Container transport vehicle having an internal reception space for receiving a storage container from another

Abstract

The invention relates to a container transport vehicle (501 '; 502') for operating on a rail system (108) of an automated storage and retrieval system (1). 501 ''; 501 '''; 501 ''''; 501 '''' '), the container transport vehicle (501'; 501 ''; 501 '''; 501 ''''; 501 '''' ') comprises:-a vehicle body (501a'; 501a ''; 501a '''; 501a ''''; 501a '''' ') defining a vehicle base (501d), four sides (501e) and an upper face (501f'; 501f '') opposite the vehicle base (501d); 501f ''); -a first drive device (501b) for driving the container transport vehicle (501 '; 501 ''; 501 '''; 501 ''''; 501 '''' ') in a first direction (X); -a second drive device (501c) for driving the container transport vehicle (501 '; 501 ''; 501 '''; 501 ''''; 501 '''' ') in a second direction (Y), where the second direction (Y) is perpendicular to the first direction (X); 501a '; 501b'; 501b '; 501b'; 501a ''; 501a '''; 501a ''''; 501a '''' ''); an inner receiving space (20) within the housing (50; an elevator assembly (10) comprising a first support surface (11) vertically movable and configured to support a storage container (106); -wherein the vehicle base (501d) comprises a base opening (502) and at least one of the plurality of sides (501e) comprises a side opening (503), the side opening (503) allowing the storage container (106) to pass through and into the interior receiving space (20), and the base opening (502) allowing the elevator assembly (10) to lower the storage container (106) and to pass it at least partially through the base opening. A related system including the container transport vehicle and a method of transferring storage containers between different positions on a rail system using the container transport vehicle are also described.

Description

Technical Field

[0001] The present invention relates to a container transport vehicle for running on a track system of an automated storage and retrieval system. The container transport vehicle includes: an internal receiving space and a side opening allowing a storage container to enter and leave the internal receiving space; a lift assembly including a first support surface capable of vertical movement and configured to support the storage container, and the lift assembly lowers the storage container and causes the storage container to pass at least partially through a base opening of the container transport vehicle.

[0002] An automated storage and retrieval system and some methods are also described. Background Art

[0003] FIG. 1 discloses a prior art automated storage and retrieval system 1 having a frame structure 100, and FIGS. 2, 3, and 4 disclose three different prior art container handling vehicles 201, 301, 401 suitable for running on the system 1.

[0004] The frame structure 100 includes upright members 102 and a storage volume including storage rows 105 arranged in rows between the upright members 102. In these storage rows 105, storage containers 106 (also referred to as bins) are stacked one on top of the other to form stacks 107. The members 102 can generally be made of metal (e.g., extruded aluminum profiles).

[0005] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged across the top of the frame structure 100, and a plurality of container handling vehicles 201, 301, 401 can run on the track system 108 to lift storage containers 106 from the storage rows 105 and lower the storage containers 106 into the storage rows, and also transport the storage containers 106 above the storage rows 105. The track system 108 includes a first set of parallel tracks 110 and a second set of parallel tracks 111, wherein the first set of parallel tracks is arranged to guide the container handling vehicles 201, 301, 401 to move across the top of the frame structure 100 in a first direction X, and the second set of parallel tracks is arranged perpendicular to the first set of parallel tracks 110 to guide the container handling vehicles 201, 301, 401 to move in a second direction Y perpendicular to the first direction X. The containers 106 stored in the rows 105 are accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the track system 108. The container handling vehicles 201, 301, 401 can move laterally above the storage rows 105, i.e., move laterally in a plane parallel to the horizontal X-Y plane.

[0006] The upright member 102 of the frame structure 100 can be used to guide the storage container during lifting the container from the column 105 and lowering the container into the column. The stack 107 of containers 106 is generally self-supporting.

[0007] Each prior art container handling vehicle 201, 301, 401 includes a vehicle body 201a, 301a, 401a and a first set of wheels and a second set of wheels 201b, 201c, 301b, 301c, 401b, 401c, and these sets of wheels enable the container handling vehicles 201, 301, 401 to move laterally in the X direction and the Y direction respectively. In FIGS. 2, 3, and 4, two wheels in each set of wheels are fully visible. The first set of wheels 201b, 301b, 401b are arranged to engage two adjacent tracks in the first set of parallel tracks 110, and the second set of wheels 201c, 301c, 401c are arranged to engage two adjacent tracks in the second set of parallel tracks 111. At least one set of the wheels 201b, 201c, 301b, 301c, 401b, 401c can be raised and lowered so that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can engage the corresponding set of parallel tracks 110, 111 at any one time.

[0008] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device for the vertical transportation of the storage container 106, for example, lifting the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column. The lifting device includes one or more clamping / engaging devices adapted to engage with the storage container 106, and the clamping / engaging device can be lowered from the vehicles 201, 301, 401 so that the position of the clamping / engaging device relative to the vehicles 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. Parts of the clamping devices of the container handling vehicles 301, 401 are shown in FIGS. 3 and 4 and are denoted by reference numerals 304, 404. In FIG. 2, the clamping device of the container handling device 201 is located within the vehicle body 201a and is therefore not shown. The lifting device may include a lifting frame 404d suspended on a lifting belt 404a. The lifting belt 404a can provide power and communication between the container handling vehicle and the lifting frame 404d. The lifting frame 404d may include a clamping engagement device / clamp 404b for connecting to the clamping recess of the storage container 106. The guide pin 404c helps to align the clamp 404b relative to the clamping recess of the storage container 106.

[0009] Conventionally and also for the purposes of the present application, Z = 1 identifies the uppermost layer available for storage containers below the tracks 110, 111, i.e., the layer immediately below the track system 108, Z = 2 identifies the second layer below the track system 108, Z = 3 identifies the third layer, and so on. In the exemplary prior art disclosed in FIG. 1, Z = 8 identifies the lowermost bottom layer of the storage containers. Similarly, X = 1...n and Y = 1...n identify the positions of each storage column 105 in the horizontal plane. Thus, by way of example and using the Cartesian coordinate system X, Y, Z shown in FIG. 1, it can be said that the storage container identified as 106' in FIG. 1 occupies the storage position of X = 17, Y = 1, Z = 6. It can be said that the container handling vehicles 201, 301, 401 travel in the layer of Z = 0, and each storage column 105 can be identified by its X coordinate and Y coordinate. Thus, the storage containers extending above the track system 108 shown in FIG. 1 are also said to be arranged in the layer of Z = 0.

[0010] The storage volume part of the frame structure 100 is generally referred to as a grid 104, wherein the possible storage positions within the grid are called storage units. Each storage column can be identified by positions in the X direction and the Y direction, while each storage unit can be identified by the container number in the X direction, Y direction, and Z direction.

[0011] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or storage space for receiving and loading the storage container 106 when transporting the storage container 106 across the track system 108. The storage space can include a cavity arranged inside the vehicle body 201a, 401a, as shown in FIGS. 2 and 4 (which show cavity-type container handling vehicles) and as described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0012] FIG. 3 shows an alternative configuration of a container handling vehicle 301 with a cantilever structure (referred to as a cantilever-type container handling vehicle). Such a vehicle is described in detail, for example, in NO317366, the content of which is also incorporated herein by reference.

