned with the target storage container.

[0144] If the automated storage and retrieval system includes a storage grid containing the target storage container, the method may include the following steps:

[0145] · Pick up the target storage container from the storage grid, as described, for example, in the background art section.

[0146] · Store the target storage container in the storage tower according to the above method.

[0147] · Retrieve the storage container from the storage tower according to the above method.

[0148] If two target storage containers are located on one of the j - 1 parallel container support frames and are horizontally aligned in a first direction, and

[0149] the system further includes a second remote operating vehicle, and

[0150] the control system is configured to wirelessly monitor and control the movement of the second remote operating vehicle,

[0151] then the method may further include the following steps:

[0152] A2. Move the second remote operating vehicle to a position where its lifting device is vertically aligned above the target opening of the first container support frame that can be vertically aligned with the second target storage container,

[0153] C2. Use the lifting device of the second remote operating vehicle to grasp and lift the second target storage container, and

[0154] D2. Move the second remote operating vehicle with the second target storage container to a different horizontal position.

[0155] When a storage container is placed in an empty container space or a target storage container is taken out from a storage tower, other remote operation vehicles are not allowed to pick up from other container spaces in the same row of container spaces. The same applies to other rows of the same container space matrix. To avoid queuing, the above storage and retrieval system can therefore preferably enable a specific remote operation vehicle to cover the container spaces of the storage tower.

[0156] The control system can be configured to coordinate the simultaneous picking up of multiple remote operation vehicles covering the same container spaces of one or several storage towers. As described in the above method, the efficiency can be further improved.

[0157] The control system can be configured to coordinate two remote operation vehicles to simultaneously pick up a target storage container from the same container support. Alternatively, two remote operation vehicles simultaneously store two storage containers in the same container support. As a further alternative, one remote operation vehicle takes out the target storage container from the same container support while the other remote operation vehicle stores the storage container.

[0158] The present invention also relates to a method for installing a storage tower in an automatic storage and retrieval system. According to the above description, the storage tower and the automatic storage and retrieval system can be integrated.

[0159] The automatic storage and retrieval system can include:

[0160] · A storage grid, and

[0161] · A vehicle movement system having a larger horizontal range than the storage grid.

[0162] The method can include the following steps:

[0163] · Assembling at least a part of the storage tower described above under the cantilever part of the vehicle movement system.

[0164] Therefore, a storage tower that can be retrofitted into an existing storage and retrieval system is realized.

[0165] The vehicle movement system can include a guide rail system, and

[0166] The method can further include the following steps:

[0167] · Aligning the storage tower with the guide rail system such that each container space of the first container support can be vertically aligned below the grid opening of the cantilever part.

[0168] The above automatic storage and retrieval system can be used to directly deliver the items arranged in the storage containers stored in the storage grid to the end users.

[0169] The cantilever portion of the guide rail system need not extend across the entire horizontal extent of the storage tower. The cantilever portion of the guide rail system may, for example, extend only far enough to reach the target opening of the storage tower.

[0170] Due to the construction of the container supports, i.e., the matrix of container spaces, the vertical columns cannot be located between the rows or columns of container spaces of the same container support. This means that there will be a greater span between the vertical columns of the storage tower compared to the vertical members of prior art storage grids, and thus a higher load on each vertical column.

[0171] When a guide rail system is present, the guide rail system must extend over a larger area and support the weight of the remotely operated vehicle than in a conventional storage grid, where each grid space is supported at the corners by upright members.

[0172] To withstand the increasing loads, the vertical columns and / or guide rail system of the present invention may need to be strengthened compared to prior art upright members and guide rail systems.

[0173] A remotely operated vehicle approaching the storage tower to pick up a target storage container will typically bring another storage container to be stored in the storage and retrieval system. Before the remotely operated vehicle can pick up the target storage container, it is advantageous to place the storage container carried by the vehicle in an empty container space within the same storage tower. This process is commonly referred to as an exchange process. Such an exchange process can occur in the storage tower and automated storage and retrieval system as described above.

[0174] By having fewer storage containers than there are available container spaces in the storage system, there will always be at least one empty container space. When a remotely operated vehicle picks up a storage container from within the storage tower, an empty container space will also be created dynamically. If there is no empty container space in the storage system, the remotely operated vehicle must either avoid bringing another storage container from, for example, a port post, or place the storage container it is carrying on top of the storage tower. Both of these alternatives have disadvantages in terms of time efficiency.

[0175] The empty container space (in which the storage container will be placed) and the target storage container are preferably horizontally closest to the same target opening. In this way, the remotely operated vehicle does not need to move between two operations during the same exchange process. Even more preferably, in addition to being available through the same target opening, the empty container space and the target storage container can be located on the same container support. In this way, the lifting device of the remotely operated vehicle can make a minimal movement between the two operations of the exchange process. Thus, the exchange process time is not extended due to conflicting displacements of the lifting device and the container support of the target storage container.

[0176] When merging openings, the guiding structure and the rail system or transport system (if used) can be configured to allow the lifting device to move laterally while the lifting device still descends into the storage tower. This will save time during the exchange process, during which the carried storage container is positioned in a row adjacent to the target storage container. Then, the remotely operated vehicle can move laterally without having to raise and lower the lifting device.

[0177] After positioning the previously carried storage container in the empty container space, the lifting device retracts to allow the container support to shift, i.e., the container support of the previously empty container returns and the container support of the target storage container is deployed so that the target storage container is located below the target opening. If the lifting device retracts to a position higher than just above the container support frame of the target storage container, the time efficiency of the exchange process will be reduced.

[0178] If the target storage container is positioned deeper than the empty container space, the container support of the target storage container can be deployed before the lifting device retracts and shifts back to the initial position of the container support of the previously empty container space.

