Automated storage and retrieval system

Abstract

The invention relates to a storage grid (400) for storing storage containers (106) and a method for operating such a storage grid (400). The storage grid (400) comprises a plurality of horizontal container support frames (401) vertically distributed with a vertical offset (AdV), each horizontal container support frame comprising one or more container supports (402a) displaceable, wherein each container support (402a) is provided with at least one aperture (403a-c) having an opening dimension at least the maximum horizontal cross section of the storage containers (106) to be stored.

Description

TECHNICAL FIELD

[0001] The present invention relates to a storage grid, an automated storage and retrieval system for storing containers to and retrieving containers from such a storage grid. The invention also relates to a method for storing and retrieving containers in such a storage grid for accessing containers stored deeper in a more efficient manner. BACKGROUND

[0002] Fig. 1 discloses a common prior art automated storage and retrieval system 1 having a framework structure 100, and Figs. 2 and 3 disclose two different prior art container handling vehicles 201, 301 suitable for operating on such a system 1.

[0003] The framework structure 100 comprises upright members 102, horizontal members 103 and a storage volume comprising storage columns 105 arranged between the upright members 102 and the horizontal members 103. In these storage columns 105, storage containers, also known as bins, 106 are stacked one on top of another to form stacks 107. The members 102, 103 can typically be made of metal, e.g. extruded aluminium profiles.

[0004] The framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of the framework structure 100, on which rail system 108 a plurality of container handling vehicles 201, 301 are operated to lift storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 201, 301 in a first direction X across the top of the framework structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 201, 301 in a second direction Y perpendicular to the first direction X. The container handling vehicles 201, 301 access storage containers 106 stored in the storage columns 105 through grid openings 115 in the rail system 108. The container handling vehicles 201, 301 can move laterally above the storage columns 105, i.e. in a plane parallel to the horizontal X-Y plane.

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

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

[0007] Each prior art container handling vehicle 201, 301 further comprises a lifting device 304 for vertical transportation of storage containers 106, e.g. lifting a storage container 106 from a storage column 105 and lowering a storage container 106 into a storage column. The lifting device 304 comprises one or more gripping / engaging devices (not shown) adapted to engage a storage container 106, and which can be lowered from the vehicle 201, 301, such that the position of the gripping / engaging device relative to the vehicle 201, 301 can be adjusted in a third direction Z, which is orthogonal to the first direction X and the second direction Y. Some parts of the lifting device 304 of the container handling vehicle 301 are shown in Fig. 3. In Fig. 2, the gripping device of the container handling device 201 is located within the vehicle body 201 a.

[0008] Generally, and also for the purpose of this application, Z = 1 identifies the uppermost layer of storage containers, i.e. the layer directly below the rail system 108, Z = 2 identifies the second layer below the rail system 108, Z = 3 identifies the third layer, etc. In the exemplary prior art disclosed in Fig. 1, Z = 8 identifies the bottommost layer of storage containers. Similarly, X = 1... n and Y = 1... n identify the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z indicated in Fig. 1, the storage container identified as 106' in Fig. 1 can be said to occupy the storage position X = 10, Y = 2, Z = 3. The container handling vehicles 201, 301 can be said to travel in the Z = 0 layer, and each storage column 105 can be identified by its X and Y coordinates.

[0009] The possible storage positions within the framework structure / prior art storage grid 100 are referred to as storage cells. Each storage column 105 can be identified by a position in the X and Y directions, while each storage cell can be identified by a container number in the X, Y and Z directions.

[0010] Each prior art container handling vehicle 201, 301 comprises a storage compartment or space for accommodating and stowing a storage container 106 when transporting the storage container 106 across the rail system 108. The storage space can comprise a cavity arranged centrally within the vehicle body 201 a as shown in Fig. 2 and as described in e.g. WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0011] Fig. 3 shows an alternative configuration of a container handling vehicle 301 having a cantilevered configuration. Such vehicles are described in detail in e.g. NO317366, the contents of which are also incorporated herein by reference.

[0012] The central cavity container handling vehicle 201 shown in Fig. 2 can have a footprint covering an area in the X and Y directions typically equal to the lateral extent of the storage columns 105, e.g. as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein can mean "horizontal".

[0013] Alternatively, the central cavity container handling vehicle 101 can have a footprint larger than the lateral area defined by the storage columns 105, e.g. as disclosed in WO2014 / 090684A1.

[0014] The rail system 108 typically comprises rails having grooves in which the wheels of the vehicles run. Alternatively, the rails can comprise upwardly protruding elements, where the wheels of the vehicles comprise flanges preventing derailing. These grooves and upwardly protruding elements are collectively referred to as tracks. Each rail can comprise one track, or each rail can comprise two parallel tracks.

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

[0016] In the framework structure / prior art storage grid 100, most of the columns 105 are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 can have other purposes. In Fig. 1, columns 119 and 120 are dedicated columns where the container- handling vehicles 201, 301 drop off and / or pick up storage containers 106 so that they can be transported to an access station (not shown) where they can be accessed from outside the framework structure 100 or transferred out of or into the framework structure 100. Such locations are typically referred to as "ports" within the art, and the columns in which they are located can be referred to as "port columns" 119, 120. The transportation to the access station can be in any direction, i.e. horizontal, inclined and / or vertical. For example, a storage container 106 can be placed in a random or dedicated column 105 within the framework structure 100 and then picked up by any container-handling vehicle and transported to a port column 119, 120 for further transportation to an access station. It should be noted that the term "inclined" means that the transportation of the storage container 106 has a total transportation orientation that is somewhere between horizontal and vertical.

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

[0018] The access station can typically be a pick or drop station where product items are removed from or positioned into storage containers 106. In the pick or drop station, the storage containers 106 are typically not removed from the automated storage and retrieval system 1, but are returned into the framework structure 100 again once accessed. The ports can also be used for transferring storage containers to another storage facility (e.g. another framework structure or another automated storage and retrieval system), a transport vehicle (e.g. a train or a lorry) or a production facility.

[0019] A conveyor system, including conveyors, is typically used for transporting storage containers between the port columns 119, 120 and the access station.

[0020] If the port columns 119, 120 and the access station are located at different horizontal levels, the conveyor system can include elevating devices with vertical components for transporting storage containers 106 vertically between the port columns 119, 120 and the access station.