[0013] The occupied area of the cavity-type container handling vehicle 201 shown in FIG. 2 can cover an area that is approximately equal in size in the X direction and the Y direction to the lateral extent of the storage column 105, as described, for example, in WO2015 / 193278A1, the content of which is incorporated herein by reference. The term "lateral" as used herein can mean "horizontal".

[0014] Alternatively, the footprint of the chamber container handling vehicle 401 shown in FIGS. 4 and 5 may be greater than the lateral area defined by the storage columns 105, as shown in FIGS. 1 and 4 and as disclosed, for example, in WO2014 / 090684A1 or WO2019 / 206487A1.

[0015] The track system 108 generally includes tracks having grooves in which the wheels of the vehicle travel. Alternatively, the tracks may include upwardly projecting elements, wherein the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track may include one guide rail, or each of the tracks 110, 111 may include two parallel guide rails. In other track systems 108, each track in one direction (e.g., the X direction) may include one guide rail, and each track in the other perpendicular direction (e.g., the Y direction) may include two guide rails. Each of the tracks 110, 111 may also include two rail members fastened together, each rail member providing one of the pair of guide rails provided by each track.

[0016] WO2018 / 146304A1 (the content of which is incorporated herein by reference) shows a typical configuration of the track system 108, which includes tracks and parallel guide rails in both the X and Y directions.

[0017] In the frame structure 100, most of the columns 105 are storage columns 105, i.e., columns 105 in which the storage containers 106 are stored in stacks 107. However, some of the columns 105 may have other purposes. In FIG. 1, columns 119 and 120 are such dedicated columns used by the container handling vehicles 201, 301, 401 to unload and / or pick up the storage containers 106, such that the storage containers can be transported to an access station (not shown), where the storage containers 106 can be accessed from outside the frame structure 100, or removed from or moved into the frame structure 100. In the art, such locations are commonly referred to as "ports", and the columns in which the ports are located may be referred to as "port columns" 119, 120. The transportation to the access station can be in any direction (i.e., horizontal, inclined, and / or vertical). For example, the storage container 106 can be placed in a random column or a dedicated column 105 within the frame structure 100, and then picked up by any container handling vehicle and transported to the port columns 119, 120 for further transportation to the access station. The transportation from the port to the access station may require movement in various different directions by means of, for example, a delivery vehicle, a cart, or other transportation lines. Note that the term "inclined" refers to the transportation of the storage container 106 having a generally transportation orientation in a direction between horizontal and vertical.

[0018] In FIG. 1, the first port column 119 can be, for example, an offloading port column at which the container handling vehicles 201, 301, 401 can offload the storage containers 106 to be transported to the access station or transfer station, and the second port column 120 can be a pick-up port column at which the container handling vehicles 201, 301, 401 can pick up the storage containers 106 that have been transported from the access station or transfer station.

[0019] The access station can generally be a pick-up station or a stocking station at which product items are removed from or positioned into the storage container 106. In the pick-up station or stocking station, the storage container 106 is generally not removed from the automated storage and retrieval system 1 but is returned to the frame structure 100 again after access. The ports can also be used to transfer the storage container to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or a truck), or to a production facility.

[0020] A conveyor system including conveyors is generally used to transport the storage containers between the port columns 119, 120 and the access station.

[0021] If the port columns 119, 120 and the access station are at different heights, the conveyor system can include a lifting device having a vertical member for vertically transporting the storage container 106 between the port columns 119, 120 and the access station.

[0022] The conveyor system can be arranged to transfer the storage container 106 between different frame structures, as described, for example, in WO2014 / 075937A1, the content of which is incorporated herein by reference.

[0023] The storage system can also use the port columns 119, 120 to transfer the storage container between the track system 108 at the top of the frame structure 100 and a container transfer vehicle arranged below the lower end of the port column. Such a storage system and a suitable container transfer vehicle are disclosed in WO 2019 / 238694 Al and WO 2019 / 238697Al, the content of which is incorporated herein by reference.

[0024] A potential disadvantage of using a container transfer vehicle to remove the storage container from the lower end of the port column and transport the storage container to the lower end of the port column is the time dependence between one or more container transfer vehicles and the container handling vehicles used to remove / deliver the storage container through the port column.

[0025] When accessing a storage container 106 stored in one of the multiple columns 105 disclosed in FIG. 1, one of the multiple container handling vehicles 201, 301, 401 is instructed to retrieve the target storage container from the location of the target storage container 106 and transport the target storage container to the unloading port column 119. This operation involves: moving the container handling vehicles 201, 301, 401 to a position above the storage column 105 where the target storage container 106 is located; using the lifting device 116 of the container handling vehicles 201, 301, 401 to retrieve the storage container 106 from the storage column 105; and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, this operation also involves: temporarily moving the storage containers located above before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to in the art as "digging") can be performed using the same container handling vehicle that will subsequently be used to transport the target storage container to the unloading port column 119, or using one or more other cooperative container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have container handling vehicles 201, 301, 401 dedicated to the task of temporarily removing storage containers 106 from the storage column 105. After removing the target storage container 106 from the storage column 105, the temporarily removed storage container 106 can be repositioned back to the original storage column 105. However, the removed storage container 106 can alternatively be repositioned to other storage columns 105.

[0026] When a storage container 106 is to be stored in a column 105, one of the container handling vehicles 201, 301, 401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport the storage container to a position above the storage column 105 where the storage container is to be stored. After removing any storage containers 106 located at or above the target position within the stack 107, the container handling vehicles 201, 301, 401 position the storage container 106 at the desired location. The removed storage containers 106 can then be lowered back into the storage column 105 or repositioned to other storage columns 105.

[0027] To monitor and control an automated storage and retrieval system 1, such as monitoring and controlling the position of each storage container 106 within the framework structure 100, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301, 401, such that the desired storage container 106 can be transported to the desired location at the desired time without the container handling vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0028] An object of at least some embodiments of the present invention is to provide a solution for more quickly transporting a storage container carried by a container handling vehicle from position A to position B on the track system of an automated storage and retrieval system. Summary of the Invention

[0029] The present invention is set forth and characterized in the independent claims, while the dependent claims describe other optional features.

[0030] The present invention relates to a container transport vehicle for operating on the track system of an automated storage and retrieval system, the container transport vehicle comprising:

[0031] - A vehicle body defining a vehicle base, four side portions, and an upper surface opposite the vehicle base;

[0032] - A first drive device for moving the container transport vehicle in a first direction;

[0033] - A second drive device for moving the container transport vehicle in a second direction, wherein the second direction is perpendicular to the first direction;

[0034] - An internal receiving space located within the vehicle body;

[0035] - A lift assembly including a first support surface that is vertically movable and configured to support a storage container;

[0036] - Wherein the vehicle base includes a base opening, and at least one of the plurality of side portions includes a side opening, wherein the side opening allows the storage container to pass through and enter the internal receiving space, and the base opening allows the lift assembly to lower the storage container and cause the storage container to at least partially pass through the base opening.

[0037] The first driving device may be a first set of wheels for moving the container transport vehicle in a first direction. The second driving device may be a second set of wheels for moving the container transport vehicle in a second direction. Alternatively, the first driving device may be a first belt for moving the container transport vehicle in a first direction, and the second driving device may be a second belt for moving the container transport vehicle in a second direction.

[0038] The storage container can be transported through the side opening by a container handling vehicle. The container handling vehicle can be a so-called cantilever container handling vehicle.

