Device and method for inserting storage container into automated storage and retrieval system

Abstract

An apparatus (614) for batch insertion of storage containers (106) into an automated storage and retrieval system (104) and a method thereof are disclosed. A container insertion device (614) is provided with a conveyor (603) for transporting storage containers (106) and with a container preparation area (602) provided with a label attachment device (304), an ID scanner (605) and a size scanning device (606). The device is also provided with a platform (607) extending into a storage column (105) of the automated storage and retrieval system (104) to allow insertion of the storage containers (106).

Description

Technical Field

[0001] The present invention relates to an automated storage and retrieval system for storing and retrieving containers, and more particularly, to an apparatus for automatically inserting storage containers into the storage and retrieval system in batches. Background Art

[0002] FIG. 1 discloses a prior art automated storage and retrieval system 1 having a frame structure 100, and FIGS. 2, 3, and 4 disclose three different prior art container handling vehicles 201, 301, 401 adapted to operate on the system 1.

[0003] The frame structure 100 includes upright members 102 and a storage volume that includes storage rows 105 arranged in rows between the upright members 102. In these storage rows 105, storage containers 106 (also referred to as bins) are stacked one on top of the other to form stacks 107. The members 102 can typically be made of metal (such as extruded aluminum profiles).

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a guide rail system 108 disposed across the top of the frame structure 100 on which a plurality of container handling vehicles 201, 301, 401 can operate to lift storage containers 106 from the storage rows 105 and lower the storage containers 106 into the storage rows, and also to transport the storage containers 106 above the storage rows 105. The guide rail system 108 includes a first set of parallel guide rails 110 and a second set of parallel guide rails 111, wherein the first set of parallel guide rails is arranged to guide the container handling vehicles 201, 301, 401 across the top of the frame structure 100 in a first direction X, and the second set of parallel guide rails is arranged perpendicular to the first set of guide rails 110 to guide the container handling vehicles 201, 301, 401 in a second direction Y perpendicular to the first direction X. The containers 106 stored in the rows 105 are accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the guide rail system 108. The container handling vehicles 201, 301, 401 can move laterally above the storage rows 105, i.e., laterally in a plane parallel to the horizontal X-Y plane.

[0005] The upright members 102 of the frame structure 100 can be used to guide the containers during lifting the storage containers from the rows 105 and lowering the storage containers into the rows. The stacks 107 of the containers 106 are typically self-supporting.

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

[0007] Each of the prior art container handling vehicles 201, 301, 401 also includes a lifting device for vertically transporting the storage container 106, such as lifting the storage container 106 from the storage row 105 and lowering the storage container 106 into the storage row. The lifting device includes one or more clamping / engaging devices adapted to engage the storage container 106, and the clamping / engaging device can be lowered from the vehicles 201, 301, 401 so that the position of the clamping / engaging device relative to the vehicles 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. Parts of the clamping devices of the container handling vehicles 301, 401 are shown in FIGS. 3 and 4 and are denoted by reference numerals 304, 404. In FIG. 2, the clamping device of the container handling device 201 is located within the vehicle body 201a and is thus not shown.

[0008] Conventionally and for the purposes of the present application, Z = 1 identifies the uppermost layer for storing containers below the guide rails 110, 111, i.e., the layer immediately below the guide rail system 108, Z = 2 identifies the second layer below the guide rail system 108, Z = 3 identifies the third layer, etc. In the exemplary prior art disclosed in FIG. 1, Z = 8 identifies the lowermost bottom layer of the storage container. Similarly, X = 1...n and Y = 1...n identify the positions of each storage row 105 in the horizontal plane. Thus, by way of example and using the Cartesian coordinate system X, Y, Z shown in FIG. 1, it can be said that the storage container identified as 106' in FIG. 1 occupies the storage position of X = 17, Y = 1, Z = 6. It can be said that the container handling vehicles 201, 301, 401 travel in the layer of Z = 0, and each storage row 105 can be identified by its X coordinate and Y coordinate. Thus, the storage containers extending above the guide rail system 108 shown in FIG. 1 are also said to be arranged in the layer of Z = 0.

[0009] The storage volume part of the frame structure 100 is generally referred to as the grid 104, wherein the possible storage positions within the grid are called storage units. Each storage column can be identified by positions in the X and Y directions, and each storage unit can be identified by a container number in the X, Y, and Z directions.

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

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

[0012] The occupied area of the cavity-type container handling vehicle 201 shown in FIG. 2 can cover an area that is approximately equal in size in the X and Y directions to the lateral extent of the storage column 105, as described, for example, in WO2015 / 193278A1, the content of which is incorporated herein by reference. The term "lateral" used herein can mean "horizontal".

[0013] Alternatively, the occupied area of the cavity-type container handling vehicle 401 can be larger than the lateral area defined by the storage column 105, as shown in FIGS. 1 and 4 and disclosed, for example, in WO2014 / 090684A1 or WO2019 / 206487A1.