[0179] After the target storage container has been lifted above the container support frame, the container support can be shifted back to its initial position. BRIEF DESCRIPTION OF THE DRAWINGS

[0180] The following drawings depict alternatives of the present invention and are appended to facilitate understanding of the present invention. The drawings illustrate embodiments of the present invention, which will now be described by way of example only, in which:

[0181] FIG. 1 is a perspective view of the frame structure of an automated storage and retrieval system of the prior art;

[0182] FIG. 2 is a perspective view of a container handling vehicle of the prior art, which has a centrally arranged cavity for carrying a storage container therein;

[0183] FIG. 3 is a perspective view of a container handling vehicle of the prior art, which has a cantilever for transporting a storage container therebelow;

[0184] FIG. 4 is a perspective view of a storage container and product items stored in the storage container;

[0185] Figure 5 is a top view of the storage system, in which all container supports of the storage tower are vertically aligned;

[0186] Figure 6 is Figure 5 a side view of the storage system;

[0187] Figure 7Is a perspective view of a container support member configured as a matrix of container spaces (when storage containers are not present), having multiple columns of container spaces arranged in a first horizontal direction and multiple rows of container spaces arranged in a second horizontal direction;

[0188] Figure 8 Is a perspective view of a container support member configured as a matrix of container spaces, having multiple columns of container spaces arranged in a first horizontal direction and multiple rows of container spaces arranged in a second horizontal direction, wherein storage containers are positioned within the container spaces;

[0189] Figure 9 Is a perspective view of details of a container support and a container support frame, particularly details of a support member displacement device;

[0190] Figure 10 Is a perspective view of details of a container support member, particularly a support roller;

[0191] Figure 11 Is a perspective view of further details of a container support member and a container support frame, particularly a perspective view of a support member displacement device, wherein the lowermost container support member is displaced relative to the upper container support members;

[0192] Figure 12 Is a side view of a storage system according to an embodiment of the present invention, wherein a storage grid and storage towers are positioned side by side below a guide rail system;

[0193] Figure 13 Is Figure 12 A perspective view of a storage system, wherein a storage grid and storage towers are positioned side by side;

[0194] Figure 14 Is Figure 12 A perspective view of a storage system, wherein a storage grid and storage towers are positioned side by side, and one container support member is displaced;

[0195] Figure 15A Is Figure 12 A perspective view of a storage system, wherein a storage grid and storage towers are positioned side by side, and multiple container support members are displaced in opposite directions;

[0196] Figure 15B Is according to Figure 15A A cross-section of a storage system.

[0197] Figure 16A And Figure 16B Are different perspective views of another embodiment of a storage system according to the present invention, wherein storage towers are positioned below a transport system;

[0198] Figure 17 Is Figure 16A A side view of a storage system;

[0199] Figure 18A And Figure 18B are different perspective views showing Figure 16A details of the storage system from FIGS.

[0200] Figures 19A to 19C are perspective views of three storage towers, each having a container support frame and a container support with a different configuration. Detailed Description

[0201] In the following, different alternatives 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 scope of the invention to the subject matter depicted therein. Furthermore, even if some features are described only for a system, it is obvious that these features are also valid for a method and vice versa.

[0202] In the foregoing description, various aspects of the transport vehicle and the automated storage and retrieval system according to the present invention have been described with reference to exemplary embodiments. For purposes of explanation, specific numbers, systems, and configurations have been set forth in order to provide a thorough understanding of the system and how it operates. However, the description is not to be construed as limiting. Various modifications and variations of the exemplary embodiments that are obvious to those skilled in the art to which the disclosed subject matter pertains, as well as other embodiments of the system, are considered to fall within the scope of the present invention.

[0203] Specifically referring to Figures 5 to 6 and Figure 12 to FIGS. 15, the storage and retrieval system 1 of the present invention includes a remotely operated vehicle 301 operating on a guide rail system 408, the guide rail system 408 including a first set of parallel guide rails 410 and a second set of parallel guide rails 411 arranged perpendicular to the first set of guide rails 410. The first set of parallel guide rails 410 is arranged to guide the remotely operated vehicle 301 to move along a first direction X on the storage tower 400, and the second set of parallel guide rails 411 is arranged to guide the remotely operated vehicle 301 to move in a second direction Y perpendicular to the first direction X. The remotely operated vehicle 301 accesses the storage containers 106 stored in the storage tower 400 through the grid openings 415 in the guide rail system 408. Each grid opening 415 of the guide rail system 408 is surrounded by a grid cell 422. The guide rail system 408 extends in a horizontal plane P rs therein.

[0204] As Figure 6 best shown, the storage containers 106 are stored on a plurality of container support frames 401, the plurality of container support frames 401 being distributed in the Z direction below the guide rail system 408 and having a V r1The vertical offset represented (i.e., the offset between the lower edge of the guide rail system 408 and the lower edge of the first container support frame 401a directly below the guide rail system 408) and the vertical offset represented by ΔdVb-n (i.e., the offset between the lower edges of two adjacent container support frames 401a-n).

[0205] Vertical offset V r1 The vertical offset V and the vertical offset ΔdVb-n can be selected to provide a height equal to or higher than the maximum height of a stack 107 of one or more storage containers 106, or equal to or higher than the maximum height of the different storage containers 106 stored in the respective container support frames 401. As an example, the first container support frame 401a can be adapted to store a stack 107 of storage containers 106, while the lower container support frames 401b-n can be adapted to store a single (unstacked) storage container 106. As another example, several or all of the container support frames 401 of the tower 400 can be adapted to store stacks 107 of several storage containers 106. Different container support frames 401 of the same tower 400 can be configured to store stacks 107 of different numbers of storage containers 106. Compared with a configuration of the tower 400 in which all container support frames 401 are adapted to store a single (unstacked) storage container 106, the vertical space (i.e., the available height) required for one or more of the container support frames 401 of the tower 400 to be adapted to store stacks 107 of multiple storage containers 106 can be obtained by reducing the total number of container support frames 401.

[0206] Figure 6 A storage tower 400 is shown, in which each container support frame 401a-n includes a horizontally extending container support 402.

[0207] Figure 7 and Figure 8 An example of such a container support design is shown. Figure 7 The container support 402 without a storage container 106 is shown Figure 8 The same container support 402 is shown, in which a storage container 106 is located in the container space.

