Vehicle usable in warehouse system for three-dimensional arrangement of storage bins

Abstract

The present disclosure relates to a vehicle (210) for removing a storage bin (202) from a warehouse system. The vehicle includes a gripper (804; 904) configured to grip the storage bins (202) to lift the storage bins (202) from the respective stacks (208) and to move the storage bins (202) along the top layer (206) of the storage modules of the warehouse system, where the grippers (804; 904) is arranged to extend beyond the body of the vehicle (210) such that the storage bin (202) is arranged alongside the body on a first vertical side of the body if the storage bin is lifted to the top layer (206). The vehicle (210) further includes an alternation mechanism configured to alter the gripper (804; 904) relative to the main body such that the storage bin (202) is arranged alongside the main body on a second vertical side of the main body with the storage bin (202) clamped and lifted to the top layer (206).

Description

Technical Field

[0001] The present disclosure generally relates to the field of warehouse systems. More specifically, the present disclosure relates to a vehicle for placing and retrieving storage boxes in a warehouse system (the warehouse system provides a space for three-dimensional arrangement of storage boxes), a warehouse system including such a vehicle, and prefabricated interconnectable storage modules for assembling the warehouse system including such a vehicle. Background Art

[0002] In industry, warehouses are used to store large quantities of goods in an organized manner. Today, warehouse systems commonly employed include various types of storage systems, ranging from simple pallet racks that allow palletized goods to be stored in multi-level horizontal rows (where stacker cranes are used to retrieve the goods from the racks) to more compact warehouse systems that focus on efficient use of the available space in the warehouse.

[0003] An automated warehouse system, such as that disclosed in WO 2014 / 075937 A1, is an example of a compact warehouse system. Figure 1 As shown, such a warehouse system may include a grid structure 100 of storage units, wherein each storage unit is arranged to accommodate a vertical stack of storage boxes 102. At the top level of the grid structure, one or more robots 104 (or more generally, "vehicles") may move horizontally to receive storage boxes 102 from the stack of storage units and place storage boxes 102 into the stack of storage units, i.e., by lifting the storage boxes 102 from the stack to the top level or lowering the storage boxes 102 from the top level onto the stack, respectively. A box lifter 106 integrated into the grid structure 100 may receive the storage boxes 102 from the robot 104 at the top level and transport the storage boxes 02 downward in a vertical direction to a docking station 108. Such a warehouse system is provided by, for example, AutoStore (http: / / www.autostoresystem.com).

[0004] While such systems can make efficient use of the available space in a warehouse, they may encounter the problem that, in the event that a storage box currently stored in a lower position in a stack of a storage unit (e.g., at the bottom of the stack) is to be retrieved, all storage boxes placed above this box in the same stack need to be temporarily relocated, for example, to other stacks in the grid structure. This may require an iterative migration process until all storage boxes above the box to be retrieved are relocated so that the box can eventually be accessed / retrieved and transported to the handover station via the top layer. It is understandable that such a migration process may be time consuming and therefore a fast retrieval time for all boxes of the warehouse system cannot be guaranteed. It is difficult for warehouse system providers, especially in the fast business industry, to make promises, such as promising to retrieve boxes within seconds to guarantee immediate delivery after the purchase transaction is completed. Summary of the invention

[0005] Therefore, an object of the present disclosure is to provide a warehouse system technology that can retrieve storage boxes of the warehouse system more quickly or improve other aspects of the above-mentioned warehouse system.

[0006] According to a first aspect that is helpful for understanding the present disclosure, there is provided a warehouse system that provides a space for a three-dimensional arrangement of storage boxes. The warehouse system includes a plurality of interconnected storage modules, wherein each storage module includes a storage area and a top layer arranged above the storage area, the storage area being adapted to accommodate a plurality of stacks of storage boxes arranged in a horizontal two-dimensional grid at the bottom of the storage module, wherein at the top layer, at least one vehicle can move in alignment with the two-dimensional grid to remove storage boxes from the plurality of stacks and place storage boxes to the plurality of stacks. The plurality of interconnected storage modules include at least two layers of storage modules placed one above the other in a single room.

[0007] For each of the plurality of storage modules, the height of the storage module may be set to allow a maximum of 6, preferably 5, 4, or 3 storage boxes per stack in the plurality of stacks of storage modules. The plurality of storage modules may include at least 3 layers, preferably at least 4 layers or at least 5 layers of storage modules placed one above the other in a single room. The plurality of interconnected storage modules may also include at least two storage modules placed one after the other in a horizontal direction in a single room.

[0008] Each of the plurality of storage modules can be a prefabricated interconnectable storage module, wherein the warehouse system can be assembled from the plurality of storage modules in the manner of a modular construction system. In the plurality of interconnected storage modules, two storage modules placed one above the other can be interconnected using a mechanical form fit established between the bottom of an upper storage module and the top of a lower storage module in the two storage modules. The dimensions of each of the plurality of storage modules can be designed to have a maximum extension of 4 meters, preferably 3 meters or 2 meters in the longitudinal direction. The dimensions of each of the plurality of storage modules can be designed to accommodate a maximum of 500, preferably 400, 300, 200, or 100 storage boxes in a plurality of stacks of storage modules.

[0009] Each of the plurality of storage modules may include its own ground surface, which may optionally be in the form of a rod assembly aligned with a two-dimensional grid, and a plurality of stacked storage boxes of the storage module may be placed based on the ground surface. At least a portion of the plurality of interconnected storage modules may be provided with outer walls to form blocks of continuous storage areas that are closed relative to the outside, wherein, optionally, outer walls may be provided to form blocks of multiple continuous storage areas in the warehouse system, wherein each block may be closed relative to the outside and other blocks of continuous storage areas, and wherein each of the plurality of blocks may form a different temperature zone. In at least one outer wall, an opening may be provided so that storage boxes can be removed from the storage modules of the corresponding block and storage boxes can be placed into the storage modules. At least a portion of the plurality of storage modules may be provided with a fire protection system.

[0010] In order to retrieve a storage box from one of multiple stacks of multiple storage modules, at least one vehicle can move along the top layer of the corresponding storage module toward the edge of the storage module together with the storage box when the vehicle retrieves the storage box from the stack, wherein the vehicle can shift the storage box beyond the edge of the storage module and lower the storage box along the edge of the storage module to a junction point of the warehouse system.

[0011] According to a second aspect that is helpful for understanding the present disclosure, a modular construction method for assembling a warehouse system is provided, wherein the warehouse system provides space for a three-dimensional arrangement of storage boxes. The method includes assembling the warehouse system from a plurality of prefabricated interconnectable storage modules, wherein each storage module includes a storage area and a top layer arranged above the storage area, the storage area being adapted to accommodate a plurality of stacks of storage boxes arranged in a horizontal two-dimensional grid at the bottom of the storage module, wherein, at the top layer, at least one vehicle is capable of moving in alignment with the two-dimensional grid to retrieve storage boxes from the plurality of stacks and place storage boxes to the plurality of stacks. Assembling the warehouse system from a plurality of prefabricated interconnectable storage modules includes forming at least two layers of storage modules by placing storage modules one above the other in a single room.

[0012] According to a third aspect that is helpful for understanding the present disclosure, there is provided a prefabricated interconnectable storage module for assembling a warehouse system, which provides space for a three-dimensional arrangement of storage boxes. The warehouse system is assembled from a plurality of prefabricated interconnectable storage modules of the type of prefabricated interconnectable storage modules, the storage modules comprising a storage area and a top layer arranged above the storage area, the storage area being adapted to accommodate a plurality of stacks of storage boxes arranged in a horizontal two-dimensional grid at the bottom of the storage module, wherein the top layer is adapted to allow at least one vehicle to move in alignment with the two-dimensional grid on the top layer to retrieve storage boxes from the plurality of stacks and place storage boxes to the plurality of stacks. The storage module is also adapted to be able to be placed above another storage module of the same type, so that when the warehouse system is assembled from a plurality of prefabricated interconnectable storage modules, at least two layers of storage modules can be formed by placing the storage modules above and below in a single room.

[0013] According to a fourth aspect reflecting the claimed invention, a vehicle for retrieving storage boxes from a warehouse system is provided. The warehouse system includes at least one storage module having a storage area and a top layer arranged above the storage area, the storage area being adapted to accommodate a plurality of stacks of storage boxes, wherein the vehicle is configured to be able to move on the top layer of the storage module to retrieve storage boxes from the plurality of stacks, wherein retrieving the storage box from the respective stack includes lifting the storage box from the stack to the top layer so that the vehicle can shift the storage box along the top layer. The vehicle includes a clamp and an alternating mechanism, wherein the clamp is configured to clamp a storage box to lift the storage box from a corresponding stack (or "in the case of lifting") and shift the storage box along the top layer (or "in the case of shifting"), wherein the clamp is arranged to extend beyond the body of the vehicle so that when the storage box is lifted to the top layer, the storage box is arranged side by side with the body on a first vertical side of the body, and the alternating mechanism is configured to change the position of the clamp relative to the body so that when the storage box is clamped and lifted to the top layer, the storage box is arranged side by side with the body on a second vertical side of the body.

[0014] The gripper can be configured to grip the storage box at the corresponding stack so that the gripper or another component of the vehicle can lift the storage box to the top layer. While still gripping the storage box, the vehicle can move so that the storage box is displaced along the top layer.

[0015] The first vertical side of the body and the second vertical side of the body can be opposite vertical sides of the body or adjacent vertical sides of the body extending orthogonally relative to each other. In other words, the first and second vertical sides can be any vertical sides of the body (i.e., the vehicle) on which the storage box can be placed when clamped by the clamp.

[0016] In one variation, the clamp may extend telescopically beyond a first vertical side of the body and telescopically beyond a second vertical side of the body, wherein the alternating mechanism may include a sliding mechanism configured to slide the clamp alternately between a telescopic extension beyond the first vertical side of the body and a telescopic extension beyond the second vertical side of the body. The telescopic extension may be (or "cover") an area of ​​the first or second vertical side of the body that is located alongside the body of the vehicle, such that the clamp may be positioned to clamp a storage box by the alternating mechanism. The sliding mechanism may be configured to slide the clamp alternately between the telescopic extensions beyond the first and second vertical sides of the body when the clamp is not currently clamping a storage box.

[0017] Alternatively, the sliding mechanism may be configured to alternately slide the holder between telescopic extensions beyond the first and second vertical sides of the body when the holder is currently holding a storage box. In this configuration, the body may include a recess sized to move the storage box from the first vertical side to the second vertical side when the holder is slid between the first vertical side and the second vertical side.

[0018] In another variation, the alternating mechanism may include a rotation mechanism configured to rotate the holder between a rotational position in which the holder extends beyond a first vertical side of the body and a rotational position in which the holder extends beyond a second vertical side of the body.

[0019] As an example only, the rotating mechanism can be arranged on the top of the vehicle body.In addition, the rotating mechanism can be configured to rotate around a vertical axis, about 360° and / or about 180° in each direction.

[0020] Alternatively or additionally, at least one vertically arranged corner or edge of the body may have a rounded shape. This allows the clamp to rotate around the corner or edge of the body together with the clamped storage box. Specifically, when the body is viewed from the top, the corner of the body is closer to the center of the body than the corner or edge of a rectangular body. When rotating between corresponding rotational positions relative to the first vertical side and the second vertical side, this "cut off" corner or edge provides free space for moving (rotating) at least a portion of the clamped storage box and / or the clamp.