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

[0015] WO2018 / 146304 (the content of which is incorporated herein by reference) shows a typical structure of a guide rail system 108, which includes guide rails and parallel tracks in both the X and Y directions.

[0016] In the frame structure 100, most of the columns 105 are storage columns 105, that is, the columns 105 where the storage containers 106 are stored in the form of stacks 107. Figure 5 shows the horizontal height of the lowermost side of a plurality of storage columns, where the containers 106 are arranged at the lowermost side position adjacent to the floor of the site, for example.

[0017] As can be seen from Figure 5, the storage column 105 is defined by four upright members 102. Guide profiles 103 are arranged on the upright members 102 to hold the containers within the boundaries of the storage column 105 and guide the containers when the containers 106 are lifted or lowered by a container handling vehicle. The guide profile 103 is composed of two faces 103a arranged at 90 degrees and is positioned to hold the corners of the container 106. As further shown in Figure 5, the frame structure can be surrounded by a wall 111, and the storage column 105 adjacent to the wall 111 is shown in this figure.

[0018] In addition to the storage columns 105, there can also be columns with other purposes in the frame. In Figure 1, the columns 119 and 120 are such dedicated columns used by the container handling vehicles 201, 301, 401 to unload and / or pick up the storage containers 106, so that the storage containers can be transported to an access station (not shown), where the storage containers 106 can be accessed from the outside of the frame structure 100, or the storage containers can be moved in or out of the frame structure 100. In the art, such positions are generally referred to as "ports", and the columns where the ports are located can be called "port columns" 119, 120. The transportation to the access station can be carried out in any direction (i.e., horizontal direction, inclined direction, and / or vertical direction). For example, the storage container 106 can be placed in a random or dedicated column 105 within the frame structure 100, and then the storage container can be picked up by any container handling vehicle and transported to the port columns 119, 120 for further transportation to the access station. The transportation from the port to the access station may need to move along various different directions by means such as a delivery vehicle, a trolley, or other transportation lines. Note that the term "inclined" means the transportation of the storage container 106 with a general transportation orientation in a direction between horizontal and vertical.

[0019] In FIG. 1, the first port column 119 can be, for example, a dedicated offloading port column where container handling vehicles 201, 301, 401 can offload storage containers 106 to be transported to the access station or transfer station, and the second port column 120 can be a dedicated pickup port column where container handling vehicles 201, 301, 401 can pick up storage containers 106 that have been transported from the access station or transfer station.

[0020] The access station can generally be a pickup station or a stocking station where product items are removed from or located in the storage container 106. In the pickup station or stocking station, the storage container 106 is generally not removed from the automated storage and retrieval system 1 but is returned to the frame structure 100 again after access. The ports can also be used to transfer the storage container to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or a truck), or to a production facility.

[0021] A conveyor system including conveyors is generally used to transport the storage containers between the port columns 119, 120 and the access station.

[0022] If the port columns 119, 120 and the access station are at different elevations, the conveyor system can include a lifting device having vertical components for vertically transporting the storage container 106 between the port columns 119, 120 and the access station.

[0023] The conveyor system can be arranged to transfer the storage container 106 between different frame structures, as described, for example, in WO2014 / 075937A1, the content of which is incorporated herein by reference.

[0024] When accessing a storage container 106 stored in one of the multiple columns 105 disclosed in FIG. 1, one of the multiple container handling vehicles 201, 301, 401 is instructed to retrieve the target storage container from the location of the target storage container 106 and transport the target storage container to the unloading port column 119. This operation involves: moving the container handling vehicles 201, 301, 401 to a position above the storage column 105 where the target storage container 106 is located; using a lifting device (not shown) of the container handling vehicles 201, 301, 401 to retrieve the storage container 106 from the storage column 105; and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, this operation also involves: temporarily moving the storage containers located above before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to in the art as "digging") can be performed using the same container handling vehicle that will subsequently be used to transport the target storage container to the unloading port column 119, or using one or more other collaborative container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have container handling vehicles 201, 301, 401 dedicated to the task of temporarily removing storage containers 106 from the storage column 105. After the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container 106 can be repositioned back into the original storage column 105. However, the removed storage container 106 can alternatively be repositioned into other storage columns 105.

[0025] When a storage container 106 is to be stored in a column 105, one of the container handling vehicles 201, 301, 401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport the storage container to a position above the storage column 105 where the storage container is to be stored. After removing any storage containers 106 located at or above the target position within the stack 107, the container handling vehicles 201, 301, 401 position the storage container 106 at the desired location. The removed storage containers 106 can then be lowered back into the storage column 105 or repositioned into other storage columns 105.

[0026] In order to monitor and control an automated storage and retrieval system 1, such as monitoring and controlling the position of each storage container 106 within a frame structure 100, the contents of each storage container 106, and the movement of container handling vehicles 201, 301, 401, such that the required storage container 106 can be delivered to the required position at the required time without the container handling vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0027] Insert the storage container into the system

[0028] The automated storage and retrieval system 1 typically includes thousands of storage containers 106. When initially built at a certain location, these thousands of storage containers must be inserted into the system in batches. Similarly, if an existing system needs to be expanded, many additional containers need to be inserted into the system in a large-scale operation. As can be understood, this batch insertion of storage containers (alternatively referred to as "bins") is difficult and time-consuming.

