Automatic storage and retrieval system with large storage container

Abstract

The present invention relates to an automatic storage and retrieval system (1) comprising a frame structure (100) wherein the frame structure (100) comprises: an upright member (102); a first storage space comprising a first storage row (105) arranged between the upright members (102), in which a plurality of first storage containers (106) can be stacked in the form of a first stack (107) within the first storage row (105); and a second storage space comprising at least one second storage column (105A) arranged between the upright members (102), in which a plurality of second storage containers (106A) can be stacked in the form of a second stack (107A) within the at least one second storage column (105A). A rail system (108) is provided on top of the upright member (102). The container handling vehicle (301) is arranged to run on the track system (108). A container handling vehicle (301) is arranged to handle a first storage container (106) and a second storage container (106A). The footprint of each second storage container (106A) is larger than the footprint of the container handling vehicle (301).

Description

Technical Field

[0001] The present invention relates to an automated storage and retrieval system including a frame structure in which storage containers of different sizes can be stored. The present invention also relates to a storage container for an automated storage and retrieval system.

[0002] Background Art and Prior Art

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

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

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

[0006] 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 containers into the rows. The stacks 107 of the containers 106 are generally self-supporting.

[0007] 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, and these sets of wheels enable the container handling vehicles 201, 301, 401 to move laterally in the X direction and the Y direction respectively. In FIGS. 2, 3 and 4, two wheels in each set of wheels are fully visible. The first set of wheels 201b, 301b, 401b are arranged to engage with two adjacent tracks of the first set of tracks 110, and the second set of wheels 201c, 301c, 401c are arranged to engage with two adjacent tracks of the second set of tracks 111. At least one of these sets of 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 with the corresponding set of tracks 110, 111 at any time.

[0008] Each of the prior art container handling vehicles 201, 301, 401 further includes a lifting device for vertically transporting the storage container 106, such as raising 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 with the storage container 106, and the clamping / engaging device can be lowered from the vehicles 201, 301, 401 so that the position of the clamping / engaging device relative to the vehicles 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. Parts of the clamping devices of the container handling vehicles 301, 401 are shown in FIGS. 3 and 4 and are denoted by reference numerals 304, 404. In FIG. 2, the clamping device of the container handling device 201 is located within the vehicle body 201a and is therefore not shown.

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

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

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

[0012] FIG. 3 shows an alternative configuration of the container handling vehicle 301 with a cantilever construction. Such a vehicle is described in detail, for example, in NO317366, the content of which is also incorporated herein by reference.

[0013] The occupied area of the cavity-type container handling vehicle 201 shown in FIG. 2 can cover an area with dimensions in the X direction and the Y direction that are approximately equal 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”.

[0014] 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 as disclosed, for example, in WO2014 / 090684A1 or WO2019 / 206487A1.

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

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

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

[0018] 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 a storage 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 a storage or transfer station.

[0019] A storage station can generally be a pickup station or a stocking station where product items are removed from or positioned in storage containers 106. In a pickup or stocking station, storage containers 106 are generally not removed from the automated storage and retrieval system 1 but are returned to the frame structure 100 after access. Ports can also be used to transfer storage containers to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or a truck), or to a production facility.

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

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

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

[0023] 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, retrieving the storage container 106 from the storage column 105 using the lifting devices (not shown) of the container handling vehicles 201, 301, 401, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within a 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 overlying storage containers 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 removing the target storage container 106 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.

[0024] 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.

[0025] In order to monitor and control an automated storage and retrieval system 1, such as monitoring and controlling the positions of individual storage containers 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 transported 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.

[0026] WO2015197709 describes a robotic object handling system and a robotic payload handling device for operating thereon. The object handling system includes a plurality of robotic payload handling devices that can operate on a grid-like structure, which includes multiple sets of parallel guide rails arranged above a stack of bins. These bins contain inventory items to be picked up by the system. The payload handling devices, which can carry a load of multiple bins having a single grid spacing dimension or a single bin having multiple grid spacings, can operate on the grid and pick up and transport these bins under the control of a computerized order picking application.

[0027] An object of the present embodiment is to enable larger items to be stored in an automated storage and retrieval system in an efficient manner. Summary of the Invention

[0028] The present invention relates to an automated storage and retrieval system including a frame structure, wherein the frame structure includes:

[0029] - upright members;

[0030] - a first storage space, including a first storage row provided between the upright members, wherein a plurality of first storage containers can be stacked in a first stack within the first storage row;

[0031] - a second storage space, including at least one second storage row provided between the upright members, wherein a plurality of second storage containers can be stacked in a second stack within the at least one second storage row; and

[0032] - a track system provided on top of the upright members, wherein the automated storage and retrieval system includes container handling vehicles arranged to operate on the track system,

[0033] wherein,

[0034] - the container handling vehicles are arranged to handle the first storage containers and the second storage containers;

[0035] - the occupied area of each second storage container is larger than the occupied area of the container handling vehicle.

