Container transport vehicle

Abstract

The invention provides a container handling vehicle (2, 2 ') for movement in two perpendicular horizontal directions on a track system (108) comprising a first set of parallel tracks (110) and a second set of parallel tracks (111) arranged perpendicular to the first set of tracks (110), the container handling vehicle comprising:-a frame (4); -an inner storage space (5) arranged in the upper part of the frame (4); -lifting means comprising a lifting frame (7) for releasable connection to a storage container (106), the lifting frame having a central opening (3) through which articles arranged in the storage container can be removed, the lifting frame being vertically movable between a lower position and an upper position; and-a robotic article picker (6); wherein the robotic article picker (6) is configured to transfer articles between the storage space (5) and the storage container (106) when the storage container is connected to the lifting frame and the lifting frame is in the upper position.

Description

Technical Field

[0001] The invention relates to a container handling vehicle, a storage system comprising the container handling vehicle and a method for taking out a storage container from the storage system. Background Art

[0002] Figure 1 A prior art automatic storage and retrieval system 1 having a frame structure 100 is disclosed. Figure 2 , Figure 3 and Figure 4 Three different prior art container handling vehicles 201, 301, 401 suitable for operating on such a system 1 are disclosed.

[0003] The frame structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106 (also called boxes) are stacked on top of each other to form stacks 107. The members 102 may typically be made of metal, for example extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a horizontal grid track system 108 (i.e., a track grid) arranged across the top of the frame structure 100, and a plurality of container handling vehicles 201, 301, 401 can operate on the track system 108 to lift and lower storage containers 106 from and into the storage columns 105, and also to transport storage containers 106 over the storage columns 105. The track system 108 includes a first set of parallel tracks 110 arranged to guide movement of the container handling vehicles 201, 301, 401 across the top of the frame structure 100 in a first direction X, and a second set of parallel tracks 111 arranged perpendicularly to the first set of tracks 110 for guiding movement of the container handling vehicles 201, 301, 401 in a second direction Y perpendicular to the first direction X. Containers 106 stored in the columns 105 can be accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the track system 108. The container handling vehicles 201 , 301 , 401 can move laterally above the storage row 105 , ie in a plane parallel to the horizontal XY plane.

[0005] Upright members 102 of frame structure 100 may be used to guide storage containers when lifting containers from and lowering containers into row 105. Stack 107 of containers 106 is generally self-supporting.

[0006] Each prior art container handling vehicle 201, 301, 401 includes a body 201a, 301a, 401a and a first set of wheels and a second set of wheels 201b, 201c, 301b, 301c, 401b, 401c, which enable the container handling vehicle 201, 301, 401 to move laterally in the X direction and the Y direction, respectively. Figure 2 , Figure 3 and Figure 4 , two wheels in each set of wheels 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, while 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 the wheel sets 201b, 201c, 301b, 301c, 401b, 401c can be raised and lowered so that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can engage with the corresponding track set 110, 111 at any time.

[0007] Each prior art container handling vehicle 201, 301, 401 further comprises a lifting device 404 (i.e., a container lifting device) for vertically transporting the storage container 106, see Figure 4 , such as lifting the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column 105. The lifting device 404 has a lifting frame 404d, which includes a container connector 404b and a guide pin 404c suitable for engaging the storage container 106. The lifting frame 404d can be lowered from the vehicle 201, 301, 401 so that the position of the lifting frame 404d relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z, which is orthogonal to the first direction Y and the second direction X. The lifting device of the container handling vehicle 201 is Figure 2 The center is located inside the vehicle body 201a.

[0008] To raise or lower the lifting frame 404d (and optionally the connected storage container 106), the lifting frame 404d is suspended from a belt drive assembly via a lifting belt 404a. In the belt drive assembly, the lifting belt is typically wound into / out of at least one rotating lifting shaft or reel in the container handling vehicle. For example, various designs of belt drive assemblies are described in WO 2015 / 193278 Al, WO 2017 / 129384 Al, and WO 2019 / 206438 Al.

[0009] By convention, and for the purposes of this application, Z=1 represents the uppermost level below the rails 110, 111 that is available for storage containers, i.e., the level immediately below the rail system 108, Z=2 represents the second level below the rail system 108, Z=3 represents the third level, and so on. Figure 1 In the exemplary prior art disclosed in , Z=8 represents the lowest layer of the storage container, i.e., the bottom layer. Similarly, X=l...n and Y=Y...n represent the position of each storage column 105 on the horizontal plane. Therefore, as an example, and using Figure 1 The Cartesian coordinate system X, Y, Z indicated in, Figure 1 The storage container 106' in FIG. 1 can be said to occupy storage position X=17, Y=1, Z=6. The container handling vehicles 201, 301, 401 can be said to be traveling in level Z=0, and each storage column 105 can be identified by its X and Y coordinates. Figure 1 The storage containers shown in FIG. 1 extending above the rail system 108 are also referred to as being arranged in the Z=0 layer.