[0021] In another variation, the alternating mechanism may include an extension mechanism configured to alternately move the clamp between an approach position and an extended position, wherein the clamp is further away from the body in the extended position than in the approach position. The approach position and the extended position are located on the same side of the body, such as the first or second vertical side. Thus, the extension mechanism moves the clamp between two positions on the same side of the body. By way of example only, the approach position may correspond to a position in which a storage box held by the clamp is located above a storage cell in a two-dimensional grid of storage cells (each cell forming a storage space for a stack of storage boxes).

[0022] In the extended position, the extension mechanism can move the clamp so that the storage box clamped by the clamp is spaced far enough from the body of the vehicle so that it does not contact (collide with) a part of the body, such as a corner or edge of the body, during the rotation caused by the rotation mechanism. This also reduces the lever arm of the clamp when it is in the close position, so that the forces and moments acting on the body of the vehicle (for example, during the movement of the vehicle) can be kept to a minimum. The extended position can be used only when the rotation mechanism is activated, at which time the vehicle would normally be stopped. It should be understood that the vehicle may also move with the clamp in the extended position, for example, if the weight of the storage box does not exceed the relevant threshold or the weight of the body is high enough.

[0023] In another variation, to retrieve a storage box from a corresponding stack, the vehicle may be configured to displace the storage box beyond the edge of the storage module once the storage box is lifted and displaced along the top layer toward the edge of the top layer, and to lower the storage box along the edge of the storage module to a junction point of the warehouse system. Displacing the storage box beyond the edge of the storage module may include rotating the gripper using a rotation mechanism while gripping the storage box to a rotational position where the gripper extends beyond the edge of the storage module.

[0024] Merely by way of example, in the case where the storage bin is displaced beyond the edge of the storage module, the extension mechanism can additionally be activated, i.e. the gripper can be brought into the extended position, e.g. if the junction point of the warehouse system is further away from the storage module than a virtual storage cell in a two-dimensional grid of storage cells outside the storage module, which cells each form a stacking space, next to the storage module.

[0025] In another variation, the vehicle may further include a plurality of rollers configured to move the vehicle at the top level of the storage module, wherein each of the plurality of rollers is configured to rotate about a vertical axis and change orientation relative to the body. The rollers may be oriented relative to the body so that the rollers are configured to roll in a direction along one dimension of a two-dimensional grid of stacked storage boxes in the storage module. In other words, the vehicle may roll from one stacking position to the next stacking position along the stacked grid. Rotating the rollers about the vertical axis and changing their orientation may cause the vehicle to roll from one stacking position to the next stacking position along the stacking grid, with the rolling direction being along different dimensions of the two-dimensional grid. For example, the different dimensions may be arranged orthogonally to the first dimension, since the two-dimensional grid may be a horizontal rectangular grid.

[0026] In another variation, the vehicle may further include a roller actuator configured to rotate at least one of the plurality of rollers. The roller actuator may be configured to rotate one of the rollers, a pair of rollers, or even all of the plurality of rollers.

[0027] Alternatively, more than one roller actuator may be implemented in the vehicle, ie in order to rotate more than one roller.

[0028] For example, the roller actuator may be configured to rotate at least one roller by 90°. This allows the direction of movement of the vehicle to be changed by simply rotating the roller. For example, when the vehicle is moving, the method of rotating the roller around a vertical axis may not be adopted, that is, the vehicle will not turn. Conversely, when the vehicle is stopped, the roller may be rotated so that the direction of movement of the next movement can be changed, for example, by 90°. By way of example only, rotating the roller can occur at the intersection of the grid lines of a two-dimensional grid.

[0029] In another variation, the vehicle may also include a spherical roller configured to roll in any arbitrary direction and at least one driver (or "motor") configured to roll (or "drive") at least one spherical roller in at least two directions. For example, the driver may roll at least one roller in a direction along one dimension of a two-dimensional grid of stacks of storage boxes in a storage module to roll the vehicle accordingly. In other words, the vehicle may roll (or "move") from one stacking position to the next stacking position along the stacking grid. In order to change the direction of movement of the vehicle, i.e., to move from one stacking position to the next stacking position along the stacking grid, the driver may roll at least one roller in directions along different dimensions of the two-dimensional grid. For example, different dimensions, and therefore different directions, may be arranged to be orthogonal to the first dimension, because the two-dimensional grid may be a horizontal (e.g., rectangular) grid. By way of example only, the driver may include two components that contact the rollers at points arranged orthogonally and are configured to drive the rollers in one of the two directions.

[0030] In another variation, the clamp may include a set of buckles arranged adjacent to each other, wherein each buckle has a clamping configuration associated with a corresponding type of storage box. For example, each type of storage box may require a different type of clamp, i.e., a different buckle is required to clamp the storage box. The type of storage box may be defined by the size of the recess forming the handle or groove handle of the storage box. By way of example only, the storage box may be a standardized storage box (e.g., a Euro box), a beverage box, a wooden box, a standardized pallet, etc.

[0031] In yet another variation, each buckle has a different height relative to the holder. Each height may correspond to a corresponding recess of a different type of storage box.

[0032] Alternatively, each buckle has a different coupling structure associated with a corresponding type of storage bin. By way of example only, the type of storage bin may be defined by the type of handle, e.g., a recessed handle, a magnetic handle, a blank surface for a vacuum grip, etc. In this case, the holder also includes a different type of coupling structure, e.g., a buckle, a magnet, a vacuum gripper, etc.

[0033] In another variation, each buckle may be pivotally mounted to the gripper and biased toward a gripping position. The biasing of the buckle allows for automatic gripping of a storage box on top of a stack by lowering the buckle from the vehicle to the top storage box, wherein a portion of the storage box spreads the buckle until the buckle, due to the bias, is able to hook into a recessed grip / handle of the storage box.

[0034] Alternatively or additionally, the clamp may include a buckle actuator configured to move a set of buckles from at least a clamped position to an open position. In the clamped position, the buckles and clamp secure the storage box, for example, for removal and lifting of the storage box. The buckle actuator may move the set of buckles to an open position in which the storage box is released from the clamp, for example, when the storage box is placed on a stack or at a junction of the system. By way of example only, the buckle actuator may include an electric motor, a traveling motor, a hydraulic motor, a magnet, a cylinder / piston actuator, etc.

[0035] Alternatively or additionally, the clamp may include a biasing element that biases each buckle toward the clamped position. Such a biasing element may be a spring that forces the buckle to exert a force (bias) toward the clamped position. For example, the biasing element may cause a pivotally mounted buckle to rotate toward the clamped position.

[0036] In another variation, the vehicle may further include a lifting mechanism configured to raise and lower the clamped storage box. The lifting mechanism may be configured to move a portion of the vehicle (e.g., a portion of the clamp) toward the vehicle body and optionally away from the vehicle. Such movement of the storage box may be substantially vertical and / or may be supported by an electric motor. In particular, the storage box may be moved in an upward direction by the lifting mechanism, while moving the storage box in a downward direction may be achieved solely by gravity. Alternatively, the lifting mechanism may be configured to actively move the storage box downward.

[0037] By way of example only, the lifting mechanism may include a lifting platform and a removable belt or wire connecting the lifting platform to the main body. The belt or wire may be retracted by unwinding the belt or wire around the corresponding role, or may be wrapped around the role to lift the storage box. For example, the lifting platform may include or retain a set of buckles or any other mechanism for clamping the storage box. Thus, once the storage box is clamped, the lifting platform may be lifted upward by the belt or wire so that the storage box can be carried to the top floor of the storage module. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In the following, aspects of the present disclosure will be described in more detail with reference to the accompanying drawings, in which:

[0039] Figure 1 shows a schematic diagram of a warehouse system with a three-dimensional arrangement of storage bins according to the prior art;

[0040] Figure 2 shows a schematic diagram of interconnectable storage modules of a warehouse system according to the present disclosure, the warehouse system providing space for a three-dimensional arrangement of storage boxes;

[0041] Figure 3 A schematic diagram of a warehouse system including a plurality of interconnected storage modules according to the present disclosure is shown;

[0042] Figure 4 An illustration of exemplary steps of a modular construction method according to the present disclosure is provided, wherein two storage modules are placed one above the other;

[0043] Figure 5 Shows Figure 2 The storage module is in an empty state without storage boxes, showing a grid structure of the storage module formed by the rod assembly;

[0044] Figure 6 Interconnectable storage modules having outer walls forming blocks providing a continuous storage area closed off from the outside are shown according to the present disclosure;

[0045] Figure 7 It shows that according to the present disclosure Figure 2a side view of a storage module wherein the storage boxes are carried downwardly along an outer edge of the storage module;

[0046] Figure 8 shows a schematic diagram of a vehicle according to the present disclosure, the vehicle including a sliding mechanism for moving a clamp of the vehicle between two positions on opposite sides of a body of the vehicle;

[0047] Fig. 9 shows a schematic diagram of a vehicle according to the present disclosure, the vehicle including a rotation mechanism for moving a gripper of the vehicle between positions on a plurality of vertical sides of a body of the vehicle;

[0048] Fig.10 shows a schematic diagram of an exemplary warehouse system having two storage modules and a vehicle that displaces storage bins beyond different edges of the storage modules;

[0049] Fig.11 A side view and a corresponding top view of a vehicle are shown, wherein the gripper is moved to different positions by an alternating mechanism;

[0050] Fig.12 shows a schematic diagram of a vehicle with rollers in different orientations and a detailed top view of the rollers rotating;

[0051] Fig.13 schematic diagrams showing different types of storage boxes being clamped by a clamp of a vehicle; and

[0052] Fig.14 A detailed side view of a holder, and in particular a set of buckles of the holder, is shown. DETAILED DESCRIPTION

[0053] In the following description, for the purpose of explanation rather than limitation, specific details are set forth in order to provide a thorough understanding of the present disclosure. It will be apparent to those skilled in the art that the present disclosure may be practiced in other implementations that depart from these specific details.

[0054] According to a first aspect that is helpful for understanding the present disclosure, there is provided a warehouse system that provides a space for a three-dimensional arrangement of storage boxes, wherein the warehouse system includes a plurality of interconnected storage modules. Each storage module includes a storage area and a top layer arranged above the storage area, wherein the storage area is adapted to accommodate a plurality of stacks of storage boxes arranged in a horizontal two-dimensional grid at the bottom of the storage module, wherein at the top layer, at least one vehicle can move in alignment with the two-dimensional grid to remove storage boxes from the plurality of stacks and place storage boxes to the plurality of stacks. The plurality of interconnected storage modules include at least two layers of storage modules placed one above the other in a single room.

[0055] If considered separately, the storage modules of a warehouse system can usually be classified according to the above Figure 1 The grid structure is designed to be a grid structure of storage cells, i.e., it may include a grid structure of storage cells, wherein each storage cell may be adapted to accommodate a vertical stack of storage boxes. At the bottom of the storage module, the storage cells may be arranged in a horizontal two-dimensional grid, thereby achieving a three-dimensional (or "cube-like") arrangement of storage boxes together with the vertically stacked storage boxes that may be placed in the storage cells, such as Figure 1 In other words, each cell of the two-dimensional grid at the bottom of the storage module can form the base of a vertical stack of storage boxes in the corresponding storage unit. In general, the storage unit (including its vertical extension that accommodates the stack) can form the storage area of ​​the storage module.

