Robotic integration stations and storage systems

Abstract

The present invention provides a robot integration station (2) for use in a storage system (1), the storage system comprising a frame structure (100) in which a plurality of storage containers (106) can be stored; the integration station (2) comprises a first conveying route (3) for transferring storage containers (106) containing items to be picked, a second conveying route (4) for transferring storage containers (106) in which items are to be integrated or in which items have been integrated, and a robot picking arm (5) arranged to reach the first conveying route and the second conveying route, wherein each of the first conveying route (3) and the second conveying route (4) comprises a first end (6) and a second end (7), wherein each first end (6) can be operably connected to a container outlet (8) of the frame structure (100) for transferring the storage container (106) from the frame structure, and each second end (7) is A container inlet (9) can be operably connected to the frame structure (100) for transferring a storage container (106) into the frame structure; and the first conveying route (3) includes a picking section (10), and the second conveying route (4) includes an integration section (11); and the robotic picking arm (5) is arranged so that items are picked from a first storage container (106') arranged on the picking section (10) by using the robotic picking arm (5) and the items are transferred to a second storage container (106") arranged on the integration section (11) by using the robotic picking arm (5); and the first conveying route (3) can be operated independently of the integration section (11) and is arranged so that the first storage container (106') can be transferred from the container outlet (8) to the container inlet (9) via the picking section (10), while the second storage container (106") is arranged on the integration section (11).

Description

Technical Field

[0001] The present invention relates to a robotic consolidation station (robotic consolidation station) for an automatic storage and retrieval system and an automatic storage and retrieval system having the robotic consolidation station. Background Art

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

[0003] The frame structure 100 comprises upright members 102, horizontal members 103 and a storage volume 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 called boxes) are stacked one on top of the other to form stacks 107. The members 102, 103 may typically be made of metal, such as extruded aluminum profiles.

[0004] The frame structure 100 of the automatic storage and retrieval system 1 includes a rail system 108 arranged to cross the top of the frame structure 100, and a plurality of container handling vehicles 201, 301 operate on the rail system 108 to lift storage containers 106 from the storage row 105 and lower the storage containers 106 into the storage row, and also transport the storage containers 106 over the storage row 105. The rail system 108 includes: a first set of parallel rails 110 and a second set of parallel rails 111, wherein the first set of parallel rails is arranged to guide the container handling vehicles 201, 301 to move in a first direction X across the top of the frame structure 100, and the second set of parallel rails is arranged perpendicular to the first set of rails 110 to guide the container handling vehicles 201, 301 to move in a second direction Y perpendicular to the first direction X. The containers 106 stored in the row 105 are accessed by the container handling vehicles through access openings 112 in the rail system 108. The container handling vehicles 201 , 301 can move laterally above the storage row 105 , ie in a plane parallel to the horizontal XY plane.

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

[0006] Each prior art container handling vehicle 201, 301 comprises 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 direction and the Y direction, respectively. In Figures 2 and 3, the two wheels in each set are fully visible. The first set of wheels 201b, 301b is arranged to engage with two adjacent rails in the first set of rails 110, and the second set of wheels 201c, 301c is arranged to engage with two adjacent rails in the second set of rails 111. At least one of the sets of wheels 201b, 301b, 201c, 301c can be raised and lowered so that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c can engage with the corresponding set of rails 110, 111 at any time.

[0007] Each prior art container handling vehicle 201, 301 also includes a lifting device (not shown) for vertical transportation of storage containers 106, for example, lifting storage containers 106 from storage rows 105 and lowering storage containers 106 into storage rows. The lifting device includes one or more gripping / engaging devices adapted to engage with storage containers 106, which can be lowered from the vehicle 201, 301 so that the position of the gripping / engaging devices relative to the vehicle 201, 301 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. Some parts of the gripping device of the container handling vehicle 301 are shown in FIG. 3 and are indicated by reference numeral 304. The gripping device of the container handling device 201 is located within the vehicle body 301a in FIG. 2.

[0008] Conventionally and for the purposes of the present application, Z=1 represents the uppermost layer of storage containers, i.e., the layer immediately below the rail system 108, Z=2 represents the second layer below the rail system 108, and Z=3 represents the third layer. In the exemplary prior art disclosed in FIG. 1 , Z=8 represents the lowermost layer of the storage containers. Similarly, X=l...n and Y=l...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 FIG. 1 , it can be said that the storage container identified as 106' in FIG. 1 occupies the storage position of X=10, Y=2, Z=3. It can be said that the container handling vehicle 201, 301 travels in the Z=0 layer, and each storage column 105 can be identified by its X and Y coordinates.

[0009] The storage volume of the frame structure 100 is generally referred to as a grid 104, wherein the possible storage positions within the grid are referred to as storage cells. Each storage column can be identified by a position in the X-direction and the Y-direction, and each storage cell can be identified by a container number in the X-direction, the Y-direction, and the Z-direction.

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

[0011] Figure 3 shows an alternative configuration of a container handling vehicle 301 having a cantilever structure. Such a vehicle is described in detail in, for example, NO 317366, the contents of which are incorporated herein by reference.

[0012] The footprint of the central cavity container handling vehicle 201 shown in Figure 2 can cover an area having dimensions in the X and Y directions that are approximately equal 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 can mean "horizontal".

[0013] Alternatively, the footprint of the center chamber container handling vehicle 201 may be larger than the lateral area defined by the storage row 105, for example, as disclosed in WO 2014 / 090684 A1.

[0014] The guide rail system 108 typically includes a guide rail with a groove in which the wheels of the vehicle travel. Alternatively, the guide rail may include an upwardly protruding element, wherein the wheels of the vehicle include a flange to prevent derailment. These grooves and upwardly protruding elements are collectively referred to as tracks. Each guide rail may include one track, or each guide rail may include two parallel tracks.

