Container handling vehicle, related system and method comprising a container carrying position

Abstract

A container handling vehicle (401) for operation on a two-dimensional guide rail system (108) is described, the guide rail system comprising: a first set of parallel guide rails (110) arranged to guide the container handling vehicle (401) to move across the top of a frame structure (100) in a first direction (X); and a second set of parallel guide rails (111) arranged perpendicular to the first set of guide rails (110) to guide the container handling vehicle (401) in a direction perpendicular to the first direction. Moving in the second direction (Y), the first set of parallel guide rails and the second set of parallel guide rails (110, 111) divide the guide rail system (108) into multiple grid cells (122), wherein the container handling vehicle (401) includes: - a wheel base unit (2), the wheel base unit including a first set of wheels and a second set of wheels (32a, 32b) for guiding the container handling vehicle (401) along the guide rail system (108) in the first direction and the second direction (X, Y) respectively, wherein the first set of wheels (110, 111) divides the container handling vehicle (401) into multiple grid cells (122). A set of wheels and a second set of wheels (32a, 32b) form the outer periphery of the wheel base unit (2); - a main body unit (410) comprising: a lower section (411) disposed on the wheel base unit (2), the lower section (411) occupying an area equal to or smaller than the wheel base unit (2) in a horizontal range, the lower section (411) having an upper surface (425) wherein the upper surface (425) provides a first container support for carrying a storage container (106). The system includes a loading position (425); a support section (412) extending vertically from the lower section (411), the area occupied by the support section (412) being smaller in horizontal extent than that occupied by the lower section (411); a cantilever section (413) extending horizontally from the support section (412) beyond the area occupied by the lower section (411); and a lifting device (414) comprising a lifting frame (415) suspended on the cantilever section (413). Related automated storage and retrieval systems and methods for transferring storage containers (106) between a first container transport vehicle and a second container transport vehicle (401) and between the container transport vehicle (401) and an external conveyor are also described.

Description

Technical Field

[0001] This invention relates to the field of automated storage and retrieval systems. Specifically, the invention relates to a container transport vehicle with a cantilever section and an automated storage and retrieval system comprising multiple container transport vehicles, wherein these container transport vehicles have at least one additional storage location compared to prior art cantilever container transport vehicles. Methods for transferring storage containers between a first container transport vehicle and a second container transport vehicle, and for transferring storage containers between the container transport vehicles and an external container carrying location, are also described. Background Technology

[0002] Figure 1A discloses a common prior art automated storage and retrieval system 1 with a frame structure 100, and Figures 2 and 3A disclose two different prior art container handling vehicles 201 and 301 suitable for operation on such system 1.

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

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a guide rail system 108 arranged across the top of the frame structure 100. Multiple container handling vehicles 201, 301 operate on this guide rail system 108 to lift and lower storage containers 106 from storage columns 105 into the storage columns, and also to transport storage containers 106 above the storage columns 105. The guide rail system 108 includes a first set of parallel guide rails 110 and a second set of parallel guide rails 111. The first set of parallel guide rails is arranged to guide the container handling vehicles 201, 301 across the top of the frame structure 100 in a first direction X, and the second set of parallel guide rails is arranged perpendicular to the first set of guide rails 110 to guide the container handling vehicles 201, 301 in a second direction Y perpendicular to the first direction X. Containers 106 stored in the columns 105 are accessed by the container handling vehicles through access openings / grid openings 112 in grid cells 122 of the guide rail system 108. Container handling vehicles 201 and 301 can move laterally above storage column 105, that is, move in a plane parallel to the horizontal XY plane.

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

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

[0007] Each prior art container handling vehicle 201, 301 also includes a lifting device (not shown) for the vertical transport of the storage container 106, for example, 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 adapted to engage with the storage container 106, which can be lowered from the vehicle 201, 301, thereby allowing adjustment of the position of the clamping / engaging device relative to the vehicle 201, 301 in a third direction Z orthogonal to the first direction X and the second direction Y. Some portions of the clamping device of the container handling vehicle 301 are shown in FIG. 3A and are indicated by reference numeral 304. The clamping device of the container handling device 201 is located within the body 301a in FIG. 2.

[0008] Conventionally and for the purposes of this application, Z=1 represents the uppermost layer of the storage container, i.e., the layer immediately below the guide rail system 108; Z=2 represents the second layer below the guide rail system 108; Z=3 represents the third layer, and so on. In the exemplary prior art disclosed in FIG1A, Z=8 represents the bottommost layer of the storage container. Similarly, X=1...n and Y=1...n represent the position of each storage column 105 on the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z shown in FIG1A, it can be said that the storage container identified as 106' in FIG1A occupies the storage position of X=10, Y=2, Z=3. It can be said that the container transport vehicles 201, 301 travel in the layer of Z=0, and each storage column 105 can be identified by its X and Y coordinates.

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

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

[0011] Figure 3A shows an alternative configuration of the container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail in, for example, NO317366, the contents of which are incorporated herein by reference.

[0012] The area occupied by the central cavity container transport vehicle 201 shown in Figure 2 can cover an area in the X and Y directions that is approximately equal in size to the lateral extent of the storage column 105, for example, as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein may mean “horizontal”.

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

[0014] The guide rail system 108 typically includes guide rails with grooves into which the vehicle's wheels are inserted. Alternatively, the guide rails may include upwardly projecting elements, where the vehicle's wheels include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as rails. Each guide rail may include one rail, or each guide rail may include two parallel rails (so-called "dual rails," which will be described herein in conjunction with Figures 1B-1D).

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

[0016] In frame structure 100, most columns 105 are storage columns 105, meaning that containers 106 are stored in stacks 107 within columns 105. However, some columns 105 may serve other purposes. In Figure 1A, columns 119 and 120 are dedicated columns for container handling vehicles 201 and 301 to unload and / or pick up storage containers 106 so that the storage containers can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside frame structure 100 or moved in or out of frame structure 100. In the art, such locations are commonly referred to as “ports,” and the columns containing the ports may be referred to as “port columns” 119 and 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 columns 105 within frame structure 100, and then picked up and transported by any container handling vehicle to port columns 119, 120 for further transport to the retrieval station. Note that the term "inclined" means that the transport of storage container 106 has a certain conventional transport orientation between horizontal and vertical.

[0017] In Figure 1A, the first port column 119 may be a dedicated unloading port column, where container handling vehicles 201 and 301 can unload storage containers 106 that are to be transported to the storage or transfer station, and the second port column 120 may be a dedicated picking port column, where container handling vehicles 201 and 301 can pick up storage containers 106 that have been transported from the storage or transfer station.

[0018] The storage and retrieval station can typically be a picking station or a storage station where product items are removed from or placed into storage container 106. At the picking station or storage station, storage container 106 is typically not removed from the automated storage and retrieval system 1, but is returned to the frame structure 100 after storage and retrieval. Ports can also be used to transfer storage containers to another storage facility (e.g., another frame structure or another automated storage and retrieval system), transport vehicles (e.g., trains or trucks), or production facilities.

[0019] Storage containers are typically transported between port columns 119, 120 and the access station using a conveyor system.

[0020] If port columns 119, 120 and access stations are located at different heights, the conveying system may include a lifting device with vertical components for vertically transporting storage container 106 between port columns 119, 120 and access stations.

