Remote operation vehicle with top guide and method of use thereof

Abstract

A remote operated vehicle (510; 530; 550; 560) for an automated storage and retrieval system is disclosed, wherein the automated storage and retrieval system comprises: - a horizontal base structure extending in a first direction (A) and in a second direction (T) orthogonal to the first direction (A); and - a first downwardly facing guide system horizontally arranged above the base structure and extending at least in the first direction (A), wherein the remote operated vehicle (510; 530; 550; 560) comprises: - a lower base (514a; 534a, 554a; 564a) provided with drive means configured for movement along the base structure in the first direction (A) and / or the second direction (T); and - an upper base (515a; 535a; 555a; 565a) provided with guide means configured for engagement with the first downwardly facing guide system. An automated storage and retrieval system comprising a remote operated vehicle and a method of use thereof are also disclosed.

Description

Technical Field

[0001] This invention relates to an automated storage and retrieval system for storing and retrieving containers, and more particularly to an automated storage and retrieval system having a dynamic storage grid. Background Technology

[0002] Figure 1 discloses a prior art automated storage and retrieval system 1 having a frame structure 100, and Figures 2, 3 and 4 disclose three different prior art container handling vehicles 201, 301 and 401 suitable for operation on such system 1.

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

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged across the top of the frame structure 100, on which multiple container handling vehicles 201, 301, 401 can be operated to raise and lower storage containers 106 from storage columns 105 into the storage columns, and also to transport storage containers 106 above the storage columns 105. The track system 108 includes a first set of parallel tracks 110 arranged to guide the container handling vehicles 201, 301, 401 along a first direction X across the top of the frame structure 100, and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 201, 301, 401 along a second direction Y perpendicular to the first direction X. Containers 106 stored in columns 105 are accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the track system 108. Container handling vehicles 201, 301, and 401 can move laterally above storage column 105, that is, in a plane parallel to the horizontal XY plane.

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

[0006] Each prior art container handling vehicle 201, 301, 401 includes a body 201a, 301a, 401a, and a first set of wheels 201b, 301b, 401b and a second set of wheels 201c, 301c, 401c, which respectively enable the container handling vehicle 201, 301, 401 to move laterally in the X and Y directions. In Figures 2, 3, and 4, two wheels in each set are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent tracks in the first set of tracks 110, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent tracks in the second set of tracks 111. At least one of these sets of wheels 201b, 301b, 401b, 201c, 301c, 401c can be raised and lowered such that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can engage with the corresponding set of tracks 110, 111 at any given time.

[0007] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device for vertically transporting the storage container 106, such as raising the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column. The lifting device includes one or more clamping / engaging devices adapted to engage the storage container 106, and these clamping / engaging devices are lowerable from the vehicles 201, 301, 401 such that the position of the clamping / engaging devices relative to the vehicles 201, 301, 401 is adjustable in a third direction Z orthogonal to the first direction X and the second direction Y. Parts of the clamping devices of the container handling vehicles 301, 401 are shown in Figures 3 and 4 by reference numerals 304, 404. The clamping devices of the container handling device 201 are located within the vehicle body 201a in Figure 2 and are therefore not shown.

[0008] Typically, and for the purposes of this application, Z=1 represents the uppermost layer of storage containers available below tracks 110, 111, i.e., the layer directly below track system 108; Z=2 represents the second layer below track system 108; Z=3 represents the third layer, and so on. In the exemplary prior art disclosed in FIG1, Z=8 represents the lowest layer of storage containers. Similarly, X=1…n and Y=1…n represent the position of each storage column 105 in the horizontal plane. Thus, as an embodiment, and using the Cartesian coordinate system X, Y, Z indicated in FIG1, the storage container identified as 106' in FIG1 can be said to occupy storage position X=17, Y=1, Z=6. Container transport vehicles 201, 301, 401 can be said to travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. Therefore, the storage containers extending above track system 108 shown in FIG1 can also be said to be arranged in layer Z=0.

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

[0010] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or space for receiving and loading the storage container 106 when transporting it across the track system 108. The storage space may include a cavity centrally arranged within the vehicle body 201a, 401a, as shown in Figures 2 and 4, and as described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

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

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

[0013] Alternatively, the cavity container transport vehicle 401 may have a coverage area greater than the lateral area defined by the storage column 105, as shown in Figures 1 and 4, for example, as disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] Track system 108 typically includes tracks with grooves in which the wheels of a vehicle run. Alternatively, the tracks may include upwardly projecting elements, with the wheels of the vehicle including flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track may include one guide rail, or each track 110, 111 may include two parallel guide rails. In other track systems 108, each track in one direction (e.g., the X direction) may include one guide rail, and each track in another perpendicular direction (e.g., the Y direction) may include two guide rails. Each track 110, 111 may also include two guide rail members fastened together, each guide rail member providing one of the pair of guide rails provided by each track.

[0015] The contents of WO2018 / 146304A1, which is incorporated herein by reference, show a typical construction of the track system 108, which includes a track and parallel guide rails in the X and Y directions.

[0016] In frame structure 100, most columns 105 are storage columns 105, i.e., columns 105 in which storage containers 106 are stored in the form of stacks 107. However, some columns 105 may serve other purposes. In Figure 1, columns 119 and 120 are such dedicated columns used by container handling vehicles 201, 301, 401 to drop and / or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside frame structure 100, or transferred out of or into frame structure 100. In the art, such a location is commonly referred to as a “port,” and the columns where the ports are located may be referred to as “port columns” 119, 120. Transport to the access station can be in any direction, i.e., horizontal, inclined, and / or vertical. For example, storage container 106 can be placed in random or dedicated columns 105 within frame structure 100, and then picked up by any container handling vehicle and transported to port columns 119, 120 for further transport to the retrieval station. Transport from the port to the retrieval station may require movement in various different directions via means such as transport vehicles, trolleys, or other transport pipelines. It should be noted that the term "inclined" implies transport of storage container 106 with a general transport direction somewhere between horizontal and vertical.

[0017] In Figure 1, the first port column 119 may be a dedicated unloading port column, where container handling vehicles 201, 301, and 401 can unload the storage container 106 to be transported to the storage station or transfer station, and the second port column 120 may be a dedicated pickup port column, where container handling vehicles 201, 301, and 401 can pick up the storage container 106 that has been transported from the storage station or transfer station.

[0018] The retrieval station can typically be a pick-up station or a storage station, where product items are removed from or positioned within the storage container 106. At the pick-up station or storage station, the storage container 106 is not typically removed from the automated storage and retrieval system 1, but rather returned to the frame structure 100 after retrieval. The port can also be used to transfer the storage container to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

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

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

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

[0022] When access is required for a storage container 106 stored in a column 105 shown in Figure 1, one of the container handling vehicles 201, 301, and 401 is instructed to remove the target storage container 106 from its position and transport it to the unloading port column 119. This operation includes moving the container handling vehicles 201, 301, and 401 to a position above the storage column 105 where the target storage container 106 is located, removing the storage container 106 from the storage column 105 using the lifting device (not shown) of the container handling vehicles 201, 301, and 401, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, the operation also includes temporarily moving the storage containers located above the target storage container 106 before lifting the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as "digging," can be performed using the same container handling vehicle subsequently used to transport the target storage container to unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 specifically for the task of temporarily removing storage container 106 from storage column 105. After the target storage container 106 has been removed from storage column 105, the temporarily removed storage container 106 can be repositioned back into the original storage column 105. However, the removed storage container 106 can alternatively be repositioned to another storage column 105.

[0023] When storage container 106 is to be stored in a column 105, one of the container handling vehicles 201, 301, and 401 is instructed to pick up storage container 106 from pick-up port column 120 and transport it to the storage location above storage column 105 where the storage container will be stored. After any storage container 106 located at or above the target location within stack 107 has been removed, container handling vehicles 201, 301, and 401 position the storage container 106 in the desired location. The removed storage container 106 can then be lowered back into storage column 105 or repositioned to another storage column 105.

[0024] In order to monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of the respective storage containers 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container transport vehicles 201, 301, 401, so that the desired storage container 106 can be delivered to the desired location at the desired time, and the multiple container transport vehicles 201, 301, 401 do not collide with each other, the automated storage and retrieval system 1 includes a control system 600, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0025] Teleoperated vehicles used in existing automated storage and retrieval systems may be prone to tilting, especially when the teleoperated vehicle is operating at high speed and undergoing sudden acceleration, or when the teleoperated vehicle is high or has a high center of gravity.

[0026] Therefore, the object of the present invention is to provide a remotely operated vehicle with reduced tilt risk. Summary of the Invention

[0027] The invention is set forth and its features are shown in the independent claims, while other features of the invention are described in the dependent claims.

[0028] This invention relates to a remotely operated vehicle for an automated storage and retrieval system, wherein the automated storage and retrieval system includes:

[0029] -A horizontal base structure extending in a first direction X and a second direction Y orthogonal to the first direction X;

[0030] - A first downward-facing guidance system, which is horizontally arranged and positioned above the base structure and extends at least in a first direction X, and

[0031] Remotely operated vehicles include:

[0032] - A lower base, provided with a driving mechanism configured to move along the base structure in a first direction X and / or a second direction Y; and

[0033] - The upper base is provided with a guide device configured to engage with a first downward-facing guide system.

[0034] The advantage of this invention is that the remotely operated vehicle can maintain its operation even when the automated storage and retrieval system is exposed to external factors that cause the remotely operated vehicle to experience vibration, swaying, tilting, rising, or falling. Therefore, the automated storage and retrieval system is better suited for earthquake-prone locations. Consequently, the automated storage and retrieval system is better suited for shipboard and offshore facilities.

[0035] The advantage of this invention is that it prevents remotely operated vehicles from tilting. This can be particularly relevant for taller remotely operated vehicles, high-speed remotely operated vehicles, and remotely operated vehicles with a high center of gravity.

[0036] When the guiding device engages with the first-facing downward guiding system, it can guide the remotely operated vehicle to increase its positioning accuracy in the first direction X and / or the second direction Y.

[0037] Remotely operated vehicles can be storage towers, cantilever container handling vehicles, or container handling vehicles with cavities for receiving cargo holdings.

[0038] If the remotely operated vehicle is a storage tower, it may include any of the features of a storage tower disclosed herein.

[0039] If the remotely operated vehicle is a cantilever container handling vehicle or a container handling vehicle having a cavity for receiving cargo holdings, the remotely operated vehicle may also include a lifting device for lifting the cargo holdings.

[0040] A downward-facing guidance system can be a continuous surface, such as the upper inner surface of a warehouse, like a ceiling.

[0041] The downward-facing guide system can be provided with grooves.

[0042] The base structure can be a continuous surface, such as the lower inner surface of a warehouse, like a floor.

[0043] The guiding device can be one or more sliding surfaces, wheels, or ball wheels. Therefore, the upper base can be the upper wheel base.

[0044] The upper base may be provided with a guiding device configured to guide along the downward-facing guiding system in a first direction X and / or a second direction Y.

[0045] The driving component can be a wheel or a belt. Therefore, the lower base can be the lower wheel base.

[0046] The lower base may be provided with a drive mechanism configured to move along the base structure in a first direction X and / or a second direction Y.

[0047] The lower base and the upper base can rotate relative to each other. Then, when the upper base is stationary, for example when the guide device is engaged with the first-facing downward guide system, the lower base can rotate. Rotation can be achieved by operating the drive mechanism and / or by providing a driven slewing device for a remotely operated vehicle, similar to that known from excavators.

[0048] In one aspect, power is provided to the drive mechanism to move a remotely operated vehicle in a first direction X and / or a second direction Y.

[0049] The remotely operated vehicle may include a controller. The controller may preferably be configured to control the movement of the remotely operated vehicle. The controller may be configured to communicate with the controller of an automated storage and retrieval system.

[0050] In one aspect, the drive mechanism includes a first set of lower wheels oriented in a first direction X.

[0051] In one aspect, the drive mechanism includes a second set of lower wheels oriented in the second direction Y.

[0052] In one aspect, remotely operating a vehicle includes:

[0053] - A lower wheel lifting device configured to engage and disengage a first set of lower wheels and a second set of lower wheels from the base structure of the remotely operated vehicle supporting the automatic storage and retrieval system.

[0054] The base structure may be a warehouse floor or a second upward-facing track system, which includes a third set of parallel tracks arranged in a horizontal plane and extending in a first direction X, and a fourth set of parallel tracks arranged in a horizontal plane and extending in a second direction Y orthogonal to the first direction.

[0055] The lower wheel lifting device can be, for example, of the type disclosed in WO2019137866. The lower wheel lifting device can operate the first set of lower wheels and the second set of lower wheels independently.