[0036] As used herein, the term "occupied area" refers to the length of the occupied area of the second storage container and the container handling vehicle, the width of the occupied area, and / or the area of the occupied area.

[0037] As used herein, the term "length" refers to the distance measured in the first direction or X-direction, and the term "width" refers to the distance measured in the second direction or Y-direction, the second direction being perpendicular to the first direction. Thus, the width of an article may be greater than the length of the article, and vice versa.

[0038] In one aspect, the container handling vehicle is arranged to handle one of a plurality of first storage containers by performing the following actions:

[0039] - Lower one of the plurality of first storage containers into one of the plurality of first storage columns;

[0040] - Lift one of the plurality of first storage containers out of one of the plurality of first storage columns; and / or

[0041] - Horizontally carry one of the plurality of first storage containers above the rail system.

[0042] In one aspect, the container handling vehicle is arranged to handle one of a plurality of second storage containers by performing the following actions:

[0043] - Lower one of the plurality of second storage containers into one of the plurality of second storage columns;

[0044] - Lift one of the plurality of second storage containers out of one of the plurality of second storage columns; and / or

[0045] - Horizontally carry one of the plurality of second storage containers above the rail system.

[0046] According to the above, one type of container handling vehicle can handle the first storage container and the second storage container.

[0047] In one aspect, the container handling vehicle includes a cantilever structure.

[0048] In one aspect, the cantilever structure defines the width of the container handling vehicle;

[0049] wherein the width of the second storage container is greater than the width of the container handling vehicle.

[0050] In one aspect, the width of the container handling vehicle is equal to the width of the cantilever structure.

[0051] Therefore, when being carried by the container handling vehicle, the second storage container protrudes from below the cantilever structure of the container handling vehicle.

[0052] In one aspect, the length of the second storage container is less than the length of the container handling vehicle.

[0053] In one aspect, the occupied area of the second storage container is larger than the occupied area of the container handling vehicle.

[0054] In one aspect, the occupied area of each first storage container is equal to or less than the occupied area of the container handling vehicle.

[0055] In one aspect, the width of the first storage container is equal to or less than the width of the container handling vehicle.

[0056] In one aspect, the length of the first storage container is equal to or less than the length of the container handling vehicle.

[0057] In one aspect, the occupied area of the first container and / or the occupied area of the second container is substantially rectangular.

[0058] In one aspect, the second storage row is defined by:

[0059] - Four upright members defining the corners of the second storage row;

[0060] Wherein, the frame structure includes intermediate upright members, and each intermediate upright member is disposed between two of the four upright members defining the corners of the second storage row;

[0061] Wherein, each intermediate upright member includes a guiding protrusion extending into the second storage row.

[0062] In one aspect, the frame structure includes two or four intermediate upright members. In one aspect, the paired intermediate upright members are positioned opposite to each other.

[0063] In one aspect, each intermediate upright member and its guiding protrusion are made as a single body different from the upright member. Alternatively, the guiding protrusion is mounted to the intermediate upright member.

[0064] In one aspect, the intermediate upright members define the corners of the first storage row adjacent to the second storage row.

[0065] In one aspect, the purpose of using two upright members of the second storage row together with two intermediate upright members is the same as that of the four upright members defining the first storage row, that is, to guide the clamping device of the container handling vehicle when it is lowered into or raised from the row.

[0066] In one aspect, the second storage container includes a first connection joint and a second connection joint.

[0067] In one aspect, the second storage container includes a third connection joint.

[0068] In one aspect, the plurality of connection joints are arranged adjacent to each other. In one aspect, one connection joint among the plurality of connection joints partially overlaps with another connection joint among the plurality of connection joints.

[0069] In one aspect, a single container handling vehicle is configured to engage with the first connection joint or the second connection joint, and wherein the second storage container is carried by a single container handling vehicle.

[0070] In one aspect, each of the first connection joint and the second connection joint includes a gripper interface and a guide pin interface. In one aspect, the guide pin interface is provided as four vertical recesses in a U - shape or a quarter - circle shape, and these vertical recesses are provided in the second storage container.

[0071] In one aspect, a container handling vehicle is configured to engage with the first connection joint of the second storage container, and wherein another container handling vehicle of the system is configured to engage with the second connection joint of the second storage container; wherein the container handling vehicle and the other container handling vehicle are configured to cooperate with each other during the handling of the second storage container.

[0072] In one aspect, the second storage container includes an upper stacking joint and a lower stacking joint, thereby allowing one second storage container among a plurality of second storage containers to be stacked above or below another second storage container among the plurality of second storage containers, whether within the second storage row or outside the frame structure.