[0029] Currently, each of these storage containers is manually inserted through the port columns 119, 120 of the automated storage and retrieval system, and these storage containers are picked up by the container handling vehicles 201, 301, 401 from the port columns and transported to storage locations within the frame structure. The storage containers are batch transported by staff from a storage area dedicated to storing these containers and manually inserted one by one into the frame structure via a dedicated access station. Before insertion, the storage containers need to be labeled, scanned, and tested to ensure that the dimensions of the containers are within a certain tolerance range.

[0030] Since the operation of manually inserting containers takes a large amount of time, one or more access stations for the insertion of containers / bins will be occupied and unable to be used for their intended purposes.

[0031] Therefore, an automated insertion solution is needed that makes the insertion of storage containers simpler and avoids occupying the access stations, so that the access stations can be free to perform their normal operations. SUMMARY OF THE INVENTION

[0032] The present invention relates to an apparatus and method for automatically inserting storage containers into an automated storage and retrieval system.

[0033] In one aspect of the present invention, the automated storage and retrieval system has a lateral opening, door or cutout at or near the floor of the location where the automated storage and retrieval system is installed, in the wall of the frame structure surrounding the storage and retrieval system. The opening provides access to storage columns disposed at the periphery of the frame structure and adjacent to the wall. In the case where there is no wall surrounding the frame structure, a plurality of storage columns are exposed at the periphery of the frame structure.

[0034] The storage container insertion device of the present invention (hereinafter referred to as "container insertion device" or "insertion device") can be transported to the opening, for example, by rolling using wheels, thereby allowing the container to be inserted into the automated storage and retrieval system through the exposed storage columns without occupying the port columns at the access station for temporary container insertion. This allows container insertion to be performed while the automated storage and retrieval system is in operation without occupying the access station.

[0035] In one aspect of the present invention, the insertion device includes a conveyor for transporting the container to be inserted from the rear portion of the device to the front portion of the device. As the container is transported along the conveyor, the container encounters one or more automated container preparation devices for performing tasks related to preparing the container for insertion into the system, such as one or more of a label adhesion device, a scanner, a camera, and / or other devices for measuring the dimensions of the container. In one aspect, the container preparation devices are mounted in or on a compartment having a through-channel with an inlet and an outlet through which the conveyor transports the container. However, these devices can be suspended above or to the side of the conveyor by supports or other means.

[0036] The insertion device is further provided with an exit platform that extends outwardly from the device and is arranged to be laterally inserted into the storage columns exposed through the opening in the wall. The lateral dimension of the platform is substantially the same as the lateral dimension of the storage container so that the container can be placed on the platform inside the storage column. In use, the storage container is transported by the conveyor through the insertion device, past a plurality of automated container preparation devices, and transported to be placed on the exit platform inside the storage column, where the container waits for the container handling vehicle to lower its gripping device into the storage column to pick it up. As should be understood, the insertion operation will thus greatly reduce the interference with the throughput of the system that occurs when one or more of the few access stations are switched from their normal functions to perform the task of container insertion. After the container insertion operation is completed, the device can be removed and the storage column can be made available for normal storage of containers.

[0037] As described above in the Background section, the storage columns of prior art automated storage and retrieval systems are defined by four upright members. These upright members typically include guiding profiles that help keep the corners of the container within the boundaries of the storage column. As a result, these guiding profiles prevent the lateral insertion of the storage container or the platform of the insertion device into the storage column. Accordingly, another aspect of the present invention provides means for laterally inserting a container into the storage column.

[0038] In one aspect, the means for laterally inserting a storage container can be to provide lateral openings in the guiding profiles of two upright members adjacent to an opening in the wall. For example, a portion of the face of the guiding profile located between the opening in the wall and the storage column can be cut away, the height of the cut away being at least as great as the height of the container. Thus, the platform of the insertion device and the container can be inserted into the storage column through the lateral openings in the guiding profiles. An alternative is to provide a movable section in the face of the guiding profile located between the opening in the wall and the storage column, whereby the movable section can be pushed to one side to allow the lateral insertion of the container. Examples of such movable sections include a slidable section that can slide up or down or a hinged section that can be pushed in or pulled out. In one example, the movable section can include a spring-loaded hinged section such that when the platform of the insertion device is inserted into the storage column, the platform pushes these sections inwards against the force exerted by the spring, thereby allowing the platform and the container to enter the storage column laterally. When the platform is removed, the spring causes these sections to spring back into place, at which point their guiding profile function can be restored.

[0039] The storage container to be inserted into the automated storage and retrieval system is carried by a conveyor that transfers the storage container towards a compartment of a container preparation device. At this compartment, a plurality of container preparation devices prepare the container for insertion. For example, a labeling device attaches a label / identification placard to the storage container. The label is scanned by a scanner or otherwise recorded, and information associated with the container is input into the control system of the storage and retrieval system. A scanner or other device measures the dimensions of the container to ensure that the container meets predetermined dimensional limits. The device can also include a camera for recording an image of the storage container.

