Automated storage and retrieval system, charging station, container handling vehicle and related methods

Abstract

The present invention relates to an automated storage and retrieval system, a charging station, a container handling vehicle and related methods. The automated storage and retrieval system comprises: a rail system comprising a first set of parallel rails arranged in a horizontal plane and extending in a first direction and a second set of parallel rails arranged in the horizontal plane and extending in a second direction orthogonal to the first direction; a plurality of storage columns located below the rail system; a container handling vehicle for lifting at least one storage container stacked in a stack, wherein the container handling vehicle comprises: a lower part comprising at least one storage compartment for storing a storage container; an upper part arranged vertically above the lower part; a wheel assembly for guiding the container handling vehicle along the rail system; and a power supply compartment for accommodating a replaceable power supply; a replaceable power supply for accommodation in the power supply compartment, having a power supply charging connection; and a charging station.

Description

Technical Field

[0001] This invention relates to an automated storage and retrieval system and method for storing and retrieving containers using a charging station. Background Technology

[0002] Figure 1 A typical prior art automated storage and retrieval system 1 with a frame structure 100 is disclosed, and Figure 2 and Figure 3 Two different prior art container handling vehicles 201 and 301 are disclosed, which are suitable for operation on such system 1.

[0003] The frame structure 100 includes a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102. Members 102 and 103 may typically be made of metal, such as extruded aluminum profiles.

[0004] The frame structure 100 defines a storage grid 104, which includes rows of storage columns 105 in which storage containers 106, also referred to as boxes, are stacked one on top of another to form a stack 107. The storage grid 104 prevents horizontal movement of the stack 107 of storage containers 106 and guides vertical movement of the containers 106, but typically does not support the storage containers 106 when stacked.

[0005] The automated storage and retrieval system 1 includes a track system 108 arranged in a grid pattern on top of a storage grid 104. On this track system 108, multiple container handling vehicles 201, 301 are operated to lift storage containers 106 from storage columns 105 and lower storage containers 106 into the storage columns, and also to transport storage containers 106 above the storage columns 105. The track system 108 includes a first set of parallel tracks 110 arranged to guide the container handling vehicles 201, 301 in a first direction X through the top of the frame structure 100, and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 201, 301 in a second direction Y perpendicular to the first direction X. Thus, the track system 108 defines grid columns 112 above which the container handling vehicles 201, 301 can move laterally above the storage columns 105, i.e., in a plane parallel to the horizontal XY plane.

[0006] Each prior art container handling vehicle 201, 301 includes a body 201a, 301a and a first set of wheels 201b, 301b and a second set of wheels 201c, 301c, which respectively enable the container handling vehicle 201, 301 to move laterally in the X direction and the Y direction. Figure 2 and Figure 3In this configuration, two wheels in each group are fully visible. The first group of wheels 201b and 301b are arranged to engage with two adjacent tracks of the first group of tracks 110, and the second group of wheels 201c and 301c are arranged to engage with two adjacent tracks of the second group of tracks 111. Each group of wheels 201b, 301b, 201c, and 301c can be raised and lowered, allowing the first group of wheels 201b and 301b and / or the second group of wheels 201c and 301c to engage with the corresponding set of tracks 110 and 111 at any given time.

[0007] Each prior art container handling vehicle 201, 301 also 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. The lifting device includes one or more clamping / engaging devices (not shown) adapted to engage the storage container 106, and the clamping / engaging devices are lowerable from the vehicles 201, 301 such that the position of the clamping / engaging devices relative to the vehicles 201, 301 is adjustable in a third direction Z orthogonal to the first direction X and the second direction Y.

[0008] Traditionally, and also for the purposes of this application, Z=1 identifies the uppermost layer of grid 104, that is, the layer directly below the orbital system 108; Z=2 identifies the second layer below the orbital system 108; Z=3 identifies the third layer, and so on. Figure 1 In the exemplary prior art mesh disclosed, Z=8 identifies the bottommost layer of mesh 104. Similarly, X=1…n and Y=1…n identify the position of each mesh column 112 in the horizontal plane. Therefore, as an example, and using… Figure 1 The Cartesian coordinate system X, Y, Z shown is in Figure 1 The storage container marked 106' can be said to occupy a grid position or cell X=10, Y=2, Z=3. The container loading and unloading vehicles 201 and 301 can be said to travel in layer Z=0, and each grid column 112 can be identified by its X and Y coordinates.

[0009] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and loading the storage container 106 as it is transported through the track system 108. The storage space may include a central cavity arranged within the vehicle body 201a, such as... Figure 2 As shown, and as described, for example, in WO2015 / 193278A1, its contents are incorporated herein by reference.

[0010] Figure 3 An alternative configuration of a container handling vehicle 301 with a cantilever structure is shown. Such a vehicle is described in detail, for example, in NO317366, the contents of which are also incorporated herein by reference.

[0011] Figure 2 The central cavity container loading / unloading vehicle 201 shown may have a coverage area that is approximately equal in size to the lateral extent of the grid posts 112 in the X and Y directions, i.e., the extent of the grid posts 112 in the X and Y directions, as described, for example, as in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein may mean “horizontal”.

[0012] Alternatively, the central cavity container loading and unloading vehicle 101 may have a coverage area greater than the lateral region defined by the grid posts 112, for example as disclosed in WO2014 / 090684A1.

[0013] The orbital system 108 can be as follows: Figure 4 The single-track system shown. Alternatively, track system 108 can be as follows: Figure 5 The illustrated dual-track system allows container loading / unloading vehicles 201, having a coverage area roughly corresponding to the lateral region defined by grid posts 112, to travel along a row of grid posts, even if another container loading / unloading vehicle 201 is located above a grid post adjacent to that row. Single-track and dual-track systems, or combinations thereof including single-track and dual-track arrangements in single-track system 108, form a grid pattern in the horizontal plane P comprising a plurality of rectangular and uniform grid locations or grid cells 122, wherein each grid cell 122 includes a grid opening 115 defined by a pair of tracks 110a, 110b of a first set of tracks 110 and a pair of tracks 111a, 111b of a second set of tracks 111. Figure 5 In the diagram, grid cell 122 is represented by a dashed box.

[0014] Therefore, tracks 110a and 110b form a track pair defining parallel rows of grid cells extending in the X direction, and tracks 111a and 111b form a track pair defining parallel rows of grid cells extending in the Y direction.

[0015] like Figure 6 As shown, each grid cell 122 has a width W that is typically between 30 and 150 cm. C And the length L is usually in intervals of 50 to 200 cm. C Each grid opening 115 has a width W. O and length L O It is typically wider than the width W of the grid cell 122. C and length L C Smaller than 2 to 10 cm.

[0016] In the X and Y directions, adjacent grid cells are arranged to contact each other, so that there is no space between the grid cells.

[0017] In storage grid 104, most grid posts 112 are storage posts 105, i.e., grid posts 105 where storage containers 106 are stored in stacks 107. However, grid 104 typically has at least one grid post 112 that is not used for storage containers 106, but includes a location where container loading / unloading vehicles 201, 301 can place and / or pick up storage containers 106, enabling their transport to an access station (not shown) where storage containers 106 can be accessed from outside grid 104 or moved in or out of grid 104. In the art, such a location is commonly referred to as a “port,” and the grid post 112 where the port is located may be referred to as a “port post” 119, 120. Transport to the access station can be in any direction, i.e., horizontal, inclined, and / or vertical. For example, storage container 106 can be placed in random or dedicated grid posts 112 within storage grid 104, and then picked up by any container handling vehicle and transported to ports 119, 120 for further transport to the retrieval station. Note that the term "inclined" means transport of storage container 106 with a general transport direction between horizontal and vertical.

[0018] Figure 1 The grid 104 includes two port posts 119 and 120. The first port post 119 may be a dedicated unloading port post, for example, where container loading and unloading vehicles 201 and 301 can unload the storage container 106 to be transported to the storage station or transfer station, and the second port post 120 may be a dedicated pickup port post, where container loading and unloading vehicles 201 and 301 can pick up the storage container 106 that has been transported from the storage station or transfer station to the grid 104.

[0019] The storage station can typically be a picking station or a storage station, where product items are removed from or placed into storage container 106. In the picking station or storage station, storage container 106 is typically never removed from the automated storage and retrieval system 1, but is returned to grid 104 once retrieved. Ports can also be used to move storage containers in or out of grid 104, for example, to move storage container 106 to another storage facility (e.g., to another grid or another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0020] Storage containers are typically transported between ports 119, 120 and access stations using a transmitter system that includes a transmitter.

[0021] If ports 119, 120 and the access station are located at different heights, the transport system may include a lifting device with vertical components for vertically transporting the storage container 106 between ports 119, 120 and the access station.

[0022] The transport system can be arranged to transfer storage containers 106 between different grids, for example, as described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0023] When you need to access the storage Figure 1 When storage container 106 is in grid 104 as disclosed, one of container handling vehicles 201 and 301 is commanded to retrieve the target storage container 106 from its position in grid 104 and transport it to unloading port 119. This operation includes moving container handling vehicles 201 and 301 to the grid position above storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from storage column 105 using the lifting device (not shown) of container handling vehicles 201 and 301, and transporting the storage container 106 to unloading port 119. If the target storage container 106 is located deep within stack 107, i.e., one or more other storage containers 106 are positioned above the target storage container 106, the operation also includes temporarily moving the storage container located above before lifting the target storage container 106 from storage column 105. This step, sometimes referred to in the art as "digging," can be performed using the same container handling vehicle subsequently used to transport the target storage container to unloading port 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have a container handling vehicle specifically designed for the task of temporarily removing storage containers from storage column 105. Once the target storage container 106 has been removed from storage column 105, the temporarily removed storage container can be repositioned back into the original storage column 105. However, the removed storage container can alternatively be relocated to another storage column.