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

[0016] In the frame structure 100, most of the columns 105 are storage columns 105, i.e., storage containers 106 are stored in stacks 107 in the columns 105. However, some columns 105 may have other purposes. In FIG. 1 , columns 119 and 120 are dedicated columns used by container handling vehicles 201, 301 to unload and / or pick storage containers 106 so that the storage containers can be transported to access stations (not shown) where the storage containers 106 can be accessed from the outside of the frame structure 100 or moved out of or into the frame structure 100. In the art, such locations are generally referred to as "ports", and the columns in which the ports are located may be referred to as "port columns" 119, 120. Transport to the access stations may be in any direction, i.e., horizontal, inclined and / or vertical. For example, storage containers 106 may be placed in random or dedicated rows 105 within the frame structure 100 and then picked up by any container handling vehicle and transported to port rows 119, 120 for further transport to a storage and retrieval station. Note that the term "inclined" means that the transport of storage containers 106 has a certain conventional transport orientation between horizontal and vertical.

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

[0018] The access station can generally be a picking station or an inventory station, at which the product items are removed from or placed in the storage container 106. In the picking station or the inventory station, the storage container 106 is generally not removed from the automatic storage and retrieval system 1, but is returned again to the frame structure 100 after access. The port can also be used to transfer the storage container to another storage facility (e.g., another frame structure or another automatic storage and retrieval system), a transport vehicle (e.g., a train or a truck), or a production facility.

[0019] A conveying system including a conveyor is typically employed to transport storage containers between the port rows 119, 120 and the access station.

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

[0021] The conveying system may be arranged to transfer storage containers 106 between different frame structures, for example as described in WO 2014 / 075937 A1, the contents of which are incorporated herein by reference.

[0022] WO 2019 / 206971 A1 discloses a prior art access station, which is connected to a container outlet and a container inlet, through which a container can be taken out from a frame 100 of a storage system, and through which a container can be put into the frame 100 of a storage system.

[0023] When a storage container 106 stored in one of the columns 105 disclosed in FIG. 1 is to be accessed, one of the plurality of container handling vehicles 201, 301 is instructed to take out the target storage container from the position where the target storage container 106 is located, and transport the target storage container to the unloading port column 119. This operation includes moving the container handling vehicle 201, 301 to a position above the storage column 105 where the target storage container 106 is located, taking out the storage container 106 from the storage column 105 using a lifting device (not shown) of the container handling vehicle 201, 301, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep in the stack 107, that is, one or more other storage containers 106 are located above the target storage container 106, the operation also includes temporarily moving the storage container located above before lifting the target storage container 106 from the storage column 105. This step is sometimes referred to in the art as "digging" and may be performed with the same container handling vehicle that is subsequently used to transport the target storage container to the unloading port row 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 dedicated to the task of temporarily removing storage containers from the storage row 105. After the target storage container 106 is removed from the storage row 105, the temporarily removed storage container may be relocated to the initial storage row 105. However, the removed storage container may alternatively be relocated to other storage rows.

[0024] When a storage container 106 is to be stored in one of the plurality of rows 105, one of the plurality of container handling vehicles 201, 301 is instructed to pick up a storage container 106 from the picking port row 120 and transport it to a position above the row 105 where the outgoing container will be stored. After removing any storage containers located at or above the target position within the storage row stack 107, the container handling vehicle 201, 301 positions the storage container 106 to the desired position. The removed storage container can then be lowered back into the storage row 105, or repositioned to another storage row.

[0025] In order to monitor and control the automatic storage and retrieval system 1, for example, to monitor and control the position of each storage container 106 within the frame structure 100, the contents of each storage container 106; and to monitor and control the movement of container handling vehicles 201, 301 so that the required storage container 106 can be delivered to the required position at the required time without the container handling vehicles 201, 301 colliding with each other, the automatic storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0026] An operation performed in some prior art storage systems is to consolidate multiple different items picked from a storage grid, for example, to consolidate multiple items belonging to a customer order. These multiple items are consolidated for further processing, such as packaging them in a single package for shipment to a customer.

[0027] In prior art systems, consolidation of multiple items is performed by first transporting storage containers containing order items from a storage grid to a manual picking / stocking station (i.e., access station), for example, as disclosed in WO 2019 / 206971 A1. At the picking / stocking station, an operator picks the required order items and places them in a single package for further processing, for example, delivery to a customer. The different items to be consolidated are typically stored in different storage containers, so the speed of the consolidation process is limited by the speed of the different storage containers available at the picking / stocking station. However, despite the benefits obtained through the consolidation process, it has been found that the processing speed of the same order with the same items from the same storage container is not significantly faster than that of different orders, because the storage containers must be circulated between the picking / stocking station and the frame of the storage system for each order due to the sequential access to different storage containers. Therefore, there is a need to further improve the consolidation operation of the prior art.

[0028] It is an object of the present invention to provide a storage system which is more efficient in terms of item consolidation than prior art systems. Summary of the invention

[0029] The present invention is defined by the appended claims and the following:

[0030] In a first aspect, the present invention provides a robotic integration station for use in a storage system, the storage system comprising a frame structure in which a plurality of storage containers can be stored; and

[0031] The consolidation station includes: a first conveying route for transferring storage containers containing items to be picked; a second conveying route for transferring storage containers in which items are to be consolidated or have been consolidated; and a robotic picking arm arranged to reach the first conveying route and the second conveying route, wherein

[0032] Each of the first conveying route and the second conveying route includes a first end and a second end, wherein each first end is operatively connected to a container outlet of the frame structure for transferring a storage container out of the frame structure, and each second end is operatively connected to a container inlet of the frame structure for transferring a storage container into the frame structure; and

[0033] The first conveying route includes a picking section, and the second conveying route includes a consolidation section; and

[0034] The robotic picking arm is arranged so that items can be picked from a first storage container arranged on the picking section by using the robotic picking arm and transferred to a second storage container arranged on the consolidation section by using the robotic picking arm; and

[0035] The first conveying route is operable independently of the consolidation section and is arranged such that a first storage container can be transferred from the container outlet to the container inlet via the picking section, while a second storage container is arranged on the consolidation section.

[0036] In an embodiment of the robot consolidation station, a plurality of storage containers may be arranged on the consolidation section, and a first storage container is transferred from the container outlet to the container inlet via the picking section.

[0037] In an embodiment of the robotic consolidation station, the picking section may be arranged in parallel with the consolidation section.

[0038] In an embodiment of the integration station, the integration station can be used for storage containers having a rectangular horizontal perimeter, and the picking section and the integration section can be arranged so that one long side of a first storage container arranged at the picking section faces and is parallel to one long side of a second storage container arranged at the integration section.