[0073] In one aspect, the container handling vehicle and the other container handling vehicle each include:

[0074] - A gripping device, provided below the cantilever structure, for engaging with one first storage container among a plurality of first storage containers or one second storage container among a plurality of second storage containers during the handling of the storage container;

[0075] - A lifting device for lifting / lowering the gripping device relative to the cantilever structure;

[0076] Wherein, the container handling vehicle and the other container handling vehicle are configured to cooperate with each other through the synchronous operation of their respective gripping devices and / or lifting devices.

[0077] In one aspect, the container handling vehicle and the other container handling vehicle are arranged to communicate with each other.

[0078] In one aspect, a container handling vehicle and another container handling vehicle are arranged to communicate directly with each other via a wireless communication interface.

[0079] In one aspect, a container handling vehicle and another container handling vehicle are arranged to communicate with each other via the control system of an automated storage and retrieval system.

[0080] In one aspect, the guide pin of the gripping device of the container handling vehicle is configured to be inserted into a guide pin interface.

[0081] In one aspect, the gripper of the gripping device of the container handling vehicle is configured to be inserted into a gripper interface.

[0082] In one aspect, the second storage container includes a guide recess adapted to the guide protrusion of the intermediate upright member.

[0083] In one aspect, the container handling vehicle includes a gripping device disposed below the cantilever structure for engaging with one of a plurality of second storage containers during handling of the storage container; wherein the gripping device includes a guide recess adapted to the guide protrusion of the intermediate upright member.

[0084] In one aspect, the second storage container is dimensioned to be equivalent to the dimensions of a plurality of first storage containers.

[0085] In one aspect, the length of the second storage container is equal to the length of the first storage container, and wherein the width of the second storage container is 1.5 to 3 times the width of the first storage container.

[0086] In one aspect, the container handling vehicle includes an inclination sensor, wherein the container handling vehicle is configured to determine whether the container handling vehicle can lift and lower the second storage container alone based on an input from the inclination sensor.

[0087] Thus, if the container handling vehicle starts to tilt when starting to lift and lower the second storage container, the lifting and lowering operation can be stopped. If the second storage container has two connection joints, the container handling vehicle can then attempt to lift and lower the second storage container via the other connection joint in order to check whether it can lift and lower the second storage container alone based on an input from the inclination sensor. This may occur if the weight distribution within the second storage container is uneven.

[0088] In one aspect, the container handling vehicle is configured to send information to the control system or another container handling vehicle in the case where it is determined that the container handling vehicle cannot lift and lower the second storage container alone.

[0089] In one aspect, another container handling vehicle is configured to cooperate with the container handling vehicle during the handling of a second storage container based on information sent from the container handling vehicle.

[0090] The present invention also relates to a storage container for an automated storage and retrieval system, wherein the storage container comprises:

[0091] - a base;

[0092] - four sides;

[0093] - a first connection joint provided on top of the four sides, wherein the first connection joint is configured to be engaged by a first container handling vehicle;

[0094] - a second connection joint provided on top of the four sides, wherein the second connection joint is configured to be engaged by a second container handling vehicle;

[0095] In one aspect, the storage container comprises guide recesses provided in two of the four sides.

[0096] In one aspect, the guide recesses are adapted to the guide protrusions of the intermediate upright members of the frame structure of the automated storage and retrieval system. BRIEF DESCRIPTION OF THE DRAWINGS

[0097] The following drawings are attached to facilitate understanding of the present invention. The drawings illustrate schematic embodiments of the present invention, which will now be described only by way of example, in which:

[0098] FIG. 1 is a perspective view of the frame structure of an automated storage and retrieval system of the prior art.

[0099] FIG. 2 is a perspective view of a container handling vehicle of the prior art, which has an internal cavity for carrying a storage container therein.

[0100] FIG. 3a is a perspective view of a container handling vehicle of the prior art, which has a cantilever for carrying a storage container therebelow.

[0101] FIG. 3b is a perspective view of the container handling vehicle of the prior art in FIG. 3a, wherein the top cover has been removed to more easily show the lifting device.

[0102] FIG. 3c is a perspective view of the container handling vehicle of the prior art in FIG. 3b as viewed from below, wherein the details of the lifting device and the clamping device are shown in detail.

[0103] FIG. 4 is a perspective view of a container handling vehicle of the prior art as viewed from below, which has an internal cavity for carrying a storage container therein.

[0104] Figure 5 Is a perspective view of the first embodiment of the automatic storage and retrieval system.

[0105] Figure 6 Is Figure 5 The top view of the first embodiment shown.