[0024] When storage container 106 is to be stored in grid 104, one of the container loading / unloading vehicles 201 and 301 is commanded to pick up storage container 106 from pick-up port 120 and transport it to the grid location above storage column 105, where the storage container is stored. After any storage containers located at or above the target location within the storage column stack 107 have been removed, container loading / unloading vehicles 201 and 301 position storage container 106 in the desired location. The removed storage container can then be lowered back into storage column 105 or repositioned to another storage column.

[0025] In order to monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of the corresponding storage containers 106 within the grid 104, the contents of each storage container 106, and the movement of container loading and unloading vehicles 201, 301, so that the desired storage container 106 can be delivered to the desired location at the desired time without the container loading and unloading vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 includes a control system, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0026] However, for the aforementioned storage system, the need for recharging leads to undesirable robot downtime, thus reducing the overall operating cycle of the storage system to a typical 16 hours per day.

[0027] WO2015 / 104263A2, the contents of which are incorporated herein by reference, describes a storage system that addresses this undesirable interruption by arranging multiple charging stations around a storage grid. Each charging station has the capability to charge the stored power source on each vehicle. However, the solution disclosed in WO2015 / 104263A2 has drawbacks: the power source arrangement reduces the available space for storage containers and the overall stability of the vehicle. Furthermore, the hook system for connecting the stored power source to the charging stations is quite complex, resulting in denser service and a higher susceptibility to failure. Additionally, the prior art hook system limits the potential lateral range of the connected stored power source due to the limited lateral support of the stored power source.

[0028] The solutions described herein can be considered as a further development of storage systems such as those disclosed in WO2015 / 104263A2, which mitigate the aforementioned drawbacks regarding space and stability. Summary of the Invention

[0029] The invention is set forth and characterized in the independent claims, while the dependent claims describe other features of the invention.

[0030] In a first aspect, the present invention provides an automatic storage and retrieval system, comprising:

[0031] A track system comprising a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in a horizontal plane and extending in a second direction orthogonal to the first direction, the first set of tracks and the second set of tracks forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each grid cell comprising a grid opening defined by a pair of adjacent tracks of the first set of tracks and a pair of adjacent tracks of the second set of tracks.

[0032] Multiple storage columns are located below the orbital system, wherein each storage column is vertically positioned below the grid opening and arranged as a stack of storage containers;

[0033] A container handling vehicle for lifting at least one storage container stacked in a stack, the container handling vehicle being configured to move laterally on a track system above the storage column to access the storage container via a grid opening, wherein...

[0034] The container handling vehicle includes: a lower part comprising at least one storage compartment for storing storage containers; an upper part arranged vertically above the lower part; a wheel assembly for guiding the container handling vehicle along a track system; and a power compartment for accommodating a replaceable power source.

[0035] A replaceable power supply, housed in a power compartment, has a power charging connector; and

[0036] A charging station for charging a swappable power source includes a charging connector and a power support. The charging connector is configured to make an electrical connection with the power source, and the power support is used to releasably support the power source during charging.

[0037] The power compartment is located in the upper part of the container loading and unloading vehicle and is configured to receive replaceable power via an opening facing a first direction or a second direction.

[0038] In other words, the power supply compartment is positioned at a height above the at least one storage compartment. The power supply compartment may extend directly above the at least one storage compartment.

[0039] In one embodiment of the system, the power support is arranged to extend into the power compartment to retrieve the discharging power or insert the charging power.

[0040] The power supply support is arranged such that the supported power supply can only be released in the upward direction relative to the power supply support.

[0041] By arranging the power support to extend into the power compartment, power can be introduced into a laterally separated location within the vehicle from the side (or horizontal perimeter) of the container loading / unloading vehicle, while maintaining sufficient stability to reliably connect the power to the vehicle's connectors.

[0042] In one embodiment of the system, the power compartment includes a power locking assembly arranged to hold the power in the appropriate position within the power compartment.

[0043] In other words, the power supply assembly is arranged to prevent the housed power supply from moving relative to the power supply compartment. In other words, the power supply locking assembly prevents the power supply from moving laterally / horizontally relative to the power supply compartment.

[0044] In one embodiment of the system, the power locking component is movable between a first position and a second position, wherein in the first position the power locking component can hold the power in place, and in the second position the power can be moved.

[0045] In one embodiment of the system, the power locking component is locked in a first position by a releasable locking mechanism.

[0046] In one embodiment of the system, the power support is arranged to interact with a releasable locking mechanism and / or a power locking assembly such that when the power support extends into the power compartment to retrieve a discharging power source or insert a charging power source, the power locking assembly can be moved to a second position.

[0047] The releasable locking mechanism may include at least one pivot arm arranged to interact with a power support, thereby releasing the locking mechanism.

[0048] In one embodiment of the system, the power locking assembly is pivotally connected to the upper part of the container loading and unloading vehicle, such that the power locking assembly can pivot between a first position and a second position.

[0049] In one embodiment of the system, the power support includes two laterally extending guide arms, between which a replaceable power supply can be supported.

[0050] At least one portion of each guide arm may be arranged to extend into the power compartment, and / or at least one end of at least one guide arm may be arranged to extend into the power compartment, and / or at least that portion of a guide arm in which power may be supported is arranged to extend into the power compartment.

[0051] In one embodiment of the system, at least one guide arm includes an end for interacting with a releasable locking mechanism and / or a power locking assembly.

[0052] In other words, at least one guide arm may include an end for interacting with a releasable locking mechanism and / or a power locking assembly, such that the power locking assembly is movable into a second position. The end of at least one guide arm may be wedge-shaped.

[0053] In one embodiment of the system, the replaceable power supply includes support ribs arranged on each of two opposite sides of the power supply, each support rib being configured to interact with a corresponding guide arm of the power supply support. The support ribs may extend laterally / horizontally at opposite sidewalls of the power supply.

[0054] In one embodiment of the system, each support rib includes a recess or a protrusion for interacting with a corresponding protrusion or recess arranged on the guide arm.

[0055] In one embodiment of the system, the interacting recesses and protrusions are arranged to prevent the power supply from moving laterally when it is supported by a power supply support.

[0056] In one embodiment of the system, the power locking assembly includes a locking element arranged to optionally interact with the power supply via support ribs arranged on each of the two opposite sides of the power supply when the power supply is arranged in the power supply compartment and the power locking assembly is in a first position, thereby preventing the power supply from moving at least in the lateral direction.

[0057] In one embodiment of the system, locking elements are arranged on two longitudinal sidewalls interconnected by structural elements, such that the sidewalls are fixed relative to each other.

[0058] In one embodiment of the system, the structural element is a power supply cover, which is arranged to at least partially cover the power supply when the power supply is arranged in the power supply compartment and the power supply locking assembly is in a first position.

[0059] In one embodiment of the system, the power locking assembly is pivotally connected to the top of the container loading and unloading vehicle via two longitudinal sidewalls, structural elements, or a power cover.

[0060] In one embodiment of the system, the wheel assembly includes a first set of wheels arranged to engage with a first set of tracks, and a second set of wheels arranged to engage with a second set of tracks. The first set of wheels is movable between an upper wheel position and a lower wheel position, such that the first set of wheels engages with the first set of tracks at the lower wheel position, and the second set of wheels engages with the second set of tracks at the upper wheel position.

[0061] In other words, the first set of wheels can move between an upper position and a lower position relative to the upper part of the container loading and unloading vehicle, so that the power compartment can move between a lower level and an upper level relative to the height of the first set of rails and the second set of rails, respectively.

[0062] In one embodiment of the system, the power locking assembly is arranged in a first position when the power support extends into the power compartment and the first set of wheels is in the lower wheel position.

[0063] In one embodiment of the system, the power locking assembly is arranged in a second position when the power support extends into the power compartment and the first set of wheels is in the upper wheel position.

[0064] In one embodiment of the system, the power supply is arranged such that it is supported by the power supply support when the power supply support extends into the power supply compartment and the first set of wheels is in the upper wheel position.

[0065] In one embodiment of the system, the power supply is arranged such that when the power supply support extends into the power supply compartment and the first set of wheels is in the lower wheel position, it is separated from the power supply support and supported by at least one support surface arranged within the power supply compartment. This at least one support surface may be an upward-facing surface.

[0066] In one embodiment of the system, the power support is arranged at a fixed height relative to the track system, and the charging connector is movable relative to the track system between a lower connection position and an upper connection position.

[0067] In the lower connection position, when the power supply is supported by the power supply support, the charging connector is positioned at a height corresponding to the height of the power charging connector; and

[0068] In the upper connection position, when the power supply is contained in the power compartment and the first set of wheels is in the lower wheel position, the charging connector is arranged at a height corresponding to the height of the power charging connector.

[0069] The charging connector can also be configured to move relative to the power support between a lower connection position and an upper connection position.

[0070] In one implementation of the system, the charging connector is offset toward the upper connection position.

[0071] In other words, when the power support is not supporting the power supply, the charging connector will be in the upper connection position. The charging connector can be biased toward the upper connection position by any suitable elastic element (such as a spring).

[0072] Charging connectors and power charging connectors can be plug / socket connection devices. A charging connector can be a charging socket, and a power charging connector can be a corresponding power charging plug, or vice versa.

[0073] In a second aspect, the present invention provides a charging station for a replaceable power source, the power source including a power charging connector, wherein the charging station includes the charging connector and a power support member, the charging connector being configured to form an electrical connection with the power charging connector, and the power support member being used to releasably support the power source during charging, wherein the charging connector is movable relative to the power support member between a lower connection position and an upper connection position; and

[0074] In the lower connection position, when the power supply is supported by the power supply support, the charging connector is positioned at a height corresponding to the height of the power charging connector; and

[0075] The charging connector is offset toward the upper connection position so that when the power support is not supporting the power, the charging connector is in the upper connection position.