[0056] Above the storage area, a top layer of storage modules may be provided, on which top layer at least one vehicle (or "robot") may move in alignment with the two-dimensional grid of the bottom of the storage modules to remove storage boxes from multiple stacks and place storage boxes into multiple stacks, for example, by lifting the topmost storage box from the stack to the top layer ("removing the storage box from the stack") or lowering the storage box from the top layer into the stack ("placing the storage box into the stack"). Placing the storage box on the stack may include placing the storage box on the topmost storage box of the stack (if the stack is currently not empty) or placing the storage box on the ground surface of the bottom of the storage module reserved for the stack (if the stack is currently empty), i.e., the cells of the two-dimensional grid of the bottom of the storage module forming the base of the stack. To this end, each vehicle may include a lifting mechanism that enables the vehicle to perform a corresponding lifting procedure. As Figure 1 As shown, the top layer of the storage module may include a grid structure that allows a vehicle to move in alignment with the two-dimensional grid of the bottom of the storage module so that the vehicle can move to a position above the stack to remove storage boxes from the stack or place storage boxes in the stack accordingly. The grid structure of the top layer may be formed by a two-dimensional grid of rails, for example, the rollers of the vehicle may engage in the rails so that the vehicle can move horizontally in the longitudinal direction and / or the transverse direction along the top layer of the storage module.

[0057] Figure 2An exemplary illustration of a single storage module according to the present disclosure is shown. As shown, the exemplary storage module 200 provides space for a three-dimensional arrangement of storage boxes 202, wherein the storage module 200 includes a storage area 204 and a top layer 206 arranged above the storage area 204. In the storage area 204, a vertical stack 208 of storage boxes 202 is arranged in a horizontal two-dimensional grid at the bottom of the storage module 200. In other words, the two-dimensional grid can extend along the longitudinal direction X and the lateral direction Y at the bottom of the storage module 200, wherein at each cell of the two-dimensional grid, a base for the stack 208 that can grow in the vertical direction Z can be formed. As described herein, each such space including a base for the stack 208, including the vertical space above the base for accommodating the stacked boxes 202, can be referred to as a "storage cell." At the top level 206, a vehicle 210 is shown that can move in alignment with the two-dimensional grid (horizontally at the top level) over the respective stacks 208 to remove storage boxes from the plurality of stacks 208 and place storage boxes 202 to the plurality of stacks 208, as described above. The two-dimensional grid of tracks 212 that the rollers of the vehicle 210 can engage can form a bottom of the top level 206 that separates the top level 206 from the storage area 204.

[0058] As described above, the overall design of a single storage module of a warehouse system (i.e., if considered individually) may generally correspond to the design of a conventional grid structure known from WO 2014 / 075937 A1. However, in contrast to conventional designs, a warehouse system according to the present disclosure may consist of a plurality of such storage modules, wherein a plurality of storage modules may be interconnected (i.e., connected to each other using corresponding connection / fixing mechanisms) to form the entire warehouse system. In particular, according to the present disclosure, a plurality of interconnected storage modules may be arranged such that the warehouse system comprises at least two layers of storage modules, which are placed one above the other in a single room (e.g., a room of a building or a room of a container). The warehouse system itself may comprise at least two storage modules placed one above the other in a vertical direction. Each such storage module may have the same size (at least in the horizontal direction) and preferably the same overall construction. Thus, when placed one above the other, at least two storage modules may be vertically aligned and together form a "stack" of interconnected storage modules.

[0059] This construction of the warehouse system has at least two implications:

[0060] (1) On the one hand, the warehouse system has at least two "top floors" in the above sense, i.e. at least two floors in which vehicles can move horizontally to remove storage boxes from the stack of the warehouse system and to place storage boxes into the stack of the warehouse system. This is at least one more "top floor" than the warehouse system known from WO 2014 / 075937 A1, e.g. Figure 1The warehouse system shown has only one uppermost "top floor." On the other hand, the warehouse system of the present disclosure can also be said to have at least one "middle" top floor disposed between the uppermost "top floor" and the ground.

[0061] (2) On the other hand, according to the definition of the present disclosure, since the "stacked" storage modules are placed in a single (single) room, this also means that the height of a single storage module is generally lower than the height of the entire warehouse system, such as the height of the warehouse system known in WO 2014 / 075937A1, which generally results in a smaller stack size with fewer storage boxes per stack.

[0062] These two implications (i.e., (1) more "top floors" allowing storage boxes to be accessed by vehicles at different vertical levels, and (2) smaller stacks with fewer storage boxes accessible to vehicles per stack) can generally allow for faster retrieval and placement of storage boxes from stacks in a warehouse system. This is because the migration procedure of storage boxes required to make the boxes to be retrieved accessible (e.g., from one stack to another, as described above) is, on average, less time-consuming. As a result, faster overall response times and higher throughput can be achieved, which, depending on the specific design of the storage modules in the warehouse system (e.g., the number of intermediate "top floors", the maximum number of storage boxes allowed per stack, etc.), can allow warehouse system providers to promise customers in the fast-commerce industry that boxes will be retrieved within a certain guaranteed time (e.g., within a few seconds).

[0063] The above advantages can generally be said to be achieved by combining the warehouse system of WO 2014 / 075937 A1 ( Figure 1 ) into smaller modules, each module having a "flatter" design, wherein the additional "top layer" of the storage modules and the smaller stacking size resulting from the modular design can generally lead to the above-mentioned higher throughput. Although in certain embodiments, WO2014 / 075937 A1 also discloses a variant in which the entire warehouse can be formed by separate warehouse systems installed on different floors of a building, each such separate warehouse system is still formed in a separate room of the building (on a separate floor), and therefore has the same disadvantage as mentioned above, namely, the stacking size of such a warehouse system is too high to provide a fast access time that meets the given access time requirements for all storage boxes. On the other hand, according to the present disclosure, a plurality of "stacked" storage modules are arranged in a single room, dividing the room height into spaces for a plurality of "stacked" storage modules, each module having a relatively "flat" design, which enables the above-mentioned access time to be faster.

[0064] In other words, to summarize the above, instead of providing different parts of the warehouse system in different rooms (or floors) of a building, the warehouse system of the present disclosure can be composed of a plurality of interconnected storage modules, which are placed one above the other in the same room (i.e., one is placed directly on the other, without being separated by a continuous floor of another entity, i.e., a floor not formed by the storage modules of the warehouse system itself, such as a floor of a building), which means that the height of a single storage module is smaller, and therefore the stack size to be handled by the vehicle is smaller, thereby making the throughput of the entire warehouse system higher. In some variations, for each of the plurality of storage modules, the height of the storage module can be designed to allow a maximum of 6, preferably 5, 4, or 3 storage boxes per stack of the plurality of stacks of the storage module. For example, a typical room height in which the warehouse system of the present disclosure can be installed can include a maximum height of 5 meters, preferably 4 meters, 3 meters, or 2.5 meters. As described above, the room can be a room of a building or a room of a container, i.e., a room that can be closed relative to the outside. It should be understood that the expression "in a single room" generally used herein to characterize the warehouse system according to the present disclosure may have the meaning of, for example, "on the floor" or "on a separate floor (of a building or container)". It will also be understood that the present disclosure may include a building or container in which the warehouse system of the present disclosure is installed.

[0065] It will be appreciated that the advantages of throughput and faster access time can be further improved by providing more layers of storage modules placed one above the other in a single room. In this variation, a plurality of interconnected storage modules may not only form two layers of storage modules placed one above the other, but may also include at least 3 layers, preferably at least 4 layers, or at least 5 layers of storage modules placed one above the other in a single room. Each such number of layers may be applied to a given room height, for example, for each of the exemplary maximum room heights described above.

[0066] It should also be understood that, in a plurality of interconnected storage modules of a warehouse system, the storage modules may not only be "stacked" in the vertical direction, i.e., placed one above the other, but may also be "lined up" in at least one horizontal direction (e.g., in the longitudinal direction and / or the transverse direction of the warehouse system), i.e., placed one adjacent to the other. In other words, a plurality of interconnected storage modules may also include at least two storage modules placed one after the other in the horizontal direction in a single room. Each such storage module may have the same size (at least in the vertical direction) and preferably have the same overall construction. Thus, when placed adjacent to each other, at least two storage modules may be horizontally aligned (as shown in the longitudinal and / or transverse directions, as applicable) and together form a "line" (or "row") of interconnected storage modules in their respective horizontal directions. As previously described, the "line-up" may be achieved in the longitudinal direction or the transverse direction of the warehouse system, or both.

[0067] In a specific variation, the warehouse system may include interconnected storage modules arranged in all three dimensions of the warehouse system (i.e., in the vertical direction, the longitudinal direction, and the transverse direction). In this variation, a plurality of interconnected storage modules may include at least two storage modules placed vertically up and down in a single room, at least two storage modules placed one after another in the longitudinal direction, and at least two storage modules placed one after another in the transverse direction. In this case, the warehouse system may also be said to form a cube composed of a plurality of interconnected storage modules. As described above, for the number of vertical layers, a plurality of interconnected storage modules may also include at least 3, preferably at least 4 or at least 5 storage modules placed adjacent to each other in the longitudinal and / or transverse directions. It should be understood that by placing the storage modules adjacent to each other in this manner, a larger base area of ​​the warehouse system can be achieved, wherein the shape of the base area can vary according to the number of storage modules arranged in the longitudinal direction and the number of storage modules arranged in the transverse direction.

[0068] Figure 3 An example diagram of a warehouse system is shown, which includes interconnected storage modules arranged in all three dimensions. It can be seen that the exemplary warehouse system 300 includes a plurality of interconnected storage modules, wherein in the example shown, each storage module has the same construction, i.e., as described above with reference to Figure 2 As described in the storage modules 200 shown. In the example shown, the warehouse system 300 includes two storage modules 200 placed one above the other in the vertical direction Z, two storage modules 200 placed one after another in the longitudinal direction X, and two storage modules 200 placed one after another in the transverse direction Y. It should be understood that the number of storage modules arranged in the vertical, longitudinal, and transverse directions is merely exemplary, and other numbers of arrangements may be provided in each direction depending on the specific use case. In the example shown, each storage module 200 exemplarily provides a two-dimensional grid that can accommodate 9 stacks in the longitudinal direction X and 4 stacks in the transverse direction Y, wherein each stack may include up to 4 storage boxes 202 in the vertical direction. As a result, each such storage module 200 can accommodate up to 144 storage boxes 202, and thus the entire warehouse system 300 can accommodate up to 1152 storage boxes 202. Compared to the warehouse system of WO 2014 / 075937 A1 (in which these 1152 storage boxes 202 are to be provided in the form of a "single storage module" having only one uppermost "top floor" on which vehicles accessing the storage boxes can move), the design according to the present disclosure can be said to be subdivided into multiple smaller sub-modules, wherein the additional "top floors" of the sub-modules and the resulting smaller stacking sizes can generally result in higher throughput capacity, as described above.

