Remote-operated picking vehicle, automated storage and

Abstract

A teleoperated picking vehicle (600), an automated storage and retrieval system (1) comprising a teleoperated vehicle (600), and methods of use thereof are disclosed. The automatic storage and retrieval system (1) comprises:-a track system (108) comprising a first set of parallel tracks (110) arranged in a horizontal plane (PH) and extending in a first direction (X) and a second set of parallel tracks (111) arranged in the horizontal plane (PH) and extending in a second direction (Y) orthogonal to the first direction (X), the first set of tracks (110) and the second set of tracks (111) form a mesh pattern in a horizontal plane (PH), the mesh pattern comprising a plurality of adjacent access openings (112) defined by a pair of adjacent tracks of the first set of tracks (110) and a pair of adjacent tracks of the second set of tracks (111). The remotely operated picking vehicle (600) comprises:-a body (601) comprising a drive for transportation on a track system (108); -a picker support device (610) for a robotic picking device (630) or a manual picker, the picker support device (610) being arranged on the vehicle body (601); -a storage container handling device (620) arranged on the vehicle body (601) wherein the storage container handling device (620) is configured to receive a storage container (106) from a container handling vehicle (301) operating on the track system (108); wherein the storage container handling device (620) is configured to support the storage container (106) when the storage container (106) is positioned such that the storage container is at least partially lowered into one access opening (112) in the track system (108) to allow the storage container (106) to be exchanged between the container handling vehicle (301) and the storage container handling device (620).

Description

Technical Field

[0001] The present invention relates to a remotely operated picking vehicle, and more particularly, to a remotely operated picking vehicle for exchanging storage containers with a container handling vehicle in an automated storage and retrieval system.

[0002] Background Art and Prior Art

[0003] Figure 1 There is disclosed a prior art automated storage and retrieval system 1 having a frame structure 100, and Figure 2 、 Figure 3 and Figure 4 there are disclosed three different prior art container handling vehicles 201, 301, 401 adapted to operate on such a system 1.

[0004] The frame structure 100 includes upright members 102 and a storage volume that includes storage rows 105 arranged in rows between the upright members 102. In these storage rows 105, storage containers 106 (also referred to as bins) are stacked one on top of the other to form stacks 107. The members 102 can 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 rail system 108 disposed across the top of the frame structure 100 on which a plurality of container handling vehicles 201, 301, 401 can travel to raise and lower storage containers 106 from and to the storage rows 105 and also to transport the storage containers 106 above the storage rows 105. The rail system 108 includes: a first set of parallel rails 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 rails 111 arranged perpendicular to the first set of rails 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 rail system 108. The container handling vehicles 201, 301, 401 can move laterally above the storage rows 105, i.e., move laterally in a plane parallel to the horizontal X-Y plane.

[0006] The upright members 102 of the frame structure 100 can be used to guide the storage containers during raising and lowering the containers from and to the rows 105. 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 201b, 301b, 401b and a second set of wheels 201c, 301c, 401c, and these two sets of wheels enable the container handling vehicles 201, 301, 401 to move laterally in the X direction and the Y direction respectively. In Figure 2 , Figure 3 and Figure 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 in the first set of tracks 110, and the second set of wheels 201c, 301c, 401c are arranged to engage with two adjacent tracks in the second set of tracks 111. At least one set of the two sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be lifted 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, for example, 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. The components of the clamping device of the container handling vehicles 301, 401 are shown in Figure 3 and Figure 4 and are denoted by reference numerals 304, 404. In Figure 2 , the clamping device of the container handling device 201 is located within the vehicle body 201a and is thus not shown.

[0009] Conventionally and also for the purposes of this application, Z = 1 identifies the uppermost layer available 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, etc. In the exemplary prior art disclosed in Figure 1 , Z = 8 identifies the bottom layer of the lowermost side of the storage container. Similarly, X = 1…n and Y = 1…n identify the positions of each storage row 105 in the horizontal plane. Thus, by way of example and using the Cartesian coordinate system X, Y, Z shown in Figure 1 , it can be said that in Figure 1The storage container identified as 106’ 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. Therefore, Figure 1 The storage container extending above the rail system 108 as shown in is also referred to as being arranged in the layer of Z = 0.

