Container transport vehicle, automatic storage and retrieval system and method thereof

Abstract

The invention relates to a container transport vehicle for handling and transporting storage containers, to an automatic storage and retrieval system using such a container transport vehicle, and to a method using such a container transport vehicle. The container transport vehicle includes: one or more drive modules configured to move the container transport vehicle along the track system; a container carrier configured to support the container; and a container carrier configured to raise at least one storage container of the plurality of storage containers from a position below the track system.

Description

Technical Field

[0001] The present invention relates to a container transport vehicle, an automatic storage and retrieval system using such a container transport vehicle, and a method for transporting storage containers using a container transport vehicle.

[0002] Background Art and Prior Art

[0003] FIG. 1 discloses a prior art automatic storage and retrieval system 1 having a frame structure 100, and FIGS. 2, 3 and 4 disclose three different prior art container handling devices 200, 300, 400 suitable for operating on the system 1.

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

[0005] The frame structure 100 of the automatic 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 200, 300, 400 can operate to lift storage containers 106 from the storage rows 105 and lower the storage containers 106 into the storage rows, and also transport the storage containers 106 above the storage rows 105. The track system 108 includes: a first set of parallel tracks 110 arranged to guide the container handling vehicles 200, 300, 400 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 200, 300, 400 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 200, 300, 400 through access openings 112 in the track system 108. The container handling vehicles 200, 300, 400 can move laterally above the storage rows 105, i.e., move laterally in a plane parallel to the horizontal X-Y plane.

[0006] The upright members 102 of the frame structure 100 can be used to guide the containers 106 during lifting the containers 106 from the rows 105 and lowering the containers 106 into the rows. The stacks 107 of the containers 106 are generally self-supporting.

[0007] Each of the prior art container handling vehicles 200, 300, 400 includes a handling device main body / body 201, 301, 401 and a first set of wheels 202a, 302a, 402a and a second set of wheels 202b, 302b, 402b, which enable the container handling devices 200, 300, 400 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 202a, 302a, 402a are arranged to engage two adjacent tracks in the first set of tracks 110, and the second set of wheels 202b, 302b, 402b are arranged to engage two adjacent tracks in the second set of tracks 111. At least one set of the wheels 202a, 202b, 302a, 302b, 402a, 402b can be raised and lowered so that the first set of wheels 202a, 302a, 402a and / or the second set of wheels 202b, 302b, 402b can engage the corresponding set of tracks 110, 111 at any one time.

[0008] Each of the prior art container handling devices 200, 300, 400 further includes a lifting device 303, 403 for vertically transporting the container 106, e.g., raising the storage container 106 from the storage row 105 and lowering the storage container 106 into the storage row. The lifting devices 303, 403 include one or more clamping / engaging devices 404 adapted to engage the container 106, and the clamping / engaging device can be lowered from the vehicles 200, 300, 400 so that the position of the clamping / engaging device 404 relative to the vehicles 200, 300, 400 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. The clamping device 404 of the container handling device / container handling vehicle 400 in the form of a plurality of claws is shown in FIG. 4. The lifting device of the container handling device 200 is located within the body 201 and is thus not shown.

[0009] Conventionally and also for the purposes of the present application, Z = 1 identifies the uppermost layer available for containers below the tracks 110, 111, i.e., the layer immediately below the track system 108, Z = 2 identifies the second layer below the track system 108, Z = 3 identifies the third layer, and so on. In the exemplary prior art disclosed in FIG. 1, Z = 8 identifies the bottommost layer of the container. Similarly, X = 1...n and Y = 1...n identify the positions 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 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 devices 200, 300, 400 travel in the layer of Z = 0, and each storage column 105 can be identified by its X coordinate and Y coordinate. Thus, the containers extending above the track system 108 shown in FIG. 1 are also referred to as being arranged in the layer of Z = 0.

[0010] The storage volume portion 104 of the frame structure 100 is generally referred to as a storage grid, where the possible storage positions within the 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, the Y direction, and the Z direction.

[0011] Each prior art container handling device 200, 300, 400 includes a storage compartment or storage space for receiving and loading the container 106 when transporting the container 106 across the track system 108. The storage space may include a cavity arranged inside the vehicle bodies 201, 301, 401, 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.

[0012] FIG. 3 shows an alternative configuration of a container handling device / container handling vehicle 300 having 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 central cavity vehicle 200 shown in FIG. 2 may cover an area having 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" as used herein may mean "horizontal".

[0014] Alternatively, the occupied area of the cavity-type container handling device / container handling vehicle 400 may 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.

[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 protrusions to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track may include one guide rail, or each of the tracks 110, 111 may include two parallel guide rails. In other track systems 108, each track in one direction (e.g., the X direction) may include one guide rail, and each track in another perpendicular direction (e.g., the Y direction) may include two guide rails. Each of the tracks 110, 111 may also include two guide rail members fastened together, each guide rail member providing one of the pair of guide rails provided by each track.

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

[0017] In the frame structure 100, most of the columns are storage columns 105, i.e., columns 105 in which the containers 106 are stored in the form of stacks 107. However, some columns may have other purposes. In FIG. 1, the columns 119 and 120 are such dedicated columns for the container handling devices 200, 300, 400 to unload and / or pick up the containers 106, so that the containers can be transported to an access station (not shown), where the containers 106 can be accessed from the outside of the frame structure 100, or the containers can be moved out of or into the frame structure 100. In the art, such locations are generally referred to as "ports", and the columns where the ports are located may be referred to as "port columns" 119, 120. The transportation to the access station can be carried out in any direction (i.e., the horizontal direction, the inclined direction, and / or the vertical direction). For example, the container 106 can be placed in a random column or a dedicated column 105 within the frame structure 100, and then the container can be picked up by any container handling device 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 of, for example, a transporting vehicle, a trolley, or other transportation lines. Note that the term "inclined" refers to the transportation of the container 106 having a generally transportation orientation in a direction between horizontal and vertical.