[0106] Figure 7 Is a perspective view of the first embodiment, in which two container handling vehicles lift a relatively large storage container, where the width of the container is greater than the width of the container handling vehicle.

[0107] Figure 8 Is Figure 7 The side view of

[0108] Figure 9 Is Figure 7 And Figure 8 The perspective view of the relatively large storage container in

[0109] Figure 10 Is Figure 9 The top view of the relatively large storage container in

[0110] Figure 11 Is the top view of the second embodiment of the automatic storage and retrieval system.

[0111] Figure 12 Is Figure 11 The enlarged view of circle A in

[0112] Figure 13 Is a perspective view of the relatively large storage container used in the second embodiment.

[0113] Figure 14 Is Figure 13 The top view of the relatively large storage container in

[0114] Figure 15 Is a perspective view of the second embodiment, in which the container handling vehicle lifts a relatively large storage container.

[0115] Figure 16 Is Figure 15 The top view of

[0116] Figure 17 Is Figure 15 The side view of

[0117] Figure 18 Is a perspective view of the third embodiment of the relatively large storage container.

[0118] Figure 19 Is Figure 18 The top view of the third embodiment of

[0119] Figure 20 It is a perspective view of a fourth embodiment of a relatively large storage container.

[0120] Figure 21 It is a top view of the fourth embodiment.

[0121] Figure 22 It is of a container handling vehicle and Figure 20 and Figure 21 is a perspective view of a clamping device that engages with a relatively large storage container.

[0122] Figure 23 It is Figure 22 's top view.

[0123] Figure 24 It is a perspective view of another embodiment, in which the container handling vehicle raises and lowers a relatively large storage container shown in Figure 18 and Figure 19 .

[0124] Figure 25 It is Figure 24 's partial side view.

[0125] Figure 26 It is a side view of an embodiment in which the length of the second storage container is greater than the length of the container handling vehicle.

[0126] Figure 27 It is a side view corresponding to Figure 26 , in which two container handling vehicles cooperate with each other when raising and lowering the storage container. Detailed Embodiment

[0127] 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.

[0128] Figure 5 and Figure 6 The frame structure 100 of the automated storage and retrieval system 1 shown is constructed in a manner similar to the frame structure 100 of the prior art described above in connection with FIGS. 1 to 3. That is, the frame structure 100 includes a plurality of upright members 102 and includes a track system 108 extending in the X and Y directions.

[0129] The frame structure 100 further includes storage compartments in the form of storage columns 105 provided between the members 102, wherein a plurality of storage containers 106 can be stacked in the storage columns 105 in the form of stacks 107. These storage containers 106, columns 105, and stacks 107 will hereinafter be referred to as first storage containers 106, first columns 105, and first stacks 107.

[0130] Although Figure 5 and Figure 6 the frame structure 100 in

[0130] is relatively small, it can also have any size. Specifically, it should be understood that the frame structure can be much wider and / or much longer and / or much deeper than the frame structure disclosed in FIG. 1. For example, the frame structure 100 can have a horizontal range of more than 700×700 columns and a storage depth of more than twelve containers.

[0131] In

[0130] Figure 5 and Figure 6 it is also shown that the frame structure 100 includes a second storage space, which includes at least one second storage column 105A disposed between the upright members 102, wherein a plurality of second storage containers 106A can be stacked in the form of a second stack 107A within at least one second storage column 105A.

[0132] As Figure 5 and Figure 6 shown, the second storage column 105A is larger than the first storage column 105, and the second storage container 106A is larger than the first storage container 106. It is also shown that the system 1 includes a control system 500 that is similar but not necessarily identical to the control system 500 of the prior art.

[0133] In

[0130] Figure 15 it is shown that the system 1 includes a container handling vehicle 301 of the cantilever type. The container handling vehicle 301 has a length L301, a width W301, and an occupied area FP301 represented by a dashed rectangle. As used herein, the term "length" refers to the distance measured in the X direction, and the term "width" refers to the distance measured in the Y direction, the second direction being perpendicular to the first direction.

[0134] In

[0130] Figure 12 it is shown that the first storage container 106 has a length L106, a width W106, and an occupied area FP106 represented by a dashed rectangle.

[0135] It is also shown that the second storage container 106A includes a base 106b and four side portions 106s extending upward from the base 106b.

[0136] In

[0130] Figure 12 and Figure 13 it is shown that the length L106A of the second storage container 106A is approximately equal to the length L106 of the first storage container, the width W106A of the second storage container is greater than the width W106 of the first storage container, and the occupied area FP106A of the second storage container is greater than the occupied area FP106 of the first storage container. Here, the width W106A of the second storage container 106A is approximately twice the width W106 of the first storage container 106.​​

[0137] Here, it is also shown that the second storage container 106A includes two connection joints CI1, CI2 located in the upper part of the side portion 106s. Each connection joint CI1, CI2 includes a gripper interface GI and a guide pin interface GPI.