[0010] The storage volume part of the frame structure 100 is generally referred to as the grid 104, where the possible storage positions within the grid are called storage units. Each storage column can be identified by the positions in the X direction and Y direction, and each storage unit can be identified by the container numbers 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 rail system 108. The storage space can include a cavity arranged inside the vehicle bodies 201a, 401a, as Figure 2 and Figure 4 shown in and described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of these applications are incorporated herein by reference.

[0012] Figure 3 An alternative configuration of the container handling vehicle 301 with a cantilever construction is shown. This vehicle is described in detail, for example, in NO317366, and the content of this application is also incorporated herein by reference.

[0013] Figure 2 The occupied area of the cavity-type container handling vehicle 201 shown in can cover an area whose dimensions in the X direction and Y direction are approximately equal to the lateral range of the storage column 105, as described, for example, in WO2015 / 193278A1, the content of this application is incorporated herein by reference. The term "lateral" used herein may refer to "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 Figure 1 and Figure 4 shown in 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 can include upwardly projecting elements, wherein the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track can include one guide rail, or each of the tracks 110, 111 can include two parallel guide rails. In other track systems 108, each track in one direction (e.g., the X direction) can include one guide rail, and each track in another perpendicular direction (e.g., the Y direction) can include two guide rails. Each of the tracks 110, 111 can also include two guide rail members fastened together, with each guide rail member providing one guide rail for a pair of guide rails of 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 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 can have other purposes. In Figure 1 this case, columns 119 and 120 are such dedicated columns used by the container handling vehicles 201, 301, 401 to unload and / or pick up the storage containers 106, so that the storage containers can be transported to an access station (not shown), where the storage containers 106 can be accessed from outside the frame structure 100, or the storage 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 can be referred to as "port columns" 119, 120. The transportation to the access station can be in any direction (i.e., horizontal, inclined, and / or vertical). For example, the storage container 106 can be placed in a random column or a dedicated column 105 within the frame structure 100, and then picked up by any container handling vehicle and transported to the port columns 119, 120 for further transportation to the access station. The transportation from the port to the access station may need to move along various different directions by means of, such as a distribution vehicle, a trolley, or other transportation lines. Note that the term "inclined" means that the transportation of the storage container 106 has a generally transportation orientation between horizontal and vertical.

[0018] In Figure 1Among them, the first port column 119 can be, for example, a dedicated unloading port column at which the container handling vehicles 201, 301, 401 can unload the storage containers 106 to be transported to the access station or transfer station, and the second port column 120 can be a dedicated picking port column at which the container handling vehicles 201, 301, 401 can pick up the storage containers 106 that have been transported from the access station or transfer station.

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

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

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

[0022] The conveying system can be arranged to transfer the 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 it is necessary to access the storage in Figure 1When storing container 106 in one of the multiple columns 105 disclosed in the [reference], one of the 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 includes: moving the container handling vehicles 201, 301, 401 to a position above the storage column 105 where the target storage container 106 is located; using the lifting device (not shown) of the container handling vehicles 201, 301, 401 to retrieve the storage container 106 from the storage column 105; and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., there is one or more other storage containers 106 above the target storage container 106, this operation further includes: temporarily moving the storage containers located above before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to as "digging" in the art) can be performed using the same container handling vehicle that will subsequently transport the target storage container to the unloading port column 119, or using one or more other cooperative container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have container handling vehicles 201, 301, 401 dedicated to the task of temporarily removing storage containers 106 from the storage column 105. After removing the target storage container 106 from the storage column 105, the temporarily removed storage container 106 can be repositioned back to the original storage column 105. However, the removed storage container 106 can alternatively be repositioned to other storage columns 105.

[0024] When storing the storage container 106 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 will be stored. After removing all the storage containers 106 located at or above the target position within the stack 107, the container handling vehicles 201, 301, 401 position the storage container 106 at the desired location. The removed storage containers 106 can then be lowered back into the storage column 105 or repositioned to other storage columns 105.