[0056] In one aspect, the downward-facing guidance system includes a first downward-facing track system comprising a first set of parallel downward-facing tracks arranged in a horizontal plane and extending in a first direction X, and a second set of parallel downward-facing tracks arranged in a horizontal plane and extending in a second direction Y.

[0057] The first downward-facing track system can be arranged on the underside of the first upward-facing track system for use with another remotely operated vehicle.

[0058] The first downward-facing track system is preferably configured to guide remotely operated vehicles in the first direction X and the second direction Y.

[0059] In one aspect, the remotely operated vehicle is configured to at least partially support the weight of the first-facing-downward-oriented track system when engaged with it.

[0060] While supporting the downward-facing track system, a downward-pointing force will be applied to the remotely operated vehicle. This force will help stabilize the remotely operated vehicle and thus prevent it from tilting.

[0061] The first downward-facing track system can be arranged below the first upward-facing track system for use by another remotely operated vehicle. In this case, the multiple remotely operated vehicles are preferably configured to support the combined weight of the first downward-facing track system, the first upward-facing track system, and other remotely operated vehicles operating on the first upward-facing track system.

[0062] The advantage of this invention is that if the first-facing-downward track system is arranged below the first-facing-upward track system, the remotely operated vehicle, particularly a remotely operated vehicle in the form of a storage tower, can bear some of the weight of the first-facing-upward track system. Therefore, the number of upright members required to support the first-facing-upward track system can be reduced.

[0063] In one aspect, the guiding device includes a first set of upper wheels oriented in a first direction X.

[0064] The first set of upper wheels oriented in the first direction X will typically engage with the first set of parallel, downward-facing tracks extending in the first direction X.

[0065] The first set of lower wheels can preferably be arranged vertically aligned with the first set of upper wheels. The first set of lower wheels can then engage with a first set of parallel tracks of another track system (e.g., a first-facing upward track system or a second-facing upward track system described below), wherein this first set of parallel tracks extends in a first direction X and is vertically aligned with the first set of parallel downward-facing tracks. The axles of the first set of lower wheels and the axles of the first set of upper wheels can be arranged vertically aligned. However, this is not a requirement that the first set of lower wheels and the first set of upper wheels engage with their respective track sets simultaneously. Alternatively, the axles of the first set of lower wheels and the axles of the first set of upper wheels can be arranged at different intervals.

[0066] In one aspect, power is supplied to the first set of upper wheels to move the remotely operated vehicle in the first direction X.

[0067] In one aspect, the guiding device includes a second set of upper wheels oriented in the second direction Y.

[0068] The second set of upper wheels, oriented in the second direction Y, will typically engage with the second set of parallel, downward-facing tracks extending in the second direction Y.

[0069] The second set of lower wheels can preferably be arranged vertically aligned with the second set of upper wheels. The second set of lower wheels can then engage with a second set of parallel tracks of another track system (e.g., the first or second track system described below), wherein this second set of parallel tracks extends in the second direction Y and is vertically aligned with the downward-facing parallel tracks of the second set. The axles of the second set of lower wheels and the axles of the second set of upper wheels can be arranged vertically aligned. However, this is not a requirement that the second set of lower wheels and the second set of upper wheels engage simultaneously with their respective track sets. Alternatively, the axles of the second set of lower wheels and the axles of the second set of upper wheels can be arranged at different intervals.

[0070] In one aspect, power is supplied to the upper wheels of the second set to move the remotely operated vehicle in the second direction Y.

[0071] One set of upper wheels and one set of lower wheels can be powered by motors respectively.

[0072] In one aspect, remotely operating a vehicle includes:

[0073] - Upper wheel lifting device, configured to engage and disengage the first set of upper wheels and the second set of upper wheels from the first downward-facing track system.

[0074] The upper wheel lifting device can be, for example, of the type disclosed in WO2019137866. The upper wheel lifting device can operate the first set of upper wheels and the second set of upper wheels independently.

[0075] The controller can preferably be configured to control the lower wheel lifting device and the upper wheel lifting device.

[0076] Alternatively, the first set of lower wheels and the first set of upper wheels can be engaged and disengaged via the first wheel lifting device; and the second set of lower wheels and the second set of upper wheels can be engaged and disengaged via the second wheel lifting device.

[0077] Alternatively, each lower wheel and each upper wheel can be operated by multiple wheel lifting devices, for example, two wheel lifting devices per group.

[0078] In one aspect, the upper wheel lifting device and the lower wheel lifting device are configured as follows:

[0079] - To engage the first set of lower wheels and the first set of upper wheels simultaneously, while disengaging the second set of lower wheels and the second set of upper wheels simultaneously, and

[0080] - Engage the second set of lower wheels and the second set of upper wheels simultaneously, while disengaging the first set of lower wheels and the first set of upper wheels simultaneously.

[0081] The first and second sets of upper wheels can engage with the downward-facing track system by raising the wheels. Similarly, the first and second sets of upper wheels can disengage from the downward-facing track system by lowering the wheels.

[0082] The present invention also relates to an automatic storage and retrieval system, wherein the automatic storage and retrieval system comprises:

[0083] - At least one remotely operated vehicle according to any one of the preceding claims;

[0084] -A horizontal base structure extending in a first direction and a second direction orthogonal to the first direction;

[0085] - A first downward-facing guidance system, which is horizontally arranged, positioned above the base structure, and extends at least in a first direction;

[0086] - Storage segment, located below the first downward-facing boot system; and

[0087] - Multiple cargo holding pieces for storage in the storage section.

[0088] The automated storage and retrieval system may include a controller configured to communicate wirelessly with a controller of a remotely operated vehicle.

[0089] In one aspect, the first downward guiding system is a first downward track system comprising a first set of parallel downward-facing tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel downward-facing tracks arranged in a horizontal plane and extending in a second direction orthogonal to the first direction.

[0090] In one aspect, the horizontal base structure is a first-plane-upward orbital system, including:

[0091] - A first set of parallel, upward-facing tracks, arranged in a horizontal plane and extending in the first direction X; and

[0092] - A second set of parallel, upward-facing tracks are arranged in a horizontal plane and extend in a second direction Y, orthogonal to the first direction X.

[0093] Each remotely operated vehicle is configured to move along a track system that faces upwards from the first direction.

[0094] A track system with the first surface facing upwards can typically be supported by upright members.

[0095] In one aspect, the automated storage and retrieval system includes:

[0096] - A first upward-facing track system for another remotely operated vehicle, the first upward-facing track system comprising a first set of parallel upward-facing tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel downward-facing tracks arranged in a horizontal plane and extending in a second direction orthogonal to the first direction, and

[0097] The first downward-facing track system is arranged below the first upward-facing track system.

[0098] The horizontal base structure is a second upward-facing track system, which includes a third set of parallel upward-facing tracks arranged in the horizontal plane and extending in a first direction, and a fourth set of parallel upward-facing tracks arranged in the horizontal plane and extending in a second direction orthogonal to the first direction.

[0099] Each remotely operated vehicle is configured to move along a second-facing upward-facing track system.

[0100] The second-facing upward track system can typically be laid on the warehouse floor or supported by upright components.

[0101] Automated storage and retrieval systems may include a second-facing downward-facing track system. For example, an automated storage and retrieval system may include a storage tower and a container transport vehicle, wherein the storage tower includes upper wheel bases having a first set of upper wheels and a second set of upper wheels configured to engage with a first-facing downward-facing track system, and the container transport vehicle includes upper wheel bases having a first set of upper wheels and a second set of upper wheels configured to engage with a second-facing downward-facing track system. The container transport vehicle is generally movable along the first-facing upward-facing track system. If present, the storage tower is generally movable along the second-facing upward-facing track system.

[0102] In one aspect, the third set of parallel, upward-facing tracks is vertically aligned with the first set of parallel, downward-facing tracks of the first downward-facing track system, and the fourth set of parallel, upward-facing tracks is vertically aligned with the second set of parallel, downward-facing tracks of the first downward-facing track system.

[0103] Alternatively, the tracks of the second upward-facing track system may have a different spacing than the tracks of the first downward-facing track system.

[0104] In one aspect, the first set of parallel, upward-facing tracks is vertically aligned with the first set of parallel, downward-facing tracks of the first downward-facing track system, and the second set of parallel, upward-facing tracks is vertically aligned with the second set of parallel, downward-facing tracks of the first downward-facing track system.

[0105] Alternatively, the tracks of the first upward-facing track system may have a different spacing than the tracks of the first downward-facing track system.

[0106] The present invention also relates to a method for operating a remotely operated vehicle in an automated storage and retrieval system, the automated storage and retrieval system comprising a first downward-facing track system, wherein the first downward-facing track system comprises components arranged on a horizontal plane P.H The first set of parallel, downward-facing tracks extending in the first direction X and arranged in the horizontal plane P H A second set of parallel, downward-facing tracks extending in a second direction Y, orthogonal to the first direction X.

[0107] The remotely operated vehicle refers to the remotely operated vehicle as described in this article.

[0108] The method includes the following steps:

[0109] - To engage the first set of upper wheels with the first downward-facing track system.

[0110] - To engage the first set of lower wheels with the base structure of the automatic storage and retrieval system, and

[0111] - Move the remotely operated vehicle in the first direction X.

[0112] The base structure of the automated storage and retrieval system can be a warehouse floor or a track system with the first and second surfaces facing upwards, or a track system with the second surface facing upwards.

[0113] In one aspect, the method further includes the following steps:

[0114] - To engage the second set of upper wheels with the first downward-facing track system.

[0115] - To engage the second set of lower wheels with the base structure of the automatic storage and retrieval system.

[0116] - This causes the first set of upper wheels to disengage from the first downward-facing track system.

[0117] -Disengage the first set of lower wheels from the base structure of the automatic storage and retrieval system, and

[0118] - Move the remotely operated vehicle in the second direction Y.

[0119] In one aspect, the automated storage and retrieval system includes multiple remotely operated vehicles configured to at least partially support the weight of the first-facing-downward-oriented track system when engaged with it.

[0120] The method includes the following steps:

[0121] - Operate multiple remotely operated vehicles such that at any given time at least one remotely operated vehicle engages with the first-facing downward-facing track system.

[0122] The first downward-facing track system can be arranged below the first upward-facing track system for use with another remotely operated vehicle. In this case, the multiple remotely operated vehicles are preferably configured to support the combined weight of the first downward-facing track system, the first upward-facing track system, and other remotely operated vehicles operating on the first upward-facing track system.

[0123] In one aspect, the remotely operated vehicle is configured to at least partially support the weight of the first downward-facing track system when engaged with it.

[0124] The method includes the following steps:

[0125] - Operate remotely to control the vehicle, enabling

[0126] At any given time, at least one of the first and second upper wheels engages with the first downward-facing track system, and

[0127] At any given time, at least one of the first and second lower wheels engages with the first downward-facing track system.

[0128] In one aspect, the automated storage and retrieval system includes a controller for controlling the movement of multiple remotely operated vehicles.

[0129] The storage segment of the automatic storage and retrieval system is divided into sub-segments.

[0130] The method includes the following steps:

[0131] - Control the movement of multiple remotely operated vehicles such that at any given time there is at least one container transport vehicle in each segment.

[0132] The number of subsegments will typically depend on the size of the storage segment.

[0133] The present invention also relates to the use of a remotely operated vehicle as described herein for at least partially supporting a first-facing downward-facing track system.

[0134] The present invention also relates to the use of a remotely operated vehicle as described herein for at least partially supporting a first upward-facing track system, wherein a first downward-facing track system is arranged on the underside of the first upward-facing track system. Attached Figure Description

[0135] The following figures are provided to aid in understanding the present invention. The figures illustrate embodiments of the invention, which will now be described by way of example only, in which:

[0136] Figure 1 is a perspective view of the framework structure of a prior art automatic storage and retrieval system;

[0137] Figure 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0138] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever for supporting storage containers below.

[0139] Figure 4 is a perspective view of a prior art container handling vehicle from below, which has an internal cavity for carrying storage containers therein.

[0140] Figure 5 This is a 3D view of a lifting device used in container handling vehicles;

[0141] Figure 6 It is a perspective view of an automated storage and retrieval system, in which container transport vehicles can move along a track system and storage towers can move along a drive surface in the form of a floor;

[0142] Figure 7 It is a perspective view of an automated storage and retrieval system, wherein a container transport vehicle can move along a track system with the first surface facing upward, and a storage tower can move along a drive surface in the form of a track system with the second surface facing upward;

[0143] Figure 8 yes Figure 6 The side view shown is of the automatic storage and retrieval system.