[0040] After the container has passed through the plurality of container preparation devices and has been confirmed to be ready for insertion into the storage system, the storage container is transferred by the conveyor and placed on an exit platform within the storage column.

[0041] The control system then instructs the container handling vehicle that the storage container is ready to be picked up from the storage column.

[0042] According to one aspect, the present invention relates to a container insertion device for laterally inserting a storage container through a storage column of an automated storage and retrieval system into the system, the device comprising:

[0043] - A transporter arranged to transport a storage container from the rear part of the insertion device to the front part of the container insertion device;

[0044] - An exit platform or support extending from the front part of the container insertion device, the platform or support being arranged to receive and support a container to be inserted into the storage and retrieval system, wherein the platform or support is dimensioned such that it can be laterally inserted into a storage row and thus support the storage container within the storage row for retrieval by a container handling vehicle of the automated storage and retrieval system; and

[0045] - One or more of the following devices: a label attaching device for attaching an identification label to the container, an ID scanning device for scanning the identification label, and / or a dimension scanning device configured to measure the physical dimensions of the container, one or more of these devices being in electrical communication with the control system of the storage and retrieval system.

[0046] According to another aspect, the present invention relates to an automated storage and retrieval system comprising a frame structure forming a storage grid, the frame structure comprising:

[0047] - A guide rail system arranged at an upper horizontal level of the frame structure, the guide rail system comprising a first set of parallel guide rails arranged in a horizontal plane (P) and extending in a first direction (X) and a second set of parallel guide rails arranged in the horizontal plane (P) and extending in a second direction (Y) orthogonal to the first direction (X), the first set of guide rails and the second set of guide rails forming a grid pattern including a plurality of adjacent grid cells in the horizontal plane (P), and the storage grid defining a plurality of columns serving as storage rows, each storage row being arranged to store a corresponding stack of storage containers, wherein the storage rows are located below the guide rail system and wherein each storage row is vertically below a corresponding grid cell;

[0048] - A plurality of container handling vehicles running on the guide rail system (108) for storing storage containers into and retrieving storage containers from the storage rows;

[0049] - A control system configured to interact with the components of the system and send instructions to the plurality of container handling vehicles;

[0050] Wherein the automated storage and retrieval system comprises:

[0051] - An exposed storage row located at the periphery of the frame structure of the automated storage and retrieval system, the exposed storage row having a lateral opening allowing a storage container to be laterally inserted into the storage row; and - the device as described above arranged to insert a storage container through the lateral opening into the storage row for subsequent retrieval by a container handling vehicle.

[0052] According to another aspect, the present invention relates to a method for inserting a storage container into an automated storage and retrieval system, the method comprising the steps of:

[0053] - exposing a storage column located at the periphery of the framework structure of the automated storage and retrieval system,

[0054] - providing a lateral opening in the storage column, the lateral opening being dimensioned to permit the lateral insertion of the storage container into the storage column,

[0055] - providing a container insertion device as described above,

[0056] - inserting the platform of the insertion device through the lateral opening in the storage column and causing the platform to extend into the storage column;

[0057] - placing the storage containers one by one on a conveyor at the rear portion of the container insertion device,

[0058] - starting the conveyor and transporting a plurality of storage containers downstream in sequence through the device,

[0059] - attaching an identification label to the storage container,

[0060] - transmitting the identification information contained in the label to a control system,

[0061] - measuring the physical dimensions of the storage container using a dimension scanning device and comparing the dimensions with a predetermined measurement tolerance,

[0062] - transporting the storage container along the conveyor until the container is placed on the platform within the storage column; and

[0063] - sending an instruction to a container handling vehicle of the automated storage and retrieval system to pick up the storage container placed on the storage column from the platform,

[0064] - transporting subsequent containers in sequence to the platform for removal by the container handling vehicle. Description of the Drawings

[0065] The accompanying drawings are provided to facilitate understanding of the present invention. The drawings illustrate embodiments of the present invention, which will now be described by way of example only, in which:

[0066] Figure 1 is a perspective view of the framework structure of an automated storage and retrieval system of the prior art.

[0067] Figure 2 is a perspective view of a container handling vehicle of the prior art, the container handling vehicle having an internally arranged cavity for carrying a storage container therein.

[0068] FIG. 3 is a perspective view of a container handling vehicle of the prior art, which has a cantilever for carrying a storage container therebelow.

[0069] FIG. 4 is a perspective view of a container handling vehicle of the prior art as viewed from below, which has an internally disposed cavity for carrying a storage container therein.

[0070] FIG. 5 is a perspective view of a storage column, which shows upright members having guiding profiles.

[0071] Figure 6 is a perspective view of an automated storage and retrieval system, in which an opening is provided in a lower portion of a wall surrounding a frame structure to expose the storage column.