[0208] The main directions of the container support 402 are in a first direction X and an orthogonal second direction Y. The container support 402 is configured as a horizontal matrix of container spaces, having multiple columns of container spaces arranged in the first horizontal direction X and multiple rows of container spaces arranged in the second horizontal direction Y. Each row of container spaces is configured to receive a plurality of storage containers 106 and generally also presents at least one opening 403 extending along the second direction Y. The horizontal extent of the opening 403 along the first direction X may be substantially equal to the horizontal extent of that row along the first direction X. The container support 402 of the lowermost container support frame 401n generally does not present an opening 403. The opening size of at least one opening 403 in each row of container spaces is generally at least the maximum horizontal cross-section A of the storage container 106 to be stored f (W f *L f ).

[0209] Figure 7 and Figure 8 The container support 402 of and includes a plurality of guiding structures 409 for the opening 403. The guiding structures 409 are fixed along the periphery of each opening 403a-d to assist in correctly guiding the storage container 106 through the openings 403a-d during lifting / lowering by respective remotely operated vehicles 201; 301; 601

[0210] The container support 402 can be a plate or a frame without internal structure. The horizontal extent of the container space is generally at least the maximum horizontal cross-section A of the storage container 106 to be stored f (W f *L f ). The matrix of container spaces can be a hypothetical division mainly set by the dimensions of the storage containers 106. The dimensions of the matrix of container spaces are associated with the number of rows and columns of the matrix. A matrix including l rows and m columns can extend along the first direction X by a distance substantially equal to l*L f and extend along the second direction Y by a distance substantially equal to m*W f . Alternatively, a matrix including l rows and m columns can extend along the first direction X by a distance substantially equal to l*W f and extend along the second direction Y by a distance substantially equal to m*L f . If a guide rail system 108 is used, the storage containers 106 will be spaced apart by at least the guide rail width W r . The spacing of the storage containers 106 will increase the dimensions of the matrix of container spaces. The total amount of this spacing depends on the number of containers 106 and thus also on the number of spacings. The total spacing width can be calculated as (l - 1)*W r or (m - 1)*W rIf a transport system 601 (usually including a crane 602) is used, the storage containers 106 can be stored more closely together compared to a system with guide rails 108. When the transport system 601 is used, any spacing of the storage containers 106 should also be added to the dimensions of the matrix.

[0211] In Figure 7 an example, the container support 402 has a matrix of container spaces including four rows and five columns. The horizontal extent of the matrix is substantially equal to 4*L f in the first direction X and substantially equal to 5*W f in the second direction Y. As described above, any spacing of the storage containers 106 should be added to the dimensions of the container space matrix. The container support may have openings 403 located on the center line, for example, four openings 403 in a column. Alternatively, a single opening 403 extends across all four rows. Alternatively, a combination of openings 403 extends across one, two, or three rows. On both sides of the central opening 403 or the center line opening 403, container spaces are provided in a 4×2 configuration. This can be interpreted as two columns, each with four container spaces, on either side of the opening 403. Alternatively, this can be interpreted as four rows, each with five container spaces, where the central container space is the opening 403. Alternatively, this can be interpreted as four rows, each with four container spaces, with two container spaces on either side of the opening 403.

[0212] The openings 403 of the first container support frame 401a (i.e., the perimeters of at least one opening 403a-d in each row) and at least one opening 403 of at least one second container support frame 401b-n can be vertically aligned with each other. This can be achieved by at least one container support 402 of at least one second container support frame 401b-n being displaceable along the second direction Y. This displacement can be achieved by at least one second container support frame 401b-n that includes a support displacement device 700 configured to displace the displaceable container support 402 of at least one second container support frame 401b-n. An example of this support displacement device 700 is shown in Figure 9 and is further described below. Since all the container spaces of the first container support 402a, i.e., the uppermost container support 402, can be accessed through the grid openings 415. The first container support frame 401a, i.e., the uppermost container support frame 401, does not need to be provided with a support displacement device 700, although efficiency can be improved if a support displacement device 700 is provided.

[0213] Figure 7 and Figure 8The container support 402 includes a support plate 404 that provides a container space. In Figure 8 , the storage container 106 is positioned on top of the support plate 404. One support plate 404 can provide four container spaces distributed along a first horizontal direction X, forming a complete column. Alternatively, each column can include multiple support plates 404, such as one support plate 404 for each container space. As a further alternative, one support plate 404 can provide two or more container spaces distributed along a second horizontal direction Y, forming at least a part of a row. One support plate 404 can also provide multiple container spaces distributed along the first direction X and the second direction Y.

[0214] Each container support 402 includes a first container support beam 406 extending in the first horizontal direction X and a second container support beam 407 extending in the second horizontal direction Y. The first support beam 406 and the second support beam 407 can be used to provide stiffness in the horizontal plane P rs and stabilize the container support 402. The first support beam 406 can extend the entire length of a column. The second support beam 407 can extend the entire length of a row.

[0215] In Figures 7 to 8 , the first support beam 406 is arranged between each column of container spaces, a total of four first beams 406. The first support beam 406 can be used to attach the guiding structure 409. The first support beam 406 can also be used to attach the support plate 404. The first support beam 406 can project upward relative to the support plate 404, thereby preventing the storage container 106 from moving relative to the container support 402 along the second horizontal direction Y. The first support beam 406 can also be used to support the storage container 106, thereby providing a container space, i.e., a container space without the support plate 404.

[0216] In Figures 7 to 8 , two second support beams 407 are arranged parallel to the rows. In this instance, the second support beams 407 are arranged without separating the rows, i.e., at the edges of the container support 402. The second support beams 407 can additionally be arranged to separate the rows. The second support beams 407 can be used to attach the guiding structure 409. The second support beams 407 can also be used to attach the support plate 404. The second support beams 407 can project upward relative to the support plate 404, thereby preventing the storage container 106 from moving relative to the container support 402 along the first direction X. The second support beams 407 can also be used to support the storage container 106, thereby providing a container space, i.e., a container space without the support plate 404. Alternatively, the first support beam 406 and the second support beam 407 can together provide a container space. The second support beam 407 can also be used to attach the bracket guide 709. The second support beam 407 can also be used to attach the horizontal movement bracket roller 709'. Referring below to Figure 10The support rollers 709, 709' are further described. The second support beam 407 can also be used to attach the vertical column 431. These are shown in particular in Figure 11 as follows.