[0138] The gripper interface GI of the second storage container 106A is the same as the gripper interface GI of the first storage container 106A and is thus considered to be well-known to those skilled in the art. The purpose of the gripper interface GI is to allow the gripper 304d of the gripping device 304 of the container handling vehicle 301 to be inserted into the gripper interface GI and engage with the gripper interface, thereby allowing the container handling vehicle 301 to lift the first storage container and the second storage container from above.

[0139] The guide pin interface GPI of the second storage container 106A includes a recess that allows the guide pin 304c of the gripping device 304 of the container handling vehicle 301 to be guided along the guide pin interface GPI. In Figure 14 , the guide pin for the second connection joint CI2 is indicated by a dashed circle. The purpose of the guide pin interface GPI is to accurately align the gripping device with respect to the storage container before the gripper 304d engages with the gripper interface GI.

[0140] In Figure 14 , the guide pin interface GPI is provided as four quarter-circular vertical recesses that are provided in the second storage container 106A, two of which are located in the corners of the container and the other two of which are located as part of two guide recesses 6A (to be described in further detail below). Here, a part of the guide recess 6A is part of the first connection joint, while the other part of the guide recess 6A is part of the second connection joint.

[0141] Now referring to Figure 9 and Figure 10 , in which another embodiment of the second storage container 106A is shown. Here, the width W106A of the second storage container 106A is also approximately twice the width W106 of the first storage container 106. In addition, the second storage container 106A also includes two connection joints CI1, CI2 here. Here, the second storage container 106A does not include the guide recess 6A. Therefore, two of these recesses are in the shape of quarter circles, while the other two of these recesses are in the shape of a U or a semi-circle.

[0142] Now referring to Figure 18 and Figure 19, in which, another embodiment of the second storage container 106A is shown. Here, the width W106A of the second storage container 106A is approximately three times the width W106 of the first storage container 106 here. In addition, the second storage container 106A includes three connection joints CI1, CI2, and CI3 here. The second storage container 106A has four guide recesses 6A here. The second connection joint CI2 is located at the center of the storage container.

[0143] Now refer to Figure 20 and Figure 21 , in which, another embodiment of the second storage container 106A is shown. Here, the width W106A of the second storage container 106A is also approximately twice the width W106 of the first storage container 106 here. Similar to the embodiment described above in Figure 13 and Figure 14 , the second storage container 106A has two guide recesses 6A and two connection joints CI1 and CI2 adjacent to each other. In addition, the second storage container 106A includes a third connection joint CI3, which partially overlaps with the first connection joint CI1 and the second connection joint CI2, as shown by the dashed rectangle in Figure 21 . The third connection joint CI1 is located at the center of the second storage container.

[0144] Now refer to Figure 12 . Similar to the prior art system 1, most of the first column 105 is defined by four upright members 102, each upright member being located at one corner of the first storage column 105 respectively. Each such corner member 102 is for guiding the clamping device 304 of the container handling vehicle 301 when it is lowered into or raised from one of the first columns 105.

[0145] In addition, Figure 12 the second storage column 105A in

[0146] is defined by four upright members 102, each upright member being located at one corner of the second storage column 105A respectively. In addition, the frame structure 100 further includes intermediate upright members 2, each intermediate upright member 2 being disposed between two of the upright members 102 that define the corners of the second storage column 105A. Therefore, for the second column 105A, the upright members 2 are not located at the corners. However, the upright member 2 forms the corner of the first storage column 105 adjacent to the second column 105A. Figure 12 In

[0147] Similar to the member 102 at the corner, the purpose of the guide projection 2A is to guide the clamping device 304 of the container handling vehicle 301 when it is lowered into or raised from the second row 105A.

[0148] It should be noted that Figure 13 and Figure 14 the illustrated embodiment of the second storage container 106A is intended to be used with Figure 12 the frame structure 100. As Figure 13 and Figure 14 shown, the shape of the guide recess 6A is adapted to the shape of the guide projection 2A and the shape of the clamping device 304 of the container handling vehicle 301. As described above, the second storage container 106A has two connection joints CI1, CI2. When the container handling vehicle 301 engages with one of the two connection joints, it lowers its clamping device into Figure 12 the left side of the second storage row 105A in Figure 12 and, when engaging with the other of the two connection joints, it lowers its clamping device into Figure 15 the right side of the second storage row 105A in Figure 16 and Figure 17 When the clamping device is lowered into or raised from the left or right side of the second row 105A, the guide projection 2A guides all four corners of the clamping device. This is also shown in

[0149] Now refer to Figure 6 . Similar to Figure 12 the embodiment, the frame structure 100 also includes intermediate upright members 2 here, with each intermediate upright member 2 disposed between two of the upright members 102 that define the corners of the second storage row 105A. However, the intermediate upright members 2 do not include the upper guide projection 2A.