[0039] In an embodiment of the robotic integration station, the robotic picking arm may be arranged to minimize the distance the robotic picking arm moves when moving between the picking section and the integration section. The robotic picking arm may be arranged between the picking section and the integration section. The robotic picking arm may have a base, wherein the base is mounted substantially equidistant from the picking section and the integration section, for example, equidistant from the center of the picking section and the center of the integration section.

[0040] In an embodiment of the robotic integration station, the first conveying lane and the second conveying lane may have a common first end, ie, the first end of the first conveying lane and the first end of the second conveying lane are the same end.

[0041] In an embodiment of the robot integration station, the first conveying route and the second conveying route may have a common second end, ie, the second end of the first conveying route and the second end of the second conveying route are the same end.

[0042] In an embodiment of the robotic integration station, the same first end of the first conveying lane and the second conveying lane comprises an outlet conveying element operatively connected to the container outlet. The outlet conveying element may be a conveying unit for receiving and transferring a single storage container at a time.

[0043] In an embodiment of the robotic integration station, the same second end of the first conveying lane and the second conveying lane comprises an inlet conveying element operatively connected to the container inlet. The inlet conveying element may be a conveying unit for receiving and transferring a single storage container at a time.

[0044] In an embodiment of the robot consolidation station, the first conveying route and the second conveying route include the same first conveying intersection section, and the storage container leaving the first conveying intersection section can be transferred to the picking section in a first direction or to the consolidation section in a second direction. The first direction can be perpendicular to the second direction.

[0045] In an embodiment of the robot consolidation station, the first conveying route and the second conveying route include the same second conveying intersection section, from which storage containers arriving from either the picking section and the consolidation section can be transferred to the container inlet.

[0046] In an embodiment of the robot integration station, the first conveying route includes a first conveying module, the second conveying route includes a second conveying module, each conveying module is capable of accommodating a row of three storage containers and includes an intermediate container section, a first end container section and a second end container section, each of these container sections is arranged to accommodate a single storage container, and each of these conveying modules includes a moving component, which is arranged to move the storage container in a horizontal direction between any one of the end container sections and the intermediate container section, and each end container section has a roller conveyor, which is arranged to transfer the storage container in a direction perpendicular to the horizontal direction between any one of the end container sections and the intermediate container section.

[0047] In an embodiment of the robot integration station, the picking section is an intermediate container section of the first conveying module.

[0048] In an embodiment of the robotic integration station, the integration section comprises an intermediate container section of the second conveying module. The integration section may selectively comprise any one of a first end container section and a second end container section of the second conveying module.

[0049] In an embodiment of the robotic integration station, the moving assembly may be a lifting assembly arranged to lift and move the storage container in a horizontal direction between any one of the end container sections and the intermediate container section, and the roller conveyor is arranged to transfer the storage container in a direction perpendicular to the horizontal direction along which the lifting assembly is movable. The lifting assembly may include a pulley movable in a horizontal direction and two parallel beams connected to the pulley and arranged to lift and lower at least one storage container in a vertical direction. In other words, the two parallel beams may be connected to the pulley so that the beams can lift and lower at least one storage container in a vertical direction and move the storage container in a horizontal direction via the pulley.

[0050] In an embodiment of the robot integration station, the first end container section and the second end container section of the first conveying module and the first end container section and the second end container section of the second conveying module can be connected via a conveying element, respectively, which is arranged to transfer containers between the corresponding first end container section and the second end container section.

[0051] In an embodiment of the robotic integration station, each of the first end container section and the second end container section of the first conveying module may be connected to a respective conveying element to connect to the container outlet and the container inlet of the frame structure.

[0052] In a second aspect, the present invention provides a storage system, the storage system comprising a robot integration station according to any embodiment of the first aspect of the present invention, wherein

[0053] The storage system comprises: a frame structure in which a plurality of storage containers can be stored; a container outlet for transferring the storage containers out of the frame structure; and a container inlet for transferring the storage containers into the frame structure;

[0054] Wherein, the first conveying route and the second conveying route of the robot integration station are operably connected to the container outlet and the container inlet.

[0055] In an embodiment, the storage system may include at least one container handling vehicle, and the frame structure may include a plurality of storage columns in which storage containers can be stored on top of one another in vertical stacks, and the container handling vehicles operate on a rail system located at the top layer of the frame structure for retrieving storage containers from the storage columns, storing storage containers in these storage columns, and transferring storage containers horizontally on the rail system.

[0056] In an embodiment of the storage system, the frame structure may include at least one port row through which storage containers can be transferred between a top layer of the frame structure and a transfer location at a lower layer of the frame structure, the transfer location being operably connected to the robotic integration station via a container outlet and a container inlet. The transfer location may be arranged at the same height as the container inlet and the container outlet. The storage containers may be transferred between the top layer of the frame structure and the transfer location by using a container handling vehicle.

[0057] In an embodiment of the storage system, the storage system may include a container transfer assembly for transferring storage containers between a transfer location and an integration station, the container transfer assembly including at least one transfer conveying module, the transfer conveying module being capable of accommodating a row of three storage containers and including a first end container section and a second end container section and an intermediate container section arranged at the transfer location, each container section being arranged to accommodate a single storage container, and the transfer conveying module including a moving assembly and a roller conveyor, the moving assembly being arranged to move the storage container in a horizontal direction between any one of the end container sections and the intermediate container section, and the roller conveyor being arranged to transfer the storage container in a direction perpendicular to the horizontal direction between any one of the end container sections and the intermediate container section. The transfer conveying module may be substantially similar to the conveying module of the integration station.

[0058] In an embodiment of the storage system, the moving assembly may be a lifting assembly arranged to lift and move the storage container between any one of the end container sections and the intermediate container section in a horizontal direction, and the roller conveyor is arranged to transfer the storage container in a direction perpendicular to the horizontal direction in which the lifting assembly is movable. The lifting assembly may include a pulley movable in a horizontal direction and two parallel beams connected to the pulley and arranged to lift and lower at least one container in a vertical direction.

[0059] In an embodiment, the storage system may include a plurality of port columns, and the container transit assembly may include a plurality of transit transfer modules, wherein each intermediate container section is arranged at a respective transfer point.