[0018] In FIG. 1, the first port column 119 can be, for example, an offloading port column where the container handling devices 200, 300, 400 can offload the containers 106 to be transported to the access station or transfer station, and the second port column 120 can be a dedicated pick-up port column where the container handling devices 200, 300, 400 can pick up the containers 106 that have been transported from the access station or transfer station.

[0019] The access station can generally be a pick-up station or a stocking station where product items are removed from or positioned into the containers 106. In the pick-up station or stocking station, the containers 106 are generally not removed from the automated storage and retrieval system 1 but are returned to the frame structure 100 again after access. The ports can also be used to transfer the 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 the containers between the port columns 119, 120 and the access station.

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

[0022] The conveyor system can be arranged to transfer the 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 container 106 stored in one of the multiple storage columns 105 disclosed in FIG. 1, one of the container handling devices 200, 300, 400 is instructed to retrieve the target container from the location of the target container 106 and transport the target container to the unloading port column 119. This operation involves: moving the container handling devices 200, 300, 400 to a position above the storage column 105 where the target container 106 is located; retrieving the container 106 from the storage column 105 using the lifting devices of the container handling devices 200, 300, 400; and transporting the container 106 to the unloading port column 119. If the target container 106 is deep within the stack 107, i.e., one or more other containers 106 are located above the target container 106, this operation also involves: temporarily moving the containers located above before lifting the target 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 device that will subsequently transport the target container to the unloading port column 119, or using one or more other collaborative container handling devices. Alternatively or additionally, the automated storage and retrieval system 1 can have container handling devices 200, 300, 400 dedicated to the task of temporarily removing the container 106 from the storage column 105. After removing the target container 106 from the storage column 105, the temporarily removed container 106 can be repositioned back to the original storage column 105. However, the removed container 106 can alternatively be repositioned to another storage column 105.

[0024] When storing a container 106 in a column 105, one of the container handling devices 200, 300, 400 is instructed to pick up the container 106 from the pick-up port column 120 and transport the container to a position above the storage column 105 where the container will be stored. After removing any containers 106 located at or above the target position within the stack 107, the container handling devices 200, 300, 400 position the container 106 at the desired location. The removed containers 106 can then be lowered back into the storage column 105 or repositioned to other storage columns 105.

[0025] To monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of the respective containers 106 within the frame structure 100, the contents of each container 106, and the movement of the container handling devices 200, 300, 400 such that the desired container 106 can be transported to the desired location at the desired time point without the container handling devices 200, 300, 400 colliding with each other, the automated storage and retrieval system 1 includes a control system 109, which is typically computerized and typically includes a database for keeping track of the containers 106.

[0026] WO2019 / 086237 discloses an automated storage and retrieval system, which includes an orbital system forming a grid pattern in a horizontal plane. The orbital system includes a plurality of grid cells, each grid cell including a grid opening, and stacks of storage containers are arranged in storage columns located below the orbital system. Each storage column is vertically positioned below the grid opening. The system also includes a multi-car vehicle for transporting storage containers between the storage columns and a deployment area. The multi-car vehicle includes a car assembly, which includes a plurality of cars coupled to each other. Each car provides at least one container volume portion for storing at least one storage container, and each car includes moving means allowing the car assembly to move.

[0027] The automated storage and retrieval system described above is generally configured to operate in an area at normal temperature (e.g., about 20 °C). However, for certain types of products, the optimal storage temperature may be different. For example, it may be desirable to store food at refrigerated temperatures (generally between 1 °C and 4 °C) or frozen temperatures (generally below -18 °C or below -20 °C).

[0028] In addition, there may be situations where the atmosphere around the automated storage and retrieval system is different from the ambient atmosphere, such as reducing the oxygen concentration in the surrounding atmosphere to reduce the risk of fire.

[0029] Automated storage and retrieval systems with different temperature zones and temperature control are known. For example, patent publication WO2015 / 124610A1 describes a system for receiving and storing processed refrigerated and frozen food using a plurality of container handling vehicles running on an orbital system. In this prior art solution, the containers are stacked in two different storage volume portions separated by walls below a conventional orbital system. The container handling vehicles are allowed to move freely above the two storage volume portions at a higher operating temperature, such as room temperature.

[0030] The above prior art systems have some disadvantages.

[0031] One disadvantage is that each container handling device 200, 300, 400 can only handle one container 106 at a time, thus reducing the container handling efficiency of the storage system. This disadvantage may be particularly important for a very large storage system 1 - such as a frame structure 100 having more than 100 storage columns in a first direction, more than 100 storage columns in a second direction, and a depth of more than 8 stacked containers.

[0032] Another disadvantage relates to the described retrieval operation and is particularly relevant for systems 1 with a large depth - for example, a depth of more than eight stacked containers - where prior art systems require the removal of non - target containers 106 one by one from the stack 107 before the container handling vehicles 200, 300, 400 can access the target container 106'. "Single - container retrieval" may also reduce the efficiency of the storage system in handling containers 106.

[0033] The object of the present invention is to provide a dedicated container handling and transport vehicle, an automated storage and retrieval system, and a method for operating such a system, which solve or at least mitigate one or both of the aforementioned problems.

[0034] In at least one embodiment of the present invention, the object is to provide an automated storage and retrieval system and a method that allows for the efficient transport of containers between storage spaces having different gas zones and / or temperature zones. Summary of the Invention

[0035] The present invention is set forth and characterized in the independent claims, while the dependent claims describe other preferred / optional features.

[0036] In a first aspect, the present invention relates to a container transport vehicle for handling and transporting storage containers, wherein the container transport vehicle includes one or more drive modules, a container carrier, and a container handler.

[0037] The drive modules are configured to move the container transport vehicle along a track system that includes: a first set of parallel tracks arranged in a first direction X; and a second set of parallel tracks arranged in a second direction Y orthogonal to the first direction X. The intersection of the tracks forms a grid of grid cells that define grid openings.