[0069] At least one (e.g., all) vertical layers of the warehouse system described herein, i.e., the "top layers" of interconnected storage modules on the same vertical layer, can be interconnected so that a vehicle is allowed to move horizontally from the top layer of one storage module to the top layer of an adjacent storage module (i.e., in the longitudinal and / or lateral direction). In the case where the plurality of interconnected storage modules comprises at least two storage modules placed one after the other, and where the top layers of at least two storage modules are formed by a two-dimensional grid of tracks (wherein the rollers of the vehicle can engage in the tracks so that the vehicle can move horizontally along the top layer in the longitudinal and / or lateral direction), as described above, the tracks of two adjacent interconnected storage modules can therefore be arranged so that a vehicle is allowed to move from the top layer of one of the adjacent interconnected storage modules to the top layer of another of the adjacent interconnected storage modules, thereby allowing continuous horizontal movement of the vehicle between adjacent interconnected storage modules.

[0070] Therefore, although in Figure 3 In the exemplary warehouse system 300 shown, a separate vehicle 210 is exemplarily shown / provided for each separate storage module 200 (e.g., in some variations, each such vehicle 210 may only be movable within the top floor of the storage module 200 associated therewith, and not to adjacent storage modules 300), but it is understood that in other variations, the warehouse system may be constructed so that one or more vehicles 210 may be horizontally movable between the “top floors” of adjacent storage modules 200. Therefore, in the exemplary warehouse system 300, it is also conceivable that one or more vehicles 210 are provided at each vertical floor of the warehouse system 300, and the vehicles 210 can be moved horizontally to reach all stacks arranged at that vertical floor of the warehouse system 300.

[0071] It is already apparent from the above description that a warehouse system according to the present disclosure may be composed of a plurality of interconnected storage modules. Although it is understood that each individual storage module may be assembled when the warehouse system is constructed (i.e., the individual storage modules may be constructed by themselves during the installation of the warehouse system, in other words, as "part" of the warehouse system installation process, rather than before), in some specific variants, a plurality of storage modules may be prefabricated, and the warehouse system may be constructed based on (or "using") prefabricated storage modules. In this variant, the warehouse system may therefore be said to be assembled from prefabricated storage modules. In this sense, "prefabricated" may mean that a single storage module itself is already assembled (or "preconfigured") and may be used as a "single piece" (or "single item") for constructing the warehouse system during the construction of the warehouse system. The use of prefabricated interconnectable storage modules may generally be based on (or "follow" / "use" the principle of) a modular construction method to construct a warehouse system, wherein the warehouse system may be constructed by iteratively connecting the individual "single items" (i.e., prefabricated / preconfigured modules) together to form a warehouse system, for example in a step-by-step manner. Thus, each (or at least a portion) of the plurality of storage modules may be a prefabricated interconnectable storage module, wherein the warehouse system may be assembled from the plurality of storage modules in the manner of a modular construction system, for example, according to a modular construction method, as described above. In this way, warehouse construction may be achieved efficiently and on-site assembly time may be significantly reduced.

[0072] According to a second aspect that is helpful for understanding the present disclosure, there is also provided a modular construction method for assembling a warehouse system, wherein the warehouse system provides space for a three-dimensional arrangement of storage boxes. The method includes assembling the warehouse system from a plurality of prefabricated interconnectable storage modules, wherein each storage module includes a storage area and a top layer arranged above the storage area, wherein the storage area is adapted to accommodate a plurality of stacks of storage boxes arranged in a horizontal two-dimensional grid at the bottom of the storage module, wherein at the top layer, at least one vehicle is capable of moving in alignment with the two-dimensional grid to retrieve storage boxes from the plurality of stacks and place storage boxes to the plurality of stacks. Assembling the warehouse system from a plurality of prefabricated interconnectable storage modules includes forming at least two layers of storage modules by placing storage modules one above the other in a single room.

[0073] Similarly, according to a third aspect of the present disclosure, there is also provided a prefabricated interconnectable storage module for assembling a warehouse system, the warehouse system providing a space for a three-dimensional arrangement of storage boxes, wherein the warehouse system is to be assembled from a plurality of prefabricated interconnectable storage modules of the prefabricated interconnectable storage module type. The storage module comprises a storage area and a top layer arranged above the storage area, wherein the storage area is adapted to accommodate a plurality of stacks of storage boxes arranged in a horizontal two-dimensional grid at the bottom of the storage module, wherein the top layer is adapted to allow at least one vehicle to move in alignment with the two-dimensional grid at the top layer to retrieve storage boxes from the plurality of stacks and place storage boxes to the plurality of stacks. The storage module is also adapted to be placed above another storage module of the same type, so that in the case where the warehouse system is assembled from a plurality of prefabricated interconnectable storage modules, at least two layers of storage modules can be formed by placing the storage modules above and below in a single room.

[0074] It should be understood that for the purpose of the modular construction method according to the second aspect and for the purpose of the prefabricated interconnectable storage modules according to the third aspect, all the features described herein with reference to the warehouse system according to the present disclosure (i.e., according to the first aspect) and its construction features, in particular including placing the storage modules one above the other / one after the other and connecting them together, can be reflected / embodied in the various steps of the modular construction method according to the second aspect (for example, as part of the above-mentioned assembly steps), and can also be reflected / implemented in the various features of the prefabricated interconnectable storage modules according to the third aspect. For the features of the modular construction method or a single prefabricated interconnectable storage module described herein, and vice versa, this can also be reflected / embodied in the corresponding features of the warehouse system according to the first aspect. Therefore, unnecessary repetitions are omitted below.

[0075] In order to support an efficient modular construction method, adjacent storage modules can be connected and fixed together (i.e., placed one above the other and / or placed one adjacent to the other) using an easily applicable connection mechanism, which can achieve appropriate "interconnectivity" of the storage modules. Interconnectivity can generally be achieved by providing corresponding connection mechanisms (or "devices" / "equipment") at the storage modules to allow the storage modules to be connected (or "fixed together") after they are placed adjacent to each other and / or one above the other. For example, this may include applying (e.g., pre-installed) locking mechanisms (or "devices" / "equipment") on adjacent modules after the adjacent modules are placed adjacent / one above the other. Optionally, the connection mechanism can allow (e.g., automatically or implicitly) aligning adjacent storage modules to be connected. To this end, for example, corresponding guide devices (e.g., guide rods, guide pins, etc.) can be provided on the edges of adjacent modules. For storage modules placed one above the other in a vertical direction, a suitable connection mechanism may involve the use of a mechanical form fit that allows one storage module to be stacked on top of another, just like a "bottle crate approach". In this variation, among the plurality of interconnected storage modules, the two storage modules may be interconnected using a mechanical form fit established between the bottom of an upper storage module and the top of a lower storage module of two storage modules placed one above the other.

[0076] Figure 4 An example diagram of a corresponding modular construction method is shown. As shown in the figure, the method includes an exemplary assembly step S400, by which two prefabricated interconnectable storage modules are placed one above the other to form a warehouse system having at least two layers of storage modules, as described herein. As with the previous example, each storage module can have the same construction, i.e., as described above with reference to Figure 2 The storage module 200 shown in FIG. Figure 4 , the storage modules are shown as being in an empty state without storage boxes at the time of construction). As described above, placing two prefabricated interconnectable storage modules 200 one above the other may include "stacking" them in a "bottle crate manner" and optionally connecting them using appropriate fixings. It should be understood that similar steps can be performed to place two prefabricated interconnectable storage modules adjacent to each other (e.g., in the longitudinal direction Z and / or the lateral direction Y) to produce a warehouse system having at least two storage modules placed adjacent to each other in at least one horizontal direction, as described herein and Figure 3 As shown in the example.

[0077] As described above, the modular design of the warehouse system according to the present disclosure can be considered to be generally characterized by being separated into smaller modules, each module having a relatively flat design, and each stack having a smaller stacking size with fewer storage boxes compared to traditional warehouse designs. Another advantage of such "smaller modules" may be that, considering that the storage modules are stacked up and down in a single room in accordance with the general requirements of the present invention, their relative size compared to a single room (such as a room of a building or container) can be designed to make the modules easy to transport, especially as "one prefabricated piece" (or "single item") through the corresponding doors and windows of the building / container, so as to be transported accordingly to the intended construction site within the building / container. Therefore, the size of each of the multiple storage modules (especially prefabricated ones) can be designed to be transportable through the doors and / or windows of a building / container arranged with a single room.

[0078] For example, to achieve such transportability, each of the plurality of storage modules may be sized to have a maximum extension in the longitudinal direction of 4 meters, preferably 3 meters or 2 meters. As another exemplary size measurement, it may be said that each of the plurality of storage modules may be sized to accommodate a maximum of 500, preferably 400, 300, 200, or 100 storage boxes in a plurality of stacks of storage modules. Since the typical dimensions of storage boxes placed in a warehouse system, such as the dimensions of storage boxes according to the present disclosure, may be in the range of 300mm-600mm in length, 200mm-400mm in width, and 145mm-310mm in height, a maximum of 500, preferably 400, 300, 200, or 100 storage boxes being accommodated in a stack of a single storage module means a relatively “small size” of the storage module (particularly compared to warehouse systems, such as the warehouse system known from WO 2014 / 075937 A1). In particular, when some of the above-mentioned dimensional parameters are combined, for example, when a maximum extension of a storage module of 4 meters (preferably 3 meters or 2 meters) in the longitudinal direction is combined with a maximum allowed number of 6 (preferably 5, 4, or 3) storage boxes per stack, a "flat design" of the storage module may be implied. In addition to providing faster access times and higher throughput as described above and a generally more flexible structure of the warehouse system, a modular construction using "smaller" and "flatter" modules may also allow for fast on-site installation times. In particular in smaller settings (for example, if the warehouse system is to be installed in a relatively small room instead of a huge industrial hall), this may enable a compact design of the warehouse system while being able to install the warehouse system in a "plug and play" manner with minimal effort. Typical dimensions of storage modules of this type, such as Figure 2As shown, it can include a length of about 2.5m in the longitudinal direction, about 1.5m in the transverse direction, and about 1m in the vertical direction, allowing - for a given box size of 300mm in length, 200mm in width, and 145mm in height - a maximum of 4 boxes per stack, of which 9 stacks can be placed side by side in the longitudinal direction and 4 stacks can be placed side by side in the transverse direction, such as Figure 2 as shown in .

[0079] With respect to the dimensional parameter values ​​outlined in the above description (i.e., (1) the maximum number of storage boxes allowed per stack is 6, preferably 5, 4, or 3, (2) the maximum room height in which the warehouse system of the present disclosure can be installed is 5 meters, preferably 4 meters, 3 meters, or 2.5 meters, (3) the number of layers of storage modules placed one after another in a room of a building is at least 2 layers, preferably at least 3 layers, 4 layers, or 5 layers, (4) the number of storage modules that can be placed one after another in the longitudinal direction and / or the transverse direction in a room of a building is at least 2, preferably at least (5) the maximum extension of the storage module in the longitudinal direction is 4 meters, preferably 3 meters or 2 meters, (6) the maximum number of storage boxes accommodated in a stack of storage modules is 500, preferably 400, 300, 200, or 100, and (7) the length, width, and height of the storage box range from 300mm-600mm in length, 200mm-400mm in width, and 145mm-310mm in height), and all possible combinations of these parameter values ​​(although not explicitly listed herein) should be deemed to be explicitly disclosed in the present disclosure.