[0150] It should be noted that Figure 9 and Figure 10 the illustrated embodiment of the second storage container 106A is intended to be used with Figure 6 the frame structure 100 because the second storage container 106A does not include the guide recess 6A. It should be noted that when the clamping device is lowered into Figure 6 the left or right side of the second row 105A of

[0151] It should also be noted that although Figure 9 and Figure 10 the second storage container 106A cannot be used in the Figure 12 frame structure, Figure 13 and Figure 14 the second storage container 106A can be used in the Figure 6 frame structure.

[0152] Now refer to Figure 24 and Figure 25 . Similar to the Figure 12 embodiment, the frame structure 100 also includes the intermediate upright member 2 here. However, here, two intermediate upright members 2 are provided between two of the upright members 102 that define the corners of the second storage row 105A. In total, four intermediate upright members 2 and four upright members 102 define the second storage row 105A. Here, the intermediate upright member 2 also includes the guiding protrusion 2A. As Figure 18 and Figure 19 shown, the second storage container 106A intended for Figure 24 and Figure 25 the frame structure 100 includes four guiding recesses 6A.

[0153] Now refer to Figure 22 and Figure 23 . Figure 20 and Figure 21 The second storage container shown can be used in the Figure 12 as well as Figures 15 to 17 frame structure 100 shown, that is, the intermediate upright member 2 also includes the upper guiding protrusion 2A here.

[0154] The second storage container 106A can be engaged by two container handling vehicles 301, 301a via its first connection joint CI1 and second connection joint CI2. However, the storage container 106A can also be engaged by a single container handling vehicle via the first connection joint, the second connection joint, or the third connection joint. Preferably, when lifted and lowered by a single container handling vehicle, the container handling vehicle engages with the central third connection joint CI3.

[0155] The container handling vehicle can have a dedicated clamping device 304, as Figure 22 and Figure 23 shown. Here, it is shown that the clamping device 304 includes a guiding recess 304R adapted to the guiding protrusion of the intermediate upright member. Therefore, the guiding of the clamping device 304 can also be achieved when the clamping device is lowered towards the third connection joint CI3 and when the clamping device is lifted from the third connection joint CI3.

[0156] In all of the above embodiments, the same container handling vehicle 301 is configured to handle both the first storage container 106 and the second storage container 106A. Further, the width W106A of the second storage container 106A is greater than the width W301A of the container handling vehicle 301 such that the second storage container 106A laterally projects below the cantilever structure 303 of the container handling vehicle 301 when being handled by the container handling vehicle 301.

[0157] The object stored in the second storage container 106A can be longer than the object in the first storage container 106. The weight of some of such longer objects may be relatively light and thus, a single container handling vehicle 301 can lift and lower the second storage container 106A and its contents alone. However, for a single container handling vehicle, the sum of the weight of the longer object plus the increased weight of the larger second storage container 106A may be excessive. In such a case, as Figure 7 and Figure 8 shown, the first container handling vehicle 301 can be engaged with the first connection joint CI1 of the second storage container 106A and the second container handling vehicle 301a can be engaged with the second connection joint CI2 of the second storage container 106A. Here, the container handling vehicle 301 and another container handling vehicle 301a are configured to cooperate with each other by the synchronous operation of their respective clamping devices 304 and / or lifting devices 305. The vehicles 301, 301a can be configured to communicate directly with each other or communicate with each other via the control system 500.

[0158] In Figure 7 , the container handling vehicle 301 and another container handling vehicle 301 lift and lower the second storage container 106A from the same side, i.e., the cantilever structures of the respective vehicles point in the same direction. It should be noted that the container handling vehicle 301 and another container handling vehicle 301 can also lift and lower the second storage container 106A from opposite sides.

[0159] The container handling vehicle 301 can further include an inclination sensor 310, wherein the container handling vehicle 301 is configured to determine whether the container handling vehicle can lift and lower the second storage container 106A alone based on the input from the inclination sensor 310. This can be the case for the second storage container 106A having two connection joints, where the weight of the object stored in the container is unevenly distributed.

[0160] Therefore, if the container handling vehicle 301 starts to tilt when starting to lift and lower the second storage container 106A, the lifting and lowering operation can be stopped. If the second storage container 106A has two connection joints, the container handling vehicle can then attempt to lift and lower the second storage container via the other connection joint in order to check whether it is possible to lift and lower the second storage container 106A alone based on the input from the tilt sensor 310. This may occur if the weight distribution inside the second storage container is uneven. If this is not feasible, help can be sought from another container handling vehicle 301a above. For example, if it is determined that the container handling vehicle cannot lift and lower the second storage container 106A alone, help is sought by sending information to the control system 500 or other container handling vehicles 301.