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

[0022] When a storage container 106 stored in one of the columns 105 disclosed in Fig. 1 is to be accessed, one of the container handling vehicles 201, 301 is instructed to retrieve the target storage container 106 from the position of the target storage container and transport it to the drop-off port column 119. This operation involves moving the container handling vehicle 201, 301 to a position above the storage column 105 where the target storage container 106 is stored, retrieving the storage container 106 from the storage column 105 using the lifting device 304 of the container handling vehicle 201, 301, and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within the stack 107, i.e. with one or more other storage containers 106 positioned above the target storage container 106, the operation also involves temporarily moving the storage containers positioned above the target storage container before lifting off the target storage container 106 from the storage column 105. This step, which is sometimes referred to as “digging”, can be performed by the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port column 119, or by one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have container handling vehicles that are dedicated to the task of temporarily removing storage containers from a storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers can be repositioned into the original storage column 105. However, the removed storage containers can instead be repositioned into other storage columns.

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

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

[0025] Fig. 4 illustrates storage of storage containers 106 in a storage and retrieval system 1 having a height H fwidth W f and length L f of an example of a product item 80 in a storage container 106.

[0026] For systems containing a large number of bins in each stack, the above-described "digging" can prove both time- and space-consuming when the target bin is located deep in the grid. For example, if the target bin has a position Z=5, then before the target bin can be reached, the vehicle has to lift four non-target bins and place them in other locations, typically on top of the grid (Z=0). The non-target bins can cause other robots to choose non-optimal paths to perform their respective operations before being put back in the grid.

[0027] It is therefore an object of the present invention to provide a storage grid and a storage and retrieval system using such storage grid which can provide a more efficient storage and retrieval method compared to prior art systems, e.g. more efficiently delivering product items to customers / end users.

[0028] It is at least in a preferred embodiment an object to provide a solution where the picking process is performed by a remote operated vehicle without the need for any type of time-consuming digging operations.

[0029] It is yet another object to provide a storage and retrieval system where the time efficiency of storing and retrieving product items can be selected by a user depending on urgency and / or priority.

[0030] It is yet another object to provide a storage and retrieval system which combines storage capacity with efficient delivery of product items to customers.

[0031] It is yet another object to provide a storage grid and a storage and retrieval system using such storage grid which can provide a high throughput of product items, such as product items to be sold. SUMMARY

[0032] The invention is set out in the independent claims and certain optional features of the invention are described in the dependent claims.

[0033] In particular, the invention relates to a storage grid for storing a plurality of storage containers. The storage grid comprises a plurality of horizontal container support frames vertically distributed with a vertical offset.

[0034] The plurality of horizontal container support frames comprises a first horizontal container support frame and at least one second container support frame arranged below and parallel to the first container support frame.

[0035] Each of the first container support frame and the at least one second container support frame comprises one or more container supports configured / designed to support a plurality of storage containers. If more than one, the container supports are preferably arranged in parallel along a first direction (X), i.e. their side faces extend in a second direction (Y) and are arranged side by side in an offset manner.

[0036] The container support(s) can be elongated, with its / their elongation direction in the second direction (Y). Alternatively, it / they can be at right angles to the main directions in the first and second directions (X, Y). In yet another alternative design, the container support(s) can have a ring shape or a plurality of coaxially arranged ring shapes.

[0037] The storage containers are distributed one after the other on the container supports within each container support frame. In the case of elongated or square container supports, the storage containers are linearly distributed one after the other along at least the second direction (Y). In the case of a ring-shaped container support, the storage containers can be distributed one after the other along the curve of the ring.

[0038] Each container support is provided with at least one aperture having an opening size of at least the maximum horizontal cross-section of the storage containers to be stored. Furthermore, the storage grid is designed such that at least one aperture of the first container support frame is vertically aligned with at least one aperture of the at least one second container support frame, i.e. has an equal position in the first and second directions (X, Y).

[0039] At least one, preferably at least two, and most preferably all, of the container supports of the at least one second container support frame are displaceable in the second direction (Y) orthogonal to the first direction (X) in the case of elongated or square container supports, or are displaceable around the central axis of the ring shape in the case of a ring-shaped container support. At least one of the container supports of the first container support frame can also be similarly displaced.

[0040] It is also conceivable for the storage grid to comprise a combination of elongated / square container supports and ring-shaped container supports.

[0041] In an exemplary configuration, the storage grid further comprises a support displacement device configured to displace at least one, and preferably all, of the plurality of container supports. The support displacement device can be, for example, a linear actuator, a gear drive, etc. The support displacement device can be motorized and / or can be mechanically, hydraulically, pneumatically and / or electrically operated.

[0042] In yet another exemplary configuration, the storage grid further comprises a control system configured to remotely operate the support displacement device, such that the displaceable container support can be moved remotely. Alternatively, in case of a plurality of displaceable container supports, each of the displaceable container supports can be moved remotely and independently with respect to the other displaceable container supports located within the respective container support frame.

[0043] In yet another exemplary configuration, the container support is provided with a plurality of holes evenly distributed along the second direction (Y). However, any distribution of holes along the second direction (Y) can be envisaged, for example a plurality of holes distributed on either side of four storage container spaces, then three spaces, then two spaces, etc. The latter can have the advantage of providing different access rates for different types of inventory.

[0044] In yet another exemplary configuration, the first container support frame and the at least one second container support frame have equal or almost equal horizontal extent.

[0045] In yet another exemplary configuration, the storage grid further comprises a rail system with at least a first vertical offset V r1 arranged above and adjacent to the first container support frame. The rail system can comprise a first set of parallel rails arranged in a horizontal plane (P rs ) of the rail system and extending in the first direction (X), and a second set of parallel rails arranged in the horizontal plane (P rs ) and extending in the second direction (Y). The first set of rails and the second set of rails form a grid pattern comprising a plurality of adjacent grid cells in the horizontal plane (P rs ), wherein each of the grid cells comprises a grid opening defined by a pair of adjacent rails of the first set of rails and a pair of adjacent rails of the second set of rails.

[0046] In yet another exemplary configuration, the container supports are elongated or square, wherein the length of each of them corresponds to the length of a plurality of grid cells in the second direction (Y). In one specific example, the width of the container supports is such that only one storage container can be supported along the first direction (X).

[0047] In yet another exemplary configuration, the rail system, the first container support frame and the at least one second container support frame have equal or almost equal horizontal extent.