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

[0022] When access is required for a storage container 106 stored in one of the multiple columns 105 disclosed in FIG. 1A, one of the multiple container handling vehicles 201, 301 is instructed to remove the target storage container 106 from the location of the target storage container and transport it to the unloading port column 119. This operation includes moving the container handling vehicles 201, 301 to a position above the storage column 105 where the target storage container 106 is located, removing the storage container 106 from the storage column 105 using the lifting devices (not shown) of the container handling vehicles 201, 301, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, the operation also includes temporarily moving the storage containers located above the target storage container 106 before lifting it from the 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 column 119, or with 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. After the target storage container 106 is removed from storage column 105, the temporarily removed storage container can be repositioned into the initial storage column 105. However, the removed storage container can alternatively be relocated to another storage column.

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

[0024] The drawback of existing cantilever container handling vehicles is that they can only transport one storage container at a time.

[0025] One object of the present invention is to provide a cantilever container transport vehicle that can transport more than one storage container at the same time. Summary of the Invention

[0026] The invention is set forth in the independent claims, while the dependent claims describe alternatives to the invention.

[0027] This invention relates to a container transport vehicle operating on a two-dimensional guide rail system, the guide rail system comprising: a first set of parallel guide rails arranged to guide the container transport vehicle to move across the top of a frame structure in a first direction X; and a second set of parallel guide rails arranged perpendicular to the first set of guide rails to guide the container transport vehicle to move in a second direction perpendicular to the first direction, the first and second sets of parallel guide rails dividing the guide rail system into a plurality of grid cells, wherein the container transport vehicle comprises:

[0028] - A wheel base unit comprising a first set of wheels and a second set of wheels for guiding the container transport vehicle along the guide rail system in a first direction and a second direction, respectively, wherein the first set of wheels and the second set of wheels form the outer periphery of the wheel base unit.

[0029] -The main body unit, which includes:

[0030] The lower section is disposed on the wheel base unit, the lower section having an occupied area that is equal to or smaller than the occupied area of ​​the wheel base unit in a horizontal range, the lower section having an upper surface, wherein the upper surface provides a first container bearing position for bearing a storage container.

[0031] A support section extending vertically from the lower section, the area occupied by the support section being smaller horizontally than the area occupied by the lower section; and

[0032] A cantilever section that extends horizontally from the support section beyond the area occupied by the lower section; and

[0033] - A lifting device, which includes a lifting frame suspended on the cantilever section.

[0034] In one aspect, when the storage container is located on the upper surface, the uppermost portion of the storage container represents a first height; and the lifting device includes a lifting frame suspended on the cantilever section, the lowermost portion of the lifting frame being at a second height when the lifting frame is stopped at an upper position adjacent to the cantilever section; wherein, when the lifting frame is stopped at its upper position, the second height is greater than the first height, such that when the first container transport vehicle and the second container transport vehicle pass each other on adjacent grid cells, the lowermost portion of the lifting frame of the first container transport vehicle can pass over the uppermost portion of the storage container located on the upper surface of the lower section of the body unit of the second container transport vehicle.

[0035] Other robots or human operators can move / pick up items stored in the storage containers located at the first container carrying position. That is, the storage containers located at the first container carrying position can thus become a useful place to store items that need to be frequently accessed. At the same time, it also provides useful balance for the vehicle when it is necessary to pick up heavy storage containers.

[0036] The first container bearing position can be recessed to provide lateral support to the storage container located at the first container bearing position.

[0037] The lifting device may include a lifting motor and at least two lifting shafts, wherein the at least two lifting shafts may be arranged in the cantilever section, and the lifting motor may be arranged in the lower section, wherein the lifting motor and the at least two lifting shafts may be connected to each other via a transmission coupling. The transmission coupling may include any necessary components to transmit rotational motion from the lifting motor and the lifting shafts.

[0038] The lifting device may include a lifting device motor and at least two lifting shafts arranged in the cantilever section.

[0039] The main body unit may include an S-shaped shell connecting the lower section, the support section, and the cantilever section. The S-shape is the shape seen when the shell is viewed from the side.

[0040] The first container carrying position may include a conveyor for transferring the storage container between the first container carrying position and the external support. The external support may be an external conveyor. To facilitate the transfer of the storage container, the upper surface of the external support is preferably at the same height as the upper surface of the conveyor at the first container carrying position.

[0041] The occupied area of ​​the lower section of the main body unit is shifted relative to the occupied area of ​​the wheel base unit by approximately or equal to the width of the wheel. In this case, the occupied area should be understood as the area where, when the lower section is positioned directly above a grid cell, the vertical projection of the lower section does not enter the adjacent grid cell.

[0042] The lifting frame can be suspended on a lifting belt, and the lifting frame can extend horizontally and include clamping devices and corner guides, wherein the lowest point of these corner guides provides the lowest portion of the lifting frame. The lifting belt is preferably conductive and / or capable of transmitting signals, thereby providing power and commands to the clamping devices on the lifting frame.

[0043] An automated storage and retrieval system is also described, comprising a two-dimensional guide rail system including: a first set of parallel guide rails arranged to guide the container transport vehicle to move across the top of a frame structure in a first direction X; and a second set of parallel guide rails arranged perpendicular to the first set of guide rails to guide the container transport vehicle to move in a second direction Y perpendicular to the first direction, the first and second sets of parallel guide rails dividing the guide rail system into a plurality of grid cells, wherein the automated storage and retrieval system includes a plurality of container transport vehicles as described above.

[0044] The wheel base element with the first set of wheels and the second set of wheels can be equal to the mesh element.

[0045] Two container transport vehicles with the same orientation can occupy only three grid cell spaces along a row as they pass each other.

[0046] The first set of guide rails and / or the second set of guide rails may include a single rail or a dual rail including two single rails, and in addition to the area surrounding a single grid opening occupied by the single rails in the first and second directions, the grid cell may also be defined as a horizontal area occupied by the grid opening defined by the first set of guide rails and the second set of guide rails.

[0047] The area occupied by the wheel base element can be equal to the horizontal range of the grid element in the first and second directions.

[0048] Container handling vehicles may include a support surface, which can provide a second container carrying position.

[0049] The second container support location can be arranged above the first container support location. Preferably, the second container support location has the same vertical projection as the first container support location. If arranged on a guide rail system, the size of the support section is preferably equal to or smaller than the grid cell. Alternatively, two or more storage containers can be stacked on top of each other, wherein all stacked storage containers are supported by the first container support location.

[0050] The second container's carrying position can be moved between the following locations:

[0051] - Retraction position, wherein the vertical projection of the second container bearing position exceeds that of the first container bearing position; and

[0052] -Extended position, wherein the second container bearing position is located at or within the vertical projection of the first container bearing position.

[0053] The second container's carrying position can move between a retracted position and an extended position via a pivoting connection. The pivoting connection allows:

[0054] - In the retracted position, the second surface extends substantially vertically; and

[0055] - In the extended position, the second surface extends substantially horizontally.

[0056] Alternatively, the pivot connection can be arranged such that the second surface can be flipped onto the top of the cantilever section. For example, it could be a hinged connection at the top along the back of the cantilever, connecting to the corner edge of the section, with the end of the arm resting against the vertical surface of the support section.

[0057] The second container carrying position can be linearly moved between a retracted position and an extended position via a linear moving device. If a linear moving device is used, it can be arranged such that:

[0058] - In the retracted position, the second container bearing position moves beyond the first container bearing position and above the cantilever section, and

[0059] - In the extended position, the second container carrier position is above the first container carrier position.