[0039] A dedicated transport vehicle (i.e., a container transport vehicle) can improve the performance of the driving part during transportation, or can reduce the total system cost by providing simpler and more dedicated / specialized modules. To lower the center of gravity of the container transport vehicle, one or more wheel motors, one or more lift motors, electrical components, and control components can preferably be arranged on either side of the internal receiving space.

[0040] The lift assembly can be operable to move the storage container between a lower position and an upper position, wherein, in the lower position, the storage container at least partially extends through the base opening, and the lower end of the storage container is lower than the lowest side level of the first driving device and the second driving device, and in the upper position, the lower end of the storage container is higher than the lowest side level of the first driving device and the second driving device. When in the upper position, the container transport vehicle can transport the storage container across the track system.

[0041] The first support surface can be configured to support the storage container from the side and / or from below the storage container.

[0042] The first support surface can be a platform extending between opposite sides of the internal receiving space.

[0043] The lift assembly can include a second support surface, and the first support surface and the second support surface can be arranged on opposite sides of the internal receiving space.

[0044] The support surfaces can be arranged on opposite sides of the side opening.

[0045] The lift assembly can include a movement transfer device for simultaneously moving the first support surface and the second support surface.

[0046] The movement transfer device can include a shaft extending above the internal receiving space, and the shaft can be arranged on one side of the upper opening. The shaft can be driven by a belt on the corresponding side. The belt can be connected to the first support surface and the second support surface.

[0047] A motor can be arranged on one side thereof, or two motors can be used, i.e., one motor is arranged on each side.

[0048] As an alternative to the belt, a rack and pinion device with a single motor or one motor on each side of the internal receiving space can perform the lifting action of the lift assembly. In any case, it is advantageous to have a synchronization mechanism to ensure smooth lifting of the storage container.

[0049] The first pin and the second pin can project upward from the first support surface. The first pin and the second pin can be located at opposite ends of the first support surface. And the third pin and the fourth pin can project upward from the second support surface. The third pin and the fourth pin can be located at opposite ends of the second support surface. Since the available space in the access opening is limited when the storage container occupies the access opening, the vertical pins utilize the recesses in the corners of the storage container (which are typically used by the guide pins of the lifting frame) to align the clamping members with the complementary recesses of the storage container, thereby lowering the first support surface and the second support surface to a position below the access opening of the track system.

[0050] The first support surface and the second support surface can include recesses. These recesses can be configured to accommodate ribs with complementary shapes on the storage container supported by the support surfaces. The recesses can be configured to accommodate ribs with complementary shapes on the storage container supported by the support surfaces.

[0051] The distance between the first support surface and the second support surface can be adjustable. This distance can be adjusted by moving the first support surface and the second support surface away from each other in a horizontal plane. A linear motor or other known devices can be used for this movement.

[0052] Alternatively or additionally, the first support surface and the second support surface can be hinged such that the first support surface and the second support surface can rotate between a horizontal orientation and a vertical orientation or an inclined orientation. Alternatively or in addition to providing recesses in the first support surface and the second support surface, the adjustment of the distance can also be achieved.

[0053] The container transport vehicle can include an upper opening located on the upper surface of the vehicle body.

[0054] The picking can be achieved through the upper opening. The cross-sectional area of the upper opening can be equal to the cross-sectional area of the access opening of the storage container carried by the container transport vehicle.

[0055] To ensure access by the picker through the upper opening, the shaft of the movement transfer device can be arranged on one side of the upper opening.

[0056] The container transport vehicle may include a pickup arm located on the upper surface for picking up through the upper opening.

[0057] An automated storage and retrieval system including a two-dimensional rail system is also described. The two-dimensional rail system includes a first set of parallel rails and a second set of parallel rails. The first set of parallel rails is arranged in a horizontal plane to guide the container handling vehicle to move in a first direction across the top of a frame structure formed by a plurality of upright members. The second set of parallel rails is arranged in a horizontal plane perpendicular to the first set of parallel rails to guide the container handling vehicle to move in a second direction perpendicular to the first direction. The first set of rails and the second set of rails define a plurality of access openings, and the frame structure defines a plurality of storage columns for accommodating vertical stacks of storage containers below the access openings. The container handling vehicle can operate on the rail system to lift storage containers from the storage columns and lower storage containers into the storage columns, and also transport storage containers above the storage columns. The automated storage and retrieval system includes the storage containers, the container handling vehicle, and the container transport vehicle as described above.

[0058] The lift assembly can be configured to lower the supported storage container into any one of the plurality of access openings of the rail system.

[0059] The container handling vehicle may include a cantilever for carrying a storage container below.

[0060] The internal receiving space can be configured to accommodate the cantilever of the container handling vehicle and the storage container carried by the cantilever.

[0061] The cross-sectional area of the side opening can be equal to or greater than the cantilever of the container handling vehicle and the storage container carried by the cantilever, such that the cantilever carrying the storage container can pass through the side opening.

[0062] The cross-sectional area of the base opening can be greater than the cross-sectional area of the storage container.

[0063] The storage container may include vertical ribs on its outer side, and the first support surface and the second support surface may include recesses, and the recesses may be configured to accommodate the ribs located on the storage container. That is, the recesses and the vertical ribs have complementary shapes.

[0064] The base opening can be equal to the cross-sectional area of the access opening of the rail system.

[0065] The container transport vehicle may include an upper opening in the upper surface of the vehicle body, and the cross-sectional area of the upper opening can be equal to the cross-sectional area of the access opening of the storage container. This makes it easier to pick up the inventory items of the storage container carried by the container transport vehicle.

[0066] Also described is a method for transferring a storage container between a container handling vehicle having a cantilever and a container transport vehicle using the automated storage and retrieval system described above, wherein the container handling vehicle and the container transport vehicle operate on the same rail system, and wherein the method comprises the following steps:

[0067] - Lower the first support surface of the lift assembly;

[0068] - Move the cantilever of the container handling vehicle carrying the storage container through the side opening into the internal receiving space;

[0069] - Use the lifting device of the container handling vehicle to lower the storage container onto the first support surface;

[0070] - Raise the lifting device of the container handling vehicle without the storage container;

[0071] - Move the cantilever of the container handling vehicle out of the internal receiving space;

[0072] - Use the lift assembly to lift the storage container supported from below or from the side into the internal receiving space until the lower end of the storage container is above the rail system;

[0073] - Use the container transport vehicle to transport the storage container to another location on the rail system.

[0074] Also described is a method for transferring a storage container between a container handling vehicle having a cantilever and a container transport vehicle using the automated storage and retrieval system described above, wherein the container handling vehicle and the container transport vehicle operate on the same rail system, and wherein the method comprises the following steps:

[0075] - Lower the first support surface of the lift assembly such that the lower end of the storage container carried by the first support surface extends through the base opening of the vehicle base;

[0076] - Move the cantilever of the container handling vehicle through the side opening into the internal receiving space;

[0077] - Lower the lifting device of the container handling vehicle and engage it with the storage container carried by the first support surface;

[0078] - Raise the lifting device of the container handling vehicle carrying the storage container;

[0079] - Move the cantilever of the container handling vehicle and the carried storage container out of the internal receiving space;

[0080] Also described is a method of picking up a top storage container using the automated storage and retrieval system as described above, the top storage container extending at least partially above an access opening formed by a first set of parallel tracks and a second set of parallel tracks perpendicular to the first set of tracks of the automated storage and retrieval system, wherein the method comprises the steps of:

[0081] - Positioning the container transport vehicle such that the top storage container in a stack of storage containers is within the internal receiving space;

[0082] - Using a lift assembly to lift the storage container supported by a first support surface into the internal receiving space until the lower end of the storage container is above the track system;

[0083] - Transporting the storage container to another position on the track system using the container transport vehicle.