[0010] The storage volume of the frame structure 100 is usually referred to as a grid, wherein the possible storage positions within the grid are referred to as storage units. Each storage column can be identified by the position in the X and Y directions, and each storage unit can be identified by the container number in the X, Y and Z directions.

[0011] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or space for receiving and storing the storage container 106 while transporting the storage container 106 across the track system 108. The storage space may include a cavity disposed within the vehicle body 201a, 401a, such as Figure 2 and Figure 4 As shown in and described in, for example, WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0012] Figure 3 An alternative configuration of a container handling vehicle 301 having a cantilever structure is shown. Such a vehicle is described in detail in, for example, NO 317366, the contents of which are also incorporated herein by reference.

[0013] Figure 2 The chamber container handling vehicle 201 shown in can have a footprint covering an area whose dimensions in the X-direction and the Y-direction are generally equal to the lateral extent of the storage row 105, such as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein can mean "horizontal".

[0014] Alternatively, the footprint of the cavity container handling vehicle 401 may be larger than the lateral area defined by the storage row 105, such as Figure 1 and Figure 4 As shown, for example as disclosed in WO 2014 / 090684 A1 or WO 2019 / 206487 A1.

[0015] The lateral area defined by the storage row is equal to the lateral area defined by the grid cells 122 of the track system 108. The lateral area of ​​the grid cells includes the area of ​​the access opening 112 and half of the track width around the access opening.

[0016] The track system 108 typically includes a track with grooves in which the wheels of the vehicle run. Alternatively, the track may include an upwardly protruding element, wherein the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly protruding 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, while 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 constituting one of a pair of guide rails provided by each track.

[0017] WO 2018 / 146304 A1 (the contents of which are incorporated herein by reference) shows a common configuration of the track system 108, which includes tracks and parallel guides in the X-direction and the Y-direction.

[0018] In the frame structure 100, most of the rows 105 are storage rows 105, i.e. storage containers 106 are stored in the rows 105 in the form of stacks 107. However, some of the rows 105 may have other uses. Figure 1In the embodiment, the columns 119 and 120 are dedicated columns for the container handling vehicles 201, 301, 401 to unload and / or pick up the storage containers 106 to transport the storage containers 106 to the access station (not shown), where the storage containers 106 can be approached from the outside of the frame structure 100, or the storage containers 106 can be moved out of or into the frame structure 100. In the art, such a position is generally referred to as a "port", and the column where the port is located can be referred to as a "port column" 119, 120. The transportation to the access station can be in any direction, i.e. horizontal, inclined and / or vertical. For example, the storage container 106 can be placed in a random or dedicated column 105 within the frame structure 100, and then picked up and transported to the port column 119, 120 by any container handling vehicle for further transportation to the access station. The transportation from the port to the access station may need to be moved in various directions, such as by a transport vehicle, a trolley or other transport line. Note that the term "inclined" refers to the transportation of the storage container 106 having a general direction of transportation between horizontal and vertical.

[0019] exist Figure 1 In the embodiment, the first port column 119 can be, for example, a dedicated unloading port column, where the container handling vehicles 201, 301, 401 can unload the storage containers 106 to transport them to the access station or transfer station, and the second port column 120 can be a dedicated picking port column, where the container handling vehicles 201, 301, 401 can pick up the storage containers 106 that have been transported from the access station or transfer station.

[0020] The access station can generally be a picking station or an inventory station, where products are taken out of or put into the storage container 106. In the picking station or the inventory station, the storage container 106 is generally not taken out of the automatic storage and retrieval system 1, but is returned to the frame structure 100 again after being accessed. The port can also be used to transfer the storage container to another storage facility (for example, to another frame structure or another automatic storage and retrieval system), to a transport vehicle (for example, a train or a truck), or to a production facility.

[0021] A conveying system including a conveyor is typically employed to transport the storage containers between the port rows 119, 120 and the access station.