[0060] The second container carrying location can be equipped with a conveyor, meaning that by using the conveyor and some receiving infrastructure, the storage containers at the second container carrying location can be automatically unloaded independently of the storage containers at the first container carrying location, wherein the receiving infrastructure can catch the high-level containers that have detached from the conveyor. If the first container carrying location is equipped with a conveyor, any storage container at the first container carrying location can be unloaded without first unloading the storage containers located at the second container carrying location. If both the first and second container carrying locations are equipped with conveyors, then by using the conveyors, any storage containers located at the first and / or second container carrying locations can be scheduled independently of another storage container.

[0061] A method for transferring a storage container between a first container transport vehicle and a second container transport vehicle defined above, the first and second container transport vehicles operating on an automated storage and retrieval system, the automated storage and retrieval system including a two-dimensional guide rail system, the guide rail system comprising: a first set of parallel guide rails arranged to guide the container transport vehicle to move across the top of a frame structure in a first direction X; and a second set of parallel guide rails arranged perpendicular to the first set of guide rails to guide the container transport vehicle to move in a second direction Y perpendicular to the first direction, the first and second sets of parallel guide rails dividing the guide rail system into a plurality of grid cells, wherein the method includes the following steps:

[0062] -The main control system instructs the first and second container handling vehicles to position themselves in adjacent grid cells, such that the lifting device of the first container handling vehicle is located directly above the upper surface of the lower section of the second container handling vehicle.

[0063] - This allows the storage container to be transferred between the first container-bearing position in the lower section of the second container transport vehicle and the lifting device of the first container transport vehicle. The storage container can be transferred from the first container transport vehicle to the second container transport vehicle, and vice versa.

[0064] The step of transferring the storage container between the upper surface of the lower section of the second container transport vehicle and the lifting device of the first container transport vehicle may include the following steps:

[0065] - Designate the container handling vehicle that carries or supports the storage containers as the main vehicle;

[0066] - Set another container handling vehicle as a subordinate vehicle;

[0067] - Send a box retrieval command to subordinate vehicles;

[0068] - The subordinate vehicle executes the retrieve container command and updates its internal state when it confirms that the storage container is on the vehicle;

[0069] - When it is confirmed that the storage container is on the vehicle such that the storage container has been sufficiently removed from the first container carrying position of the master vehicle (preferably with a margin), the slave vehicle sends a confirmation to the control system;

[0070] - The main vehicle detects the storage container leaving and sends a container update status to the control system;

[0071] - The control system updates the logic state to match the physical state of the master and slave vehicles.

[0072] The container acquisition command may include parameters that define the height of the storage container to be transferred, causing the lifting device of the main vehicle to lower to a position equal to the uppermost portion of the storage container located in the first container carrying position. The height of the storage container is the distance between the lifting device in the upper position and the top of the storage container. This distance can vary depending on the height of the storage container and whether the storage container is located in the first container carrying position or in a container carrying position at a different height.

[0073] Setting another container transport vehicle as a slave vehicle may include the following steps: sending a synchronization command to the slave vehicle so that the slave vehicle moves together with and follows the master vehicle.

[0074] After the step of sending a synchronization command to the slave vehicle, the method may further include the following steps: when the slave vehicle moves together with and follows the master vehicle, sending a message from the slave vehicle to the master control system.

[0075] A method for transferring a storage container between a container transport vehicle defined above and an external container carrying position is also described. The container transport vehicle operates on an automated storage and retrieval system comprising a two-dimensional guide rail system. The guide rail system includes: a first set of parallel guide rails arranged to guide the container transport vehicle to move across the top of a frame structure in a first direction X; and a second set of parallel guide rails arranged perpendicular to the first set of guide rails to guide the container transport vehicle to move in a second direction Y perpendicular to the first direction. The first and second sets of parallel guide rails divide the guide rail system into a plurality of grid cells. The method includes the following steps:

[0076] - The storage containers are transferred between the container handling vehicle and an external location outside the container handling vehicle by using a conveyor at the first container carrying position in the lower section.

[0077] The relative terms “upper,” “lower,” “below,” “above,” “higher,” etc., should be understood according to their general meaning and as seen in the Cartesian coordinate system.

[0078] In the following text, numerous specific details are presented by way of example only to provide a comprehensive understanding of the implementation of the claimed systems and vehicles. However, those skilled in the art will recognize that these implementations can be carried out 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 certain aspects of the disclosed implementations. Attached Figure Description

[0079] The accompanying drawings are provided to aid in understanding the invention.

[0080] Figure 1A is a perspective view of the framework structure of a prior art automatic storage and retrieval system;

[0081] Figures 1B-1D are top views of the container handling vehicle guide rail system. Figure 1B shows a single-track guide rail system, Figure 1C shows a double-track guide rail system, and Figure 1D shows a double-track system, where the width and length of the container handling vehicle grid cell are marked.

[0082] Figure 2 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers therein.

[0083] Figure 3A is a perspective view of a prior art container handling vehicle having a cantilever for supporting storage containers below.

[0084] Figure 3B and Figure 3C An exemplary wheel base unit for a container handling vehicle is shown;

[0085] Figure 4A This is a simplified side view of a container handling vehicle according to an embodiment of the present invention. The container handling vehicle includes a wheel base unit and a main body unit, wherein the main body unit includes a lower section, a support section and a cantilever section.

[0086] Figure 4B This is a perspective view of a container handling vehicle according to an embodiment of the present invention, wherein the protective cover has been removed to better show the arrangement of components in the lower section, support section and cantilever section of the main body unit of the container handling vehicle.

[0087] Figure 4C yes Figure 4B Top view;

[0088] Figures 4D-4I This is an exemplary side view showing different configurations that cause the lifting shaft to rotate in the opposite direction;

[0089] Figure 5 This is an example of a cantilever section of the main unit, and it shows which parts can form part of the cantilever section;

[0090] Figure 6 This is a simplified side view of a container transport vehicle according to an embodiment of the present invention. The container transport vehicle supports a storage container at a first container carrying position and is supported by a lifting device. The container transport vehicle includes a wheel base unit and a main body unit, wherein the main body unit includes a lower section, a support section and a cantilever section.

[0091] Figures 7A-7D An exemplary method for transferring storage containers between a first container handling vehicle and a second container handling vehicle operating on an automated storage and retrieval system including a two-dimensional guide rail system is illustrated step by step.

[0092] Figures 8A-8D An example of a container handling vehicle according to the invention is shown, wherein a conveyor is provided at a first container carrying position, wherein, Figure 8A This illustrates a scenario where no storage container is being carried at the first container carrying position. Figure 8B This illustrates a scenario where a storage container is located at the first container carrying position. Figure 8C This illustrates a possible scenario where a storage container is transferred from a conveyor located at a first container-bearing position to an external conveyor, and... Figure 8D It shows relative to Figure 8A The conveyor in the middle is a 90-degree oriented conveyor;

[0093] Figure 9 An example of a container handling vehicle according to the present invention is shown, the container handling vehicle including an upper surface providing a first container carrying position and a support surface providing a second container carrying position;

[0094] Figure 10A It shows Figure 9 The second container carrying position 426 is in a retracted position via a pivot connection, such that in the retracted position the second container carrying position faces upward.