[0144] Figure 9 This is a perspective view of a part of an automated storage and retrieval system, wherein the storage tower includes an upper wheel configured to engage with a first downward-facing track system disposed on the lower side of a first upward-facing track system on which a container transport vehicle can move.

[0145] Figure 10 This is a perspective view of a storage tower, which includes a base and a first set of lower wheels and a second set of lower wheels. Both sets of lower wheels are arranged on the lower base and configured to allow the storage tower to move in the first direction X and the second direction Y.

[0146] Figure 11a It is a perspective view of a storage tower and a shifting device, wherein the shifting device is housed in the base of the storage tower and configured to move the storage tower in at least one of a first direction X and a second direction Y;

[0147] Figure 11b yes Figure 11a A perspective view of the storage tower and the shifting device, wherein the shifting device is located next to the storage tower;

[0148] Figure 12a yes Figure 11a First side view of the storage tower and mobile device;

[0149] Figure 12b yes Figure 11a Second side view of the storage tower and mobile device;

[0150] Figure 13 It is a perspective view of two storage towers working in collaboration with a climbing robot and a remotely operated transport vehicle, with the climbing robot located in the column gaps and the remotely operated transport vehicle located below the track system facing upwards on the second side;

[0151] Figure 14 This is a three-dimensional diagram of the storage tower, whose coverage area corresponds to the regions of two units in a track system;

[0152] Figure 15 This is a perspective view of an automated storage and retrieval system according to the present invention, which is connected to a prior art automated storage and retrieval system;

[0153] Figure 16 This is a perspective view of a remotely operated vehicle in the form of a storage tower. The remotely operated vehicle includes a lower wheel base and an upper wheel base. The lower wheel base is provided with a first set of lower wheels oriented in a first direction X and a second set of lower wheels oriented in a second direction Y. The upper wheel base is provided with a first set of upper wheels oriented in the first direction X and a second set of upper wheels oriented in the second direction Y. The first set of upper wheels and the second set of upper wheels are configured to engage with a track system facing downwards.

[0154] Figure 17 This is a side view of a remotely operated vehicle in the form of a cantilever container handling vehicle. The remotely operated vehicle includes a lower wheel base and an upper wheel base. The lower wheel base is provided with a first set of lower wheels oriented in a first direction X and a second set of lower wheels oriented in a second direction Y. The upper wheel base is provided with a first set of upper wheels oriented in the first direction X and a second set of upper wheels oriented in the second direction Y. The first set of upper wheels and the second set of upper wheels are configured to engage with a track system facing downwards.

[0155] Figure 18a This is a side view of a remotely operated vehicle in the form of a cantilever container handling vehicle, the remotely operated vehicle having: a first set of lower wheels that are lowered to engage with a first upward-facing track system; a second set of lower wheels that are raised to disengage from the first upward-facing track system; a first set of upper wheels that are raised to engage with a first downward-facing track system; and a second set of upper wheels that are lowered to disengage from the first downward-facing track system.

[0156] Figure 18bThis is a side view of a remotely operated vehicle in the form of a cantilever container handling vehicle, the remotely operated vehicle having: a first set of lower wheels that are raised to disengage from a first upward-facing track system; a second set of lower wheels that are lowered to engage with the first upward-facing track system; a first set of upper wheels that are lowered to disengage from a first downward-facing track system; and a second set of upper wheels that are raised to engage with the first downward-facing track system.

[0157] Figure 19a It is a side view of a remotely operated vehicle in the form of a container transport vehicle with a cavity, the remotely operated vehicle having: a first set of lower wheels that are lowered to engage with a first upward-facing track system; a second set of lower wheels that are raised to disengage from the first upward-facing track system; a first set of upper wheels that are raised to engage with a first downward-facing track system; and a second set of upper wheels that are lowered to disengage from the first downward-facing track system.

[0158] Figure 19b It is a side view of a remotely operated vehicle in the form of a container transport vehicle with cavities, the remotely operated vehicle having: a first set of lower wheels that are raised to disengage from a first upward-facing track system; a second set of lower wheels that are lowered to engage with the first upward-facing track system; a first set of upper wheels that are lowered to disengage from a first downward-facing track system; and a second set of upper wheels that are raised to engage with the first downward-facing track system.

[0159] Figure 20 This is a perspective view of a remotely operated transport vehicle (AGV) in the form of an autonomous guided vehicle, comprising: a cargo holding support; a first set of upper wheels raised to engage with a first-facing downward-facing track system; a second set of upper wheels lowered to disengage from the first-facing downward-facing track system; a first set of lower wheels for engaging with the base structure of a storage and retrieval system; and a second set of lower wheels pivotally arranged to engage with the base structure of the storage and retrieval system; and

[0160] Figure 21 yes Figure 20 A side view of the remotely operated delivery vehicle. Detailed Implementation

[0161] In the following, embodiments of the invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the invention to the subject matter depicted therein.

[0162] The frame structure 100 of the automatic storage and retrieval system 1 is constructed in a manner similar to the prior art frame structure 100 described above in conjunction with Figures 1 to 3. That is, the frame structure 100 includes a plurality of upright members 102 and includes a first track system 108 extending in the upper part in the X and Y directions.

[0163] The frame structure 100 also includes storage compartments arranged in the form of storage columns 105 between the members 102, wherein storage containers 106 can be stacked in the storage columns 105 in the form of stacks 107.

[0164] The frame structure 100 can be of any size. In particular, it should be understood that the frame structure can be much wider and / or much longer and / or much deeper than disclosed in Figure 1. For example, the frame structure 100 can have a horizontal range of more than 700 × 700 columns and a storage depth of more than twelve containers.

[0165] An embodiment of the automatic storage and retrieval system according to the invention will now be discussed in more detail with reference to the accompanying drawings.

[0166] Figure 5 A perspective view of a lifting device 14 for container handling vehicles 201, 301, and 401 is shown. The lifting device 14 includes a telescopic portion 19 that allows the lifting device 14 to extend laterally horizontally relative to its base portion 17 in a second direction Y (as shown), in a first direction X, or in both the first direction X and the second direction Y. Figure 5 In this configuration, the telescopic portion 19 extends to one side of the base portion 17 in the second direction Y. The telescopic portion 19 may also extend to the other side of the base portion 17.

[0167] The lifting device 14 may include a lifting belt 18, which is connected at a first end to the base portion 17 and at a second end to the container handling vehicles 201, 301, 401. The lifting belt 18 allows the lifting device to move vertically in the third direction Z (i.e., vertical movement).

[0168] The lifting device 14 may include a gripper 20 for gripping cargo holding parts.

[0169] When the lifting device 14 carries a cargo holder (e.g., storage container 106), extending the telescopic portion will move the carried cargo holder relative to the base portion 17.

[0170] When the lifting device 14 is lowered into port rows 119, 120 or row gap 522, extending the telescopic portion 19 allows the carried cargo holder and a portion of the telescopic portion 19 to move to an adjacent storage location. The lifting device 14 can thus be accessed laterally through the side opening 516 of the storage tower 510.

[0171] Therefore, the lifting device 14 can be used to store and / or retrieve goods holdings in the storage tower 510 via adjacent column gaps 522.

[0172] Figure 6This is a perspective view of the automatic storage and retrieval system of the present invention. The automatic storage and retrieval system includes a first track system 700 and a storage section 130 located below the first track system 700.

[0173] The first track system 700 includes tracks arranged on the horizontal plane P. H The first set of parallel tracks 710 extending in the first direction X and arranged in the horizontal plane P H A second set of parallel tracks 711 extends in a second direction Y, which is orthogonal to the first direction X. The first set of parallel tracks 710 and the second set of parallel tracks 711 are in the horizontal plane P. H A grid consisting of multiple adjacent cells 122 is formed in the storage section 130. Each cell (122) includes an access opening (112). Storage locations in the storage section 130 can be accessed through the access opening 112 of the first track system 700.

[0174] Storage section 130 includes a plurality of storage towers 510. The storage towers 510 are configured to store cargo holdings and to move in at least one of a first direction X and a second direction Y. Figure 6 In this configuration, storage tower 510 can move along a drive surface in the form of a warehouse floor. Each storage tower 510 can move independently or as a group.

[0175] These multiple storage towers 510 will typically be arranged side-by-side to form a grid corresponding to the first track system 700 described above. Figure 6 In this configuration, each storage tower 510 has a coverage area corresponding to the region of a cell 122. Therefore, the grid of the storage tower 510 can be vertically aligned with the grid of the first track system 700.

[0176] Storage section 130 includes at least one column gap 522 defined by the space between two or more of a plurality of storage towers 510. The coverage area of ​​the at least one column gap 522 generally corresponds to the area of ​​at least one cell 122.

[0177] By moving one or more of the storage towers 510 in the first direction X and / or the second direction Y, the at least one column gap 522 can be repositioned within the storage section 130 to be vertically aligned with the different access openings 112.

[0178] Figure 6 The automated storage and retrieval system shown also includes multiple cargo holders. These cargo holders can be stored in storage towers 510 arranged in storage section 130. Each storage tower 510 is preferably configured to store multiple cargo holders.

[0179] Figure 6The automated storage and retrieval system shown also includes a container transport vehicle 301, which includes a lifting device 304 for raising cargo holdings. The container transport vehicle 301 also includes a drive mechanism configured to drive the container transport vehicle 301 along a first track system 700 in at least one of a first direction X and a second direction Y.

[0180] Each storage tower 510 may include a drive mechanism configured to drive the storage tower 510 along a drive surface in at least one of a first direction X and a second direction Y.

[0181] The system may also include a control system 500 configured to monitor and control the movement of the plurality of storage towers 510. The same control system 500 may also be configured to monitor and control the movement of the container handling vehicle 301 and any other remotely operated vehicles or robots used in conjunction with the automated storage and retrieval system.

[0182] One or more column gaps 522 can be repositioned within storage segment 130 by moving one or more storage towers 510 in a first direction X and / or a second direction Y. A column gap 522 is preferably vertically aligned with a cell 122 (which also aligns it vertically with an access opening 112). If all storage towers 510 have coverage areas corresponding to the area of ​​a cell 122 and are all vertically aligned with different cells 122, then the column gap 522 will be vertically aligned with an access opening 112. A column gap 522 may be vertically aligned with multiple cells 122 (which also aligns it vertically with multiple access openings 112). Multiple individual column gaps 522 may be separated by storage towers 510 within the same storage segment 130.

[0183] Each column gap 522 can have a coverage area corresponding to the region of n units 122, where n is an integer of 1 or greater.

[0184] exist Figure 6 In the diagram, the column gap 522 shown has a coverage area corresponding to two units 122 (which may be referred to as a 1×2 coverage area).

[0185] exist Figure 6 In this context, each of the storage towers 510 shown has a coverage area corresponding to a unit 122 (which may be referred to as a 1×1 coverage area).

[0186] Figure 6 The column gap 522 has a 1×2 coverage area and is vertically aligned with the two cells 122, and therefore also vertically aligned with the two access openings 112. This column gap 522 can be considered as a single column gap 522 with a 1×2 coverage area, or alternatively as two adjacent column gaps 522 with a 1×1 coverage area.

[0187] By moving a storage tower 510 with a 1×1 coverage area into a column gap 522 with a 1×2 coverage area, the column gap 522 will be divided into two column gaps 522, each column gap having a 1×1 coverage area.

[0188] By using two storage towers 510 with a 1×1 coverage area (or alternatively, as shown in the image) Figure 14 As shown, a storage tower 510 with a 1×2 coverage area is moved into a column gap 522 with a 1×2 coverage area, and the entire column gap 522 will be repositioned.

[0189] if Figure 6 The column gaps 522 are considered to be two adjacent column gaps 522. By moving a storage tower 510 with a 1×1 coverage area into a column gap 522 with a 1×1 coverage area, the column gap 522 will be repositioned, and the other column gap 522 will remain in the same position as before. The repositioned column gap 522 will occupy the previous position of the moved storage tower 510.

[0190] In this way, column gap 522 can be repositioned to the desired location in storage segment 130.

[0191] When cargo holdings are to be stored laterally in and / or retrieved from the target storage tower 510, a gap column 522 can be repositioned to either side of the target storage tower 510. The container handling vehicle 301 can then be moved to a unit 122 vertically aligned with that gap column 522, such as... Figure 6 As shown. The lifting device 304 can then enter the column gap 522 through the access opening 112 in the unit 122. The cargo holding item can then be stored in and / or retrieved from the storage tower 510 through the side opening 516 in the storage tower 510.

[0192] In this way, storage tower 510 can also be repositioned to the desired location in storage section 130.