[0060] In an embodiment of the storage system, a plurality of transit conveyor modules are interconnected at their first end container sections and second end container sections by conveying elements capable of accommodating at least one storage container and transporting at least one storage container in the same direction as the roller conveyors of the end container sections.

[0061] In a third aspect, the present invention provides a method of integrating items stored in a storage system, the system comprising a robotic integration station, wherein

[0062] The storage system comprises: a frame structure in which a plurality of storage containers can be stored; a container outlet for transferring the storage containers from the frame structure; and a container inlet for transporting the storage containers into the frame structure; and

[0063] The consolidation station includes: a first conveying route for transferring storage containers containing items to be picked; a second conveying route for transferring storage containers in which items are to be consolidated or have been consolidated; and a robotic picking arm arranged to reach the first conveying route and the second conveying route, wherein

[0064] Each of the first conveying route and the second conveying route includes a first end and a second end, wherein each first end is operatively connected to a container outlet and each second end is operatively connected to a container inlet; and

[0065] The first conveying route includes a picking section, and the second conveying route includes a consolidation section; and

[0066] The method comprises the following steps:

[0067] - transferring a first storage container containing at least one first object from a container outlet to a picking section via a first conveying route;

[0068] - transferring the second storage container from the container outlet to the integration section via the second conveying route; and

[0069] - Picking at least one first object from a first storage container by using a robotic picking arm and adding the at least one first object to a second storage container.

[0070] In an embodiment of the method according to the third aspect, the method may include the following steps:

[0071] - transferring the first storage container to the container inlet via the first conveying route;

[0072] - transferring a third storage container containing at least one second object from the container outlet to the picking section via the first conveying route; and

[0073] - picking at least one second object from the third storage container by using a robotic picking arm, and adding the at least one second object to the second storage container.

[0074] In an embodiment of the method according to the third aspect, the first storage container may contain a plurality of first items, and the method may include the following steps:

[0075] - transferring a fourth storage container from the container outlet to the integration section via the second conveying route; and

[0076] - picking at least one first object from the first storage container by using a robotic picking arm and adding the at least one first object to a fourth storage container.

[0077] The method according to the third aspect may also be referred to as a method of consolidating items stored in a storage system into customer orders. The customer orders may be used for intermediate storage or transfer to a processing facility.

[0078] In a fourth aspect, the present invention provides a method of integrating items stored in a storage system, the storage system comprising a robotic integration station (2), wherein

[0079] The storage system comprises: a frame structure in which a plurality of storage containers can be stored; a container outlet for transferring the storage container out of the frame structure; and a container inlet for transferring the storage container into the frame structure; and

[0080] The consolidation station includes: a first conveying route for transferring storage containers containing items to be picked; a second conveying route for transferring storage containers in which items are to be consolidated or have been consolidated; and a robotic picking arm arranged to reach the first conveying route and the second conveying route, wherein

[0081] Each of the first conveying route and the second conveying route includes a first end and a second end, wherein each first end is operatively connected to a container outlet and each second end is operatively connected to a container inlet; and the first conveying route includes a picking section and the second conveying route includes a consolidation section; and

[0082] The method comprises the following steps:

[0083] - transferring a first storage container containing at least one first object from a container outlet to a picking section via a first conveying route;

[0084] - transferring a second storage container from the container outlet to the integration section via a second conveying route, the second storage container being either empty or having space for at least one first object; and

[0085] - picking at least one first object from a first storage container and adding the at least one first object to a second storage container by using a robotic picking arm; and

[0086] - Repeating the steps of picking at least one first object from the first storage container by using the robotic picking arm and adding the at least first object to the second storage container until the first storage container is empty or the second storage container is full.

[0087] In an embodiment of the method according to the fourth aspect, the method may include the following steps:

[0088] - When the first storage container is empty, transferring the first storage container to or towards the container inlet via the first conveying route.

[0089] In an embodiment of the method according to the fourth aspect, the method may include the following steps:

[0090] - transferring a third storage container containing at least one first object from the container outlet to the picking section via the first conveying route;

[0091] - picking at least one first object from a third storage container and adding the at least one first object to a second storage container by using a robotic picking arm; and

[0092] - Repeating the steps of picking at least one first object from the third storage container by using the robotic picking arm and adding the at least one first object to the second storage container until the third storage container is empty or the second storage container is full.

[0093] In an embodiment of the method according to the fourth aspect, the method may include the following steps:

[0094] - When the second storage container is full and / or the first storage container is empty, transferring the second storage container to or towards the container inlet via the second conveying route.

[0095] In an embodiment of the method according to the fourth aspect, the method may include the following steps:

[0096] - transferring the fourth storage container from the container outlet to the integration section via the second conveying route when the fourth storage container is empty or has space for at least one first object;

[0097] - picking at least one first object from the first storage container and adding the at least one first object to a fourth storage container by using a robotic picking arm; and

[0098] - Repeating the steps of picking at least one first object from the first storage container by using the robotic picking arm and adding the at least one first object to the fourth storage container until the first storage container is empty or the fourth storage container is full.

[0099] The method according to the fourth aspect may also be referred to as a method for internal integration of items in a storage system.

[0100] The methods according to the third and fourth aspects may be performed by using any embodiment of the present invention according to the first and second aspects.

[0101] In all aspects of the invention, a robotic picking arm is used to perform all picking and transfer movements of items contained in storage containers.

[0102] The term "robotic picking arm" refers to any robotic picking device suitable for picking and transferring items between two storage containers.

[0103] The term "conveyor route" refers to a route provided by any suitable conveyor assembly on which containers can move. The conveyor assembly may include a plurality of conveyor units or modules, wherein each unit or module can accommodate at least one container and move the container in at least one horizontal direction. The conveyor assembly and / or the plurality of conveyor units or modules may include any suitable combination of belts, rollers and horizontally displaceable lifting beams. BRIEF DESCRIPTION OF THE DRAWINGS

[0104] The embodiments of the present invention are described in detail with reference to the following drawings:

[0105] FIG. 1 is a perspective view of a frame structure of an automatic storage and retrieval system of the prior art.

[0106] 2 is a perspective view of a prior art container handling vehicle having a centrally disposed cavity for carrying a storage container therein.

[0107] 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying a storage container underneath.