[0072] Figure 7 depicts an embodiment of a container insertion device that rolls to be adjacent to Figure 6 an opening in a wall of the

[0073] Figure 8 is a sectional perspective view of an embodiment of a container insertion device.

[0074] Figure 9 shows a storage container being inspected for dimensions and scanned by a scanner before being inserted into a storage column of an automated storage and retrieval system.

[0075] Figure 10 depicts a storage container placed on an exit platform of the device and located in a storage column.

[0076] Figure 11 shows a storage container placed on an exit platform of a container insertion device located within a storage column and waiting to be picked up by a container handling vehicle of a storage system.

[0077] Figure 12A and Figure 12B show Figure 6 an empty storage column adjacent to an opening in a wall of the Figure 12A showing different embodiments of openings in the guiding profile that allow containers to be inserted laterally into the storage column. Figure 12B shows a removal section of a face of the guiding profile, while DETAILED DESCRIPTION

[0078] Hereinafter, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted therein.

[0079] The frame structure 100 of the automated storage and retrieval system 1 is constructed in a manner similar to the frame structure 100 of the prior art described above in connection with FIGS. 1 to 5. In other words, the frame structure 100 surrounded by the walls 111 includes a plurality of upright members 102 and includes a first upper rail system 108 extending in the X and Y directions.

[0080] The frame structure 100 further includes storage compartments in the form of storage columns 105 disposed between the members 102, wherein storage containers 106 can be stacked in the storage columns 105 in the form of stacks 107.

[0081] The frame structure 100 can have any size. Specifically, it should be understood that the frame structure can be wider and / or longer and / or deeper than the frame structure disclosed in FIG. 1. For example, the frame structure 100 can have a horizontal extent greater than 700x700 columns and a storage depth of more than twelve containers.

[0082] Now reference will be made Figure 6 to FIGS. 12 to discuss in more detail aspects of the apparatus and method for inserting a container into an automated storage and retrieval system according to the present invention.

[0083] Throughout the description, the storage container 106 can alternatively be referred to as a bin. In addition, the container insertion device, the bin insertion device, and the insertion device can be used interchangeably.

[0084] Figure 6 is a perspective view of the automated storage and retrieval system 1. The frame structure of the automated storage and retrieval system is surrounded by walls 111. Although Figure 6 the walls 111 are depicted, it should be understood that the automated storage and retrieval system can include a frame structure not surrounded by walls. According to one aspect of the present invention, an opening 501 is formed in the wall 111 to expose the storage column 105. Obviously, if there is no wall surrounding the frame, the opening 501 is not required. The opening 501 provides a lateral passage to the storage column 105 adjacent to the wall of the frame structure, and preferably, the opening is located at or near the horizontal height of the lowermost side of the storage column 105. Figure 6 A single opening 501 is shown; however, it should be understood that according to the present invention, a plurality of openings 501 can be provided. The storage column 105 exposed through the opening 501 preferably does not have containers. The opening 501 can be a simple opening as depicted in the figure, or can have a door or plate that can be selectively opened or closed.

[0085] Figure 7 depicts an embodiment of the container insertion device 600 of the present invention, which container insertion device is associated with Figure 6The opening 501 in the wall 111 is positioned adjacent to (and covers) the opening. According to one aspect, the container insertion device 600 is a transferable device. According to one aspect, the container insertion device 600 includes wheels 611 to allow the container insertion device to roll along the floor 613 of the site where the automated storage and retrieval system is installed to the opening 501.

[0086] The container insertion device 600 includes a conveyor 603 arranged to transport the container 106 to be inserted into the storage and retrieval system from the rear portion 614 of the insertion device to the front portion 615 of the insertion device. In one embodiment, the device includes a compartment 601 having a through-channel 602. The through-channel 602 has an inlet 608 and an outlet 609. In this embodiment, the conveyor 603 is arranged to transport the storage container 106 longitudinally through the channel 602. The conveyor 603 is preferably an automated conveyor belt controlled by the control system 500 of the automated storage and retrieval system.

[0087] The container insertion device 600 further includes one or more container preparation devices for automatically performing the functions required to prepare the container for insertion into the storage and retrieval system. Examples of such container preparation devices include a labeling device 604 configured to automatically attach a label 604a to the container. The label (which may include a QR code or other machine-readable code) contains identification information of the container. In one aspect, the labeling device 604 automatically transmits information about the label to the control system 500 of the storage and retrieval system. Additionally or alternatively, the insertion device 600 may include an ID scanner 605 arranged to scan the label 604a and transmit the identification information of the container to the control system 500. Such an ID scanner may scan the label 604a attached by the labeling device 604 or may be used in cases where the container is pre-labeled with an identification label. The container preparation device may also include a dimension scanning device 606 for measuring the dimensions of the container, such as a camera, a laser scanner, or other such devices. The scanning device 606 is used to measure the physical dimensions of the container to confirm that its dimensions are within a predetermined tolerance range before the container is inserted. In one embodiment, the container preparation devices are mounted in or on the compartment 601 as shown, however, it should be understood that these devices may be supported above or on the side of the conveyor 603 by other means.