[0022] If the port rows 119, 120 and the access station are located at different heights, the conveying system may include a lifting device with vertical components for vertically transporting the storage containers 106 between the port rows 119, 120 and the access station. The conveying system may be arranged to transfer the storage containers 106 between different frame structures, for example as described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0023] When accessing data stored in Figure 1When a storage container 106 in one of the columns 105 disclosed in the embodiment of the present invention is selected, one of the container handling vehicles 201, 301, 401 is instructed to take out the target storage container 106 from its position and transport it to the unloading port column 119. The operation includes moving the container handling vehicle 201, 301, 401 to a position above the storage column 105 where the target storage container 106 is located, taking out the storage container 106 from the storage column 105 using the lifting device 404 of the container handling vehicle 201, 301, 401, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep in the stack 107, that is, one or more other storage containers 106 are located above the target storage container 106, the operation also includes temporarily moving the storage container located above before lifting the target storage container 106 from the storage column 105. This step is sometimes referred to in the art as "digging", which can be performed using the same container handling vehicle that is subsequently used to transport the target storage container to the unloading port row 119, or using one or more other cooperating container handling vehicles. Alternatively or in addition, the automated storage and retrieval system 1 can have a container handling vehicle 201, 301, 401 that is specifically used to temporarily remove a storage container 106 from a storage row 105. After removing the target storage container 106 from the storage row 105, the temporarily removed storage container 106 can be relocated to the initial storage row 105. However, the removed storage container 106 can optionally be relocated to another storage row 105.

[0024] When a storage container 106 is to be stored in one of the rows 105, one of the container handling vehicles 201, 301, 401 is instructed to pick up a storage container 106 from the pick-up port row 120 and transport it to a position above the storage row 105 to be stored. After removing any storage container 106 located at or above the target position in the stack 107, the container handling vehicle 201, 301, 401 positions the storage container 106 at the desired position. The removed storage container 106 can then be placed back into the storage row 105 or repositioned in another storage row 105.

[0025] In order to monitor and control the automatic storage and retrieval system 1, for example, to monitor and control the position of each storage container 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301, 401, so as to be able to transport the required storage containers 106 to the required locations at the required time without causing the container handling vehicles 201, 301, 401 to collide with each other, the automatic storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0026] The above-described prior art storage systems are typically used to implement shipping orders to be sent to customers. Shipping orders typically include a number of different items that are typically stored in separate storage containers. Container handling vehicles are used to retrieve the separate storage containers and deliver them to a storage and retrieval station where the different items are picked up and consolidated into the shipping order. In some cases, implementing shipping orders in this manner may be inefficient because container handling vehicles may be required to transport a large number of storage containers to and from a port train connected to the storage and retrieval station.

[0027] In view of the foregoing, it would be desirable to provide a container handling vehicle, an automated storage and retrieval system including the container handling vehicle, and a method of operating such a system that can provide a more efficient method of fulfilling shipping orders. Summary of the invention

[0028] The present invention is defined in the appended claims and in the following:

[0029] In a first aspect, the present invention provides a container handling vehicle for moving in two perpendicular horizontal directions on a track system, the track system comprising a first set of parallel tracks and a second set of parallel tracks arranged perpendicular to the first set of tracks, the container handling vehicle comprising:

[0030] - frame;

[0031] - an internal storage space arranged in the upper part of the frame;

[0032] a lifting device comprising a lifting frame for releasably connecting to the storage container, the lifting frame having a central opening through which objects arranged in the storage container can be removed, the lifting frame being vertically movable between a lower position and an upper position; and

[0033] -Robotic item picker;

[0034] Therein, the robotic object picker is configured to transfer objects between the storage space and the storage container when the storage container is connected to the lifting frame and the lifting frame is in an upper position.

[0035] In one embodiment of a container handling vehicle, a robotic item picker may be configured to transfer items in a horizontal direction between a storage space and a storage container. When the lifting frame is in an upper position, the internal storage space may be horizontally arranged near or to one side of the lifting frame. In other words, the robotic item picker may be configured to move horizontally between a position above the internal storage space and a position above the lifting frame. The internal storage space may be enclosed within the frame and include an access opening facing a horizontal direction and / or may be accessed by the robotic item picker through the access opening. When the lifting frame is in an upper position, the access opening may be adjacent to or facing the lifting frame. When the storage container is connected to the lifting frame and the lifting frame is in an upper position, when transferring items between the storage space and the storage container, at least a portion of the robotic item picker may move through the access opening.

[0036] In one embodiment of the container handling vehicle, the robotic object picker is configured to move above and / or within the storage space and the lifting frame when the lifting frame is in the upper position. That is, the robotic object picker is configured to move at a level above the upper level of the lifting frame arranged in the upper position.

[0037] In one embodiment of the container handling vehicle, the robotic item picker is movably connected to a track assembly configured to allow the robotic item picker to move in two perpendicular horizontal directions. The track assembly (which may also be referred to as a beam assembly) may include two fixed and parallel first tracks and a second track (or beam) perpendicular to the first tracks, the first tracks extending horizontally above the lifting frame and the internal storage space. The second track may be movably connected to the first track and may move in a horizontal direction parallel to the first track. The robotic item picker may be connected to the second track. In one embodiment, the robotic item picker may be movably connected to the second track to move in a direction parallel to the first track.