[0193] If one or more storage towers 510 are to be transferred to another part of the automated storage and retrieval system outside storage section 130, or are to be assembled for transport outside the automated storage and retrieval system, then one or more storage towers 510 may preferably be repositioned to a part of storage section 130 in which they are easily accessible and permitted to leave storage section 130. This will typically be at the outermost location along the perimeter of storage section 130.

[0194] exist Figure 6In this configuration, all storage towers 510 are positioned along the perimeter of storage section 130. This is partly because storage section 130 has a coverage area (3×3 coverage area) corresponding to the size of nine cells 122. If the coverage area were larger, storage towers 510 positioned closer to the center of storage section 130 would generally be less accessible than those positioned closer to the perimeter.

[0195] Storage tower 510 can be moved out of storage section 130 by an operator or remotely.

[0196] Figure 6 The size and shape of storage segment 130 are for illustrative purposes only. Any other size may be used. Storage segment 130 will generally be larger and does not necessarily have the same number of cells 122 in the first direction X as it does in the second direction Y.

[0197] Storage tower 510 can also be repositioned within storage section 130 to form column gaps 522 that provide access to storage section 130 from the outside. This will allow human pickers or remotely operated vehicles / robots to move along the same drive surface as storage tower 510 to access storage section 130 and thus approach the goods held in storage tower 510 in the adjacent aisle (i.e., the column gaps 522 that provide the aisle).

[0198] exist Figure 6 In this structure, a channel is formed from the outside of storage section 130 into storage section 130. The channel has a coverage area corresponding to the area of ​​the two units 122 and provides lateral access to five adjacent storage towers 510.

[0199] Goods holding items can also be stored in and / or retrieved from storage tower 510 from above. Container handling vehicle 301 can then move to unit 122, which is vertically aligned with the target storage tower 510. Lifting device 304 can then enter the storage tower via access opening 112 in unit 122. Goods holding items can then be stored in and / or retrieved from storage tower 510 via top opening 518 (e.g., Figure 9 (As shown). This will allow at least one cargo holding to be stored and / or retrieved from above. It is conceivable that multiple cargo holdings can also be stored and / or retrieved from above through the top opening 518 of each storage tower 510.

[0200] Figure 7 This is a perspective view of the automatic storage and retrieval system of the present invention. Figure 7 The automated storage and retrieval system may include Figure 6 All features of the automatic storage and retrieval system.

[0201] and Figure 6Unlike automatic storage and retrieval systems, Figure 7 The automated storage and retrieval system also includes a second track system 800. The first track system 700, on which the storage container transport vehicle 301 moves, can be considered the first track system 700. The first track system 700 is arranged on a first horizontal plane P above the storage section 130. H The second track system 800 is arranged on the second horizontal plane P below the storage section 130. H middle.

[0202] exist Figure 7 In this configuration, storage tower 510 is designed to move along a drive surface in the form of a second track system 800.

[0203] The second track system 800 may include a third set of parallel tracks 810. The third set of parallel tracks 810 is preferably vertically aligned with the first set of parallel tracks 710 of the first track system 700.

[0204] The second track system 800 may further include a fourth set of parallel tracks 811. The fourth set of parallel tracks 811 is preferably vertically aligned with the second set of parallel tracks 711 of the first track system 700.

[0205] The first track system 700 preferably includes dual guide rails in the first direction X and the second direction Y.

[0206] The second track system 800 preferably includes dual guide rails in the first direction X and the second direction Y (especially as shown in the example). Figure 7 and Figure 9 As shown), this allows multiple storage towers 510 to be simultaneously located on adjacent units 122' of the second orbital system 800.

[0207] Figure 8 yes Figure 6 The diagram shows a side view of the automated storage and retrieval system. Each storage tower 510 includes seven storage locations. Four cargo holding items are stored in each storage tower 510, leaving three storage locations empty. An additional number of storage locations can be configured in the storage tower 510 depending on the height of the storage tower 510 and the offset ΔdV between the storage locations.

[0208] Figure 8 The storage tower 510 shown has a configuration with six storage positions accessible from the side and one storage position accessible from above.

[0209] Storage tower 510 can be configured to allow lateral access to its storage location from only one side, both sides, three sides, or all four sides. In one configuration, lateral access from two opposing sides may be allowed.

[0210] Figure 9This is a perspective view of a part of an automated storage and retrieval system. This automated storage and retrieval system may include... Figure 6 and Figure 7 All features of the automatic storage and retrieval system.

[0211] and Figure 6 and Figure 7 Unlike automatic storage and retrieval systems, in Figure 9 In the automated storage and retrieval system, the storage tower 510 also includes an upper wheel 515 configured to engage with the lower side of the first track system 700. The first track system 700 may have the upper wheel 515 configured to engage with the lower side thereon, and simultaneously have an upper side on which container transport vehicles 201, 301, 401 are configured to move.

[0212] The lower side of the first track system 700 is preferably provided with a guide rail for guiding the storage tower 510 in the first direction X and the second direction Y.

[0213] The lower side of the first track system 700 preferably includes dual guide rails in the first direction X and the second direction Y. The guide rails on the lower side of the first track system 700 are preferably vertically aligned with the guide rails on the upper side of the first track system 700. The guide rails on the lower side of the first track system 700 are preferably vertically aligned with the guide rails on the second track system 800. The guide rails on the second track system 800 are located on the upper side of the second track system 800.

[0214] The upper wheel 515 is preferably disposed on all four sides of the storage tower 510, such as Figure 9 As shown. However, the upper wheel 515 can be installed on one lesser side of the storage tower 510.

[0215] exist Figure 9 In this configuration, two upper wheels 515 are provided on each side of the storage tower 510. It is also possible that only one upper wheel 515 is provided on any side of the storage tower 510. It is also possible that more than two upper wheels 515 are provided on any side of the storage tower 510.

[0216] The upper wheel 515 can be considered as the first set of upper wheels and the second set of upper wheels, which enable it to move laterally along the lower side of the first track system 700 in the first direction X and the second direction Y, respectively.

[0217] At least one set of upper wheels can be configured for lifting and lowering, such that the first set of upper wheels and / or the second set of upper wheels can engage with the underside of the first track system 700 at any time.

[0218] The first set of upper wheels can be arranged to engage with two adjacent tracks in the first set of tracks 710, and the second set of upper wheels can be arranged to engage with two adjacent tracks in the second set of parallel tracks 711.

[0219] One or more storage towers 510 can be configured to be moved outside of storage section 130. Figure 9 In this configuration, one of the multiple storage towers 510 is located outside the storage section 130, at which point the storage tower can enter or leave the storage section 130.

[0220] Figure 10 This is a 3D view of storage tower 510. This storage tower 510 can... Figure 6 and Figure 7 Used in automated storage and retrieval systems.

[0221] Storage tower 510 includes a base 514a and a first set of lower wheels 514b and a second set of lower wheels 514c. The first set of lower wheels 514b and the second set of lower wheels 514c are both arranged on the base 514a and configured to allow the storage tower 510 to move in a first direction X and a second direction Y.

[0222] The first set of lower wheels 514b and / or the second set of lower wheels 514c can be configured for lifting and lowering, such that the first set of lower wheels 514b and / or the second set of lower wheels 514c can engage with the second track system 800 at any time.

[0223] The first set of lower wheels 514b can be arranged to engage with two adjacent tracks in the third set of tracks 810 on the second track system 800. The second set of lower wheels 514c can be arranged to engage with two adjacent tracks in the fourth set of tracks 811 on the second track system 800.

[0224] The first set of lower wheels 514b and the second set of lower wheels 514c can be arranged on the side plate 517 of the storage tower 510.

[0225] Figure 10 The storage tower 510 shown includes a frame comprising an upright member 511 and horizontal supports 512. The horizontal supports 512 are vertically distributed with a vertical offset ΔdV to form storage locations for holding cargo items. The storage locations provided by the horizontal supports 512 are accessible via side openings 516 in the storage tower 510.

[0226] Figure 10 The storage tower 510 shown includes a top opening 518. The top opening 518 allows the storage tower 510 to receive at least one cargo holder from above. The cargo holder can be stored and / or retrieved by container handling vehicles 201, 301, 401 via access opening 112 in the first track system 700.

[0227] like Figure 8 As shown, cargo holdings do not need to be stored in storage tower 510 from bottom to top. Storage spaces can be filled in any order, and there are open storage spaces between filled storage spaces.

[0228] Figure 11a This is a perspective view of the storage tower 510 and the shifting device 524. The storage tower 510 and the shifting device 524 can... Figure 6 and Figure 7 Used in automated storage and retrieval systems. Figure 11a The storage tower 510 shown may also include an upper wheel 515, configured to engage with the underside of the first track system 700, such as... Figure 9 and Figure 10 As shown.

[0229] As an alternative to having a first set of lower wheels 514b and a second set of lower wheels 514c, the base 514a can be configured to accommodate a shifting device 524. The shifting device 524 can be configured to move the storage tower 510 in at least one of a first direction X and a second direction Y.

[0230] The shifting device 524 is movable along the drive surface and may include a lifting mechanism configured to lift the storage tower 510 away from the drive surface.

[0231] The shifting device 524 may include a first set of wheels and a second set of wheels. Both the first set of wheels and the second set of wheels are configured to allow the shifting device 524 (and therefore also the storage tower 510 when lifted) to move in a first direction X and a second direction Y.

[0232] The first set of wheels and / or the second set of wheels of the shifting device 524 can be configured for lifting and lowering, such that the first set of wheels and / or the second set of wheels can engage with the second track system 800 at any time.

[0233] The first set of wheels of the shifting device 524 can be arranged to engage with two adjacent tracks in the third set of tracks 810 on the second track system 800. The second set of wheels of the shifting device 524 can be arranged to engage with two adjacent tracks in the fourth set of tracks 811 of the second track system 800.

[0234] like Figure 11a As shown, the frame of the storage tower 510 may also include horizontal members 513. These horizontal members 513 may be provided as a supplement to the horizontal support 512, or may be used as the horizontal support 512.

[0235] Figure 11a and Figure 11b The cargo holders shown are pallets used to hold the tanks. For example, if an automated storage and retrieval system is used in vertical agriculture, these tanks can hold plants.

[0236] Figure 11b yes Figure 11a A perspective view of the storage tower 510 and the shifting device 524, wherein the shifting device 524 is located next to the storage tower 510.

[0237] exist Figure 11b In this configuration, the base 514a is arranged such that the shifting device 524 can enter the base 514a from both sides by movement along the first direction X. Alternatively, the base 514a can be configured such that the shifting device 524 can enter the base 514a from both sides by movement along the second direction Y.

[0238] Figure 12a yes Figure 11a First side view of the storage tower 510 and the shifting device 524.

[0239] Figure 12b yes Figure 11a A second side view of the storage tower 510 and the shifting device 524.

[0240] Figure 13 This is a 3D diagram of a part of an automated storage and retrieval system. Figure 13 The image shows how the storage tower 510 can collaborate with other remotely operated robots and vehicles.

[0241] In this embodiment, it is shown how the climbing robot 540 can climb through the column gaps 522 to reach any storage space in the storage tower 510. Figure 13 An exemplary climbing robot 540 uses the upright member 511 of the storage tower 510 for climbing. Climbing robot 240 can be configured to move along the second track system 800 in a similar manner to the storage tower 510. Climbing robot 540 can be configured to carry cargo holdings while moving along the second track system 800 and while climbing column gaps 522. Climbing robot 540 can be configured to store and retrieve cargo holdings via side openings 516 in the storage tower 510.

[0242] The upright member 511 of the storage tower 510 can be configured to guide the lifting devices 304, 404 of the container handling vehicles 201, 301, 401 as the lifting devices 304, 404 move up and down along the column gap 522.

[0243] At least the target storage tower 510 will be positioned near the column gap 522, and thus the lifting devices 304, 404 can be guided. Typically, two or more storage towers 510 will be positioned near the column gap 522, and thus can cooperate to guide the lifting devices 304, 404.

[0244] The horizontal support 512 can be pivotally connected to the storage tower 510, allowing it to move between a first position and a second position. The horizontal support 512 will then typically be connected to either two upright members 511 or to a horizontal member 513. The horizontal support 512 will typically be movable about a horizontal axis of rotation.

[0245] In the first position, the horizontal support 512 can be arranged to provide a storage location within the storage tower 510. The horizontal support 512 then impedes vertical movement of the cargo holder within the storage tower 510. The horizontal support 512 can be supported in the first position by one or more horizontal members 513.