[0084] The so-called "top box" in the field of an automated storage and retrieval system of the uppermost storage container in a stack of storage containers or a frame structure having vertical upright members in which storage containers are stacked on top of each other in a storage row between the upright members is a storage container that extends through the access opening and at least partially above the first set of tracks and the second set of tracks in the track system. A container handling vehicle having a cantilever can place a storage container on top of a stack of storage containers and pick up a storage container located on top of a stack of storage containers.

[0085] In one aspect, the container transport vehicle includes:

[0086] - An upper opening in an upper surface for accessing inventory items stored in a storage container carried by the container transport vehicle; and

[0087] - A pick-up arm;

[0088] And the method may comprise the step of: picking up inventory items from a storage container carried by the container handling vehicle using the pick-up arm.

[0089] The automated storage and retrieval system may include a plurality of upright members, and each storage row is defined by four upright members.

[0090] The track system can be arranged on top of the upright member. The track system includes a first set of parallel tracks and a second set of parallel tracks arranged perpendicular to the first set of tracks. The first set of tracks and the second set of tracks provide a horizontal grid-based track system to define a plurality of grid cells. The first set of tracks and the second set of tracks of the track system can include one or two guide rails. Preferably, the tracks include two guide rails (double guide rails) in both directions. For example, two parallel channels are formed in one track, or one channel is provided in each of a pair of track members that have been fastened to each other to form a track. In this arrangement, the access opening (also referred to as a grid opening) and the guide rail width on each side define a "grid cell". In an arrangement where the track has only a single guide rail in one direction, the grid cell can extend across the entire track width on these sides.

[0091] In this specification, the term "storage container" is intended to denote any cargo holding unit having a bottom plate and side portions that is adapted to be releasably connected to a container lifting device, such as a box, suitcase, pallet, or the like. The side portions may preferably include clamping recesses. The side portions are preferably side walls. The height of the side walls can vary depending on the intended use of the automated storage and retrieval system and the goods to be stored. The clamping recesses can be arranged at the upper edge of the side walls. The outer horizontal perimeter of the storage container is preferably rectangular.

[0092] The relative terms "upper", "lower", "below", "above", "higher", etc. should be understood in their ordinary sense and as shown in a Cartesian coordinate system.

[0093] The present invention can be used in combination with the storage containers and systems described above. However, other fields where the disclosed automated storage and retrieval systems and methods can be used are vertical farming, micro-fulfillment, or grocery / online grocery stores. Description of the Drawings

[0094] The following drawings are attached to facilitate understanding of the present invention. The drawings illustrate embodiments of the present invention, which will now be described only by way of example, in which:

[0095] Figure 1 is a perspective view of the frame structure of a prior art automated storage and retrieval system;

[0096] Figure 2 is a perspective view of a prior art container handling vehicle having an internal cavity for carrying a storage container therein;

[0097] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying a storage container therebelow;

[0098] Figure 4 is a bottom perspective view of a container handling vehicle of the prior art, the container handling vehicle having an interior cavity for receiving a storage container therein;

[0099] Figure 5 is a perspective view of the container handling vehicle of Figure 4 without side and top plates;

[0100] Figures 6A to 6C A first embodiment of a container transport vehicle adapted to receive a storage container from a cantilevered container handling vehicle is shown, wherein the container transport vehicle includes an enclosed upper surface and a lift assembly for supporting the storage container from the sides, wherein, Figure 6A is a perspective view as viewed from a first direction, Figure 6B is a perspective view as viewed from a second direction, and Figure 6C is Figure 6A and Figure 6B a side view of;

[0101] Figures 7A to 7D A sequence of a cantilevered container handling vehicle picking up a storage container supported by a first support surface and a second support surface of a lift assembly in a second embodiment of the container transport vehicle is shown, the container transport vehicle including an upper opening in the upper surface and a lift assembly for supporting the storage container from the sides, and wherein: in Figure 7A the storage container is raised to an upper position by the lift assembly, in Figure 7B the storage container is lowered to a lower position by the lift assembly such that the lower end of the storage container descends and passes through a base opening in the vehicle base to create an available space for a cantilever of the cantilevered container handling vehicle above the storage container, in Figure 7C the cantilevered container handling vehicle enters the receiving space of the container transport vehicle through a side opening of the container transport vehicle, and in Figure 7D the cantilevered container handling vehicle has lifted the storage container from the support surface of the lift assembly and can drive out of the internal receiving space through the side opening of the container transport vehicle;

[0102] Figure 8A and Figure 8B are different views of a second embodiment of the container transport vehicle without a storage container carried thereon, wherein, Figures 7A to 7D Figure 8A is a perspective view, and Figure 8B is a side view;

[0103] Figure 9A Examples of storage containers having the same cross-section but different heights are shown;

[0104] Figure 9B is a top view of support surfaces having recesses to form spaces for ribs on the storage container having complementary shapes;​

[0105] Figure 10A Shows a third embodiment of a container transport vehicle that can receive a storage container from a cantilevered container handling vehicle, wherein the container transport vehicle includes an upper opening in an upper surface and a lift assembly that supports the storage container from below;

[0106] Figure 10B Shows in Figure 10A details of the support surface that supports the storage container from below used in the container transport vehicle;

[0107] Figure 11 Shows a fourth embodiment of a container transport vehicle adapted to receive a storage container from a cantilevered container handling vehicle, wherein the container transport vehicle includes an upper opening in an upper surface, a lift assembly that supports the storage container from the side, and a pick-up arm arranged on the upper surface;

[0108] Figure 12 Shows a fifth embodiment of a container transport vehicle adapted to receive a storage container from a cantilevered container handling vehicle, wherein the container transport vehicle includes an upper opening in an upper surface and a lift assembly that supports the storage container from below, wherein the support surface is a platform that extends across an internal receiving space;

[0109] Figure 13A and Figure 13B Shows details of the lift assembly 10 for all the first, second, third, fourth, and fifth embodiments of the container transport vehicles 501'; 501"; 501'"; 501""; 501""', wherein, to better show the components of the lift assembly 10, the body of the container transport vehicle is omitted, and wherein, in Figure 13A the storage container is supported by a first support surface 11 (and a second support surface 11), and in Figure 13B the Figure 13A the storage container 106 in has been removed.

[0110] Figure 14A Is a side perspective view of a storage container having vertical ribs on an outer surface, wherein an access opening of the storage container is shown;

[0111] Figure 14B Is Figure 14A a top view of the storage container of, wherein the access opening is marked. Detailed Description

[0112] Hereinafter, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings.