[0095] Figure 10B Another example of a possible extension of the second container carrying position is shown;

[0096] Figure 10C It shows Figure 10B In one example, the second container bearing position has been pivoted 180 degrees and is inverted on the cantilever section when in the retracted position;

[0097] Figure 11A and Figure 11B Another example of a second container carrying location is shown, wherein, in Figure 11A In this context, the second container's carrying position is an extension directly above the first container's carrying position. Figure 11B In the middle, the second container carrying position is moved to the retracted position by a linear moving device;

[0098] In the accompanying drawings, unless explicitly stated or implicitly understood in the context, the same reference numerals are used to denote the same parts, elements, or features. Detailed Implementation

[0099] In the following, embodiments of the invention will be discussed in more detail by way of example and 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 described therein.

[0100] The frame structure 100 of the automatic storage and retrieval system 1 is constructed according to the prior art frame structure 100 described above in conjunction with Figures 1A-1D, namely, a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102, and furthermore, the frame structure 100 also includes a first upper guide rail system 108 in the X and Y directions.

[0101] The frame structure 100 also includes storage compartments arranged in the form of storage columns 105 between the members 102 and 103, wherein the storage containers 106 can be stacked into a stack 107 within the storage columns 105.

[0102] The frame structure 100 can have any size. In particular, it should be understood that the frame structure can be wider and / or longer and / or deeper than disclosed in Figure 1A. For example, the frame structure 100 can have a horizontal range exceeding 700×700 columns and a storage depth exceeding twelve containers.

[0103] The guide rail system 108 can be a single-rail (also called a single-track) system as shown in FIG1B. The guide rail system 108 can also be a dual-rail (also called a dual-track) system as shown in FIG1C, thereby allowing the occupied area of ​​the container transport vehicle 201 to generally correspond to the lateral area defined by the access opening / grid column 112, enabling the container transport vehicle to travel along a row of grid columns, even if another container transport vehicle 201 is located above a grid column adjacent to that row. Both single-track and dual-track systems, or both, can be included in a single guide rail system 108, comprising a combination of single-track and dual-track devices forming a grid pattern in the horizontal plane P. This grid pattern includes a plurality of rectangular and uniform grid positions or grid cells 122, wherein each grid cell 122 includes a grid opening 115 defined by a pair of tracks 110a, 110b of a first set of guide rails 110 and a pair of tracks 111a, 111b of a second set of guide rails 111. In FIG1C, the grid cell 122 is indicated by a dashed box. For example, a section made of aluminum based on a rail system is a rail, and a pair of tracks are present on the upper surface of the rail for the vehicle's wheels to run on. However, these sections can be individual rails, each with its own tracks.

[0104] Therefore, tracks 110a and 110b form a pair of guide rails defining parallel and row-shaped grid cells extending in the X direction, and tracks 111a and 111b form a pair of guide rails defining parallel and row-shaped grid cells extending in the Y direction.

[0105] As shown in Figure 1D, the width W of each grid cell 122 is... c Typically, the length L is in the range of 30 to 150 cm. c Typically within the range of 50 to 200 cm. Each grid opening has a width of 115 W. o and length L o Typically, the width W of the grid cell 122 is greater than that of the grid cell 122. c and length L c Smaller than 2 to 10 cm.

[0106] In the X and Y directions, adjacent grid cells are arranged to contact each other, so that there is no space between them.

[0107] Figure 3A is a perspective view of a prior art container handling vehicle 301, which has a cantilever for carrying storage containers underneath.

[0108] Figure 3B and Figure 3C An exemplary wheel base unit for a container handling vehicle 401 according to the present invention is shown. The wheel base unit 2 is characterized by having wheel assemblies 32a, 32b, which have a first set of wheels 32a for movement in a first direction on a guide rail system 108 and a second set of wheels 32b for movement in a second direction perpendicular to the first direction. Each set of wheels includes two pairs of wheels arranged on opposite sides of the wheel base unit 2. To change the direction of travel of the wheel base unit on the guide rail system, one set of wheels 32b in these sets of wheels is connected to a wheel shifting assembly 7. The wheel shifting assembly enables the connected set of wheels 32b to be raised and lowered relative to the other set of wheels 32a, such that only the set of wheels traveling in the desired direction contacts the guide rail system. The wheel shifting assembly 7 is driven by an electric motor 8. Furthermore, two electric motors 4, 4' powered by a rechargeable battery 6 are connected to these sets of wheels 32a, 32b to move the wheel base unit in the desired direction.

[0109] Further reference Figure 3B and Figure 3C The dimensions of the horizontal periphery of the wheel base unit 2 are adapted to allow two wheel base units 2 to pass over each other on any adjacent grid cell of the guide system 108 within the horizontal region defined by the grid cells. In other words, the occupied area of ​​the wheel base unit 2, i.e., its extent in the X and Y directions, is generally equal to the horizontal region of the grid cell, i.e., the extent of the grid cell in the X and Y directions, as described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0110] Figure 4A This is a simplified side view of a container transport vehicle 401 according to an embodiment of the present invention. The container transport vehicle includes a wheel base unit 2 and a main body unit 410, wherein the main body unit 410 includes a lower section 411, a support section 412, and a cantilever section 413. The lower section 411 has an upper surface, wherein the upper surface 425 is configured as a first container carrying position 425 for carrying a storage container 106.

[0111] refer to Figure 3B and Figure 4AThe wheel base unit 2 has a top panel / flange 9 (i.e., upper surface) configured as a connection interface for connection with the body unit 410 of the container transport vehicle 401. The top panel 9 has a central opening 20 and is characterized by having a plurality of through holes 10 (i.e., connecting elements) adapted for bolting via corresponding through holes located in the lower section 411 of the body unit 401. In other embodiments, the connecting elements of the top panel 9 may be, for example, threaded pins for interacting with the through holes in the lower section 411. In yet another embodiment, the container transport vehicle 401 is not of this modular design but is made of one or more pieces. The presence of the central opening 20 is advantageous because it provides access to internal components of the wheel base unit 2, such as the rechargeable battery 6 and the electronic control system 21.

[0112] Further reference Figure 4A The main body unit 410 is disclosed as an S-shaped shell including a lower section 411, a support section 412 and a cantilever section 413. Figure 4A The container transport vehicle 401 can run on the guide rail system 108 as described in conjunction with Figures 1A-1D and includes a wheel base unit 2 and a main body unit 410. The wheel base unit 2 includes multiple sets of wheels 32a, 32b for guiding the container transport vehicle 401 along the guide rail system 108 in a first direction and a second direction X, Y. The main body unit 410 includes a lower section 411, a support section 412, and a cantilever section 413. The lower section 411 is mounted on the upper surface of the wheel base unit 2. The horizontal extent of the area occupied by the lower section 411 may be equal to or less than the horizontal extent of a grid cell 122. The top of the storage container 106 is at a first height h1. That is, the first height h1 is the distance from the top of the guide rail system 108 to the top of the storage container 106 at a first container carrying position on the upper surface of the lower section 411 when the lower section 411 is mounted on the wheel base unit 2. The support segment 412 extends vertically from the lower segment 411, and the area occupied by the support segment is smaller horizontally than the area occupied by the lower segment 411. The width of the support segment 412 (i.e., its extension in the X direction) can be equal to the width of the lower segment 411 (in the X direction). The extension of the support segment 412 in the Y direction is less than the extension of the lower segment 411 in the Y direction.