[0025] To monitor and control an automated storage and retrieval system 1, such as monitoring and controlling the position of each storage container 106 within the framework structure 100, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301, 401, such that a desired storage container 106 can be delivered to a desired location at a desired time point 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] Figure 5 An example of a product item 80 stored in a storage container 106 is shown, the storage container having a height H f , a width W f and a length L f . The storage container 106 has a horizontal cross-section A f .

[0027] WO2022 / 112055A1 discloses a remotely operated picking vehicle for an automated storage and retrieval system, which is used to retrieve products from within a storage container and store products within the storage container.

[0028] The object of the present invention is to provide a remotely operated picking vehicle in which the ability of the remotely operated picking vehicle to exchange storage containers with container handling vehicles in an automated storage and retrieval system is improved. Summary of the Invention

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

[0030] The present disclosure relates to a remotely operated picking vehicle for an automated storage and retrieval system, which is used to retrieve products from within a storage container and store products within the storage container, wherein the automated storage and retrieval system includes:

[0031] - A track system including a first set of parallel tracks and a second set of parallel tracks, the first set of parallel tracks being arranged in a horizontal plane and extending in a first direction, and the second set of parallel tracks being arranged in a horizontal plane and extending in a second direction orthogonal to the first direction,

[0032] wherein the first set of tracks and the second set of tracks form a grid pattern in the horizontal plane, the grid pattern including a plurality of adjacent access openings defined by a pair of adjacent tracks in the first set of tracks and a pair of adjacent tracks in the second set of tracks,

[0033] wherein the remotely operated picking vehicle includes:

[0034] - A vehicle body, including a drive device for transportation on a rail system;

[0035] - A picker support device for a robotic picking device or a human picker, the picker support device being arranged on the vehicle body;

[0036] - A storage container handling device, arranged on the vehicle body,

[0037] wherein the storage container handling device is configured to receive a storage container from a container handling vehicle operating on the rail system;

[0038] wherein the storage container handling device is configured to support the storage container when the storage container is positioned such that the storage container is at least partially lowered into an access opening in the rail system to allow the storage container to be exchanged between the container handling vehicle and the storage container handling device.

[0039] The exchange of the storage container covers the container handling vehicle delivering the storage container to a remotely operated picking vehicle, or the container handling vehicle retrieving the storage container from the remotely operated picking vehicle.

[0040] The effect that the remotely operated picking vehicle has a container handling device that can move to a position where the container handling device can support a storage container that is at least partially lowered into the access opening is that the available ceiling height in the warehouse can be better utilized. The maximum distance between the clamping device of the container handling vehicle and the rail system does not need to be much larger than the height of the storage container. In this way, the height of the container handling vehicle can be kept to a minimum while the container handling vehicle and the remotely operated picking vehicle can exchange the storage container. This also allows the remotely operated picking vehicle to operate in an automated storage and retrieval system including a container handling vehicle as disclosed in the prior art mentioned above.

[0041] The storage container handling device can be configured to raise the supported storage container to a position above the rail system to enable the remotely operated picking vehicle to move along the rail system.

[0042] The storage container handling device should be able to lower the supported storage container sufficiently so that the gripper of the clamping device disengages from the top of the storage container, allowing the container handling vehicle to move freely away from the supported storage container.

[0043] The storage container handling device can be configured to raise the supported storage container to a position above the rail system such that the robotic picker / human picker located on the picker support device can more easily access the contents of the storage container.

[0044] The remotely operated picking vehicle can be configured to communicate signals with a control system.

[0045] The remotely operated picking vehicle may include a robotic picking device. The robotic picking device may be arranged on a picker support device.

[0046] The remotely operated picking vehicle may include a fence. The fence may surround the picker support device. The fence may enhance operational safety, especially when there is a manual picker on the picker support device. The fence may also serve as a mounting base for a storage container handling device or otherwise form part of the storage container handling device.

[0047] The drive device may include: a first set of wheels arranged on opposite sides of the vehicle body for moving the remotely operated picking vehicle along a horizontal first direction on a track system; and a second set of wheels arranged on another pair of opposite sides of the vehicle body for moving the remotely operated picking vehicle along a horizontal second direction on the track system, the second direction being perpendicular to the first direction.