[0113] The frame structure 100 of the automatic storage and retrieval system 1 can be constructed in a manner similar to the frame structure 100 of the prior art described above in connection with FIG. 1. That is, the frame structure 100 can include a plurality of upright members 102 and include a track system 108 extending in a first direction (X direction) and a second direction (Y direction). That is, the track system 108 can be disposed on top of the upright members 102, and the track system 108 includes a first set of parallel tracks 110 and a second set of parallel tracks 111 disposed perpendicular to the first set of tracks 110. The first set of tracks and the second set of tracks 110, 111 provide a horizontal grid-based track system 108 to define a plurality of grid cells 130. The first set of tracks and the second set of tracks 110, 111 of the track system 108 can include one or two guide rails. Preferably, the tracks include two guide rails (double guide rails) in both directions. For example, two parallel channels are formed in one track, or one channel is provided in each of a pair of track members that have been fastened to each other to form a track. In this arrangement, the access opening (also referred to as a grid opening) and the guide rail width on each side define the "grid cell" 130. In an arrangement where the track has only one guide rail in one direction, the grid cell 130 can extend the entire track width on these sides.

[0114] The frame structure 100 can include storage compartments in the form of storage columns 105 disposed between the members 102, where storage containers 106 can be stacked in the storage columns 105 in the form of stacks 107.

[0115] The frame structure 100 can be of any size. Specifically, it should be understood that the frame structure can be wider and / or longer and / or deeper than the frame structure disclosed in FIG. 1. For example, the frame structure 100 can have a horizontal range of more than 700×700 columns and a storage depth of more than twelve containers.

[0116] A prior art container handling vehicle (a cavity-type container handling vehicle, see FIGS. 2, 4, and 5) including a cavity for accommodating a storage container has certain advantageous features. Specifically, providing guidance / support to the storage container accommodated in the cavity enables the cavity-type container handling vehicle to have a greater acceleration / deceleration relative to the cantilever-type container handling vehicle 301 shown in FIG. 3. However, the potential increase in acceleration / deceleration is not fully realized due to the instability of the cavity-type container handling vehicle. This instability is caused by the fact that most of the drive components, power components, control components, and lifting components of the cavity-type container handling vehicles 201, 401 are disposed above the cavity, resulting in a higher center of gravity.

[0117] In all different embodiments of the container transport vehicle according to the present invention, compared with the prior art cavity-type container handling vehicles 201 and 401, most of the drive components, electrical components, control components, and lifting components are arranged on either side of the container receiving space, resulting in a lower center of gravity compared to the prior art cavity-type container handling vehicles 201 and 401.

[0118] Figures 6A to 6C A first embodiment of a container transport vehicle 501' for receiving a storage container 106 from a cantilever-type container handling vehicle 301 is shown, where Figure 6A is a perspective view observed from a first direction, Figure 6B is a perspective view observed from a second direction, and Figure 6C is Figure 6A and Figure 6B a side view of. That is, all Figures 6A to 6C show the same time-lapse diagram from different perspectives.

[0119] The container transport vehicle 501' and the cantilever-type container handling vehicle 301 run on the track system 108 of the automated storage and retrieval system 1.

[0120] Figures 6A to 6C The container transport vehicle 501' in includes a vehicle body 501a', which defines a vehicle base 501d, four side portions 501e, and an upper surface 501f' opposite to the vehicle base 501d. The upper surface 501f' is enclosed.

[0121] The container transport vehicle 501' is further characterized by having: a first drive device in the form of a first set of wheels 501b' for moving the container transport vehicle 501' along a first direction X on the track system 108; and a second drive device in the form of a second set of wheels 501c' for moving the container transport vehicle 501' along a second direction Y on the track system 108, where the second direction Y is perpendicular to the first direction X. An internal receiving space 20 is arranged within the vehicle body 501a'.

[0122] The container transport vehicle 501' further includes a lift assembly 10, which includes a first support surface 11 and a second support surface 12 that are vertically movable and configured to support the storage container 106.

[0123] The first support member 11 and the second support member 12 are arranged in the upper part of the container transport vehicle 501", and are configured to engage with the collar portion 142 or the like of the storage container 106 to raise and lower the storage container 106 supported by the first support surface 11 and the second support surface 12.

[0124] More details of the lift assembly 10 are in Figure 13A and Figure 13Band as shown in the accompanying description. The vehicle base 501d includes a base opening 502 to allow the lift assembly 10 to lower the storage container 106 from the internal receiving space 20 and at least partially pass through the base opening. At least one of the sides 501e includes a side opening 503. The side opening 503 allows the storage container 106 to enter the internal receiving space 20.

[0125] Figures 7A to 7D Shown is the sequence in which the cantilevered container handling vehicle 301 picks up the storage container 106 supported by the first support surface and the second support surfaces 11, 12 of the lift assembly 10 in a second embodiment of the container transport vehicle 501". Figures 7A to 7D The container transport vehicle 501" in... includes an upper opening 504 in the upper surface 501f" and a lift assembly 10 that supports the storage container 106 from the side. In Figure 7A ..., the storage container 106 is lifted by the lift assembly 10 to an upper position, and in Figure 7B ..., the storage container 106 is lowered by the lift assembly to a lower position in which the lower end of the storage container 106 descends and passes through the base opening 502 of the vehicle base 501d to provide available space for the cantilever 302 of the cantilevered container handling vehicle 301 above the storage container 106. In Figure 7C ..., the cantilevered container handling vehicle 301 enters the receiving space 20 of the container transport vehicle 501" through the side opening 503 of the container transport vehicle 501", and in Figure 7D ..., the cantilevered container handling vehicle 301 has lifted the storage container 106 from the first support surface and the second support surfaces 11, 12 of the lift assembly 10 and can drive out of the internal receiving space 20 through the side opening 503 of the container transport vehicle 501".

[0126] Figures 7A to 7D The second embodiment of the container transport vehicle 501" in... is characterized by having:

[0127] - A vehicle body 501a", which defines a vehicle base 501d, four sides 501e, and an upper surface 501f" opposite to the vehicle base 501d;

[0128] - A first drive device in the form of a first set of wheels 501b for moving the container transport vehicle 501" in a first direction X;

[0129] - A second drive device in the form of a second set of wheels 501 for moving the container transport vehicle 501" in a second direction Y, where the second direction Y is perpendicular to the first direction X.

[0130] The "container transport vehicle 501" includes an upper opening 504 in the upper surface 501f of the vehicle body 501a. The cross-sectional area of the upper opening 504 is preferably equal to the cross-sectional area of the access opening 141 of the storage container 106 (for example, see Figure 14A and Figure 14B ).

[0131] The first support member 11 and the second support member 12 are arranged in the upper part of the container transport vehicle 501" and are configured to engage with the collar portion 142 or the like of the storage container 106 to raise and lower the storage container 106 supported by the first support surface 11 and the second support surface 12.

[0132] Refer to Figures 7A to 7D for a more detailed explanation of the sequential steps of receiving the storage container 106 from the cantilever container handling vehicle 301 onto the first support surface 11 and the second support surface 12 of the container transport vehicle 501' running on the same rail system 108.

[0133] In Figure 7A , the storage container 106 is raised to an upper position by the lift assembly 10.

[0134] In Figure 7B , the first support surface 11 of the lift assembly 10 is lowered so that the lower part of the storage container 106 extends through the base opening 502 of the vehicle base 501d. In addition, a space for the cantilever 302 of the container handling vehicle 301 is formed within the internal receiving space 20 above the storage container 106. The first support surface 11 still carries or supports the storage container 106.

[0135] In Figure 7C , the cantilever 302 of the container handling vehicle 301 moves through the side opening 503 of the container transport vehicle 501" so that the cantilever 302 is positioned within the internal receiving space 20 of the container transport vehicle 501".

[0136] In Figure 7D , the lifting device 116 of the container handling vehicle 301 is lowered and engages with the storage container 106, and the lifting device 116 of the container handling vehicle 301 carries the storage container 106.