[0038] In one embodiment of a container handling vehicle, the robotic item picker may include an item interaction device that can move in a vertical direction, such as in a vertical direction relative to the frame or track assembly. The item interaction device can utilize any suitable manipulation device (such as a mechanized robotic gripper or a vacuum / suction gripper) to lift the item.

[0039] In one embodiment, the container handling vehicle may include at least one optical sensor that can identify the item to be picked up and optionally determine the best way for the robotic item picker to pick up the item. The optical sensor may be an RGB-D camera. The optical sensor may be arranged on the robotic picker or configured to move with the robotic picker.

[0040] In one embodiment, the container handling vehicle may include two optical sensors, a first sensor disposed at the interior storage space and a second sensor disposed above or on the lift frame. The first sensor may identify an item to be picked up from the interior storage space and optionally determine the best way for a robotic item picker to pick up the item. The second sensor may identify an item to be picked up from a storage container connected to the lift frame and optionally determine the best way for a robotic item picker to pick up the item.

[0041] In one embodiment of the container handling vehicle, the lifting frame may be adjacent to or arranged beside the storage space when the lifting frame is in the upper position.

[0042] In one embodiment, the container handling vehicle may include at least one lifting axle, and the lifting frame is suspended from the at least one lifting axle by lifting belts that can be wound on or unwound from the lifting axle to raise or lower the lifting frame relative to the vehicle frame.

[0043] In one embodiment, the container handling vehicle may include a wheel assembly configured to move the vehicle along any one of the first set of parallel tracks and the second set of parallel tracks, the wheel assembly including at least four wheels.

[0044] At least four of the wheels may pivot about a vertical axis to allow movement along either a first set of parallel tracks or a second set of parallel tracks, or may be part of a first set of wheels arranged to engage with a first set of tracks and a second set of wheels arranged to engage with a second set of tracks, wherein at least one set of wheels may be raised and lowered so that the first set of wheels and / or the second set of wheels among the wheels may be engaged with the corresponding set of tracks at any time.

[0045] In a second aspect, the present invention provides a storage system comprising a container handling vehicle according to any embodiment of the first aspect, the storage system comprising: a frame structure providing a plurality of storage rows for accommodating vertical stacks of storage containers; and a track system on which the vehicle can move in two vertical directions over the storage rows. The frame structure may also include at least one port row at which the container handling vehicle can transfer storage containers between the track system and a storage and access station.

[0046] In one embodiment of the storage system, the lift frame may be configured to releasably connect to an upper storage container in the stack of storage containers when the lift frame is in the lower position.

[0047] In one embodiment of the storage system, the track system includes a first set of parallel tracks and a second set of parallel tracks arranged perpendicular to the first set of tracks, thereby providing a horizontal grid track system defining a plurality of grid cells, the grid cells being arranged at each upper end of the storage columns and the port columns. A grid cell may be defined as a cross-sectional area between a vertical center plane of an opposing track extending in the X direction and an opposing track extending in the Y direction. A grid cell opening may be defined as an opening cross-sectional area between two opposing tracks extending in the X direction and two opposing tracks extending in the Y direction.

[0048] In one embodiment, the storage system includes a plurality of upright members, and each storage row is defined by four upright members.

[0049] In one embodiment of the storage system, the rail system is arranged on top of the upright members.

[0050] In a third aspect, the present invention provides a method for removing an item from a storage container in a storage system according to any embodiment of the second aspect, the method comprising the following steps:

[0051] - moving the container handling vehicle to arrange the lifting frame over the storage row containing the storage containers;

[0052] - Lower the lifting frame into the storage row;

[0053] -Connecting the lifting frame to the storage container;

[0054] - Raise the lifting frame to the upper position;

[0055] - moving a robotic item picker to retrieve items from a storage container; and

[0056] -Optionally move the robotic item picker to deposit items in the interior storage space.