[0048] In yet another exemplary configuration, the plurality of horizontal container support frames comprises a first horizontal container support frame and a second horizontal container support frame arranged above and adjacent to the first horizontal container support frame. The first horizontal container support frame and the second horizontal container support frame can be arranged in a vertical stack. rsi parallel container support frames, wherein i is an integer of 2 or more, more preferably 3 or more, even more preferably 4 or more. Further, the i parallel container support frames are arranged at a distance dV = i*AdV from the lower edge of the rail system, wherein AdV is a constant set to be equal to or higher than the maximum height of the storage containers (106) to be stored. Alternatively, i-1 parallel container support frames are arranged at a distance dV = (i-1)*AdV from the lower edge of the first container support frame, while the distance V between the lower edge of the rail system and the lower edge of the first support frame is dV = i*AdV - (i-1)*AdV. r1 Different from AdV, for example larger.

[0049] In yet another exemplary configuration, one or more of the container support frames are arranged at a distance from the lower edge of the adjacent rail system above and / or the lower edge of the adjacent container support frame above, which distance corresponds to a height equal to or higher than the maximum height of the stacks of the plurality of storage containers

[0050] In yet another exemplary configuration, each of the displaceable plurality of container supports is provided with a plurality of holes distributed with an offset corresponding to 2n+1 grid cells in the second direction (Y), wherein n is an integer of 1 or more.

[0051] In yet another exemplary configuration, each of the displaceable plurality of container supports is provided with a plurality of holes distributed with an offset corresponding to n+1 grid cells in the second direction (Y), wherein n is an integer of 1 or more.

[0052] In yet another exemplary configuration, the displaceable distance of the displaceable container support corresponds to at least a distance of n grid cells in the second direction (±Y), wherein n is an integer of 1 or more. In case of a displaceable plurality of container supports, each displaceable container support is displaceable individually by a distance corresponding to at least a distance of n grid cells.

[0053] The present invention also relates to an automated storage and retrieval system configured to store a plurality of storage containers. The system comprises a storage grid as described above, a plurality of storage containers horizontally supported and distributed one after the other on the plurality of horizontally arranged container support frames, one or more remotely operated vehicles configured to move laterally / horizontally above the plurality of container support frames in a first direction (X) and a second direction (Y), wherein the remotely operated vehicle comprises a lifting device configured to grasp and lift a storage container and a control system configured to wirelessly monitor and control the movement of the remotely operated vehicle.

[0054] In an example configuration, the remotely operated vehicle can be a mobile crane system comprising a bar movably supported at its end on two opposite peripheral sides of the storage grid in one of a first and a second direction (X, Y), and a crane having a lifting device as described above movably arranged to the bar. Movement along the bar ensures movement in the other direction (Y, X) and can be achieved by sliding or rolling. Movement of the bar along the peripheral sides of the storage grid and / or movement of the crane along the bar can be achieved by any known displacement means, such as an arrangement using drive gears. The displacement means can be the same as the support displacement means used for displacing the container supports as described above.

[0055] In another example configuration, the storage grid comprises a rail system as described above. In this particular configuration, the storage containers are supported on horizontally arranged container support frames such that each storage container is positioned directly below a grid opening of the rail system. Further, the remotely operated vehicle is configured to move laterally on the rail system in a first direction (X) and a second direction (Y) and to lift a storage container through a grid opening by use of the lifting device.

[0056] In yet another example configuration, the automated storage and retrieval system can further comprise a second storage grid comprising a second rail system comprising a first set of parallel rails arranged in a rail system horizontal plane (P rs ) and extending in a first direction (X) and a second set of parallel rails arranged in the rail system horizontal plane (P rs ) and extending in a second direction (Y) orthogonal to the first direction (X). The first set of rails and the second set of rails form a grid pattern comprising a plurality of adjacent grid cells in the horizontal plane (P rs ), wherein each of the grid cells comprises a grid opening defined by a pair of adjacent rails of the first set of rails and a pair of adjacent rails of the second set of rails.

[0057] The second storage grid further comprises a plurality of stacks of storage containers arranged in storage columns located below the second rail system, wherein each storage column is positioned vertically below a grid opening.

[0058] In this example configuration, the remotely operated vehicle operable on the storage grid of the present invention is configured to move laterally (in the horizontal plane P rs ) on the second rail system as well.

[0059] In yet another example configuration, the system further comprises a coupling rail system comprising rails extending in at least one of the first direction (X) and the second direction (Y) and configured such that the remotely operated vehicle is movable between the rail system of the inventive storage grid and a second rail system of a second storage grid. For example, the coupling rail system can be identical to a part of the rail system of the inventive storage grid and / or a part of the rail system of the second storage grid, wherein the rails of the coupling rail system oriented in the first or second direction (X, Y) are aligned with the rails of the two rail systems in the same direction.

[0060] In yet another example configuration, the width of the rails in at least one of the first direction and the second direction (X, Y) of the rail system forming part of the inventive storage grid is larger than the width of the rails in the same direction of the rail system forming part of the second storage grid.

[0061] By combining a prior art grid and the inventive grid as described above, a storage system is achieved that can combine an efficient storage and retrieval storage grid with a high storage capacity storage grid. Thus, product items can be arranged according to their required / preferred turnover amount.

[0062] For example, storage containers with product items can be picked from a prior art high storage capacity storage grid and buffered to the inventive efficient storage grid. The product items can be items that need to be available quickly, such as pre-ordered items and / or active (promotional) items. The storage (buffering) in the inventive storage grid enables an efficient delivery of product items to customers upon arrival.

[0063] The present invention also relates to a method for storing and retrieving storage containers from an automated storage and retrieval system as disclosed above.

[0064] The plurality of horizontal container support frames comprises i parallel container support frames, wherein i is an integer of 2 or more. Further, all i parallel container support frames are provided with at least one hole, and each of the at least i-1 parallel container support frames below the first (uppermost) frame comprises at least one, preferably at least two, container supports / displacement tracks displaceable in the second direction (Y).