[0246] In the second position, the horizontal support 512 can be arranged so as not to impede the vertical movement of the cargo holder in the storage tower 510, thereby allowing the cargo holder to move to different vertical heights in the storage tower 510.

[0247] In the second position, as the container transport vehicles 201, 301, 401 move through the column gap 522, the horizontal support 512 can guide its lifting devices 304, 404 in the vertical direction to prevent the lifting devices 304, 404 from hooking onto one of the horizontal members 513 or another horizontal support 512 in the first position.

[0248] The second track system 800 can have a vertical height above the warehouse floor. This can be achieved, for example, by an upright member 102' supporting the second track system 800, such as... Figure 13 As shown.

[0249] By raising the second track system 800, a second drive surface can be positioned below the second track system 800. A remotely operated transport vehicle 530 can move along this second drive surface in at least one of the first direction X and the second direction Y.

[0250] The transport vehicle 530 can be configured to receive cargo holdings from above through access openings 112' in the second track system 800'. The transport vehicle 530 can receive cargo holdings, for example, from container handling vehicles 201, 301, 401 arranged on the first track system 700. The transport vehicle 530 can, for example, transport cargo holdings to container handling vehicles 201, 301, 401 arranged on the first track system 700. The first track system 700 and the second track system 800 are preferably configured as follows: Figure 13 The ground is vertically aligned as shown.

[0251] The transport vehicle 530 may include a first set of lower wheels 534b oriented in a first direction X and a second set of lower wheels 534c oriented in a second direction Y.

[0252] The transport vehicle 530 may include a first set of upper wheels 535b (not shown) oriented in a first direction X and a second set of upper wheels 535c (not shown) oriented in a second direction Y.

[0253] Figure 14 This is a perspective view of a storage tower 510 having a coverage area (also referred to as a 1×2 coverage area) corresponding to the areas of two units 122, 122' of the first track system 700, 800. Using this type of storage tower 510, two cargo holding items can be stored side-by-side in the same storage tower 510. Alternatively, this type of storage tower 510 can allow for the storage of larger cargo holding items.

[0254] Storage tower 510 can have any coverage area; however, it is preferred that each storage tower 510 has a coverage area corresponding to the area of ​​n units 122, where n is an integer of 1 or greater.

[0255] Figure 15 This is a perspective view of an automated storage and retrieval system including the prior art storage grid 104. Both the storage grid 104 and the storage section 130 are located below the first track system 700, allowing the same container transport vehicle 301 to access both the storage grid 104 and the storage section 130.

[0256] Storage grid 104 includes storage columns 105, each located below access opening 112 of the first track system 700. Multiple cargo holders can be arranged in stacks 107 within each storage column 105.

[0257] exist Figure 15 In the illustrated embodiment, the cargo holder is a storage container 106 that can be stored in both the storage column 105 and the storage tower 510.

[0258] The automated storage and retrieval system can be divided into two parts: a first part (storage grid 104) with storage columns 105, and a second part (storage section 130) with storage towers 510. These two parts can provide different advantages to the automated storage and retrieval system. Storage grid 104 can be used as a low-operability storage unit, and storage section 130 can be used as a high-operability storage unit. As one embodiment, the high-slide storage unit can store holdings of goods containing picked, ready-to-deliver orders, while the low-slide storage unit can store holdings of goods containing product items to be picked. As another embodiment, storage grid 104 and storage section 130 can be configured for different climate zones, such as temperature, humidity, and lighting. One of these parts can be, for example, a cold storage unit.

[0259] Figure 16A perspective view of a remotely operated vehicle in the form of a storage tower 510 is shown. The storage tower 510 operates within an automated storage and retrieval system including a first-facing downward-facing track system 600. The first-facing downward-facing track system 600 typically includes components arranged on a horizontal plane P. H The first set of parallel, downward-facing tracks 610 extending in the first direction X and arranged in the horizontal plane P H The second set of parallel, downward-facing tracks 611 extend in the second direction Y, which is orthogonal to the first direction X. Figure 16 Only a small portion of the first-facing downward-facing orbital system 600 is shown.

[0260] Storage tower 510 is typically used in storage section 130 located below first-facing upward track system 700, on which other remotely operated vehicles 201; 301; 401; 550; 560 can operate. First-facing upward track system 700 typically includes a first set of parallel upward-facing tracks 710 vertically aligned with a first set of downward-facing tracks 610 parallel to first-facing downward track system 600, and a second set of parallel upward-facing tracks 711 vertically aligned with a second set of downward-facing tracks 611 parallel to first-facing downward track system 600. First-facing upward track system 700 may be arranged on top of downward-facing track system 600.

[0261] Figure 16 The illustrated automated storage and retrieval system may further include a second upward-facing track system 800 on which a storage tower can operate. The second upward-facing track system 800 may include a third set of parallel upward-facing tracks 810 vertically aligned with a first set of downward-facing tracks 610 parallel to the first downward-facing track system 600, and a fourth set of parallel upward-facing tracks 811 vertically aligned with a second set of downward-facing tracks 611 parallel to the first downward-facing track system 600. The second upward-facing track system 800 may be arranged on a warehouse floor or at a vertical height above the warehouse floor. Alternatively, the storage tower 510 may operate on a base surface such as a warehouse floor.

[0262] The automatic storage and retrieval system may include a second, downward-facing track system (not shown) arranged above the first upward-facing track system 600.

[0263] Figure 16The remotely operated vehicle illustrates a storage tower 510, which may include: a lower wheel base 514a, provided with a first set of lower wheels 514b oriented in a first direction X and a second set of lower wheels 514c oriented in a second direction Y; and an upper wheel base 515a, provided with a first set of upper wheels 515b oriented in the first direction X and a second set of upper wheels 515c oriented in the second direction Y.

[0264] The first set of upper wheels 515b and the second set of upper wheels 515c can be configured to engage with the first-facing downward-facing track system 600.

[0265] The first set of lower wheels 514b and the second set of lower wheels 514c can be configured to engage with the second-facing upward-facing track system 800.

[0266] The first downward-facing track system 600 and the second upward-facing track system 800 can be arranged in different horizontal planes spaced apart by the height corresponding to the storage tower 510.

[0267] Storage tower 510 can be controlled by control system 500. The same control system 500 can be configured to control the entire automated storage and retrieval system.

[0268] The first downward-facing track system 600 can guide and support the storage tower 510, thereby preventing tilting at least partially.

[0269] Storage tower 510 can support some of the weight of the first-facing upward track system 700, the first-facing downward track system 600, and / or a remotely operated vehicle operating on the first-facing upward track system 700.

[0270] If the first downward-facing track system 600 is used to guide and support the storage tower 510, then a second downward-facing track system (not shown) can be used to guide and support remotely operated vehicles (e.g., cantilevered container transport vehicle 550 or container transport vehicle 560 with cavities) operating on the first upward-facing track system 700. The second downward-facing track system is then positioned above the first upward-facing track system 700.

[0271] Figure 17 A cantilever container handling vehicle 550 is shown (e.g., such as...). Figures 18a to 18b The image shows a side view of a remotely operated vehicle (as shown). The cantilevered container transport vehicle 550 operates within an automated storage and retrieval system comprising a first-facing downward-facing track system 600 and a first-facing upward-facing track system 700. These two track systems 600 and 700 are typically connected to… Figure 16The examples shown are similar. However, instead of being positioned on top of another track system, the first downward-facing track system 600 is positioned above the first upward-facing track system 700. The first downward-facing track system 600 and the first upward-facing track system 700 can be arranged in different horizontal planes spaced apart at a height corresponding to the cantilever container transport vehicle 550.

[0272] The first-facing upward-facing track system 700 is typically positioned above the storage section 130 of the automated storage and retrieval system. The storage section 130 is configured to store multiple cargo holdings.

[0273] Figure 17 The remotely operated vehicle shown is a cantilever container transport vehicle 550, which may include: a lower wheel base 554a, provided with a first set of lower wheels 554b oriented in a first direction X and a second set of lower wheels 554c oriented in a second direction Y; and an upper wheel base 555a, provided with a first set of upper wheels 555b oriented in the first direction X and a second set of upper wheels 555c oriented in the second direction Y.

[0274] The first set of upper wheels 555b and the second set of upper wheels 555c can be configured to engage with the first downward-facing track system 600.

[0275] The first set of lower wheels 554b and the second set of lower wheels 554c can be configured to engage with the first-facing upward-facing track system 700.

[0276] The cantilever transport vehicle 550 can be controlled by the control system 500. The same control system 500 can be configured to control the entire automated storage and retrieval system.

[0277] The first-facing downward-facing track system 600 can guide and support the cantilevered container transport vehicle 550, thereby preventing tilting at least partially.

[0278] The cantilever transport vehicle 550 can support some of the weight of the first-face downward track system 600.

[0279] Figure 17 The automated storage and retrieval system may include a container handling vehicle 560 with cavities (e.g., such as...). Figures 19a to 19b The container transport vehicle 560, in the form shown, serves as a supplement or replacement to the cantilever container transport vehicle 550. The container transport vehicle 560 with a cavity will dock with the first upward-facing track system 700 and the first downward-facing track system 600 in a similar manner to the cantilever container transport vehicle 550.

[0280] Power can be supplied to the first set of lower wheels 514b, 554b, 564b and the second set of lower wheels 514c, 554c, 564c to move remotely operated vehicles 510, 550, 560 in the first direction X and the second direction Y, respectively.

[0281] Power can be provided to the first set of upper wheels 515b, 555b, 565b and the second set of upper wheels 515c, 555c, 565c to move the remotely operated vehicles 510, 550, 560 in the first direction X and the second direction Y, respectively.

[0282] The remotely operated vehicles 510, 550, and 560 may include an upper wheel lifting device configured to engage and disengage a first set of upper wheels 515b, 555b, and 565b and a second set of upper wheels 515c, 555c, and 565c from a first-facing downward-facing track system 600.

[0283] The remotely operated vehicles 510, 550, and 560 may also include a lower wheel lifting device configured to engage and disengage a first set of lower wheels 514b, 554b, and 564b and a second set of lower wheels 514c, 554c, and 564c from the base structure of the automated storage and retrieval system on which the remotely operated vehicles 510, 550, and 560 are supported.

[0284] The upper wheel lifting device and the lower wheel lifting device can be configured to simultaneously engage the first set of lower wheels 514b, 554b, 564b and the first set of upper wheels 515b, 555b, 565b, while disengaging the second set of lower wheels 514c, 554c, 564c and the second set of upper wheels 515c, 555c, 565c; and simultaneously engage the second set of lower wheels 514c, 554c, 564c and the second set of upper wheels 515c, 555c, 565c, while disengaging the first set of lower wheels 514b, 554b, 564b and the first set of upper wheels 515b, 555b, 565b.

[0285] The cantilever container handling vehicle 550 may typically include a lifting device 551 for gripping and lifting cargo holdings.

[0286] A container handling vehicle 560 with a cavity may typically include a lifting device 561 for gripping and lifting cargo holdings. The container handling vehicle 560 with a cavity can lift cargo holdings into the cavity 566.

[0287] Figure 20 A remotely operated transport vehicle 530 in the form of an autonomous guided vehicle (AGV) is shown. The remotely operated transport vehicle 530 has a cargo holding support 631. The cargo holding is typically transported and retrieved from above by, for example, container handling vehicles 201, 301, 401, 550, 560.

[0288] like Figure 20 As shown, the remotely operated transport vehicle 530 may include a first set of lower wheels 534b for engagement with the base structure of a storage and retrieval system, such as a warehouse floor or an upward-facing track system. The first set of lower wheels 534b will typically be arranged on a lower wheel base 534a and oriented in a first direction X.

[0289] The remotely operated transport vehicle 530 may further include a second set of lower wheels 534d pivotally disposed on the lower wheel base 534a of the remotely operated transport vehicle 530. Alternatively, only one wheel may be pivotally disposed on the lower wheel base 534a of the remotely operated transport vehicle 534d. The second set of lower wheels 534b may be disposed in a first direction X, a second direction Y, or pivot between the first direction X and the second direction Y.

[0290] The remotely operated transport vehicle 530, with a pivotable second set of lower wheels 534d, is particularly well-suited for movement along continuous surfaces such as the floor.

[0291] As an alternative to the pivoting second set of lower wheels 534d, the remotely operated transport vehicle 530 may include a second set of lower wheels (not shown) oriented in the second direction Y and fixed in direction. Then, preferably, wheel lifting devices should be provided for the first set of lower wheels and / or the second set of lower wheels.

[0292] The remotely operated transport vehicle 530 may include a guide device in the form of a first set of upper wheels 535b disposed on the upper wheel base 535a of the remotely operated transport vehicle 530. The first set of upper wheels 535b may point in a first direction X.