[0076] In one embodiment of the charging station, the power support includes two laterally extending guide arms that can support a replaceable power source, and at least one guide arm includes a wedge-shaped end that extends beyond a portion of the guide arm and can support the power source through the wedge-shaped end.

[0077] In one embodiment of the charging station, the power support includes two laterally extending guide arms between which a replaceable power supply can be supported, and at least one guide arm includes a wedge-shaped end extending beyond a portion of the guide arm between which the power supply can be supported.

[0078] In one embodiment of the charging station, each guide arm includes a wedge-shaped end extending beyond that portion of the guide arm, and power can be supplied between or supported by the wedge-shaped ends.

[0079] In one embodiment of the charging station, this portion of each guide arm includes at least one recess or protrusion for interacting with a power source, thereby preventing lateral movement of the supported power source. In other words, this portion of each guide arm includes at least one recess or protrusion for interacting with a power source, thereby preventing lateral movement of the supported power source relative to the charging connector.

[0080] The charging station may include any features present in the charging station according to the system of the first aspect.

[0081] In a third aspect, the invention provides a container loading / unloading vehicle for an automated storage system according to any embodiment of the first aspect, characterized in that the lower portion includes at least one storage compartment for storing storage containers, an upper portion vertically arranged above the lower portion, a wheel assembly for guiding the container loading / unloading vehicle along a track system, and a power compartment for receiving a replaceable power source, wherein the wheel assembly includes a first set of wheels arranged to engage with a first set of tracks of the track system, and a second set of wheels arranged to engage with a second set of tracks of the wheel system, the first set of wheels being movable between an upper position and a lower position such that the first set of wheels engages with the first set of tracks in the lower position, and the second set of wheels engages with the second set of tracks in the upper position, wherein the power compartment is arranged to receive a replaceable power source via an opening facing the direction in which the vehicle can move when the first set of wheels is in the lower position.

[0082] In one embodiment of the container loading and unloading vehicle, the power compartment includes a power locking assembly arranged to hold the power in place within the power compartment. The power locking assembly is pivotally connected to the upper part of the container loading and unloading vehicle such that it can pivot between a first position and a second position, in which the power locking assembly holds the power in place and in the second position, the power can be moved.

[0083] In one embodiment of the container loading and unloading vehicle, the power locking assembly is locked in a first position by a releasable locking mechanism.

[0084] The container handling vehicle may include any features present in the container handling vehicle according to the system of the first aspect.

[0085] A method for charging a power source housed in a power compartment of a container loading / unloading vehicle using a charging station, the charging station including a power support structure.

[0086] The container handling vehicle is configured to move on a track system including a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in a horizontal plane and extending in a second direction orthogonal to the first direction. The first set of tracks and the second set of tracks form a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each grid cell including a grid opening defined by a pair of adjacent tracks of the first set of tracks and a pair of adjacent tracks of the second set of tracks.

[0087] The method includes the following steps:

[0088] a) The power support for moving the container loading / unloading vehicle to the charging station is at least partially inserted into the power compartment containing the power supply, and at least one charging connector of the charging station is positioned in electrical contact with at least one power charging connector of the power supply.

[0089] b) Transferring power from the power compartment of the container loading / unloading vehicle to the power support, and

[0090] c) Reverse the container loading / unloading vehicle to allow the power source to be charged at the charging station.

[0091] In one embodiment of the method, the transfer of power from the power compartment of the container loading / unloading vehicle to the power support is achieved by adjusting the height of the power compartment relative to the track system below.

[0092] In one embodiment of the method, during step a), the power compartment is in an upper position relative to the track system.

[0093] In one embodiment of the method, the container loading and unloading vehicle includes a lower part and an upper part, the lower part showing at least one storage compartment for storing storage containers, and the upper part being arranged vertically above the lower part, wherein a power supply compartment is located in the upper part of the container loading and unloading vehicle.

[0094] In the method according to the third aspect, the container loading and unloading vehicle and the charging station may include any of the features defined in the embodiments of the first, second and third aspects.

[0095] In one embodiment of the method, the wheel assembly includes a first set of wheels arranged to engage with a first set of tracks, and a second set of wheels arranged to engage with a second set of tracks. The first set of wheels is movable between an upper wheel position and a lower wheel position, such that the first set of wheels engages with the first set of tracks at the lower wheel position, and the second set of wheels engages with the second set of tracks at the upper wheel position.

[0096] In one embodiment of the method, the first set of wheels moves to the upper wheel position in step b) and to the lower wheel position during step a).

[0097] The charging station may also include a power support for releasably supporting, releasably holding, or releasably suspending the power source during charging. In this configuration, the power support may be positioned at a vertical height D above the track system, flush or substantially flush with the corresponding vertical height of at least one opening of the power cover of the container loading / unloading vehicle, or flush with the vertical height of at least one power compartment.

[0098] Charging stations are preferably located around or near the rail system and extend a certain distance along the horizontal plane (P) into the rail system. However, it should be noted that charging stations can generally be placed anywhere on or outside the rail system, as long as they are within the reach of container loading and unloading vehicles.

[0099] In addition to the power support, the charging station may also include a charging station pole, which is directly or indirectly attached to the lower end of the track system. In this configuration, the power support is preferably arranged on, at, or near the charging station pole at a vertical height D relative to the track system, which is equal to or higher than the corresponding vertical height of the lower part of the container loading / unloading vehicle. With this configuration, power can be accessed through a power supply section located above the storage compartment, requiring little or no additional vertical adjustment during power replacement.

[0100] The power support of the charging station can be arranged at a vertical distance D from the track system, which is equal to or almost equal to the vertical height of the power source inside the container loading and unloading vehicle, wherein the power support is configured to releasably support the power source during charging.

[0101] In addition, the charging station may include a charging station pole, which includes a lower end fixed at or near the horizontal plane of the track system.

[0102] The power supply support may include two horizontally spaced guide pins (i.e., guide arms), wherein the two guide pins extend a distance L from the outer periphery of the charging station post. The upper-facing end of each guide pin may advantageously be wedge-shaped to aid insertion into the power supply compartment and / or activate a release mechanism, thereby allowing successful insertion of the power supply into the power supply compartment. Note that a wedge shape is defined as a tapered end face relative to the upper and lower surfaces of the guide pin.

[0103] The power supply may have a depth corresponding to the size of the power supply in the first direction (X), a width corresponding to the size of the power supply in the second direction (Y), and a height corresponding to the size of the power supply perpendicular to the horizontal plane (P). The horizontal separation distance between the two guide pins is preferably equal to or less than the width of the power supply.

[0104] In addition, the lower end of the charging station column may include a charging station base plate, which is arranged in or on the first set of parallel tracks and the second set of parallel tracks of the track system.

[0105] The charging connector can be vertically displaced relative to the track system, for example, by being flexibly connected to a charging station pole.

[0106] The present invention also relates to a method for charging a power supply located in the power compartment of a container loading and unloading vehicle using a charging station including a power support member.

[0107] A power source can be any device capable of generating electricity, such as a battery or a capacitor.

[0108] The charging station may include a charging station pole, which further includes a lower end adapted for installation onto a track system. The track system includes a first set of parallel rails arranged in a horizontal plane (P) and extending in a first direction (X), and a second set of parallel rails arranged in the horizontal plane (P) and extending in a second direction (Y) orthogonal to the first direction (X), as well as an upper end extending a certain distance from the lower end. When operating on the track system, this distance may be equal to or higher than the vertical height of the lower part of the container loading / unloading vehicle, for example, equal to or higher than 20 cm, 25 cm, or 30 cm. The latter height represents the typical height of the storage containers stored within the automated storage and retrieval system. Alternatively, the distance may be equal to or higher than the height of the container loading / unloading vehicle.

[0109] The height of the container loading / unloading vehicle is defined below as the vertical distance from the lowest point of the contact rail system to the highest point of the vehicle, excluding any sharp protrusions, such as antennas.

[0110] The charging station also includes a power support, which is fixed at or near the upper end, for example, within 20% of the total distance of the charging station column from the upper end. The distance D from the lower end of the charging station column to the power support can be equal to or almost equal to the vertical height of the power supply arranged above the lower part of the container loading / unloading vehicle when operating on a rail system. The distance D can, for example, be equal to or higher than the typical height of the storage container stored in the automated storage and retrieval system, i.e., equal to or higher than 20 cm, 25 cm, or 30 cm.

[0111] The power supply support can be configured to releasably support, hold, or suspend the power supply during charging.

[0112] The power supply support can extend a distance L from the outer perimeter (preferably the outer perimeter of the upper end) of the charging station column, wherein the distance L is equal to or almost equal to the geometry of the power supply, which is one of the length, width, diagonal, and diameter. For example, if the power supply has an overall shape as a rectangular box with width, height, and depth, and the depth is the length between the front and rear walls of the power supply, then the distance L can be equal to or almost equal to the depth of the power supply.

[0113] Additionally, or alternatively, distance L can be the distance from the outer perimeter of the charging station post (e.g., the outer perimeter of the upper end) to the horizontal center point of the vehicle or near the horizontal center point of the vehicle when the vehicle is in the charging position.

[0114] The term "near the horizontal center point" can be defined, for example, as a horizontal distance from the true horizontal center point less than one-quarter of the horizontal range of the vehicle in the direction of the power support.

