Carrier capable of being used for warehouse system

Abstract

The present disclosure relates to a carrier (210) for removing storage bins (202) from a warehouse system. The carrier (210) is configured to be movable at a top layer of the warehouse system to retrieve the storage bins (202) from the plurality of stacks, where retrieving the storage bins (202) from respective stacks includes raising the storage bins (202) from the stacks to the top layer such that the carrier can displace the storage bins (202) along the top layer. The vehicle comprises a gripper (804; 904) configured to grip the storage bins (202) to raise the storage bins (202) from the respective stacks and to displace the storage bins along the top layer. The gripper (804; 904) includes a set of clasps (820) arranged adjacent to each other, where each of the clasps has a gripping configuration associated with a respective type of storage bin (202).

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 bins in a warehouse system. An exemplary warehouse system is also disclosed to illustrate the use of such a vehicle in a warehouse system. Background Art

[0002] In industry, warehouses are used to store large quantities of goods in an organized manner. The warehouse systems typically employed today include various types of storage systems, ranging from simple pallet racks (which allow goods loaded on pallets to be stored horizontally in rows and multiple layers, where a stacker crane is used to retrieve goods from the racks) to compact warehouse systems (which focus more on the efficient use of the available space in the warehouse).

[0003] An automated warehouse system (such as the automated warehouse system disclosed in WO 2014 / 075937 A1) is an example of a compact warehouse system. As Figure 1 shown, such a warehouse system may include a grid structure 100 of storage units, where each storage unit is arranged to accommodate a vertical stack of storage bins 102. At the top layer of the grid structure, one or more robots 104 (or more generally, "vehicles") can move horizontally to receive storage bins 102 from the stacks of storage units and place storage bins into the stacks of storage units, i.e., by raising the storage bins 102 from the stack to the top layer or lowering the storage bins 102 from the top layer down to the stack, respectively. A bin elevator 106 integrated into the grid structure 100 can receive storage bins 102 from the robots 104 at the top layer and convey the storage bins 102 vertically downward to a handover station 108. For example, AutoStore (http: / / www.autostoresystem.com) provides such a warehouse system.

[0004] Although such systems can effectively utilize the available space in the warehouse, they may encounter the following problems: when retrieving a storage bin currently stored at a low position (e.g., at the bottom of the stack) in a stack of a storage unit, all the storage bins in the same stack placed above this bin temporarily need to be repositioned, e.g., repositioned to other stacks of the grid structure. This may require an iterative repositioning process until all the storage bins above the bin to be retrieved are repositioned so that the bin can finally be accessed / retrieved and conveyed via the top layer to the handover station. It should be understood that such a repositioning process can be time-consuming, and thus it is not possible to guarantee a fast retrieval time for all the bins in the warehouse system. It is difficult to fulfill the commitments that warehouse system suppliers expect to make (especially for the fast commerce industry, such as the commitment to retrieve a bin within a few seconds to ensure immediate delivery after a purchase transaction is completed). Summary of the Invention

[0005] Accordingly, an object of the present disclosure is to provide a warehouse system technology for achieving a faster storage bin retrieval of a warehouse system or improving other aspects of the above warehouse system.

[0006] According to a first aspect that helps to understand the present disclosure, there is provided a warehouse system that provides space for a three-dimensional arrangement of storage bins. The warehouse system includes a plurality of interconnected storage modules, wherein each storage module includes a storage area and a top layer disposed above the storage area. The storage area is adapted to accommodate a plurality of stacks of storage bins arranged in a horizontal two-dimensional grid at the bottom of the storage module. At the top layer, at least one vehicle can move in alignment with the two-dimensional grid to retrieve storage bins from the plurality of stacks and place storage bins onto the plurality of stacks. The plurality of interconnected storage modules includes at least two layers of storage modules placed one above the other in separate rooms.

[0007] For each of the plurality of storage modules, the height dimension of the storage module can be determined to allow each stack in the plurality of stacks of the storage module to have a maximum number of 6, preferably 5, 4, or 3 storage bins. The plurality of storage modules can include at least 3 layers, preferably at least 4 layers, or at least 5 layers of storage modules placed one above the other in separate rooms. The plurality of interconnected storage modules can further include at least two storage modules placed adjacent to each other in the horizontal direction in separate rooms.

[0008] Each of the plurality of storage modules can be a prefabricated and interconnected storage module, wherein the warehouse system can be assembled from a plurality of storage modules in a modular construction system manner. Among the plurality of interconnected storage modules, two storage modules placed one above the other can be interconnected using a mechanical shape fit established between the bottom of the upper storage module and the top of the lower storage module among the two storage modules. The dimension of each of the plurality of storage modules can be determined to have a maximum range of 4 meters, preferably 3 meters, or 2 meters in the longitudinal direction. The dimension of each of the plurality of storage modules can be determined to accommodate up to 500, preferably 400, 300, 200, or 100 storage bins in the plurality of stacks of the storage module.

[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, based on which a plurality of stacks of storage bins of the storage module may be placed. At least a portion of the plurality of interconnected storage modules may be provided with outer walls so as to form a plurality of continuous storage area partitions enclosed relative to the outside, wherein, optionally, the outer walls may be arranged to form a plurality of continuous storage area partitions in a warehouse system, wherein each partition may be enclosed relative to the outside and other continuous storage area partitions, and wherein each of the plurality of partitions may form a different temperature zone. In at least one of the outer walls, an opening may be provided to enable removal of storage bins from the storage modules of the corresponding partition and placement of storage bins into the storage modules of the corresponding partition. At least a portion of the plurality of storage modules may be provided with a fire protection system.

[0010] To remove a storage bin from one of the plurality of stacks of a plurality of storage modules, once at least one vehicle has removed the storage bin from the stack, the vehicle may move along the top layer of the corresponding storage module towards the edge of the storage module together with the storage bin, wherein the vehicle may shift the storage bin beyond the edge of the storage module and lower the storage bin along the edge of the storage module to a handover point of the warehouse system.

[0011] According to a second aspect that aids in 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 bins. The method includes assembling the warehouse system from a plurality of prefabricated and interconnected 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 bins arranged in a horizontal two-dimensional grid at the bottom of the storage module, and wherein, at the top layer, at least one vehicle may move aligned with the two-dimensional grid to remove storage bins from the plurality of stacks and place storage bins into the plurality of stacks. Assembling the warehouse system from a plurality of prefabricated and interconnected storage modules includes forming at least two layers of storage modules by placing the storage modules vertically on top of each other in separate rooms.

[0012] According to a third aspect that helps to understand the present disclosure, a prefabricated and mutually connectable storage module for use in assembling a warehouse system is provided, and the warehouse system provides space for a three-dimensional arrangement of storage bins. The warehouse system will be assembled from a plurality of prefabricated and mutually connectable storage modules of the type belonging to the prefabricated and mutually connectable storage modules. The storage module includes a storage area and a top layer arranged above the storage area. Among them, the storage area is adapted to accommodate a plurality of stacks of storage bins arranged in a horizontal two-dimensional grid at the bottom of the storage module, and the top layer is adapted to allow at least one vehicle to move aligned with the two-dimensional grid at the top layer to take out storage bins from the plurality of stacks and place the storage bins onto the plurality of stacks. The storage module is further adapted to be placed above another storage module of the same type, so that when the warehouse system is assembled from a plurality of prefabricated and mutually connectable storage modules, at least two layers of storage modules can be formed by placing the storage modules vertically on top of each other in separate rooms.

[0013] According to a fourth aspect that helps to understand the present disclosure, a vehicle for taking out storage bins 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 is adapted to accommodate a plurality of stacks of storage bins. Among them, the vehicle is configured to move at the top layer of the storage module to take out storage bins from the plurality of stacks. Taking out a storage bin from a corresponding stack includes raising the storage bin from the stack to the top layer so that the vehicle can shift the storage bin along the top layer. The vehicle includes: a gripper configured to grip the storage bin to raise the storage bin from the corresponding stack (or "simultaneously raise the storage bin from the corresponding stack") and shift the storage bin along the top layer (or "simultaneously shift the storage bin along the top layer"), wherein the gripper is arranged to extend beyond the body of the vehicle so that when the storage bin is raised to the top layer, the storage bin is arranged side by side with the body on a first vertical side of the body; and an alternating mechanism configured to change the position of the gripper relative to the body so that when the storage bin is gripped and raised to the top layer, the storage bin 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 bin at the corresponding stack so that the gripper or another component of the vehicle can raise the storage bin to the top layer. The vehicle can move while still gripping the storage bin so that the storage bin is shifted along the top layer.

[0015] The first vertical side of the body and the second vertical side of the body can be one of the following: opposite vertical sides of the body, and adjacent vertical sides of the body that extend orthogonally to each other. In other words, the first vertical side and the second vertical side can be any vertical sides of the body (i.e., the vehicle) where the storage bin can be positioned when gripped by the gripper.

[0016] In one variant, the gripper can extend telescopically beyond the first vertical side of the body and telescopically beyond the second vertical side of the body, wherein the alternating mechanism can include a sliding mechanism configured to slide the gripper alternately between extending telescopically beyond the first vertical side of the body and extending telescopically beyond the second vertical side of the body. The telescopic extension can be (or "cover") an area alongside the body on the first vertical side or the second vertical side of the body of the vehicle, and the gripper can be positioned in this area, for example, by the alternating mechanism, in order to grip the storage box. The sliding mechanism can be configured to slide the gripper alternately between extending telescopically beyond the first vertical side of the body and extending telescopically beyond the second vertical side of the body when the gripper is not currently gripping the storage box.

[0017] Alternatively, the sliding mechanism can be configured to slide the gripper alternately between extending telescopically beyond the first vertical side of the body and extending telescopically beyond the second vertical side of the body when the gripper is currently gripping the storage box. In this configuration, the body can include a recess sized to move the storage box from the first vertical side to the second vertical side when the gripper slides between the two positions.

[0018] In another variant, the alternating mechanism can include a rotating mechanism configured to rotate the gripper between a rotational position where the gripper extends beyond the first vertical side of the body and a rotational position where the gripper extends beyond the second vertical side of the body.

[0019] By way of example only, the rotating mechanism can be arranged at the top of the body of the vehicle. Additionally, the rotating mechanism can be configured to rotate about a vertical axis and rotate approximately 360° and / or approximately 180° in each direction.

[0020] Alternatively or additionally, at least one vertically arranged corner or edge of the body can have a rounded shape. This allows the gripper to rotate with the storage box being gripped around the corner or edge of the body. Specifically, when viewed from the top, the corner of the body is closer to the center of the body compared to the corner or edge of a rectangular-shaped body. This "truncated" corner or edge provides free space for the storage box being gripped and / or at least a part of the gripper to move (rotate) between the respective rotational positions relative to the first vertical side and the second vertical side.

[0021] In yet another variant, the alternating mechanism can include an extension mechanism configured to alternately move the gripper between a close position and an extended position, where the gripper is further away from the body in the extended position than in the close position. The close position and the extended position are on the same side of the body (such as the first vertical side or the second vertical side). Thus, the extension mechanism moves the gripper between two positions on the same side of the body. By way of example only, the close position can correspond to a position above a storage unit in a two-dimensional grid of storage units (each unit forming a storage space for a stack of storage bins) that is grasped by the gripper.

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

[0023] In another variant, to remove a storage bin from a corresponding stack, the vehicle can be configured to shift the storage bin beyond the edge of the storage module and lower the storage bin along the edge of the storage module to a handover point of the warehouse system once the storage bin has been lifted and shifted along the top layer towards the edge of the top layer. Shifting the storage bin beyond the edge of the storage module can include using the rotation mechanism to rotate the gripper while grasping the storage bin to a rotational position where the gripper extends beyond the edge of the storage module.

[0024] By way of example only, the extension mechanism can additionally be activated when the storage bin is shifted beyond the edge of the storage module, i.e., the gripper can be brought to the extended position. For example, if the handover point of the warehouse system is further away from the storage module than a virtual storage unit outside and next to the storage module in a two-dimensional grid of storage units (each forming a stacking space).

[0025] In another variant, the vehicle may further include a plurality of rollers configured to move the vehicle at the top layer of the storage module, wherein each of the plurality of rollers is configured to roll in a different direction. In one variant, each of the plurality of rollers (e.g., wheel-shaped rollers) is configured to rotate about a vertical axis and change its orientation relative to the body. The rollers may be oriented relative to the body in such a way that the rollers are configured to roll in a direction along one dimension of a two-dimensional grid of stacks of storage bins in the storage module. In other words, the vehicle may roll from one stacking position to the next along the grid of stacks. Rotating the rollers about the vertical axis and changing their orientation allows the vehicle to roll from one stacking position to the next along the grid of stacks in a direction along a different dimension of the two-dimensional grid. For example, the different dimensions may be arranged orthogonal to the first dimension, as the two-dimensional grid may be a horizontal rectangular grid.

[0026] In a variant, 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 roller, a pair of rollers, or even all of the plurality of rollers. Alternatively, more than one roller actuator may be implemented in the vehicle, i.e., in order to rotate more than one roller (e.g., but each roller individually).

[0027] 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 simply by rotating the roller. For example, when the vehicle is moving (i.e., the vehicle is not turning), the rotation of the roller about the vertical axis may not be employed. More precisely, the roller may be rotated when the vehicle is stopped so that the direction of movement of the next movement can be changed, for example, by 90°. By way of example only, the rotation of the roller may occur at the intersection of the grid lines of the two-dimensional grid.

[0028] The rotation of at least one roller may be caused using a linear movement implemented by the roller actuator. For this purpose, the linear movement may be converted, for example, using a corresponding joint assembly into a rotational movement of the roller about its vertical axis such that the roller changes its orientation relative to the vehicle, as described above. In one variant, a separate roller actuator may be provided for each of the plurality of rollers, where each such actuator may be, for example, a linear drive. It should be understood that, on the other hand, providing a separate actuator for each roller may be expensive, and in other variants, therefore, a single actuator may be provided to effect the parallel rotation of two or more rollers.

[0029] Instead of using a linear drive to cause the intended rotation of the rollers, in another variant, the roller actuator can include a rotary drive whose rotary movement is converted into a linear movement that causes the rotation of at least one roller, preferably at least two rollers of a plurality of rollers, or even more preferably all of the plurality of rollers. The rotary drive can be arranged in an upright manner, i.e., the longitudinal axis of the rotary drive extends vertically. Such a configuration can be advantageous when such a rotary drive is used as a single actuator to effect the rotation of all the rollers of the vehicle (i.e., typically four rollers), since a single upright rotary drive (e.g., a servo motor) serving all the rollers can be given a particularly space-saving design, thus avoiding wasting space in the vicinity of the rollers and their corresponding wheel receiver assemblies at which the rollers are rotatably mounted.