[0080] As far as the construction of a single storage module is concerned, for example, a corresponding rod assembly can be used to realize the storage module, in particular the above-mentioned grid structure of each storage module. The rod assembly can generally provide a lightweight realization of the storage module, and thus can promote its transportability, especially in the case of prefabricated storage modules. In addition, each (or at least a portion) of a plurality of storage modules can include its own ground surface, and a plurality of stacked storage boxes of the storage module can be placed based on the ground surface. In some variants, such a ground surface can also be provided in the form of a rod assembly, for example, a rod assembly aligned with the two-dimensional grid of the bottom of the storage module, which is generally lighter than a ground surface consisting of a continuous floor. Providing each storage module with its own ground surface may be particularly advantageous for the lowest level storage module of the warehouse system, because its own ground surface can make the storage module independent of the ground surface characteristics of the room where the warehouse system is installed. For example, a room in a building (e.g., a rented real estate) may not have to have smooth floor characteristics, because the unevenness of the floor will not affect the stackability of the storage boxes set on the base at the bottom of the lowest level storage module.

[0081] Figure 5An exemplary rod assembly is shown, by which a grid structure of a storage module can be formed. The exemplary storage module also has the same Figure 2 The storage module 200 shown in FIG. Figure 5 , the storage module is shown in an empty state without storage boxes). Figure 5 It can be seen that the rod assembly includes outer rods 500 (including outer rods 500 in vertical, longitudinal, and transverse directions) that form a cubic frame of the storage module 200. The bottom of the storage module 200 is formed by the rod assembly forming a two-dimensional grid 502, wherein each unit in the two-dimensional grid 502 provides a base, a storage box (see Figure 2 Reference numeral 202 in the figure) can be placed on the base to form a vertical stack of storage boxes. Above and aligned with the two-dimensional grid 502, another two-dimensional grid 504 is provided, which separates the top layer from the storage area of ​​the storage module (see Figure 2 Reference numerals 206 and 204 in FIG. Figure 2 As described above, the two-dimensional grid 504 can be provided in the form of a track grid 212 (see Figure 2 ), in which the rollers of a vehicle moving on the top floor can engage. Figure 5 It is also shown that more rods may be provided in the rod assembly, such as struts 506 to strengthen the cube frame on one or more sides of the storage module as required.

[0082] As another construction feature of the warehouse system according to the present disclosure, at least a portion of a plurality of interconnected storage modules may be provided with an outer wall to form a block of a continuous storage area that is closed relative to the outside. In the case of adjacent storage modules, such an outer wall may be provided in the form of a partition wall provided at the adjacent surface between adjacent storage modules. Blocks may be provided in this manner to subdivide the warehouse system into different blocks, each block meeting different storage conditions, such as different storage temperatures required for goods stored in corresponding storage boxes. Outer walls may also be provided to form a plurality of blocks of continuous storage areas in the warehouse system, each of which may be closed relative to the outside and other blocks of continuous storage areas. Each of a plurality of such blocks may form a different temperature block. As an example only, different blocks may be established to provide at least one of a temperature block with room temperature, a temperature block with cooling temperature, and a temperature block with deep freezing temperature (the latter may be related to the storage of food industry products). For example, two or more such different blocks may be isolated differently (e.g., isolating each block with insulating materials of different thicknesses), and each block may be equipped with a separate cooling system.

[0083] The outer wall may be removably mounted so that the blocks of continuous storage area may be changed as needed over time. In particular, the outer wall may be mounted in a manner that does not increase the outer dimensions of the storage module, for example by mounting the wall within a frame forming the outside of the storage module (optionally including available struts in the frame, such as Figure 5 In addition, in at least one of the outer walls forming the block, a (e.g., closable) opening may be provided to enable storage boxes to be removed from and stored in the storage modules of the block, e.g., so that a vehicle on the "top floor" of the corresponding storage module can transport storage boxes to and receive storage boxes from the outside through the opening.

[0084] Figure 6 An example diagram of a storage module having outer walls to form a block in the sense described above is shown. In the example shown, a special case is shown in which the block is formed by a single storage module 200, i.e., an outer wall 600 can be provided on each side of a single storage module to form a continuous storage area closed relative to the exterior 602. As shown, an exemplary opening 604 is provided in one of the outer walls 600 at the vertical height of the "top floor" of the storage module 200 to allow a vehicle moving on the top floor of the storage module to transport storage boxes to the exterior 602 and receive storage boxes from the exterior 602 through the opening 604. It should be understood that the depicted configuration is exemplary only and that blocks of continuous storage areas can be provided on several adjacent storage modules as required.

[0085] In a further construction variant, the characteristics of the modules with a "flat design" can also be used for other purposes, such as for fire protection purposes in warehouse systems. Although in conventional systems, such as those known from WO 2014 / 075937 A1, it is generally impossible to extinguish a fire that occurs in the lower storage boxes of the stack (e.g., in the lowest layer of the stack) due to the relatively high stacking dimensions, the fire extinguishing capability of all storage boxes of the stack - even including the lowest storage boxes of the stack - can be achieved by the smaller stacking dimensions generally mentioned in this article, for example, when the maximum allowed number of storage boxes per stack is 6, preferably 5, 4, or 3, as described above. Therefore, in order to provide improved fire protection capabilities, at least a portion (e.g., all) of the multiple storage modules can be equipped with a fire protection system. For example, the fire protection system can be arranged individually on each module, or it can be arranged as a connection system covering multiple storage modules.

[0086] In order to remove a storage box from the warehouse system of the present invention (i.e., as described above, whether or not an outer wall / opening is provided), instead of using a box lift to transport the storage box in a vertical direction (as known from WO 2014 / 075937 A1), when the storage box is to be transported in a vertical direction to a handover point, the storage box can be transported outside the outer edge of the storage module (warehouse personnel can remove the corresponding goods from the storage box for further processing). In one such variation, in order to remove a storage box from one of a plurality of stacks of a plurality of storage modules, at least one vehicle (moving on the top floor of the corresponding storage module) can move along the top floor of the corresponding storage module towards the edge of the storage module together with the storage box (i.e., "carrying" the storage box) after the vehicle removes the storage box from the stack, wherein the vehicle can shift the storage box outside the edge of the storage module and lower the storage box along the edge of the storage module to the handover point of the warehouse system.

[0087] Figure 7 An example diagram of such box transportation along the edge of a storage module is depicted in FIG. 2 , which shows a side view of a storage module 200 (viewing the longitudinal side of the storage module 200). In the figure, a state is shown in which a vehicle 210 has carried a storage box 202 along the top layer 206 of the storage module 200 and currently holds the storage box 201 in a position extending horizontally beyond the outer edge of the storage module 200. As indicated by the downward arrow in the figure, as a next step, the vehicle 210 can lower the storage box 202 in the vertical direction along the edge of the storage module 200 to a junction point (not shown) of the warehouse system.

[0088] This retrieval mechanism can be superior to the warehouse system known from WO 2014 / 075937 A1, such as Figure 1 As shown, the warehouse system uses a box elevator 106 integrated into the grid structure to transport the storage box to the handover station 108. It should be understood that because the box elevator 106 is integrated into the grid structure (i.e., placed within the grid structure), potential storage space within the grid structure may be wasted. On the other hand, according to the above-mentioned retrieval mechanism, the box may not need to be transferred from the vehicle to any elevator, but the vehicle itself may be able to transport the box down to the handover point, i.e., by shifting the storage box outside the edge of the storage module and lowering the storage box along the edge of the storage module to the handover point. In this way, there may be no need for a lift at all. Depending on the orientation of the vehicle on the top floor of the storage module, shifting the storage box outside the edge of the storage module may include using a rotating mechanism to rotate the vehicle's clamp that clamps the storage box to a rotational position where the clamp extends beyond the edge of the storage module.

[0089] According to a fourth aspect of the present disclosure, there is also provided a vehicle for taking out a storage box from a warehouse system, wherein the warehouse system comprises at least one storage module having a storage area and a top layer arranged above the storage area, wherein the storage area is adapted to accommodate a plurality of stacks of storage boxes. The vehicle is configured to be able to move on the top layer of the storage module to take out the storage box from the plurality of stacks, wherein taking out the storage box from the corresponding stack comprises lifting the storage box from the stack to the top layer so that the storage box can be displaced along the top layer by the vehicle. The vehicle itself can correspond to a vehicle that can move on the "top layer" of the storage module, as described above, and therefore, a warehouse system using the vehicle can correspond to a warehouse system according to the present disclosure (i.e., according to the first aspect). Therefore, the above-mentioned features (according to the first, second, and third aspects of the present disclosure) related to the vehicle that can move along the "top layer" of the storage module and the general warehouse system can also be included by the vehicle according to the fourth aspect and the accompanying warehouse system, and vice versa. Therefore, unnecessary repetitions are omitted below.

[0090] In short, the vehicle can also be described as a vehicle for retrieving storage boxes from a warehouse system, wherein the vehicle is configured to be able to move in the top floors of storage modules of the warehouse system and to retrieve the storage boxes by (vertically) lifting the storage boxes from a stack of storage boxes accommodated in a storage area of ​​a storage module arranged below the top floor to the top floor, for example, so that the storage boxes can be displaced (horizontally) along the top floor by the vehicle. As a characteristic construction feature, the vehicle includes a gripper configured to grip the storage box to lift the storage box from the corresponding stack (for example, and displace the storage box along the top floor), wherein the gripper is arranged to extend beyond the body of the vehicle so that when the storage box is lifted to the top floor, the storage box is arranged side by side with the body on a first vertical side of the body. The vehicle also includes an alternating mechanism configured to change the position of the gripper relative to the body so that when the storage box is gripped and lifted to the top floor, the storage box is arranged side by side with the body on a second vertical side of the body.

[0091] Thus, the vehicle may include a clamp that can be alternated between at least two positions by an alternating mechanism (or "device" / "equipment"), wherein, in a first position of the clamp, the clamp is arrangable relative to the body such that the clamped storage box is arranged along a first vertical side of the body, and wherein, in a second position of the clamp, the clamp is arrangable relative to the body such that the clamped storage box is arranged along a second vertical side of the body. The first vertical side of the body and the second vertical side of the body may be different from each other.

[0092] The gripper may be provided as part of a gripper arrangement disposed on top of a body of the vehicle, for example, wherein the gripper arrangement may include an arm that may extend in a horizontal direction beyond the top of the body, and wherein the gripper may be disposed at the arm (e.g., at a distal end of the arm) so that the storage bin may be held (or "carried") along a vertical side of the body of the vehicle (e.g., close to but not in contact with the body). For example, the gripper arrangement may be provided in the form of a "tower crane" having a tower disposed on (e.g., on top of) the body, and including a crane arm movable between at least two horizontal positions so as to alternate the position of the gripper between a first gripper position and a second gripper position, as described above.

[0093] With respect to a two-dimensional grid of storage modules according to the present disclosure, the gripper may extend beyond the body in a horizontal direction so that when a vehicle is placed (or "parked") at a given cell of the two-dimensional grid, the gripper is held above one of the adjacent cells of the two-dimensional grid so that the gripper may lift a storage box to be taken from a stack of adjacent cells. Figure 2 The illustrated vehicle 210 is illustrative of an example in which the body of the vehicle may have horizontal dimensions (ie, extensions in the longitudinal and lateral directions) that substantially correspond to (or "align with" / "fit with") a given unit.