[0115] Furthermore, the power supply support may include two guide pins (i.e., guide arms) extending a distance L from the outer periphery of the charging station post. The horizontal spacing between the two guide pins may be equal to or nearly equal to the geometry of the power supply as described above, for example, equal to or nearly equal to the width of the power supply in the case of a rectangular box shape. The two guide pins are preferably aligned with each other in a horizontal plane (P).

[0116] The end of the guide pin can take different forms, such as a wedge, to interact during operation with a release mechanism located at or near the entrance opening of the power compartment within the container loading / unloading vehicle. This wedge shape can, for example, activate the pivoting of a pivot arm that forms part of the release mechanism, wherein the pivoting movement of the pivot arm allows power to slide into the power compartment. However, other mechanisms are conceivable, such as release mechanisms based on translational movement or a combination of pivoting and translational movements.

[0117] The lower end of the charging station column may include a charging station base plate to allow for stable connection to the track system. The charging station base plate is configured to be mounted within a first set of parallel tracks and a second set of parallel tracks in the track system. For example, the periphery of the base plate may be fixed to two or more inner sidewalls of the tracks within a grid cell. Alternatively or additionally, the base plate may be mounted on the tracks, but such that the base plate does not interfere with the wheels of container loading / unloading vehicles when a vehicle enters the corresponding grid cell.

[0118] The charging station may also include charging connectors, such as electrical sockets or plugs, arranged on the charging station pole, preferably on the upper half of the charging station pole, and more preferably at a position on the pole within 25% of the total distance of the charging station pole from the upper end. The charging connectors are adapted to establish electrical communication with the power source to be charged via corresponding power charging connectors arranged on the power source.

[0119] Furthermore, the charging connector can be advantageously displaced vertically relative to the charging station post. In one configuration, the charging connector can be elastically connected to the charging station post, for example, by a spring system, wherein the charging connector is biased toward an upward position.

[0120] Container handling vehicles may include a container receiving storage space for accommodating storage containers; a lifting device arranged to vertically transport storage containers between a storage location in a stack and a transport location in the storage space. The lifting device may include a clamping device configured to releasably clamp the storage container; and a lifting motor configured to raise and lower the clamping device relative to the storage space.

[0121] The container receiving and storage space can be centrally located in the lower part of the container loading and unloading vehicle.

[0122] The rolling device may include wheels arranged around the perimeter of the storage space.

[0123] By placing the power supply compartment and power source above the storage compartment, the power source can be placed deeper into the vehicle without reducing the available storage space for the container.

[0124] Furthermore, placing the power source deeper into the horizontal extension of the vehicle, that is, closer to or located on the vehicle's center of gravity axis, increases the overall stability of the vehicle.

[0125] In the following text, numerous specific details are introduced by way of example only to provide a thorough understanding of the implementation of the required charging stations, systems, and methods. However, those skilled in the art will recognize that these implementations can be practiced without one or more of these specific details, or using other components, systems, etc. In other instances, well-known structures or operations have not been shown or described in detail to avoid obscuring aspects of the disclosed implementations. Attached Figure Description

[0126] The following figures are provided to aid in understanding the present invention. The figures illustrate embodiments of the invention, which will now be described by way of example only, wherein:

[0127] Figure 1 It is a perspective view of the grid of existing automated storage and retrieval systems.

[0128] Figure 2 This is a perspective view of a prior art container handling vehicle, which has a centrally located cavity for accommodating storage containers.

[0129] Figure 3 This is a perspective view of a prior art container handling vehicle with cantilever arms for housing storage containers underneath.

[0130] Figure 4 This is a top view of a monorail grid from the prior art.

[0131] Figure 5 This is a top view of a dual-track grid from existing technology.

[0132] Figure 6 It is based on Figure 1 A top view of the track system of the automatic storage and retrieval system.

[0133] Figure 7 This is a perspective view of an automated storage and retrieval system comprising two container loading and unloading vehicles according to an exemplary embodiment of the present invention.

[0134] Figure 8 yes Figure 7 A top view of the automatic storage and retrieval system.

[0135] Figure 9 It is based on Figure 7 and Figure 8 Side view of the automatic storage and retrieval system.

[0136] Figure 10 According to Figures 7 to 9 A perspective view of a container loading and unloading vehicle, with the vehicle's top cover and side panels removed.

[0137] Figure 11 It is based on Figure 10 Side view of the container loading and unloading vehicle.

[0138] Figure 12 It is based on Figure 10 and Figure 11 A cross-sectional side view of a container loading and unloading vehicle.

[0139] Figure 13Views A through C are of an automated storage and retrieval system according to another embodiment of the present invention, which includes charging stations mounted on a storage grid, wherein, Figure 13 A is a perspective view of the charging station. Figure 13 B and C are side views of the charging station along the X and Y directions, respectively.

[0140] Figure 14 A to F are based on Figure 13 A perspective view of an automated storage and retrieval system, including according to Figures 7 to 9 Container loading and unloading vehicles, among which, Figure 14 A through F sequentially show the stored power transferred from the charging station to the vehicle's storage power compartment.

[0141] Figure 15 A through D are side views of an exemplary automated storage and retrieval system, illustrating an example of the sequence in which a storage power source with a charging station installed is plugged into the vehicle's storage power compartment.

[0142] Figure 16 This is a side view of a container loading and unloading vehicle releasably connected to a charging station according to one embodiment of the present invention.

[0143] Figure 17 This is a perspective view of a rechargeable energy storage device.

[0144] Figure 18 It is along Figure 17 A cross-sectional view of a rechargeable storage power source in the X direction, which is arranged in an operating position within the battery compartment of a container loading and unloading vehicle.

[0145] Figure 19 This is a perspective view of a container loading and unloading vehicle according to a second embodiment of the present invention.

[0146] Figure 20 A and B are perspective side views of the container loading and unloading vehicle according to the third embodiment of the present invention.

[0147] Figure 21 This is a perspective view of one embodiment of a charging station according to the present invention.

[0148] Figure 22 yes Figure 21 A detailed view of the charging station.

[0149] In the accompanying drawings, unless otherwise expressly stated or understood from the context, the same reference numerals are used to indicate the same parts, elements or features. Detailed Implementation

[0150] In the following, embodiments of the invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the invention to the subject matter depicted therein.

[0151] The framework 100 of the automatic storage and retrieval system 1 is based on the above combination Figures 1 to 6 The existing technology framework 100 is constructed as described, namely, a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102, and the framework 100 also includes a track system 108 of parallel tracks 110, 111 arranged across the top of the storage column 105 / grid column 112 in the X and Y directions. The horizontal region of the grid column 112, i.e., the region along the X and Y directions, can be defined respectively by the distance between adjacent tracks 110 and 111 (see [link to technical description]). Figures 4 to 6 ).

[0152] exist Figure 1 In the diagram, grid 104 is shown as having a height of eight cells. However, it should be understood that grid 104 can, in principle, be of any size. In particular, it should be understood that grid 104 can be larger than... Figure 1 The grid disclosed is much wider and / or much longer and / or much deeper; for example, grid 104 may have a horizontal range of more than 700 × 700 grid cells and a depth of more than 12 grid cells.

[0153] Now refer to Figures 7 to 12 An embodiment of the automatic storage and retrieval system according to the present invention will be discussed in more detail.

[0154] The exact configuration of the container loading and unloading vehicle 3 shown in the figure can vary. However, all vehicles 3 of the automated storage and retrieval system 1 include a body 17 and a lower section or lower part 17a arranged on the body 17 (see figure 17). Figure 12 The wheel assembly 18 (or any other rolling device / rolling mechanism) in the container loading / unloading vehicle 3 enables lateral movement of the vehicle 3, i.e., the vehicle 3 moves in the X and Y directions (see...). Figures 7 to 8 ).

[0155] The wheel assembly / rolling device 18 includes a first set of wheels 19 arranged to engage with a pair of tracks 110a, 110b of a first set of tracks 110, and a second set of wheels 20 arranged to engage with a pair of tracks 111a, 111b of a second set of tracks 111 (see...). Figure 8 At least one of these sets of wheels 19, 20 can be raised and lowered such that the first set of wheels 19 and / or the second set of wheels 20 can engage with the corresponding set of tracks 110, 111 at any given time. This raising / lowering process can be achieved, for example, by using a lifting motor arranged in the upper part 17b of the vehicle 3 to raise the side plate 25 attached to the corresponding wheel 19, 20 (see...). Figure 12 ) to execute.

[0156] Each set of wheels 19, 20 includes four wheels 19a, 19b, 19c, 19d; 20a, 20b, 20c, 20d, arranged along the side of vehicle 3. Wheels 19a and 19b are arranged in a first vertical plane, and wheels 19c and 19d are arranged in a second vertical plane, parallel to the first vertical plane and at a certain distance from the first vertical plane, which corresponds to the distance between tracks 110a and 110b (see, for example). Figure 8 Wheels 20a and 20b are arranged in a third vertical plane, which is orthogonal to the vertical plane in which wheels 19a, 19b, 19c and 19d are arranged. Wheels 20c and 20d are arranged in a fourth vertical plane, which is parallel to the third vertical plane and is arranged at a certain distance from the third vertical plane. This distance corresponds to the distance between tracks 111a and 111b.

[0157] At least one wheel in each set of wheels 19, 20 is motorized to propel vehicle 3 along track system 108. Advantageously, the at least one motorized wheel in each set of wheels 19, 20 includes a hub motor, i.e., an electric motor coupled to or incorporated in the wheel hub and directly driving the wheel. An example of a container loading and unloading vehicle having such a motor is disclosed in WO2016 / 120075A1, the contents of which are incorporated herein by reference.