[0293] The remotely operated transport vehicle 530 may include a guide device in the form of a second set of upper wheels 535c disposed on the upper wheel base 535a of the remotely operated transport vehicle 530. The second set of upper wheels 535c may point in a second direction Y.

[0294] The remotely operated transport vehicle 530 may include upper wheel lifting devices 536a and 536b configured to raise and lower a first set of upper wheels 535b and / or a second set of upper wheels 535c, enabling engagement and disengagement with a downward-facing guide system of an automated storage and retrieval system. The downward-facing guide system may typically be arranged horizontally above the base structure and extend at least in a first direction (X), for example, a track system with tracks arranged only in the first direction X.

[0295] The remotely operated transport vehicle 530 can travel along the warehouse floor and engage with a downward-facing track system for guidance, such as for alignment with transfer columns or remotely operated vehicles arranged above. When guidance via the downward-facing track system is no longer required, the remotely operated transport vehicle 530 can detach from the downward-facing track system and travel in a direction different from the direction of the track of the downward-facing track system.

[0296] The remotely operated transport vehicle 530 can be controlled by the control system 500. The same control system 500 can also control the automatic storage and retrieval system.

[0297] Figure 21 It shows Figure 20 A side view of a remotely operated delivery vehicle. Figure 20 and Figure 21 In this configuration, the upper wheel lifting device 536a for the first set of upper wheels 535b is raised, allowing the first set of upper wheels 535b to engage with the downward-facing track system. Figure 20 and Figure 21 In the middle, the upper wheel lifting device 536b for the second set of upper wheels 535c is lowered, so that the second set of upper wheels 535c can be disengaged from the downward-facing track system.

[0298] The upper wheel base 535a and the lower wheel base 534a can be pivotally connected, for example, via a swivel member 532. This will allow the lower wheel base 534a to change orientation relative to the upper wheel base 535a while engaging with the downward-facing track system.

[0299] In the foregoing description, various aspects of the transport vehicle and automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. Specific figures, systems, and configurations have been set forth for purposes of explanation in order to provide a thorough understanding of the system and its operation. However, this specification is not intended to be interpreted in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, that will be apparent to those skilled in the art to which the disclosed subject matter pertains, are considered to fall within the scope of the invention.

[0300] The second inventive concept is described in the following numbered clauses.

[0301] Terms and Conditions

[0302] 1. An automatic storage and retrieval system, comprising:

[0303] - Track system (700), including a track system arranged on a horizontal plane (P H The first set of parallel tracks (710) extending in the first direction (X) and arranged in the horizontal plane (P) HThe first set of tracks (710, 711) extends in a second direction (Y) orthogonal to the first direction (X), and the second set of tracks (710, 711) lie in the horizontal plane (P). H A grid comprising multiple adjacent cells (122) is formed in the ), wherein each cell (122) includes an access opening (112); and

[0304] - Storage section (130), located below or above the track system (700), wherein the storage location in the storage section (130) can be accessed through the access opening (112) of the track system (700);

[0305] The storage section (130) includes a plurality of storage towers (510) for storing cargo holdings and configured for movement in at least one of a first direction (X) and a second direction (Y), and at least one column gap (522) defined by the space between two or more of the plurality of storage towers (510), the at least one column gap (522) having a coverage area corresponding to the area of ​​at least one unit (122); and

[0306] In this configuration, at least one column gap (522) can be repositioned within the storage section (130) to be vertically aligned with a different access opening (112) via movement of at least one of the multiple storage towers (510) in at least one of the first direction (X) and the second direction (Y).

[0307] Column gaps can be used as port columns. Therefore, a more dynamic automatic storage and retrieval system can be achieved.

[0308] The column gaps also provide lateral access to cargo holdings stored in storage towers adjacent to the column gaps. Lateral access allows cargo holdings to be retrieved by container handling vehicles without digging, thus being advantageous at least in terms of faster cargo holding retrieval.

[0309] The storage tower can move within the storage section in at least one of the first and second directions, i.e., from vertical alignment with the first access opening of the track system to vertical alignment with the second access opening of the track system.

[0310] The storage tower is preferably movable in both the first and second directions.

[0311] The storage tower can be moved throughout the storage section. This allows the column gaps to be repositioned to any location within the storage section.

[0312] By moving at least one of the storage towers within the storage section in at least one of the first and second directions, at least one column gap can preferably be repositioned within the storage section to be vertically aligned with different access openings. Thus, at least one column gap can be repositioned within the storage section without requiring the removal of any storage tower from the storage section.

[0313] A storage segment can be defined as the area located directly beneath the orbital system. The orbital system typically includes multiple access openings in the first direction X and multiple access openings in the second direction Y.

[0314] An automated storage and retrieval system was implemented using movable storage towers, in which cargo holdings arranged in any of the towers can be accessed from the side. This can be achieved using only a single column of space, which would provide dense storage. However, it is recognized that having several columns of space would increase the system's flexibility and also increase the number of cargo holdings that could be retrieved simultaneously.

[0315] Therefore, an automated storage and retrieval system with high storage density has been realized, in which cargo holdings can be retrieved more quickly.

[0316] The column gaps can also provide access to human pickers. If several column gaps are arranged adjacent to each other, a passageway can be formed so that human or robotic pickers can enter from outside the storage section. The picker can then retrieve one or more cargo holdings from the storage tower adjacent to the column gap.

[0317] When repositioned within the storage segment, the column gap can move in at least one of the first direction X and the second direction Y.

[0318] This system can be used for vertical agriculture.

[0319] 2. The system as described in Clause 2,

[0320] Each storage tower (510) has a coverage area corresponding to the area of ​​n units (122), where n is an integer of 1 or greater.

[0321] The coverage area of ​​a storage tower can correspond to a region of one unit (1×1), two units (1×2), three units (1×3), four units (1×4 or 2×2), etc. Storage towers with equal or different coverage areas can exist within the same system.

[0322] The storage tower will then be better configured for vertical alignment with the units of the track system. This will also allow the column gaps to be vertically aligned with the units of the track system when the storage tower is vertically aligned with them.

[0323] The coverage area of ​​the column gaps can change in response to the movement of the storage tower, and is therefore dynamic.

[0324] When the storage tower is vertically aligned with the unit of the track system, the coverage area of ​​the column gap preferably has a coverage area corresponding to the area of ​​n units, where n is an integer of 1 or greater.

[0325] To provide lateral access to all storage locations in each storage tower, the coverage area of ​​a storage tower should not exceed two units in both directions (e.g., 3×3 or larger). If the coverage area does not exceed two units in the second direction (e.g., 2×4), it may exceed two units in one direction.

[0326] However, if the storage tower's coverage area exceeds two units in both directions, storage locations inaccessible through side openings can still be reached via the top opening of the tower. Alternatively, the lifting device may include a telescopic section configured to extend laterally beyond the first adjacent storage location.

[0327] In one aspect, the storage and retrieval system may consist of only a storage tower and a column gap. The storage tower will then typically have a 1×2 coverage area. Lateral access to all storage locations will then be provided by moving the column gap to either side of the storage tower.

[0328] 3. The system according to any one of the foregoing clauses,

[0329] Each storage tower (510) includes a frame of vertical members (511) and horizontal supports (512) that are vertically distributed with a vertical offset (ΔdV) to support the cargo holdings in the storage location.

[0330] The vertical offset can vary within a single storage tower. The vertical offset can also vary between two different storage towers.

[0331] Each storage tower preferably includes multiple storage locations.

[0332] The vertical offset can be adapted to the size of the cargo holder. The vertical offsets of a storage tower do not need to be equal. The vertical offsets can also vary between storage towers within the same system. The vertical offset can be specifically set based on the size of the cargo holder, the size of the cargo to be transported (e.g., in vertical agriculture, plants may extend above the cargo holder), and the type and size of the lifting device (e.g., the lifting device may be configured to grab the cargo holder from above or lift it from below).

[0333] The purpose of horizontal supports is to provide storage locations for cargo holding items stored in the storage section.

[0334] 4. The system as described in Clause 3,

[0335] Each horizontal support (512) is pivotally connected to the storage tower (510) and is movable between the following positions:

[0336] - First position, wherein a horizontal support (512) is arranged to impede vertical movement of the cargo holder within the storage tower (510) in order to provide a storage location; and

[0337] - Second position, wherein the horizontal support (512) is arranged not to impede the vertical movement of the cargo holder in the storage tower (510) so as to allow the cargo holder to move to different vertical heights in the storage tower (510).

[0338] The horizontal support can have a horizontal axis of rotation or a vertical axis of rotation.

[0339] Horizontal supports may be plates that cover the entire vertical cross-section of the storage tower. Alternatively, horizontal supports may only cover the portion of the storage tower's horizontal cross-section sufficient to obstruct and support the cargo holding components.

[0340] A horizontal support can be a single component or several cooperating components to provide support for the cargo holding component.

[0341] When the horizontal support is in the second position, if the cargo handler is being stored or removed from above, it can move vertically past the horizontal support. Therefore, it is possible to reach a lower storage location within the storage tower without requiring lateral approach to the target storage location.

[0342] When the horizontal support is in the second position, it can guide the lifting device of the container handling vehicle through the adjacent storage column in the vertical direction.

[0343] When the horizontal support is in the second position, it can cover at least a portion of the side opening of the storage tower, and thus prevent lateral entry into the storage tower.

[0344] 5. The system pursuant to any one of the foregoing clauses,

[0345] Each storage tower (510) includes a drive mechanism configured to drive the storage tower (510) in at least one of a first direction (X) and a second direction (Y), or

[0346] The system includes a shifting device (524) configured to shift the storage tower (510) in at least one of a first direction (X) and a second direction (Y).

[0347] Each storage tower may have a base. If the storage tower includes a drive unit, the drive unit may be arranged in the base. If the system includes a shifting device, the base may provide an interface for the shifting device.

[0348] The drive mechanism of the storage tower may include a first set of lower wheels and a second set of lower wheels, which enable the storage tower to move laterally in a first direction and a second direction, respectively.

[0349] If the storage tower includes two sets of lower wheels, at least one set of lower wheels can be configured for lifting and lowering such that the first set of lower wheels and / or the second set of lower wheels can engage with a drive surface, such as a warehouse floor or a track system, at any given time.

[0350] If the drive surface is a track system, the first set of lower wheels can be arranged to engage with two adjacent tracks in the first set of tracks, and the second set of lower wheels can be arranged to engage with two adjacent tracks in the second set of tracks that are perpendicular to the first set of tracks.

[0351] The drive mechanism may include one or more motors configured to provide torque to at least one lower wheel to cause the storage tower to move in a first and / or second direction. The motor may engage with one or more lower wheels via a belt, chain, and / or shaft. Alternatively, the motor may be a hub motor, such as an external rotor motor disposed within the lower wheel.

[0352] The driving device may include a power source configured to operate one or more motors. This power source is typically a battery. Alternatively, power may be supplied to the driving device from an external source.

[0353] The shifting device can be releasably engaged with the storage tower. A shifting device can be configured to move one or more storage towers. If the shifting device is configured to move several storage towers, it can move one storage tower at a time or move multiple storage towers simultaneously.

[0354] 6. The system pursuant to any one of the foregoing clauses,

[0355] The system also includes:

[0356] - A control system (500) configured to monitor and control the movement of the plurality of storage towers (510).

[0357] The control system can communicate wirelessly with multiple storage towers. Alternatively, the control system can communicate with multiple storage towers via signals transmitted through the base station, and the multiple storage towers can move along, for example, a second track system.

[0358] The control system can also be configured to monitor and control the movement of container handling vehicles.

[0359] 7. The system pursuant to any one of the foregoing clauses,

[0360] Each storage tower (510) includes a side opening (516) and an adjustable obstruction for blocking the side opening (516).

[0361] The obstruction includes a vertical surface for guiding a lifting device (304) of a container transport vehicle above the side opening, and the obstruction is movable between the following positions:

[0362] - In a first position, the vertical guide surface is positioned to guide the lifting device (304) and impede the horizontal movement of the cargo holder through the side opening (516); and

[0363] - Second position, wherein the vertical guide surface is positioned to not guide the lifting device (304) and allows the storage container to move horizontally through the side opening (516).

[0364] Adjustable obstructions facilitate the movement of the lifting device through column gaps that do not provide any guidance for the lifting device itself. This is particularly advantageous when the lifting device is raised and lowered via a flexible belt.

[0365] 8. The system pursuant to any one of the foregoing clauses,

[0366] At least one storage tower (510) can be moved outside the storage section (130).