[0038] In an exemplary configuration, two or three such drive modules are applied to move the container transport vehicle in the first and second directions, wherein the container carrier is arranged on / above the drive modules and is configured to support the storage container during transportation. In the case of an elongated container carrier, two drive modules may be located below each longitudinal end region of the container carrier. Additionally, a third drive module may be placed at or around the longitudinal center of the container carrier. Each drive module may be configured to operate independently.

[0039] The container handler is arranged at one end of the container transport vehicle in the first direction X and includes a lifting device configured to raise at least one of a plurality of storage containers from a position below the track system during operation and lower at least one of a plurality of storage containers onto the container carrier during operation. The container handler is also configured to be displaceable / extendable in the first direction X.

[0040] In the case of two or more drive modules, the drive modules can be associated with each other by receiving synchronization commands from a remote control system, which commands can be either to move horizontally along the track system or to change direction between a first direction X and a second direction Y. The latter can be achieved, for example, by simultaneously raising / lowering a plurality of drive means (such as wheels).

[0041] Alternatively or additionally, a plurality of drive modules can operate in a master-slave arrangement, where one or more drive modules mirror the operation of the master drive module.

[0042] A plurality of drive modules can be associated in other ways than by the container carrier, for example by rods connected to each other.

[0043] The maximum horizontal cross-section of a drive module or of each drive module in a plurality of drive modules can cover one grid opening.

[0044] If only one drive module is used, it may be advantageous for the drive module to cover more than one grid opening to achieve sufficient stability. Alternatively or additionally, a counterweight can be added to the container transport vehicle.

[0045] In an exemplary configuration, the container transport vehicle can include a displacement mechanism for the container handler, which displacement mechanism is configured to displace the container handler along the track system in a first direction (X) between a position outside the perimeter of the container carrier and a position inside the perimeter of the container carrier using a displacement motor. The first direction X can advantageously be the direction corresponding to the narrower width direction of the storage container, as this will allow for more storage containers to be stored in a container carrier of a given size.

[0046] There can be an interval equal to the width of the double-guide track (see the drawings) or a smaller interval between a plurality of storage containers distributed in the first direction X in the container carrier.

[0047] In an exemplary configuration, the container carrier can include a protrusion / projection / extension, which is located at the end of the container transport vehicle opposite the end having the container handler, where the protrusion projects from the drive module in the first direction X or, in the case of using two or more drive modules, from the outermost drive module closest to the protrusion.

[0048] The cross-sectional area of the protrusion relative to the track system is preferably greater than or equal to the cross-sectional area of the storage container to be supported on the container carrier. More preferably, the cross-sectional area of the protrusion relative to the track system is equal to the cross-sectional area of the storage container to be supported on the container carrier, so as to reduce the risk of interfering with the movement of other vehicles on adjacent units of the track system. In the case where the cross-sectional area of the protrusion is greater than the cross-sectional area of the container, the additional area will be in the first direction X.

[0049] In an exemplary configuration, the container transport vehicle may include a vehicle housing covering at least a portion of the container carrier. Such a vehicle housing may cover the cross-sectional area of the container carrier that does not include the protrusion.

[0050] In an exemplary configuration, the shifting mechanism may include: one or more suspension members mounted on one of the container handler and the vehicle housing; and one or more guide rails or tracks forming a part of or mounted on the other of the container handler and the vehicle housing. The suspension members and the guide rails / tracks are connected to each other to allow the container handler to move relative to the vehicle housing in the first direction X. For example, the top side of the container handler may be equipped with tracks / suspension members, and the inner top plate of the housing area may be equipped with corresponding guide rails, or vice versa.

[0051] In an exemplary configuration, the vehicle housing may include a hood that includes a roof and a hood frame that connects the hood to the container carrier such that the distance between the container carrier and the roof top plate is greater than or equal to the maximum height of the storage container to be transported. The roof may cover the portion of the hood frame that does not include the protrusion.

[0052] In an exemplary configuration, the container handler may include a container handler body that includes a top region and a bottom region. A part of the shifting mechanism of the above-mentioned container handler is fixed to the top region or forms a component of the top region. In addition, a lifting device may be connected to the bottom region. The terms "top" and "bottom" are both relative to the underlying track system.

[0053] In an exemplary configuration, the container carrier may include a carrier frame and a container shifting mechanism configured to shift the storage container along the carrier frame when the storage container is supported on or attached to the container carrier. The carrier frame may be elongated and have a longitudinal axis extending in the first direction X. The container shifting mechanism may be a belt conveyor system and / or a linear drive system.

[0054] The maximum shifting distance that the mechanism can transport the storage container is preferably greater than 90% of the length of the carrier frame.

[0055] In an exemplary configuration, the container shifting mechanism may include: a drive shaft; a drive motor rotatably connected to the drive shaft; and a belt extending along the container frame for a distance corresponding to the maximum shifting distance of the storage container. During transportation by the container transport vehicle, the storage container may be directly or indirectly supported on the belt.

[0056] In an exemplary configuration, the drive module may include: a drive module body; a first set of drive devices arranged on opposite sides of the drive module body for moving the drive module along a first direction X on the track system; and a second set of drive devices arranged on opposite sides of the drive module body for moving the drive module along a second direction Y on the track system. The drive module body may further include: a drive device motor for driving the drive devices; and a power source configured to supply propulsion power to the drive device motor.

[0057] In a second aspect, the present invention relates to a container transport vehicle for handling and transporting a plurality of storage containers, wherein the container transport vehicle includes: one or more drive modules configured to move the container transport vehicle along a track system; and a container carrier arranged on the drive module and configured to (directly or indirectly) support the storage container during transportation.

[0058] The container carrier preferably has an elongated design and includes a carrier body.

[0059] The container carrier may further include a container shifting mechanism configured to shift the storage container along the carrier body by a shifting distance, for example when the storage container is supported on the container carrier. For the first aspect, the container shifting mechanism may be, for example, a belt conveyor system and / or a linear drive system. The shifting distance is preferably greater than 90% of the frame length.

[0060] The track system may include a first set of parallel tracks arranged in a first direction X and a second set of parallel tracks arranged in a second direction Y orthogonal to the first direction X, and the intersection of the tracks forms a grid of grid cells that define grid openings.