[0030] To convert the rotary movement of the rotary drive into the rotation of the rollers, changing the orientation of these rollers relative to the vehicle can involve employing a corresponding rod and joint assembly. Thus, causing the rotation of the rollers by a linear movement can be achieved by a rod assembly driven by the rotary drive. On the other hand, converting the rotary movement of the rotary drive into a linear movement can be effected via a pivotable platform driven by the rotary means, wherein at least a part of the rod assembly can be coupled to the pivotable platform.

[0031] To ensure that only certain rotational angles of the roller orientation are allowed, a stop element can be provided to limit the rotary movement of the pivotable platform to a predefined angle. In this way, for example, it can be ensured that only a 90° rotation of the roller is allowed.

[0032] In an alternative variant, the vehicle can include spherical rollers configured to roll in any arbitrary direction (e.g., instead of the wheel-shaped rollers described above) and at least one drive (or "motor") configured to cause at least one of the spherical rollers to roll in at least two directions (or "drive" at least one of the spherical rollers in at least two directions). For example, the drive can cause at least one roller (and correspondingly the vehicle) to roll in a direction along one dimension of a two-dimensional grid of stacks of storage bins in a storage module. In other words, the vehicle can roll (or "move") from one stacking position to the next along the grid of stacks. To change the direction of movement of the vehicle (i.e., from one stacking position to the next along the grid of stacks), the drive can cause at least one roller to roll in a direction along a different dimension of the two-dimensional grid. For example, the different dimensions and thus different directions can be arranged to be orthogonal to the first dimension, since the two-dimensional grid can be a horizontal (e.g., rectangular) grid. By way of example only, the drive (e.g., a drive roller) can include two components that contact the roller at orthogonally arranged points and are configured to drive the roller in one of two directions.

[0033] It should be understood that the movement of the vehicle in two orthogonal directions (e.g., changing the movement direction of the vehicle (and accordingly the rolling direction of the rollers) between the longitudinal direction and the transverse direction, as implied by the tracks of a two-dimensional grid in which the rollers engage) is only an example of possible movements, and other movement / rolling directions of the vehicle / rollers are generally conceivable. For example, it is conceivable that the vehicle moves only on the (flat) ground floor of the warehouse system, and in this case, the above-described roller direction changing mechanism can be used not only to change the orientation of the rollers between 0° and 90°, but also to change the orientation of the rollers in substantially any desired direction as needed, for example in order to implement an automated guided vehicle (AGV) function. For example, this can be achieved by the wheel-shaped rollers rotating correspondingly about their vertical axes to implement the steering function; or in the case of spherical rollers, by changing the orientation of the drive roller when it contacts the spherical roller and / or offsetting the contact point of the drive roller when it contacts the spherical roller.

[0034] In yet another variant reflecting the claimed invention, the gripper can include a set of hooks arranged adjacent to each other, where each of the hooks has a gripping configuration associated with a corresponding type of storage bin. For example, each type of storage bin (or "different types of storage bins") may require a different type of gripper, i.e., different hooks to grip the storage bin. The type of storage bin can be defined by the size of the recess or protrusion forming the handle or the recessed / protruding gripping portion of the storage bin. By way of example only, the storage bin can be a standardized storage box (e.g., Eurobox), a beverage box, a wooden box, a standardized pallet, etc. It should be understood that the gripping configuration of an individual hook, although associated with a corresponding specific type of storage bin, can also be compatible with other types of storage bins, where such other types of storage bins can likewise be gripped by the hook. When it is said herein that each of the hooks has a gripping configuration associated with a corresponding type of storage bin, it should be understood that this gripping configuration can be compatible not exclusively with the corresponding type of storage bin, but also with other types of storage bins.

[0035] In a variant, each of the hooks has a different height relative to the gripper. Each height can correspond to the respective recess or protrusion of a different type of storage bin.

[0036] Alternatively or additionally, each of the hooks has a different coupling structure associated with a corresponding type of storage bin. By way of example only, the type of storage bin can be defined by the type of handle (such as a recessed / protruding gripping portion, a magnetic gripping portion, a blank surface for a vacuum gripper, etc.). In this case, the gripper can further include different types of coupling structures, such as hooks, magnets, vacuum grippers, etc.

[0037] In another variant, each of the hooks can be pivotally mounted to the gripper and biased towards the gripping position. The biasing of the hooks allows for the automatic gripping of a storage bin at the top of a stack by lowering the hooks from the vehicle onto the top storage bin, where a portion of the storage bin spreads the hooks until the hooks can hook into a recessed / protruding gripping portion / handle of the storage bin due to the biasing.

[0038] Alternatively or additionally, the gripper can include a hook actuator configured to move the set of hooks at least from the gripping position to the open position. In the gripping position, the hooks and the gripper hold the storage bin, for example for removal and lifting of the storage bin. The hook actuator can move the set of hooks to the open position where, for example, the storage bin is released from the grip when the storage bin is placed on a stack or handover point of the system. By way of example only, the hook actuator can include an electric motor, a servo motor, a hydraulic motor, a magnet, a cylinder / piston actuator, etc.

[0039] In a variant, the set of hooks corresponds to a first set of hooks arranged to grip the storage bin from one side of the storage bin, where the gripper includes a second set of hooks arranged to grip the storage bin from a second (e.g., opposite) side of the storage bin, where the hook actuator is configured to move the first set of hooks and the second set of hooks together (e.g., simultaneously) from the gripping position to the open position. Thus, instead of providing a separate hook actuator for each set of hooks (configured to grip the storage bin on different sides of the storage bin), a single hook actuator can be provided that is configured to move the sets of hooks on both sides of the storage bin simultaneously. For this purpose, a corresponding coupling structure can be provided to move the two sets of hooks together using the drive of a single actuator.

[0040] Still alternatively or additionally, the gripper can include one or more biasing elements that bias each of the hooks towards the gripping position. Such a biasing element can be a (biasing) spring that forces the hook towards the gripping position. For example, the biasing element can cause a pivotally mounted hook to rotate towards the gripping position. While it should be understood that a single biasing element can be used to bias each hook in the set of hooks, in one variant, each of the hooks can be biased towards the gripping position by a separate biasing element (e.g., a spring). This enables each hook to be associated with a different biasing force, for example to optimize the biasing force required for the hook based on the particular coupling structure supported by each hook.

[0041] In a particular variant, the set of hooks includes one or more pairs of hooks configured to grip a storage bin on the same side of the storage bin, where the hooks in each pair of hooks have the same gripping configuration and are spaced apart from each other. "Having the same gripping configuration" means that the hooks in the pair of hooks can have the same characteristics regarding gripping (e.g., the same shape), such as the same height relative to the gripper or the same coupling structure associated with the corresponding type of storage bin, as described above. Through this pair of hooks, a "fork" structure of the two hooks can be achieved, where the two hooks are spaced apart along the same side of the storage bin. This enables improved gripping of the storage bin and makes the gripping of the storage bin stable, thereby allowing the storage bin to have fewer degrees of freedom of rotation when being gripped.

[0042] When implementing such a fork structure, the hooks in each pair of hooks can move between their respective gripping positions and their respective open positions individually. In another variant, the hooks in each pair of hooks can be coupled to move together between their respective gripping positions and their respective open positions. For example, the two hooks can be integrally formed or coupled to each other using a coupling structure, thereby ensuring that the two hooks move in parallel between the gripping position and the open position.

[0043] In yet another variant, the vehicle can further include a lifting mechanism configured to raise and lower the gripped storage bin. The lifting mechanism can be configured to move a part of the vehicle (such as a part of the gripper) towards the vehicle body and optionally away from the vehicle. This movement of the storage bin can be substantially vertical and / or can be supported by an electric motor. In particular, moving the storage bin by the lifting mechanism can be performed in the upward direction, while moving the storage bin in the downward direction can be achieved only by gravity. Alternatively, the lifting mechanism can be configured to actively move the storage bin downward.

[0044] By way of example only, the lifting mechanism can include a lifting platform and a retractable strip or wire connecting the lifting platform to the body. The strip or wire can be retracted by unwinding the strip or wire on a corresponding reel, and the strip or wire can be wound around the reel to lift the storage bin. The lifting platform can, for example, include or hold the set of hooks or any other mechanism for gripping the storage bin. Thus, once the storage bin is gripped, the lifting platform can be lifted upward via the strip or wire, such that the storage bin can be, for example, brought to the top layer of the storage module. Description of the Drawings

[0045] Hereinafter, aspects of the present disclosure will also be described in more detail with reference to the drawings, in which:

[0046] Figure 1 A perspective view of a warehouse system with a three-dimensional arrangement of storage bins according to the prior art is illustrated;

[0047] Figure 2 A perspective view of an interconnectable storage module of a warehouse system that provides space for a three - dimensional arrangement of storage bins according to the present disclosure;

[0048] Figure 3 A perspective view of a warehouse system including a plurality of interconnectable storage modules according to the present disclosure;

[0049] Figure 4 An illustration of exemplary steps of a modular construction method according to the present disclosure, in which two storage modules are placed one above the other;

[0050] Figure 5 An illustration of the storage module in an empty state without storage bins, showing the grid structure of the storage module formed by rod assemblies; Figure 2 of the storage module, showing the grid structure of the storage module formed by rod assemblies;

[0051] Figure 6 A perspective view of an interconnectable storage module according to the present disclosure, the storage module having an outer wall to form a partition providing a continuous storage area enclosed relative to the outside;

[0052] Figure 7 An illustration of the storage module according to the present disclosure Figure 2 in a side view in the case where a storage bin is conveyed downward along the outer edge of the storage module;

[0053] Figure 8 A perspective view of a vehicle including a sliding mechanism according to the present disclosure, the sliding mechanism being configured to move a gripper of the vehicle between two positions at opposite sides of the main body of the vehicle;

[0054] Figure 9 A perspective view of a vehicle including a rotating mechanism according to the present disclosure, the rotating mechanism being configured to move a gripper of the vehicle between positions at respective vertical sides of the main body of the vehicle;

[0055] Figure 10 A perspective view of an exemplary warehouse system having two storage modules and two vehicles for shifting a storage bin beyond different edges of the storage module;

[0056] Figure 11 A side view and a corresponding top view of a vehicle, in which a gripper is moved to different positions by an alternating mechanism;

[0057] Figure 12 A perspective view of a vehicle having rollers in different orientations and a detailed top view of the rotation of the rollers;

[0058] Figure 12a and Figure 12bIllustrated is a detailed perspective view and a top view of a component, exemplifying how a roller orientation changing mechanism can be implemented for a wheel-shaped roller;

[0059] Figure 13 Illustrated is a perspective view of different types of storage bins grasped by a gripper of a vehicle;

[0060] Figure 14 Illustrated is a detailed side view of the gripper, particularly a set of hooks of the gripper; and

[0061] Figure 15 Illustrated is a detailed view of a set of hooks of the gripper, the set of hooks including a pair of hooks forming a fork structure, the fork structure including spaced-apart hooks having the same grasping configuration. Detailed Description

[0062] In the following description, for purposes of explanation and not 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 embodiments without these specific details.

[0063] According to a first aspect that aids in understanding the present disclosure, there is provided a warehouse system that provides space for a three-dimensional arrangement of storage bins, wherein the warehouse system includes a plurality of interconnected storage modules. Each storage module includes a storage area and a top layer disposed above the storage area, wherein the storage area is adapted to accommodate a plurality of stacks of storage bins arranged in a horizontal two-dimensional grid at the bottom of the storage module, and wherein, at the top layer, at least one vehicle is movable in alignment with the two-dimensional grid to retrieve storage bins from the plurality of stacks and place storage bins onto the plurality of stacks. The plurality of interconnected storage modules includes at least two layers of storage modules placed one above the other in separate rooms.

[0064] The storage modules of the warehouse system (if considered separately) can generally be designed according to the grid structure described above with respect to Figure 1 i.e., the storage module can include a grid structure of storage units, wherein each storage unit can be adapted to accommodate a vertical stack of storage bins. At the bottom of the storage module, the storage units can be arranged according to a horizontal two-dimensional grid, whereby, in accordance with the illustration of Figure 1 a three-dimensional (or "cubical") arrangement of storage bins can be achieved together with the vertical stacks of storage bins that can be placed in the storage units. In other words, each cell in the two-dimensional grid at the bottom of the storage module can form the base of a vertical stack of storage bins in the corresponding storage unit. In summary, the storage units (including their vertical extensions for accommodating stacks) can form the storage area of the storage module.

[0065] Above the storage area, a top layer of the storage module can be provided, at which at least one vehicle (or "robot") can move in alignment with a two-dimensional grid at the bottom of the storage module to retrieve storage bins from multiple stacks and place storage bins onto multiple stacks. For example, by raising the topmost storage bin from the stack to the top layer ("thereby retrieving the storage bin from the stack") or by lowering the storage bin from the top layer down to the stack ("thereby placing the storage bin onto the stack"). Placing the storage bin onto the stack can include: placing the storage bin onto the topmost storage bin of the stack (if the stack is not currently empty); or placing the storage bin onto a grounded surface reserved for the stack at the bottom of the storage module (if the stack is currently empty), i.e., onto a cell forming the stack base in the two-dimensional grid at the bottom of the storage module. To this end, each vehicle can include a lifting mechanism, enabling the vehicle to perform the corresponding raising / lowering procedure. As shown in Figure 1 As shown in the illustration of [], the top layer of the storage module can include a grid structure that allows the vehicle to move in alignment with the two-dimensional grid at the bottom of the storage module, such that the vehicle can move to a position above the stack to retrieve the storage bin from the stack or place the storage bin onto the stack accordingly. The grid structure at the top layer can be formed by, for example, a two-dimensional grid of tracks in which the rollers of the vehicle can engage, so that the vehicle can move horizontally in the longitudinal direction and / or in the transverse direction along the top layer of the storage module.