[0108] Figure 4a to Figure 4b is a schematic diagram of a storage system having an exemplary robotic integration station according to the present invention.

[0109] Figure 5 is a side perspective view of a storage system having Figure 4a An exemplary robotic integration station with a layout similar to that in the schematic diagram.

[0110] Figure 6 yes Figure 5 A zoomed-in view of the robotic integration station.

[0111] Figure 7 yes Figure 6 A top-down perspective view of the robotic integration station in Figure 1.

[0112] Figure 8 yes Figure 6 A front perspective view of the robotic integration station in FIG.

[0113] Fig. 9 yes Figure 6 A top-down perspective view of the robotic integration station and container transfer components. DETAILED DESCRIPTION

[0114] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. However, the drawings are not intended to limit the present invention to the subject matter depicted in the drawings.

[0115] The present invention provides an advantageous consolidation station 2 for a storage system in which various items are stored in a plurality of containers (ie storage containers or boxes). The storage system used in conjunction with the consolidation station may advantageously be similar to the prior art storage system shown in FIG. Figure 4a and Figure 4b The schematic diagram in FIG. 2 shows the layout of the integration station 2 .

[0116] The consolidation station 2 has a first conveying route 3 for transferring storage containers 106 containing items to be picked, a second conveying route 4 for transferring storage containers in which items are to be consolidated or have been consolidated, and a robot picking arm 5 arranged to reach the first conveying route 3 and the second conveying route 4. Each of the first conveying route 3 and the second conveying route 4 has a first end 6 and a second end 7, and each first end 6 is operatively connected to the same container outlet 8 of the frame structure 100 for transferring the storage container 106 out of the frame structure 100, and each second end 7 is operatively connected to the same container inlet 9 of the frame structure for transferring the storage container 106 into the frame structure 100. Figure 4a and Figure 4b In the embodiment, the integration station is arranged at the outer side wall of the frame structure 100, but in some cases, at least part of the integration structure 2 can be arranged inside the frame structure or in a recess formed in the frame structure.

[0117] The first conveying route 3 includes a picking section 10 , and the second conveying route 4 includes an integrating section 11 .

[0118] The robot picking arm 5 is arranged so that an item can be picked from a first storage container 106' arranged on the picking section 10 by using the robot picking arm 5, and the item can be transferred to a second storage container 106' arranged on the integration section 11 by using the robot picking arm 5. The picking section 10 and the integration section 11 are arranged in parallel to ensure that the robot picking arm can move a minimum distance between the picking section and the integration section during the integration operation.

[0119] It is very advantageous for the consolidation station to occupy minimal floor space by connecting the consolidation station 2 to the same container outlet 8 and the same container inlet 9 through which both the first storage container 106' and the second storage container 106" can enter or exit respectively. In addition, providing multiple container outlets and inlets in the frame structure will also reduce the available storage space in the storage system.

[0120] According to the layout of the conveying routes 3 and 4, the robot picking arm 5 can be arranged between the picking section 10 and the integration section 11 (refer to Figure 4a ), or arranged on a platform (not shown) arranged above the picking section 10 and the integration section 11 (reference Figure 4a ). The robotic picking arm 5 may be disposed on a base 12 , wherein the base 12 is positioned substantially equidistant from the picking section 10 and the integrating section 11 .

[0121] The first conveying route 3 can operate independently of the integration section 11 of the second conveying route 4, and is arranged so that the first storage container 106' can be transferred from the container outlet 8 to the container import 9 via the picking section 10, while the second storage container 106" is arranged on the integration section 11. The first conveying route 3 and the second conveying route 4 have the same first conveying intersection section 13 and the same second conveying intersection section 22, and the container 106 leaving the container outlet 8 from the first conveying intersection section can be transferred to the picking section 10 in the first direction or to the integration section 11 in the second direction, and the container arriving from either the picking section 10 and the integration section 11 can be transferred to the container import 9 from the second conveying intersection section.

[0122] Figures 5 to 9 An exemplary embodiment of an integration station 2 connected to a frame structure 100 of a storage system is shown. For illustrative purposes, Fig. 9 The integration station 2 and the cooperating container transfer assembly 24 are shown without the frame structure 100 .

[0123] In the exemplary consolidation station 2, the first conveying line 3 comprises a first conveying module 14 and the second conveying line 4 comprises a second conveying module 14'. Each conveying module is capable of accommodating a row of three containers 106 and comprises an intermediate container section 15, a first end container section 16 and a second end container section 16'. The container sections 15, 16, 16' are arranged to accommodate a single container 106.

[0124] The transfer modules 14, 14' include a trolley 17 and two parallel beams 19 (i.e., a moving or lifting assembly) arranged to move the container 106 in a horizontal direction between any of the end container sections 16, 16' and the intermediate container section 15. Each of the end container sections features a roller conveyor 18 arranged to transfer the container 106 in a direction perpendicular to the horizontal direction between any of the end container sections 16, 16' and the intermediate container section 15. The trolley 17 is movable in a horizontal direction between any of the end container sections 16, 16' and the intermediate container section 15, and the two parallel beams 19 are connected to the trolley 17 and arranged to lift and lower at least one container 106 in a vertical direction. In use, the container 106 can be lifted by raising the two parallel beams 19 to move the container from, for example, the intermediate container section 15, and the container is moved to the first end container section 16 by moving the trolley 17. When positioned above the first end container section 16, the two parallel beams can be lowered so that the container is arranged on the conveyor 18 and can be moved by the conveyor.

[0125] The picking section 10 of the exemplary consolidation station 2 is the intermediate container section 15 of the first conveying module 14. The consolidation section 11 includes at least the intermediate container section 15 of the second conveying module 14', but the consolidation section may also include any one of the first end container section 16 and the second end container section 16'.

[0126] The first and second conveyor modules are parallel and interconnected via respective end container sections of the first and second conveyor modules by intermediate conveyor elements 25, 25'. The intermediate conveyor elements may accommodate a single storage container 106 and may be advantageous in providing a buffer for storage containers in which items are to be consolidated or in which items have been consolidated, or may alternatively be part of the consolidation section 11. In this embodiment, the intermediate conveyor elements 25, 25' also need to provide space for the base 12 of the robotic picking arm 5 mounted on the floor.