[0048] Alternatively, the shifting device may include a set of continuous guide rails arranged on opposite sides of the vehicle body for moving the remotely operated picking vehicle on a track system.

[0049] The storage container handling device may include a storage container support.

[0050] The storage container handling device includes a lifting device configured to raise and lower the storage container support relative to the vehicle body.

[0051] The lifting device may be a cylindrical actuator, i.e., a device that converts air pressure, fluid pressure, or electric power into linear or rotational motion. Some examples are pneumatic or hydraulic piston devices and electrically driven lead screws or worm gears or chain drives.

[0052] Each storage container may include a flange, and the storage container support may include a pair of horizontally arranged arms configured to support the flange such that the storage container can be suspended from the storage container support.

[0053] Alternatively, the storage container support may be a hook or a shaped member configured to support the storage container by engaging with one side of the storage container. For example, by having mating contours on the storage container and the storage container support.

[0054] The flange may be arranged on the edge of the storage container. Preferably, the flange extends outward from the container and around the container opening.

[0055] The arms may be configured to receive the storage container laterally.

[0056] This configuration of the storage container handling device can lower the storage container at least partially into the access opening in the track system without lowering any of its own components into the access opening.

[0057] This configuration of the storage container handling device is preferably configured to support the storage container towards the upper end of the storage container.

[0058] The storage container support can be a horizontal plate configured to receive the storage container on the horizontal plate. In this way, the storage container can be supported without the need for a flange.

[0059] The storage container support can be lowered into one of the access openings in the track system or lowered through an access opening into the storage row located directly below. In this way, the storage container can be positioned such that it is at least partially lowered into an access opening, that is, where the lowest vertical height of the storage container is lower than the highest vertical height of the track system.

[0060] The thickness of the storage container support in the form of a horizontal plate can be from 1 cm to 10 cm.

[0061] The storage container support can be configured to fold up when not in use. This can allow more space to be vacated above the track system when needed.

[0062] The storage container support can move between a high position and a low position, where when the storage container support is in the high position, the storage container supported by the storage container support is located above the track system, and when the storage container support is in the low position, the storage container supported by the storage container support at least partially enters one of the access openings in the track system.

[0063] The high position can be referred to as the picking position. The low position can be referred to as the exchange position.

[0064] In the picking position, the storage container handling device can be configured to support the storage container in a position above the track system such that a robotic picker / human picker located on the picker support device can more easily access the contents of the storage container.

[0065] In the picking position, the storage container handling device can be configured to support the storage container in a position above the track system such that a remotely operated picking vehicle can move along the track system without interference between the storage container and the track system.

[0066] In the exchange position, the storage container handling device can be configured to support the storage container in a position where the gripper of the gripping device disengages from the top of the storage container, such that the container handling vehicle can move freely away from the supported storage container.

[0067] The vehicle body has an occupied area, and the storage container support can extend outside the occupied area.

[0068] The entire storage container support can be arranged outside the occupied area of the vehicle body. This will usually be the case when the storage container support is a plate.

[0069] The storage container handling device can include a rotating base. The rotating base can be arranged on the vehicle body and configured to rotate the carried storage container 106 at least partially within the occupied area of the vehicle body.

[0070] The occupied area of the remotely operated picking vehicle can cover an area whose dimensions in the X and Y directions are approximately equal to the lateral extent of the storage columns. The term "lateral" as used herein can mean "horizontal".

[0071] Alternatively, the occupied area of the remotely operated picking vehicle can be larger than the lateral area defined by the storage columns.

[0072] The remotely operated picking vehicle can have a rectangular vehicle body and include a plurality of storage container handling devices arranged on each side of the vehicle body. As an example, two storage container handling devices can be arranged on each side of the remotely operated picking vehicle, for a total of eight storage container handling devices.

[0073] A remotely operated picking vehicle with a rectangular vehicle body generally has areas near each corner of the vehicle body that are not blocked by the storage container handling devices. The remotely operated picking vehicle can access the storage containers in the top layer of the storage columns directly below these corner areas. When the storage container handling device does not support a storage container, the storage containers in other storage columns located below the area where the storage container would normally be can be accessed.