[0161] Now refer to Figure 26 . Here, the length L106A of the second storage container 106A is longer than the length L301 of the container handling vehicle 301. In this embodiment, the width W106A of the second storage container 106A is equal to or greater than the width W301A of the container handling vehicle 301. Here, the second storage container 106A protrudes from the front under the cantilever structure 303 of the container handling vehicle 301 when being carried by the container handling vehicle 301.

[0162] As Figure 27 shown here, the container handling vehicle 301 and another container handling vehicle 301A lift and lower the second storage container 106A from opposite sides, that is, the cantilever structures of the respective container handling vehicles point in two opposite directions.

[0163] In the foregoing description, multiple aspects of the second storage container 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 working principles. However, the description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments and other embodiments of the system that are obvious to those skilled in the art to which the disclosed subject matter pertains are considered to be within the scope of the present invention.

[0164] List of Reference Numerals

[0165] 1 Retrieval System

[0166] 2 Intermediate Upright Member

[0167] 2A Guide Projection

[0168] 6A Guide Recess

[0169] 100 Frame Structure

[0170] Vertical member of the 102 frame structure

[0171] 104 Storage grid

[0172] 105 First storage column

[0173] 105A Second storage column

[0174] 106 First storage container

[0175] 106A Second storage container

[0176] 106b Base of the storage container

[0177] 106s Side of the storage container

[0178] 106’ Specific position of the storage container

[0179] 107 First stack

[0180] 107A Second stack

[0181] 108 Track system

[0182] 110 Parallel tracks in the first direction (X)

[0183] 112 Access opening

[0184] 119 First port column

[0185] 120 Second port column

[0186] 201 Container handling vehicle of the prior art

[0187] 201a Body of the container handling vehicle 201

[0188] 201b Driving device / wheel arrangement / first set of wheels in the first direction (X)

[0189] 201c Driving device / wheel arrangement / second set of wheels in the second direction (Y)

[0190] 301 Container handling vehicle

[0191] 301A Second container handling vehicle

[0192] 303 Cantilever structure

[0193] 304 Gripping device

[0194] 304c Guide pin

[0195] 304d Gripper

[0196] Guide recess of the 304R clamping device

[0197] 305 Lifting device

[0198] 310 Tilt sensor

[0199] 401 Container handling vehicle of the prior art

[0200] 401a Body of the container handling vehicle 401

[0201] 401b Driving device / first set of wheels in the first direction (X)

[0202] 401c Driving device / second set of wheels in the second direction (Y)

[0203] 404 Clamping device

[0204] 404a Lifting belt

[0205] 404b Clamp

[0206] 404c Guide pin

[0207] 404d Lifting frame

[0208] 500 Control system

[0209] CI1 First connection joint

[0210] CI2 Second connection joint

[0211] CI3 Third connection joint

[0212] FP106 Occupied area of the first storage container

[0213] FP106A Occupied area of the second storage container

[0214] FP301 Occupied area of the container handling vehicle

[0215] GI Clamp interface

[0216] GPI Guide pin interface

Claims

1. An automatic storage and retrieval system (1), comprising a frame structure (100), wherein, The frame structure (100) includes: - upright members (102); - a first storage space including a first storage row (105) disposed between the upright members (102), wherein a plurality of first storage containers (106) can be stacked in the form of a first stack (107) within the first storage row (105); - a second storage space including at least one second storage row (105A) disposed between the upright members (102), wherein a plurality of second storage containers (106A) can be stacked in the form of a second stack (107A) within the at least one second storage row (105A); and - a track system (108) disposed on top of the upright members (102), wherein the automated storage and retrieval system (1) includes a container handling vehicle (301) arranged to run on the track system (108), characterized in that - the container handling vehicle (301) is arranged to handle the first storage containers (106) and the second storage containers (106A); - the occupied area of each of the second storage containers (106A) is larger than the occupied area of the container handling vehicle (301).

2. The automatic storage and retrieval system (1) according to claim 1, wherein, The container handling vehicle (301) includes a cantilever structure (303).

3. The automatic storage and retrieval system (1) according to claim 2, wherein, The cantilever structure (303) defines the width (W301A) of the container handling vehicle (301); wherein the width (W106A) of the second storage container (W106A) is larger than the width (W301A) of the container handling vehicle (301).

4. The automatic storage and retrieval system (1) according to claim 2 or 3, wherein, The length (L106A) of the second storage container (106A) is less than the length (L301) of the container handling vehicle (301).