[0061] In an exemplary configuration of the second aspect, the container transport vehicle includes a container handler and a shifting mechanism as described in the first aspect. The container handler includes a lifting device configured to raise at least one of the plurality of storage containers from a position below the track system during operation and lower at least one of the plurality of storage containers onto the container carrier.

[0062] The remaining configuration of the container transport vehicle of the second aspect may be the same as or similar to that of the container transport vehicle of the first aspect.

[0063] In a third aspect, the present invention relates to an automated storage and retrieval system, which includes a container transport vehicle as described in the first aspect or the second aspect, and the container transport vehicle is supported by the above-mentioned rail system.

[0064] The automated storage and retrieval system may further include a storage volume for storing storage containers in vertical stacks, wherein the rail system is arranged above the storage volume.

[0065] In addition, the container transport vehicle is configured to lift the storage container by means of a lifting device through a grid opening, wherein the grid opening is formed by the intersection of parallel rails of the rail system.

[0066] The rail system may be at least partially made of double-guide rails to ensure better traffic efficiency between the container transport vehicle and any other type of vehicle operating on the rail system.

[0067] In an exemplary configuration of the third aspect, the automated storage and retrieval system may include one or more container handling vehicles 200, 300, 400 as described in the "Background Art and Prior Art" section.

[0068] In an exemplary configuration of the third aspect, the automated storage and retrieval system may include a wall that separates a first space accommodating a first part of the rail system from a second space accommodating a second part of the rail system. The wall includes an opening, and the size and position of the opening allow the storage container to pass through the wall when shifting in the direction along the container carrier.

[0069] In an exemplary configuration of the third aspect, the container carrier may include a protrusion / extension, which is located at the end of the container transport vehicle opposite to the end having the container handler. During operation, the protrusion extends in a first direction X from the drive module (or in the case of multiple drive modules, from the outermost drive module away from the container handler), and the cross-sectional area of the protrusion is greater than or equal to the cross-sectional area of a single storage container in contact with the container carrier (directly or indirectly).

[0070] The opening of the wall may be in any form (rectangular, elliptical, etc.), but the size and position of the opening should allow the protrusion to pass through the opening together with at least one storage container supported on the support among a plurality of storage containers.

[0071] In an exemplary configuration of the third aspect, the wall may include a door system, which includes: a door covering the opening; and a door mechanism configured to open and close the door.

[0072] In an exemplary configuration of the third aspect, the door mechanism (72, 73) includes a door shaft and a door motor rotatably connected to the door shaft. The door mechanism is coupled to the door such that when the door motor rotates the door shaft, the door is lifted or lowered.

[0073] In a third aspect, the present invention relates to a method for handling and transporting a plurality of storage containers using an automated storage and retrieval system as described in the third aspect of the present invention.

[0074] The method includes the following steps:

[0075] - Moving the container transport vehicle horizontally along the track system to a position such that the lifting device of the container handler is located above the grid opening;

[0076] - Lowering the lifting device vertically to a position above the storage container that forms the topmost storage container of the stack;

[0077] - Gripping the storage container;

[0078] - Raising the lifting device vertically such that the storage container is aligned with or above the container carrier;

[0079] - Using a shifting mechanism to shift the container handler / lifting device together with the storage container in a first direction X until the storage container is in a position inside the perimeter of the container carrier and reaches a position not occupied by other storage containers.

[0080] In an exemplary process of the fourth aspect, the method may further include the following steps:

[0081] - Lowering the lifting device vertically until the storage container touches or almost touches the container carrier, and

[0082] - Releasing the storage container from the lifting device.

[0083] In an exemplary process of the fourth aspect, the container carrier includes: a carrier frame; and a container shifting mechanism configured to shift the storage container along the carrier frame when the storage container is supported on the container carrier.

[0084] Furthermore, the method may include the following steps:

[0085] - Shifting the storage container along the container carrier in a first direction X towards the end of the container transport vehicle opposite to the end having the container handler.

[0086] In an exemplary process of the fourth aspect, the container carrier may include a protrusion located at an end of the container transport vehicle opposite to the end having the container handler. During operation, the protrusion extends in a first direction X from the drive module (or in the case of multiple drive modules, from the outermost drive module away from the container handler), and the cross-sectional area of the protrusion is greater than or equal to the cross-sectional area of a single storage container in contact with (directly or indirectly) the container carrier.

[0087] The method may include the following steps:

[0088] - Shifting the storage containers supported by the container carrier until at least one storage container is arranged in the protrusion.

[0089] In an exemplary process of the fourth aspect, an automated storage and retrieval system may include a wall that separates a first space accommodating a first portion of the rail system from a second space accommodating a second portion of the rail system. The wall may include an opening sized and positioned to allow a storage container to pass through the wall.

[0090] In an exemplary process of the fourth aspect, an automated storage and retrieval system may include an access station that includes an external shifting mechanism configured to shift a storage container away from the rail system. When the protrusion of the vehicle is located beside the external shifting mechanism, the shifting mechanism may transport one or more of the storage containers carried by the vehicle to the external shifting mechanism.

[0091] The method may include the following steps:

[0092] - Moving the container transport vehicle horizontally along the rail system such that the end of the container transport vehicle opposite to the end having the container handler is adjacent to or within the opening.

[0093] In an exemplary process of the fourth aspect, an automated storage and retrieval system includes: the wall having the opening as described above; a first container transport vehicle arranged in the first space; and a second container transport vehicle arranged in the second space.

[0094] The method may include the following steps:

[0095] - Moving the first container transport vehicle along the rail system such that the end of the container transport vehicle opposite to the end having the container handler is adjacent to or within the opening, and

[0096] - Transferring the storage container from the first container transport vehicle through the opening to the second container transport vehicle using a container shifting mechanism that forms part of the container carrier of the first container transport vehicle.

[0097] In the case where the container transporter is retracted into the interior of the perimeter of the container carrier without the protrusion, the size of the container transport vehicle can be equivalent to the size of n×m grid openings, where n and m are any positive integers.