[0066] Figure 2 An exemplary illustration of a separate storage module according to the present disclosure is shown in. As can be seen, the exemplary storage module 200 provides space for a three-dimensional arrangement of storage bins 202, where the storage module 200 includes a storage area 204 and a top layer 206 disposed above the storage area 204. In the storage area 204, vertical stacks 208 of storage bins 202 are arranged in a horizontal two-dimensional grid at the bottom of the storage module 200. In other words, the two-dimensional grid can extend in the longitudinal direction X and the transverse direction Y at the bottom of the storage module 200, where at each cell in the two-dimensional grid, a base of the stack 208 that can grow in the vertical direction Z can be formed. As mentioned herein, each such space including the base of the stack 208 (including the vertical space above the base for accommodating the bins 202 in the stack) can be referred to as a "storage unit". At the top layer 206, a vehicle 210 is shown, which can move (horizontally at the top layer) in alignment with the two-dimensional grid above the corresponding stack 208 to retrieve storage bins 202 from multiple stacks 208 and place the storage bins onto multiple stacks, as described above. A two-dimensional grid of tracks 212 in which the rollers of the vehicle 210 can engage can form the bottom of the top layer 206, which separates the top layer 206 from the storage area 204.

[0067] As described above, the overall design of a separate storage module of the warehouse system (i.e., if considered separately) can thus generally correspond to the design of a conventional grid structure known from WO 2014 / 075937 A1. However, in contrast to the conventional design, the warehouse system according to the present disclosure can be composed of a plurality of such storage modules, wherein the plurality of storage modules can be connected to each other (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 can be arranged such that the warehouse system includes at least two layers of storage modules placed one above the other in a separate room (such as a room in a building or a room in a container). The warehouse system can thus include at least two storage modules placed one above the other in the vertical direction. Each such storage module can have the same dimensions (at least the same dimensions in the horizontal direction), and preferably have the same overall structure. Thus, when placed one above the other, at least two storage modules can be vertically aligned and together form a "stack" of interconnected storage modules.

[0068] Such a configuration of the warehouse system has at least two-fold significance:

[0069] (1) On the one hand, the warehouse system has at least two "top layers" in the above sense, that is, the vehicle can move horizontally on at least two layers to retrieve storage bins from the stack of the warehouse system and place the storage bins into the stack. This is at least one more "top layer" than the warehouse system known from WO 2014 / 075937 A1, which (as Figure 1 shown) has only a single uppermost "top layer". On the other hand, the warehouse system of the present disclosure can be considered to additionally have at least one "intermediate" top layer provided between the uppermost "top layer" and the ground surface.

[0070] (2) On the other hand, according to the definition of the present disclosure, the "stacked" storage modules are placed in a separate (single) room, so this also means that the height of a separate storage module is generally lower than the height of the entire warehouse system (such as the warehouse system known from WO 2014 / 075937 A1), thereby generally resulting in a smaller stack size, with each stack having fewer storage bins.

[0071] These two aspects (i.e., (1) more “top layers” allow access to storage bins via vehicles at different vertical levels and (2) the stacks to be accessed by the vehicles are smaller, with each stack having fewer storage bins) can generally allow for a faster access time to retrieve storage bins from stacks in the warehouse system and to place storage bins onto stacks, as the average time taken for the storage bin repositioning procedure (e.g., as described above, repositioning from one stack to another) required to make the bin to be retrieved accessible will be less. Thus, a faster overall response time and increased 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 layers”; the maximum number of storage bins allowed per stack; etc.), can allow the warehouse system provider to promise customers in the fast commerce industry to retrieve bins within a certain guaranteed amount of time (e.g., within a few seconds).

[0072] The above advantages can generally be considered to be achieved by separating the warehouse system of WO 2014 / 075937 A1 ( Figure 1 ) into smaller modules each having a “flatter” design, where the additional “top layers” of the storage modules and the smaller stack sizes resulting from the modular design can generally result in the higher throughput capabilities mentioned. Although in some embodiments, WO 2014 / 075937 A1 also discloses variants where the entire warehouse can be formed by separate warehouse systems installed at different floors of a building, each such separate warehouse system still forms in a separate room (on a separate floor) of the building and thus has the same drawback mentioned above, i.e., the stack sizes of such warehouse systems are too high to provide a fast access time that meets the given access time requirements for all storage bins. According to the present disclosure, on the other hand, a plurality of “stacked” storage modules are provided in a separate room, thereby dividing the room height into spaces for a plurality of “stacked” storage modules each having a relatively “flatter” design, thus achieving the faster access time mentioned.

[0073] In other words, in summary, instead of setting separate 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 that are placed one above the other in the same room (i.e., directly above and below each other without being separated by the continuous floors of another entity (such as a building or a container), i.e., not the floors formed by the storage modules of the warehouse system itself, like the floors of a building or a container). This means that the height of the individual storage modules is smaller, and thus the stack size to be carried by the vehicle is smaller, thereby enabling the warehouse system to achieve a higher throughput overall. In some variants, for each of the plurality of storage modules, the height dimension of the storage module can be determined to allow each stack of the plurality of stacks of the storage module to have a maximum number of 6 (preferably, 5, 4, or 3) storage bins. The typical height of the room in which the warehouse system of the present disclosure can be installed can include, for example, a maximum height of 5 meters (preferably, 4 meters, 3 meters, or 2.5 meters). As mentioned above, the room can be a room in a building or a room in a container, i.e., a room that can be enclosed relative to the outside. It should be understood that the expression "in a separate room" generally used herein to characterize the warehouse system according to the present disclosure can have the meaning of, for example, on a "floor" or "separate floor" (of a building or a container). It should also be understood that the present disclosure can include the building or container in which the warehouse system of the present disclosure is installed.

[0074] It should be understood that as more layers of storage modules placed one above the other are set in a separate room, the advantages of increased throughput and faster access time can be further improved. In such a variant, the plurality of interconnected storage modules can not only form two layers of storage modules placed one above the other, but can 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 separate room. Each such number of layers can be applied for a given room height (such as each of the exemplary maximum room heights mentioned above).

[0075] It should also be understood that in a plurality of interconnected storage modules of a warehouse system, the storage modules can not only be "stacked" in the vertical direction (i.e., placed one above the other), but can also be "arranged" in at least one horizontal direction (i.e., placed adjacent to each other, e.g., in the longitudinal direction and / or transverse direction of the warehouse system). In other words, a plurality of interconnected storage modules can further include at least two storage modules placed adjacent to each other horizontally in a separate room. Each such storage module can have the same dimensions (at least the same dimensions in the vertical direction), and preferably have the same overall structure. Thus, when placed adjacent to each other, at least two storage modules can be horizontally aligned (as seen in the longitudinal and / or transverse directions, if applicable) and together form interconnected storage modules that are "in a row" (or "in a line") in the corresponding horizontal direction. As mentioned above, the "arrangement" can be achieved in the longitudinal direction or the transverse direction of the warehouse system or in both directions.

[0076] In a specific variant, the warehouse system can include interconnected storage modules arranged in all three dimensions of the warehouse system (i.e., in the vertical direction, longitudinal direction, and transverse direction). In such a variant, a plurality of interconnected storage modules can include at least two storage modules placed one above the other in the vertical direction in a separate room, at least two storage modules placed adjacent to each other in the longitudinal direction, and at least two storage modules placed adjacent to each other in the transverse direction. In this case, the warehouse system can also be considered to form a cube composed of a plurality of interconnected storage modules. As mentioned above for the number of vertical layers, a plurality of interconnected storage modules can also include at least 3 (preferably, at least 4 or at least 5) storage modules placed adjacent to each other in the longitudinal direction and / or transverse direction. It should be understood that by placing the storage modules adjacent to each other in this way, the warehouse system can achieve a larger base area, and the shape of the base area can vary depending on how many storage modules are arranged in the longitudinal direction and how many storage modules are arranged in the transverse direction.

[0077] Figure 3 An exemplary illustration of a warehouse system including interconnected storage modules arranged in all three dimensions is shown. As can be seen, the exemplary warehouse system 300 includes a plurality of interconnected storage modules, where, in the example shown, each of the storage modules has the same structure (i.e., as referred to above with reference to Figure 2the configuration described for the storage module 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 adjacent to each other in the longitudinal direction X, and two storage modules 200 placed adjacent to each other in the transverse direction Y. It should be understood that such a number of storage modules arranged in the vertical, longitudinal, and transverse directions is merely exemplary and, depending on the specific usage scenario, other arrangement numbers can be set in each direction. In the example shown, each storage module 200 exemplarily provides a two-dimensional grid capable of accommodating 9 stacks in the longitudinal direction X and 4 stacks in the transverse direction Y, where each stack can include up to 4 storage bins 202 in the vertical direction. Thus, each such storage module 200 can accommodate up to 144 storage bins 202, and the entire warehouse system 300 can thus accommodate up to 1152 storage bins 202. Compared with the warehouse system of WO 2014 / 075937 A1, where these 1152 storage bins 202 would be arranged in the form of a "single storage module" having only one uppermost "top layer" (where the vehicle touching the storage bins can move), according to the present disclosure, such a design can be considered to be subdivided into a plurality of smaller sub-modules, where the additional "top layers" of the sub-modules and the resulting smaller stack sizes can generally result in a higher throughput capacity, as described above.

[0078] At at least one (e.g., all) vertical layers of the vertical layers of the warehouse system described herein, the "top layers" of the interconnected storage modules on the same vertical layer can be interconnected such 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., move in the longitudinal and / or transverse directions). When a plurality of interconnected storage modules include at least two storage modules placed adjacent to each other, and when the top layers of at least two storage modules are formed by a two-dimensional grid of tracks in which the rollers of the vehicle can engage so that the vehicle can move horizontally along the top layer in the longitudinal direction and / or in the transverse direction, as described above, the tracks of two adjacent interconnected storage modules can thus be arranged such that a vehicle is allowed to move from the top layer of one storage module in the adjacent interconnected storage modules to the top layer of another storage module in the adjacent interconnected storage modules, thereby allowing the vehicle to move continuously horizontally between the adjacent interconnected storage modules.

[0079] Therefore, although in Figure 3In the exemplary warehouse system 300 shown, a separate vehicle 210 is exemplarily shown / provided for each separate storage module 200 (e.g., in some variants, each such vehicle 210 can only move within the top layer of its associated storage module 200, but cannot move to an adjacent storage module 200), but it should be understood that in other variants, the warehouse system can be configured such that one or more vehicles 210 can move horizontally between the "top layers" of adjacent storage modules 200. Thus, in the exemplary warehouse system 300, it can also be envisioned that each vertical layer of the warehouse system 300 is provided with one or more vehicles 210 that can move horizontally to reach all the stacks provided at that vertical layer of the warehouse system 300.

[0080] As is apparent from the above, the warehouse system according to the present disclosure can be composed of a plurality of interconnected storage modules. Although it should be understood that each of the separate storage modules can be assembled when constructing the warehouse system (i.e., during the installation procedure of the warehouse system, the separate storage modules can be built on their own; in other words, as "part" of the installation procedure of the warehouse system, rather than before the installation procedure), in some specific variants, the plurality of storage modules can be prefabricated, and the warehouse system can be constructed based on (or "using") the prefabricated storage modules. In such variants, the warehouse system can thus be considered to be assembled from prefabricated storage modules. In this sense, "prefabricated" can mean that the separate storage module itself has been assembled (or is itself "pre-configured") and can be used as a "single piece" (or "single item") for constructing the warehouse system in the construction procedure of the warehouse system. Using prefabricated and interconnected storage modules can generally enable the construction of the warehouse system in accordance with a modular construction method (or "following" the principles of a modular construction method / "using" a modular construction method), in which, for example, in a step-by-step manner, by repeatedly connecting the corresponding "single items" (i.e., prefabricated / pre-configured modules) together to form the warehouse system, the warehouse system can be constructed. Thus, each (or at least a part) of the plurality of storage modules can be prefabricated and interconnected storage modules, where the warehouse system can be assembled from the plurality of storage modules in the manner of a modular construction system (e.g., in accordance with the modular construction method as mentioned above). In this way, warehouse construction can be achieved in an efficient manner, and the on-site assembly time can be significantly reduced.

[0081] Accordingly, in accordance with a second aspect to aid in 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 bins. The method includes assembling the warehouse system from a plurality of prefabricated and mutually connectable storage modules, wherein each storage module includes a storage area and a top layer disposed above the storage area, wherein the storage area is adapted to accommodate a plurality of stacks of storage bins arranged in a horizontal two-dimensional grid at the bottom of the storage module, and wherein, at the top layer, at least one vehicle is movable in alignment with the two-dimensional grid to retrieve storage bins from the plurality of stacks and to place storage bins onto the plurality of stacks. Assembling the warehouse system from a plurality of prefabricated and mutually connectable storage modules includes forming at least two layers of storage modules by placing the storage modules vertically on top of each other in separate rooms.

[0082] Likewise, in accordance with a third aspect to aid in understanding the present disclosure, there is also provided a prefabricated and mutually connectable storage module for use in assembling a warehouse system, wherein the warehouse system provides space for a three-dimensional arrangement of storage bins, and wherein the warehouse system will be assembled from a plurality of prefabricated and mutually connectable storage modules of the type of the prefabricated and mutually connectable storage module. The storage module includes a storage area and a top layer disposed above the storage area, wherein the storage area is adapted to accommodate a plurality of stacks of storage bins arranged in a horizontal two-dimensional grid at the bottom of the storage module, and wherein the top layer is adapted to permit at least one vehicle to be movable in alignment with the two-dimensional grid at the top layer to retrieve storage bins from the plurality of stacks and to place storage bins onto the plurality of stacks. The storage module is further adapted to be placed above another storage module of the same type such that when the warehouse system is assembled from a plurality of prefabricated and mutually connectable storage modules, at least two layers of storage modules can be formed by placing the storage modules vertically on top of each other in separate rooms.

[0083] It should be understood that for the purposes of the modular construction method according to the second aspect and for the purposes of the prefabricated and mutually connectable storage module according to the third aspect, all features described herein with reference to the warehouse system according to the present disclosure (i.e., according to the first aspect) and its construction characteristics (in particular including placing the storage modules vertically / adjacently on top of each other and connecting them together) can be reflected / incorporated in the corresponding steps of the modular construction method according to the second aspect (e.g., as part of the above-described assembling step), and can likewise be reflected / incorporated in the corresponding characteristics of the prefabricated and mutually connectable storage module according to the third aspect. Vice versa, with respect to the characteristics described herein with reference to the modular construction method or the individual prefabricated and mutually connectable storage module, the same can be reflected / incorporated in the corresponding characteristics of the warehouse system according to the first aspect. Accordingly, unnecessary repetitions are omitted hereinafter.