[0088] As Figures 8 to 11As shown, the container insertion device 600 further includes an exit platform or support 607 that extends longitudinally beyond the front portion 615 of the device. For example, in an embodiment including the compartment 601, the exit platform or support extends longitudinally beyond the exit 609. The platform 607 is sized such that the platform can be inserted into the storage row 105 and provides a resting position / support for the container 106 that has left the front portion 615 of the device / compartment 601 and is waiting to be removed by the container handling vehicle of the system. The platform or support 607 is shown as a platform with a flat surface, but those skilled in the art will understand that the term "platform" in this context encompasses other structures that perform the same function, such as support rails, etc.

[0089] As shown in FIG. 5, the storage rows in an automated storage and retrieval system are typically defined by four upright members including corner guide profiles 103. Such guide profiles keep the storage containers within the boundaries of the storage row and thus prevent the exit platform 607 of the insertion device from being inserted laterally and / or prevent the device from laterally inserting the storage containers. Therefore, according to one aspect of the present invention, a lateral opening 617 is formed in the guide profile to allow such lateral insertion. Figure 12A In one embodiment shown, the lateral opening 617 in the guide profile includes a removed section of the guide profile surface 103a on the guide profile that is located between the opening 501 and the storage row 105. Figure 12B In the embodiment shown, the lateral opening 617 in the guide profile member includes a hinged section 619 located in the guide profile surface 103a. These hinged sections are arranged to be pushed aside by the platform 607 and / or the container 106, thereby allowing lateral entry into the storage row. In one aspect, the hinged section 619 can be spring-loaded such that when the platform 607 is removed, the hinged section springs back to its original position.

[0090] Referring Figure 6 to FIG. 12, the sequence of steps of a method for inserting a container into a storage and retrieval system using the device of the present invention will be described.

[0091] First, in the presence of a wall 111 surrounding the frame of the automated storage and retrieval system, an opening 501 is provided in the wall to expose the storage row 105.

[0092] The storage row 105 is modified, i.e., by providing a lateral opening 617 as shown in Figure 12A and / or Figure 12B to allow the lateral insertion of storage containers.

[0093] The container insertion device 600 as described above is transported to the opening 501, for example, by rolling the container insertion device along the floor of the site by wheels and placing it next to the opening, where the exit platform 607 of the device is inserted into the exposed storage row 105.

[0094] As Figure 7 shown, the rear portion 614 of the container insertion device places the storage container 106 to be inserted into the storage column 106 of the automated storage and retrieval system on the conveyor 603. Then, the storage container 106 is transported towards the container preparation device by the conveyor 603. In one aspect, the conveyor 603 is configured to transport a plurality of storage containers 106 one by one.

[0095] Figure 8 Illustrated is the preparation of the storage container 106 to be inserted into the storage column of the automated storage and retrieval system. In the exemplary embodiment shown here, the storage container 106 passes through the compartment 602 including the container preparation device. However, instead of the compartment 602, the container preparation device may also be mounted on the support as described above.

[0096] The container preparation device then performs a plurality of automated tasks to prepare the container for insertion into the storage and retrieval system. For example, the labeling device 604 may attach an identification placard or label 604a to the storage container 106, as Figure 8 shown. The identification placard may also be a barcode, QR code, engraved pattern, or other form of machine-readable information.

[0097] The identification information of the container is transmitted to the control system 500 of the storage and retrieval system. Such information may be transmitted by the labeling device 604, or the identification information may be scanned by the scanning device 605 and transmitted. In the case where the container is pre-labeled, the scanning device 605 will perform the same function.

[0098] Figure 9 Illustrated is the storage container being inspected for size and scanned by the size scanning device 606 before being inserted into the storage column of the automated storage and retrieval system. The size scanning device 606 may be a camera or other type of scanner, such as a laser scanning device. The measured size is compared with a predetermined tolerance. If the size is within the acceptable tolerance range, the container is allowed to be inserted; if the size is outside the tolerance range, the container insertion is rejected and a warning light or other signal may be issued, for example, indicating that the container may need to be removed from the device. The camera 606 may also record an image of the container for various archival or other purposes.

[0099] Figure 10 Depicted is the storage container leaving the container preparation area and moving towards the exit platform 607 inside the storage column. In one aspect, the size of the platform 607 is substantially equal to or less than the size of the grid cell occupying the storage column, where the platform has pushed the articulated section 619 in FIG. 12 to one side or has otherwise passed through the lateral opening 617.

[0100] As Figure 10 shown, the storage container 106 allowed to be inserted arrives on the platform 607 and is placed within the storage row 105, awaiting pickup by the container handling vehicle, which is instructed by the control unit 500 to pick up the storage container 106.

[0101] Figure 11 A close-up view of the storage row 105 is shown, where the storage container is placed on the platform of the container insertion device 600, awaiting pickup by the container handling vehicles 201, 301, 401 of the storage system by means of their gripping and lifting devices.