[0137] Now, the cantilever 302 of the container handling vehicle 301 and the carried storage container 106 can be moved out of the internal receiving space 20 through the side opening 503.

[0138] Figure 8A and Figure 8B are different views of a second embodiment of the container transport vehicle 501" without carrying the storage container, where Figures 7A to 7D Figure 8Ais a perspective view, and Figure 8B is a side view. All components of the container transport vehicle 501” are similar to those of Figures 7A to 7D the container transport vehicle in, except that compared with the container transport vehicle 501” in Figures 7A to 7D the lift assembly 10 can lower the storage container 106 further downward and through the base opening 502 (and the access opening 112 below). This is achieved by lowering the first support member 11 and the second support member 12 further downward.

[0139] Figure 9A shows examples of storage containers 106 with the same cross-section but different heights. The storage container has vertical ribs 140 for increasing the stiffness of the storage container 106.

[0140] Figure 9B is a top view of the first support surface and the second support surfaces 11, 12, wherein the first support surface and the second support surface have recesses 19 to form a space for the ribs 140 with complementary shapes on the storage container 106.

[0141] Figure 10A shows a third embodiment of the container transport vehicle 501”’, which can receive the storage container 106 from the cantilever container handling vehicle 301. The container transport vehicle 501’” includes an upper opening 504 in the upper surface 501f” and a lift assembly 10 that supports the storage container from below. As can be seen, the first support member 11 and the second support member 12 are arranged in the lower part of the container transport vehicle 501”’ such that the storage container 10 can be placed on the first support member and the second support members 11, 12, and thus the container transport vehicle 501’” supports the storage container 106 from below.

[0142] Figure 10B shows in Figure 10A the details of the support surfaces 11, 12 that support the storage container from below used in the container transport vehicle 501”’. The first pin 18’ and the second pin 18” project upward from the first support surface 11. The first pin 18’ and the second pin 18” are located at opposite ends of the first support surface 11. Similarly, the third pin 18’” and the fourth pin 18”” project upward from the second support surface 12, and the third pin 18’” and the fourth pin 18”” are located at opposite ends of the second support surface 12. The dimensions and shapes of the first pin 18’, the second pin 18”, the third pin 18’”, and the fourth pin 18”” are preferably the same as those of the guide pins 404c on the lift frame 404d (see Figure 4) ( Figure 10A and Figure 10B not shown in, see for example Figure 4) because the available space between the storage container 106 and the access opening 112 is limited.

[0143] The lift assembly 10 can be lowered so that the first support surface and the second support surfaces 11, 12 can extend through the base opening 502 of the vehicle base 501d.

[0144] According to Figure 10A and Figure 10B the remaining components of the container transport vehicle 501''' according to the third embodiment in Figures 7A to 7D are similar to those of the container transport vehicle 501'' according to the second embodiment described in

[0145] Figure 11 A fourth embodiment of a container transport vehicle 501'' is shown that is adapted to receive a storage container 106 from a cantilevered container handling vehicle 301. The container transport vehicle 501'' includes an upper opening 504 in an upper surface 501f'', a lift assembly 10 that supports the storage container from the side, and a pick-up arm 30 disposed on the upper surface 501f''. The pick-up arm 30 is capable of reaching inventory items stored in the storage container 106 carried by the container transport vehicle 501'' through the upper opening 504.

[0146] According to Figure 11 the remaining components of the container transport vehicle 501'' according to the fourth embodiment in Figures 7A to 7D are similar to those of the container transport vehicle 501'' according to the second embodiment described in

[0147] Figure 12 A fifth embodiment of a container transport vehicle 501''' is shown that is adapted to receive a storage container 106 from a cantilevered container handling vehicle 301. The container transport vehicle 501''' includes an upper opening 504 in an upper surface 501f'', a lift assembly 10 that supports the storage container 106 from below, wherein the support surface 11 is a platform 11 that extends across the internal receiving space 20, i.e., the support platform 11 extends from one side of the internal receiving space 20 to the other end of the internal receiving space 20.

[0148] The lift assembly 10 can be lowered so that the first support surface 11 (i.e., the platform 11) can extend through the base opening 502 of the vehicle base 501d.

[0149] Similar to the support surface 11 of the container transport vehicle 501''' according to the third embodiment shown in Figure 10A and Figure 10B the platform 11 can have pins (not shown, see for example Figure 10B ) that project upward from the support surface 11 at each of its corners. The size and shape of these pins are preferably the same as those of the guide pins 404c on the lift frame 404d (see FIG. 4) Figure 10A andFigure 10B not shown in (see, for example, FIG. 4) and have the same dimensions and shape because of the limited available space between the storage container 106 and the access opening 112. The platform 11 may have a cross-sectional area that is substantially the same as the cross-sectional area of the storage container 106.

[0150] According to Figure 11 the remaining components of the container transport vehicle 501”” of the fourth embodiment in are similar to the container transport vehicle 501” of the second embodiment described in connection with Figures 7A to 7D and will not be described herein again.

[0151] Figure 13A and Figure 13B show details of the lift assembly 10 for all the first, second, third, fourth, and fifth embodiments of the container transport vehicles 501'; 501”; 501”'; 501””; 501””'. In order to better show the components of the lift assembly 10, the body of the container transport vehicle is omitted, where, in Figure 13A the storage container is supported by the first support surface 11 (and the second support surface 11), and in Figure 13B in Figure 13A the storage container 106 has been removed.

[0152] The lift assembly 10 includes movement transfer devices 13', 13”, 14', 14”, 15 for simultaneously moving the first support surface 11 and the second support surface 12. The disclosed movement transfer devices have a shaft 15 that extends above the internal receiving space 20. The shaft 15 extends from one end of the internal receiving space 20 to the opposite second end of the internal receiving space 20.

[0153] The lift assembly 10 includes a motor 21 for driving a first vertically extending belt 14' arranged on one side of the internal receiving space 20 and a second vertically extending belt 14” located on the other side of the internal receiving space 20. The first vertically extending belt 14' is connected to the second vertically extending belt 14” via the shaft 15 and first and second laterally extending belts 13', 13”. The first support surface 11 is connected to the first vertically extending belt 14' at a first connection point 16', and the second support surface 12 is connected to the second vertically extending belt 14” at a second connection point 16” for lowering and raising the first support surface and the second support surface 11, 12. The shaft 15 ensures simultaneous movement of the first support surface 11 and the second support surface 12. As Figure 13A and Figure 13B shown in, the shaft 15 is arranged on one side of the internal receiving space 20 to enable access to the inventory items stored in the storage container 106 carried by the container transport vehicle.

[0154] Figure 14A A side perspective view of the storage container 106 having vertical ribs 140 on the outer surface, showing the access opening 141 of the storage container 106.

[0155] Figure 14B is Figure 14A A top view of the storage container, with the access opening 141 of the storage container 106 marked.