[0084] In order to support an efficient modular construction method, easily applicable connection mechanisms can be used to connect and fix adjacent (i.e., placed one above the other and / or adjacent to each other) storage modules together, thereby achieving appropriate "interconnectability" of the storage modules. Interconnectability can generally be achieved by corresponding connection mechanisms (or "devices" / "equipment") provided at the storage modules so as to allow the storage modules to be connected (or "fixed together") once the storage modules are placed adjacent to each other and / or one above the other. For example, this can include applying (e.g., pre-installed) locking mechanisms (or "devices" / "equipment") at adjacent modules once the adjacent modules are placed adjacent to each other / one above the other. Optionally, the connection mechanism can allow (e.g., automatic or implicit) alignment of adjacent storage modules to be connected. For this purpose, for example, corresponding guide means (e.g., guide rods, guide pins, etc.) can be provided at the edges of adjacent modules. For storage modules placed one above the other in a vertical direction, a suitable connection mechanism can involve the use of a mechanical form fit that allows the storage modules to be stacked one above the other, like a "bottle basket method". In such a variation, among a plurality of interconnected storage modules, two storage modules placed one above the other may be interconnected using a mechanical shape fit established between a bottom of an upper storage module and a top of a lower storage module of the two storage modules.

[0085] Figure 4 An exemplary illustration of a corresponding modular construction method is shown in FIG. As shown, 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 generally described herein. As in the previous examples, each of the storage modules 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). Placing two prefabricated, interconnectable storage modules 200 one above the other may include "stacking" the two storage modules in a "bottle basket format" and optionally connecting the two storage modules using appropriate fixing devices. 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 in the transverse 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 as described herein). Figure 3 exemplarily shown in FIG.

[0086] As described above, the modular design of the warehouse system according to the present disclosure may be considered to be characterized generally by the fact that, compared to traditional warehouse designs, it is separated into smaller modules, each module having a relatively flat design and a smaller stack size, with each stack having fewer storage bins. Another advantage of such "smaller modules" may be that (given that the storage modules are stacked vertically on top of each other in separate rooms, as generally required herein) the dimensions of the relative size of the modules compared to a separate room (such as a room in a building or a container) can be determined such that the modules can be easily transported, especially as a "prefabricated unit" (or "single item") through the corresponding doors or windows of such a building / container, and thus be brought to the intended construction location within the building / container. Thus, the dimensions of each of the plurality of storage modules (especially if prefabricated) can be determined to be transportable through the doors and / or windows of a building / container in which a separate room is arranged.

[0087] As an example, to achieve such transportability, the dimensions of each of the plurality of storage modules can be determined to have a maximum extent of 4 meters (preferably, 3 meters or 2 meters) in the longitudinal direction. As another exemplary dimensional measure, it can be considered that the dimensions of each of the plurality of storage modules can be determined to accommodate a maximum of 500 (preferably, 400, 300, 200, or 100) storage bins in the plurality of stacks of the storage module. The typical dimensions of a storage bin to be placed in a warehouse system (such as a warehouse system according to the present disclosure) can be in the range of: a length of 300 mm to 600 mm, a width of 200 mm to 400 mm, and a height of 145 mm to 310 mm. Accommodating a maximum of 500 (preferably, 400, 300, 200, or 100) storage bins in the stack of a separate storage module implies a relatively "smaller size" of the storage module (especially compared to a warehouse system, such as a warehouse system known from WO 2014 / 075937A1). In particular, when some of the above dimensional parameters are combined, for example, when combining a maximum extent of 4 meters (preferably, 3 meters or 2 meters) in the longitudinal direction of the storage module with a maximum number of 6 (preferably, 5, 4, or 3) storage bins allowed per stack, it can imply that the storage module has a "flat design". In addition to providing a faster access time, increased throughput, and a generally more flexible construction of the warehouse system as described above, the modular constructability using "smaller" and "flatter" modules can also allow for a fast on-site installation time. Especially in smaller setups (for example, if the warehouse system is to be installed in a relatively small room rather than in a large industrial venue), this can enable the warehouse system to have a compact design while enabling the installation of the warehouse system with a minimum amount of work in a "plug and play" manner. This type of storage module (such asFigure 2 The typical dimensions of the storage module shown may include a length of approximately 2.5 m in the longitudinal direction, approximately 1.5 m in the transverse direction, and approximately 1 m in the vertical direction, thereby allowing the following given bin dimensions: a length of 300 mm, a width of 200 mm, and a height of 145 mm, with a maximum number of 4 bins per stack, where 9 stacks can be placed adjacent to each other in the longitudinal direction and 4 stacks can be placed adjacent to each other in the transverse direction, as Figure 2 shown.

[0088] Regarding the values of the dimensional parameters outlined in the above description (i.e., (1) the maximum number of storage bins allowed per stack is 6 (preferably, 5, 4, or 3); (2) the maximum height of the room in which the warehouse system of the present disclosure can be installed is 5 m (preferably, 4 m, 3 m, or 2.5 m); (3) the number of layers of storage modules placed one above the other in a room of a building is at least 2 layers (preferably, at least 3 layers, at least 4 layers, or at least 5 layers); (4) the number of storage modules placed adjacent to each other in the longitudinal direction and / or in the transverse direction in a room of a building is at least 2 (preferably, at least 3, at least 4, or at least 5); (5) the maximum extent of the storage module in the longitudinal direction is 4 m (preferably, 3 m or 2 m); (6) the maximum number of storage bins accommodated in the stack of storage modules is 500 (preferably, 400, 300, 200, or 100); and (7) the length range, width range, and height range of the storage bins are: a length of 300 mm to 600 mm, a width of 200 mm to 400 mm, and a height of 145 mm to 310 mm), all possible combinations of these parameter values (although not explicitly listed herein) should be considered to be explicitly disclosed in the present disclosure.

[0089] In terms of the construction of individual storage modules, the storage modules can be implemented (e.g., exclusively) using, for example, corresponding rod assemblies, in particular to implement the above-described grid structure for each storage module. The rod assemblies can generally provide a lightweight implementation of the storage modules and can thus contribute to the transportability of the storage modules, especially in the case of prefabricated storage modules. In addition, each (or at least a part) of the plurality of storage modules can include its own grounding surface, based on which a plurality of stacks of storage bins of the storage module can be placed. In some variants, such a grounding surface can also be provided in the form of a rod assembly (e.g., a rod assembly aligned with a two-dimensional grid at the bottom of the storage module), which can generally be lighter than a grounding surface composed of continuous floors. Providing its own grounding surface for each storage module can be particularly advantageous for the lowermost storage modules of the warehouse system, since its own grounding surface can make the storage module independent of the grounding surface characteristics of the room in which the warehouse system is installed. Thus, for example, the rooms of a building (e.g., leased real estate) do not have to have a smooth floor characteristic, since the unevenness of the floor may not affect the stackability of the storage bins on the base provided at the bottom of the lowermost storage module.

[0090] Figure 5 An exemplary rod assembly is shown, by which the grid structure of the storage module can be formed. The exemplary storage module also has the same construction as that described above with reference to the storage module 200 shown Figure 2 (however, in Figure 5 , the storage module is shown in an empty state without storage bins). As can be seen from Figure 5 , the rod assembly includes outer rods 500 forming a cubic frame of the storage module 200 (including outer rods 500 in the vertical, longitudinal, and transverse directions). The bottom of the storage module 200 is formed by a rod assembly forming a two-dimensional grid 502, where each cell in the two-dimensional grid 502 provides a base on which storage bins (see the reference numeral 202 in Figure 2 ) can be placed to form a vertical stack of storage bins. 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 the reference numerals 206 and 204 in Figure 2 ), and as described with reference to Figure 2 , this another two-dimensional grid can be provided in the form of a grid of tracks 212 (see Figure 2 ) in which the rollers of a vehicle movable at the top layer can engage. Figure 5 Additional rods that can be provided in the rod assembly are also shown, such as struts 506 that reinforce the cubic frame on one or more sides of the storage module as appropriate.

[0091] As another structural feature of the warehouse system according to the present disclosure, at least a portion of the plurality of interconnected storage modules may be provided with an outer wall so as to form a partition of a continuous storage area that is enclosed 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 abutting surface between the adjacent storage modules. The partition may be provided in this way to subdivide the warehouse system into different partitions, each partition meeting different storage conditions, such as different storage temperatures required for the goods stored in the corresponding storage bins. The outer wall may also be provided to form a plurality of continuous storage area partitions in the warehouse system, where each partition may be enclosed relative to the outside and other continuous storage area partitions. Each of the plurality of such partitions may form a different temperature zone. By way of example only, different partitions may be established to provide at least one of the following: a temperature zone having room temperature, a temperature zone having a cooling temperature, and a temperature zone having a deep-freezing temperature (e.g., the latter may be relevant to the product storage in the food industry). Two or more of such different partitions may be isolated differently (e.g., each partition is isolated using insulating materials of different thicknesses), and each partition may be provided with, for example, an independent cooling system.

[0092] The outer wall may be detachably mounted such that the partition of the continuous storage area can be changed over time as needed. In particular, the outer wall may be mounted in a manner that does not increase the external dimensions of the storage module, for example, by mounting the wall within a frame (optionally including available struts in the frame, such as the strut 506 shown in Figure 5 that forms the outer side of the storage module). Further, in at least one of the outer walls forming the partition, an opening (e.g., closable) may be provided to enable removal of the storage bin from the storage module of the partition and storage of the storage bin into the storage module of the partition, for example, such that a vehicle at the "top layer" of the corresponding storage module can deliver the storage bin to the outside through the opening and receive the storage bin from the outside.

[0093] In Figure 6 An exemplary illustration of a storage module having an outer wall to form a partition in the above sense is shown. In the example shown, a special case is shown where the partition is formed by a single storage module 200, that is, the outer wall 600 may be provided on each side of the single storage module 200 so as to form a continuous storage area that is enclosed relative to the outside 602. As shown, an exemplary opening 604 is provided in one of the outer walls 600 at the vertical layer of the "top layer" of the storage module 200 to allow a vehicle moving at the top layer of the storage module to deliver the storage bin to the outside 602 through the opening 604 and receive the storage bin from the outside. It should be understood that the depicted configuration is merely exemplary, and the continuous storage area partition may be provided across several adjacent storage modules as needed.

[0094] In a further construction variant, the characteristics of the module with the "flattened design" can also be used for other purposes, such as for fire protection purposes with respect to the warehouse system. While in a conventional system (such as the system known from WO 2014 / 075937 A1), due to the relatively high stack size, it may generally not be possible to extinguish a fire occurring at the lower storage bins of the stack (for example, at the lowermost bin of the stack), but with the smaller stack sizes generally mentioned herein, such as when the maximum number of storage bins allowed per stack is 6 (preferably, 5, 4, or 3) as described above, the extinguishability of all bins of the stack (even including the lowermost bin of the stack) can be achieved. Therefore, in order to provide improved fire protection capabilities, at least a portion (e.g., all) of the plurality of storage modules can be provided with a fire protection system. The fire protection system can be provided individually at each module, or can be provided as, for example, a connection system covering a plurality of storage modules.

[0095] Generally speaking (i.e., regardless of whether the outer wall / openings as described above are provided), in order to remove a storage bin from the warehouse system of the present disclosure, when the storage bin is to be delivered vertically to a handover point (at which warehouse personnel can remove the corresponding goods from the bin for further processing), the storage bin can be conveyed outside the outer edge of the storage module without using a bin elevator to convey the storage bin vertically (as known from WO 2014 / 075937 A1). In one such variant, in order to remove a storage bin from one of the stacks of a plurality of stacks of a plurality of storage modules, once at least one vehicle (moving at the top layer of the corresponding storage module) has removed the storage bin from the stack, the vehicle can move along the top layer of the corresponding storage module towards the edge of the storage module together with the storage bin (i.e., carrying the storage bin), where the vehicle can shift the storage bin outside the edge of the storage module and lower the storage bin along the edge of the storage module to the handover point of the warehouse system.

[0096] Figure 7 An exemplary illustration of such bin conveyance along the edge of the storage module is depicted in FIG., which shows a side view of the storage module 200 (observing the longitudinal side of the storage module 200). In the figure, the following state is shown: the vehicle 210 has carried the storage bin 202 along the top layer 206 of the storage module 200 and is currently holding the storage bin 202 in a position horizontally extending 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 bin 202 vertically downward along the edge of the storage module 200 to, for example, the handover point (not shown) of the warehouse system.

[0097] Such a removal mechanism can be more efficient than the removal mechanism of the warehouse system known from WO 2014 / 075937 A1 (such asFigure 1 As shown, it is advantageous for the retrieval mechanism to use the bin elevator 106 integrated into the grid structure to convey the storage bin to the handover station 108. It should be understood that since the bin 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-described retrieval mechanism, the bin may not need to be transferred from the vehicle to any elevator, but rather the vehicle itself may be able to convey the bin down to the handover point, i.e., by shifting the storage bin beyond the edge of the storage module and lowering the storage bin along the edge of the storage module to the handover point. In this way, an elevator may not be needed at all. Depending on the orientation of the vehicle on the top layer of the storage module, shifting the storage bin beyond the edge of the storage module may include using a rotation mechanism to rotate the gripper of the vehicle that holds the storage bin to a rotational position where the gripper extends beyond the edge of the storage module.

[0098] According to a fourth aspect that aids in understanding the present disclosure, a vehicle for retrieving storage bins from a warehouse system is also provided, wherein the warehouse system includes at least one storage module having a storage area and a top layer disposed above the storage area, wherein the storage area is adapted to accommodate a plurality of stacks of storage bins. The vehicle is configured to be movable at the top layer of the storage module to retrieve storage bins from the plurality of stacks, wherein retrieving a storage bin from a corresponding stack includes raising the storage bin from the stack to the top layer such that the vehicle can shift the storage bin along the top layer. The vehicle can thus correspond to a vehicle movable at the "top layer" of the storage module, as generally described above, and thus, a warehouse system in which the vehicle is used can correspond to a warehouse system according to the present disclosure (i.e., according to the first aspect). Therefore, those features generally described above with respect to a vehicle movable along the "top layer" of the storage module and a warehouse system (according to the first, second, and third aspects of the present disclosure) can generally also be included in the vehicle and the associated warehouse system according to the fourth aspect, and vice versa. Therefore, unnecessary repetition is omitted hereinafter.