[0113] In addition, refer to Figure 4C When viewed from above in the plan view, the area occupied by support segment 412 falls within the area occupied by lower segment 411. In other words, as Figures 4A-4CAs disclosed, the support section 412 does not extend beyond the lower section 411. The cantilever section 413 extends horizontally from the support section 412 beyond the occupied area of ​​the lower section 411 and includes a lifting device 414 suspended on the cantilever section 413. The lifting device 414 includes a lifting frame 415, the lowermost portion of which, when abutted against the upper portion of the cantilever section 413, is at a second height h2. Figure 4A and Figure 4B (The docking position of the lifting frame 415 is shown). That is, the second height h2 is the distance from the top of the guide rail system 108 to the lowest portion of the lifting frame 415. The lifting frame 415 is suspended from the cantilever section 413 via the lifting belt 419. The lifting frame 415 may include a clamping device 420 extending from its lower surface for connecting the lifting frame to a complementary lifting hole on the storage container 106, thereby allowing the storage container 106 to be raised and lowered. In addition, the lifting frame 415 may include a guide 421 disposed at a corner on the lower surface of the lifting frame 415 to align the clamping device 420 of the lifting frame 415 with respect to the complementary lifting hole on the storage container 106. In many cases, the guide 421 or the clamping device 420 may constitute the lowest portion of the lifting frame 415, such that the second height h2 is the lowest portion of any of these components. However, according to an embodiment of the present invention, when the lifting frame 415 is stopped at its upper position, the second height h2 of the lowermost part of the lifting frame 415 is always higher than the first height h1 of the storage container 106 located at the first container bearing position.

[0114] When the first container transport vehicle and the second container transport vehicle 401 pass each other on adjacent grid cells 122, the first container transport vehicle and the second container transport vehicle 401 can pass each other by ensuring that the lowermost part of the lifting frame 415 where the first container transport vehicle 401 is docked can cross the storage container 106 supported on the first container carrying position of the second container transport vehicle 401, while occupying fewer grid cells in total than required in prior art solutions.

[0115] Figure 4B This is a perspective view of a container handling vehicle 401 according to an embodiment of the present invention, wherein the protective cover has been removed to better show the arrangement of components in the lower section 411, support section 412, and cantilever section 413 of the main body unit 410 constituting the container handling vehicle 401. Figure 4BIn one embodiment, the lifting device 414 is disclosed as including a lifting device motor 416' and at least two lifting shafts 417', 417'". These two lifting shafts 417', 417'" are arranged in parallel within the cantilever section 413. A lifting belt 419 connected to the lifting frame 415 is wound onto or unloaded from the lifting shafts 417', 417'", thereby moving the lifting frame 416 and any storage container 106 carried by the lifting frame 415 up and down. Lifting shaft wheels 423', 423'" are arranged at one end of each lifting shaft 417', and these lifting shaft wheels operate in conjunction with the lifting shaft 417'. Figure 4B As shown, the lifting motor 416' is arranged in the lower section 411. The lifting motor 416' and the two lifting shafts 417 are connected to each other via lifting shaft pulleys 423', 423'" and an annular and flexible force transmission element 418 (such as a belt), wherein the force transmission element extends via pulley 422 to ensure that the first lifting shaft and the second lifting shaft 417 rotate simultaneously in the same direction. Any necessary power source (not shown) for powering the lifting motor 416' can be arranged in the lower section 413 to obtain a favorable center of gravity, which reduces the risk of the container transport vehicle tilting when lifting heavy storage containers 106 and / or reduces the risk of the container transport vehicle tilting due to excessive acceleration / deceleration of the container transport vehicle 401.

[0116] The lifting frame 415 shown has a guide 421 arranged at a corner on the lower surface of the lifting frame 415 to align the clamping device 420 of the lifting frame 41 with respect to the complementary lifting hole on the storage container 106.

[0117] Any necessary power source (not shown) for powering the lifting device motor 416” can be arranged in the lower section 413 to obtain a favorable center of gravity, which reduces the risk of the container transport vehicle tilting when lifting heavy storage containers 106 and / or reduces the risk of the container transport vehicle tilting due to excessive acceleration / deceleration of the container transport vehicle 401.

[0118] Figure 4C yes Figure 4B The top view shows the lower section 411, the support section 412, and the cantilever section 413.

[0119] Figures 4D-4I These are examples of different configurations providing reverse rotation of the lifting shafts 417' and 417" . Figures 4D-4IIn all the examples disclosed, all force transmission arrangements share the common feature of a rotatable lifting device motor 416', a first lifting axle pulley and a second lifting axle pulley 423', 423" (each lifting axle pulley is connected to a corresponding lifting shaft 417', 417" to rotate it), at least one pulley 422', 422" and a force transmission element 418 forming a closed-loop annular belt, wherein at least one pulley 422', 422" is arranged inside the closed loop. Furthermore, one of the first lifting axle pulley and the second lifting axle pulley 423', 423" contacts the inner surface of the annular belt 418, while the other of the first lifting axle pulley and the second lifting axle pulley 423', 423" contacts the outer surface of the annular belt 418. This is achieved by arranging one of the first and second lifting shaft wheels 423', 423" inside the closed loop formed by the force transmission element 418 and arranging the other of the first and second lifting shaft wheels 423', 423" outside the closed loop formed by the force transmission element 418. The mutual arrangement of the first and second lifting shaft wheels 423', 423" (e.g., acting on opposite sides of the annular belt), guide pulleys 422', 422" and force transmission element 418 causes the first and second lifting shafts 417', 417" (via the first and second lifting shaft wheels 423', 423" respectively) to rotate in opposite directions (reverse rotation). The first and second lifting shaft wheels 423', 423" are preferably arranged on the same horizontal plane to ensure horizontal stability during the lifting process. The pulleys 422', 422" are arranged at fixed positions along the travel path of the force transmission element 418, such that the pulleys provide "changes" in the travel direction of the force transmission element 418. Each pulley 422', 422" is arranged to properly guide the force transmission element 418 to the first lifting shaft pulley and the second lifting shaft pulley 423', 423" so as to allow the first lifting shaft pulley and the second lifting shaft pulley 423', 423" and thus the lifting shaft 417', 417" to rotate in opposite directions.

[0120] exist Figure 4D In one example, a pulley 422' is shown.

[0121] exist Figures 4E-4I The examples show several instances of a force transmission arrangement including two pulleys 422' and 422" . The pulleys 422' and 422" are arranged alternately along the path of the force transmission element 418 such that in both directions of travel of the force transmission element 418, the first lifting shaft pulley 423' is followed by the pulleys 422' and 422" , and the second lifting shaft pulley 423" is followed by the pulleys 422' and 422" .

[0122] exist Figure 4G , Figure 4H , Figure 4I Among the examples disclosed is an example including a tensioning wheel 424 for the tension force transmission element 418. The tensioning wheel 424 may, for example, be an eccentric tensioning mechanism including a rotatable pulley having an axle that can be adjusted within an opening of a fixed support. The position of the tensioning wheel 424 along the path of the force transmission element 418 is preferably located where the path length of the force transmission element 418 can be affected (i.e., the path of the force transmission element can be shortened or lengthened to further tighten or reduce the tension in the force transmission element). The tensioning wheel 424 may be arranged inside the closed loop formed by the force transmission element 418. Figure 4G and Figure 4I ) or external ( Figure 4H ).