[0156] Common to all embodiments of the container transport vehicles 501'; 501"; 501'"; 501""; 501'""" is that they can all be used in an automated storage and retrieval system 1 including a two-dimensional rail system 108, which includes a first set of parallel rails 110 and a second set of parallel rails 111. The first set of parallel rails is arranged in a horizontal plane to guide the container handling vehicles 201, 301, 401, 501 to move across the top of the frame structure 100 formed by a plurality of upright members 102 in a first direction X. The second set of parallel rails is arranged in a horizontal plane perpendicular to the first set of parallel rails 110 to guide the container handling vehicles 201, 301, 401, 501 to move in a second direction Y perpendicular to the first direction X. The first set of rails and the second set of rails define a plurality of access openings 112 (see, for example Figure 6A ), and the frame structure 100 defines a plurality of storage rows 105 for accommodating vertical stacks of storage containers 106 below the access openings 112. In addition to all embodiments of the container transport vehicles 501'; 501"; 501'"; 501""; 501'""", the automated storage and retrieval system 1 may also include storage containers 106 and container handling vehicles 301. The lift assembly 10 of the container transport vehicles 501'; 501"; 501'"; 501""; 501'""" is configured to lower the supported storage container 106 into any one of the access openings 112 of the rail system 108.

[0157] Since the uppermost storage container 106 of the stack 107 of storage containers does not extend continuously above the first set of rails and the second set of rails 110, 111 of the rail system 108, there is sufficient space for the lift assembly to lower the storage container 106 and cause the storage container to pass at least partially through the access opening 112 of the rail system, so that it is sufficient for the cantilever 302 of the container handling vehicle 301 to enter the receiving space 20 above the storage container 106 carried by the lift assembly 10.

[0158] In addition, all embodiments of the container transport vehicle are capable of removing and placing the top storage container 106, or the so-called "top box" within the field of the automated storage and retrieval system 1. The top storage container 106 is a storage container that extends through the access opening 112 and at least partially extends above the first set of tracks and the second set of tracks 110, 111 of the track system 108. The container handling vehicle 301 having a cantilever 302 is capable of placing a storage container on top of the stack 107 of the storage containers 106, and removing the storage container 106 located on top of the stack 107 of the storage containers 106.

[0159] Common to all embodiments of the different container transport vehicles 501'; 501"; 501'"; 501""; 501'"" is that when it is necessary to transfer the storage container 106 from the container transport vehicle 501'; 501"; 501'"; 501""; 501'"" to the container handling vehicle 301 operating on the same track system 108, the following sequence can be carried out:

[0160] - Lower the first support surface 11 of the lift assembly 10 such that the lower end of the storage container 106 carried by the first support surface 11 extends through the base opening 502 of the vehicle base 501d;

[0161] - Move the cantilever 302 of the container handling vehicle 301 through the side opening 503 into the internal receiving space 20;

[0162] - Lower the lifting device 116 of the container handling vehicle 301 and engage it with the storage container 106;

[0163] - Raise the lifting device 116 of the container handling vehicle 301 carrying the storage container 106;

[0164] - Move the cantilever 302 of the container handling vehicle 301 and the carried storage container 106 out of the internal receiving space 20.

[0165] Common to all embodiments of the different container transport vehicles 501'; 501"; 501'"; 501""; 501'"" is that when it is necessary to transfer the storage container 106 from the container handling vehicle 301 to the container transport vehicle 501'; 501"; 501'"; 501""; 501'"" operating on the same track system 108, the following sequence can be carried out:

[0166] - Lower the first support surface 11 of the lift assembly 10;

[0167] - Move the cantilever 302 of the container handling vehicle 301 carrying the storage container 106 through the side opening 503 into the internal receiving space 20;

[0168] - Lower the storage container 106 to the first support surface 11 using the lifting device 116 of the container handling vehicle 301;

[0169] - Raise the lifting device 116 of the container handling vehicle 301 without the storage container 106;

[0170] - Extend the cantilever 302 of the container handling vehicle 301 out of the internal receiving space 20;

[0171] - Lift the storage container 106 supported from below or from the side into the internal receiving space 20 using the lift assembly 10 until the lower end of the storage container 106 is above the track system 108;

[0172] - Transport the storage container 106 to another position on the track system 108 using the container transport vehicles 501'; 501"; 501'"; 501""; 501"""

[0173] In the foregoing description, various features of the embodiments have been described. For purposes of explanation, specific numbers, systems, and configurations have been set forth in order to provide a thorough understanding of the system and its operating principles. However, the description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments and other embodiments of the system that are obvious to those skilled in the art to which the disclosed subject matter pertains are considered to fall within the scope of the invention as defined in the appended claims.

[0174] List of Reference Numerals

[0175]

[0176]

[0177]

[0178]

[0179]

Claims

1. A container transport vehicle (501'; 501"; 501'"; 501""; 501""'), for running on the track system (108) of an automated storage and retrieval system (1), said container transport vehicle (501'; 501"; 501'"; 501""; 501""') comprises: - A vehicle body (501a'; 501a"; 501a'"; 501a””； 501a""'), defining a vehicle base (501d), four side portions (501e) and an upper surface (501f'; 501f") opposite to said vehicle base (501d); - A first drive device (501b), for moving said container transport vehicle (501'; 501"; 501'"; 501""; 501""') in a first direction (X); - A second drive device (501c), for moving said container transport vehicle (501'; 501"; 501'"; 501""; 501""') in a second direction (Y), wherein said second direction (Y) is perpendicular to said first direction (X); - An internal receiving space (20), located within said vehicle body (501a'; 501a"; 501a'"; 501a""; 501a""'); - A lift assembly (10), including a first support surface (11) that can move vertically and is configured to support a storage container (106); - Wherein, said vehicle base (501d) includes a base opening (502), and at least one of said plurality of side portions (501e) includes a side opening (503), said side opening (503) allowing the storage container (106) to pass through and enter said internal receiving space (20), and said base opening (502) allowing said lift assembly (10) to lower the storage container (106) and enable the storage container to at least partially pass through said base opening.

2. The container transport vehicle (501'; 501"; 501'"; 501""; according to claim 1 501””’)， wherein, said lift assembly (10) is operable to move the storage container (106) between a lower position and an upper position, in said lower position, said storage container (106) at least partially extends through said base opening (502), and the lower end of said storage container (106) is lower than the lowest horizontal height of said first drive device and said second drive device (501b; 501c), in said upper position, the lower end of said storage container (106) is higher than the lowest horizontal height of said first drive device and said second drive device (501b; 501c).

3. The container transport vehicle (501'; 501"; 501'"; 501""; according to claim 1 or 2 501””’)， wherein, said first support surface (11) is configured to support said storage container (106) from the side and / or from below said storage container (106).

4. The container transport vehicle (501””’) according to any one of the preceding claims, wherein, the first support surface (11) is a platform extending between opposite sides of the internal receiving space (20).

5. The container transport vehicle (501’; 501”; according to any one of claims 1 to 3 above 501”’；501””’)， wherein, the lift assembly (10) includes a second support surface (12), and wherein the first support surface (11) and the second support surface (12) are arranged on opposite sides of the internal receiving space (20).

6. The container transport vehicle (501’; 501”; 501”’; 501””) according to claim 5, wherein, the lift assembly (10) includes movement transfer means (13’, 13”, 14’, 14”, 15) for moving the first support surface (11) and the second support surface (12) simultaneously.

7. The container transport vehicle (501’; 501”; 501”’; 501””) according to claim 6, wherein, the movement transfer means includes a shaft (15) extending above the internal receiving space (20), and wherein the shaft (15) is driven by belts on respective sides, the belts being connected to the first support surface and the second support surface (11, 12).