[0065] The method comprises the steps of:

[0066] A. moving the remotely operated vehicle to a position with its / their lifting devices positioned vertically aligned above the target storage container supported on the first container support frame, or if the target storage container is positioned vertically aligned below one of the i-1 parallel container support frames in the first direction and the second direction (X, Y) (i.e. in the same position in the first direction and the second direction (X, Y)), then moving the remotely operated vehicle to a position with its / their lifting devices vertically aligned above the target hole in the horizontal plane of the first container support frame positioned closest to the target storage container,

[0067] B. if the target storage container is not positioned vertically aligned below the target hole,

[0068] a) displacing the displaceable container supports of the support frame supporting the target storage container in the second direction (Y) to position the target storage container vertically aligned below the target hole of the first container support frame, or

[0069] b) if at least one, preferably at least two, of the plurality of container supports of the first container support frame is also displaceable in the second direction (Y), then displacing the displaceable container support(s) of the container support frame(s) positioned above the target storage container to support the displaceable container support(s) in the second direction (Y) opposite to the direction in a) a distance to position the target storage container vertically aligned below the target hole of the first container support frame, wherein the displaceable container support(s) of each of the container support frame(s) positioned above has the same position in the first direction when the target storage container is supported by the displaceable container support(s), or

[0070] c) if at least one, preferably at least two, of the plurality of container supports of the first container support frame is displaceable in the second direction (Y), then displacing both the target storage container supported by the displaceable container support as described in step a) and the displaceable container support(s) positioned above as described in step b) to position the target storage container vertically aligned below the target hole,

[0071] C. lowering, grabbing and lifting the target storage container through the grid opening by using the lifting devices; and

[0072] D. moving the remotely operated vehicle with the target storage container to another horizontal position on top of the storage grid.

[0073] It is noted that for step B, part step b) the container supports are arranged to vertically align a target hole of the first container support frame with a target storage container, such that the vehicle unobstructed, vertically accesses the target storage container, since all holes are initially vertically aligned (same position in the first and second direction (X, Y)).

[0074] In an exemplary process, the storage grid used in the method further comprises a rail system as described above, wherein the plurality of storage containers are supported on a plurality of horizontally arranged container support frames such that each storage container is positioned directly below a grid opening of the rail system. Further, the remotely operated vehicle is configured to move laterally on the rail system in a first direction (X) and a second direction (Y) and to lower a storage container through a grid opening by use of a lifting device. As an alternative to a remotely operated vehicle operating on such a rail system, the method can use a transverse crane system as described above.

[0075] In another exemplary process, the automated storage and retrieval system further comprises a second rail system of a second storage grid as described above, a rail system of the storage grid of the present invention and a coupling rail system, wherein the remotely operated vehicle moves between the rail system and the second rail system during at least one of step A and step D.

[0076] The present invention also relates to the use of an automated storage and retrieval system as disclosed above for delivering items arranged within storage containers stored in the storage grid to an end user, for example by transporting a storage container or a dedicated delivery container initially stored within a storage container from the storage grid to a location for loading onto a delivery truck and / or directly to a customer / end user, for example by using a conveyor belt. For example, the system can be used in a retail store for quick delivery of items to customers. BRIEF DESCRIPTION OF DRAWINGS

[0077] The following drawings depict alternatives of the present invention and are appended to facilitate an understanding of the invention. However, the features disclosed in the drawings are merely for illustrative purposes and should not be construed as limiting.

[0078] Fig. 1 is a perspective view of a prior art automated storage and retrieval system.

[0079] Fig. 2 is a perspective view of a prior art container handling vehicle having centrally arranged cavities for carrying storage containers therein.

[0080] Fig. 3 is a perspective view of a prior art container handling vehicle having cantilevers for carrying storage containers thereunder.

[0081] Fig. 4 is a perspective view of a storage container and product items stored in the storage container.

[0082] Figure 5 is a side view of a storage system according to an embodiment of the invention, wherein Figure 5 A of Fig. 1 shows a storage system, wherein a target storage container is in an initial position, a vacant storage cell for a storage container is in an initial position and a remotely operated vehicle carries a storage container, Figure 5 B of Fig. 1 shows a storage system, wherein the vacant storage cell is in a position ready to receive a storage container from the remotely operated vehicle, Figure 5 C of Fig. 1 shows a storage system, wherein the storage container is placed in the previous vacant storage cell and the lifting device of the remotely operated vehicle is retracted above the container support frame of the target storage container, Figure 5 D of Fig. 1 shows a storage system, wherein the remotely operated vehicle is ready to lift the target storage container, and Figure 5 E of Fig. 1 shows a storage system, wherein the target storage container is in a position ready to be lifted.

[0083] Figure 6 is a top view of a storage system according to Figure 5 a storage system.

[0084] Figure 7 is a top view of a storage system according to a second embodiment of the invention.

[0085] Figure 8 is a top view of a storage system according to a third embodiment of the invention.

[0086] Figure 9 is a side perspective view of a storage system according to a fourth embodiment of the invention.

[0087] Figure 10 is a perspective view of a container support forming part of an embodiment of the invention, wherein Figure 10 A and Figure 10 B of Fig. 2 respectively show a container support in an isometric view and along one end.

[0088] Figure 11 is a perspective view of a linear actuator for displacing a container support as shown in Figure 10 Fig. 3.

[0089] Figure 12 is a perspective view of a container support mounted in a frame to form part of an embodiment of the invention.

[0090] Figure 13 is a perspective view of a part of a frame as shown in Figure 12 Fig. 4.

[0091] Figure 14 is a top perspective view of a storage system according to a fourth embodiment of the invention. DETAILED DESCRIPTION

[0092] In the following, different alternatives will be discussed in more detail with reference to the appended drawings. It should be understood, however, that the scope of the present application is not limited to the subject matter of the drawings. Further, even if some of the features are described with reference to only a system, it will be apparent for a person skilled in the art that they are valid also for the method, and vice versa.

[0093] With particular reference to Figure 5 , Figure 6 and Figure 14 , the storage and retrieval system 1 of the present application comprises a remote operated vehicle 301 operating on a rail system 408 comprising a first set of parallel rails 410 arranged to guide the remote operated vehicle 301 in a first direction X across the storage grid 400 and a second set of parallel rails 411 arranged perpendicular to the first set of rails 410 to guide the remote operated vehicle 301 in a second direction Y perpendicular to the first direction X. Storage containers 106 stored within the storage grid 400 are accessed by the remote operated vehicle 301 through grid openings 415 in the rail system 408. Each grid opening 415 of the rail system 408 is surrounded by a grid cell 422. The rail system 408 extends in a horizontal plane P rs .

[0094] As best seen in Figure 5 , the storage containers 106 are stored on a plurality of frameworks 401 distributed in the Z-direction below the rail system 408 with a vertical offset V r1 indicated (i.e. the offset between the lower edge of the rail system 408 and the lower edge of the first framework 401a directly below the rail system 408) and a vertical offset AVindicated (i.e. the average offset between the lower edges of adjacent deeper laid frameworks 401b-h).