[0217] Each container support 402 can include stabilizing ribs 405 arranged in the first direction X. In Figures 7 to 8 two stabilizing ribs 405 are arranged without dividing columns, i.e., at the edges of the container support 402. The stabilizing ribs 405 can additionally be arranged in dividing columns. The stabilizing ribs 405 can be used to attach the guiding structure 409. The stabilizing ribs 405 can also be used to attach the support plate 404. The vertical extent of the stabilizing ribs 405 can be higher than the support plate 404. The stabilizing ribs 405 can be used to stabilize the storage container 106. The stabilizing ribs 405 can also stabilize the container support by means of a strengthening structure to prevent distortion, for example in the case of uneven loading. The stabilizing ribs 405 can also be arranged in the second direction Y. The stabilizing ribs 405 can replace one or more of the first support beams 406, and vice versa. The stabilizing ribs 405 can replace one or more of the second support beams 407, and vice versa.

[0218] The first support beam 406, the second support beam 407, the stabilizing ribs 405, the support plate 404, the guiding structure 409, and any other components associated with the container support 402 can be connected to each other by means of fasteners, welding, snap-lock systems, tongue-and-groove systems, or other known methods known to those skilled in the art.

[0219] Figure 9 and Figure 10 show that the container supports 402 of one or more container support frames 401 can be displaced relative to the container support frame 401 in the second horizontal direction Y. To displace the displaceable container supports 402 in the second horizontal direction Y, Figure 9 the container support frame 401 of

[0220] includes a support displacement device 700. Alternatively, the container support 402 can include a support displacement device 700. The support displacement device 700 is configured to displace the displaceable container support 402 relative to the container support frame 401. Figure 9 and Figure 10 as shown, and vice versa.

[0221] Figure 9The guiding track 710 is an extruded profile. The guiding track 710 includes a horizontal portion 710” and a vertical portion 710’. When the longitudinal direction of the guiding track 710 is arranged to extend along the second horizontal direction Y, the horizontal portion 710” extends horizontally, and the vertical portion 710’ extends vertically.

[0222] Figure 10 The rollers 709, 709’ are arranged in pairs and include a bracket guide 709 and a horizontally moving bracket roller 709’. The bracket guide 709 has a vertically oriented axis of rotation. The horizontally moving bracket roller 709’ has an axis of rotation oriented along the first horizontal direction X. As Figure 7 shown, three pairs of rollers 709, 709’ can be arranged along the side of the container support 402 to cooperate with the corresponding guiding tracks 710. The three pairs of rollers 709, 709’ are distributed such that one pair is located at the center, and one pair is at each distal end of the edge of the container support 402. The rollers 709, 709’ of one container support 402 are typically arranged on two opposite edges.

[0223] Figure 9 shows how the horizontally moving bracket roller 709’ cooperates with the horizontal portion 710” of the guiding track, where the horizontally moving bracket roller 709’ can roll along the horizontal portion 710” of the guiding track. The cooperation between the horizontal portion 710” of the guiding track and the horizontally moving bracket roller 709’ enables relative displacement between the container support 402 and the container support frame 401.

[0224] Figure 9 shows how the bracket guide 709 cooperates with the vertical portion 710’ of the guiding track, where the vertically moving bracket roller 709’ can roll along the vertical portion 710’ of the guiding track. The cooperation between the vertical portion 710’ of the guiding track and the bracket guide 709 controls the direction of relative movement between the container support 402 and the container support frame 401.

[0225] Figure 9 shows an example of the support displacement device 700. This support displacement device 700 includes a motor 701. The motor 701 is arranged on the container support frame 401 through a bracket 713. The bracket can be connected to, for example, the vertical column 431. For maintenance purposes, the components of the support displacement device 700 are preferably arranged in a position easily accessible to technicians. In particular, the motor 701 or an alternative drive device should preferably be arranged on the edge of the container support frame 401 and extend outside the container support frame 401, preferably also near the corner of the container support frame 401. By arranging the motors 701 of adjacent container support frames 401 on opposite sides of the container support frame 401, technicians can obtain more space to install the motor 701 and / or the support displacement device 700 or perform maintenance on them.

[0226] The support member displacement device 700 includes a drive shaft 702 configured to be driven by a motor 701. The drive shaft 702 is also configured to drive, i.e., displace, the displaceable container support member 402.

[0227] Figure 9 and Figure 11 Illustrated is how the drive shaft 702 may be arranged on the container support frame 401. The drive shaft 702 is arranged on the container support frame 401 by brackets 712. These brackets 712 may be arranged on the vertical columns 431. These brackets 712 are typically arranged at the distal end of the drive shaft 702. The brackets 712 must allow the drive shaft 702 to rotate. The drive shaft 712 is arranged substantially horizontally and extends along a first direction X.

[0228] In Figure 9 and Figure 11 the rotation of the motor 701 causes the drive shaft 702 to rotate via a pulley 708 arranged on the motor 701, a pulley 708 arranged on the drive shaft 702, and a first belt 706 connecting these pulleys 708. The pulley 708 arranged on the drive shaft 702 is arranged at the distal end of the drive shaft 702 to align with the pulley 708 arranged on the motor 701. In Figure 9 and Figure 11 each drive shaft 702 is driven by one motor 701. This is advantageous because it requires fewer components and the movement along each side is synchronized by the drive shaft 702 shared by both sides. Alternatively, two motors 701 may be provided for each drive shaft 702, and these two motors 701 are connected to opposite ends of the drive shaft 702 or drive shaft portion.