[0127] It should be noted that in case of a gantry mounted robotic picking arm, no intermediate transfer elements 25, 25' are required. An advantage of using a gantry mounted robotic picking arm is that the picking section 10 can be arranged closer to the integration section 11, thereby minimizing the movement of the robotic picking arm.

[0128] In the present storage system, the storage container 106 has a rectangular cross-section (i.e., the horizontal perimeter of the storage container is rectangular). In order to further minimize the required movement of the robotic picking arm 5, when transferring items from the first storage container 106 arranged on the picking section 10 to the second storage container 106" arranged on the integration section 11, the first conveying module and the second conveying module are arranged so that the longer sides of the first storage container 106' and the second storage container 106" face each other.

[0129] The integration station according to the invention is very advantageous since it allows performing a number of advantageous integration operations.

[0130] A first exemplary consolidation operation that may be performed by the disclosed consolidation station 2 is consolidating one or more items of a customer order in a storage container 106″. After consolidating the customer order, the storage container 106″ containing the customer order may be temporarily stored in the frame structure 100 or transferred to a processing facility via the frame structure 100 for packaging and shipping of the customer order. The first exemplary consolidation operation may require the following steps:

[0131] - transferring a first storage container 106' containing at least one first object from the container outlet 8 to the picking section 10 (eg the intermediate container section 15 of the first conveying module 14) via the first conveying route 3;

[0132] - transferring the second storage container 106" from the container outlet 8 (ie from the same container outlet 8 as the first storage container 106') to the integration section 11 (eg the intermediate container section 15 of the second conveying module 14') via the second conveying route 4; and

[0133] - By using the robotic picking arm 5, picking at least one first object from the first storage container 106' and adding the at least one first object to the second storage container 106'.

[0134] When different items are to be integrated into the second storage container, the integration operation may further include the following steps:

[0135] - transferring the first storage container 106 ′ via the first conveying route 3 to or towards the container inlet 9 ;

[0136] - transferring a third storage container 106'" containing at least one second object from the container outlet 8 to the picking section 10 via the first conveying route 3; and

[0137] - Picking at least one second object from the third storage container 106'" by using the robotic picking arm 5 and adding the at least one second object to the second storage container 106'".

[0138] When a first item is to be integrated into a plurality of storage containers, the integration operation may further include the following steps:

[0139] - transferring the fourth storage container 106"" from the container outlet 8 to the integration section 11 via the second conveying route 4; and

[0140] - picking at least one first object from the first storage container 106 ′ by using the robotic picking arm 5 and adding the at least one first object to the fourth storage container 106 ″″.

[0141] A second exemplary consolidation process that may be performed by the consolidation station 2 of the present invention relates to situations where similar or identical items are consolidated within a storage system to optimize storage space utilization. For example, in many cases, multiple storage containers 106 are initially used to store items of the same type. Over time, some of the items are picked out of the storage containers, and the initial number of storage containers are no longer needed to store all of the items. In order to free up available storage space, these items may be consolidated into fewer storage containers than were initially required. Prior art consolidation stations and storage systems do not have any effective solutions for performing such consolidation. Therefore, a second exemplary consolidation operation may include the following steps:

[0142] - transferring a first storage container 106 ′ containing at least one first object from the container outlet 8 to the picking section 10 (eg the intermediate container section 15 of the first conveying module 14 ) via the first conveying route 3 ;

[0143] - transferring a second storage container 106 ″ from the container outlet 8 to the integration section 11 via the second conveying line 4 , the second storage container 106 ″ being either empty or having space for at least one first object; and

[0144] - picking at least one first object from the first storage container 106 ″ and adding the at least one first object to the second storage container 106 ″ by using the robotic picking arm 5 ; and

[0145] - Repeating the steps of picking at least one first object from the first storage container 106' and adding the at least one first object to the second storage container 106" by using the robotic picking arm 5 until the first storage container 106' is empty or the second storage container 106" is full.

[0146] When the first storage container 106' is empty, the second exemplary integration process may include the following steps:

[0147] - Transferring the first storage container 106 ′ via the first conveying route 3 to or towards the container inlet 9 .

[0148] When the first storage container 106' is empty, the second exemplary integration process may further include the following steps:

[0149] - transferring a third storage container 106'" containing at least one first object from the container outlet 8 to the picking section 10 via the first conveying route 3; and

[0150] - picking at least one first object from the third storage container 106'" by using the robotic picking arm 5 and adding the at least one first object to the second storage container 106'"; and

[0151] - Repeating the steps of picking at least one first item from the third storage container 106'" by using the robotic picking arm 5 and adding the at least one first item to the second storage container 106'" until the third storage container 106'" is empty or the second storage container 106'" is full.

[0152] When the second storage container 106" is full and / or the first storage container 106' is empty, the second exemplary integration process may include the following steps:

[0153] - Transferring the second storage container 106 ″ via the second conveying route 3 to or towards the container inlet 9 .

[0154] When the second storage container 106" is full and / or the first storage container 106" is empty, the second exemplary integration process may further include the following steps:

[0155] - transferring a fourth storage container 106"" from the container outlet 8 to the integration section 11 via the second conveying line 4, the fourth storage container 106"" being either empty or having space for at least one first object; and

[0156] - picking at least one first object from the first storage container 106' by using the robotic picking arm 5 and adding the at least one first object to the fourth storage container 106""; and

[0157] - Repeating the steps of picking at least one first object from the first storage container 106' by using the robotic picking arm 5 and adding the at least one first object to the fourth storage container 106"" until the first storage container 106' is empty or the second storage container 106" is full.

[0158] In a second exemplary consolidation process, the first storage container is returned to the frame structure when empty and thus available for storing new items, while increasing the capacity utilization of the second storage container.

[0159] exist Figures 5 to 8In the exemplary storage system shown, the frame structure 100 includes: a plurality of port columns 119, 120, through which storage containers 106 can be transferred between the top layer of the frame structure 100 and the corresponding transfer positions 23 at the lower layer of the frame structure 100. Each of the transfer positions 23 is operably connected to the robot integration station 2 via the container transfer assembly 24 and the container inlet 8 and the container outlet 9 of the frame structure 100.