[0098] For example, the container carrier of the container transport vehicle with a protrusion and the container carrier without a protrusion can be equivalent to 3×1 grid openings and 4×1 grid openings, respectively.

[0099] If the container transport vehicle is made larger, for example, equivalent to 5×1 grid openings or 5×2 grid openings in the case of including a protrusion, it may be an advantage to use more drive modules to improve stability, for example, setting one drive module at each longitudinal end and one drive module at the longitudinal center.

[0100] When using multiple drive modules, it may be beneficial to use different instruction protocols for rail switching to ensure sufficient coordination. Description of the Drawings

[0101] The following drawings only depict embodiments of the present invention by way of example and are appended to facilitate the understanding of the present invention.

[0102] FIG. 1 is a perspective view of an automated storage and retrieval system of the prior art, which includes a rail system and a storage volume for storing container stacks, and a plurality of remotely operated container handling vehicles are running on the rail system.

[0103] FIG. 2 is a perspective view of a remotely operated vehicle of the prior art, which has a cavity arranged in the center for carrying a container therein.

[0104] FIG. 3 is a perspective view of a remotely operated vehicle of the prior art, which has a cantilever for carrying a container below.

[0105] FIG. 4 is a perspective view of a remotely operated vehicle of the prior art, which has a cavity arranged inside for carrying a container therein, wherein the cavity deviates from the center of the remotely operated vehicle in the X direction.

[0106] Figure 5 is a perspective view of an automated storage and retrieval system according to an embodiment of the present invention, which includes a container transport vehicle;

[0107] Figure 6A to Figure 6E is Figure 5 a perspective view of the automated storage and retrieval system of, which shows the retrieval of a storage container from a storage volume below the rail system by the container transport vehicle and the arrangement of the storage container into the vehicle.

[0108] Figure 7 A perspective view shows a container transport vehicle according to an embodiment of the present invention, wherein, Figure 7 A is an exploded view of the vehicle, and Figure 7 B shows a part of the vehicle in more detail.

[0109] Figure 8 A perspective view shows a container carrier of a container transport vehicle according to an embodiment of the present invention, wherein, Figure 8 A shows the container carrier, and Figure 8 B shows a part of the container carrier in more detail.

[0110] Figure 9A To Figure 9D are perspective views of an automated storage and retrieval system according to an embodiment of the present invention, which shows storage containers being transferred between a first container transport vehicle and a second container transport vehicle through an opening in a wall.

[0111] Figure 10 is a perspective view of the automated storage and retrieval system of FIG. 9, wherein the opening is equipped with a door. Detailed Description of the Invention

[0112] Hereinafter, embodiments of the present invention will be discussed in more detail only by way of example and with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings. In addition, even though some of the features are described only with respect to the automated storage and retrieval system 1 and the container handling and transport vehicle 10, it is obvious that these features are also valid for the related methods, and vice versa.

[0113] Figure 5 Shows a container handling and transport vehicle 10 (hereinafter referred to as "vehicle 10") according to the present invention, which runs on a track system 108 of an automated storage and retrieval system 1 (hereinafter referred to as "storage system 1"). The track system 108 can be similar or identical to the track system shown in FIG. 1 (see the "Background Art and Prior Art" section). The X-direction, Y-direction, and Z-direction are indicated in the figure, wherein the first set of tracks 110 is aligned in the X-direction, and the second set of tracks 11 is aligned in the Y-direction.

[0114] The frame structure 100 of the automated storage and retrieval system 1 can be constructed in a similar or identical manner 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 storage columns 105 for storing stacks 107 of storage containers 106 arranged in rows between the upright members 102.

[0115] Figure 5The vehicle 10 shown in includes:

[0116] - Two drive modules 20 that enable the vehicle 10 to travel in the X and Y directions along the track system 108,

[0117] - A container carrier 30 that is fixed on top of the drive module 20 and is configured to support the storage container 106 and displace the storage container in at least one direction,

[0118] - A vehicle housing 40 that covers a part of the container carrier 30, and

[0119] - A container handler 50 that allows handling of the storage containers 106 arranged in stacks 107 within the storage row 105.

[0120] Figure 5 The occupied area of each drive module 20 in covers an area that is equal to or approximately equal to the lateral extent of the storage row 105 / grid opening 112 in the X and Y directions. However, the drive module 20 can be of any size that allows movement along the track system 108.

[0121] The tracks 110, 111 are preferably double - guide tracks to make the traffic on the track system 108 more efficient / dense.

[0122] Also refer to Figure 7 A, each drive module 20 can include a first set of wheels 22a and a second set of wheels 22b that enable the drive module 10 to move in the X and Y directions respectively. The first set of wheels 22a is arranged to engage two adjacent tracks in the first set of tracks 110, and the second set of wheels 22b is arranged to engage two adjacent tracks in the second set of tracks 111. At least one of the two sets of wheels 22a, 22b can be lifted and lowered such that the first set of wheels 22a and / or the second set of wheels 22b can engage the corresponding two sets of tracks 110, 111 at any point in time. The rotational driving force can be provided by hub motors and / or drive motors arranged within the drive module body 21 (to which the wheels 22a, 22b are fixed). Alternatively or additionally, sufficient driving force can be provided to the wheels 22a, 22b from hub motors and / or one or more motors arranged within the vehicle 10 and outside the drive module 10.

[0123] The shown container carrier 30 includes an elongated carrier frame 31 that has a longitudinal axis oriented in the X direction. One of the plurality of drive modules 20 is shown arranged below the longitudinal end of the frame 31, and another of the plurality of drive modules is moved in the X direction by a length corresponding to one grid opening relative to the other end, thereby forming a protrusion / projection 38.

[0124] The vehicle housing 40 includes a hood 41 which has a roof / top side 41a and side panels 41b. Two hood support members 43 in the form of U-shaped frames fix the hood 41 to the carrier frame 31 such that a passage extending in the X direction along the part of the container carrier 30 other than the protrusion 38 is established. Note that other designs of the vehicle housing 40 are conceivable, for example, the length of the passage covered is less than the length of the container carrier 30 minus the protrusion 38.