[0229] In Figure 9 and Figure 11 the rotation of the drive shaft 702 causes the displaceable container support member 402 to be displaced via two pulleys 708 arranged on the drive shaft 702, two pulleys 708 arranged on the container support frame 401, two brackets 711 arranged on the container support member 402, and two second belts 707.

[0230] The two pulleys 708 arranged on the drive shaft 702 and configured to drive the container support member 402 are concentric with each other and with the pulley 708 arranged on the drive shaft and configured to cooperate with the motor 701.

[0231] The two pulleys 708 arranged on the container support frame 401 are provided on opposite sides of the container support frame 401 and are connected to, for example, guide rails 710 or vertical columns 431. The pulleys 708 arranged on the container support frame 401 are aligned with the pulleys 708 arranged on the drive shaft 702.

[0232] Two second belts 707 respectively connect a pulley 708 arranged on the drive shaft 702 with a pulley 708 arranged on the container support frame 401. When connected, the second belt 707 extends along the second horizontal direction Y. Then, the second belt 707 extends in the same direction as the expected displacement of the container support 402. The extension of the second belt 707 along the second horizontal direction Y should substantially correspond to or exceed the predetermined displacement distance of the container support 402.

[0233] The two second belts 707 are arranged such that the distance between them in the first direction X exceeds the horizontal extension of the container support 402 in the first direction X.

[0234] Two brackets 711 are arranged on opposite sides of the container support 402 and face their respective second belts 707. Each bracket 711 is aligned with and connected to its respective second belt 707. The bracket 711 and the second belt 707 can be clamped by a plate bolted to the bracket 711, and the second belt is arranged between them. In this way, the bracket can be connected to any given part of the second belt 707.

[0235] The displacement direction of the container support 402 depends on the rotation direction of the drive shaft 702 and thus also on the rotation direction of the motor 701. By providing a clockwise rotation by the motor 701, the container support 402 will be displaced in the opposite direction compared to providing a counterclockwise rotation by the motor 701. The displacement-rotation ratio between the container support 402 and the drive shaft 702 or the motor 701 can be configured by selecting the size of the pulley 708.

[0236] Figure 11 is a perspective view of the lowermost part of the storage tower 400. The lowermost container support 402n (i.e., one of the second container supports 402b-n) is displaced relative to the upper container support 402. The displaced container support 402 is displaced in the second direction Y by a distance corresponding to one grid cell 422.

[0237] In Figure 11In [the figure], a storage tower 400 including a plurality of vertical columns 431 is shown. These vertical columns 431 are generally supported by a floor 440 and may also be connected to the floor 440 through strut brackets 435. The plurality of vertical columns 431 are configured to support a plurality of guide rails 710. If the storage tower 400 includes a guide rail system 408, the plurality of vertical columns 431 may be configured to support the guide rail system 408. The distance at which the vertical columns 431 are distributed in the first direction X and / or the second direction Y is greater than the distance between the upright members 102 of the prior art frame structure 100. This is because the container support 402 has a greater span than the storage columns 105 of the prior art frame structure 100. Therefore, each vertical column 431 should be configured to bear a greater load than the upright member 102 because the number of vertical columns is smaller. If the storage tower 400 includes a transportation system 601, the plurality of vertical columns 431 may be configured to support the transportation system 601. Figure 18A and 18B This is shown in [the figure].

[0238] Figure 12 A side view of a storage and retrieval system 1 having a storage tower 400 of the present invention and a prior art storage grid 100 is shown. The above-described support displacement device 700 is shown disposed at the end of each container support 402. This particular configuration includes fourteen container support frames 401a-n disposed below the guide rail system 408, each frame having a container support 402 that is displaceable in the Y direction. Other numbers of container support frames may be provided as appropriate. Preferably, there are more than five container support frames, and more preferably more than ten. In order to enable movement between the storage grid 100 and the storage tower 400, it can be seen that a coupling guide rail system 408' interconnects the guide rail system 108 of the prior art storage grid 100 and the guide rail system 408 of the storage tower 400 of the present invention. The guide rail system 408 of the storage tower 400 of the present invention and the guide rail system 108 of the prior art storage grid 100 have a common orientation and design such that the same type of carrier 301 can run on both guide rail systems 108, 408. Due to the different configurations of the stack 107 of the container support frames 401 of the storage tower 400 of the present invention and the storage containers 106 of the prior art storage grid 100, the guide rails 410, 411 above the container support frames 401 can advantageously be wider in at least one of the X-Y directions compared to the guide rails 110, 111 above the stack 107.

[0239] Figure 13 Shown is Figure 12 a perspective view of the same storage and retrieval system 1 in [the figure].

[0240] The storage tower 400 of the present invention and the storage grid 100 of the prior art can be of any size. In particular, it should be understood that the storage tower 400 and / or the storage grid 100 can be wider and / or longer and / or deeper than the sizes disclosed in the drawings. For example, the horizontal extent of the storage tower 400 and / or the storage grid 100 can have space for more than 700×700 storage containers 106 and a storage depth of more than 14 storage containers 106.

[0241] One way to install the storage tower 400 as described above can be to remove all stacks 107 of the storage containers 106 under the rail system 108 part of the prior art storage and retrieval system 1 shown in FIG. 1, leaving the cantilever part CP of the rail system 108. Then, insert one or more storage towers 400 of the present invention into the vacant volume area under the cantilever part CP of the rail system 108.

[0242] Figure 14 and 15A is a perspective view of the storage system 1 including the storage tower 400 during operation. Figure 15B Shows Figure 15A a vertical section of the storage system 1.

[0243] To store and retrieve the target storage container 106' using the storage tower 400, the following operations are performed (refer to Figure 14 ):

[0244] - The control system 500 issues an instruction to the vehicle 301 to pick up the target storage container 106' with coordinates X, Y, Z. This position corresponds to the storage container 106 in the container space of the container support 402 that forms part of the horizontal container support frame 401g at a depth of 5xΔdV+Vr1 below the rail system 408. Since all the openings 403 in the storage tower 400 are initially aligned (having the same X-Y coordinates), the X-Y position of the target opening 403' of the container support frame 401a adjacent to the rail system 408 is equal to the X-Y position of the target opening 403' of the following container support frames 401b-n.