[0102] In addition, for each storage container 106 to be inserted into the automated storage and retrieval system 1, the above sequence of steps is repeated. After all the storage containers 106 have been inserted into the system, the control system may receive or send an instruction indicating completion of the container insertion process. Then the container insertion device 600 can be removed from the storage row 105. Then, the storage row 105 can be used as a normal storage row 105 to store the storage containers 106.

[0103] In the foregoing description, various aspects of the delivery vehicle and the automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. For purposes of illustration, specific numbers, systems, and configurations have been set forth to provide a thorough understanding of the system and its operating principles. However, the description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, which are obvious to those skilled in the art to which the disclosed subject matter pertains, are considered to fall within the scope of the present invention.

[0104] List of Reference Numerals

[0105] Prior Art (Figs. 1 to 4):

[0106] 1 Automated storage and retrieval system of the prior art

[0107] 100 Frame structure

[0108] 102 Upright member of the frame structure

[0109] 104 Storage grid

[0110] 103 Guide profile

[0111] 103a Guide profile surface

[0112] 105 Storage row

[0113] 106 Storage container

[0114] 106’ Specific position of the storage container

[0115] 107 Stacking

[0116] 108 Guide rail system

[0117] 110 Parallel guide rails in the first direction (X)

[0118] 111 Wall

[0119] 112 Access opening

[0120] 119 First port column

[0121] 120 Second port column

[0122] 201 Prior art container handling vehicle

[0123] 201a Body of container handling vehicle 201

[0124] 201b Driving device / wheel arrangement / first set of wheels in the first direction (X)

[0125] 201c Driving device / wheel arrangement / second set of wheels in the second direction (Y)

[0126] 301 Prior art cantilever container handling vehicle

[0127] 301a Body of container handling vehicle 301

[0128] 301b Driving device / first set of wheels in the first direction (X) 301c Driving device / second set of wheels in the second direction (Y) 304 Gripping device

[0129] 401 Prior art container handling vehicle

[0130] 401a Body of container handling vehicle 401

[0131] 401b Driving device / first set of wheels in the first direction (X) 401c Driving device / second set of wheels in the second direction (Y) 404 Gripping device

[0132] 404a Lifting belt

[0133] 404b Gripping member

[0134] 404c Guide pin

[0135] 404d Lifting frame

[0136] 500 Control system

[0137] X First direction

[0138] Y Second Direction

[0139] Z Third Direction

[0140] 600 Boxes / Storage Container Insertion Device

[0141] 601 Compartment

[0142] 602 Passage / Storage Container Handling Area

[0143] 603 Conveyor

[0144] 604 Labeling Device

[0145] 604a Label

[0146] 605 ID Scanner

[0147] 606 Dimension Scanning Device

[0148] 607 Platform

[0149] 608 Entrance

[0150] 609 Exit

[0151] 610 ID Sign

[0152] 611 Wheel

[0153] 613 Floor

[0154] 614 Rear Part

[0155] 615 Front Part

[0156] 617 Lateral Opening in the Guide Profile

[0157] 619 Hinged Section

Claims

1. A container insertion device (600) for laterally inserting a storage container (106) through a storage column (105) of an automated storage and retrieval system (1) into the system, the device comprises: - a conveyor (603) arranged to transport a storage container (106) from a rear portion (614) of the insertion device to a front portion (615) of the container insertion device; - an exit platform or support (607) extending from the front portion (615) of the container insertion device (600), the platform or support being arranged to receive and support a container (106) to be inserted into the storage and retrieval system, wherein the platform or support is dimensioned such that the platform or support can be laterally inserted into the storage column (105) and thus support the storage container (106) within the storage column (105) for retrieval by a container handling vehicle (201, 301, 401) of the system; and - one or more of the following devices: a label attaching device (104) for attaching an identification label (604a) to the container, an ID scanning device (605) for scanning the identification label, and / or a dimension scanning device (606) configured to measure a physical dimension of the container, one or more of these devices being in electrical communication with a control system (500) of the storage and retrieval system.

2. The device (600) according to claim 1, wherein, the container insertion device further comprises a compartment (601) having a through-channel (602) for the storage container (106) and having an inlet (608) and an outlet (609), wherein the compartment includes at least one of the label attaching device (604), the ID scanner (605), and / or the dimension scanning device (606).

3. The device (600) according to one of the preceding claims, wherein, the exit platform (607) of the device is arranged to be inserted through a lateral opening (617) in the storage column (105), the lateral opening being dimensioned such that a storage container can be laterally inserted.

4. The device (600) according to one of the preceding claims, wherein, the device further comprises a set of wheels (611) mounted on a lower side of the device.

5. The device (600) according to one of the preceding claims, wherein, the identification label (604a) is at least one of the following: a barcode, a QR code, an engraved pattern on the storage container, or any machine-readable code readable by a scanner (606).