[0158] Each container handling vehicle 3 includes a structure arranged on the vehicle body 17 (see...). Figure 12 The storage compartment or box storage space 24 within the lower part 17a is used for transporting the storage container 106 through the track system 108 (see Figure 8 The storage container 106 is received and held during operation. The container storage space 24 is accessible from below, specifically from an opening at the bottom of the container loading / unloading vehicle 3. Figures 7 to 16 In the specific vehicle configuration shown, the storage space 24 is located at the center or substantially the center of the vehicle body 17.

[0159] Each container handling vehicle 3 also includes a lifting device 21 (see...). Figure 10 and Figure 12 The lifting device 21 is used for vertically transporting the storage container 106, for example, lifting the storage container 106 from the storage column 105 and bringing it into the box storage space 24, and also for lowering the storage container 106 from the storage space 24 into the storage column 105. The lifting device 21 includes a clamping device 22 arranged to releasably engage with the storage container 106. The lifting device 21 also includes a motorized lifting mechanism 23 for lowering and raising the clamping device 22, such that the position of the clamping device 22 relative to the vehicle body 17 is adjustable in a third direction Z, i.e., orthogonal to the first direction X and the second direction Y (see also...). Figure 7 ).exist Figure 10and Figure 12 In the vehicle configuration shown, the clamping device 22 includes a remotely operated claw 22a attached below the lifting plate 22b. The lifting plate 22b can be connected to a plurality of belts (not shown) that form part of the motorized lifting mechanism 23.

[0160] The motorized lifting mechanism 23 is arranged in the upper part 17b of the vehicle body 17 (see...). Figure 12 ), below the battery cover or housing 27 for mounting the rechargeable battery 28 (see Figure 10 ), and above the lower part 17a having box storage space 24.

[0161] When access is required for a storage container 106 stored in storage grid 104, one of the container loading / unloading vehicles 3 is instructed to retrieve the target storage container 106 from its position within storage grid 104 and transport it to an access station (not shown) where it can be accessed from outside storage grid 104 or moved outside of storage grid 104. This operation involves moving the container loading / unloading vehicle 3 to the grid cell 122 above the storage column 105 where the target storage container 106 is located, and retrieving the storage container 106 from the storage column 105 using the lifting device 21 of the container loading / unloading vehicle. The lifting device 21 lifts the storage container 106 from the storage column 105 through the grid opening 115 of the grid cell 122 and into the storage space 24 of the vehicle 3.

[0162] If the target storage container 106 is located in stack 107 ( Figure 1 If, when one or more other storage containers are positioned above the target storage container 106, the operation also includes temporarily moving the storage container positioned above it before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to in the art as "digging") can be performed using the same container handling vehicle 3 subsequently used to transport the target storage container 106 to the retrieval station, or using one or more other cooperating container handling vehicles 3. Alternatively or additionally, the automated storage and retrieval system 1 may have container handling vehicles specifically designed for the task of temporarily removing storage containers from the storage column 105, such as... Figure 19 The multi-container loading / unloading vehicle 5 is shown. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container can be repositioned back into the original storage column 105. The removed storage container can be repositioned alternatively or additionally to other storage columns.

[0163] Once the target storage container 106 has been brought into the storage space 24 of the container loading / unloading vehicle 3, the vehicle 3 transports the storage container 106 to the access station where it is unloaded. The access station may typically include grid locations located around the storage grid 104, where the storage container 106 can be manually accessed or further transported using a suitable conveyor system (not shown).

[0164] When storage container 106 is to be stored in storage grid 104, one of the container handling vehicles 3 is instructed to pick up storage container 106 from a pick-up station (not shown) and transport it to grid cell 122 above storage column 105, where the storage container is stored. This pick-up station can also serve as a retrieval station. After any storage container located at or above the target location within or above the storage column stack 107 has been removed, the container handling vehicle 3 positions storage container 106 in the desired location. The removed storage container can then be lowered back into storage column 105 or repositioned to another storage column within storage grid 104.

[0165] To monitor and control the automated storage and retrieval system 1, ensuring that desired storage containers 106 are delivered to desired locations at desired times without collisions between container loading / unloading vehicles 3, the automated storage and retrieval system 1 includes a control system, typically computerized, that includes a database for monitoring and controlling, for example, the location of the corresponding storage containers 106 within the storage grid 104, the contents of each storage container 106, and the movement of the container loading / unloading vehicles 3. Therefore, each vehicle 3 should be equipped with an onboard control and communication system 35, including suitable transmitting and receiving devices (i.e., a transmitter-receiver system) to enable the transmission and reception of signals from and from a remotely located control system. The container loading / unloading vehicles 3 typically communicate with the control system wirelessly, for example via a WLAN operating under the IEEE 802.11 (WiFi) standard and / or utilizing mobile telecommunications technologies such as 4G or higher.

[0166] Each container handling vehicle 3 includes a battery 28 (i.e., a replaceable power source) that provides power to onboard equipment including a motorized rolling device 18, a motorized lifting mechanism 23, and an onboard control and communication system 35.

[0167] Figures 7 to 12 and Figures 14 to 16Each container loading / unloading vehicle 3 shown has a coverage area, i.e., a contact area that contacts the track system 108, having a horizontally extending portion or area equal to or smaller than the horizontal area of ​​the grid cell 122. In other words, when the vehicle 3 is above the grid cell 122, for example for lifting the storage container 106 from the storage column 105 or lowering the container 106 into the storage column, the coverage area of ​​the vehicle 3 will not extend beyond the grid cell 122 into adjacent grid cells 122. The wheels 19a-19d, 20a-20d are arranged around the perimeter of the container storage space 24, and the coverage area of ​​the vehicle 3 is larger than the storage space 24 which is only sufficient to accommodate the wheels 19a-19d, 20a-20d. Thus, the coverage area of ​​the vehicle 3 occupies the minimum possible amount of space in the XY plane. Since the storage space 24 is located between a pair of wheels, namely 19a and 19b, 19c and 19d, 20a and 20b, and 20c and 20d, the center of gravity of the vehicle 3 will also be located within the coverage area 30 when the storage box 106 is raised into the storage space 24.

[0168] In addition, vehicle 3 includes generally vertical side walls 26a-26d (see Figure 7 , Figures 9 to 11 and Figures 14 to 16 The vertical plane in which the wheels 19a-19d and 20a-20d are arranged is coplanar. Therefore, the lower part of the container loading and unloading vehicle 3 has a roughly cuboid shape.

[0169] As described above, the upper part 17b of vehicle 3 (see...) Figure 12 This includes a battery cover 27, which can extend horizontally in the X direction beyond additional generally vertical sidewalls 26c and 26d (see, for example, [link to relevant documentation]). Figure 7 , Figure 9 and Figure 10 This protruding battery cover 27 is configured to accommodate the battery 28 of vehicle 3 (see...). Figure 10 ).

[0170] Note that any type of stored power source may be covered or positioned within the battery compartment 27a by the battery cover 27, such as one or more replaceable batteries, one or more fixed batteries, one or more capacitors, or a combination thereof.

[0171] Positioning the battery 28 (or any other storage power source) extending from the vehicle side wall in this manner can be advantageous because it allows the charging and / or battery swapping station 40 easy access to the battery 28 for charging or battery swapping. Specifically, if a battery swapping scheme is used, in this case, the protruding battery cover 27 covers the battery compartment or slot 27a (e.g., see...). Figure 12The protruding feature of the battery cover 27 can provide advantageous guidance for the battery 28 during battery replacement operations. However, it is clear from this specification that the battery cover 27 does not need to protrude from the side wall of the vehicle in any way to provide a highly advantageous system for charging and replacing the battery. In an alternative embodiment of the vehicle, the battery cover may also be spaced apart from the side wall of the vehicle. Furthermore, by arranging the battery cover 27 and the battery 28 completely above the storage compartment 24, the battery 28 can be placed deeper into the vehicle 3 within the upper portion 17b without causing a significant reduction in the available storage space of the compartment 106. In addition to enabling the use of a larger battery 28, the deeper arrangement of the battery increases the overall stability conditions of the vehicle 3 compared to prior art solutions where the battery is arranged at the side wall of the vehicle. The term "deeper" is defined here in the XY direction relative to the outermost periphery of the vehicle 3, i.e., towards the vertical axis passing through the center of gravity of the vehicle 3 in the lateral direction.

[0172] Alternatively, or additionally, the protruding battery cover 27 may hold a downward-looking sensor (not shown) that can be used to determine the vehicle's position on the track system 108, for example, the vehicle's alignment relative to the grid cell 122, or, for example, when the vehicle is operated as a vehicle chain, to determine the vehicle's position relative to other vehicles on the track system 108, for example, as disclosed in International Patent Publication WO2017 / 037095A1, the contents of which are incorporated herein by reference.

[0173] When vehicle 3 is positioned above grid cell 122, for example to access container 106 in storage column 105 located vertically below grid cell 122, in this particular embodiment, battery cover 27 extends above adjacent grid cell 122. In other words, even though vehicle 3 has a contact area against track system 108 that does not extend beyond a horizontal extension of grid cell 122, it also has a vertical projection occupying more than one grid cell 122.

[0174] This configuration typically prevents the second vehicle 3 from traveling over adjacent grid cells 122 (i.e., the grid cells into which the extended battery cover 27 of the first vehicle 3 extends). This could be a problem because it could reduce the overall capacity of the automatic storage and retrieval system 1.

[0175] To address this specific problem, the container loading / unloading vehicle 3 includes a recess 29 arranged in relation to the protruding battery cover 27 (see...). Figure 12In the opposite upper part 17b. In other words, the protruding battery cover 27 and the recess 29 are arranged on opposite sides of the container loading and unloading vehicle 3. When other vehicles pass through adjacent grid cells 122, the recess 29 can accommodate the protruding battery cover 27 of other vehicles. In particular, the shape of the recess 29 is complementary to the shape of the protruding battery cover 27 and extends through the entire width of the container loading and unloading vehicle 3 in the Y direction, thereby allowing the vehicles 3 to pass through adjacent grid cells 122.