[0125] The container handler 50 is shiftably coupled to the vehicle housing 40 and the container handler includes: a handler body 51 having a top side 51a and side walls 51b; and a lifting device 55 arranged below at least a part of the handler body 51 such that the lifting device 55 can be lowered and lifted by a remotely controlled lifting motor. Such a motor can be arranged within the handler body 51. The lifting device 55 is also configured to allow clamping of storage containers 106 stored in a storage row 105 below the rail system 108.

[0126] Specific reference Figure 7 B, the above-mentioned shiftable coupling can be achieved by two parallel rails 42 fixed to the inner roof plate of the roof 41a and two suspension handles / suspension blocks 52 fixed to the top side of the container handler 50. The guide handles 52 and the rails 42 are configured such that the handles 52 of the container handler 50 can slide / roll along the rails 42 of the vehicle housing 40 when suspended. The length of the sliding / rolling preferably corresponds at least to the length of the part of the container carrier 30 other than the protrusion 38.

[0127] Of course, any coupling between the container handler 50 and the vehicle housing 40 that can be shifted along the X direction is conceivable. The inner roof plate of the hood 41 can, for example, contain guide rails into which the suspension handles or suspension sliders 52 can slide. A wheeled coupling is also conceivable.

[0128] Specific reference Figure 8 A and Figure 8 B, the container carrier 31 further includes a conveying system 32 to 37 which can include: two endless drive belts 32 extending along each side of the carrier frame 31; a drive shaft 33 arranged at an end of the frame 31 and rotatably coupled to one end of at least one of the two endless drive belts 32 via one or more grooved pulleys (such as a first pinion 34 and a second pinion 36); a drive motor 35 rotatably coupled to the grooved pulley / first pinion 34; and a grooved pulley 37 arranged at the other end of the two endless drive belts 32. By operating the drive motor 34, any storage container 106 directly or indirectly supported on the endless drive belts 32 is thus shifted along the carrier frame 31 from one end to the other end.

[0129] FIG. 6 shows an example of the process of picking up a storage container 106 from a stack 107 within a storage column 106 below the rail system 108:

[0130] - Shift the container handler 50 relative to the vehicle housing 40 such that the lifting device 55 is completely outside the perimeter of the container carrier 30.

[0131] -( Figure 6A ) Drive the vehicle 10 along the rail system 108 by operating the drive module 20 such that the lifting device 55 is directly above a grid opening 112, which is above a storage column 105 containing one or more target storage containers 106.

[0132] -( Figure 6A ) Remove the storage container 106 disposed on top of the stack 107 within the storage column 105 by the following steps: lower the lifting device 55 into the storage column 105 via the grid opening 112; grip the storage container 106 by operating a gripping tool forming part of the lifting device 55; and lift the lifting device 55 together with the storage container 106 through the grid opening 112.

[0133] -( Figure 6B ) Raise the removed storage container 106 until it is positioned in alignment with or above the container carrier 30.

[0134] -( Figure 6C ) Activate the displacement mechanisms 42, 52 (e.g., by remotely operated motors disposed within the handler body 51 and / or the vehicle housing 40) such that the container handler 50 is displaced along the X direction together with the storage container 106 into the vehicle housing 40 and to a position directly above the free area of the container carrier 30 - e.g., an area at the end of the container carrier 30 closest to the grid opening 112.

[0135] -( Figure 6D and Figure 6E ) Lower the storage container 106 onto the free area of the container carrier 30 and release it from the lifting device 55.

[0136] To allow for the transportation of multiple storage containers 106, the process can be repeated after displacing the storage container supported by the container carrier 30 in the X direction towards the protrusion 38 of the vehicle 10, thereby freeing up an area for the arrangement of a new storage container 106. The displacement can be performed as described above, e.g., using conveyor belts 32 to 37. The new storage container 106 can be removed from the same storage column 105 as the previous storage container or from another storage column 105. The latter option involves changing the position of the vehicle 10.

[0137] Figure 5The vehicle 10 in FIGS. 6 is designed to transport up to a total of five storage containers. Four of these five storage containers 106 (1×4) are distributed along the entire container carrier 30 (including the protrusion 38) at a relatively small spacing, and one of the five storage containers 106 is suspended in the lifting device 55 (see also Figure 9A and Figure 9B ). However, the vehicle 10 can be manufactured in any size in the X and Y directions. For example, the vehicle can be designed to allow the transportation of only a total of 2 storage containers, with a single one of the 2 storage containers on the container carrier 30 (1×1), and the other single one of the 2 storage containers suspended on the lifting device 55. In addition, the vehicle 10 can be designed with a container carrier 30 that allows the support of 1×2 storage containers, 1×3 storage containers, 1×5 storage containers, 2×2 storage containers, 2×3 storage containers, 2×4 storage containers, or 3×3 storage containers. In the case where the size of the container carrier 30 of the vehicle 10 in the Y direction is greater than or equal to the size of two grid openings 112, two or more adjacent lifting devices can be utilized, which are connected to one or more container handlers 50. The rest of the vehicle 10 can be scaled accordingly. The relatively small spacing can be, for example, less than or equal to the width of the double-rail track. It is also conceivable that there is no spacing.

[0138] Figure 9A to Figure 9B An embodiment of the storage system 1 including the wall 60 is shown. The wall separates the first space 2 that houses the first part of the track system 108 from the second space 3 that houses the second part of the track system 108. The wall 60 includes an opening 61, the size and position of which allow the protrusion 38 of the container carrier 30, together with the storage container 106 supported on the protrusion, to be inserted when the vehicle 10 is displaced in the X direction.