[0245] - The vehicle 301 moves in the X and Y directions by means of its drive mechanisms 301b, c until its lifting device 304 is directly above the target opening 403' that is in the storage container row where the target storage container 106' is located.

[0246] - During and / or after the vehicle 301 moves to a position above the target opening 403', the control system 500 sends an instruction to the support displacement device 700 to displace the container support 402 of the container support frame 401g a sufficient distance in the second direction Y such that the target storage container 106' is vertically aligned with the target opening 403' of the container support frames 401a-f located above.

[0247] - During and / or after the displacement of the container support 402, the lifting device 304 of the vehicle 301 is activated and lowered through the grid opening 415 and the aligned target opening 403' until the gripping portion of the lifting device 304 is in a position to grip the target storage container 106'.

[0248] - After the target storage container 106' has been gripped and lifted above the container support frame 401f located above by the lifting device 304, the support displacement device 700 is activated again to move the container support 402 back to its initial Y position.

[0249] - When the target storage container 106' has been lifted above the guide rail system 408, the vehicle 301 moves to another position on the guide rail system 408, such as to a dedicated port post / slide 436, for transportation to the access station 437.

[0250] An advantage of this process is that there is no longer a need to excavate the prior art storage and retrieval systems.

[0251] In Figure 14 the operating example, the target storage container 106' is positioned next to the opening 403 of the same row of container spaces. Some rows of container spaces may include more than one container space on either side of the opening 403. If the target storage container 106' is not positioned next to the opening 403, i.e., there is a container space between the target storage container 106' and the opening 403, the container support 402 must be displaced a distance corresponding to two grid cells 422 along the second horizontal direction Y to position the target storage container 106' vertically aligned with the target opening 403' of the container support frames 401a-f located above. Starting from the initial position of the container support 402, there may not be enough space in the storage tower 400 for the container support 402 to be displaced a distance corresponding to two grid cells 422 in both directions along the second direction Y. In this case, as shown in Figure 15A , the target storage container 106' can be retrieved by displacing all the container supports a distance greater than one grid cell in the other direction.

[0252] Figure 15A The retrieval operation of Figure 14 is similar to the operation described with reference to

[0253] - During the movement of the vehicle 301 to a position above the target opening 403', the control system 500 sends an instruction to the support displacement device 700 to displace the container support 402 of the container support frames 401a-f located above the target storage container 106' by a sufficient distance in the second horizontal direction Y so that the target storage container 106' is vertically aligned with the target opening 403' of the container support frames 401a-f located above. The container support 402 of the container support frames 401a-f located above the target storage container 106' is displaced in the second horizontal direction Y by a distance corresponding to one grid cell 422, and this displacement is opposite to the displacement of the container support 402 of the target storage container 106'.

[0254] Figure 15B shows a cross-section of the storage system 1 according to Figure 15A In this case, two vehicles 301 simultaneously pick up their respective target containers 106' located on the same container support 402. If the control system 500 detects that two target storage containers 106' are located on the same container support 402, and especially when they are located in the same column of container spaces, the control system 500 can send instructions to the two vehicles 301 to simultaneously pick up these target storage containers 106'.

[0255] Figures 16A to 16B , Figure 17 and Figures 18A to 18B shows a storage and retrieval system 1 including a storage tower 400. Different from the vehicles 201, 301 with wheels moving on the guide rail system 408, the storage and retrieval system 1 includes a transportation system 601. The transportation system 601 includes a crane 602 that can move along the first direction X on a slide bar 603, and the slide bar 603 extends across the width of the storage tower 400. The movement in the second direction Y is achieved by sliding the slide bar 603 along two fixed bars 604 extending along the second direction Y on both sides of the storage tower 400. In FIGS. 16 to 18, the crane 602 is shown as a container handling vehicle having a cantilever structure supported on two parallel slide bars 603.

[0256] When the transportation system 601 receives an instruction from the control system 500 to retrieve the target storage container 106' stored in, for example, the sixth container support frame 401f counted from the top (as Figure 17As shown, the support member displacement device 700 displaces the container support member 402 in the Y direction until the target storage container 106’ is vertically aligned with the target opening 403’, and the target opening 403’ is vertically aligned within the five container support frames 401a - e located above. Before, during, or after the displacement of the container support member 402, the crane 602 of the transport system 601 is moved to a position vertically aligned above the target opening 403’ of the first container support frame 401a (and due to the initial alignment, also the corresponding openings 403 of the container support frames 401b - e down to at least the container support frame 401f having the target storage container 106’) by using the slide bar 603 and the fixed bar 604.

[0257] Figures 16A to 18B The storage tower 400 shown in also includes a dedicated port column or chute 436 into which the target storage container 106’ can be lowered / raised by using the lifting device 403 of the crane 602. In Figures 16A to 16B and Figure 17 an access station 437 is shown arranged below the lower end of the chute 436 to receive and provide the storage containers 106 to be retrieved and stored, respectively.

[0258] Referring to Figure 14 and 15A through Figure 15B the operations described are applicable to the storage tower 400 including the transport system 601 with necessary modifications.

[0259] Figures 18A to 18B It is shown that the storage tower 400 can include a horizontal beam 432 for connection to the top of the vertical column 431.

[0260] In the foregoing description, various aspects of the automated storage and retrieval system and related methods of using a vehicle to pick up product items have been described with reference to exemplary embodiments. For purposes of explanation, specific numbers, systems, and configurations have been set forth to provide a thorough understanding of the system and how it works. However, the description is not to be construed as limiting. Various modifications and variations of the exemplary embodiments that are obvious to those skilled in the art to which the disclosed subject matter pertains, as well as other embodiments of the system, are considered to fall within the scope of the present invention.

[0261] Figures 19A to 19C Three different storage towers 400 are shown.