[0176] This is Figures 7 to 9 The image most clearly shows a first vehicle 3a moved in to operate on grid cell 122, while a second vehicle 3b is positioned above an adjacent grid cell 122. When vehicles 3a and 3b are oriented in the same direction, the protruding battery cover 27a of the first vehicle 3a is accommodated in the recess 29 of the second vehicle 3b, thereby allowing vehicles 3a and 3b to pass unobstructed.

[0177] In the disclosed embodiment, the protruding battery cover 27 of each container loading / unloading vehicle 3 extends in the X direction, and the recess 29 extends in the Y direction across the entire width of the vehicle 3. However, it should be understood that the protrusion may alternatively extend in the Y direction, and the recess may extend in the X direction across the entire width of the vehicle 3.

[0178] In another alternative configuration, the vehicle may include the protruding battery cover 27 disclosed above, but without the complementary recess 29.

[0179] exist Figure 5 and Figure 8 In the track system 108 shown, each horizontal component of the track system comprises two tracks. Therefore, each horizontal component can accommodate two or more parallel wheels. In this track system 108, the boundary between adjacent grid cells 122 extends along the centerline of the horizontal component, as shown... Figure 5 As shown.

[0180] The above-mentioned charging and / or battery swapping station 40 will now be described in further detail, especially with reference to Figures 13 to 16 .

[0181] exist Figure 13 An example of a charging and / or battery swapping station 40, referred to below as a charging station, is shown in the figure, including a perspective view. Figure 13 A), and along the X direction ( Figure 13 (B) and along the Y direction ( Figure 13 The side view of (C).

[0182] exist Figures 13 to 14In the specific embodiment shown, the charging station 40 is mounted on the charging station base plate 41, which is again located around or near the periphery of the frame structure 100, above the grid posts 112 (see...). Figure 8 (Directly or indirectly) fixed to adjacent tracks 110a, 110b, 111a, 111b of track system 108. Specific grid posts 112 containing charging stations 40 will be referred to hereinafter as charging station units.

[0183] Figures 13 to 16 The charging station 40 shown includes a vertical charging station column 42, which is fixed to a base plate 41 at its lower end 42a. A charging socket 45 is arranged at or near the upper end 42b of the column 42, i.e., opposite to the lower end 42a, and is electrically connected to a power source 44, possibly via a transformer that converts charging power to a desired power level.

[0184] The charging socket 45 is further configured to receive the charging socket installed on each wheel 3 (see Figure 17 The charging plug 46 on the battery 28 allows electrical power to flow when the charging plug 46 is electrically connected to the charging socket 45.

[0185] The charging socket 45 is resiliently attached to the charging station 42 such that the charging socket 45 is fixed in the upper (unloaded) position when no external force is applied to it, and in the lower (loaded) position when exposed to the weight of the electrically connected battery 28. This feature ensures that the charging socket 45 and the charging plug 46 are at the same level relative to each other during connection and disconnection. The weight of the battery is a highly advantageous feature, allowing the charging socket to be biased towards the upper position and movable into the lower position, as this permits the use of a standard plug / socket charging connector. Without the feature of a biased charging socket, the plug and socket would have to be able to move vertically relative to each other while fully connected (i.e., moving relative to each other in a direction perpendicular to the direction of their movement during connection). While such a plug / socket connector is conceivable, it would likely not provide a robust connection with the required charging capacity and reliability.

[0186] The charging socket 45 and the charging plug 46 are, of course, interchangeable.

[0187] Typically, any type of disconnectable electrical connection between the charging station 40 and the battery 28 is possible.

[0188] The automated storage and retrieval system 1 described herein may include a plurality of such charging stations 40, which are generally arranged along the periphery of the track system 108. However, one or more charging stations 40 may alternatively or additionally be further placed in the track system 108 and / or placed entirely outside. In the latter configuration, the charging station 40 shall be connected to the track system 108 via additional tracks to allow the vehicle 3 to travel to its respective charging station 40.

[0189] Now will be of particular reference Figure 14 A to F Figure 15 A to D and Figure 16 Describe a possible battery replacement process.

[0190] The vehicle 3, which transfers its discharged or partially discharged main battery 28 from its battery compartment 27a to the first charging station for charging, approaches the second charging station 40 containing the charged or partially charged main battery 28 (see...). Figure 14 A and Figure 15 (C).

[0191] To allow the vehicle to enter the charging station storage unit, the first set of wheels 19a-19d should contact the underlying track system 108 (see...). Figure 15 (A to D), and the second set of wheels 20a-20d closest to the charging station 30 should be high enough above the track system 108 so as not to interfere with track 111 along the Y direction.

[0192] When the two wheels 20a and 20b of the second set of wheels 20a-20d have entered the charging station storage unit, and before reaching the horizontal position of the approaching vehicle 3 at the charging station 40, the vehicle 3 is lowered again toward the track system 108. This re-lowering is performed to allow proper alignment with the main battery 28 during the battery replacement process, as the weight of the battery 28 forces the charging socket 45 down to its lower (loaded) position, as described above. The lowering of the vehicle 3 also increases the overall stability of the replacement procedure. Typical vertical displacement of the vehicle 3 is 5-15 mm, for example, 10 mm.

[0193] The charging station 40 should therefore be configured such that when the vehicle 3 is in a lowered position, the height of the charging main battery 28 relative to the track system 108 is approximately equal to the corresponding height of the battery compartment 27a on the vehicle 3.

[0194] To allow the movement of vehicle 3 without the main battery 28, an auxiliary battery may be installed, for example in the same or similar manner as disclosed in patent publication WO2015 / 104263A1, the contents of which are incorporated herein by reference. Other solutions are also conceivable, such as using an external power source, like an electrified track, or manual intervention.

[0195] In an alternative embodiment, charging station 40 or vehicle 3, or a combination of both, includes multiple batteries 28, thereby avoiding the need for vehicle movement between charging stations 40 during battery replacement. A multi-battery charging station suitable for the aforementioned storage system 1 is disclosed in WO2017 / 220627A1, the contents of which are incorporated herein by reference.

[0196] The available rechargeable batteries 28 on the second charging station 40 are mounted on the battery support 43, which are in Figures 13 to 15 The example shown takes the form of two guide pins 43a, 43b (i.e., guide arms) extending laterally from each side of the upper end 42b of the charging station column 42 into the track system 108.

[0197] When vehicle 3 touches charging station 40 (see...) Figure 14 A and Figure 15 D), activates the release mechanism 50 (i.e., the release locking mechanism), allowing the battery cover 27 to tilt about the rotational Y-axis.

[0198] exist Figures 14 to 16 In the example shown, the release mechanism 50 includes pivot arms 51 arranged on each side of the opening of the battery compartment 27a into which the battery 28 should enter.

[0199] In addition, each of the protruding ends of the guide pins 43a, 43b (which constitute the battery support 43) has a tapered portion 52 (see Figure 13 A and Figure 13 (C). When contact is made between the pivot arm 51 and the guide pin 43, the pivot arm contact element 51a of each pivot arm 51 is pushed toward the tapered portion 52, thereby forcing an upward pivoting movement of the pivot arm 51 (see C). Figure 14 A, Figure 15 D and Figure 16 This pivoting motion releases the safety lock 51b (see...). Figure 14 and Figure 18 This allows for the aforementioned tilt of the battery cover 27.

[0200] exist Figure 14 and Figure 16 Each sequence diagram illustrates the operation of the release mechanism 50. For increased clarity, in... Figure 14 A to C and Figure 14 An enlarged view of the release mechanism 50 has been added to F. The enlarged view clearly shows the activation of the pivot arm movement upon contact with the tapered portion 52, thereby moving the safety lock 51b away from the battery cover 27 and subsequently into the battery 28.

[0201] When the guide pin 43 with the attached battery 28 enters the battery compartment 27a a certain distance (see...) Figure 14(B and C), guide pin 43 releases battery locks 27b, 27c, which allow further access until battery 28 is fully in its end position within battery compartment 27a.

[0202] exist Figure 18 In this embodiment, the battery locks 27b, 27c (i.e., the power locking assembly) include a battery lock actuator in the form of a wheel 27b and one or more blocking teeth 27c extending from the inner wall of the battery cover 27 (i.e., from the side wall 36 of the power locking assembly) and into the battery compartment 27a. When the tapered ends 52 of the guide pins 43a, 43b contact the wheel 27b, the battery cover 27 tilts upward, thereby displacing the one or more teeth 27c, allowing the battery 28 and the guide pins 43a, 43b to continue moving deeper into the battery compartment 27a. Note that the primary function of the battery cover 27 is to serve as a structural element of the battery lock, thereby providing rigidity to the two side walls on which the locking teeth and wheels are arranged. Therefore, in other embodiments, the battery cover can be any element capable of providing sufficient support / rigidity to the two side walls (or longitudinal elements) on which the blocking teeth and wheels are arranged.

[0203] In this end position, and before the vehicle 3 is retracted, the battery 28 can be electrically connected to both the charging station 40 and the drive motors for the wheels 19a-19d and 20a-20d.

[0204] When the battery 28 is in its end position within the battery cover 27 and in electrical contact with the corresponding electrical connector of the vehicle 3, the battery cover 27 tilts back to its initial position, causing the teeth 27c to physically lock or retain the battery 28 within the battery compartment 27a. As an example, the teeth 27c can enter dedicated recesses 49a within support rails 49 arranged on both sides of the battery 28 (see...). Figure 17 ).