[0139] Figure 9A The first vehicle 10 as described above running on the track system 108 within the first space 2 is shown, where the first vehicle 10 has transported five storage containers 106; four storage containers are on the container carrier 30, and one storage container is suspended below the fully extended container handler 50. The first vehicle 10 has been moved to the transfer position by operating the drive module 20, at which position the lower edge of the protrusion 38 is adjacent to the lower edge of the opening 61. A second vehicle 10 that is identical in construction to the first vehicle 10 but rotated 180° can be seen approaching the opening 61 from the other side of the wall 60, i.e., along the track system 108 in the second space 3.

[0140] Figure 9BShows the second vehicle 10 in the transfer position, where the protrusion 38 of the second vehicle has been inserted into the opening 61 and is aligned and adjacent to the protrusion 38 of the first vehicle 10.

[0141] When the container displacement mechanisms 32 to 37 of both the first vehicle and the second vehicle 10 are operated such that the two endless drive belts 32 rotate counterclockwise, the storage containers 106 on the container carrier 30 of the first vehicle 10 are displaced via the opening 61 and the corresponding protrusions 38 onto the container carrier 30 of the second vehicle 10.

[0142] Figure 9C Shows the result that all the storage containers 106 on the first vehicle 10 (including the storage containers 106 suspended below the lifting device 55) have been transferred to the second vehicle 10.

[0143] Figure 10 Shows the storage system 1 of FIG. 9 including a door system 70 that allows the opening 61 to be closed and opened.

[0144] The door system 70 includes: a door 71; two vertically oriented door frames 72 arranged on both sides of the opening 61 into which the door 71 can slide; and a door shaft 71 connected to the upper ends of the two door frames 72 to each other. The length of the door frame 72 is shown to be at least twice the height of the opening 61, and the lower ends of the door frame are located at or near the lower edge of the opening 61. In addition, the door shaft 71 can be rotatably coupled to a motor and can be mounted to the door 71 by a wire. Thus, by operating the motor, the door shaft 71 rotates such that the door 71 is lifted or lowered according to the rotation direction of the door shaft, and thereby the opening 61 is opened or closed.

[0145] In the foregoing description, various aspects of the container transport vehicle and the automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. For purposes of explanation, 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 fall within the scope of the present invention.

[0146] List of Reference Numerals

[0147] 1 Automated storage and retrieval system

[0148] 10 Container handling and transport vehicle / First vehicle

[0149] 10’ Second vehicle

[0150] 20 Drive module

[0151] 21 Driving module body

[0152] 22a Driving device / group of wheels in the first direction (X)

[0153] 22b Driving device / group of wheels in the second direction (X)

[0154] 30 Container carrier

[0155] 31 Carrier frame

[0156] 32 Driving belt

[0157] 33 Driving shaft

[0158] 34 First pinion

[0159] 35 Driving motor

[0160] 36 Second pinion

[0161] 37 Grooved pulley

[0162] 38 Protrusion

[0163] 40 Vehicle housing

[0164] 41 Housing

[0165] 41a Roof

[0166] 41b Side panel

[0167] 42 Housing area / guide rod / sliding rod

[0168] 43 Housing support

[0169] 50 Container handler

[0170] 51 Handler body

[0171] 51a Top side of the handler body

[0172] 51b Side wall of the handler body

[0173] 51c Bottom area of the handler body

[0174] 52 Suspension / hanger / suspension handle / suspension block

[0175] 55 Lifting device

[0176] 60 Wall

[0177] 61 Wall opening / openings

[0178] 70 Door system

[0179] 71 Door

[0180] 72 Door frame

[0181] 73 Door hinge

[0182] 100 Frame structure

[0183] 102 Upright member of storage volume part

[0184] 103 Horizontal member of storage volume part

[0185] 104 First storage volume part

[0186] 104’ Second storage volume part

[0187] 105 Storage row

[0188] 106 Container / storage container

[0189] 106’ Specific position of container / target container

[0190] 106” Empty storage space of container

[0191] 107 Stacking

[0192] 108 Track system

[0193] 109 Control system

[0194] 110 Parallel tracks in the first direction (X)

[0195] 111 Parallel tracks in the second direction (Y)

[0196] 112 Mesh opening

[0197] 119 First port column / unloading column

[0198] 120 Second port column / picking column

[0199] 150 Access station

[0200] 151 Operator

[0201] 200 Prior art container handling device / remotely operated vehicle with a central cavity

[0202] 201 Handling device main body / vehicle body

[0203] 202a Driving device in the first direction (X)

[0204] 202b Driving device in the second direction (Y)

[0205] 300 Prior art container handling vehicle / remotely operated vehicle with a cantilever / container handling vehicle

[0206] 301 Handling device main body / vehicle body

[0207] 302a Driving device / wheel device in the first direction (X)

[0208] 303b Driving device / wheel device in the second direction (Y)

[0209] 303 Lifting device

[0210] 304 Clamping element

[0211] 305 Guide pin

[0212] 400 Container handling device of the prior art / Remotely operated vehicle with offset chamber

[0213] 401 Handling device main body / vehicle body

[0214] 402a Driving device / wheel device in the first direction (X)

[0215] 402b Driving device / wheel device in the second direction (Y)

[0216] 403 Lifting device

[0217] 404 Clamping element

[0218] 405 Guide pin

[0219] X First direction

[0220] Y Second direction

[0221] Z Third direction

Claims

1. A container transport vehicle (10) for transporting a plurality of storage containers (106), The container transport vehicle (10) comprises: - A drive module (20) configured to move the container transport vehicle (10) along a track system (108), the track system comprising: ○ A first set of parallel tracks (110) arranged in a first direction (X), and ○ A second set of parallel tracks (111) arranged in a second direction (Y) orthogonal to the first direction (X); - A container carrier (30) arranged on the drive module (20), wherein the container carrier (30) is configured to support the storage containers (106) during transportation, - A container handler (50) arranged at one end of the container transport vehicle (10) in the first direction (X), the container handler comprising: ○ A lifting device (55) configured to ■ During operation, raise at least one of the plurality of storage containers (106) from a position below the track system (108), and ■ Lower the at least one of the plurality of storage containers (106) onto the container carrier (30), - Wherein the container handler (50) is configured to be displaceable in the first direction (X).