[0367] In addition to being able to move within a storage section, storage towers can move between different storage sections within a facility or even between different facilities.

[0368] 9. The system pursuant to any one of the foregoing clauses,

[0369] The system is configured to provide predetermined climate zones.

[0370] The predetermined climate zone can be set by parameters such as humidity, temperature, and light. This could be advantageous if the system is used for vertical agriculture or as a cold storage facility.

[0371] This system is advantageous, for example, when the cold storage area is confined to a grid, i.e., when the track system and container handling vehicles are located outside the cold storage area. The cycle of heat exchange with the outside of the cold storage area is reduced by eliminating the need for digging operations. Furthermore, only the target cargo holdings are removed to the outside of the cold storage area.

[0372] Therefore, this system will be particularly suitable for storing groceries.

[0373] 10. The system pursuant to any one of the foregoing clauses,

[0374] The automated storage and retrieval system also includes:

[0375] - Multiple cargo holding pieces are arranged in the storage section (130).

[0376] Goods holding devices can be, for example, storage containers, boxes, handling boxes, pallets, or similar items. Different types of goods holding devices can be used in the same system.

[0377] Alternatively, the cargo holder can be a drawer device that can be attached to the storage tower. When attached to the storage tower, the drawer device can access adjacent column gaps. Stored items can then be retrieved from the drawer device via the column gaps. Thus, the lifting device does not require a telescopic section.

[0378] 11. The system according to any one of the foregoing clauses,

[0379] The storage section (130) is located below the orbital system (700); and

[0380] The automated storage and retrieval system also includes:

[0381] - Container transport vehicle (201, 301, 401) including lifting devices (14, 304, 404) for lifting cargo holdings and drive devices configured to drive the container transport vehicle (201, 301, 401) along a track system (700) in at least one of a first direction (X) and a second direction (Y).

[0382] Container handling vehicles can be overhead cranes.

[0383] Items can be stored in a storage tower without using cargo holding components, for example, directly on the supports of cargo holding components used in the storage tower.

[0384] In addition to container handling vehicles that move along the track system, or in place of container handling vehicles that move along the track system, the system can use vehicles that move along the same base as the storage tower to store and retrieve stored items.

[0385] The drive mechanism of a container handling vehicle may include a first set of wheels and a second set of wheels, which enable the container handling vehicle to move laterally in a first direction and a second direction, respectively.

[0386] At least one set of wheels can be configured for lifting and lowering, such that the first set of wheels and / or the second set of wheels can engage with the track system at any time.

[0387] The first set of wheels can be arranged to engage with two adjacent tracks in the first set of tracks, and the second set of wheels can be arranged to engage with two adjacent tracks in the second set of tracks.

[0388] The drive mechanism may include one or more motors configured to provide torque to at least one wheel to cause movement of the container handling vehicle in a first and / or second direction. The motor may engage with one or more wheels via a belt, chain, and / or shaft. Alternatively, the motor may be a hub motor, such as an external rotor motor disposed within the wheel.

[0389] The driving device may include a power source configured to operate one or more motors. This power source is typically a battery. Alternatively, power may be supplied to the driving device from an external source.

[0390] 12. The system as described in Clause 11,

[0391] The lifting device (14) includes a telescopic part (19) for the lifting device (14) to enter the storage tower (510) from the side.

[0392] Alternatively, the horizontal supports of the storage tower may include telescopic portions configured to present holders of the stored goods in the column gaps.

[0393] A horizontal support with a telescopic section will allow for faster retrieval of goods held in the system. Integrating the telescopic section onto the lifting device will reduce the number of moving parts in the storage system.

[0394] In one aspect, multiple storage towers may include wheels configured to engage with the underside of a track system.

[0395] 13. The system according to any one of clauses 11 to 12,

[0396] The track system (700) is a first track system (700), and the automatic storage and retrieval system also includes a second track system (800) arranged in a second horizontal plane below the storage section (130);

[0397] The second orbital system (800) includes:

[0398] A third set of parallel tracks (810) vertically aligned with the first set of parallel tracks (710) of the first orbital system (700), and a fourth set of parallel tracks (811) vertically aligned with the second set of parallel tracks (711) of the first orbital system (700); and

[0399] Each storage tower (510) is configured to move along the second track system (800).

[0400] The second track system can be installed at the same level as the warehouse floor or at a level above the warehouse floor.

[0401] If the second track system is positioned at a horizontal level above the warehouse floor, the robot can travel at a horizontal level below the second track system and thus access the storage section from below, i.e., through the access openings of the second track system. Therefore, a system is provided in which goods holding items can be retrieved from below the storage section.

[0402] The robot traveling below the second track system may include a lifting device for raising the cargo holding part and a drive mechanism configured to drive the robot in at least one of the first and second directions.

[0403] The robot traveling below the second track system can be a remotely operated transport vehicle. This vehicle can be configured to receive cargo holdings from above and transport the received cargo handling structure to another location.

[0404] As an alternative to the second track system, storage towers can be configured to move along the warehouse floor.

[0405] 14. The system according to any one of clauses 11 to 13,

[0406] The multiple storage towers (510) include an upper wheel (515) configured to engage with the underside of the first track system (700).

[0407] Uneven weight distribution of products stored in a storage tower can combine with sudden movement of the tower to cause it to tilt. Tilt can lead to the tower jamming, tipping over, or derailing. Upper wheels located in the upper part of the storage tower prevent tilting. The tower can then safely and quickly accelerate and decelerate.

[0408] The storage tower can be configured to support some of the weight of the track system and associated container handling vehicles. Thus, an automated storage and retrieval system is realized in which the frame structure can be composed of multiple upright members. This, in turn, allows a larger portion of the storage section to be free of upright members. The storage tower or other robots operating within the storage section can then move more freely without being obstructed by the upright members.

[0409] 15. The system as described in Clause 14,

[0410] The first track system (700) has a guide rail on its lower side for guiding the storage tower (510) in the first direction (X) and the second direction (Y).

[0411] The first track system also has an upper side. The upper side is typically equipped with guide rails for guiding container transport vehicles in the first and second directions.

[0412] The track system may include a single-rail system. Alternatively, the track system may include a dual-rail system, thereby allowing a container transport vehicle having a coverage area that substantially corresponds to a lateral region defined by a cell to travel along a row of cells, even if another container transport vehicle is positioned above cells adjacent to that row. Alternatively, the track system may include a combination of single and dual rails, such as a single rail in a first direction and dual rails in a second direction.

[0413] The first track system may include any of these guide rail systems on its upper side and / or its lower side.

[0414] The second track system may include any one of these guide rail systems.

[0415] 16. The system pursuant to any one of Clauses 11 to 15,

[0416] At least one storage tower (510) is configured to receive at least one cargo holder from above via an access opening (112).

[0417] Typically, the uppermost horizontal support of each storage tower can be configured to receive cargo holdings from above. This is usually done by arranging the storage towers vertically aligned with the access openings of the track system and lowering the cargo holdings through the access openings and the top opening of the storage tower.

[0418] This can be achieved when all horizontal supports of the storage tower are stationary.

[0419] The uppermost horizontal support, configured to receive cargo holdings from above through the top opening of the storage tower, can also be configured to receive cargo holdings laterally from the gaps in adjacent columns through the side openings of the storage tower.

[0420] 17. The system according to any one of clauses 11 to 16,

[0421] The system also includes multiple stacks (107) of storage containers (106) arranged in storage columns (105), all of which are located below the access opening (112) of the first track system (700).

[0422] Stacks of multiple storage containers are typically arranged in separate sections of an automated storage and retrieval system, preferably adjacent to a storage section that includes a storage tower.

[0423] The storage section may include a combination of storage towers and storage columns, with a supply capacity suitable for individual automated storage and retrieval systems.

[0424] Goods holdings stored in storage towers can contain orders to be placed by customers. By having one or more storage towers available for storing goods holdings containing orders, a buffer storage system is implemented that allows for more timely order delivery to customers or other recipients.

[0425] Goods holdings stored in storage towers can contain frequently picked items. By having one or more storage towers capable of storing goods holdings containing frequently picked items, a buffer storage system is achieved, enabling more time-efficient item delivery to pickers. Pickers can be robotic pickers or human pickers.

[0426] Therefore, this system will be particularly well-suited for micro-implementation.

[0427] 18. A method for storing and / or retrieving cargo holdings using an automated storage and retrieval system according to any one of the preceding claims.

[0428] The storage section (130) is located below the track system (700); and the automatic storage and retrieval system further includes:

[0429] - Multiple cargo holding pieces are arranged in the storage section (130); and

[0430] - Container handling vehicle (201, 301, 401), the container handling vehicle includes a lifting device (304) for lifting cargo holdings and a drive device (301b, 301c) configured to drive the vehicle (301) along a track system (700) in at least one of a first direction (X) and a second direction (Y).

[0431] The method includes the following steps:

[0432] - Move one or more storage towers (510) in the first direction (X) and / or the second direction (Y) to reposition at least one column gap (522) vertically aligned with the first access opening (112) of the track system (700) and adjacent to the storage tower (510) where the target cargo holding is stored or will be stored.

[0433] - Move the container handling vehicles (201, 301, 401) to the first access opening (112);

[0434] - The lifting device (304) of the container handling vehicles (201, 301, 401) is lowered into the first row of gaps (522) via the first access opening (112); and

[0435] - The target cargo holdings are retrieved or stored via the lifting device (304).

[0436] The storage tower holds goods suitable for storing orders placed by customers. These orders can then be quickly retrieved upon customer arrival.

[0437] By making the storage tower usable for storing goods holdings containing orders, a buffer storage system is achieved that allows for more timely and efficient order delivery to customers or other recipients.

[0438] The stored cargo holdings can contain frequently picked items. A buffer storage system is achieved by having storage towers that can be used to store cargo holdings containing frequently picked items, enabling more time-efficient item delivery to pickers. Pickers can be robotic pickers or human pickers.

[0439] 19. The method described in accordance with Clause 18,

[0440] The method further includes the following steps:

[0441] -Move one or more storage towers (510) in a first direction (X) and / or a second direction (Y) to arrange the one or more storage towers (510) in the peripheral area of ​​the storage section (130); and

[0442] - Gather one or more storage towers (510) for transport to another facility.

[0443] In one aspect, the method may further include the following steps:

[0444] - Transporting one or more storage towers from an automated storage and retrieval system to another facility, or from a storage section to another part of the facility where the automated storage and retrieval system is located.

[0445] The aggregated storage towers can be loaded onto vans, trucks, trailers, or carried in containers for transport. In these applications, storage towers can provide dense storage and rapid access to all cargo holdings.

[0446] The storage towers can store holdings of goods containing orders (such as groceries) to be delivered to customers.

[0447] The outer area of ​​the storage section is usually the volume below the outermost unit of the orbital system.

[0448] 20. The method according to any one of clauses 18 to 19, wherein the method further comprises the following steps:

[0449] - Move one or more storage towers (510) in a first direction (X) and / or a second direction (Y) to provide at least one column gap (522) in the peripheral area of ​​the storage section (130), such that a passage is provided from the outside of the storage section (130) to the storage section (130).

[0450] This enables human or robotic pickers to directly access target goods held in a grid. Therefore, it may be possible to bypass container handling vehicles.

[0451] It also provides access for remotely operated delivery vehicles to enter the grid. Remotely operated delivery vehicles can receive or transport cargo holdings from container handling vehicles above.

[0452] It also provides access for climbing robots to enter the grid.

[0453] List of reference numerals in the attached figures

[0454] 1. Existing automated storage and retrieval systems

[0455] 14 Lifting device

[0456] 17. Base section

[0457] 18 lifting belts

[0458] 19 Telescopic Part

[0459] 20 grabbers

[0460] 100 Frame Structure

[0461] 102. Upright members of a frame structure

[0462] 102' is an upright component for the second track system.