[0160] The container transfer assembly 24 is arranged to transfer storage containers 106 between any transfer position 23 and the integration station 2. The container transfer assembly 24 includes a plurality of transfer conveying modules 14"-14""'. In an exemplary embodiment, the transfer conveying modules 14"-14""' are substantially similar to the conveying modules 14, 14' of the integration station 2. Each of the transfer conveying modules 14"-14""' is capable of accommodating a row of three storage containers 106, and includes an intermediate container section 15, a first end container section 16 and a second end container section 16' arranged at the transfer position 23, and each of the container sections 15, 16, 16' is arranged to accommodate a single storage container 106. Each transfer conveying module 14"-14""' includes a pulley 17 and two parallel beams 19 (i.e., a lifting or moving assembly), which are arranged to lift the container and move it in a horizontal direction between any end container section 16, 16' and the intermediate container section 15. Each of the end container sections 16 , 16 ′ features a roller conveyor 18 arranged to transfer storage containers in a direction perpendicular to the horizontal direction in which the trolley 17 and the beam 19 are movable.

[0161] The transit conveyor modules 14 ″- 14 ″″′ are interconnected at their respective first and second end container sections 16 , 16 ′ by conveying elements 26 capable of accommodating at least one storage container 106 and transferring at least one storage container in the same direction as the roller conveyor 18 .

[0162] The invention is explained using an exemplary embodiment featuring a very advantageous conveying module 14. However, the consolidation station 2 according to the invention can also be obtained using other suitable combinations of conveying elements for the non-manual transfer of storage containers, such as roller conveyors, belt conveyors and shuttle conveyors.

Claims

1. A robotic integration station (2) for use in a storage system (1), the storage system comprising a frame structure (100) capable of storing a plurality of storage containers (106); The integration station (2) comprises: a first conveying route (3) for transferring a storage container (106) containing items to be picked; a second conveying route (4) for transferring a storage container (106) in which items are to be integrated or in which items have been integrated; and a robot picking arm (5) arranged to reach the first conveying route and the second conveying route; wherein Each of the first conveying route (3) and the second conveying route (4) comprises a first end (6) and a second end (7), wherein each first end (6) is operatively connectable to a container outlet (8) of the frame structure (100) for transferring a storage container (106) out of the frame structure, and each second end (7) is operatively connectable to a container inlet (9) of the frame structure (100) for transferring a storage container (106) into the frame structure; and The first conveying route (3) comprises a picking section (10), and the second conveying route (4) comprises a consolidation section (11); and The robotic picking arm (5) is arranged so as to be able to pick objects from a first storage container (106') arranged on the picking section (10) by using the robotic picking arm (5) and to transfer the objects to a second storage container (106'') arranged on the consolidation section (11) by using the robotic picking arm (5); and The first conveying route (3) is operable independently of the integration section (11) and is arranged such that a first storage container (106') can be transferred from a container outlet (8) to a container inlet (9) via the picking section (10), while a second storage container (106") is arranged on the integration section (11), The first end of the first conveying route (3) and the first end of the second conveying route (4) are the same first end (6) and / or the second end of the first conveying route (3) and the second end of the second conveying route (4) are the same second end (7).

2. The robot integration station according to claim 1, in, A plurality of storage containers (106) can be arranged on the integration section (11), and a first storage container (106') is transferred from a container outlet (8) to a container inlet (9) via the sorting section (10).

3. The robot integration station according to claim 1 or 2, in, The picking section (10) is arranged parallel to the integrating section (11).

4. The robot integration station according to claim 1 or 2, in, The first conveying route (3) and the second conveying route (4) comprise a common first conveying intersection section (13), from which a storage container (106) leaving a container outlet (8) can be transferred in a first direction to the picking section (10) or in a second direction to the integration section (11).

5. The robot integration station according to claim 1 or 2, in, The first conveying route (3) and the second conveying route (4) include the same second conveying intersection section (22), from which the storage container (106) arriving from either the picking section (10) and the consolidation section (11) can be transferred to the container inlet (9).

6. The robot integration station according to claim 1 or 2, in, The first conveying route (3) includes a first conveying module (14), and the second conveying route (4) includes a second conveying module (14'), each conveying module being capable of accommodating a row of three storage containers (106) and comprising an intermediate container section (15), a first end container section (16) and a second end container section (16'), each of these container sections (15, 16, 16') being arranged to accommodate a single storage container (106), each conveying module (14, 14') including a moving assembly (17, 19), the moving assembly being arranged to move a storage container in a horizontal direction between any one of the end container sections (16, 16') and the intermediate container section (15), and each of the end container sections being characterized by having a roller conveyor (18), the roller conveyor being arranged to transport a storage container (106) in a direction perpendicular to the horizontal direction between any one of the end container sections (16, 16') and the intermediate container section (15).

7. The robot integration station according to claim 6, in, The picking section (10) is an intermediate container section (15) of the first conveying module (14), and the integrating section (11) includes an intermediate container section (15) of the second conveying module (14').

8. A storage system comprising a robotic integration station (2) according to any one of the preceding claims, wherein The storage system include: A frame structure (100), in which a plurality of storage containers (106) can be stored; A container outlet (8) for transferring a storage container (106) from the frame structure; and a container inlet (9) for transferring a storage container into the frame structure, wherein the first conveying route (3) and the second conveying route (4) of the robot integration station (2) are operably connected to the container outlet (8) and the container inlet (9).

9. The storage system according to claim 8, comprising at least one container handling vehicle (301), and in, The frame structure (100) includes a plurality of storage columns (105) in which storage containers (106) can be stored one on top of another in the form of vertical stacks (107), and the container handling vehicle runs on a rail system (108) located at the top layer of the frame structure for removing storage containers (106) from the storage columns and storing storage containers in the storage columns and transporting storage containers horizontally across the rail system (108), and wherein the frame structure (100) includes at least one port column (119, 120) through which storage containers can be transferred between the top layer of the frame structure and a transfer position (23) at a lower layer of the frame structure (100), and the transfer position (23) is operably connected to the robot integration station (2) via the container outlet (8) and the container inlet (9).