[0123] exist Figures 4D-4F In the examples, no dedicated tensioning mechanism, such as a tensioning wheel, is shown; however, if a tensioning mechanism is required, one of pulleys 422' or 422" can be the tensioning mechanism and can be replaced by tensioning wheel 424.

[0124] Figure 5 Another example of the arrangement of the lifting device 414 is that, in addition to the lifting shaft 417 and the lifting belt that can be wound on and unloaded from the lifting shaft 417', 417', the lifting device motor 416' is also arranged in the cantilever section 413 of the main unit 410. Figure 5 The lifting device motor 416” is a brushless DC motor surrounding one of the multiple lifting shafts 417', 417”. The lifting shafts 417', 417” can be synchronized using a synchronizing element, for example, in WO2019 / 137870A1 (Applicant: Automatic Storage Technology Co., Ltd.). Figure 5 A- Figure 5 E and Figure 6 A- Figure 6 The force transmission element disclosed in H is incorporated herein by reference.

[0125] Figure 6 This is a simplified side view of a container transport vehicle 401 according to an embodiment of the present invention. The container transport vehicle supports a storage container 106 at a first container carrying position 425 and is supported by a lifting device 415. The container transport vehicle 401 includes a wheel base unit 2 and a main body unit, wherein the main body unit includes a lower section 411, a support section 412 and a cantilever section 413. Figure 6 The components of the container transport vehicle are similar to Figure 4A The container transport vehicle in the middle. The first container carrying position 425 is preferably recessed to provide lateral support to the storage container 425 located on the first container carrying position 425.

[0126] Figures 7A-7D An exemplary method for transferring storage containers 106 between a first container transport vehicle and a second container transport vehicle 401 operating on an automated storage and retrieval system 1 including a two-dimensional guide rail system 108 is illustrated step by step. (See reference...) Figure 7A The first container transport vehicle 401 (i.e., the vehicle on the right side of the figure that does not carry the storage container 106) is located at a distance from the second container transport vehicle 401 (i.e., the vehicle on the left side of the figure that carries the storage container 106 in the lifting device and carries the storage container 106 at the first container carrying position 425). The first container transport vehicle 401 and the second container transport vehicle 4011 run in adjacent rows on the guide rail system 108.

[0127] exist Figure 7B In, with Figure 7A Compared to the previous situation, the first container transport vehicle and the second container transport vehicle 401 have moved closer to each other, and the lifting device 414 of the first container transport vehicle 401 is almost above the upper surface of the lower section 411 of the second container transport vehicle 401 / the first container carrying position 425.

[0128] exist Figure 7C In this configuration, the first container transport vehicle and the second container transport vehicle 401 have positioned themselves in adjacent grid cells 122 such that the lifting device 414 of the first container transport vehicle 401 is located directly above the upper surface of the lower section 411 of the second container transport vehicle 401 / the first container carrying position 425.

[0129] exist Figure 7D In order to lift the storage container 106 located on the first container carrying position 425 on the second container transport vehicle 401, the lifting device 414 of the first container transport vehicle 401 has lowered and lifted the storage container 106 to move it away from the first container carrying position 425. The transfer of the storage container 106 is now complete.

[0130] refer to Figures 7A-7D The method for transferring storage containers may include the following steps:

[0131] -The main control system instructs the first container transport vehicle and the second container transport vehicle 401 to position themselves in adjacent grid cells 122, such that the lifting device 414 of the first container transport vehicle 401 is located directly above the upper surface of the lower section 411 of the second container transport vehicle 401.

[0132] - Transferring the storage container 106 between the first container carrying position 425 of the lower section 411 of the second container transport vehicle 401 and the lifting device 414 of the first container transport vehicle 401. The step of transferring the storage container 106 between the upper surface of the lower section 411 of the second container transport vehicle 401 and the lifting device 414 of the first container transport vehicle 401 may include the following steps:

[0133] -The container handling vehicle 401 that carries or supports the storage container 106 is designated as the main vehicle;

[0134] - Set another container handling vehicle 401 as a subordinate vehicle;

[0135] - Send a box retrieval command to subordinate vehicles;

[0136] - The subordinate vehicle executes the command to retrieve the container, and updates its internal state when it confirms that the storage container 106 is located on the vehicle 401;

[0137] -When it is confirmed that the storage container is on the vehicle and the storage container 106 has fully moved away from the first container carrying position 425 of the master vehicle, the slave vehicle sends a confirmation to the control system.

[0138] -The main vehicle detects that the storage container 106 has left and sends a container update status to the control system 500;

[0139] The control system 500 updates the logical state to match the physical state of the master and slave vehicles.

[0140] The acquire box command may include parameters that limit the height of the storage container 106 to be transferred, such that the lifting device 414 of the main vehicle is lowered to a position equal to the uppermost part of the storage container located at the first container carrying position.

[0141] Setting another container transport vehicle 401 as a slave vehicle may include the following steps: sending a synchronization command to the slave vehicle to cause it to move with and follow the master vehicle. This allows the storage container 106 to be transferred between the upper surface of the lower section 411 of the second container transport vehicle 401 and the lifting device 414 of the first container transport vehicle 401 during movement. When synchronization is achieved, the slave vehicle selectively sends a message to the master control system. Alternatively, the master control system may determine that synchronization has been achieved based on the position information of the slave and master vehicles. Synchronization is achieved when the slave vehicle moves with and follows the master vehicle.

[0142] The master vehicle can send motion data, such as speed, acceleration, and position data, to the slave vehicle. The slave vehicle can use the motion data to synchronize its own motion with the received motion data. The master vehicle can send motion data via a master control system. The master vehicle can alternatively or additionally use local communication between the master and slave vehicles to send motion data directly to the slave vehicle. Local communication can be any suitable local wireless communication means, such as near-field communication (NFC) or infrared (IR).

[0143] Synchronous movement of subordinate and master vehicles can include train-like synchronization, where subordinate vehicles follow behind master vehicles, or synchronous movement can include parallel synchronization, where subordinate vehicles move side by side with master vehicles.

[0144] The automated storage and retrieval system may include a positioning system using multi-point positioning technology, such as a time-of-flight (TOF) measurement system, to determine the positions of both the master vehicle and the slave vehicle. The master control system continuously receives position data of the first container transport vehicle and the second container transport vehicle from the positioning system. The master control system can use the position data to instruct the slave vehicle to move with the master vehicle and follow it at predetermined intervals. The movements of the master and slave vehicles are thus synchronized, enabling the execution of steps involving the transfer of the storage container 106 between the upper surface of the lower section 411 of the second container transport vehicle 401 and the lifting device 414 of the first container transport vehicle 401 during movement.

[0145] The container transport vehicle may be equipped with sensors capable of detecting the position of the container transport vehicle on the guide rail system and / or proximity sensors that detect the distance to nearby container transport vehicles. The main control system may instruct the subordinate vehicle to move together with the main vehicle and follow the main vehicle at predetermined intervals based on distance data received from the proximity sensors of the subordinate vehicle. The movements of the main vehicle and the subordinate vehicle are thus synchronized, enabling the execution of the step of transferring the storage container 106 between the upper surface of the lower section 411 of the second container transport vehicle 401 and the lifting device 414 of the first container transport vehicle 401 during movement.