[0095] The vertical offset V r1and ΔdV can be chosen to provide a height equal to or higher than the maximum height of a stack 107 of one or several storage containers 106. As an example, the first frame 401a can be adapted to store stacks 107 of storage containers 106, while the underlying frames 401b-k can be adapted to store single (non-stacked) storage containers 106. As a further example, several or all frames 401 of the grid 400 can be adapted to store stacks 107 of several storage containers 106. Different frames 401 of the same grid 400 can be configured to store stacks 107 of different numbers of storage containers 106. The vertical space (i.e. the available height) required for one or several frames 401 of the grid 400 to be adapted to store stacks 107 of several storage containers 106 can be obtained by reducing the total number of frames 401 compared to a configuration of the grid 400 where all frames 401 are adapted to store single (non-stacked) storage containers 106. Figure 5 Figures A-E illustrate vertical cross sections of the storage system 400.

[0096] In 5A, the target storage container 106’ and the vacant storage space 106” are located in different container support frames 401e, 401g. The remote-operated vehicle 301 approaching to pick up the target storage container 106’ typically brings another storage container 106 to be stored in the storage system 400. The storage container 106 held by the vehicle is advantageously placed in the vacant storage space 106” within the storage grid 400 before the remote-operated vehicle 301 can pick up the target storage container 106’ (the process is typically referred to as an exchange process).

[0097] By having storage containers 106 smaller than the available container space within the storage system 400, there will always be at least one vacant storage space 106”. The vacant storage space 106” will also be dynamically generated as the remote- operated vehicle 301 picks up storage containers 106 from within the storage grid 400. If there is no vacant storage space 106” in the storage system 400, then the remote-operated vehicle 400 must either avoid bringing another storage container 106 from e.g. the port column 119, 120, or place the held storage container 106 on top of the storage grid 400. Both alternatives have drawbacks in terms of time efficiency.

[0098] Figure 5Figure 1 1 A-B of the prior art shows the storage system 1, wherein the empty storage space 106" is in a position ready to receive a storage container 106 from the remotely operated vehicle 301. The empty storage space 106" (into which the storage container 106 will be placed) and the target storage container 106' are preferably horizontally closest to the same hole target 403b'. Thereby, the remotely operated vehicle 301 does not need to move between two operations during the same exchange process. Even more preferably, the empty storage space 106" and the target storage container 106' can be located on the same container support 402 (not shown in the figures) in addition to being accessible through the same target hole 403b'. Thereby, the remotely operated vehicle 301 can minimize the movement of its lifting device 304 between the two operations of the exchange process. Consequently, the exchange process time will not be prolonged due to displacement conflicts of the lifting device 304 and the container support 402 of the target storage container 106'. Figure 5

[0099] Figure 5 Figure 1 1 C of the prior art shows the storage system 1, wherein the storage container 106 earlier held by the vehicle 301 has been received within the previous empty storage space 106". In addition, the lifting device 304 has been vertically retracted above the container support frame 401 e of the target storage container 106'. Thus, the lifting device 304 has been retracted sufficiently so that the displacement of the container support 402a of the target storage container 106' can begin and continue until the target storage container 106' is located below the target hole 403b'. If the lifting device 304 is retracted higher than directly above the container support frame 401 e of the target storage container 106', the exchange process will become less time efficient.

[0100] In Figure 5 Figure 1 1 A-B of the prior art shows the storage system 1, wherein the empty storage space 106" is in a position ready to receive a storage container 106 from the remotely operated vehicle 301. The empty storage space 106" (into which the storage container 106 will be placed) and the target storage container 106' are preferably horizontally closest to the same hole target 403b'. Thereby, the remotely operated vehicle 301 does not need to move between two operations during the same exchange process. Even more preferably, the empty storage space 106" and the target storage container 106' can be located on the same container support 402 (not shown in the figures) in addition to being accessible through the same target hole 403b'. Thereby, the remotely operated vehicle 301 can minimize the movement of its lifting device 304 between the two operations of the exchange process. Consequently, the exchange process time will not be prolonged due to displacement conflicts of the lifting device 304 and the container support 402 of the target storage container 106'.

[0101] Figure 5 Figure 1 1 D of the prior art shows the storage system 1, wherein the remotely operated vehicle 301 is preparing to lift the target storage container 106' after having placed the previously held storage container 106 into the empty storage space 106", i.e. its lifting device 304 is just above the frame 401 e supporting the target storage container 106'. The container support 402a of the previous empty storage space 106" now occupied by the storage container 106 has been displaced back to its initial position. The displacement of the container support 402a of the target storage container 106' can now begin to place the target storage container 106' below the target hole 403b'.​

[0102] Figure 5 Fig. E shows the storage system 1 where the target storage container 106’ is presented below the target hole 403b’, i.e. in a position ready to be lifted by the lifting device 304 of the vehicle 301.

[0103] After the target storage container 106’ has been lifted above the container support frame 401e, the container support 402a can be displaced back to its initial position.

[0104] For the specific embodiments depicted in Figure 5 and 6 each of the frames 401a-k comprises several elongated container supports 402a-d having a longitudinal orientation in the Y-direction and arranged parallel to each other in the X-direction. The container supports 402a-d in each frame 401a-k show holes 403a-f distributed along the Y-direction, where each hole 403a-c has a cross section that is at least the cross sectional area of a storage container 106, i.e. at least Wf x Lf (see Fig. 4). The storage containers 106 are positioned between these holes 403a-c on top of a support plate 404. Each storage container 106 is stabilized in the horizontal plane P rs by a first stabilizing rib 405 in the X-direction and a second stabilizing rib 406 in the Y-direction. The first stabilizing rib 405 protrudes upwards from both sides in the X-direction of each of the support plates 404, thereby preventing each storage container 106 from moving in the Y-direction relative to the container support 402b. In addition, the second stabilizing rib 406 extends in the Y-direction along the entire length of the container support 402b, thereby having a portion protruding above the support plate 404, thereby preventing each storage container 106 from moving in the X-direction relative to the container support 402b.