[0074] The remotely operated picking vehicle can include a plurality of storage container handling devices, where each storage container handling device can be configured to receive a storage container and allow the storage container to be lowered into the corresponding access opening independently of other containers.

[0075] The storage container handling devices can move independently of each other.

[0076] Each storage container handling device can be configured to support only one storage container.

[0077] The plurality of storage container handling devices can be arranged such that each storage container handling device can be vertically aligned with the corresponding access opening in the track system simultaneously.

[0078] An automated storage and retrieval system may include a storage volume that includes storage rows arranged in a row between upright members, where storage containers are stacked one on top of another in the storage rows and are accessible to and from the respective storage rows through access openings.

[0079] This disclosure relates to an automated storage and retrieval system, which includes:

[0080] - A remotely operated picking vehicle as described herein;

[0081] - A rail system including a first set of parallel rails and a second set of parallel rails, the first set of parallel rails being arranged in a horizontal plane and extending in a first direction, the second set of parallel rails being arranged in a horizontal plane and extending in a second direction orthogonal to the first direction, wherein the first set of rails and the second set of rails form a grid pattern in the horizontal plane, the grid pattern including a plurality of adjacent access openings defined by a pair of adjacent rails in the first set of rails and a pair of adjacent rails in the second set of rails;

[0082] - A plurality of storage containers stored below a storage section of the rail system, wherein the storage containers are accessible through the access openings; and

[0083] - A container handling vehicle including a drive device for transporting on the rail system and a gripping device for lifting the storage containers above the rail system.

[0084] The storage containers may be stored in stacks arranged in storage rows. Each storage row may be vertically located below the access openings.

[0085] The drive device may include: a first set of wheels for moving the container handling vehicle along the rail system in a first direction X; and a second set of wheels for moving the container handling vehicle along the rail system in a second direction Y.

[0086] The automated storage and retrieval system may include a control system configured to control the container handling vehicle, the remotely operated picking vehicle, and the robotic picker.

[0087] The automated storage and retrieval system may include a rail system having a double-rail - double-rail configuration, i.e., both the first set of rails extending in the X direction and the second set of rails extending in the second direction Y are provided with double rails. The double rails allow two vehicles to pass each other when traveling along the same rail.

[0088] The container handling vehicle is of a cantilever construction. Such a vehicle is disclosed in particular in NO317366.

[0089] The storage container handling device can be configured to lower the storage container to a position where the vertical height of the uppermost part of the storage container is lower than or equal to the vertical height of the uppermost part of the rail system. Then, the remotely operated picking vehicle can receive the storage container and deliver it to, for example, a chamber container handling vehicle as disclosed in Figure 4 , WO2014 / 090684A1 or WO2019 / 206487A1.

[0090] The present disclosure relates to a method of handling products within a storage container stored in an automated storage and retrieval system as described herein, wherein the method comprises the steps of:

[0091] - Performing an exchange of the storage container between the remotely operated picking vehicle and the container handling vehicle,

[0092] - Carrying the storage container by means of the storage container handling device of the remotely operated picking vehicle, and

[0093] - Picking products from the storage container carried by the remotely operated picking vehicle by means of a robotic picking device or a human picker arranged on the remotely operated picking vehicle.

[0094] The above steps need not be performed sequentially and each step may be repeated.

[0095] The exchange of the storage container may be performed before picking, and the exchange of the storage container includes: delivering the storage container to the storage container handling device of the remotely operated picking vehicle by means of the container handling vehicle.

[0096] The exchange of the storage container may be performed after picking, and the exchange of the storage container includes: removing the storage container from the storage container handling device by means of the container handling vehicle.

[0097] As part of the exchange of the storage container, the method may comprise the steps of:

[0098] - Moving the remotely operated picking vehicle to a position where the storage container carried by the storage container handling device is vertically aligned with one of the access openings in the rail system,

[0099] - Moving the storage container handling device to a position where the storage container handling device can support the storage container that is at least partially lowered into the access opening, and

[0100] - Delivering the storage container to the storage container handling device by means of the container handling vehicle, or

[0101] - Removing the storage container from the storage container handling device by means of the container handling vehicle.