[0057] In a fourth aspect, the present invention provides a method for merging items from storage containers in a storage system according to any embodiment of the second aspect, the method comprising the steps of:

[0058] - moving the container handling vehicle to arrange the lifting frame above a storage row containing a first storage container containing a first article;

[0059] - Lower the lifting frame into the storage row;

[0060] - connecting the lifting frame to the first storage container;

[0061] - Raise the lifting frame to the upper position;

[0062] - moving the robotic object picker to retrieve a first object from a first storage container;

[0063] - moving the robotic object picker to deposit the first object in the interior storage space;

[0064] - Lower the lifting frame into the storage row;

[0065] - releasing the first storage container to store the first storage container in the storage row;

[0066] - Raise the lifting frame to the upper position;

[0067] - moving the container handling vehicle to position the lifting frame over a storage row containing a second storage container containing a second article;

[0068] - Lower the lifting frame into the storage row;

[0069] - connecting the lifting frame to the second storage container;

[0070] - Raise the lifting frame to the upper position;

[0071] - moving the robotic object picker to retrieve a second object from a second storage container;

[0072] -optionally moving the robotic object picker to deposit a second object in the interior storage space;

[0073] - Lower the lifting frame into the storage row;

[0074] - releasing the second storage container to store the second storage container in the storage row;

[0075] - Raise the lifting frame to the upper position;

[0076] - moving the container handling vehicle to arrange the lifting frame above the storage row containing the third storage container;

[0077] - Lower the lifting frame into the storage row;

[0078] - connecting the lifting frame to a third storage container;

[0079] - raising the lifting frame to the upper position; and

[0080] - operating the robotic object picker to retrieve the first object and optionally the second object from the internal storage space and to combine the first object and the second object in the third storage container, i.e. operating the robotic picker to store both the first object and the second object in the third storage container.

[0081] In one embodiment, the method according to the fourth aspect may include the following steps:

[0082] -Moving container handling vehicles to ports;

[0083] - Lowering the lifting frame to release the third storage container containing the first object and the second object for transfer to the access station.

[0084] In a fifth aspect, the present invention provides a method for merging items from storage containers in a storage system according to any embodiment of the second aspect, the method comprising the steps of:

[0085] - moving the container handling vehicle to position the lifting frame over a storage row containing a first storage container containing a first article;

[0086] - Lower the lifting frame into the storage row;

[0087] - connecting the lifting frame to the first storage container;

[0088] - Raise the lifting frame to the upper position;

[0089] - moving the robotic object picker to retrieve a first object from a first storage container;

[0090] -optionally moving the robotic object picker to deposit the first object in the interior storage space;

[0091] - Lower the lifting frame into the storage row;

[0092] - releasing the first storage container to store the first storage container in the storage row;

[0093] - Raise the lifting frame to the upper position;

[0094] - moving the container handling vehicle to position the lifting frame over a storage row containing a second storage container containing a second article;

[0095] - Lower the lifting frame into the storage row;

[0096] - connecting the lifting frame to the second storage container;

[0097] - Raise the lifting frame to the upper position;

[0098] -optionally moving the robotic object picker to retrieve the first object from the interior storage space; and

[0099] -Moving the robotic item picker to deposit the first item in the second storage container, thereby merging the first item and the second item. BRIEF DESCRIPTION OF THE DRAWINGS

[0100] Embodiments of the present invention are described in detail by way of example only and with reference to the following drawings:

[0101] Figure 1 It is a stereogram of the framework structure of the automatic storage and retrieval system of the prior art.

[0102] Figure 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0103] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever arm for carrying a storage container underneath.

[0104] Figure 4 is a perspective view of a prior art container handling vehicle viewed from below, the container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0105] Figure 5 is a side view of a first exemplary container handling vehicle according to the present invention.

[0106] Figure 6 The storage container is being taken out. Figure 5 Side view of a container handling vehicle.

[0107] Figure 7a yes Figure 6 Side view of a container handling vehicle in which the storage container is in an upper position.

[0108] Figure 7b yes Figure 7a A top view of a container handling vehicle.

[0109] Figure 8a yes Figure 7a Side view of a container handling vehicle in which a robotic picker is arranged above a storage space.

[0110] Figure 8b yes Figure 8a A top view of a container handling vehicle.

[0111] Figure 9a is a side view of a second exemplary container handling vehicle according to the present invention.

[0112] Figure 9b yes Figure 9a A top view of a container handling vehicle. DETAILED DESCRIPTION

[0113] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. It should be understood, however, that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings.

[0114] As described above, in some cases, it would be advantageous to be able to consolidate items for a shipping order without requiring a container handling vehicle to retrieve and transport multiple storage containers between a storage column and a port column. The present invention provides such a container handling vehicle by which multiple items can be consolidated into a common storage container and then transported to a port column for transport to a storage and retrieval station.