[0099] In short, the vehicle can also be described as a vehicle for retrieving storage bins from a warehouse system, wherein the vehicle is configured to move at the top layer of the storage module of the warehouse system and retrieve the storage bin by (vertically) raising the storage bin from a stack of storage bins accommodated in a storage area arranged below the top layer of the storage module to the top layer, for example, such that the vehicle can shift the storage bin horizontally along the top layer. As a characteristic structural feature, the vehicle includes a gripper configured to grip the storage bin to raise the storage bin from the corresponding stack (and, for example, shift the storage bin along the top layer), wherein the gripper is arranged to extend beyond the main body of the vehicle such that when the storage bin is raised to the top layer, the storage bin is arranged side by side with the main body on the first vertical side of the main body. The vehicle further includes an alternation mechanism configured to change the position of the gripper relative to the main body such that when the storage bin is gripped and raised to the top layer, the storage bin is arranged side by side with the main body on the second vertical side of the main body.

[0100] Thus, the vehicle can include a gripper that can be alternated between at least two positions by an alternation mechanism (or “device” / “equipment”), wherein, in a first position of the gripper, the gripper can be arranged relative to the main body such that the gripped storage bin is arranged along the first vertical side of the main body, and wherein, in a second position of the gripper, the gripper can be arranged relative to the main body such that the gripped storage bin is arranged along the second vertical side of the main body. The first vertical side of the main body and the second vertical side of the main body can be different from each other.

[0101] The gripper can be provided as part of a gripping arrangement provided at the top of the main body of the vehicle. For example, the gripping arrangement can include an arm that can extend horizontally beyond the top of the main body, and wherein the gripper can be provided at the arm (e.g., at the distal end of the arm) such that the storage bin can be held (or “carried”) along the vertical side of the main body of the vehicle (e.g., close to but not in contact with the main body). For example, the gripping arrangement can be provided in the form of a “tower crane” having a tower body arranged at the main body (e.g., the top of the main body) and including a jib that can move between at least two horizontal positions to alternate the position of the gripper between the first position and the second position of the gripper as described above.

[0102] Regarding the two-dimensional grid of the storage module according to the present disclosure, the gripper extending horizontally beyond the main body can enable the gripper to be held above one of the adjacent cells in the two-dimensional grid when the vehicle is placed (or “parked”) on a given cell in the two-dimensional grid, such that the gripper can raise the storage bin to be retrieved from the stack in the adjacent cell. For placement / parking on a given cell in the two-dimensional grid, as can be seen from Figure 2As can be seen exemplarily from the vehicle 210 shown, the main body of the vehicle can have a horizontal dimension (i.e., the extent in the longitudinal and transverse directions) that substantially corresponds to a given cell (or is "aligned with" / "adapted to" a given cell).

[0103] As generally mentioned herein, which vertical sides of the main body of the vehicle the "first vertical side" and "second vertical side" of the main body refer to can depend on the specific implementation of the alternating mechanism and / or on the particular usage scenario. For example, the first vertical side and the second vertical side of the main body can be one of the following: opposite vertical sides of the main body, and adjacent vertical sides of the main body that extend orthogonally relative to each other. Regarding the two-dimensional grid of the storage module, it can be considered that when the first vertical side and the second vertical side are opposite vertical sides of the main body and the vehicle remains parked / placed on a given cell in the two-dimensional grid, the first position of the gripper can be above an adjacent cell in the two-dimensional grid, while the second position of the gripper can be above another cell in the two-dimensional grid, and this other cell is located on the opposite side of the main body of the vehicle (i.e., from the perspective of the main body, it involves alternating the gripper by 180° in the horizontal plane). Similarly, it can be considered that when the first vertical side and the second vertical side are adjacent vertical sides of the main body that extend orthogonally relative to each other and the vehicle remains parked / placed on a given cell in the two-dimensional grid, the first position of the gripper can be above an adjacent cell in the two-dimensional grid, while the second position of the gripper can be above another cell in the two-dimensional grid, and this other cell is located on the side of the main body of the vehicle that extends orthogonally relative to the first side (i.e., from the perspective of the main body, it involves alternating the gripper by 90° in the horizontal plane).

[0104] To achieve the mobility of the gripper between the opposite vertical sides of the main body of the vehicle, in one variant, the gripper can extend telescopically beyond the first vertical side of the main body and telescopically beyond the second vertical side of the main body. In this case, the alternating mechanism can include a sliding mechanism that is configured to alternately slide the gripper between extending telescopically beyond the first vertical side of the main body (i.e., the first position of the gripper) and extending telescopically beyond the second vertical side of the main body (i.e., the second position of the gripper).

[0105] Figure 8 Such an arrangement is exemplarily depicted in, which figure shows a schematic illustration of the vehicle 800 in a perspective view. For example, Figure 2The vehicle 210 shown in [Figure] can correspond to the vehicle 800. As can be seen, the exemplary vehicle 800 includes a main body 802 and a gripper 804 in the form of an arm, which is arranged at the top of the main body 802 and extends / extends horizontally beyond the main body 802, such that the gripper 804 can grip a storage bin 806 (only indicated by a dashed line), wherein the storage bin 806 is arranged side by side with the main body 802 on one vertical side of the main body 802. The vehicle 800 further includes an alternating mechanism, which, in the example shown, is given by a sliding mechanism 808, which can be used (when the vehicle is not carrying a storage bin) to (using translational movement) slide the gripper 804 to the opposite side of the main body 802, as Figure 8 indicated by the arrows shown, i.e., in other words, to slide the gripper 804 from the ( Figure 8 currently shown) telescopic extension beyond the vertical side of the main body 802 to a telescopic extension beyond the opposite vertical side of the main body 802 (wherein the gripper 804 can also grip the storage bin 806, but now on the other side of the main body 802). It should be understood that, in this sense, the sliding mechanism 808 can be used to slide the gripper 804 alternately between these two telescopic extension positions.

[0106] On the other hand, in order to achieve the mobility of the gripper between adjacent vertical sides extending orthogonally to each other relative to the main body (possibly and between opposite vertical sides of the main body of the vehicle), the alternating mechanism can include a rotating mechanism, which is configured to rotate (or "turn") the gripper between a rotational position where the gripper extends beyond the first vertical side of the main body (i.e., the first position of the gripper) and a rotational position where the gripper extends beyond the second vertical side of the main body (i.e., the second position of the gripper). For example, such a rotating mechanism can be implemented using a tower crane-like gripper arrangement, as mentioned above.

[0107] Figure 9 An exemplary arrangement of such a rotating mechanism is depicted in [Figure], which shows a schematic illustration of the vehicle 900 in a perspective view. The vehicle 900 generally corresponds to the vehicle 800 (or is "identical" thereto), the only difference being that, instead of the sliding mechanism 808, a rotating mechanism 908 is provided in order to alternate the gripper 904 between different positions (in this case, "rotational" positions). In the example shown, the rotating mechanism 908 is arranged such that the gripper 904 can rotate about a vertical axis A extending through the center (as viewed from the top view of the vehicle) of the main body of the vehicle 900. In Figure 9In the figure, the corresponding rotational movement is indicated by corresponding arrows, which show that such movement can be performed in one or two rotational directions. The rotational movement of the gripper 904 can include rotational movements of 90°, 180° and / or 270°, such that the gripper 904 can alternate between positions side by side with each vertical side of the body 902 of the vehicle 900 as required. It should be understood that in such a variant, it may be possible to change the position of the gripper 904 when the vehicle 900 is carrying the storage bin 906 (also only indicated by a dashed line).

[0108] It should be understood that due to the presence of the alternating mechanism, an advantage of the vehicle of the present disclosure may be that the gripper can alternate between different positions (such as between opposite positions relative to the body of the vehicle). On the other hand, the vehicle known from WO 2014 / 075937A1 does not include such an alternating mechanism and can only grip the storage bin at one dedicated side (i.e., the fixed side), such that at the "top layer" of the warehouse system, in order to reach all the stacks of the warehouse system and convey bins from the stacks, at least two vehicles are required, i.e., one vehicle capable of handling the "northward" conveying direction along the top layer and one vehicle capable of handling the "southward" conveying direction (i.e., the opposite conveying direction) along the top layer. On the other hand, using the vehicle according to the present disclosure, each "top layer" does not require such two "northward" and "southward" vehicles, but it is sufficient to have a single vehicle per layer capable of handling both conveying directions. According to the present disclosure, the warehouse system can therefore require fewer vehicles at each "top layer".

[0109] Figure 8 and Figure 9 The view of also schematically shows the rollers on each vertical side of the body of the corresponding vehicle, which can engage in the corresponding tracks of the "top layer" of the storage module so as to be horizontally movable along the "top layer" in the longitudinal and / or transverse directions, as described above. In Figure 9 the example of, such rollers are indicated as rollers 910, which allow the vehicle 900 to move in both the longitudinal and transverse directions. For this purpose, the vehicle 900 can include a displacement mechanism (or "device" / "equipment"), which can be used to alternately displace a corresponding set of rollers 910, such that in one state, only the rollers 910 for moving in the longitudinal direction engage the tracks of the "top layer", while the rollers 910 for moving in the transverse direction do not engage any tracks, and in another state, only the rollers 910 for moving in the transverse direction engage the tracks of the "top layer", while the rollers 910 for moving in the longitudinal direction do not engage any tracks. In this way, the vehicle can alternately move along the "top layer" of the corresponding storage module in both the longitudinal and transverse directions of a two-dimensional grid.

[0110] Figure 10The view of FIG. 3 illustrates a warehouse system 300, each of which has two storage modules 200 and two carriers 210 that shift storage boxes 202 to different edges of the storage modules 200. Specifically, in FIG. Figure 10 In the left view of FIG. 2 , a carrier 210 in each storage module 200, in particular 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 the handover point (not shown) of the warehouse system 300. Figure 10 In the view on the right of the storage module 200, the carrier 210 displaces the corresponding storage box 202 outside the longitudinal edge of the storage module 200 until another handover point (also not shown) of the warehouse system 300. This can be achieved by the same carrier 210, because each carrier 210 is equipped with an alternating mechanism 808, 908. In particular, 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 carrier arranged adjacent to the lateral edge or longitudinal edge of the storage module 200, wherein the storage box 202 gripped by the gripper 804, 904 can be moved downward to the handover point. Thus, several handover points (at at least one lateral side and at least one longitudinal side) can be arranged at the warehouse system 300, thereby allowing faster retrieval of the storage box 202, while the same number of carriers 210 can be maintained.

[0111] Figure 11 A side view and a corresponding top view of the carrier 210 are shown, wherein the grippers 804, 904 are moved to different positions by the alternating mechanisms 808, 908. The carrier 210 may be Figure 8 and Figure 9 202 includes a body 802 on top of which are alternating mechanisms 808, 908. Grippers 804, 904 may extend from the alternating mechanisms 808, 908 in a tower crane-like manner to extend telescopically beyond a first vertical side of the body 802. Figure 11 In the example of FIG. 8 , the grippers 804 , 904 extend on the right side.

[0112] As about Figure 8 As described, the grippers 804, 904 can slide to opposite sides ( Figure 11 , where the grippers 804, 904 are illustrated by dotted lines).

[0113] Alternatively or additionally, the alternating mechanisms 808, 908 may be rotated, for example, by 180°, so that the grippers 804, 904 may be positioned on opposite sides, ie, extend on opposite vertical sides of the body 802. Figure 11 This rotation is illustrated by way of example in the upper right top view of .

[0114] At Figure 11 the lower left and lower right views, another optional feature of the vehicle is illustrated. More specifically, the alternating mechanisms 808, 908 may include an extension mechanism 909 configured to alternately move the grippers 804, 904 between a proximal position and an extended position, where the grippers 804, 904 are further away from the body 902 in the extended position than in the proximal position. The extended positions of the grippers 804, 904 are also illustrated by dashed lines. For example, the extensions of the grippers 804, 904 may cover a distance Δ. The extension mechanism 909 (exemplarily illustrated as a piston) may also be implemented as an electric motor, a linear motor, a hydraulic motor, a pneumatic motor, etc.

[0115] The extension mechanism 909 may operate particularly when the storage tank 202 is gripped by the grippers 804, 904. As can be derived from Figure 11 the side view and top view, the storage tank 202 in the proximal position is very close to the body 802 of the vehicle 210. Rotating the alternating mechanism 908 would cause the storage tank 202 to collide with the corner or edge of the body 802. Moving the storage tank 202 to the extended position allows the alternating mechanism 908 to rotate freely together with the grippers 804, 904 and the gripped storage tank 202. After rotation, the extension mechanism 909 may move the grippers 804, 904 together with the storage tank 202 back to the proximal position (e.g., the proximal position on the opposite side), as Figure 11 illustrated by the dashed line in the lower left view of

[0116] It should be understood that in alternative or additional variants, the corner or edge of the body 802 may have a rounded shape. In Figure 11 the two views on the right, the body 802 is illustrated as having rounded vertical corners or edges. However, this rounded shape may move towards the center of the body 802, i.e., the outer side of the body 802 is closer to the center and the rounded corner has a larger radius in the top view. This "truncated" part of the body 802 (i.e., the smaller size of the body 802) provides free space for moving (rotating) at least a part of the gripped storage tank and / or the gripper between respective rotational positions relative to the first vertical side and the second vertical side.

[0117] Figure 12 A perspective view of the vehicle 210 with rollers 910 in different orientations and a top view showing the rotation details of one of the rollers 910 are illustrated. Specifically, in Figure 12 the upper two views, the rollers 910 of the vehicle 210 are arranged in a direction corresponding to the lateral direction of the storage module 200. This allows the vehicle 210 to move along the lateral direction of the storage module 200 (e.g., along the track 212 as Figure 2 illustrated).

[0118] To guide the storage bin 202 along the longitudinal direction of the storage module 200, another set of rollers may be employed, as described above with respect to Figure 8 and Figure 9 illustrated and described.

[0119] Alternatively, a plurality of rollers 910 may be provided, which are 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 rotate about a vertical axis (such as the Z-axis). By way of example only, one roller 910 may be provided at each corner of the main body 802, which roller may rotate about a substantially vertical axis (the Z-axis). In particular, the roller 910 is configured to rotate by 90° to change the orientation of the roller 910 relative to the main body 802, thus allowing the vehicle 210 to move in the longitudinal direction as well as the lateral direction (depending on the orientation of the roller 910).