[0102] When delivering a storage container to a storage container handling device, the container handling vehicle may perform at least some of the following steps:

[0103] - Carry the storage container above the rail system,

[0104] - Move on the rail system to a position where the carried storage container is vertically aligned with the storage container handling device,

[0105] - Lower the storage container onto the storage container handling device by means of a lifting device,

[0106] - Release the storage container from the lifting device, typically by means of a clamping device of the lifting device,

[0107] - Raise the lifting device to disengage the lifting device from the storage container,

[0108] - Move along the rail system to pick up a different storage container.

[0109] When removing a storage container from the storage container handling device, the container handling vehicle may perform at least some of the following steps:

[0110] - Move to a position on the rail system where the lifting device is vertically aligned with the storage container handling device and the storage container carried by the storage container handling device,

[0111] - Lower the lifting device of the container handling vehicle to engage with the storage container,

[0112] - Connect the lifting device to the storage container by means of a clamping device of the lifting device,

[0113] - Lift the storage container by means of the lifting device so that the storage container is lifted off the storage container handling device,

[0114] - Raise the storage container by means of the lifting device above the rail system,

[0115] - Move along the rail system to store or deliver the storage container.

[0116] Before picking, the method may include the following steps:

[0117] - Raise the storage container handling device to present the carried storage container to a robotic picking device or a manual picker arranged on a picker support device.

[0118] Before picking, the method may include the following steps:

[0119] - Rotate the storage container handling device to present the carried storage container to a robotic picking device or a manual picker arranged on the picker support device, such that the storage container 106 is at least partially within the occupied area of the vehicle body 601.

[0120] The method may include the following steps:

[0121] - Move the storage container handling device to a position such that the carried storage container is above the rail system, and

[0122] - Move the remotely operated picking vehicle along the rail system in the direction towards the target storage container or the target port row.

[0123] The remotely operated picking vehicle may move during picking.

[0124] The remotely operated picking vehicle may include a plurality of storage container handling devices, and the method may include the following steps:

[0125] - Exchange the first storage container between the first container handling vehicle and the first storage container handling device while exchanging the second storage container between the second container handling vehicle and the second storage container handling device.

[0126] The present disclosure relates to a method of handling products within a storage container stored in an automated storage and retrieval system as disclosed herein, wherein each storage container includes a flange, and the storage container handling device of the remotely operated picking vehicle includes a pair of horizontally arranged arms configured to support the storage container by the flange, and wherein the method includes the steps of: retrieving a target storage container by means of a container handling vehicle; placing the target storage container in a storage row of the storage and retrieval system such that the target storage container extends above the rail system; moving the remotely operated picking vehicle to align a pair of horizontally arranged arms with the target storage container; raising the pair of horizontally arranged arms to lift the target storage container above the rail system by the flange; and picking products from the target storage container carried by the remotely operated picking vehicle by means of a robotic picking device or a manual picker arranged on the remotely operated picking vehicle. The method may be combined with any one of the steps mentioned above.

[0127] After picking, the method may include the steps of: placing the storage container (no longer the target storage container) in a storage row of the storage and retrieval system such that the target storage container extends above the rail system by means of lowering a pair of horizontally arranged arms. The storage container may be returned to the storage row from which it was retrieved. Alternatively, the remotely operated picking vehicle may move to another position on the rail system to place the storage container in a storage row different from the storage row from which it was retrieved.

[0128] A container handling vehicle can retrieve a target storage container from below a storage section of an orbital system. The container handling vehicle can also retrieve the target storage container through a port column.

[0129] An automated storage and retrieval system generally includes a storage volume that includes storage columns arranged in rows between upright members, where storage containers are stacked one on top of another in the storage columns and are accessible to and from the respective storage columns through access openings.

[0130] To place a storage container in a storage column such that the storage container extends above the orbital system, multiple storage containers must be stored one on top of another in the storage column to form a stack of storage containers, thereby providing a pedestal at an appropriate vertical height for the target storage container to be placed. BRIEF DESCRIPTION OF THE DRAWINGS

[0131] The following drawings are provided to facilitate understanding of the present invention. The drawings illustrate embodiments of the present invention, which will now be described only by way of example, in which:

[0132] Figure 1 is a perspective view of a frame structure of a prior art automated storage and retrieval system.