[0115] The container handling vehicle according to the present invention is intended for use in an automated storage and retrieval system, also referred to as a container handling system, which has the above-mentioned Figures 1 to 3 The frame structure 100 described. The frame structure 100 includes a plurality of upright members 102 (i.e., vertical column profiles) and a track system 108, which forms a track grid extending in a first direction X and a second direction Y. The track system 108 has a first set of parallel tracks 110 in the first direction and a second set of parallel tracks 111 in the second direction. The upright members 102 define storage columns 105, and storage containers 106 can be stacked on top of each other in the storage columns. The storage containers of the automatic storage and retrieval system can be configured to achieve multiple functions, such as storage of items and goods and growth modules for plants. In the latter case, the automatic storage and retrieval system can also be referred to as a vertical farming system.

[0116] Figure 5 FIG. 8 shows a first exemplary embodiment of a container handling vehicle 2 according to the invention.

[0117] The vehicle has a frame 4, an internal storage space 5 arranged on the upper part of the frame 4, a robotic object picker 6 and a lifting device for taking out storage containers from a storage column 105 of a container storage system or storing storage containers in the storage column. The lifting device has a vertically movable lifting frame 7, which is used to be releasably connected to the storage container 106, see Fig.10 The lifting frame may have the same features as the lifting frames of the prior art vehicles 201, 301, 401, with the addition of a central opening 3. The central opening 3 allows access from the top to the connected storage container 106, see Fig.10 The lifting frame 7 is suspended on at least one lifting axle by means of a lifting belt 10 and can be vertically moved relative to the frame 4 between a lower position and an upper position, see Figure 6 and Figure 7a The frame 4 of the first exemplary embodiment is Figure 3 The frame of the prior art vehicle shown in FIG. 1 is similar, ie comprises a cantilever portion from which a lifting frame 7 is suspended.

[0118] The internal storage space 5 may be enclosed within the frame 4 and include an access opening 11 facing horizontally and / or accessible through the access opening by a robotic object picker. The access opening 11 is arranged in the direction of the lifting frame when the lifting frame is in the upper position.

[0119] The robotic object picker 6 is arranged in the upper portion of the frame, at a level above the interior storage space 5 and the lifting frame, i.e., above the support surface or floor of the interior storage space. When the storage container 106 is connected to the lifting frame 7 and the lifting frame 7 is in the upper position, the robotic object picker 6 is configured to transfer objects between the storage space 5 and the storage container 106. In the upper position, the lifting frame 7 is preferably adjacent to the interior storage space 5 to provide the robotic picker 6 with a minimum travel distance between the interior storage space 5 and the storage container 106.

[0120] The robotic item picker 6 is movably connected to a track / beam assembly 8. The track / beam assembly may extend above the internal storage space 5 and the lifting frame 7 so that the robotic item picker 6 may move in two mutually perpendicular horizontal directions above or inside the internal storage space 5 and above the lifting frame 7. The robotic item picker 6 includes an item interaction device 9 that may move in a vertical direction. In an alternative embodiment, the robotic item picker may, for example, include a robotic arm disposed between the internal storage space and the lifting frame, the robotic arm being configured to move the robotic item picker in a desired vertical and horizontal direction. The item interaction device 9 is a manipulator that can lift and release items, such as a robotic finger gripper or a vacuum / suction gripper. The robotic picker may have at least one optical sensor, such as an RGB-D camera. The optical sensor may identify the item to be picked up and determine the best way for the robotic item picker to pick up the item.

[0121] Figures 6 to 8b A simple article picking method that may be performed when a first exemplary container handling vehicle is used with the above-described storage system is shown.

[0122] The method may include the following steps:

[0123] - moving the container handling vehicle 2 to position the lifting frame above the storage row 105 containing the storage containers 106 containing the items to be picked up;

[0124] - lowering the lifting frame 7 into the storage row 105;

[0125] - Connecting the lifting frame 7 to the storage container 106;

[0126] - Raise the lifting frame 7 to the upper position;

[0127] - moving the robotic object picker 6 vertically and horizontally to retrieve objects from the storage container; and

[0128] - horizontally moving the robotic object picker 6 from a position above the storage container to a position above or within the interior storage space 5; and

[0129] -Store items in the interior storage space.

[0130] When the items have been retrieved by the robotic item picker 6, the storage container 106 can be returned to the storage row 105. Additional items from other storage containers 106 can then be temporarily stored in the internal storage space 5 and then merged into the common storage container, for example, for delivery to a storage and retrieval station.

[0131] When a first item from a first storage container and a second item from a second storage container are to be merged into the second storage container, the robot picker can hold the first item when the container handling vehicle takes out the second storage container, that is, the first item is not temporarily stored in the internal storage space, and then the first item is stored in the second storage container.

[0132] Figure 9a and Figure 9b A second exemplary container handling vehicle 2' is shown in FIG. Figure 4 The frame of the prior art vehicle shown in , ie including a cavity into which the frame 7 and attached storage container 106 may be lifted. The configuration and function of the robotic object picker 6 is as described above in the first exemplary embodiment.