5. The automatic storage and retrieval system (1) according to any one of the preceding claims, wherein, The occupied area area (FP106A) of the second storage container (106A) is larger than the occupied area area (FP301) of the container handling vehicle (301).

6. The automatic storage and retrieval system (1) according to any one of the preceding claims, wherein, The second storage row (105A) is defined by: - four upright members (102) defining the corners of the second storage row (105A); wherein the frame structure (100) includes intermediate upright members (2), each of the intermediate upright members (2) being disposed between two of the four upright members (102) that define the corners of the second storage row (105A); wherein each of the intermediate upright members (2) includes a guiding protrusion (2A) extending into the second storage row (105A).

7. The automatic storage and retrieval system (1) according to any one of the above claims, wherein, The second storage container (106A) includes a first connection joint (CI1) and a second connection joint (CI2).

8. The automatic storage and retrieval system (1) according to claim 7, wherein, A single container handling vehicle (301) is configured to engage with the first connection joint (CI1) or the second connection joint (CI2), and wherein the second storage container (106A) is handled by the single container handling vehicle (301).

9. The automatic storage and retrieval system (1) according to claim 7, wherein, The container handling vehicle (301) is configured to engage with the first connection joint (CI1) of the second storage container (106A), and another container handling vehicle (301a) of the system (1) is configured to engage with the second connection joint (CI2) of the second storage container (106A); wherein, the container handling vehicle (301) and the other container handling vehicle (301a) are configured to cooperate with each other during handling of the second storage container (106A).

10. The automatic storage and retrieval system (1) according to claim 9, wherein, The container handling vehicle (301) and the other container handling vehicle (301a) each include: - a clamping device (304) provided below the cantilever structure (303) for engaging with one of the plurality of first storage containers (106) or one of the plurality of second storage containers (106A) during handling of the storage containers (106, 106A); - a lifting device (305) for lifting / lowering the clamping device (304) relative to the cantilever structure (303); wherein, the container handling vehicle (301) and the other container handling vehicle (301a) are configured to cooperate with each other by synchronous operation of the respective clamping devices (304) and / or lifting devices (305).

11. The automatic storage and retrieval system (1) according to claim 10, wherein, The container handling vehicle (301) and the other container handling vehicle (301a) are arranged to communicate with each other.

12. The automatic storage and retrieval system (1) according to any one of claims 6 to 11, wherein, The second storage container (106A) includes a guiding recess (6A) adapted to the guiding protrusion (2A) of the intermediate upright member (2).

13. The automatic storage and retrieval system (1) according to any one of claims 6 to 12, wherein, The container handling vehicle (301) includes a clamping device (304) provided below the cantilever structure (303) for engaging with one of the plurality of second storage containers (106A) during handling of the storage containers (106, 106A); wherein, the clamping device (304) includes a guiding recess (304E) adapted to the guiding protrusion (2A) of the intermediate upright member (2).

14. The automatic storage and retrieval system (1) according to any one of the preceding claims, wherein, The second storage container (106a) is dimensioned to be equivalent to the dimensions of a plurality of the first storage containers (106).

15. The automatic storage and retrieval system (1) according to any one of the preceding claims, wherein, The length (L106A) of the second storage container (106A) is equal to the length (L106) of the first storage container (106), and wherein, the width (L106A) of the second storage container (106A) is 1.5 to 3 times the width (W106) of the first storage container (106).

16. The automatic storage and retrieval system (1) according to any one of the above claims, wherein, The container handling vehicle (301) includes an inclination sensor (310), wherein, the container handling vehicle (301) is configured to determine whether the container handling vehicle can lift and lower the second storage container (106A) alone based on an input from the inclination sensor (310).

17. The automatic storage and retrieval system (1) according to claim 16, wherein, The container handling vehicle (301) is configured to send information to the control system (500) or another container handling vehicle (301) when it is determined that the container handling vehicle cannot lift the second storage container (106A) alone.

18. The automatic storage and retrieval system (1) according to claim 17 and claim 9, wherein, The other container handling vehicle (301a) is configured to cooperate with the container handling vehicle during the handling of the second storage container (106A) based on the information sent from the container handling vehicle (301).

19. A storage container (106A) for an automated storage and retrieval system (1), wherein, The storage container (106A) includes: - a base (106b); - four side portions (106s); - a first connection joint (CI2) provided on top of the four side portions (106s), wherein the first connection joint (CI2) is configured to be engaged by a first container handling vehicle (301); - a second connection joint (CI2) provided on top of the four side portions (106s), wherein the second connection joint (CI2) is configured to be engaged by a second container handling vehicle (301a).

20. The storage container (106A) according to claim 19, wherein, The storage container (106A) includes guide recesses (6A) provided in two of the four side portions (106s).

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