[0205] The battery locks 27b and 27c can be any physical obstruction within the battery compartment 27a. As an alternative to the aforementioned tooth 27c, the battery lock may include one or more protruding wedges, through which the battery 28 may extend in one direction but not in another. In this configuration, the wedge shape will serve as the battery locking actuator 27b.

[0206] When the battery 28 is in its end position and successfully locked into the battery compartment 27a by the battery locks 27b, 27c, the second set of wheels 20a-20d of the vehicle 3 are lifted from the track system 108 (typically by 5-15 mm), thereby raising the overall height of the vehicle 3. This operation causes the battery 28 to be released from the battery support 43, for example from a dedicated pocket or track within the first guide pin 43a and the second guide pin 43b (see...). Figure 13 A).

[0207] Since the battery locks 27b and 27c now lock the battery 28 into the battery compartment 27a and have lifted the battery 28 from the battery support 43, the retraction of the vehicle 3 from the charging station storage unit makes the battery 28 electrically connected to the vehicle 3.

[0208] In addition to allowing for successful battery replacement, keeping the battery 28 within the battery compartment 27a also has the advantage that the battery 28 will not be unintentionally displaced within the battery cover 27 during operation.

[0209] When the control system has sent an instruction to the vehicle 3 to place its battery 28 into the charging station 40 for charging, the steps for transferring the battery 28 from the vehicle 3 to the charging station 40 are essentially the same or similar in the reverse order and direction of the steps described above for transferring the battery 28 from the charging station 40 to the vehicle 3.

[0210] Therefore, vehicle 3 is first raised to allow it to enter the charging station storage unit without the second set of wheels 20 interfering with track 111 in the second direction (Y), and the operating battery 28 is aligned with the charging socket 45 of the charging station 40. As described above, the charging socket 45 is in Figures 13 to 16 In the exemplary configuration, it is in the upper unloading position.

[0211] As the vehicle 3 approaches the charging station 40, the wedge-shaped ends 52 of the first guide pin 43a and the second guide pin 43b first activate the tilt of the battery housing 27 via the release mechanism 51, and then activate the battery locks 27b, 27c, causing the battery cover 27 to tilt upward, thereby removing the blocking tooth 27c from the corresponding recess 49a in the support rail 49.

[0212] By lowering the vehicle 3 toward the track system 108, the support track 49 of the battery 28 engages with the battery support 43. The subsequent retraction of the vehicle 3 will thus leave the battery 28 in the desired charging position on the charging station 40.

[0213] To accommodate a larger battery within vehicle 3, both battery cover 27 and optional release mechanism 50 can be arranged such that they extend horizontally in the X direction beyond the otherwise normally vertical sidewalls 26c and 26d. This allows for a significant increase in the total capacity of each vehicle 3 in system 1 without necessitating wider tracks 110 and 111.

[0214] In cases where manual intervention is required to remove the battery 28 from the battery compartment 27a, such as due to routine maintenance or accidental battery jamming, the configuration with a protruding release mechanism 50 has an additional advantage: it allows for easy manual unlocking of the battery 28. In other words, the protruding arrangement allows sufficient manual force to be applied to the release mechanism 50, an operation that would be difficult, for example, if the release mechanism 50 were located deep within the battery cover 27.

[0215] The aforementioned protruding structure also helps to ensure early engagement in the charging station 40.

[0216] exist Figure 17 An example of battery 28 is shown in perspective view. One of the two support rails 49 is shown extending from the side wall of battery 28. And the same support rail extends from the opposite side wall. The purpose of the support rails 49 is to ensure stable support of battery 28 on battery support / guide pin 43 and to ensure accurate guidance of battery 28 into and out of battery compartment 27a during replacement. Figure 18 A battery 28 is shown with a support rail 49 fully inserted into the battery compartment 27a. Figure 18 In the specific configuration shown, battery 28 is approximately half the maximum permissible volume of the battery.

[0217] Figure 19 and Figure 20 Perspective views of vehicles 4 and 5 on the frame structure 100 according to the second and third embodiments are shown respectively. Similar to vehicle 3 according to the first embodiment, in the second and third embodiments, the power cover 27 surrounding the battery compartment 27a is arranged above the storage space 24.

[0218] Figure 20 Figures A and B illustrate an example of a vehicle 5 comprising two battery covers 27 arranged adjacent to each other. Figure 20 In section B, the outer walls and cover of vehicle 5 have been removed. For this exemplary vehicle 5, any replacement of battery 28 can be performed using two charging stations 40, one at a time or both simultaneously. To particularly improve weight distribution during lifting and transport, vehicle 5 includes six wheels for each wheel set.

[0219] Figure 21 and Figure 22 A second embodiment of a charging station for an automated storage and retrieval system is shown. In this embodiment, the protrusions 32 on the guide pins 43a, 43b extend further in the lateral direction. As described above, the charging socket 45 can be vertically displaced between an upper and lower position relative to the guide pins 43a, 43b (or alternatively relative to the charging station post 42). Figure 21 and Figure 22 In the diagram, the charging socket is shown in the upper position. The charging socket 45 is biased toward the upper position by a spring 33. In this specific embodiment, the bias is achieved by slidably connecting the charging socket 45 to the post connecting element 34b via a bracket 34a, and by arranging a spring between the bracket 34a and the post connecting element 34b, thereby biasing the bracket 34a into the upper position.

[0220] In the preceding description, various aspects of the charging station and automatic storage and retrieval system according to the present invention have been described with reference to exemplary embodiments. However, this specification is not intended to be interpreted in a limiting sense. Various modifications and variations to the illustrative embodiments, as well as other embodiments of the system, which will be apparent to those skilled in the art, are considered to fall within the scope of the invention as defined by the appended claims.

[0221] Figure label:

[0222] 1. Automatic storage and retrieval system

[0223] 3. Vehicles, First Implementation Method

[0224] 3a First vehicle, first implementation method

[0225] 3b Second vehicle, first implementation method

[0226] 4. Vehicles, Second Implementation Method

[0227] 5. Vehicles, Third Implementation Method

[0228] 17. Body

[0229] 17a Lower part of vehicle body 17

[0230] 17b Upper part of vehicle body 17

[0231] 18 Wheel assembly / rolling equipment / rolling device

[0232] 19 First set of wheels

[0233] 19a First wheel of the first group

[0234] 19b The second wheel of the first group

[0235] 19c Group 1, third wheel

[0236] 19d Group 1, fourth wheel

[0237] 20 Second set of wheels

[0238] 20a The first wheel of the second group

[0239] 20b Second wheel of the second group

[0240] 20c Group 2, third wheel

[0241] 20d, Group 2, fourth wheel

[0242] 21 Lifting device

[0243] 22 Clamping device

[0244] 23 Lifting motor

[0245] 24 storage compartments, box storage space

[0246] 25 Side panels (attached to the first or second set of wheels)

[0247] 26. The side wall of the vehicle

[0248] 26a First sidewall oriented in the second direction (Y)

[0249] 26b Second sidewall oriented in the second direction (Y)

[0250] 26c Third sidewall oriented in the first direction (X)

[0251] 26d The fourth sidewall oriented in the first direction (X)

[0252] 27 Power supply cover / battery cover / battery casing

[0253] 27a Power supply compartment / battery compartment

[0254] 27b Battery lock actuator

[0255] 27c blocking tooth

[0256] 28 Power supply / Main power supply; Battery / Main battery

[0257] 29 recess

[0258] 30. Opening of the power supply compartment

[0259] 31 Supporting surfaces within the power supply compartment

[0260] 32. Protrusions on the guide pin

[0261] 33 Springs

[0262] 34a bracket

[0263] 34b Column Connecting Element

[0264] 35. Vehicle control and communication systems

[0265] 36 Sidewall / Longitudinal Elements

[0266] 40 Charging and / or battery swapping stations / charging stations

[0267] 41 Charging station board / board

[0268] 42 charging station poles / pillars

[0269] 42a Lower end of charging station

[0270] The upper part of the 42b charging station

[0271] 43 Power supply support / battery support / guide device / guide / guide pin

[0272] 43a First Leading Pin

[0273] 43b Second Guide Pin

[0274] 44 Power Transformer

[0275] 45 Charging connector / charging plug

[0276] 46 Power charging connectors / charging sockets

[0277] 49 Support rails

[0278] 49a (recess in support track 49)

[0279] 50 Release Mechanism

[0280] 51 Pivoting Arm

[0281] 51a Pivot Arm Contact Element

[0282] 51b Safety lock (used to prevent the tilting of the power cover 27)

[0283] 52 (The tapered portion of the guide pin)

[0284] 100 Frame Structure

[0285] 102. Upright members of a frame structure

[0286] 103 Horizontal members of frame structures

[0287] 104 storage grids

[0288] 105 storage columns

[0289] 106 Storage Containers

[0290] 106' Specific location of the storage container

[0291] 107 Stacking

[0292] 108 Track System / Track System

[0293] 110 Parallel orbits in the first direction (X)

[0294] 110a The first track adjacent to track 110

[0295] 110b is the second orbit adjacent to orbit 110.

[0296] 111 Parallel track in the second direction (Y)

[0297] 111a The first orbit adjacent to orbit 111

[0298] 111b The second orbit adjacent to orbit 111

[0299] 112 grid columns

[0300] 115 Grid opening

[0301] 119 First Port Pillar / First Port

[0302] 120 Second Port Post / Second Port

[0303] 122 grid cells / storage cells

[0304] 201. Existing single-cell storage container vehicle

[0305] 201a The body of storage container vehicle 101

[0306] 201b Drive unit / wheel arrangement, first direction (X)

[0307] 201c Drive unit / wheel arrangement, second direction (Y)

[0308] 301 Prior art cantilever storage container vehicles

[0309] 301a The body of storage container 101

[0310] 301b Drive device in the first direction (X)

[0311] 301c Drive device in the second direction (Y)

[0312] X First Direction

[0313] Y Second Direction

[0314] Z Third Direction

[0315] P horizontal plane

[0316] D is the distance from the bottom end of the charging station column to the bottom of the power supply support.