[0133] Each container handling vehicle 2 shown has a wheel assembly configured to move the vehicle 2 along any one of the first set of parallel tracks 110 and the second set of parallel tracks 111. Figures 2 to 4 In other words, the vehicle of the present invention may have a first set of wheels and a second set of wheels, as described above in conjunction with the prior art vehicles 201, 301, 401 and, for example, WO2015 / 193278A1 and WO2017 / 153583. The first set of wheels may be arranged to engage with two parallel tracks of the first set of tracks 110, and the second set of wheels may be arranged to engage with two parallel tracks of the second set of tracks 111. At least one set of wheels may be raised and lowered so that the first set of wheels and / or the second set of wheels may engage with the respective track sets 110, 111 at any time.

[0134] The container handling vehicles 2, 2' have an electronic control module and a rechargeable battery, the electronic control module being used for wireless communication with the control system 500 of the automated storage system as described above. The robotic object picker may be connected to the control system 500 via the electronic control module.

[0135] The container handling vehicle according to the invention can improve the efficiency of the consolidation operations performed in the automated storage system as described above. The vehicle 2, 2' can also be used to transport storage containers in which shipping orders are consolidated to a port area where the storage containers can be transferred between the frame structure and the access station.

[0136] Reference Numbers List

[0137] 1. Automatic storage and retrieval system of the prior art

[0138] 2.2' Container handling vehicle according to the present invention

[0139] 3Central opening of the lifting frame

[0140] 4 Frame

[0141] 5 internal storage space

[0142] 6Robot Item Pickers

[0143] 7 Lifting frame

[0144] 8 Track / Beam Assemblies

[0145] 9 Item Interaction Device

[0146] 10 Lifting belt

[0147] 11 Access opening to internal storage space

[0148] 100 frame structure

[0149] 102 Vertical members of the frame structure

[0150] 104 Storage Grid

[0151] 105 storage columns

[0152] 106 Storage Containers

[0153] Specific location of 106' storage container

[0154] 107 Stacking

[0155] 108 Track System

[0156] 110 parallel tracks along a first direction (X)

[0157] 112 Access openings

[0158] 119 First port column

[0159] 120 Second port column

[0160] 201 Container handling vehicle of the prior art

[0161] 201a Body of container transport vehicle 201

[0162] 201b Drive device / wheel device / first set of wheels along first direction (X)

[0163] 201c Driving device / wheel device / second set of wheels along the second direction (Y)

[0164] 301 Prior art cantilever container handling vehicle

[0165] 301a Body of container transport vehicle 301

[0166] 301b Driving device / first set of wheels along first direction (X)

[0167] 301c Driving device / second set of wheels along the second direction (Y)

[0168] 304 clamping device

[0169] 401 Container handling vehicles of the prior art

[0170] 401a Body of container transport vehicle 401

[0171] 401b Driving device / first set of wheels along first direction (X)

[0172] 401c Driving device / second set of wheels along the second direction (Y)

[0173] 404 clamping device

[0174] 404a lifting belt

[0175] 404b Clamp

[0176] 404c guide pin

[0177] 404d lifting frame

[0178] 500 control system

[0179] X first direction

[0180] Y second direction

[0181] Z Third direction

Claims

1. A container handling vehicle (2, 2') for moving in two perpendicular horizontal directions on a track system (108), the track system comprising a first set of parallel tracks (110) and a second set of parallel tracks (111) arranged perpendicular to the first set of tracks (110), the container handling vehicle comprising: - frame (4); - an internal storage space (5) arranged in the upper part of the frame (4); - a lifting device comprising a lifting frame (7) for releasably connecting to a storage container (106), the lifting frame having a central opening (3) through which objects arranged in the storage container can be removed, the lifting frame being vertically movable between a lower position and an upper position; and - Robotic item pickers (6); Wherein, the robotic object picker (6) is configured to transfer objects between the storage space (5) and the storage container when the storage container (106) is connected to the lifting frame and the lifting frame is in the upper position.

2. The container handling vehicle (2) according to claim 1, wherein: The robotic object picker (6) is configured to be movable above the storage space (5) and the lifting frame (7) when the lifting frame is in the upper position.

3. The container handling vehicle (2) according to claim 1 or 2, wherein: The robotic article picker (6) is movably connected to a track or beam assembly (8) configured to allow the robotic article picker to move in two perpendicular horizontal directions.

4. The container handling vehicle (2) according to claim 1, 2 or 3, wherein: The robotic object picker comprises an object interaction device (9) which can move in a vertical direction.