[0105] An example of such a container support design is shown in Figure 10 . The container support 402b has an elongated shape extending in the Y-direction and a width in the X-direction to allow one storage container 106 to have W f . Each storage container 106 is constrained in the X- and Y-directions by the above-mentioned stabilizing ribs 405, 406. The container support 402b shows holes 403a-f in the Y-direction after every three storage container spaces, where each of the holes 403a-f has a width and a length in the X- and Y-directions, respectively, of approximately the width (W f ) and length (L f ) of a storage container 106. In this particular realization of the container support 402b, a storage container guiding structure 409 in the form of an open box is fixed along the perimeter of each hole 403a-f in order to help the storage containers to be guided correctly through the holes 403a-f during lifting / lowering by the respective vehicle 301.

[0106] Each side of the support plate 404 is fastened to the second stabilizing rib 406 by means of a bracket 407.

[0107] In order to store and retrieve a target storage container 106’ using the above described embodiment, reference is made in particular to Figure 5 D and E, the following operations are performed:

[0108] - the control system 500 issues an instruction to the vehicle 301 to pick up a target storage container 106’ having the coordinates X, Y, Z. This position corresponds to a storage container 106 supported on a support plate 404 of a container support 402a forming part of a horizontal container support frame 401e, 3 x AV + V r1 depth below the guide rail system 408. The target storage container 106 is separated in the Y direction from the nearest aperture 403b’ (i.e. the target aperture) by one non-target storage container 106. Since all apertures in the storage grid 400 are initially aligned (have the same X-Y coordinates), the X-Y position of the target aperture 403b’ of the container support frame 401a adjacent to the guide rail system 408 is equal to the X-Y position of the target aperture 403b’ of the underlying container support frames 401b-h.

[0109] - the vehicle 301 moves by means of its drive means 301b,c in the X and Y directions until its lifting device 304 is located directly above the target aperture 403b’ that is located horizontally closest to the target storage container 106’.

[0110] - during and / or after the movement of the vehicle 301 to the position above the target aperture 403b’, the control system 500 sends an instruction to the support displacement device 700 (see Figure 11 ) to displace the container support 402a of the container frame 401e in the Y direction over a sufficient distance so that the target storage container 106’ is in vertical alignment with the target aperture 403b’ of the container frame 401a-d located above.

[0111] - during and / or after the displacement of the container support 402a, the lifting device 304 of the vehicle 301 is activated and lowered through the clamping opening 415 and the aligned target aperture 403b’ until the clamping portion of the lifting device 304 is in a position to clamp the target storage container 106.

[0112] - after the target storage container 106’ has been clamped by the lifting device 304 and lifted above the container frame 401d located above, the support displacement device 700 is activated again in order to move the container support 402a back to its initial Y position.

[0113] - when the target storage container 106’ has been lifted above the rail system 408, the vehicle 301 is moved to another location on the rail system 408, e.g. to a dedicated port column / ramp 436 for delivery to the access station 436.

[0114] The advantage of this procedure is that no digging into the prior art storage and retrieval system is required.

[0115] Figure 7 and Figure 8 Another embodiment of the system 1 of the application is shown, wherein a storage grid 400 of the application is placed adjacent to a prior art storage grid 100. The existing second storage grid 100 is constructed according to the storage grid 100 described above in connection with Figs. 1-3, i.e. a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102, and the second storage grid 100 further comprises a rail system 108 in the X- and Y-directions. The prior art storage grid 100 further comprises storage compartments arranged between the members 102, 103 in the form of storage columns 105, wherein storage containers 106 are stackable within the storage columns 105 into stacks 107.

[0116] Both the storage grid of the application and the prior art storage grid 100 can be of any size. In particular, it should be understood that one or both of the storage grids 100, 400 can be much wider and / or longer and / or deeper than disclosed in the drawings. For example, the storage grids 100, 400 can have a horizontal extent for a space of more than 700x700 storage containers 106 and a storage depth of more than twelve storage containers 106.

[0117] In Figure 7 , the storage grid 400 of the application, which has a size corresponding to 4x15 grid cells 422 of its respective rail system 408, is placed with one vertical edge extending in the Y-direction along a vertical edge of the prior art storage grid 100, which has a size corresponding to 5x17 grid cells 122 of its respective rail system 108. The rail system 408 of the storage grid 400 of the application and the rail system 108 of the prior art storage grid 100 have mutual orientations and designs such that the same type of vehicle 301 can operate on both rail systems 108, 408.

[0118] Referring again to Figure 14 , a possible coupling of the two rail systems 108, 408 is shown, which allows the same type of vehicle 301 to move between the two storage grids 100, 400. In Figure 14In a particular configuration of the storage grid 400, the desired coupling is achieved by means of an intermediate coupling rail system 408' extending in the X-direction. Due to the different configuration of the container frame 401 for the storage grid 400 of the present invention and the stack 107 of storage containers 106 for the prior art storage grid 100, the rails 410, 411 above the container frame 401 can have the advantage of being wider in at least one of the X-Y directions compared to the rails 110, 111 above the stack 107.

[0119] As shown in Figure 7 By using the displacement device 700, different container supports 402a-d can be moved in the Y-direction by a distance corresponding to two grid cells.

[0120] Figure 11 and Figure 12 An example of a displacement device 700 is shown. The displacement of each container support 402a-d is achieved by a mechanical linear actuator (ball screw) that translates a rotational motion into a linear motion. The threaded shaft 702 provides a helical raceway for the ball bearings to act as a precision screw. The required rotation of the shaft is achieved by a motor 701 connected to one end of the shaft. A stop 705 is fixed to the other end of the shaft 702. Furthermore, a slider 703 is coupled to the rotating shaft such that it moves along the shaft 702 during rotation. By attaching the slider 703 to the end of the container support 402a-d, the desired displacement in the Y-direction is achieved. The linear actuator 700 shown is fastened to a framework structure comprising a plurality of towers 430, the height of which corresponds to the height of the storage grid not including the rail system 408 and the horizontal extent corresponds to n x m storage container spaces, where n and m are integers of 1 or more. Figure 13 An example of such a tower 430 with a horizontal size of 1 x 1 is shown. The tower 430 comprises a horizontal frame for each vertical height of the container frame 401, which is established by two bars 432 in the X-direction and two vertical plates 433 in the Y-direction for structural rigidity. A container support wheel 434 is rotatably fastened to the inwardly facing face of the two vertical plates 433. The two bars 432 and the two vertical plates 433 are fastened in a rectangular form to 4 or more vertical struts 431. The tower 430 itself is supported on the floor 440 by a tower support 435.