2. The container transport vehicle (10) according to claim 1, wherein, The container transport vehicle (10) comprises a displacement mechanism (42, 52) for the container handler (50), the displacement mechanism being configured to use a displacement motor to displace the container handler (50) in the first direction (X) between the following positions: A position outside the perimeter of the container carrier (30), and A position inside the perimeter of the container carrier (30).

3. The container transport vehicle (10) according to claim 1 or 2, Among them, The container carrier (30) comprises a protrusion (38) located at an end of the container transport vehicle (10) opposite to the end having the container handler (50), and Wherein the protrusion (38) extends in the first direction (X) from the drive module (20).

4. The container transport vehicle (10) according to any one of claims 1 to 3, wherein, The container transport vehicle (10) comprises a vehicle housing (40) covering at least a portion of the container carrier (30).

5. The container transport vehicle (10) according to claim 4, Among them, The displacement mechanism (42, 52) comprises: - A suspension member (52) mounted on one of the container handler (50) and the vehicle housing (40), and - A guide rail or track (42) forming a part of the other of the container handler (50) and the vehicle housing (40), or mounted on the other of the container handler (50) and the vehicle housing (40), Wherein the suspension member (52) and the guide rail or track (42) are connected to each other to allow the container handler (50) to move relative to the vehicle housing (40) in the first direction (X).

6. The container transport vehicle (10) according to any one of the preceding claims, wherein, The container handler (50) comprises: A container handler body (51) comprising a top region (51a) and a bottom region (51c), wherein a part (52) of the displacement mechanism (42, 52) of the container transporter (50) is fixed to or forms part of the top region (51a), and wherein the lifting device (55) is connected to the bottom region (51c).

7. The container transport vehicle (10) according to any one of the preceding claims, wherein, The container carrier (30) includes: a carrier frame (31), and a container displacement mechanism (32 - 37) configured to displace the storage container (106) along the carrier frame (31).

8. The container transport vehicle (10) according to any one of the preceding claims, wherein, The container transport vehicle (10) includes two drive modules (20), and the container carrier (30) is arranged on the drive modules.

9. An automatic storage and retrieval system (1), comprising: a storage volume (104) for storing storage containers (106) in a vertical stack (107); the container transport vehicle (10) according to any one of claims 1 to 8; and a rail system (108) arranged above the storage volume (104) and supporting the container transport vehicle (10); wherein the container transport vehicle (10) is configured to lift the storage container (106) by means of the lifting device (55) through a grid opening (112) formed by the intersection of parallel rails (110, 111) of the rail system (108).

10. The automatic storage and retrieval system (1) according to claim 9, comprising: a wall (60) separating a first space (2) accommodating a first part of the rail system (108) from a second space (3) accommodating a second part of the rail system (108), wherein the wall (60) includes: an opening (61), the size and position of which allow the storage container (106) to pass through the wall (60) when displacing in the direction along the container carrier (30).

11. The automatic storage and retrieval system (1) according to claim 10, wherein, The container carrier (30) includes a protrusion (38) located at an end of the container transport vehicle (10) opposite to the end having the container transporter (50). During operation, the protrusion (38) protrudes from the drive module (20) in the first direction (X), and the cross-sectional area of the protrusion is greater than or equal to the cross-sectional area of a single storage container (106) in contact with the container carrier (30). And the size and position of the opening (61) of the wall (60) allow the protrusion (38) to pass through together with at least one storage container (106) supported on the protrusion).

12. A method for transporting a plurality of storage containers (106) by means of an automated storage and retrieval system according to any one of claims 9 to 11, wherein, The method includes the following steps: moving the container transport vehicle (10) along the rail system (108) to a position such that the lifting device (55) is located above the grid opening (112); lowering the lifting device (55) to a position above the storage container (106) that constitutes the topmost storage container of the stack (107); clamping the storage container (106); vertically raising the lifting device (55) such that the storage container (106) is aligned with or above the container carrier (30); Shift the container carrier (50) together with the storage container (106) in the first direction (X) until the storage container (106) is in a position inside the perimeter of the container carrier (30).

13. The method according to claim 12, wherein, The method includes the following steps: Lower the lifting device (55) until the storage container (106) contacts or almost contacts the container carrier (30), and Release the storage container (106) from the lifting device (55).

14. The method according to claim 13, wherein, The container carrier (30) includes: A carrier frame (31), and A container shifting mechanism (32 - 37) configured to shift the storage container along the carrier frame (31) when the storage container (106) is supported on the container carrier (30), and wherein, The method includes the following steps: Shift the storage container (106) along the container carrier (30) in the first direction (A) towards the end of the container transport vehicle (10) opposite the end having the container handler (50).

15. The method according to claim 14, Among them, The container carrier (30) includes a protrusion (38) located at the end of the container transport vehicle (10) opposite the end having the container handler (50), wherein, during operation, the protrusion (38) extends from the drive module (20) in the first direction (X), and the cross-sectional area of the protrusion is greater than or equal to the cross-sectional area of a single storage container (106) in contact with the container carrier (30), and wherein the method includes the following steps: Shift the storage container (106) supported on the container carrier (30) until at least one storage container (106) is arranged in the protrusion (38).

16. The method according to any one of claims 12 to 15, Among them, The automated storage and retrieval system (1) includes: a wall (60) separating a first space (2) that houses a first part of the rail system (108) from a second space (3) that houses a second part of the rail system (108); a first container transport vehicle (10) arranged in the first space (2); and a second container transport vehicle (10) arranged in the second space (3), wherein the wall (60) includes an opening (61) sized and positioned to allow the storage container (106) to pass through the opening, and wherein the method includes the following steps: Move the first container transport vehicle (10) along the rail system (108) to bring the end of the container transport vehicle (10) opposite the end having the container handler (50) adjacent to or within the opening (61), and Transfer the storage container (106) from the first container transport vehicle (10) through the opening (61) to the second container transport vehicle (10) using a container shifting mechanism (32 - 37) that forms part of the container carrier (30) of the first container transport vehicle (10).

Images