5. The container handling vehicle (2) according to any one of the preceding claims, wherein: When the lifting frame (7) is in the upper position, the lifting frame is adjacent to the storage space (5).

6. The container handling vehicle (2) according to claim 5, comprising at least one lifting axle, the lifting frame (7) being suspended on at least one of the lifting axles by means of lifting belts (10), the lifting belts being able to be wound around or unwound from the lifting axles to raise or lower the lifting frame (7) relative to the vehicle frame (4).

7. A container handling vehicle (2) according to any one of the preceding claims, comprising a wheel assembly, the wheel assembly being configured to move the vehicle (2) along any one of the first set of parallel tracks (110) and the second set of parallel tracks (111), the wheel assembly comprising at least four wheels (11).

8. A storage system comprising a container handling vehicle (2) according to any one of the preceding claims, the storage system comprising: A frame structure (100) providing a plurality of storage rows (105) for accommodating vertical stacks of storage containers (106); and a track system (108) on which the vehicle can move in two vertical directions over the storage rows.

9. The storage system according to claim 8, wherein: The lifting frame is configured to releasably connect to an upper storage container in the stack of storage containers when the lifting frame is in the lower position.

10. A method for removing an article from a storage container in a storage system according to claim 8 or 9, the method comprising the following steps: - moving the container handling vehicle (2) to arrange the lifting frame above the storage row (105) containing the storage containers (106); - lowering the lifting frame (7) into the storage row (105); - connecting the lifting frame (7) to the storage container (106); - raising the lifting frame (7) to the upper position; and - moving the robotic item picker to retrieve the item from the storage container.

11. The method according to claim 10, comprising the steps of: - moving the robotic object picker to deposit the object in the interior storage space.

12. A method of consolidating items from storage containers in a storage system according to claim 8 or 9, the method comprising the steps of: - moving the container handling vehicle (2) to arrange the lifting frame above a storage row (105) containing a first storage container (106) containing a first article; - lowering the lifting frame (7) into the storage row (105); - connecting the lifting frame (7) to the first storage container (106); - raising the lifting frame (7) to the upper position; - moving the robotic object picker to retrieve the first object from the first storage container; - moving the robotic object picker to deposit the first object in the interior storage space; - lowering the lifting frame (7) into the storage row (105); - releasing the first storage container to store the first storage container in the storage column; - raising the lifting frame (7) to the upper position; - moving the container handling vehicle (2) to arrange the lifting frame above a storage row (105) containing a second storage container (106) containing a second object; - lowering the lifting frame (7) into the storage row (105); - connecting the lifting frame (7) to the second storage container (106); - raising the lifting frame (7) to the upper position; - moving the robotic object picker to retrieve the second object from the second storage container; -optionally, moving the robotic object picker to deposit the second object in the internal storage space; - lowering the lifting frame (7) into the storage row (105); - releasing the second storage container to store the second storage container in the storage column; - raising the lifting frame (7) to the upper position; - moving the container handling vehicle (2) to arrange the lifting frame above the storage row (105) containing the third storage container (106); - lowering the lifting frame (7) into the storage row (105); - connecting the lifting frame (7) to the third storage container (106); - raising the lifting frame (7) to the upper position; and - operating the robotic object picker to retrieve the first object and optionally the second object from the internal storage space and merge the first object and the second object into the third storage container.

13. The method according to claim 12, comprising the steps of: - moving the container handling vehicle (2) to the port; - Lowering the lifting frame to release the third storage container for transfer to the access station.

14. A method of consolidating items from storage containers in a storage system according to claim 8 or 9, the method comprising the steps of: - moving the container handling vehicle (2) to arrange the lifting frame above a storage row (105) containing a first storage container (106) containing a first article; - lowering the lifting frame (7) into the storage row (105); - connecting the lifting frame (7) to the first storage container (106); - raising the lifting frame (7) to the upper position; - moving the robotic object picker to retrieve the first object from the first storage container; -optionally, moving the robotic object picker to deposit the first object in the internal storage space; - lowering the lifting frame (7) into the storage row (105); - releasing the first storage container to store the first storage container in the storage column; - raising the lifting frame (7) to the upper position; - moving the container handling vehicle (2) to arrange the lifting frame above a storage row (105) containing a second storage container (106) containing a second object; - lowering the lifting frame (7) into the storage row (105); - connecting the lifting frame (7) to the second storage container (106); - raising the lifting frame (7) to the upper position; -optionally moving the robotic object picker to retrieve the first object from the internal storage space; as well as - moving the robotic item picker to deposit the first item in the second storage container, thereby merging the first item and the second item.

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