[0094] Which vertical side of the body of the vehicle refers to the "first vertical side" and "second vertical side" of the body generally referred to in this document may depend on the specific implementation and / or specific use case of the alternating mechanism. For example, the first vertical side of the body and the second vertical side of the body can be opposite vertical sides of the body or adjacent vertical sides of the body that extend orthogonally relative to each other. With respect to the two-dimensional grid of storage modules, it can be said that when the first vertical side and the second vertical side are opposite vertical sides of the body and the vehicle remains parked / placed on a given cell of the two-dimensional grid, the first position of the clamp can be above one adjacent cell of the two-dimensional grid and the second position of the clamp can be above another cell of the two-dimensional grid on the opposite side of the body of the vehicle (i.e., alternating the clamp 180° in the horizontal plane from the perspective of the body). Likewise, it can be said that, when the first vertical side and the second vertical side are adjacent vertical sides of the body extending orthogonally to each other, and the vehicle remains parked / placed on a given cell of the two-dimensional grid, the first position of the clamp can be above an adjacent cell of the two-dimensional grid, and the second position of the clamp can be above another cell of the two-dimensional grid on a side of the body of the vehicle extending orthogonally to the first side (i.e., alternating the clamps 90° in the horizontal plane from the perspective of the body).

[0095] To enable movability of the clamp between opposite vertical sides of the body of the vehicle, in one variation, the clamp may extend telescopically beyond a first vertical side of the body and telescopically beyond a second vertical side of the body. In this case, the alternating mechanism may include a sliding mechanism configured to alternately slide the clamp between a telescopic extension beyond the first vertical side of the body (i.e., a first position of the clamp) and a telescopic extension beyond the second vertical side of the body (i.e., a second position of the clamp).

[0096] Figure 8 Such an arrangement is depicted by way of example, which schematically illustrates a schematic diagram of a vehicle 800. For example, Figure 2 The vehicle 210 shown in the figure may correspond to the vehicle 800. As shown, the exemplary vehicle 800 includes a body 802 and a gripper 804 arranged on top of the body 802 in the form of an arm and extending / extendable horizontally beyond the body 802, so that the gripper 804 can grip a storage box 806 (represented only by a dotted line), wherein the storage box 808 is arranged side by side with the body 802 on one vertical side of the body 802. The vehicle 800 also includes an alternating mechanism, which in the example shown is given by a sliding mechanism 808, which can be used to slide the gripper 804 (using a translational motion) to the opposite side of the body 802 (when the vehicle is not carrying a storage box), as shown. Figure 8 As shown by the arrow shown in , that is, in other words, the clamp 804 is moved from Figure 8 804 (wherein the holder 804 can again hold the storage box 806, but now on the other side of the body 802). It should be understood that in this sense, the sliding mechanism 808 can be used to slide the holder 804 alternately between these two telescopic extension positions.

[0097] On the other hand, in order to achieve the mobility of the gripper between adjacent vertical sides of the body extending orthogonally relative to each other (and possibly between opposite vertical sides of the body of the vehicle), the alternating mechanism may include a rotation mechanism configured to rotate (or "turn") the gripper between a rotation position in which the gripper extends beyond a first vertical side of the body (i.e., a first position of the gripper) and a rotation position in which the gripper extends beyond a second vertical side of the body (i.e., a second position of the gripper). For example, as described above, such a rotation mechanism may be implemented using a gripping arrangement similar to a tower crane.

[0098] An exemplary arrangement of such a rotating mechanism is as follows Fig. 9 As shown, Fig. 9A schematic diagram of a vehicle 900 is shown in schematic form. Vehicle 900 generally corresponds to (or is "equivalent to") vehicle 800, with the only difference being that, instead of a sliding mechanism 808, a rotating mechanism 908 is provided for alternating the gripper 904 between different positions (in this case, "rotated" positions). In the example shown, the rotating mechanism 908 is arranged so that the gripper 904 can be rotated about a vertical axis A extending through the center of the body of the vehicle 900 (as viewed from a top view of the vehicle). Fig. 9 , the corresponding rotational movement is represented by the corresponding arrows, which indicates that such movement can be performed in one or two rotational directions. The rotational movement of the gripper 904 may include 90°, 180°, and / or 270° rotational movement, so that the gripper 904 can alternate between positions alongside each vertical side of the body 902 of the vehicle 900 as desired. It should be understood that in this variation, the position of the gripper 904 can be changed when the vehicle 900 carries the storage box 906 (again represented only by dashed lines).

[0099] It will be appreciated that, due to the presence of the alternating mechanism, the vehicle of the present disclosure may be advantageous in that the gripper may be alternated between different positions, for example between relative positions relative to the body of the vehicle. On the other hand, the vehicle known from WO 2014 / 075937A1 does not comprise such an alternating mechanism and can only grip storage boxes on one dedicated (i.e. fixed) side, so that at the “top floor” of the warehouse system, at least two vehicles (i.e. one vehicle capable of handling the “northbound” transport direction and another vehicle capable of handling the “southbound” transport direction) are required to reach and deliver boxes from all stacks of the warehouse system. On the other hand, using the vehicle according to the present disclosure, each “top floor” does not require such two “northbound” and “southbound” vehicles, but rather it is sufficient to have one vehicle per floor capable of handling both transport directions. According to the present disclosure, therefore, fewer vehicles may be required for the warehouse system at each “top floor”.

[0100] Figure 8 and Fig. 9 The view also schematically shows rollers on each vertical side of the body of the respective vehicle, which rollers may engage corresponding tracks of the "top floor" of the storage module so as to move horizontally in the longitudinal and / or transverse direction along the "top floor", as described above. Fig. 9In the example of , such rollers are represented as rollers 910, which allow the vehicle 900 to move in the longitudinal and transverse directions. To this end, the vehicle 900 may include a displacement mechanism (or "device" / "equipment") that can be used to alternately move a set of corresponding rollers 910, so that in one state, only the rollers 910 for moving in the longitudinal direction are engaged with the track of the "top layer", while the rollers 910 for moving in the transverse direction are not engaged with any track, and in another state, only the rollers 910 for moving in the transverse direction are engaged with the track of the "top layer", while the rollers 910 for moving in the longitudinal direction are not engaged with any track. In this way, the vehicle can alternately move in the longitudinal and transverse directions of the two-dimensional grid along the "top layer" of the corresponding storage module.

[0101] Fig.10 The view of FIG. 3 shows a warehouse system 300, each of which has two storage modules 200 and a vehicle 210 that moves a storage box 202 to a different edge of the storage module 200. Specifically, in FIG. Fig.10 In the left view of FIG. 1 , a vehicle 210 in each storage module 200, particularly in each top layer 206 of the corresponding storage module 200, shifts the storage box 202 beyond the lateral edge of the storage module 200 to a junction point (not shown) of the warehouse system 300. Fig.10 In the right view of FIG. 3 , the vehicle 210 displaces the corresponding storage box 202 beyond the longitudinal edge of the storage module 200 to another junction point (also not shown) of the warehouse system 300. This can be achieved by the same vehicle 210 because each vehicle 210 is equipped with an alternating mechanism 808, 908. Specifically, the alternating mechanism 808, 908 allows the gripper 804, 904 to be moved on the vertical side of the body 802, 902 of the corresponding vehicle, which is arranged next to the lateral or longitudinal edge of the storage module 200, wherein the storage box 202 clamped by the gripper 804, 904 can be moved down to the junction point. Therefore, multiple junction points can be set at the warehouse system 300 - at least one junction point on the lateral side and at least one junction point on the longitudinal side - allowing faster retrieval of the storage box 202, while the same number of vehicles 210 can be maintained.

[0102] Fig.11 A side view and a corresponding top view of the vehicle 210 are shown, wherein the grippers 804, 904 are moved to different positions by the alternating mechanisms 808, 908. The vehicle 210 may be Figure 8 and Fig. 9One of the vehicles shown in FIG. The vehicle 202 includes a body 802 with an alternating mechanism 808, 908 on top thereof. The grippers 804, 904 can extend from the alternating mechanism 808, 908 in a manner similar to a tower crane to extend telescopically beyond a first vertical side of the body 802. Fig.11 In the example of FIG. 8 , the holders 804 , 904 extend on the right side.

[0103] As about Figure 8 As described above, the clamps 804, 904 can slide to the opposite side ( Fig.11 , where the holders 804, 904 are shown in dotted lines).

[0104] Alternatively or additionally, the alternating mechanism 808 , 908 may be rotated, for example, by 180°, so that the holders 804 , 904 may be positioned on opposite sides, ie extending on opposite vertical sides of the body 802 . Fig.11 The top right view of shows this rotation.

[0105] exist Fig.11 In the lower left and right views of the vehicle, another optional feature of the vehicle is shown. More specifically, the alternating mechanism 808, 908 may include an extension mechanism 909, which is configured to alternately move the clamps 804, 904 between the approach position and the extended position, wherein the clamps 804, 904 are further away from the body 902 in the extended position than in the approach position. The extended position of the clamps 804, 904 is also shown with dotted lines. For example, the extension of the clamps 804, 904 can cover a distance Δ. The extension mechanism 909, exemplarily shown as a piston, can also be implemented as a motor, a linear motor, a hydraulic motor, a pneumatic motor, etc.

[0106] In particular, when the storage box 202 is clamped by the clamps 804, 904, the extension mechanism 909 can be operated. Fig.11 As can be seen from the side and top views, the storage box 202 is very close to the body 802 of the vehicle 210 in the close position. Rotating the alternating mechanism 908 will cause the storage box 202 to collide with the corner or edge of the body 802. Moving the storage box 202 to the extended position allows the alternating mechanism 908 to rotate freely with the clamps 804, 904 and the clamped storage box 201. After rotation, the extension mechanism 909 can move the clamps 804, 904 and the storage box 202 back to the close position, for example, on the opposite side, such as Fig.11 As shown in the dashed line in the lower left view.

[0107] It should be appreciated that in alternative or additional variations, the corners or edges of the body 802 may have a rounded shape. Fig.11In the right side view of the main body 802, the main body 802 is shown as having rounded vertical corners or edges. However, this rounded shape can be moved toward the center of the main body 802, i.e., the outer side of the main body 802 is closer to the center and the rounded corner has a larger radius in the top view. This "cut-off" portion of the main body 802 (i.e., the smaller dimension of the main body 802) provides free space for moving (rotating) at least a portion of the clamped storage box and / or clamp when rotating between corresponding rotational positions relative to the first vertical side and the second vertical side.

[0108] Fig.12 A schematic diagram of a vehicle 210 with rollers 910 having different orientations and a top view of the rotation details of one of the rollers 910 are shown. Fig.12 In the top view of FIG. 2 , the rollers 910 of the vehicle 210 are arranged in a direction corresponding to the transverse direction of the storage module 200. This allows the vehicle 210 to move in the transverse direction of the storage module 200, for example, along the track 212. Figure 2 shown.

[0109] In order to guide the storage box 202 along the longitudinal direction of the storage module 200, another set of rollers can be used, as described above with respect to Figure 8 and Fig. 9 Shown and described.

[0110] Alternatively, a plurality of rollers 910 may be provided that are configured to move the vehicle on the top floor 206 of the storage module 200, wherein each of the plurality of rollers 910 is configured to rotate about a vertical axis (e.g., a Z-axis). By way of example only, only one roller 910 may be provided at each corner of the body 802 that is rotatable about a substantially vertical axis (Z-axis). In particular, the rollers 910 are configured to rotate 90° to change the orientation of the rollers 910 relative to the body 802, thereby allowing the vehicle 210 to move in both longitudinal and lateral directions (depending on the orientation of the rollers 910).