[0317] L is the distance from the outer perimeter of the charging station post to the geometry of the power source and / or the horizontal center point of the vehicle being charged.

Claims

1. An automatic storage and retrieval system (1), comprising: The track system (108) includes: a first set of parallel tracks (110) arranged in a horizontal plane (P) and extending in a first direction (X); and a second set of parallel tracks (111) arranged in the horizontal plane (P) and extending in a second direction (Y) orthogonal to the first direction (X), the first set of tracks and the second set of tracks (110, 111) forming a grid pattern in the horizontal plane (P) including a plurality of adjacent grid cells (122), each grid cell including a grid opening (115), the grid opening being defined by a pair of adjacent tracks (110a, 110b) of the first set of tracks (110) and a pair of adjacent tracks (111a, 111b) of the second set of tracks (111); Container loading and unloading vehicles (3-5) are configured to move laterally on the track system (108), wherein, The container loading / unloading vehicle (3-5) includes: a rolling device (18) for guiding the container loading / unloading vehicle (3-5) along the track system (108); and a power compartment (27a) for accommodating a replaceable power supply (28). A replaceable power supply (28), housed in the power supply compartment, has a power charging connector (46); and A charging station (40) for charging the replaceable power supply (28) includes a charging connector (45) and a power support (43). The charging connector is configured to make an electrical connection with the power charging connector (46), and the power support is configured to releasably support the replaceable power supply (28) during charging. The power compartment is located in the upper part of the container loading and unloading vehicle, and the power compartment (27a) is configured to receive the replaceable power supply (28) via an opening facing the first direction (X) or the second direction (Y). The power compartment (27a) includes power locking components (27, 27b, 27c) arranged to hold the power source (28) in a suitable position within the power compartment (27a). The power locking components (27, 27b, 27c) are movable between a first position and a second position. In the first position, the power locking components hold the replaceable power supply in place. In the second position, the replaceable power supply is movable. The power locking components (27, 27b, 27c) are locked in a first position by a releasable locking mechanism (50), wherein the power support (43) is arranged to interact with the releasable locking mechanism (50) and / or the power locking components (27, 27b, 27c) such that when the power support (43) extends into the power compartment (27a) to retrieve a discharging replaceable power supply or insert a charging replaceable power supply, the power locking components can move to a second position.

2. The system according to claim 1, wherein, The power support (43) is arranged to extend into the power compartment (27a) to retrieve the discharging power (28) or insert the charging power (28).

3. The system according to claim 1, wherein, The rolling device (18) includes a first set of wheels (19) arranged to engage with the first set of tracks (110) and a second set of wheels (20) arranged to engage with the second set of tracks (111). The first set of wheels (19) is movable between an upper wheel position and a lower wheel position, such that the first set of wheels (19) engages with the first set of tracks (110) at the lower wheel position and the second set of wheels (20) engages with the second set of tracks (111) at the upper wheel position.

4. The system according to claim 1, wherein, The power locking assembly is pivotally connected to the container loading / unloading vehicle (3-5), allowing the power locking assembly to pivot between the first position and the second position.

5. The system according to claim 4, wherein, The power support (43) includes two laterally extending guide arms (43a, 43b), between which the replaceable power supply (28) can be supported.

6. The system according to claim 5, wherein, At least one of the guide arms (43a, 43b) includes an end (52) for interacting with the releasable locking mechanism (50) and / or the power locking assembly.

7. The system according to claim 5, wherein, The replaceable power supply (28) includes support ribs (49) arranged on each of the two opposite sides of the power supply, each support rib (49) being arranged to interact with a corresponding guide arm (43a, 43b) of the power supply support.

8. The system according to claim 7, wherein, Each support rib (49) includes a recess (49a) or a protrusion for interacting with a corresponding protrusion (32) or recess arranged on the guide arms (43a, 43b), respectively.

9. The system according to claim 8, wherein, The interacting recesses (49a) and protrusions (32) are arranged to prevent the replaceable power supply (28) from moving laterally when it is supported by the power supply support.

10. The system according to claim 1, wherein, The power locking assembly (27, 27b, 27c) includes a locking element (27c) that, when the power supply is arranged in the power supply compartment and the power locking assembly (27, 27b, 27c) is in the first position, is arranged to selectively interact with the replaceable power supply (28) via a support rib (49) arranged on each of the two opposite sides of the power supply, thereby preventing the power supply from moving at least in the lateral direction.

11. The system according to claim 3, wherein, When the power support (43) extends into the power compartment and the first set of wheels (19) is in the lower wheel position, the power locking assembly (27, 27b, 27c) is arranged in the first position.

12. The system according to claim 3, wherein, When the power support (43) extends into the power compartment and the first set of wheels (19) is in the upper wheel position, the power locking assembly (27, 27b, 27c) is arranged in the second position.

13. The system according to claim 3, wherein, When the power support (43) extends into the power compartment (27a) and the first set of wheels (19) is in the position of the upper wheel, the replaceable power supply (28) is arranged to be supported by the power support (43).

14. The system according to claim 3, wherein, When the power support (43) extends into the power compartment and the first set of wheels (19) is in the lower wheel position, the replaceable power supply (28) is arranged to be separate from the power support (43) and supported by at least one support surface (31) arranged in the power compartment.

15. The system according to claim 14, wherein, The power support (43) is arranged at a fixed height relative to the track system (108), and the charging connector (45) is movable relative to the track system (108) between a lower connection position and an upper connection position. In the lower connection position, when the replaceable power supply (28) is supported by the power supply support (43), the charging connector (45) is arranged at a height corresponding to the height of the power charging connector (46); and In the upper connection position, when the replaceable power supply (28) is housed in the power supply compartment and the first set of wheels (19) is in the lower wheel position, the charging connector (45) is arranged at a height corresponding to the height of the power charging connector (46).

16. The system according to claim 15, wherein, The charging connector (45) is offset toward the upper connection position.

17. A container loading and unloading vehicle for use in an automated storage and retrieval system according to any one of claims 1 to 16, characterized in that, The container handling vehicle has: a lower part (17a) including at least one storage compartment (24) for storing storage containers (106); an upper part (17b) vertically arranged above the lower part (17a); a rolling device (18) for guiding the container handling vehicle (3-5) along the track system (108); and a power compartment (27a) for accommodating a replaceable power supply (28), wherein the rolling device (18) includes a first set of wheels (19) arranged to engage with a first set of tracks (110) of the track system (108) and arranged to... A second set of wheels (20) engages with a second set of tracks (111) of the track system (108), wherein the first set of wheels (19) is movable between an upper position and a lower position, such that the first set of wheels (19) engages with the first set of tracks (110) in the lower position, and the second set of wheels (20) engages with the second set of tracks (111) in the upper position, wherein, when the first set of wheels (19) is in the lower position, the power compartment is arranged to receive the replaceable power supply (28) via an opening facing the vehicle. The power compartment (27a) is located in the upper part of the container loading / unloading vehicle and is movable in a direction that allows it to move. The power compartment (27a) includes power locking components (27, 27b, 27c) arranged to hold the power source (28) in a suitable position within the power compartment (27a). The power locking components (27, 27b, 27c) are movable between a first position and a second position. In the first position, the power locking components hold the replaceable power source in a suitable position. In the second position, the replaceable power source... The power supply is movable, and the power locking components (27, 27b, 27c) are locked in a first position by a releasable locking mechanism (50), wherein the releasable locking mechanism (50) and / or the power locking components (27, 27b, 27c) are arranged to interact with the power support (43) of the charging station (40) of the automatic storage system, such that when the power support (43) extends into the power compartment (27a) to retrieve a discharged power supply or insert a charging power supply, the power locking components can move to a second position.

18. The container loading and unloading vehicle according to claim 17, wherein, The power locking assembly (27, 27b, 27c) is pivotally connected to the upper part (17b) of the container loading and unloading vehicle (3-5), allowing the power locking assembly to pivot between a first position and a second position.

19. A method of charging a replaceable power supply (28) housed in a power compartment (27a) of a container loading and unloading vehicle (3-5) according to claim 17 or 18 using a charging station (40), the charging station comprising a power support (43). The container loading and unloading vehicles (3-5) are configured to move on a track system (108) comprising a first set of parallel tracks (110) arranged in a horizontal plane (P) and extending in a first direction (X) and a second set of parallel tracks (111) arranged in the horizontal plane (P) and extending in a second direction (Y) orthogonal to the first direction (X). The first set of tracks and the second set of tracks (110, 111) form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent grid cells (122), each grid cell comprising a grid opening (115) defined by a pair of adjacent tracks (110a, 110b) of the first set of tracks (110) and a pair of adjacent tracks (111a, 111b) of the second set of tracks (111). The method includes the following steps: a) The container loading / unloading vehicle (3-5) is moved to a position in which the power support (43) of the charging station (40) is at least partially inserted into the power compartment (27a) containing the power source (28), and at least one charging connector (45) of the charging station (40) is configured to make electrical contact with at least one power charging connector (46) of the power source (28). b) Transferring the power source (28) from the power compartment (27a) of the container loading / unloading vehicle (3-5) to the power support (43), and c) Reverse the container loading / unloading vehicle (3-5) so that the power source (28) is in a charging state at the charging station (40).

20. The method according to claim 19, wherein, The transfer of power (28) from the power compartment (27a) of the container loading and unloading vehicle (3-5) to the power support (43) is achieved by adjusting the height of the power compartment (27a) relative to the track system (108) below.

Images