[0121] As shown in Figure 12As best viewed from the center, each container support 402 is arranged within a row of towers 430 oriented in the Y direction. The container supports 402 can be easily moved due to the container support wheels 434. The linear actuator 700 is connected to the frame structure of the towers 430 by fixing the linear actuator support 704 between the rod 432 of the outermost tower 430 and the rod 432 of the adjacent towers 430. Additionally, a stop 705 at the end furthest from the motor 701 is further fixed to the frame structure at the rod 432 (e.g., corresponding to the length of three adjacent storage container spaces, such as...). Figure 12 (As depicted in the image). The end of the container support 402 is connected to a slider 703 that is movable along axis 702, thereby allowing desired displacement in the Y direction. It should be noted that, for better illustration, the container support 402 has been removed from the bottom of the frame structure.

[0122] Figure 8 Another configuration of the storage and retrieval system 1 is shown, comprising a prior art storage grid 100 and three storage grids 400 of the present invention arranged along the Y direction on the sides of the prior art storage grid 100. The container supports 402, 402a-d of each storage grid 400 of the present invention can be shifted in the Y direction corresponding to the length of two adjacent storage container spaces (bidirectional). Holes 403a-c are distributed along the Y direction, their spacing corresponding to four adjacent storage container spaces. As described above, for Figure 6 and 7 As shown in the configuration, the guide rail system 408 of the storage grid 400 of the present invention and the guide rail system 108 of the prior art storage grid 100 are configured to interact with each other, such as vehicles 301 of the same type can move between all storage grids 100, 400 without human intervention.

[0123] Figure 9 A perspective view showing the configuration of storage and retrieval system 1, which is similar to... Figure 8 The configuration shown includes one storage grid 400 of the present invention and several prior art storage grids 100. The aforementioned linear actuator 700, acting as a shifting device, is shown disposed at the end of each container support 402. This particular configuration includes eleven container support frames 401a-k disposed below the guide rail system 408, each frame having three container supports 402a-c that are movable in the Y direction. For movement between the different storage grids 100, 400, a connecting guide rail system 408' interconnects the guide rail system 108 of the prior art storage grid 100 and the guide rail system 408 of the storage grid 400 of the present invention. See also... Figure 14 .

[0124] One way of installing a storage grid 400 as described above can be to remove the stack of all storage containers below the rail system of a part of a prior art storage and retrieval system 1 as shown in figure 1 and insert one or more storage grids 400 of the present invention within the empty volume.

[0125] In the foregoing description, various aspects of an automated storage and retrieval system and related methods of picking product items using vehicles have been described with reference to illustrative embodiments. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and how it works. However, this description was not intended to be limiting. Various modifications and changes are

[0126] Reference Signs:

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Claims

1. A storage grid (400) for storing a plurality of storage containers (106), comprising a plurality of horizontal container support frames (401) vertically distributed with a vertical offset DdV, wherein the plurality of horizontal container support frames (401) comprises: • a first container support frame (401a); and • at least one second container support frame (401b-k) arranged below and parallel to the first container support frame (401a), wherein each of the first container support frame and the at least one second container support frame (401a-k) comprises a plurality of container supports (402, 402a-d) arranged in parallel along a first direction (X), wherein each of the container supports (402a-d) is provided with at least one aperture (403a-f) having an opening size of at least a maximum horizontal cross section of a storage container (106) to be stored, and wherein at least one aperture (403a-f) of the first container support frame (401a) is configured to be vertically aligned with at least one of at least one aperture (403a-f) of the at least one second container support frame (401b-k), wherein at least two of the plurality of container supports (402a-d) of the at least one second container support frame (401b) are displaceable along a second direction (Y) orthogonal to the first direction (X), and the storage grid (400) further comprises: wherein the storage grid (400) further comprises a rail system (408) arranged above and adjacent to the first container support frame (401a) with a first vertical offset (V r1 ) of at least a maximum height of the storage containers (106) to be stored, wherein the rail system (408) comprises: • a first set of parallel guide rails (410) arranged in a guide rail system plane (P rs ) and extending in said first direction (X); and • a second set of parallel guide tracks (411) arranged in said guide track system horizontal plane (P rs ) and extending in said second direction (Y), • said first set of rails and said second set of rails (410, 411) form in said rail system plane (P rs ) a grid pattern comprising a plurality of adjacent grid cells, wherein each of the grid cells comprises a grid opening defined by a pair of adjacent rails of said first set of rails (410) and a pair of adjacent rails of said second set of rails (411).

2. The storage grid (400) of claim 1, wherein, • a support displacement device (700) configured to displace at least one of the plurality of displaceable container supports (402a-d). the storage grid (400) further comprises:

3. The storage grid (400) of claim 2, wherein, • a control system (500) configured to remotely operate the support displacement device (700) such that each of the plurality of displaceable container supports (402a) is independently and remotely movable with respect to other displaceable container supports (402b-d) located within the respective container support frame (401b-k). Each of the plurality of container supports (402a-d) is provided with a plurality of apertures (403a-f) uniformly distributed along the second direction (Y).

4. The storage grid (400) according to any one of claims 1 to 3, wherein, A horizontal extent of the first container support frame (401a) and a horizontal extent of the at least one second container support frame (401b-k) are equal or almost equal.

5. The storage grid (400) according to any one of claims 1 to 3, wherein, A length of each of the plurality of container supports (402a-d) corresponds to a length of a plurality of grid cells in the second direction (Y).

6. The storage grid (400) of claim 1, wherein, A horizontal extent of the rail system (408), a horizontal extent of the first container support frame (401a), and a horizontal extent of the at least one second container support frame (401b-k) are equal or almost equal.

7. The storage grid (400) of claim 1, wherein, 8. The storage grid (400) according to claim 1, the plurality of horizontal container support frames (401) comprises i parallel container support frames (401a-k), wherein i is an integer of 2 or more, and wherein, ​ wherein i of said parallel container support frames (401a-k) are arranged at a distance dV = i x ADV from a lower edge of said rail system (408), wherein ADV is set as a constant equal to or higher than a maximum height of a storage container (106) to be stored.

9. The storage grid (400) of claim 1, wherein, Each of said displaceable plurality of container supports (402a-d) is provided with a plurality of holes (403a) distributed with an offset corresponding to 2n + 1 grid cells in said second direction (Y), wherein n is an integer of 1 or more.