[0262] Figure 19A The container support member 402 of the storage tower 400 in has a matrix of container spaces including four rows and five columns, i.e., a 4×5 matrix. The four - row container space is symmetric. Each row is configured to receive four storage containers 106 and includes one opening 403.

[0263] Figure 19B The container support 402 of the storage tower 400 in [reference] has a matrix of container spaces including four rows and ten columns, i.e., a 4×10 matrix. The four rows of container spaces are symmetric. Each row is configured to receive eight storage containers 106 and includes two openings 403. Figure 19B One container support 402 of the storage tower 400 in [reference] is equal to Figure 19A two container supports 402 of the storage tower 400 placed side by side along the second direction Y in [reference].

[0264] Figure 19C The container support 402 of the storage tower 400 in [reference] has a matrix of container spaces including four rows and fifteen columns, i.e., a 4×15 matrix. The four rows of container spaces are symmetric. Each row is configured to receive twelve storage containers 106 and includes three openings 403. Figure 19C One container support 402 of the storage tower 400 in [reference] is equal to Figure 19A three container supports 402 of the storage tower 400 placed side by side along the second direction Y in [reference].

[0265] In Figure 19B and 19C [reference], each row of container spaces presents a plurality of openings 403 that are distributed with an offset corresponding to d + 1 grid cells 422 in the second direction Y, where d is an integer of 1 or greater. In these specific instances, d = 4.

[0266] List of reference numerals

[0267]

[0268]

[0269]

[0270]

[0271]

[0272]

[0273]

Claims

1. A storage tower (400) for storing storage containers (106), comprising a plurality of horizontally extending container support frames (401) distributed with a vertical offset (ΔdVb-n), ● wherein, the plurality of horizontally arranged container support frames (401) include: - a first container support frame (401a), and - at least one second container support frame (401b-n) arranged below the first container support frame (401a) and extending parallel to the first container support frame, ● wherein each of the first container support frame and the at least one second container support frame (401b-n) includes: - a horizontally extending container support (402) whose main directions are in a first direction (X) and an orthogonal second direction (Y), and each container support (402) is configured as a matrix of container spaces, having multiple columns of container spaces arranged in the first direction (X) and multiple rows of container spaces arranged in the second direction (Y), ● wherein each row of container spaces of the first container support frame (401a): - is configured to receive a plurality of storage containers (106), and - presents at least one opening (403) extending along the second direction (Y), and the opening size of the at least one opening (403) is at least the maximum horizontal cross-section (Af) of the storage container (106) to be stored, ● wherein at least one opening (403) of the first container support frame (401a) and at least one opening (403) of the at least one second container support frame (401b-n) can be vertically aligned with each other, ● wherein at least one container support (402) can be displaced along the second direction (Y), and ● wherein the at least one second container support frame (401b-n) further includes a support displacement device (700) configured to displace the displaceable container support (402).

2. The storage tower (400) according to claim 1, wherein, each row of container spaces of the at least one second container support frame (401b-n): - is configured to receive a plurality of storage containers (106), and - presents at least one opening (403) extending along the second direction (Y), and the opening size of the at least one opening (403) is at least the maximum horizontal cross-section (Af) of the storage container (106) to be stored.

3. The storage tower (400) according to claim 1 or 2, wherein, the support displacement device (700) includes a linear actuator, a gear transmission, a chain transmission, a belt transmission or any combination thereof.

4. The storage tower (400) according to claim 3, wherein, the support displacement device (700) includes a motor for driving the linear actuator, the gear transmission, the chain transmission, the belt transmission or any combination thereof, and the motor is arranged outside the horizontal range of the corresponding container support frame (401) containing at least one displaceable container support (402) to be displaced, or Wherein, the support member displacement device (700) is a direct drive mechanism arranged on the container support member (402).

5. The storage tower (400) according to claim 1 or 2, Wherein, each of the container support members (402) further includes a plurality of horizontally moving support rollers (709') rotatably arranged on at least one side of the container support member (402) extending along the second direction (Y), the horizontally moving support rollers (709') having a horizontal rotation axis along the first direction (X), and wherein each of the plurality of horizontal container support frames (401) further includes a set of guide rails (710) arranged along the second direction (Y) on each side of the plurality of container support frames (401), the set of guide rails (710) being oriented such that their longitudinal direction is parallel to the second direction (Y), wherein each guide rail (710) includes a horizontal portion (710') for supporting and guiding the plurality of horizontally moving support rollers (709').

6. The storage tower (400) according to claim 5, Wherein, each of the container support members (402) further includes a plurality of support guides (709) arranged at least on the side of the container support member (402) including the plurality of horizontally moving support rollers (709'), and wherein each of the guide rails (710) further includes a vertical portion (710") for guiding the plurality of support guides (709).

7. The storage tower (400) according to claim 1 or 2, Wherein, each row includes vertical guide plates (409) arranged at least partially around the perimeter of each of the at least one opening (403), wherein the vertical guide plates (409) are configured such that the storage containers (106) lifted or lowered into the corresponding openings (403) are aligned in a horizontal plane.

8. The storage tower (400) according to claim 1 or 2, Wherein, at least one opening (403) presented by each row of container spaces is a separate opening (403), and wherein at least one opening (403) of each row of parallel arranged container spaces within the at least one container support member (402) is horizontally aligned along the first direction (X).

9. The storage tower (400) according to claim 1 or 2, Wherein, at least one opening (403) presented by each row of container spaces of the at least one container support member (402) merges together to form a continuous opening (403) extending along the first direction (X) to define a region substantially equal to a column of container spaces.

10. The storage tower (400) according to claim 1 or 2, Wherein, The at least one container support (402) that can be displaced can be displaced along the second direction (Y) by substantially equal to W f *i distances, where i is an integer.

11. The storage tower (400) according to claim 10, Wherein, i = 1 or i = 2.

12. The storage tower (400) according to claim 1 or 2, Wherein, Each row presents a plurality of openings (403) that are distributed with an offset corresponding to d + 1 grid cells (422) in the second direction (Y), where d is an integer of 1 or greater.