[0146] Container transport vehicles can be adapted to move together in physical contact with each other. The main control system can instruct the slave vehicle to move with and follow the main vehicle by first moving to make physical contact with it, and after contact, to continue applying thrust to the main vehicle to maintain physical contact. The movements of the main vehicle and the slave vehicle are thus synchronized, allowing the step of transferring the storage container 106 between the upper surface of the lower section 411 of the second container transport vehicle 401 and the lifting device 414 of the first container transport vehicle 401 to be performed during movement.

[0147] Figures 8A-8D An example of a container handling vehicle 401 according to an embodiment of the present invention is shown, wherein a conveyor 427 is provided at a first container carrying position 425, the conveyor being adapted to transfer a storage container 106 backwards to another container handling vehicle or an external conveyor via any short side of the container handling vehicle 401. The conveyor 427 may also be positioned relative to... Figure 8A The implementation is angled at 90 degrees, allowing storage container 106 to be directly transferred rearward to another container transport vehicle or external conveyor (see...). Figure 8D ). Figure 8A This illustrates the situation when no storage container is being carried at the first container carrying position 425, while Figure 8B The diagram shows the situation when the storage container 106 is on the first container carrying position 425, and... Figure 8C The illustration shows a possible transfer of storage container 106 from conveyor 427 at the first container carrying position 425 to an external conveyor 428. The upper surface of the external conveyor 428 is preferably arranged at substantially the same height as the upper surface of the conveyor 427 at the first container carrying position 425.

[0148] refer to Figure 7A , Figure 7B and Figure 8A The lower section 411 has an upper surface 425 recessed relative to a pair of supporting webs 429, wherein the upper surface 425 is configured as a first container bearing position 425 for bearing the storage container 106. A supporting section 412 extends vertically from the pair of supporting webs 429 of the lower section 411, and the area occupied by the supporting section 412 is horizontally smaller than the area occupied by the lower section 411.

[0149] Figure 9 An example of a container transport vehicle 401 according to an embodiment of the present invention is shown, the container transport vehicle including an upper surface 425 providing a first container carrying position 425 and a support surface 426 providing a second container carrying position 426. Figure 9 The container handling vehicle 401 includes... Figure 4A and Figure 6 Components similar to those of container handling vehicles will not be repeated here. However, Figure 9 The container transport vehicle 401 further includes a second container carrying position 426. This second container carrying position 426 is disclosed to be positioned above the first container carrying position 425. Preferably, the first and second container carrying positions 425 and 426 form the same vertical projection on the lower guide rail system 108.

[0150] Figure 10A It shows Figure 9The second container carrying position is in a retracted position via the pivot connection 430, such that in the retracted position, the second container carrying position 426 faces upward. Arrow A shows the position from the horizontal extension position (in... Figure 9 (middle) to Figure 10A The direction of movement of the vertical retracted position. The pivot connection 430 shows the rotating axle of the second container carrying position 426.

[0151] Figure 10B Another example of a possible extended location for the second container carrying position 426 is shown. Figure 10B In the middle, the second container carrying position 426 is in an extended horizontal position, in which a storage container (not shown) can be received.

[0152] Figure 10C It shows Figure 10B In one example, the second container-carrying position 426 has been pivoted 180 degrees and is inverted on the cantilever section 413 of the container transport vehicle 401 when in the retracted position. As indicated by arrow A, the second container-carrying position 426 has pivoted from the retracted position to the extended position around the pivot connection device 430.

[0153] Figure 11A and Figure 11B Another example of the second container carrying position 426 is shown, wherein, in Figure 11A In the middle, the second container bearing position 426 is an extension position directly above the first container bearing position 425, in Figure 11B In the middle, the second container carrying position is linearly moved to the retracted position by a linear moving device (not shown) (as shown by arrow A).

[0154] Therefore, refer to Figure 10A , Figure 10B , Figure 10C as well as Figure 11A and Figure 11B In order to obtain access to the storage container 106 located at the first container carrying position 425, the second container carrying position 426 is preferably movable between the following positions:

[0155] - Retracted position, wherein the second container-bearing position 426 extends beyond the vertical projection of the first container-bearing position 425, thereby enabling access to the upper surface of the first container-bearing position 425 and / or the storage container 106 located on the first container-bearing position 425, and

[0156] -Extended position, wherein the second container carrying position 426 is located at or within the vertical projection of the first container carrying position 425. The second container carrying position 426 can be connected via a pivoting connection device 430 ( Figures 10A-10C ) or linear motion device ( Figure 11A and Figure 11B The second container carrying position can move linearly between the retracted position and the extended position when moving via a linear moving device.

[0157] If a pivot connection is used (see...) Figures 10A-10C Then the pivot connection 430 can be arranged such that:

[0158] - In the retracted position, the second container bearing position 426 is essentially vertical, and

[0159] - In the extended position, the second container carrying position 426 extends substantially horizontally.

[0160] If using a linear motion device (see...) Figure 11A and Figure 11B Then the linear moving device can be arranged such that:

[0161] - In the retracted position, the second container carrying position 426 moves beyond the first container carrying position 425 and above the cantilever section 413, and

[0162] - In the extended position, the second container carrying position 426 is above the first container carrying position 425.

[0163] In the foregoing description, various aspects of the automated storage and retrieval system according to the invention have been described with reference to illustrative embodiments. However, this description is not intended to be limiting. It will be apparent to those skilled in the art that various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, are considered to fall within the scope of the invention as defined by the appended claims.

[0164] List of reference numerals

[0165]

[0166]

Claims

1. A container handling vehicle (401) for operation on a two-dimensional guide rail system (108), the guide rail system comprising: A first set of parallel guide rails (110) is arranged to guide the container transport vehicle (401) to move across the top of the frame structure (100) in a first direction (X); and a second set of parallel guide rails (111) is arranged perpendicular to the first set of parallel guide rails (110) to guide the container transport vehicle (401) to move in a second direction (Y) perpendicular to the first direction. The first set of parallel guide rails (110) and the second set of parallel guide rails (111) divide the guide rail system (108) into a plurality of grid cells (122), wherein the container transport vehicle (401) includes: - Wheel base unit (2), the wheel base unit includes a first set of wheels (32a) and a second set of wheels (32b) for guiding the container transport vehicle (401) along the guide rail system (108) in the first direction (X) and the second direction (Y), respectively, wherein the first set of wheels (32a) and the second set of wheels (32b) form the outer periphery of the wheel base unit (2); - Main body unit (410), the main body unit comprising: The lower section (411) is disposed on the wheel base unit (2), the area occupied by the lower section (411) is equal to or smaller than the wheel base unit (2) in a horizontal range, the lower section (411) having an upper surface, wherein the upper surface provides a first container bearing position (425) for bearing the storage container (106). A support section (412) extending vertically from the lower section (411), the area occupied by the support section (412) being smaller in horizontal extent than the area occupied by the lower section (411); and A cantilever section (413) that extends horizontally from the support section (412) beyond the area occupied by the lower section (411); and - Lifting device (414), the lifting device including lifting frame (415) suspended on the cantilever section (413).

2. The container handling vehicle (401) according to claim 1, wherein, When the storage container (106) is located on the upper surface, the uppermost portion of the storage container (106) represents a first height (h1); and The lifting device (414) includes a lifting frame (415) suspended on the cantilever section (413), and when the lifting frame (415) is stopped at an upper position adjacent to the cantilever section (413), the lowermost part of the lifting frame (415) is at a second height (h2). When the lifting frame (415) is parked at the upper position of the lifting frame, the second height (h2) is greater than the first height (h1), such that when a first container transport vehicle and a second container transport vehicle pass each other on adjacent grid cells (122), the lowermost part of the lifting frame (415) where the first container transport vehicle is parked can pass over the uppermost part of the storage container (106) located on the upper surface of the lower section (411) of the main body unit (410) of the second container transport vehicle.