[0120] Changing the orientation of the roller 910 may be achieved by a roller actuator 914. In the example shown, the roller actuator 914 may be a linear drive, which is coupled to the roller 910 via a corresponding joint assembly, wherein the joint assembly converts the linear movement of the linear drive into a rotational movement of the roller 910 about its vertical axis. More specifically, such an actuator 914 may 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 and the roller 910 are pivotally coupled to the vehicle at a joint 912. Retracting or extending the actuator 914 thus causes the lever 916 and the roller 910 to rotate, such that the orientation of the roller 910 can be changed. 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°.

[0121] Figure 12a and Figure 12b illustrate a more detailed view of the components, exemplifying how such a roller orientation change mechanism may be implemented for wheel-shaped rollers. Figure 12a and Figure 12b The example of Figure 12a corresponds to a variant in which a single roller actuator in the form of a rotary drive is used to cause parallel rotation of all the rollers of the vehicle, wherein corresponding rods and joint assemblies are employed to convert the movement of the rotary drive into the required rotation of the rollers. Figure 12a The upper left part of Figure 12 depicts the components in a state where the rollers of the vehicle are pointing in the longitudinal direction of the storage module (i.e., 0°, corresponding to the state shown in the lower left part of Figure 12a The upper right part of Figure 12 depicts the components in a state where the rollers are pointing in the lateral direction (i.e., 90°, corresponding to the state shown in the upper left part ofFigure 12a The lower part depicts an intermediate state (i.e., 45°) midway through the rotation between 0° and 90° as shown in the other states. Figure 12b A top view of the assembly in the same state is shown.

[0122] As Figure 12a shown in the upper left part of Figure 12 , the assembly includes a roller actuator 914 in the form of a rotary drive (e.g., a servo motor) arranged in an upright manner. The rotary movement of the roller actuator 914 occurs about a vertically extending longitudinal axis of the rotary drive 914, as indicated by the double-headed arrow shown in the figure. The rotary movement of the rotary drive 914 is converted into a linear movement of corresponding rods 922a, b which are pivotally coupled to their associated rollers 910a, b using respective joint assemblies, e.g., in the manner described above with respect to Figure 12 (see Figure 12 the right part of Figure 12b ). The conversion of the rotary movement of the rotary drive 914 into a linear movement of the rods 922a, b is effected via a pivotable platform 924a driven by the rotary drive 914, where the rods 922a, b are pivotally coupled to the pivotable platform 924a (which can be seen better in Figure 12b ). Thus, when the pivotable platform 924a is subjected to the rotary movement of the rotary drive 914, this causes the rods 922a, b to undergo a corresponding linear movement, thereby causing the rotation of the rollers 910a, b via the respective joint assemblies. Additional rods 926a, b are pivotally connected to the pivotable platform 924a in order to transfer the same movement to the other side of the vehicle where an identical (substantially symmetric) configuration is provided: the pivotable platform 924b receives the movement via the additional rods 926a, b and transfers the movement via the rods 922c, d in order to effect the corresponding rotation of the rollers 910c, d on the other side of the vehicle. It should be understood that the assembly shown is particularly advantageous since only a single roller actuator is required to effect the parallel rotation of all the rollers 910 of the vehicle and since there is no wasted space near the rollers (e.g., as would occur when a separate linear drive is provided for each roller).

[0123] As can be in Figure 12bAs can be better seen, a stop element 928 is provided to limit the rotational movement of the pivotable platform 924a to a predefined angle, i.e., to limit the movement of the pivotable platform 924a in each of its rotational movement directions to a certain extent (when reaching the stop element 128, the pivotable platform 924a contacts the stop element 928 and is prevented from further moving in this direction). In this way, it can be ensured that the expected rotational end points of 0° and 90° of the roller 910 are precisely reached. In other words, precise end points of the rotational movement can be achieved without relying on the accuracy of the rotational drive for this purpose. In an improved embodiment, the stop element 928 can include at least one sensor that detects the contact of the pivotable platform 924a and provides a signal indicating that the rotational drive 914 (e.g., a servo motor) can stop driving.

[0124] As a measure for precise adjustment, the rods 922 and 926 each include adjustment elements 929 that enable precise adjustment of the length of the respective rod. This enables adjustment of the lengths of the rods 922 and 926 so as to calibrate the angle as needed thereby to achieve a high degree of accuracy in the target position of the roller 910 (e.g., ensuring that the target position of a particular roller is exactly 90° rather than 89° or 91°).

[0125] In an alternative variant, it is also possible to implement the movement of the vehicle 210 along the transverse and longitudinal directions of the storage module 200 by implementing spherical rollers (not shown). Such spherical rollers can include a ball or a similar spherical device on which the vehicle 210 can roll. Such rollers can be configured to roll in any arbitrary direction. To drive such rollers, the vehicle 210 includes at least one driver or motor (not shown) that is configured to cause at least one of the spherical rollers to roll in at least two directions. For example, the driver (or motor) contacts at least one spherical roller in such a way that it can cause at least one roller to roll in the transverse direction. To change the movement direction of the vehicle 210 (e.g., from one stacking position to the next stacking position in the longitudinal direction), the driver or motor can contact at least one spherical roller at different positions that allow at least one roller to roll in the longitudinal direction. Such a change in the movement direction can be achieved by moving (e.g., rotating) the driver or motor or the contact point between the driver / motor and the spherical roller, or by providing two drivers or motors (e.g., drive rollers) that contact the spherical roller at two points to cause the roller to roll in the respective directions.

[0126] In Figure 11 and Figure 12 are illustrated grippers 804, 904 having a set of hooks 820 configured to grip the storage box 202.Figure 13 A perspective view that reflects the claimed invention and illustrates different types of storage bins 202 grasped by grippers 804, 904 of the vehicle 210. Figure 14 A side view that illustrates details of a set of hooks 820 of the grippers 804, 904, particularly the grippers 804, 904.

[0127] The set of hooks 820 can be arranged adjacent to each other, i.e., each of the hooks 821 - 823 is arranged adjacent to at least one other hook 821 - 823. Each hook 821 - 823 can have a grasping configuration associated with a corresponding type of storage bin 202, i.e., can have a specific grasping configuration for a specific storage bin 202. For example, the storage bins 202a and 202b ( Figure 13 ) can have a grasping portion or handle 203 (such as a recess, an edge, or a protrusion) that is arranged at a specific vertical distance from the top edge of the storage bins 202a, b. The storage bin 202c can be a wooden box that has recesses 203 forming corresponding handles on opposite sides.

[0128] The set of hooks 820 can, for example, include at least three hooks 821 - 823 that have different heights H1 - H3 relative to the grippers 804, 904 ( Figure 14 ). Thus, when the grippers 804, 904 are released on top of the storage bin 202 (i.e., the set of hooks 820 moves downward and along the corresponding sides of the storage bin 202), at least one of the hooks 821 - 823 has a height H1 - H3 corresponding to the upper edge of the grasping portion or handle 203 of the storage bin 202. This allows one of the hooks 821 - 823 to engage with the grasping portion or handle 203 of the storage bin 202. At this time, lifting the set of hooks 820 allows the storage bin 202 to be lifted.

[0129] For automatically grasping the storage bin 202, each of the hooks 821 - 823 can be pivotally mounted to the grippers 804, 904 and can be biased towards a grasping position. For example, the hooks 821 - 823 can pivot about joints 825. A biasing element 816 can be arranged to push the hooks 821 - 823 in a certain (here clockwise) direction such that its grasping configuration can engage with the grasping portion or handle 203 of the storage bin 202. By way of example only, the hooked ends of the hooks 821 - 823 can be pushed inwards (i.e., towards the storage bin 202). Such a biasing element 816 can be implemented as a spring or the like.

[0130] In addition, to open the latches 821 - 823 (i.e., release the latches 821 - 823 from the storage bin 202), the latch actuator 814 can be provided together with the grippers 804, 904. By way of example only, the latch actuator 814 can be coupled to the latches 821 to 823 via a rod 818. Pulling the rod 818 towards the actuator 814, particularly against the biasing force of the biasing element 816, pivots the latches 821 - 823 towards the open position (i.e., the position where the latches 821 - 823 are disengaged from the gripping portion or handle 203 of the storage bin 202).

[0131] It should be understood that, in addition to or as an alternative to one or more latches 820, other gripping configurations including magnets, bolts, vacuum grippers, etc. can also be employed.

[0132] Figure 15 A detailed view of a set of latches 820 of the grippers 804, 904 including three pairs of latches 821a / 821b, 822a / 822b, and 823a / 823b is illustrated, where each pair of latches forms a fork structure including spaced - apart latches 821a and 821b, 822a and 822b, and 823a and 823b having the same gripping configuration. The gripping configurations of the latches within the same pair have the same characteristics in the sense that each latch within the same pair has the same height (H1 - H3) relative to the grippers 804, 904. The fork structure reduces the degrees of freedom of rotation of the storage bin 202 when it is gripped.

[0133] In the example shown, the latches within each pair of latches 821a / 821b, 822a / 822b, and 823a / 823b can be moved individually between their gripping positions and their open positions. For this purpose, each of the latches 821a, 821b, 822a, 822b, 823a, 823b is biased towards the respective gripping position by a separate biasing element (e.g., a spring) 831a, 831b, 832a, 832b, 833a, 833b. A clamp 836 extending across all of the latches 821a, 821b, 822a, 822b, 823a, 823b can be used to retract the upper portions of the latches in order to pivot the latches to their respective open positions. The retraction of the clamp 836 can be achieved via a rod 838 that is pulled by a latch actuator (e.g., the latch actuator 814).

[0134] In addition, as Figure 10 , Figure 13 and Figure 14As illustrated, the vehicle 210 may further include a lifting mechanism configured to raise and lower the grasped storage bin 202. For example, the lifting mechanism may include a lifting platform 810 and a retractable strap or wire 812 that connects the lifting platform 810 to a non-up-and-down moving part of the main body 802 or the gripper 804, 904, or the alternating mechanism 808, 908. This lifting mechanism acts as a crane for the storage bin 202.

[0135] By way of example only, the strap or wire 812 may be fixedly connected to the lifting platform 810, where the set of hooks 820 is coupled to the lifting platform 810. A winch (not illustrated) may be disposed at a non-vertically moving part of the gripper 804, 904, or the alternating mechanism 808, 908, and the winch may be configured to wind the strap or wire 812 to lift the lifting platform 810 (with or without the grasped storage bin 202).

[0136] This lifting mechanism also allows for the omission of a dedicated storage bin elevator, such as the bin elevator 106 known from WO 2014 / 075937 A1.

[0137] It should be understood that when it is considered herein that the vehicle can "move" along the top layer of the storage module, it can also be considered that the vehicle is "driven" along the top layer of the storage module. For driving purposes, the vehicle may include a driving device configured to drive the rollers of the vehicle to move the vehicle along the top layer in at least one of the longitudinal direction and the transverse direction. The driving device may be controlled by a control system of the warehouse system (such as a warehouse management computer), for example, by a signal transmitted via wireless transmission to the vehicle. The driving device may be, for example, an electric motor, but it should be understood that the driving device may also employ other driving technologies.

[0138] As already explained above, in order to retrieve a storage bin from the warehouse system of the present disclosure, when the storage bin is to be delivered in the vertical direction to a handover point, the storage bin may be conveyed beyond the outer edge of the storage module (as Figure 7 exemplarily illustrated), without using a bin elevator to convey the storage bin in the vertical direction. To this end, that is, to retrieve a storage bin from a corresponding stack, the vehicle may be configured to shift the storage bin beyond the edge of the storage module and lower the storage bin along the edge of the storage module to the handover point of the warehouse system once the storage bin is raised and shifted along the top layer towards the edge of the top layer (for example, corresponding control signals may also be sent from the control system to the vehicle).

[0139] As described above, in order to shift the storage box beyond the edge of the storage module, it may be necessary, depending on the orientation of the vehicle on the top layer of the storage module, to rotate the gripper of the vehicle to a rotational position where the gripper extends beyond the edge of the storage module. From the perspective of the vehicle, shifting the storage box beyond the edge of the storage module can thus include using a rotation mechanism to rotate the gripper to a rotational position where the gripper extends beyond the edge of the storage module while gripping the storage box. Subsequently, as Figure 7 depicted, the storage box can be lowered along the edge of the storage module towards the handover point. For the purposes of such a lowering procedure, and likewise, for the lowering / raising procedure when placing the storage box onto / retrieving the storage box from the stack of the storage module, the vehicle (e.g., the gripper of the vehicle) can include a lifting mechanism (or "device" / "equipment") (e.g., electrically driven) that can be configured to lower / raise the gripped storage box accordingly (e.g., in accordance with corresponding control signals received from the control system of the warehouse system).

[0140] It should be noted that the above description of the vehicle of the fourth aspect generally relates to a variant of "retrieving the storage box" from the warehouse system. It should be understood that corresponding measures can be implemented for another conveying direction (i.e., a variant of "placing the storage box" in the warehouse system). In this case, the corresponding measures can include measures that are reverse to those described above regarding retrieving the storage box.

[0141] As will be clear from the foregoing description of the vehicle for retrieving storage bins herein, although the above vehicle has been described in connection with a particular type of warehouse system disclosed herein, it should be understood that those features of the above vehicle that are not necessarily functionally related to (or functionally dependent on) the particular characteristics of such a type of warehouse system can equally be used for other types of vehicles for retrieving storage bins in other types of warehouse systems. For example, aspects of a vehicle having rollers configured to roll in different directions or a vehicle having a gripper including a set of hooks for supporting the gripping of a corresponding type of storage bin represent aspects that can be individually / equivalently employed in other types of vehicles for the purpose of retrieving storage bins in other types of warehouse systems. In this regard, it will be apparent to those skilled in the art that the technical advantages of having rollers that enable a vehicle to roll in different directions or a set of hooks that enable the gripping of a corresponding type of storage bin are independent features that are advantageous in themselves and independent of the characteristics of the particular type of warehouse system described herein (and equally independent of those characteristics of the vehicle necessarily implied by such a type of warehouse system). This also includes aspects of the above vehicle that are functionally independent of an alternative mechanism having rollers capable of rolling in different directions and having a set of hooks for gripping a corresponding type of storage bin. For example, a vehicle having rollers configured to roll in different directions does not necessarily have to be driven at the top layer of a storage module as described herein (e.g., driven in a track), but can be driven on some other type of surface (such as even on the ground floor of a warehouse system). Similarly, a vehicle having a gripper including a set of hooks for supporting the gripping of a corresponding type of storage bin does not necessarily have to be used for retrieving a storage bin from a stack of storage bins by approaching the bin downward (e.g., from the top layer) and gripping the bin from above (and from the outside) as described for the storage module disclosed herein, but can also be used, for example, to grip a storage bin in some other way, even (e.g., depending on the type of bin) including approaching the bin upward and gripping the bin from below and / or gripping the bin from the inside of the bin. Accordingly, the present disclosure also includes a vehicle that is independent of the particular characteristics of the type of warehouse system described herein and independent of the characteristics of the vehicle necessarily implied by such a type of warehouse system and independent of other functionally unrelated aspects (such as the above alternative mechanism (in all its variants)).