13. The storage tower (400) according to claim 1 or 2, wherein, the at least one opening (403) of the container space rows of the container supports of the first container support frame and the container supports of the at least one second container support frame are distributed identically.

14. The storage tower (400) according to claim 1 or 2, wherein, the lowermost container support (402) has at least one row of container space without openings (403).

15. The storage tower (400) according to claim 1 or 2, wherein, The storage tower (400) further includes a transport mechanism (601), which is arranged above the uppermost first container support frame (401a) with a first vertical offset (V r1 ).

16. The storage tower (400) according to claim 1 or 2, wherein, The storage tower (400) further includes a guide rail system (408), and the guide rail system of the storage tower is arranged above the first container support frame (401a) with a first vertical offset (V r1 ).

17. The storage tower (400) according to claim 16, wherein, the guide rail system (408) of the storage tower includes a first set of parallel guide rails (410) arranged along the first direction (X) and a second set of parallel guide rails (411) arranged along the second direction (Y), wherein the guide rail system (408) of the storage tower is aligned with the container support frame (401) such that each row of container space is vertically aligned with the second set of parallel guide rails (411).

18. An automated storage and retrieval system (1) configured to store a plurality of storage containers (106), comprising: ● a storage tower (400) according to any one of claims 1 to 14, ● a plurality of storage containers (106) supported on the plurality of horizontally arranged container support frames (401), ● a remotely operated vehicle (201; 301; 602) configured to move laterally above the plurality of container support frames (401), wherein the remotely operated vehicle (201; 301; 602) includes a lifting device (304) configured to grasp and vertically lift a storage container (106), and ● a control system (500) configured to wirelessly monitor and control the movement of the remotely operated vehicle (201; 301).

19. The automated storage and retrieval system (1) according to claim 18, wherein, the system (1) further includes: ● a storage grid (100), including: - a plurality of vertical storage columns (105) for stacking storage containers (106) on top of each other, and - a guide rail system (108) on which a plurality of container handling vehicles can operate, the guide rail system (108) of the storage grid is arranged above the plurality of storage columns (105), wherein the storage containers (106) stored in the storage columns (105) can be accessed by the container handling vehicles through grid openings (115) in the guide rail system (108) of the storage grid. The guide rail system (108) of the storage grid includes a cantilever portion (CP), and the horizontal extension range of the cantilever portion is equal to the difference between the horizontal extension range of the guide rail system (108) and the horizontal extension range of the plurality of storage columns (105). Wherein, one or more of the storage towers (400) are at least partially arranged below the cantilever portion (CP) of the guide rail system (108) of the storage grid, and are positioned such that each container space of the container support (402) of the first container support frame can be vertically aligned below the grid opening (415) of the cantilever portion (CP).

20. The automated storage and retrieval system (1) according to claim 18, wherein, The system (1) further includes: ● A storage grid (100), including: - A plurality of vertical storage columns (105) for stacking storage containers (106) on top of each other, and - A transport mechanism (601), wherein the remotely operated vehicle is a crane (602), and the crane can move along a slide bar (603) arranged parallel to the first direction (X). The slide bar (603) has two opposite ends, and these two opposite ends can move along two fixed bars (604) arranged parallel to the second direction (Y). The transport mechanism (601) is arranged above the plurality of storage columns (105). The transport mechanism (601) includes a cantilever portion (CP), and the horizontal extension range of the cantilever portion is equal to the difference between the horizontal extension range of the transport mechanism (601) and the horizontal extension range of the plurality of storage columns (105). Wherein, one or more of the storage towers (400) are at least partially arranged below the cantilever portion (CP) of the transport mechanism.

21. The automated storage and retrieval system (1) according to claim 18, wherein, The storage tower (400) further includes a guide rail system (408), and the guide rail system of the storage tower is arranged above the uppermost first container support frame (401a) with a first vertical offset (V r1 ).

22. A method for storing and retrieving storage containers (106) from the automated storage and retrieval system (1) according to any one of claims 18 to 21, wherein, The plurality of horizontal container support frames (401) include j parallel container support frames, where j is an integer of 2 or greater. Wherein, the at least one container support (402) of the at least one second container support frame can be displaced along a second direction (Y) orthogonal to the first direction (X), and wherein the method includes the following steps: A. Moving the remotely operated vehicle (201; 301; 602) to a position where the lifting device (304) of the remotely operated vehicle is vertically aligned above any one of the following: a) A target storage container (106') supported on the first container support frame (401a), or b) If the target storage container (106’) is located on one of the j-1 parallel second container support frames (401b-n) below the first container support frame (401a), the target opening (403a’) of the first container support frame (401a) that can be vertically aligned with the target storage container (106’), B. If the target storage container (106’) is not positioned to be vertically aligned below the target opening (403a’), then: a) Shift the displaceable container support (402) of the second container support frame in the second direction (Y), wherein the target storage container (106’) is supported on the displaceable container support to position the target storage container (106’) to be vertically aligned below the target opening (403a’) of the first container support frame (401a), or b) If at least one container support (402) of the first container support frame (401a) can be shifted along the second direction (Y), shift at least one displaceable container support (402) of one or more upper container support frames (401a-k) an equal distance in the second direction (Y) opposite to the direction in a) to position the target storage container (106’) to be vertically aligned below the target opening (403a’) of the first container support frame (401a), wherein the one or more container support frames (401a-k) have the same position in the first direction (X) as the row of the displaceable container support (402) supporting the target storage container (106’), or c) If at least one container support (402) of the first container support frame (401a) can be shifted along the second direction (Y), shift the target storage container (106’) supporting the displaceable container support (402) as described in step a) and one or more displaceable container supports (402) arranged above as described in step b) to position the target storage container (106’) to be vertically aligned below the target opening (403a’), C. Use the lifting device (304) to grasp and lift the target storage container (106’), and D. Move the remotely operated vehicle (201; 301) together with the target storage container (106’) to a different horizontal position.

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