[0111] Changing the orientation of the roller 910 can be achieved by a roller actuator 914. Such an actuator 914 can be pivotally coupled to a lever 916 at a joint 918. The lever 916 is fixedly connected to the roller 910, wherein the lever 916 is pivotally coupled to the vehicle at a joint 912 together with the roller 910. Therefore, retracting or extending the actuator 914 causes the lever 916 and the roller 910 to rotate, thereby changing the orientation of the roller 910. For example, if the grid of the storage module 200 is an orthogonal grid, the orientation of the roller 910 of the vehicle can be changed by 90°.

[0112] The movement of the vehicle 210 along the transverse direction and the longitudinal direction of the storage module 200 can also be achieved by implementing a spherical roller (not shown). Such a spherical roller may include a ball or similar spherical device on which the vehicle 210 can roll. Such a roller may be configured to roll in any arbitrary direction. In order to drive such a roller, the vehicle 210 includes at least one drive or motor (not shown), which is configured to roll at least one spherical roller in at least two directions. For example, the drive (or motor) contacts at least one spherical roller in such a way that it can roll at least one roller in the transverse direction. In order to change the direction of movement of the vehicle 210, for example, from one stacking position to the next stacking position in the longitudinal direction, the drive or motor may contact at least one spherical roller at different positions, allowing at least one roller to be rolled in the longitudinal direction. This change in the direction of movement can be achieved by moving (e.g., rotating) the drive or motor or the contact point between the drive / motor and the spherical roller, or by providing two drives or motors that contact the spherical roller at two points to allow the roller to roll in each direction.

[0113] exist Fig.11 and 12 , the clamp 804 , 904 is shown as having a set of buckles 820 for clamping the storage box 202 . Fig.13 Schematic diagrams of different types of storage bins 202 being gripped by grippers 804 , 904 of a vehicle 210 are shown. Fig.14 A side view of details of the holders 804, 904, and in particular, a set of retaining rings 820 of the holders 804, 904 is shown.

[0114] A set of buckles 820 may be arranged adjacent to each other, i.e., each buckle 821-823 is arranged adjacent to at least one other buckle 821-823. Each buckle 821-823 may have a clamping configuration associated with a corresponding type of storage box 202, i.e., may have a specific clamping configuration for a specific storage box 202. For example, storage boxes 202a and 202b ( Fig.13 ) may have a handle or grip 203, such as a recess, edge, or protrusion, which is arranged at a specific vertical distance from the top edge of the storage box 202a, b. The storage box 202c may be a wooden box with recesses 203 on opposite sides forming corresponding handles.

[0115] For example, a set of retaining rings 820 may include at least three retaining rings 821-823 having different heights H1-H3 (H2) relative to the holders 804, 904. Fig.14). Thus, when the clamps 804, 904 are released at the top of the storage box 202, i.e., the set of buckles 820 are moved downwardly along the corresponding sides of the storage box, at least one of the buckles 821-823 has a height H1-H3 corresponding to the upper edge of the handle or grip 203 of the storage box 201. This allows one of the buckles 821-823 to engage with the handle or grip 203 of the storage box 202. At this point, lifting the set of buckles 820 allows the storage box 202 to be lifted.

[0116] In order to automatically clamp the storage box 202, each buckle 821-823 can be pivotally mounted to the clamp 804, 904 and can be biased towards the clamping position. For example, the buckle 821-823 can be pivoted around the joint 825. The biasing element 816 can be arranged to push the buckle 821-823 in a certain (here clockwise) direction so that their clamping configuration can engage with the handle or handle 203 of the storage box 202. By way of example only, the hook-shaped ends of the buckle 821-823 can be pushed inwards, i.e., towards the storage box 202. Such a biasing element 816 can be implemented as a spring or the like.

[0117] Furthermore, in order to open the buckles 821-823, i.e., release the buckles 821-821 from the storage box 202, a buckle actuator 814 may be provided together with the clamp 804, 904. By way of example only, the buckle actuator 814 may be coupled to the buckles 821-823 via a rod 818. Pulling the rod 818 toward the actuator 814, particularly against the biasing force of the biasing element 816, causes the buckles 821-823 to pivot toward an open position (i.e., a position in which the buckles 821-821 are disengaged from the handle or handle 203 of the storage box 202).

[0118] It should be appreciated that other clamping arrangements involving magnets, bolts, vacuum clamps, etc., may be employed in addition to, or in lieu of, one or more retaining rings 820 .

[0119] In addition, if Fig.10 , Fig.13 ,and Fig.14 As shown, the vehicle 210 may also include a lifting mechanism configured to raise and lower the clamped storage box 202. For example, the lifting mechanism may include a lifting platform 810 and a removable belt or wire 812 that connects the lifting platform 810 to a portion of the body 802 or the clamp 804, 904, or an alternating mechanism 808, 908 that does not move up and down. Such a lifting mechanism serves as a crane for the storage box 202.

[0120] By way of example only, the strap or wire 812 may be fixedly connected to the lifting platform 810, with a set of buckles 820 coupled to the lifting platform 810. A winch (not shown) may be disposed at a non-vertically movable portion of the clamp 804, 904 or the alternating mechanism 808, 908, and may be configured to wind up the strap or wire 812, thereby lifting the lifting platform 810 (with or without the clamped storage box 202).

[0121] Such a lifting mechanism also allows to omit a dedicated storage box lift, such as the storage box lift 106 known from WO 2014 / 075937 A1.

[0122] It will be appreciated that when it is said herein that the vehicle can be "moved" along the top layer of the storage module, it can also be said that the vehicle is "driven" along the top layer of the storage module. For driving purposes, the vehicle can include a drive device configured to drive the rollers of the vehicle to move the vehicle along the top in at least one of a longitudinal direction and a lateral direction. The drive device can be controlled by a control system of the warehouse system (e.g., by a warehouse management computer), such as by a signal sent to the vehicle via a wireless transmission. The drive device can be, for example, an electric motor, but it will be appreciated that the drive device can also employ other drive technologies.

[0123] As described above, in order to remove a storage box from the warehouse system of the present disclosure, instead of using a box elevator to transport the storage box in a vertical direction, when the storage box is to be transported vertically to a docking point, the storage box can be transported beyond the outer edge of the storage module (e.g., Figure 7 For this purpose, i.e. in order to remove a storage box from a respective stack, the vehicle can be configured to move the storage box beyond the edge of the storage module once the storage box has been lifted and moved along the top floor towards the edge of the top floor, and to lower the storage box along the edge of the storage module to a junction point of the warehouse system (e.g., a corresponding control signal can also be sent from the control system to the vehicle).

[0124] As described above, in order to displace the storage box beyond the edge of the storage module, depending on the orientation of the vehicle on the top floor of the storage module, it may be necessary to rotate the vehicle's gripper to a rotational position in which the gripper extends beyond the edge of the storage module. From the perspective of the vehicle, displacing the storage box beyond the edge of the storage module may include rotating the gripper using a rotation mechanism while gripping the storage box to a rotational position in which the gripper extends beyond the edge of the storage module. The storage box may then be lowered along the edge of the storage module toward the junction point, such as Figure 7For the purpose of such a lowering procedure, and similarly, for the lowering / raising procedure when placing a storage box on / receiving a storage box from a stack of storage modules, the vehicle (e.g., a gripper of the vehicle) may include a (e.g., electric) lifting mechanism (or "device" / "equipment") that may be configured to lower / raise the gripped storage box accordingly (e.g., based on a corresponding control signal received from a control system of the warehouse system).

[0125] It should be noted that the above description of the vehicle of the fourth aspect generally refers to the variant of "taking out a storage box" from a warehouse system. It should be understood that corresponding measures can be implemented for other conveying directions, i.e. the variant of "placing a storage box" in a warehouse system. In this case, the corresponding measures may include measures opposite to the above-mentioned measures regarding taking out a storage box.

[0126] It is believed that the advantages of the technology proposed herein will be fully understood through the above description, and it is obvious that various changes can be made to the form, construction, and arrangement of its exemplary aspects without departing from the scope of the present disclosure or sacrificing all its beneficial effects. Because the technology proposed herein can be changed in many ways, it will be recognized that the present disclosure should be limited only by the scope of the following claims.

[0127] Based on the above, advantageous examples of the present disclosure can be expressed as follows:

[0128] 1. A vehicle (210, 800, 900) for retrieving storage boxes (202) from a warehouse system (300), the warehouse system (300) comprising at least one storage module (200) having a storage area (204) and a top layer (206) arranged above the storage area (206), the storage area (204) being adapted to accommodate a plurality of stacks (208) of storage boxes (202), wherein the vehicle (210, 800, 900) is The storage module (200) is configured to be movable at a top layer (206) to remove a storage box (202) from a plurality of stacks (208), wherein removing the storage box (202) from a corresponding stack (208) includes lifting the storage box (202) from the stack (208) to the top layer (206) so that the storage box (202) can be shifted along the top layer (206) by a vehicle (210, 800, 900), the vehicle (210, 800, 900) comprising:

[0129] a gripper (804, 904) configured to grip a storage box (202) to lift the storage box (202) from a corresponding stack (208) and shift the storage box along the top layer (206), wherein the gripper (804, 904) is arranged to extend beyond the body (802, 902) of the vehicle (210, 800, 900) so that when the storage box (202) is lifted to the top layer (202), the storage box (202) is arranged side by side with the body (802, 902) at a first vertical side of the body (802, 902); and

[0130] The alternating mechanism (808, 908) is configured to change the position of the clamp (804, 904) relative to the main body (802, 902) so that when the storage box (202) is clamped and lifted to the top layer (206), the storage box (202) is arranged side by side with the main body (802, 902) on the second vertical side of the main body (802, 902).

[0131] 2. The vehicle (210, 800, 900) of example 1, wherein the first vertical side of the body (802, 902) and the second vertical side of the body (802, 902) are one of:

[0132] Opposing vertical sides of the body (802, 902), and

[0133] Adjacent vertical sides of the body (802, 902) extend orthogonally to each other.

[0134] 3. A vehicle (210, 800) according to Example 1 or 2, wherein the clamp (804) is telescopically extendable beyond a first vertical side of the body (802) and telescopically extendable beyond a second vertical side of the body (802), wherein the alternating mechanism (808) includes a sliding mechanism (808) configured to alternately slide the clamp (804) between a telescopic extension beyond the first vertical side of the body (802) and beyond the second vertical side of the body (802).

[0135] 4. A vehicle (900) according to Example 1 or 2, wherein the alternating mechanism (908) includes a rotating mechanism (908) configured to rotate the clamp (904) between a rotational position in which the clamp (904) extends beyond a first vertical side of the body (902) and a rotational position in which the clamp (904) extends beyond a second vertical side of the body (902).

[0136] 5. A vehicle (210, 800, 900) according to any example 4, wherein the alternating mechanism (908) includes an extending mechanism (909) configured to alternately move the clamp (904) between an approach position and an extended position, wherein the clamp (904) is further away from the body (902) in the extended position than in the approach position.

[0137] 6. A vehicle (210, 800, 900) according to any one of Examples 1 to 5, wherein, in order to remove a storage box (202) from a corresponding stack (208), the vehicle (210, 800, 900) is configured to shift the storage box (202) beyond the edge of a storage module (200) and lower the storage box (202) along the edge of the storage module (200) to a handover point of the warehouse system (300) once the storage box (202) is lifted and shifted along the top layer (206) toward the edge of the top layer (026).