3. The container handling vehicle (401) according to claim 1 or 2, wherein, The first container support position (425) is recessed to provide lateral support to the storage container (106) located on the first container support position (425).

4. The container handling vehicle (401) according to claim 1 or 2, wherein, The lifting device (414) includes a lifting device motor (416') and at least two lifting shafts (417), wherein the at least two lifting shafts (417) are arranged in the cantilever section (413), and the lifting device motor (416') is arranged in the lower section (411), wherein the lifting device motor (416') and the at least two lifting shafts (417) are connected to each other via a transmission coupling (418).

5. The container handling vehicle (401) according to claim 1 or 2, wherein, The lifting device (414) includes a lifting device motor and at least two lifting shafts (417) arranged in the cantilever section (413).

6. The container handling vehicle (401) according to claim 1 or 2, wherein, The main body unit (410) includes an S-shaped shell connecting the lower section (411), the support section (412), and the cantilever section (413).

7. The container handling vehicle (401) according to claim 1 or 2, wherein, The first container carrying position (425) includes a conveyor (427) for transferring the storage container (106) between the first container carrying position (425) and the external support.

8. The container handling vehicle (401) according to claim 1 or 2, wherein, The area occupied by the lower section (411) of the main body unit (410) relative to the area occupied by the wheel base unit (2) is shifted by the width of the wheel in the first group of wheels (32a) and the second group of wheels (32b).

9. The container handling vehicle (401) according to claim 1 or 2, wherein, The lifting frame (415) is suspended on the lifting belt (419), and wherein the lifting frame (415) extends horizontally and includes a clamping device (420) and a corner guide, wherein the lowest point of the corner guide is configured as the lowest part of the lifting frame (415).

10. The container handling vehicle (401) according to claim 1 or 2, wherein, The container transport vehicle (401) includes a support surface, wherein the support surface provides a second container carrying position (426).

11. The container handling vehicle (401) according to claim 10, wherein, The second container carrying position (426) is arranged above the first container carrying position (425).

12. The container handling vehicle (401) according to claim 10, wherein, The second container carrying position (426) can move between the following positions: - A retracted position, wherein the second container-bearing position (426) extends beyond the vertical projection of the first container-bearing position (425); and - An extended position, wherein the second container carrying position (426) is located at the vertical projection of the first container carrying position (425) or within the vertical projection of the first container carrying position.

13. The container handling vehicle (401) according to claim 12, wherein, The second container carrying position (426) can move between the retracted position and the extended position via the pivot connection (430).

14. The container handling vehicle (401) according to claim 12, wherein, The second container carrying position (426) can be linearly moved between the retracted position and the extended position via a linear moving device.

15. An automatic storage and retrieval system (1) comprising a two-dimensional guide rail system (108), said guide rail system comprising: A first set of parallel guide rails (110) is arranged to guide a container transport vehicle (401) to move across the top of the frame structure (100) in a first direction (X); and a second set of parallel guide rails (111) is arranged perpendicular to the first set of parallel guide rails (110) to guide the container transport vehicle (401) to move in a second direction (Y) perpendicular to the first direction, the first set of parallel guide rails (110) and the second set of parallel guide rails (111) dividing the guide rail system (108) into a plurality of grid cells (122), wherein the automated storage and retrieval system comprises a plurality of container transport vehicles (401) according to any one of claims 1 to 14.

16. The automatic storage and retrieval system according to claim 15, wherein, The wheel base unit (2) having the first set of wheels (32a) and the second set of wheels (32b) is equal to the grid unit (122).

17. The automatic storage and retrieval system according to claim 15 or 16, wherein, Two container handling vehicles (401) with the same orientation occupy only three grid cell spaces.

18. A method for transferring a storage container (106) between a first container transport vehicle and a second container transport vehicle according to claim 2, the first container transport vehicle and the second container transport vehicle operating on an automated storage and retrieval system comprising a two-dimensional guide rail system (108), the guide rail system comprising: A first set of parallel guide rails (110) is arranged to guide the container handling vehicle (401) to move across the top of the frame structure (100) in a first direction (X); and a second set of parallel guide rails (111) is arranged perpendicular to the first set of parallel guide rails (110) to guide the container handling vehicle (401) to move in a second direction (Y) perpendicular to the first direction. The first set of parallel guide rails (110) and the second set of parallel guide rails (111) divide the guide rail system (108) into a plurality of grid cells (122), wherein the method includes the following steps: - The main control system instructs the first container transport vehicle and the second container transport vehicle to position themselves in adjacent grid cells (122) such that the lifting device (414) of the first container transport vehicle is located directly above the upper surface of the lower section (411) of the second container transport vehicle. - To transfer the storage container (106) between the first container carrying position of the lower section (411) of the second container transport vehicle and the lifting device (414) of the first container transport vehicle.

19. The method according to claim 18, wherein, The step of transferring the storage container (106) between the upper surface of the lower section (411) of the second container transport vehicle and the lifting device (414) of the first container transport vehicle includes the following steps: - The container handling vehicle (401) that carries or supports the storage container (106) is designated as the main vehicle; - Set another container handling vehicle as a subordinate vehicle; - Send a box acquisition command to the subordinate vehicle; - The subordinate vehicle executes the retrieve box command and updates the internal state of the subordinate vehicle when it is confirmed that the storage container is located on the vehicle; - When it is confirmed that the storage container is on the vehicle and that the storage container has fully moved away from the first container carrying position of the master vehicle, the slave vehicle sends a confirmation to the control system; - The main vehicle detects the departure of the storage container and sends a container update status to the control system; - The control system updates the logic state to match the physical state of the master vehicle and the slave vehicle.

20. The method according to claim 19, wherein, The acquire box command includes a parameter that limits the height of the storage container (106) to be transferred, such that the lifting device of the master vehicle is lowered to a position equal to the uppermost part of the storage container located at the first container carrying position.

21. The method according to claim 19, wherein, The step of setting the other container transport vehicle as a slave vehicle includes the following steps: sending a synchronization command to the slave vehicle to the master vehicle, so that the slave vehicle moves together with the master vehicle and follows the master vehicle.

22. The method of claim 21, further comprising the step of: When the subordinate vehicle moves together with and follows the master vehicle, it sends a message from the subordinate vehicle to the master control system.

23. A method for transferring a storage container between a container handling vehicle (401) according to any one of claims 1 to 14 and an external container carrying position, the container handling vehicle operating on an automated storage and retrieval system comprising a two-dimensional guide rail system (108) including: A first set of parallel guide rails (110) is arranged to guide the container transport vehicle (401) to move across the top of the frame structure (100) in a first direction (X); and a second set of parallel guide rails (111) is arranged perpendicular to the first set of parallel guide rails (110) to guide the container transport vehicle (401) to move in a second direction (Y) perpendicular to the first direction. The first set of parallel guide rails (110) and the second set of parallel guide rails (111) divide the guide rail system (108) into a plurality of grid cells (122), wherein the method includes the following steps: - The storage container (106) is transferred between the container transport vehicle (401) and an external location outside the container transport vehicle (401) by means of a conveyor at the first container carrying position of the lower section (411).

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