[0142] Thus, more specifically, the present disclosure also includes the following embodiment (A) relating to a vehicle for transporting storage bins in a warehouse, wherein the vehicle includes a plurality of rollers configured to roll in different directions in the above sense (i.e., in all of the above variants described with respect to these rollers).

[0143] Embodiment (A1): A vehicle (210; 800; 900) for transporting storage boxes (202) in a warehouse, the vehicle (210; 800; 900) comprising:

[0144] A plurality of rollers (910), the plurality of rollers being configured to move the vehicle (210; 800; 900),

[0145] wherein each of the plurality of rollers (910) is configured to roll in different directions.

[0146] Embodiment (A2): The vehicle (210; 800; 900) according to embodiment (A1), wherein each of the plurality of rollers (910) is configured to rotate about a vertical axis and change its orientation relative to the body (802) of the vehicle (210; 800; 900).

[0147] Embodiment (A3): The vehicle (210; 800; 900) according to embodiment (A1) or (A2), further comprising a roller actuator (914), the roller actuator being configured to rotate at least one of the plurality of rollers (910).

[0148] Embodiment (A4): The vehicle (210; 800; 900) according to embodiment (A3), wherein the roller actuator (914) is configured to rotate the at least one roller (910) by 90°.

[0149] Embodiment (A5): The vehicle (210; 800; 900) according to embodiment (A3) or (A4), wherein the rotation of the at least one roller (910) is caused by a linear movement achieved by the roller actuator (914).

[0150] Embodiment (A6): The vehicle (210; 800; 900) according to embodiment (A5), wherein the roller actuator (914) comprises a rotary drive, the rotary movement of the rotary drive being converted into linear movements that cause the rotation of the at least one roller (910), preferably at least two of the plurality of rollers (910), or preferably all of the plurality of rollers (910).

[0151] Embodiment (A7): The vehicle (210; 800; 900) according to embodiment (A6), wherein the rotary drive is arranged in an upright manner.

[0152] Embodiment (A8): The vehicle (210; 800; 900) according to embodiment (A6) or (A7), wherein the rotation of the rollers (910) is caused by these linear movements using a rod assembly driven by the rotary drive.

[0153] Embodiment (A9): A vehicle (210; 800; 900) as described in any one of embodiments (A6) to (A8), wherein converting the rotational movement of the rotary drive into these linear movements is achieved via a pivotable platform driven by the rotary drive, and at least a part of the rod assembly is coupled to the pivotable platform.

[0154] Embodiment (A10): A vehicle (210; 800; 900) as described in embodiment (A9), wherein a stop element is provided to limit the rotational movement of the pivotable platform to a predefined angle.

[0155] Embodiment (A11): A vehicle (210; 800; 900) as described in any one of embodiments (A8) to (A10), wherein the rod assembly includes at least one rod having an adjustment element enabling precise adjustment of the length of the rod.

[0156] Embodiment (A12): A vehicle (210; 800; 900) as described in embodiment (A1), wherein each of the plurality of rollers (910) is a spherical roller configured to be driven in at least two directions.

[0157] In the context of the above embodiments (A), in view of the above, the following additional embodiments (relating to characteristics of the vehicle implicit in the specific type of warehouse system described herein or to other functionally non - relevant aspects of the vehicle described herein) are explicitly optional.

[0158] Embodiment (A13): A vehicle (210; 800; 900) as described in any one of embodiments (A1) to (A12), wherein the plurality of rollers (910) are configured to move the vehicle (210; 800; 900) in a two - dimensional grid of tracks, and each of the plurality of rollers (910) is configured to roll in different directions so that the vehicle (210; 800; 900) can move in the longitudinal and transverse directions of the two - dimensional grid.

[0159] Embodiment (A14): A vehicle (210; 800; 900) as described in any one of embodiments (A1) to (A13), further comprising a gripper (804; 904) configured to grip a storage box (202) from above to lift the storage box (202), optionally from a stack (208) of storage boxes (202).

[0160] Embodiment (A15): A vehicle (210; 800; 900) as described in Embodiment (A14), wherein the gripper (804; 904) is arranged to extend beyond the body (802; 902) of the vehicle (210; 800; 900) such that when the storage bin (202) is raised to the top layer, the storage bin (202) is arranged side by side with the body (802; 902) on the first vertical side of the body (802; 902).

[0161] Embodiment (A16): A vehicle (210; 800; 900) as described in Embodiment (A15), wherein the vehicle further includes an alternating mechanism (808; 908) configured to change the position of the gripper (804; 904) relative to the body (802; 902) such that when the storage bin (202) is gripped and raised to the top layer, the storage bin (202) is arranged side by side with the body (802; 902) on the second vertical side of the body (802; 902).

[0162] Embodiment (A17): A vehicle (210; 800; 900) as described in any one of Embodiments (A14) to (A16), wherein the warehouse 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 bins (202), wherein the vehicle (210; 800; 900) is configured to be movable at the top layer (206) to remove a storage bin (202) from the plurality of stacks (208), wherein removing a storage bin (202) from a corresponding stack (208) includes raising the storage bin (202) from the stack (208) to the top layer (206) such that the vehicle (210; 800; 900) can displace the storage bin (202) along the top layer (206),

[0163] wherein the gripper (804; 904) is configured to grip the storage bin (202) to raise the storage bin (202) from the corresponding stack (208) and displace the storage bin (202) along the top layer (206); and

[0164] wherein the plurality of rollers (910) are configured to move the vehicle (210; 800; 900) at the top layer (206).

[0165] Similar to the above embodiments, the present disclosure also includes the following Embodiment (B) related to a vehicle for removing a storage bin from a warehouse system, wherein the vehicle includes a gripper that includes a set of hooks in the above sense (i.e., in all of the above variations described with respect to the set of hooks).

[0166] Embodiment (B1): A vehicle (210; 800; 900) for removing storage bins (202) from a warehouse system (300), the vehicle (210; 800; 900) comprising:

[0167] A gripper (804; 904) configured to grip a storage bin (202),

[0168] wherein the gripper (804; 904) includes a set of hooks (820) arranged adjacent to each other, and

[0169] wherein each of these hooks (821 - 823) has a gripping configuration associated with a corresponding type of storage bin (202a, 202b, 202c).

[0170] Embodiment (B2): The vehicle (210; 800; 900) according to Embodiment (B1), wherein each of these hooks (821 - 823) has a different height (H1 - H3) relative to the gripper (804; 904).

[0171] Embodiment (B3): The vehicle (210; 800; 900) according to Embodiment (B1) or (B2), wherein each of these hooks (821 - 823) has a different coupling structure associated with the corresponding type of storage bin (202a, 202b, 202c).

[0172] Embodiment (B4): The vehicle (210; 800; 900) according to any one of Embodiments (B1) to (B3), wherein each of these hooks (821 - 823) is pivotally mounted to the gripper (804; 904) and biased towards a gripping position.

[0173] Embodiment (B5): The vehicle (210; 800; 900) according to Embodiment (B4), wherein the gripper (804; 904) includes one or more biasing elements (816; 831a - 833a, 831b - 833b) that bias each of these hooks (821 - 823) towards the gripping position.

[0174] Embodiment (B6): The vehicle (210; 800; 900) according to Embodiment (B5), wherein each of these hooks (821 - 823) is biased towards the gripping position by a separate biasing element (831a - 833a, 831b - 833b).

[0175] Embodiment (B7): A vehicle (210; 800; 900) as described in any one of embodiments (B1) to (B6), wherein the gripper (804; 904) includes a latch actuator (814) configured to move the set of latches (820) at least from a gripping position to an open position.

[0176] Embodiment (B8): A vehicle (210; 800; 900) as described in embodiment (B7), wherein the set of latches (820) corresponds to a first set of latches (820) arranged to grip the storage bin (202) from one side of the storage bin (202), wherein the gripper (804; 904) includes a second set of latches (820) arranged to grip the storage bin (202) from a second side of the storage bin, and wherein the latch actuator (814) is configured to move the first set of latches (820) and the second set of latches (820) together from a gripping position to an open position.

[0177] Embodiment (B9): A vehicle (210; 800; 900) as described in any one of embodiments (B1) to (B8), wherein the set of latches (820) includes one or more pairs of latches (821a / 821b, 822a / 822b, 823a / 823b) configured to grip the storage bin (202) on the same side of the storage bin (202), and wherein the latches in each pair of latches (821a / 821b, 822a / 822b, 823a / 823b) have the same gripping configuration and are spaced apart from each other.

[0178] Embodiment (B10): A vehicle (210; 800; 900) as described in embodiment (B9), wherein the latches in each pair of latches (821a / 821b, 822a / 822b, 823a / 823b) are movable relative to each other individually between their respective gripping positions and their respective open positions.

[0179] Embodiment (B11): A vehicle (210; 800; 900) as described in embodiment (B9), wherein the latches in each pair of latches (821a / 821b, 822a / 822b, 823a / 823b) are coupled to be movable together between their respective gripping positions and their respective open positions.

[0180] In the context of the above embodiments (B), in view of the above, the following additional embodiments (relating to the characteristics of the vehicle implicit in the particular type of warehouse system described herein or to other functionally non-related aspects of the vehicle described herein) are explicitly optional.

[0181] Embodiment (B12): The vehicle (210; 800; 900) as described in any one of Embodiments (B1) to (B11), wherein the gripper (804; 904) is configured to grip the storage box (202) from above to lift the storage box (202), optionally from a stack (208) of storage boxes (202).

[0182] Embodiment (B13): The vehicle (210; 800; 900) as described in any one of Embodiments (B1) to (B12), wherein the gripper (804; 904) is arranged to extend beyond the body (802; 902) of the vehicle (210; 800; 900), such that when the storage box (202) is lifted to the top layer, the storage box (202) is arranged side by side with the body (802; 902) on a first vertical side of the body (802; 902).

[0183] Embodiment (B14): The vehicle (210; 800; 900) as described in Embodiment (B13), wherein the vehicle further includes an alternating mechanism (808; 908) configured to change the position of the gripper (804; 904) relative to the body (802; 902), such that when the storage box (202) is gripped and lifted to the top layer, the storage box (202) is arranged side by side with the body (802; 902) on a second vertical side of the body (802; 902).

[0184] Embodiment (B15): The vehicle (210; 800; 900) as described in any one of Embodiments (B1) to (B14), wherein the warehouse system (300) 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 (202), wherein the vehicle (210; 800; 900) is configured to be movable at the top layer (206) to remove a storage box (202) from the 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) such that the vehicle (210; 800; 900) can shift the storage box (202) along the top layer (206).

[0185] Wherein the gripper (804; 904) is configured to grip the storage box (202) to lift the storage box (202) from a corresponding stack (208) and shift the storage box (202) along the top layer (206).

[0186] It is believed that the advantages of the technology presented herein will be fully understood from the above description, and it will be apparent 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 of its advantageous effects. Since the technology presented herein can be varied in many ways, it will be recognized that the present disclosure should be limited only by the scope of the following claims.

[0187] Based on the above, the present disclosure also provides a vehicle according to the following embodiments:

[0188] 1. A vehicle (210; 800; 900) for retrieving storage bins (202) from a warehouse system (300), the warehouse system (300) including at least one storage module (200) having a storage area (204) and a top layer (206) disposed above the storage area (204), the storage area (204) being adapted to accommodate a plurality of stacks (208) of storage bins (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 bins (202) from the plurality of stacks (208), wherein retrieving a storage bin (202) from a corresponding stack (208) includes raising the storage bin (202) from the stack (208) to the top layer (206) such that the vehicle (210; 800; 900) can displace the storage bin (202) along the top layer (206), the vehicle (210; 800; 900) comprising:

[0189] A gripper (804; 904) configured to grip a storage bin (202) to raise the storage bin (202) from a corresponding stack (208) and displace the storage bin (202) 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) such that when the storage bin (202) is raised to the top layer (206), the storage bin (202) is arranged side by side with the body (802; 902) on a first vertical side of the body (802; 902); and

[0190] An alternating mechanism (808; 908) configured to change the position of the gripper (804; 904) relative to the body (802; 902) such that when a storage bin (202) is gripped and raised to the top layer (206), the storage bin (202) is arranged side by side with the body (802; 902) on a second vertical side of the body (802; 902).

[0191] 2. The vehicle (210; 800; 900) as described in Embodiment 1, wherein the first vertical side of the main body (802; 902) and the second vertical side of the main body (802; 902) are one of the following:

[0192] opposite vertical sides of the main body (802; 902), and

[0193] adjacent vertical sides of the main body (802; 902) that extend orthogonally relative to each other.

[0194] 3. The vehicle (210; 800) as described in Embodiment 1 or 2, wherein the gripper (804) is telescopically extendable beyond the first vertical side of the main body (802) and telescopically extendable beyond the second vertical side of the main body (802), and wherein the alternating mechanism (808) includes a sliding mechanism (808) configured to alternately slide the gripper (804) between being telescopically extended beyond the first vertical side of the main body (802) and being telescopically extended beyond the second vertical side of the main body (802).

[0195] 4. The vehicle (900) as described in Embodiment 1 or 2, wherein the alternating mechanism (908) includes a rotating mechanism (908) configured to rotate the gripper (904) between a rotational position where the gripper (904) extends beyond the first vertical side of the main body (902) and a rotational position where the gripper (904) extends beyond the second vertical side of the main body (902).

[0196] 5. The vehicle (210; 800; 900) as described in any one of Embodiment 4, wherein the alternating mechanism (908) includes an extending mechanism (909) configured to alternately move the gripper (904) between a retracted position and an extended position, wherein the gripper (904) is further away from the main body (902) in the extended position than in the retracted position.