10. The storage system according to claim 9, in, The storage system comprises a container transfer assembly (24) for transferring storage containers (106) between the transfer position (23) and the integration station (2), the container transfer assembly comprising at least one transfer conveying module (14''), the transfer conveying module being capable of accommodating a row of three storage containers and comprising a first end container section (16) and a second end container section (16') and an intermediate container section (15) arranged at the transfer position (23), each of the container sections (15, 16, 16') being arranged The transfer conveying module (14'') is configured to accommodate a single storage container (106), and the transfer conveying module (14'') includes a moving component (17, 19) and a roller conveyor (18), wherein the moving component is arranged to move the storage container (106) in a horizontal direction between any one of the end container sections (16, 16') and the intermediate container section (15), and the roller conveyor is arranged to transport the storage container in a direction perpendicular to the horizontal direction between any one of the end container sections (16, 16') and the intermediate container section (15).

11. A method of integrating items stored in a storage system, the storage system comprising a robotic integration station (2), wherein The storage system include: A frame structure (100), in which a plurality of storage containers (106) can be stored; a container outlet (8) for transferring a storage container out of the frame structure; and a container inlet (9) for transferring a storage container into the frame structure; and The consolidation station (2) comprises: a first conveying route (3) for transferring storage containers (106) containing items to be picked; a second conveying route (4) for transferring storage containers in which items are to be consolidated or already consolidated; and a robotic picking arm (5) arranged to reach the first conveying route and the second conveying route, wherein Each of the first conveying route and the second conveying route (3, 4) comprises a first end (6) and a second end (7), wherein each first end is operatively connected to the container outlet (8) and each second end is operatively connected to the container inlet (9); The first conveying route comprises a picking section (10), and the second conveying route comprises a consolidation section (11); and The method comprises the following steps: - transferring a first storage container (106') containing at least one first object from the container outlet (8) to the picking section (10) via the first conveying route (3); - transferring a second storage container (106") from the container outlet (8) to the integration section (11) via the second conveying route; and - picking at least one of the first objects from the first storage container by using the robotic picking arm (5) and adding the at least one of the first objects to the second storage container, The first end of the first conveying route (3) and the first end of the second conveying route (4) are the same first end (6) and / or the second end of the first conveying route (3) and the second end of the second conveying route (4) are the same second end (7).

12. The method according to claim 11, The following steps are involved: - transferring the first storage container (106') to the container inlet (9) via the first conveying route (3); - transferring a third storage container (106''') containing at least one second object from the container outlet (8) to the picking section (10) via the first conveying route (3); as well as - picking at least one of the second items from the third storage container (106''') by using the robot picking arm (5), and adding the at least one of the second items to the second storage container (106'').

13. The method according to claim 11 or 12, in, The first storage container (106') contains a plurality of first items, and the method comprises the following steps: - transferring a fourth storage container (106'''') from the container outlet (8) to the integration section (11) via the second conveying route (4); and - picking at least one first object from the first storage container by using the robotic picking arm (5) and adding the at least one first object to the fourth storage container.

14. A method of consolidating items stored in a storage system, the storage system comprising a robotic consolidation station (2), wherein The storage system include: A frame structure (100), in which a plurality of storage containers (106) can be stored; a container outlet (8) for transferring a storage container out of the frame structure; and a container inlet (9) for transferring a storage container into the frame structure; and The integration station (2) comprises: a first conveying route (3) for transferring storage containers (106) containing items to be picked; a second conveying route (4) for transferring storage containers in which items are to be integrated or have been integrated; and a robotic picking arm (5) arranged to reach the first conveying route and the second conveying route, wherein each of the first conveying route and the second conveying route (3, 4) comprises a first end (6) and a second end (7), wherein each first end is operatively connected to the container outlet and each second end is operatively connected to the container inlet; and the first conveying route comprises a picking section (10), and the second conveying route comprises an integration section (11); and The method comprises the following steps: - transferring a first storage container (106') containing at least one first object from the container outlet (8) to the picking section (10) via the first conveying route (3); - transferring a second storage container (106") from the container outlet (8) to the integration section (11) via the second conveying route (4), the second storage container (106") having space for at least one first object; and - picking at least one of the first items from the first storage container (106') by using the robotic picking arm (5) and adding the at least one of the first items to the second storage container (106'); and - repeating the steps of picking at least one of the first items from the first storage container (106') by using the robotic picking arm (5) and adding the at least one of the first items to the second storage container (106'') until the first storage container (106') is empty or the second storage container (106'') is full, The first end of the first conveying route (3) and the first end of the second conveying route (4) are the same first end (6) and / or the second end of the first conveying route (3) and the second end of the second conveying route (4) are the same second end (7).

15. The method according to claim 14, The following steps are involved: - when the first storage container (106') is empty, transferring the first storage container (106') to or towards the container inlet (9) via the first conveying route (3).

16. The method according to claim 15, The following steps are involved: - transferring a third storage container (106''') containing at least one first object from the container outlet (8) to the picking section (10) via the first conveying route (3); - picking at least one of the first objects from the third storage container (106''') by using the robot picking arm (5) and adding the at least one of the first objects to the second storage container (106''); and - Repeating the step of picking at least one of the first items from the third storage container (106''') by using the robot picking arm (5) and adding the at least one of the first items to the second storage container (106'') until the third storage container (106''') is empty or the second storage container (106'') is full.

17. The method according to any one of claims 14 to 16, The following steps are involved: - when the second storage container (106") is full and / or the first storage container (106') is empty, transferring the second storage container (106") to or towards the container inlet (9) via the second conveying route (3).

18. The method according to claim 17, The following steps are involved: - transferring a fourth storage container (106'''') from the container outlet (8) to the integration section (11) via the second conveying route (4), the fourth storage container (106'''') having space for at least one first object; - picking at least one first object from the first storage container (106') by using the robotic picking arm (5) and adding the at least one first object to the fourth storage container (106'''); and - Repeating the steps of picking at least one first item from the first storage container (106') by using the robotic picking arm (5) and adding the at least one first item to the fourth storage container (106''') until the first storage container (106') is empty or the fourth storage container (106'') is full.

19. The method according to claim 14, in, Before at least one of the first objects is picked from the first storage container (106') by using the robotic picking arm (5) and added to the second storage container (106'), the second storage container (106'') is empty.

20. The method according to claim 18, in, Before at least one first object is picked from the first storage container (106') by using the robotic picking arm (5) and added to the fourth storage container (106''''), the fourth storage container (106'''') is empty.

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