10. The storage grid (400) of claim 1, wherein, Each of said displaceable plurality of container supports (402a-d) is provided with a plurality of holes (403a) distributed with an offset corresponding to n + 1 grid cells in said second direction (Y), wherein n is an integer of 1 or more.

11. The storage grid (400) according to claim 8 or 9, wherein, Said displaceable plurality of container supports (402a-d) are individually displaceable in said second direction (Y) a distance corresponding to at least n grid cells, wherein n is an integer of 1 or more.

12. An automated storage and retrieval system (1) configured to store a plurality of storage containers (106), comprising: • a storage grid (400) according to any of the preceding claims; • a plurality of storage containers (106) supported on a horizontally arranged plurality of said container support frames (401), wherein a plurality of storage containers (106) are supported on a horizontally arranged plurality of said container support frames (401) such that each storage container (106) is located directly below a grid opening of said rail system (408); • a remotely operated vehicle (201, 301) configured to move laterally over said plurality of container support frames (401) in said first direction (X) and said second direction (Y), wherein said remotely operated vehicle (201, 301) comprises a lifting device (304) configured to grasp a storage container (106) and lift it, wherein said remotely operated vehicle (201, 301) is configured to move laterally over said rail system (408) in said first direction (X) and said second direction (Y) and to lift said storage container (106) through said grid opening by use of said lifting device (304); and • a control system (500) configured to wirelessly monitor and control movement of said remotely operated vehicle (201, 301).

13. The automated storage and retrieval system (1) according to claim 12, wherein The system (1) further comprises: • a second storage grid (100), said second storage grid comprising: o a second rail system comprising a first set of parallel rails (110) arranged in a rail system plane (P rs ) and extending in a first direction (X) and a second set of parallel rails (111) arranged in said rail system plane (P rs ) and extending in a second direction (Y) orthogonal to said first direction (X), said first and second sets of rails (110, 111) forming a grid pattern comprising a plurality of adjacent grid cells in said rail system plane (P rs ), wherein each of these grid cells comprises a grid opening defined by a pair of adjacent rails of said first set of rails (110) and a pair of adjacent rails of said second set of rails (111); and o a plurality of stacks (107) of storage containers (106) arranged in storage columns (105) located below said second rail system, wherein each of said storage columns (105) is located vertically below a grid opening; and wherein said remotely operated vehicle (201, 301) is configured to move laterally over said second rail system as well. • a remotely operated vehicle (201, 301) configured to move laterally over said plurality of container support frames (401) in said first direction (X) and said second direction (Y), wherein said remotely operated vehicle (201, 301) comprises a lifting device (304) configured to grasp a storage container (106) and lift it, wherein said remotely operated vehicle (201, 301) is configured to move laterally over said rail system (408) in said first direction (X) and said second direction (Y) and to lift said storage container (106) through said grid opening by use of said lifting device (304); and • a control system (500) configured to wirelessly monitor and control movement of said remotely operated vehicle (201, 301).

14. The automated storage and retrieval system (1) according to claim 13, wherein The system (1) further comprises a coupling rail system (408') comprising rails extending in at least one of the first direction (X) and the second direction (Y) and configured to enable movement of the remotely operated vehicle (201, 301) between the rail system (408) of the storage grid (400) and the second rail system of the second storage grid (100).

15. A method for storing and retrieving storage containers (106) from an automated storage and retrieval system (1) according to any of claims 12 to 14, wherein The plurality of horizontal container support frames (401) comprises i parallel container support frames (401a-k), wherein i is an integer of 2 or more, wherein at least one of the plurality of container supports (402a-d) of the at least one second container support frame (401b) is displaceable in a second direction (Y) orthogonal to the first direction (X), and wherein the method comprises the steps of: A. moving the remotely operated vehicle (201, 301) to a position in which a lifting device (304) of the remotely operated vehicle is vertically aligned above a target storage container (106') supported on the first container support frame (401a), or in case the target storage container (106') is positioned on one of the i-1 parallel container support frames (401b-k) vertically aligned below the first container support frame (401a), moving the remotely operated vehicle to a position in which a lifting device (304) of the remotely operated vehicle is vertically aligned above a target aperture (403a') of the first container support frame (401a) positioned closest to the target storage container (106'), B. in case the target storage container (106') is not positioned vertically aligned below the target aperture (403a'), a) displacing the displaceable container support (402a) of the support frame (401k) supporting the target storage container (106') in the second direction (Y) to position the target storage container (106') vertically aligned below the target aperture (403a') of the first container support frame (401a), or b) displacing the displaceable container support (402a) of the support frame (401k) supporting the target storage container (106') in the first direction (X) to position the target storage container (106') vertically aligned below the target aperture (403a') of the first container support frame (401a). b) in case at least one of the plurality of container supports (402a-d) of the first container support frame (401a) is displaceable in the second direction (Y), displacing the displaceable container support(s) (402a) of one or more of the container support frames (401a-k) positioned above the target storage container to support the displaceable container support(s) a distance in a second direction (Y) opposite to the direction in a), to position the target storage container (106') in a vertically aligned manner below the target aperture (403a') of the first container support frame (401a), wherein each of the displaceable container support(s) of the one or more container support frames positioned above has the same position in the first direction when the target storage container is supported by the displaceable container support(s), or c) in case at least one of the plurality of container supports (402a-d) of the first container support frame (401a) is displaceable in the second direction (Y), displacing both the target storage container supported by the displaceable container support(s) as described in step a) and the displaceable container support(s) arranged above as described in step b) to position the target storage container (106') in a vertically aligned manner below the target aperture (403a'), C. lowering, grabbing and lifting the target storage container (106') by using the lifting device (304); and D. moving the remote controlled vehicle (201, 301 ) with the target storage container (106') to another horizontal position, wherein the storage grid (400) further comprises a rail system (408) arranged above and adjacent to the first container support frame (401a) with a first vertical offset (V r1 ) of at least a maximum height of a storage container (106) to be stored, wherein a plurality of the storage containers (106) are supported on a plurality of horizontally arranged container support frames (401) such that each storage container (106) is positioned directly below a grid opening of the rail system (408), and wherein the remote controlled vehicle (201, 301 ) is configured to move laterally on the rail system (408) in the first direction (X) and the second direction (Y) and to lower the storage containers (106) through the grid openings by using the lifting device (304).

16. Use of an automated storage and retrieval system (1 ) according to any of the claims 12 to 14 for delivering items arranged within storage containers stored in the storage grid (400) to end users.

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