6. The device (600), wherein, the dimension scanning device (606) of the device is a camera or a laser scanning device.

7. The device (600) according to one of the preceding claims, wherein, the platform (607) has a lateral dimension substantially the same as that of the storage container (106).

8. The device (600) according to one of the preceding claims, wherein, The platform (607) is configured to laterally slide into the storage column (105) by pressing a movable section (619) of the corner guide profile (103) to one side, the corner guide profile being arranged on a vertical member (102) defining the storage column (105).

9. An automated storage and retrieval system (1), comprising a frame structure (100) forming a storage grid (104), the frame structure (100) comprising: - a guide rail system (108), arranged at an upper horizontal height of the frame structure, the guide rail system comprising a first set of parallel guide rails (110) arranged in a horizontal plane (P) and extending in a first direction (X) and a second set of parallel guide rails (111) arranged in the horizontal plane (P) and extending in a second direction (Y) orthogonal to the first direction (X), the first set of guide rails and the second set of guide rails (110, 111) forming a grid pattern including a plurality of adjacent grid cells (112) in the horizontal plane (P), and the storage grid defining a plurality of columns (105) serving as storage columns, each of the storage columns being arranged for storing a stack (107) of corresponding storage containers (106), wherein the storage columns (105) are located below the guide rail system (108), and wherein each of the storage columns (105) is located vertically below a corresponding grid cell (112); - a plurality of container handling vehicles (201, 301, 401), running on the guide rail system (108) for storing storage containers (106) into and retrieving storage containers from the storage columns; - a control system, configured to interact with components of the system and send instructions to the plurality of container handling vehicles (201, 301, 401); characterized in that the automated storage and retrieval system (1) comprises: - an exposed storage column (105) located at the periphery of the frame structure (100) of the automated storage and retrieval system, the exposed storage column (105) having a lateral opening (617) allowing a storage container (106) to be laterally inserted into the storage column; and - a device (600) according to one of claims 1 to 8, the device being arranged to insert a storage container (106) through the lateral opening (617) into the storage column (105) for subsequent retrieval by a container handling vehicle.

10. The automated storage and retrieval system (1) according to claim 9, wherein, the storage column (105) is exposed due to the presence of an opening (501) in a wall (111) surrounding the frame structure (100).

11. The automated storage and retrieval system (1) according to claim 9 or 10, wherein, the lateral opening (617) comprises a removal section in a face (103a) of a corner guide profile (103) attached to a vertical member (102) defining the storage column (105).

12. The automated storage and retrieval system (1) according to claim 9 or 10, wherein, The lateral opening (617) includes a hinged section in a face (103a) of a corner guide profile (103) attached to a vertical member (102) defining the storage column (105).

13. A method for inserting a storage container (106) into an automated storage and retrieval system (1), the method comprising the steps of: - exposing a storage column (105) located at the periphery of the frame structure of the automated storage and retrieval system (1), - providing a lateral opening (617) in the storage column (105), the lateral opening being dimensioned to allow a storage container to be inserted laterally into the storage column, - providing a container insertion device according to any one of claims 1 to 8, - inserting the platform (607) of the insertion device (600) through the lateral opening (617) in the storage column (105) such that the platform (607) extends into the storage column (105), - placing storage containers (106) one by one on the conveyor (603) at the rear portion (614) of the container insertion device (600), - activating the conveyor (603) and transporting a plurality of the storage containers (106) downstream in succession through the device (600), - attaching an identification label (604a) to the storage container (106), - transmitting the identification information contained in the label to the control system (500), - measuring the physical dimensions of the storage container (106) using a dimensional scanning device (606) and comparing the dimensions with a predetermined measurement tolerance, - transporting the storage container (106) along the conveyor (603) until the container (106) is placed on the platform (607) within the storage column (105), and - sending an instruction to a container handling vehicle (201, 301, 401) of the automated storage and retrieval system to pick up the storage container (106) placed on the storage column (105) from the platform (607), - transporting subsequent containers in succession to the platform for removal by the container handling vehicle.

14. The method according to claim 13, wherein, the identification sign is: a bar code, a QR code, an engraved pattern on the storage container (106).

15. The method according to claim 13 or 14, wherein, the identification sign is automatically attached by a labeling device (604).

16. The method according to claim 13, 14 or 15, wherein, the step of providing the lateral opening (617) in the storage column (105) includes the steps of: removing a section in a face (103a) of a corner guide profile (103) attached to a vertical member (102) defining the storage column.

17. The method according to claim 13, 14, 15 or 16, wherein, The step of providing the lateral opening (617) in the storage row (105) includes the step of arranging a movable section in a face (103a) of a corner guide profile (103) attached to an upright member (102) defining the storage row.

18. The method according to claim 13, 14, 15, 16 or 17, wherein, the step of checking the physical dimensions of the storage container (106) includes checking at least one of the following: the height, width and depth of the storage container (106).

19. The method according to claim 13, 14, 15, 16, 17 or 18, wherein, sending an instruction to the container handling vehicle (201, 301, 401) is achieved by communication with the vehicle through a control system (500).

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