[0138] 7. A vehicle (900) according to Example 6, when subordinate to Example 4, wherein shifting the storage box (202) beyond the edge of the storage module (200) includes: while clamping the storage box (202) to a rotational position where the clamp (904) extends beyond the edge of the storage module (200), using a rotating mechanism (908) to rotate the clamp (904).

[0139] 8. The vehicle (210, 800, 900) of any one of Examples 1 to 7, further comprising:

[0140] a plurality of rollers (910) configured to move the vehicle on the top layer (206) of the storage module (200),

[0141] Wherein, each of the plurality of rollers (910) is configured to roll in a different direction,

[0142] Among them, preferably:

[0143] Each of the plurality of rollers (910) is configured to rotate about a vertical axis and change orientation relative to the body (802), or

[0144] Each of the plurality of rollers (910) is a spherical roller and is configured to be driven in at least two directions.

[0145] 9. The vehicle (210, 800, 900) of example 8, further comprising:

[0146] a roller actuator (914) configured to rotate at least one of the plurality of rollers (910),

[0147] Wherein, the roller actuator (914) is preferably further configured to rotate at least one roller (910) by 90°.

[0148] 10. The vehicle (210, 800, 900) of any one of Examples 1 to 9, wherein the gripper (804, 904) comprises:

[0149] a set of buckles (820) arranged adjacent to one another, wherein each buckle (821-823) has a clamping configuration associated with a corresponding type of storage box (202),

[0150] Preferably, each buckle (821-823) has a different height (H1-H3) relative to the holder (804, 904), or has a different coupling structure associated with a corresponding type of storage box (202).

[0151] 11. The vehicle (210, 800, 900) of example 10, wherein each buckle (821-823) is pivotally mounted to the clamp (804, 904) and biased toward a clamped position, and / or

[0152] Wherein, the clamp (804, 904) includes a buckle actuator (814) and / or a biasing element (816), the buckle actuator is configured to move a group of buckles (820) at least from a clamped position to an open position, and the biasing element biases each buckle (821-823) toward the clamped position.

[0153] 12. The vehicle (210, 800, 900) of any one of Examples 1 to 11, further comprising:

[0154] A lifting mechanism (810, 812) is configured to raise and lower the clamped storage box (202).

[0155] 13. The vehicle (210, 800, 900) of Example 12, wherein the lifting mechanism comprises a lifting platform (810) and a removable belt or wire (812) connecting the lifting platform (810) to the body (802).

[0156] 14. A warehouse system (300) providing a space for a three-dimensional arrangement of storage boxes (202), wherein the warehouse system (200) includes a plurality of interconnected storage modules (200), wherein each storage module (100) includes a storage area (204) and a top layer (206) arranged above the storage area (204), the storage area (204) being adapted to accommodate a plurality of stacks (208) of storage boxes arranged in a horizontal two-dimensional grid at the bottom of the storage module (200), and at the top layer (206), at least one vehicle (210, 800, 900) according to any one of Examples 1 to 13 is capable of moving in alignment with the two-dimensional grid to remove storage boxes (202) from the plurality of stacks (208) and place storage boxes (202) into the plurality of stacks (208), wherein the plurality of interconnected storage modules (200) include at least two layers of storage modules (200) placed one above the other in a separate room.

[0157] 15. A prefabricated interconnectable storage module (200) for assembling a warehouse system (300), the warehouse system (300) providing space for a three-dimensional arrangement of storage boxes (202), wherein the warehouse system (200) is to be assembled from a plurality of prefabricated interconnectable storage modules (200) of the type of prefabricated interconnectable storage module (200), the storage module (200) comprising a storage area (204) and a top layer (206) arranged above the storage area (204), wherein the storage area is adapted to accommodate a plurality of stacks (208) of storage boxes (202) arranged in a horizontal two-dimensional grid at the bottom of the storage module (200), wherein The top layer (206) is adapted to allow at least one vehicle (210, 800, 900) according to one of Examples 1 to 13 to move on the top layer (206) in alignment with the two-dimensional grid to remove storage boxes (202) from multiple stacks (208) and place storage boxes (202) into multiple stacks (208), wherein the storage module (200) is also adapted to be placeable above another storage module (200) of the same type, so that when the warehouse system (300) is assembled from a plurality of prefabricated interconnectable storage modules (100), at least two layers of storage modules (300) can be formed by placing the storage modules (200) one above the other in a single room.

Claims

1. A vehicle (210; 800; 900) for retrieving storage boxes (202) from a warehouse system (300), the warehouse system (300) comprising at least one storage module (200) having a storage area (204) and a top floor (206) arranged above the storage area (204), the storage area (204) being adapted to accommodate a plurality of stacks (208) of storage boxes (202), wherein: The vehicle (210, 800, 900) is configured to be movable at the top layer (206) of the storage module (200) to retrieve storage boxes (202) from the plurality of stacks (208), wherein retrieving a storage box (202) from a corresponding stack (208) comprises lifting the storage box (202) from the stack (208) to the top layer (206) so that the storage box (202) can be shifted along the top layer (206) by the vehicle (210; 800; 900), the vehicle (210, 800, 900) comprising: a gripper (804; 904) configured to grip a storage box (202) to lift the storage box (202) from a corresponding stack (208) and to shift the storage box (202) along the top layer (206), wherein the gripper (804; 904) is arranged to extend beyond a body (802; 902) of the vehicle (210; 800; 900) such that, when the storage box (202) is lifted to the top layer (206), the storage box (202) is arranged side by side with the body (802; 902) on a first vertical side of the body (802; 902); an alternating mechanism (808; 908) configured to change the position of the clamp (804; 904) relative to the main body (802; 902) so that when the storage box (202) is clamped and lifted to the top layer (206), the storage box (202) is arranged side by side with the main body (802; 902) on a second vertical side of the main body (802; 902); and a plurality of rollers (910) configured to move the vehicle at the top layer (206) of the storage module (200), wherein each of the plurality of rollers (910) is configured to roll in a different direction, Wherein, each of the plurality of rollers (910) is a spherical roller and is configured to be driven in at least two directions.

2. The vehicle (210; 800; 900) according to claim 1, wherein: The first vertical side of the body (802; 902) and the second vertical side of the body (802, 902) are one of the following: the relatively vertical sides of the body (802; 902), and Adjacent vertical sides of the body (802; 902) extend orthogonally relative to each other.

3. The vehicle (210; 800) according to claim 1 or 2, wherein: The clamp (804) can telescopically extend beyond a first vertical side of the body (802) and can telescopically extend beyond a second vertical side of the body (802), wherein the alternating mechanism (808) includes a sliding mechanism (808), which is configured to alternately slide the clamp (804) between a telescopic extension portion beyond the first vertical side of the body (802) and a telescopic extension portion beyond the second vertical side of the body (802).

4. The vehicle (900) according to claim 1 or 2, wherein: The alternating mechanism (908) includes a rotating mechanism (908) configured to rotate the clamp (904) between a rotational position in which the clamp (904) extends beyond a first vertical side of the body (902) and a rotational position in which the clamp (904) extends beyond a second vertical side of the body (902).

5. The vehicle (210; 800; 900) according to claim 4, wherein: The alternating mechanism (908) includes an extending mechanism (909) configured to alternately move the clamp (904) between an approximated position and an extended position, wherein the clamp (904) is further away from the body (902) in the extended position than in the approximated position.

6. The vehicle (210; 800; 900) according to any one of claims 1 to 5, wherein: In order to remove the storage box (202) from the corresponding stack (208), the vehicle (210; 800; 900) is configured to shift the storage box (202) beyond the edge of the storage module (200) and lower the storage box (202) along the edge of the storage module (200) to the handover point of the warehouse system (300) once the storage box (202) is lifted and shifted along the top layer (206) toward the edge of the top layer (206).

7. The vehicle (900) of claim 6 when dependent on claim 4, wherein: Shifting the storage box (202) beyond the edge of the storage module (200) includes rotating the clamp (904) using the rotation mechanism (908) while clamping the storage box (202) to a rotational position where the clamp (904) extends beyond the edge of the storage module (200).

8. The vehicle (210; 800; 900) according to any one of claims 1 to 7, wherein: The holder (804; 904) comprises: a set of buckles (820) arranged adjacent to one another, wherein each buckle (821-823) has a clamping configuration associated with a corresponding type of storage box (202), Preferably, each buckle (821-823) has a different height (H1-H3) relative to the holder (804, 904), or has a different coupling structure associated with a corresponding type of storage box (202).

9. The vehicle (210; 800; 900) according to claim 8, wherein: Each buckle (821-823) is pivotally mounted to the clamp (804; 904) and biased toward a clamping position, and / or Wherein, the clamp (804; 904) includes a buckle actuator (814) and / or a biasing element (816), wherein the buckle actuator is configured to move the group of buckles (820) at least from a clamped position to an open position, and the biasing element biases each buckle (821-823) toward the clamped position.

10. The vehicle (210; 800; 900) according to any one of claims 1 to 9, further comprising: A lifting mechanism (810; 812) is configured to raise and lower the clamped storage box (202).

11. The vehicle (210; 800; 900) according to claim 10, wherein: The lifting mechanism includes a lifting platform (810) and a removable belt or metal wire (812) connecting the lifting platform (810) and the main body (802).

12. A warehouse system (300) providing space for a three-dimensional arrangement of storage boxes (202), wherein: The warehouse system (300) includes a plurality of interconnected storage modules (200), wherein each storage module (100) includes a storage area (204) and a top layer (206) arranged above the storage area (204), wherein the storage area (204) is adapted to accommodate a plurality of stacks (208) of storage boxes arranged in a horizontal two-dimensional grid at the bottom of the storage module (200), wherein at the top layer (206), at least one vehicle (210; 800; 900) according to one of claims 1 to 11 is capable of moving in alignment with the two-dimensional grid to remove storage boxes (202) from the plurality of stacks (208) and place storage boxes (202) into the plurality of stacks (208), wherein the plurality of interconnected storage modules (200) include at least two layers of storage modules (200) placed one above the other in a single room.

13. A prefabricated interconnectable storage module (200) for assembling a warehouse system (300) providing space for a three-dimensional arrangement of storage boxes (202), wherein: The warehouse system (300) is assembled from a plurality of prefabricated interconnectable storage modules (200) of the type of prefabricated interconnectable storage modules (200), the storage module (200) comprising a storage area (204) and a top layer (206) arranged above the storage area (204), wherein the storage area (204) is adapted to accommodate a plurality of stacks (208) of storage boxes (202) arranged in a horizontal two-dimensional grid at the bottom of the storage module (200), wherein the top layer (206) is adapted to allow at least one vehicle (210) according to one of claims 1 to 11 to be loaded ; 800; 900) is capable of moving at the top layer (206) in alignment with the two-dimensional grid to remove storage boxes (202) from the multiple stacks (208) and place storage boxes (202) into the multiple stacks (208), wherein the storage module (200) is also adapted to be placed above another storage module (200) of the same type, so that when the warehouse system (300) is assembled from the multiple prefabricated interconnectable storage modules (100), at least two layers of storage modules (200) can be formed by placing the storage modules (200) up and down in a single room.

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