8. The container transport vehicle (501”’) according to any one of claims 5 to 7 above, wherein, a first pin (18’) and a second pin (18”) project upwardly from the first support surface (11), the first pin (18’) and the second pin (18”) being located at opposite ends of the first support surface (11), and a third pin (18’”) and a fourth pin (18””) project upwardly from the second support surface (12), the third pin (18’”) and the fourth pin (18””) being located at opposite ends of the second support surface (12).

9. The container transport vehicle (501’; 501”; according to any one of claims 5 to 8 above 501”’；501””)， wherein, the first support surface (11) and the second support surface (12) include recesses (19), wherein the recesses (19) are configured to receive ribs (140) of complementary shape on the storage container (106) supported by the support surfaces (11, 12).

10. The container transport vehicle (501’; 501”; according to any one of claims 5 to 9 above 501”’；501””)， wherein, the distance between the first support surface (11) and the second support surface (12) is adjustable.

11. The container transport vehicle (501”; 501”’; 501””; according to any one of the preceding claims 501””’), including an upper opening (504) in the upper surface of the vehicle body (501a”'; 501a””; 501a””; 501a””’).

12. The container transport vehicle (501””) according to claim 11, comprising a pick-up arm (30) located on the upper surface (501f”) for picking up through the upper opening (504).

13. An automated storage and retrieval system (1), comprising a two-dimensional rail system (108), the two-dimensional rail system including a first set of parallel rails (110) and a second set of parallel rails (111), wherein, the first set of parallel rails is arranged in a horizontal plane to guide container handling vehicles (201, 301, 401) to move in a first direction (X) across the top of a frame structure (100) formed by a plurality of upright members (102), the second set of parallel rails is arranged in the horizontal plane perpendicular to the first set of parallel rails (110) to guide the container handling vehicles (201, 301, 401) to move in a second direction (Y) perpendicular to the first direction (X), wherein the first set of rails and the second set of rails define a plurality of access openings (112), and the frame structure (100) defines a plurality of storage columns (105) for accommodating vertical stacks of storage containers (106) below the access openings (112), the container handling vehicles (201, 301, 401) being capable of running on the rail system (108) to lift storage containers (106) from the storage columns (105) and lower storage containers (106) into the storage columns, and also transporting the storage containers (106) above the storage columns (105), wherein the automated storage and retrieval system (1) includes storage containers (106), container handling vehicles (301), and a container transport vehicle (501’; 501”; 501”’; 501””) according to any one of the preceding claims 1 to 12 501””’)。 14. The automated storage and retrieval system (1) according to claim 13, wherein, the lift assembly (10) is configured to lower the supported storage container (106) into any one of the plurality of access openings (112) of the rail system (108).

15. The automated storage and retrieval system (1) according to claim 13 or 14, wherein, the container handling vehicle (301) includes a cantilever (302) for carrying a storage container (106) therebelow.

16. The automated storage and retrieval system (1) according to claim 15, wherein, the internal receiving space (20) is configured to accommodate the cantilever (302) of the container handling vehicle (301) and the storage container (106) carried by the cantilever (302).

17. The automated storage and retrieval system (1) according to claim 16, wherein, The cross-sectional area of the side opening (503) is equal to or greater than the cantilever (302) of the container handling vehicle (301) and the storage container (106) carried by the cantilever (302), so that the cantilever (302) carrying the storage container (106) can pass through the side opening.

18. The automatic storage and retrieval system (1) according to any one of the preceding claims 13 to 17, wherein, the cross-sectional area of the base opening (502) is greater than the cross-sectional area of the storage container (106).

19. The automatic storage and retrieval system (1) according to any one of the preceding claims 13 to 18, wherein, the storage container (106) includes vertical ribs (140) on its outer side, and wherein the first support surface (11) and the second support surface (12) include recesses (19), and wherein the recesses (19) are configured to receive the ribs (140) located on the storage container (106).

20. The automatic storage and retrieval system (1) according to any one of the preceding claims 13 to 19, wherein, the container transport vehicle (501”; 501”’; 501””; 501””’) includes an upper opening (504) in the upper surface (501f”) of the vehicle body (501a”; 501a”’; 501a””; 501a””’), and wherein the cross-sectional area of the upper opening (504) is equal to the cross-sectional area of the access opening (141) of the storage container (106).

21. A method for transferring a storage container between a container handling vehicle having a cantilever (302) and a container transport vehicle (501'; 501”; 501”’; 501””; 501””’) using the automatic storage and retrieval system (1) according to claims 13 to 20, wherein, the container handling vehicle and the container transport vehicle (501'; 501”; 501”’; 501””; 501””’) run on the same track system (108), and wherein the method includes the following steps: - lowering the first support surface (11) of the lift assembly (10); - moving the cantilever (302) of the container handling vehicle (301) carrying the storage container (106) through the side opening (503) into the internal receiving space (20); - using the lifting device (116) of the container handling vehicle (301) to lower the storage container (106) onto the first support surface (11); - raising the lifting device (116) of the container handling vehicle (301) without the storage container (106); - moving the cantilever (302) of the container handling vehicle (301) out of the internal receiving space (20); - Use the lift assembly (10) to lift the storage container (106) supported from below or from the side into the internal receiving space (20) until the lower end of the storage container (106) is above the track system (108); - Use the container transport vehicle (501'; 501"; 501'"; 501""; 501""') to transport the storage container (106) to another position on the track system (108).

22. A method for transferring a storage container between a container handling vehicle having a cantilever (302) and a container transport vehicle (501'; 501"; 501'"; 501""; 501""') using an automated storage and retrieval system (1) according to claims 13 to 20, wherein, the container handling vehicle and the container transport vehicle (501'; 501"; 501'"; 501""; 501""') run on the same track system (108), and the method includes the following steps: - Lower the first support surface (11) of the lift assembly (10) such that the lower end of the storage container (106) carried by the first support surface (11) extends through the base opening (502) of the vehicle base (501d); - Move the cantilever (302) of the container handling vehicle (301) through the side opening (503) into the internal receiving space (20); - Lower the lifting device (116) of the container handling vehicle (301) and engage it with the storage container (106); - Raise the lifting device (116) of the container handling vehicle (301) carrying the storage container (106); - Move the cantilever (302) of the container handling vehicle (301) and the carried storage container (106) out of the internal receiving space (20).

23. A method for picking up a top storage container (106) using an automated storage and retrieval system (1) according to claims 13 to 20, the top storage container at least partially extending above an access opening (112) formed by a first set of parallel tracks (110) and a second set of parallel tracks (111) perpendicular to the first set of tracks (110) of the automated storage and retrieval system (1), wherein, the method includes the following steps: - Position the container transport vehicle (501'; 501"; 501'"; 501""; 501""') such that the top storage container (106) in a stack (107) of storage containers is within the internal receiving space (20); - Use the lift assembly (10) to lift the storage container (106) supported by the first support surface (11) into the internal receiving space (20) until the lower end of the storage container (106) is above the track system (108); - Transport the storage container (106) to another location on the rail system (108) using the container transport vehicle (501'; 501"; 501'"; 501""; 501""').

24. The method according to claim 21, 22 or 23, wherein, the container transport vehicle (501"") includes: - an upper opening (504) located in the upper surface (501f") for accessing the inventory items stored in the storage container (106) carried by the container transport vehicle (501""); and - a pick-up arm (30); and wherein the method includes the step of picking up the inventory items from the storage container (106) carried by the container handling vehicle (501"") using the pick-up arm (30).

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