[0463] 104 Storage Grid

[0464] 105 Storage Columns

[0465] 106 Storage Containers

[0466] Specific location of 106' storage container

[0467] 107 Stacking

[0468] 108 orbital system

[0469] 110 The first set of parallel orbits oriented in the first direction (X)

[0470] 111 The second set of parallel orbits oriented in the second direction (Y)

[0471] Access openings in the first orbital system 112

[0472] Access opening in the 112' second orbital system

[0473] 119 First Port Column

[0474] 120 Second Port Column

[0475] 122 Units of the First Orbital System

[0476] 122' Second Orbit System Unit

[0477] 130 storage segments

[0478] 201 Container handling vehicles of the prior art

[0479] 201a Container Handling Vehicle 201 Body

[0480] 201b First set of wheels in the first direction (X)

[0481] 201c Second set of wheels in the second direction (Y)

[0482] 301 Prior art cantilever container handling vehicles

[0483] 301a Container Handling Vehicle 301 Body

[0484] 301b First set of wheels in the first direction (X)

[0485] The second set of wheels on the second direction (Y) of 301c

[0486] 304 Lifting Device

[0487] 401 Container handling vehicles of the prior art

[0488] 401a Container Handling Vehicle 401 Body

[0489] 401b First set of wheels in the first direction (X)

[0490] 401c Second set of wheels in the second direction (Y)

[0491] 404 Lifting Device

[0492] 500 Control System

[0493] 510 Storage Tower

[0494] 511 Vertical components of storage tower

[0495] 512 Horizontal support for cargo holding components

[0496] 513 Horizontal components of the storage tower

[0497] 514a Storage tower lower wheel base

[0498] 514b First set of lower wheels in the first direction (X)

[0499] 514c Second set of lower wheels in the second direction (Y)

[0500] 515 Last round

[0501] 515a Storage Tower Upper Wheel Base

[0502] 515b First set of upper wheels in the first direction (X)

[0503] 515c Second set of upper wheels in the second direction (Y)

[0504] 516 Side opening

[0505] 517 Side Panel

[0506] 518 Top opening

[0507] 522 column gaps

[0508] 524 Shifting Device

[0509] 530 Remote-Operated Conveyor Vehicle / AGV

[0510] Container support for 531 remotely operated transport vehicles / AGVs

[0511] 532 rotating parts

[0512] 534a Remote-operated transport vehicle / AGV lower wheel base

[0513] 534b First set of lower wheels in the first direction (X)

[0514] 534c Second set of lower wheels in the second direction (Y)

[0515] 534d is pivotally positioned on the second (set) of wheels on the remotely operated transport vehicle / AGV.

[0516] 535a remote-operated transport vehicle / AGV upper wheel base

[0517] 535b First set of upper wheels in the first direction (X)

[0518] 535c Second direction (Y) second set of upper wheels

[0519] 536a is an upper wheel lifting device for the first set of upper wheels.

[0520] 536b is an upper wheel lifting device for the second set of upper wheels.

[0521] 540 Climbing Robot

[0522] 550 cantilever container handling vehicle

[0523] 551 Lifting Device

[0524] 554a container handling vehicle 550 lower wheel base

[0525] 554b First set of lower wheels in the first direction (X)

[0526] 554c Second set of lower wheels in the second direction (Y)

[0527] 555a container handling vehicle 550 upper wheel base

[0528] 555b First set of upper wheels in the first direction (X)

[0529] 555c second set of upper wheels in the second direction (Y)

[0530] 560 Container transport vehicle with cavity

[0531] 561 Lifting device

[0532] 564a Container transport vehicle with cavity, 560 lower wheel base

[0533] 564b First set of lower wheels in the first direction (X)

[0534] 564c Second set of lower wheels in the second direction (Y)

[0535] 565a Container transport vehicle with cavity, upper wheel base of 560

[0536] 565b First set of upper wheels in the first direction (X)

[0537] 565c Second direction (Y) second set of upper wheels

[0538] 566 cavity

[0539] 600 First-face downward orbital system

[0540] 610 The first set of parallel, downward-facing orbits oriented in the first direction (X)

[0541] 611 The second set of parallel, downward-facing tracks oriented in the second direction (Y)

[0542] 700 First-face upward orbital system

[0543] 710 The first set of parallel, upward-facing tracks oriented in the first direction (X)

[0544] 711 The second set of parallel, upward-facing tracks oriented in the second direction (Y)

[0545] 800 Second-Order Upward Track System

[0546] 810 The third set of parallel, upward-facing orbits oriented in the first direction (X)

[0547] 811 The fourth set of parallel, upward-facing tracks oriented in the second direction (Y).

[0548] X First Direction

[0549] Y second direction

[0550] Z Third-party direction

[0551] ΔdV vertical offset

Claims

1. A remotely operated vehicle (510) for an automated storage and retrieval system, wherein, The automated storage and retrieval system includes: - The base structure extends in the first direction (X) and the second direction (Y); - A guiding system, located above the base structure and extending at least in the first direction (X), and The remotely operated vehicle (510) is a storage tower, which includes: - The lower base (514a; 534a; 554a; 564a) is provided with a driving device configured for movement along the base structure in the first direction (X) and / or the second direction (Y); - An upper base (515a; 535a; 555a; 565a) is provided with a guiding device configured for engagement with the guiding system; and - Multiple storage locations.

2. The remotely operated vehicle (510) according to claim 1, wherein, The drive mechanism is powered to move the remotely operated vehicle (510) in the first direction (X) and / or the second direction (Y).

3. The remotely operated vehicle (510) according to claim 1, wherein, The drive mechanism includes a first set of lower wheels (514b; 534b; 554b; 564b) oriented in the first direction (X).

4. The remotely operated vehicle (510) according to claim 3, wherein, The drive mechanism includes a second set of lower wheels (514c; 534c; 534d; 554c; 564c) oriented in the second direction (Y).

5. The remotely operated vehicle (510) according to claim 4, wherein, The remotely operated vehicle (510) includes: - A lower wheel lifting device configured to engage and disengage the first set of lower wheels (514b; 534b; 554b; 564b) and the second set of lower wheels (514c; 534c; 554c; 564c) from the base structure.

6. The remotely operated vehicle (510) according to claim 5, wherein, The guidance system includes a first track system, which includes a first set of tracks (610) extending in the first direction (X) and a second set of tracks (611) extending in the second direction (Y).

7. The remotely operated vehicle (510) according to claim 6, wherein, The remotely operated vehicle (510) is configured to at least partially support the weight of the first track system when engaged with it.

8. The remotely operated vehicle (510) according to claim 6, wherein, The guiding device includes a first set of upper wheels (515b; 535b; 555b; 565b) oriented in the first direction (X).

9. The remotely operated vehicle (510) according to claim 8, wherein, The first set of upper wheels (515b; 535b; 555b; 565b) are powered to move the remotely operated vehicle (510) in the first direction (X).

10. The remotely operated vehicle (510) according to claim 8, wherein, The guiding device includes a second set of upper wheels (515c; 535c; 555c; 565c) oriented in the second direction (Y).

11. The remotely operated vehicle (510) according to claim 10, wherein, Power is supplied to the second set of upper wheels (515c; 535c; 555c; 565c) to move the remotely operated vehicle (510) in the second direction (Y).

12. The remotely operated vehicle (510) according to claim 10, wherein, The remotely operated vehicle (510) includes: - An upper wheel lifting device configured to engage and disengage the first set of upper wheels (515b; 535b; 555b; 565b) and the second set of upper wheels (515c; 535c; 555c; 565c) from the first track system.

13. The remotely operated vehicle (510) according to claim 12, wherein, The upper wheel lifting device and the lower wheel lifting device are configured as follows: - To simultaneously engage the first set of lower wheels (514b; 534b; 554b; 564b) and the first set of upper wheels (515b; 535b; 555b; 565b), while simultaneously disengaging the second set of lower wheels (514c; 534c; 554c; 564c) and the second set of upper wheels (515c; 535c; 555c; 565c); and - Engage the second set of lower wheels (514c; 534c; 554c; 564c) and the second set of upper wheels (515c; 535c; 555c; 565c) simultaneously, while disengaging the first set of lower wheels (514b; 534b; 554b; 564b) and the first set of upper wheels (515b; 535b; 555b; 565b) simultaneously.

14. An automatic storage and retrieval system, wherein, The automated storage and retrieval system includes: - At least one remotely operated vehicle (510) according to any one of claims 1 to 13. - The base structure extends in the first direction (X) and the second direction (Y); - A guiding system located above the base structure and extending at least in the first direction (X); - Storage segment (130); and - Multiple cargo holding pieces for storage in the storage section (130).

15. The automatic storage and retrieval system according to claim 14, wherein, The guidance system includes a downward-facing track system (600), which includes a first set of downward-facing tracks (610) extending in the first direction (X) and a second set of downward-facing tracks (611) extending in the second direction (Y).

16. The automatic storage and retrieval system according to claim 14, wherein, The guidance system includes an upward-facing track system (700), which includes a first set of upward-facing tracks (710) extending in the first direction (X) and a second set of upward-facing tracks (711) extending in the second direction (Y). Each of the remotely operated vehicles (550; 560) is configured to move along the upward-facing track system (700).

17. The automatic storage and retrieval system according to claim 15, wherein, The automated storage and retrieval system includes: - An upward-facing track system (700) for another remotely operated vehicle, the upward-facing track system (700) comprising a first set of upward-facing tracks (710) extending in the first direction (X) and a second set of upward-facing tracks (711) extending in the second direction (Y). The downward-facing track system (600) is arranged on the lower side of the upward-facing track system (700). The base structure further includes a second upward-facing orbital system (800), which includes: - A third set of upward-facing tracks (810) extends in the first direction (X); and - The fourth set of upward-facing tracks (811) extends in the second direction (Y). Each of the remotely operated vehicles (510; 530) is configured to move along the second upward-facing track system (800).

18. The automatic storage and retrieval system according to claim 17, wherein, The third set of upward-facing tracks (810) is vertically aligned with the first set of downward-facing tracks (610) of the downward-facing track system (600), and the fourth set of upward-facing tracks (811) is vertically aligned with the second set of downward-facing tracks (611) of the downward-facing track system (600).

19. The automatic storage and retrieval system according to claim 17, wherein, The first set of upward-facing tracks (710) is vertically aligned with the first set of downward-facing tracks (610) of the downward-facing track system (600), and the second set of upward-facing tracks (711) is vertically aligned with the second set of downward-facing tracks (611) of the downward-facing track system (600).

20. A method for operating a remotely operated vehicle (510) in an automated storage and retrieval system, said automated storage and retrieval system comprising a downward-facing track system (600), wherein, The downward-facing track system (600) includes a first set of downward-facing tracks (610) extending in the first direction (X) and a second set of downward-facing tracks (611) extending in the second direction (Y). The remotely operated vehicle (510) is a remotely operated vehicle according to any one of claims 10 to 13. The method includes the following steps: - Engage the first set of upper wheels (515b; 555b; 565b) with the downward-facing track system (600), - To engage the first set of lower wheels (514b; 554b; 564b) with the base structure of the automatic storage and retrieval system, and - Move the remotely operated vehicle (510) in the first direction (X).

21. The method according to claim 20, wherein, The method further includes the following steps: - Engage the second set of upper wheels (515c; 535c; 555c; 565c) with the downward-facing track system (600), - Engage the second set of lower wheels (514c; 534c; 554c; 564c) with the base structure of the automatic storage and retrieval system. - Disengage the first set of upper wheels (515b; 535b; 555b; 565b) from the downward-facing track system (600). - Disengage the first set of lower wheels (514b; 534b; 554b; 564b) from the base structure of the automatic storage and retrieval system, and - Move the remotely operated vehicle (510) in the second direction (Y).

22. The method according to claim 20, wherein, The automated storage and retrieval system includes a plurality of remotely operated vehicles (510) configured to at least partially support the weight of the downward-facing track system (600) when engaged with it. The method includes the following steps: - Operate multiple of the remotely operated vehicles (510) such that at any time at least one of the remotely operated vehicles (510) engages with the downward-facing track system (600).

23. The method according to claim 20, wherein, The remotely operated vehicle (510) is configured to at least partially support the weight of the downward-facing track system when engaged with the downward-facing track system (600). The method includes the following steps: - Operate the remotely operated vehicle (510) such that at any time at least one of the first set of upper wheels (515b; 535b; 555b; 565b) and the second set of upper wheels (515c; 535c; 555c; 565c) engages with the downward-facing track system (600), and At any time, at least one of the first set of lower wheels (514b; 534b; 554b; 564b) and the second set of lower wheels (514c; 534b; 554c; 564c) engages with the downward-facing track system (600).

24. The method of claim 20, wherein, The automatic storage and retrieval system includes a controller (500) for controlling the movement of the plurality of the remotely operated vehicles (510). The storage section (130) of the automatic storage and retrieval system is divided into sub-segments. The method includes the following steps: - Control the movement of the plurality of said remotely operated vehicles (510) such that at any given time there is at least one container transport vehicle in each of the sub-segments.

25. Use of the remotely operated vehicle (510) according to any one of claims 1 to 13 for at least partially supporting a downward-facing track system (600).

26. The use of the remotely operated vehicle (510) according to any one of claims 1 to 13 for at least partially supporting an upward-facing track system (700), wherein, A downward-facing track system (600) is arranged below the upward-facing track system.

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