[0197] 6. The vehicle (210; 800; 900) as described in any one of Embodiments 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) outside 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) towards the edge of the top layer (206).

[0198] 7. The vehicle (900) as described in Example 6 when dependent on Example 4, wherein shifting the storage bin (202) beyond the edge of the storage module (200) includes using the rotation mechanism (908) to rotate the gripper (904) while gripping the storage bin (202) to a rotational position where the gripper (904) extends beyond the edge of the storage module (200).

[0199] 8. The vehicle (210; 800; 900) according to any one of Examples 1 to 7, further comprising:

[0200] A plurality of rollers (910) configured to move the vehicle at the top layer (206) of the storage module (200),

[0201] wherein each of the plurality of rollers (910) is configured to roll in different directions,

[0202] wherein, preferably:

[0203] each of the plurality of rollers (910) is configured to rotate about a vertical axis and change its orientation relative to the body (802), or

[0204] each of the plurality of rollers (910) is a spherical roller and is configured to be driven in at least two directions.

[0205] 9. The vehicle (210; 800; 900) according to Example 8, further comprising:

[0206] A roller actuator (914) configured to rotate at least one of the plurality of rollers (910),

[0207] wherein the roller actuator (914) is preferably further configured to rotate the at least one roller (910) by 90°.

[0208] 10. The vehicle (210; 800; 900) according to any one of Examples 1 to 9, wherein the gripper (804; 904) comprises:

[0209] A set of hooks (820) arranged adjacent to each other, wherein each of these hooks (821 - 823) has a gripping configuration associated with a corresponding type of storage bin (202),

[0210] wherein, preferably, each of these hooks (821 - 823) has a different height (H1 - H3) relative to the gripper (804; 904) or has a different coupling structure associated with the corresponding type of storage bin (202).

[0211] 11. The vehicle (210; 800; 900) as described in embodiment 10, wherein each of these hooks (821 - 823) is pivotally mounted to the gripper (804; 904) and biased towards the gripping position, and / or

[0212] wherein the gripper (804; 904) includes a hook actuator (814) configured to move the set of hooks (820) at least from the gripping position to the open position, and / or a biasing element (816) that biases each of these hooks (821 - 823) towards the gripping position.

[0213] 12. The vehicle (210; 800; 900) as described in any one of embodiments 1 to 11, further comprising:

[0214] a lifting mechanism (810, 812) configured to raise and lower the gripped storage bin (202).

[0215] 13. The vehicle (210; 800; 900) as described in embodiment 12, wherein the lifting mechanism includes a lifting platform (810) and a retractable strap or wire (812) connecting the lifting platform (810) to the body (802).

[0216] 14. A warehouse system (300) for providing space for a three - dimensional arrangement of storage bins (202), wherein the warehouse system (300) includes a plurality of interconnected storage modules (200), wherein each storage module (200) includes a storage area (204) and a top layer (206) disposed above the storage area (204), wherein the storage area (204) is adapted to accommodate a plurality of stacks (208) of storage bins 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 embodiments 1 to 13 can move in alignment with the two - dimensional grid to retrieve storage bins (202) from the plurality of stacks (208) and place storage bins onto the plurality of stacks, and wherein the plurality of interconnected storage modules (200) include at least two layers of storage modules (200) placed one above the other in separate rooms.

[0217] 15. A prefabricated and mutually connectable storage module (200) for use when assembling a warehouse system (300), the warehouse system providing space for a three-dimensional arrangement of storage bins (202), wherein the warehouse system (300) will be assembled from a plurality of prefabricated and mutually connectable storage modules (200) of the type belonging to the prefabricated and mutually connectable 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 (204) is adapted to accommodate a plurality of stacks (208) of storage bins (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 Embodiments 1 to 13 to move aligned with the two-dimensional grid at the top layer (206) to remove storage bins (202) from the plurality of stacks (208) and to place storage bins onto the plurality of stacks, wherein the storage module (200) is further adapted to be placed above another storage module (200) of the same type, such that when the warehouse system (300) is assembled from the plurality of prefabricated and mutually connectable storage modules (200), at least two layers of storage modules (200) can be formed by placing the storage modules (200) vertically on top of each other in separate rooms.

[0218] Based on the above, further advantageous examples of the present disclosure can be stated as follows:

[0219] 1. A vehicle (210; 800; 900) for removing storage bins (202) from a warehouse system (300), the warehouse system (300) comprising 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 bins (202), wherein the vehicle (210; 800; 900) is configured to move at the top layer (206) to remove storage bins (202) from the plurality of stacks (208), wherein removing a storage bin (202) from a corresponding stack (208) comprises raising the storage bin (202) from the stack (208) to the top layer (206) such that the vehicle (210; 800; 900) can displace the storage bin (202) along the top layer (206), the vehicle (210; 800; 900) comprising:

[0220] A gripper (804; 904) configured to grip the storage bin (202) to raise the storage bin (202) from the corresponding stack (208) and to displace the storage bin (202) along the top layer (206),

[0221] Wherein, the gripper (804; 904) includes a set of hooks (820) arranged adjacent to each other, and wherein each of these hooks (821 - 823) has a gripping configuration associated with a corresponding type of storage bin (202a, 202b, 202c).

[0222] 2. The vehicle (210; 800; 900) as described in Example 1, wherein each of these hooks (821 - 823) has a different height (H1 - H3) relative to the gripper (804; 904).

[0223] 3. The vehicle (210; 800; 900) as described in Example 1 or 2, wherein each of these hooks (821 - 823) has a different coupling structure associated with the corresponding type of storage bin (202a, 202b, 202c).

[0224] 4. The vehicle (210; 800; 900) as described in any one of Examples 1 to 3, wherein each of these hooks (821 - 823) is pivotally mounted to the gripper (804; 904) and biased towards the gripping position.

[0225] 5. The vehicle (210; 800; 900) as described in Example 4, wherein the gripper (804; 904) includes one or more biasing elements (816; 831a - 833a, 831b - 833b), and the one or more biasing elements bias each of these hooks (821 - 823) towards the gripping position.

[0226] 6. The vehicle (210; 800; 900) as described in Example 5, wherein each of these hooks (821 - 823) is biased towards the gripping position by a separate biasing element (831a - 833a, 831b - 833b).

[0227] 7. The vehicle (210; 800; 900) as described in any one of Examples 1 to 6, wherein the gripper (804; 904) includes a hook actuator (814), and the hook actuator is configured to move the set of hooks (820) at least from the gripping position to the open position.

[0228] 8. The vehicle (210; 800; 900) as described in Example 7, wherein the set of hooks (820) corresponds to a first set of hooks (820) arranged to grip the storage box (202) from one side of the storage box (202), wherein the gripper (804; 904) includes a second set of hooks (820) arranged to grip the storage box (202) from a second side of the storage box, and wherein the hook actuator (814) is configured to move the first set of hooks (820) and the second set of hooks (820) together from a gripping position to an open position.

[0229] 9. The vehicle (210; 800; 900) as described in any one of Examples 1 to 8, wherein the set of hooks (820) includes one or more pairs of hooks (821a / 821b, 822a / 822b, 823a / 823b), the one or more pairs of hooks being configured to grip the storage box (202) on the same side of the storage box (202), and wherein the hooks in each pair of hooks (821a / 821b, 822a / 822b, 823a / 823b) have the same gripping configuration and are spaced apart from each other.

[0230] 10. The vehicle (210; 800; 900) as described in Example 9, wherein the hooks in each pair of hooks (821a / 821b, 822a / 822b, 823a / 823b) are movable relative to each other individually between their respective gripping positions and their respective open positions.

[0231] 11. The vehicle (210; 800; 900) as described in Example 9, wherein the hooks in each pair of hooks (821a / 821b, 822a / 822b, 823a / 823b) are coupled to be movable together between their respective gripping positions and their respective open positions.

[0232] 12. The vehicle (210; 800; 900) as described in any one of Examples 1 to 11, wherein the gripper (804; 904) is arranged to extend beyond the body (802; 902) of the vehicle (210; 800; 900) such that when the storage box (202) is raised 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).

[0233] 13. The vehicle (210; 800; 900) as described in Example 12, wherein the vehicle further includes an alternating mechanism (808; 908) configured to change the position of the gripper (804; 904) relative to the body (802; 902) such that when the storage bin (202) is grasped and lifted to the top layer (206), the storage bin (202) is arranged side by side with the body (802; 902) on the second vertical side of the body (802; 902).

Claims

1. A vehicle (210; 800; 900) for retrieving storage bins (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) disposed above the storage area (204), the storage area (204) being adapted to accommodate a plurality of stacks (208) of storage bins (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 bins (202) from the plurality of stacks (208), wherein retrieving a storage bin (202) from a corresponding stack (208) includes raising the storage bin (202) from the stack (208) to the top layer (206) such that the vehicle (210; 800; 900) can displace the storage bin (202) along the top layer (206), and the vehicle (210; 800; 900) comprises: a gripper (804; 904) configured to grip a storage bin (202) to raise the storage bin (202) from a corresponding stack (208) and displace the storage bin (202) 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) such that when the storage bin (202) is raised to the top layer (206), the storage bin (202) is arranged side by side with the body (802; 902) on a first vertical side of the body (802; 902); and an alternation mechanism (808; 908) configured to change the position of the gripper (804; 904) relative to the body (802; 902) such that when a storage bin (202) is gripped and raised to the top layer (206), the storage bin (202) is arranged side by side with the body (802; 902) on a second vertical side of the body (802; 902). Wherein, the gripper (804; 904) includes a set of hooks (820) arranged adjacent to each other, and each of the hooks (821 - 823) has a gripping configuration associated with a corresponding type of storage bin (202).

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: opposite vertical sides of the body (802; 902), and adjacent vertical sides of the body (802; 902) extending orthogonally relative to each other.

3. The vehicle (210; 800) according to claim 1 or 2, Wherein, The gripper (804) is capable of telescopic extension beyond a first vertical side of the main body (802) and is capable of telescopic extension beyond a second vertical side of the main body (802), wherein the alternating mechanism (808) includes a sliding mechanism (808) configured to alternately slide the gripper (804) between telescopic extension beyond the first vertical side of the main body (802) and telescopic extension beyond the second vertical side of the main 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 gripper (904) between a rotational position where the gripper (904) extends beyond a first vertical side of the main body (902) and a rotational position where the gripper (904) extends beyond a second vertical side of the main body (902).

5. The vehicle (210; 800; 900) according to any one of claims 4, wherein, the alternating mechanism (908) includes an extension mechanism (909) configured to alternately move the gripper (904) between a retracted position and an extended position, wherein the gripper (904) is further from the main body (902) in the extended position than in the retracted position.

6. The vehicle (210; 800; 900) according to any one of claims 1 to 5, wherein, 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 a handover point of the warehouse system (300) once the storage box (202) is lifted and shifted along the top layer (206) towards the edge of the top layer (206).

7. The vehicle (900) according to claim 6 when dependent on claim 4, wherein, shifting the storage box (202) beyond the edge of the storage module (200) includes using the rotating mechanism (908) to rotate the gripper (904) to a rotational position where the gripper (904) extends beyond the edge of the storage module (200) while gripping the storage box (202).

8. The vehicle (210; 800; 900) according to any one of claims 1 to 7, further comprising: 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, preferably: each of the plurality of rollers (910) is configured to rotate about a vertical axis and change orientation relative to the main body (802), or each of the plurality of rollers (910) is a spherical roller and is configured to be driven in at least two directions.

9. The vehicle (210; 800; 900) according to claim 8, further comprising: a roller actuator (914) configured to rotate at least one of the plurality of rollers (910), wherein the roller actuator (914) is preferably further configured to rotate the at least one roller (910) by 90°.

10. The vehicle (210; 800; 900) according to any one of claims 1 to 9, wherein, each of the hooks (821 - 823) has a different height (H1 - H3) relative to the gripper (804; 904) or has a different coupling structure associated with the corresponding type of storage bin (202).

11. The vehicle (210; 800; 900) according to any one of claims 1 to 10, wherein, each of the hooks (821 - 823) is pivotally mounted to the gripper (804; 904) and biased towards the gripping position, and / or wherein the gripper (804; 904) includes a hook actuator (814) configured to move the set of hooks (820) at least from the gripping position to the open position, and / or a biasing element (816) that biases each of the hooks (821 - 823) towards the gripping position.

12. The vehicle (210; 800; 900) according to any one of claims 1 to 11, further comprising: a lifting mechanism (810, 812) configured to raise and lower the gripped storage bin (202).

13. The vehicle (210; 800; 900) according to claim 12, wherein, the lifting mechanism includes a lifting platform (810) and a retractable strap or wire (812) connecting the lifting platform (810) to the body (802).

14. A warehouse system (300) for providing space for a three - dimensional arrangement of storage bins (202), wherein, the warehouse system (300) includes a plurality of interconnected storage modules (200), wherein each storage module (200) includes a storage area (204) and a top layer (206) disposed above the storage area (204), wherein the storage area (204) is adapted to accommodate a plurality of stacks (208) of storage bins 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 13 can move in alignment with the two - dimensional grid to retrieve storage bins (202) from the plurality of stacks (208) and place storage bins onto the plurality of stacks, and wherein the plurality of interconnected storage modules (200) includes at least two layers of storage modules (200) placed one above the other in separate rooms.

15. A prefabricated and mutually connectable storage module (200) for use when assembling a warehouse system (300), the warehouse system providing space for a three-dimensional arrangement of storage bins (202). Wherein, the warehouse system (300) will be assembled from a plurality of prefabricated and mutually connectable storage modules (200) of the type belonging to the prefabricated and mutually connectable storage module (200), the storage module (200) including 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 bins (202) arranged in a horizontal two-dimensional grid at the bottom of the storage module (200), and wherein the top layer (206) is adapted to allow at least one vehicle (210; 800; 900) according to one of claims 1 to 13 to move in alignment with the two-dimensional grid at the top layer (206) to retrieve storage bins (202) from the plurality of stacks (208) and place storage bins onto the plurality of stacks, and wherein the storage module (200) is further adapted to be placed above another storage module (200) of the same type such that when the warehouse system (300) is assembled from the plurality of prefabricated and mutually connectable storage modules (200), at least two layers of storage modules (200) can be formed by placing the storage modules (200) on top of each other in a separate room.

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