[0133] Figure 2 is a perspective view of a prior art container handling vehicle having an internally disposed cavity for carrying a storage container therein.

[0134] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying a storage container therebelow.

[0135] Figure 4 is a perspective view of a prior art container handling vehicle as viewed from below, having an internally disposed cavity for carrying a storage container therein.

[0136] Figure 5 is a perspective view of a storage container and product items stored therein.

[0137] Figure 6 is a perspective view of a remotely operated picking vehicle that includes a picker support device and a plurality of storage container handling devices, where the remotely operated picking vehicle operates in an automated storage and retrieval system and exchanges storage containers with the container handling vehicle.

[0138] Figure 7 is Figure 6Side view of a remotely operated picking vehicle, in which a container handling vehicle carries a storage container and approaches one of a plurality of storage container handling devices of the remotely operated picking vehicle.

[0139] Figure 8 is similar to Figure 6 Perspective view of a remotely operated picking vehicle similar to the remotely operated picking vehicle in Figure 6 Compared with the remotely operated picking vehicle in Figure 8 the remotely operated picking vehicle in

[0140] Figure 9 is Figure 8 Side view of the remotely operated picking vehicle in

[0141] Figure 10 is Figure 6 Side view of the details of the remotely operated picking vehicle in

[0142] Figure 11 is Figure 8 Side view of the details of the remotely operated picking vehicle in

[0143] Figure 12 is similar to Figure 8 Perspective view of a remotely operated picking vehicle similar to the remotely operated picking vehicle in Figure 8 Compared with the remotely operated picking vehicle in Figure 12 the remotely operated picking vehicle in

[0144] Figure 13a Perspective view of a container handling vehicle that has placed a target storage container to be picked by the remotely operated picking vehicle in the Z = 0 layer, where the target storage container protrudes above the rail system in this layer.

[0145] Figure 13b is Figure 8 Perspective view of a remotely operated picking vehicle of the type shown in Figure 13a approaching the target storage container placed in the Z = 0 layer by the container handling vehicle in

[0146] Figure 13c is Figure 13b a perspective view of a remotely operated picking vehicle that carries a target storage container, where the remotely operated picking vehicle can pick products from the target storage container and further travel along the rail system, or return the target storage container to the location where the target storage container is collected. DETAILED DESCRIPTION

[0147] 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.

[0148] The framework structure 100 of the automated storage and retrieval system 1 can be constructed in a manner similar to the framework structure 100 of the prior art described above in connection with Figures 1 to 3 That is, the framework structure 100 includes a plurality of upright members 102 and includes a first upper rail system 108 extending in the X and Y directions.

[0149] The framework structure 100 further includes a storage compartment that takes the form of storage columns 105 disposed between the members 102, where storage containers 106 can be stacked into stacks 107 within the storage columns 105.

[0150] The framework structure 100 can be of any size. Specifically, it should be understood that the framework structure can be much wider and / or much longer and / or much deeper than the framework structure Figure 1 disclosed therein. For example, the framework structure 100 can have a horizontal extent of more than 700×700 columns and a storage depth of more than twelve containers.

[0151] Now, an embodiment of the remotely operated picking vehicle 600 will be discussed in more detail with reference to Figures 6 to 11 FIGS.

[0152] Figures 6 to 9 and Figures 12 to 13c show a remotely operated picking vehicle 600 that is configured to retrieve products from within storage containers 106 and store products within storage containers. The remotely operated picking vehicle 600 is configured to operate within an automated storage and retrieval system 1 (such as Figure 1 the automated storage and retrieval system 1 disclosed in Figures 6 to 9 and Figures 12 to 13c FIGS. only show some parts of the automated storage and retrieval system 1.

[0153] The automated storage and retrieval system 1 includes a rail system 108 that includes: a first set of parallel rails 110 disposed in a horizontal plane P Hin and extending in a first direction X; and a second set of parallel tracks 111, arranged in a horizontal plane P H in and extending in a second direction Y orthogonal to the first direction X. The first set of tracks 110 and the second set of tracks 111 form a grid pattern in the horizontal plane P H which includes a plurality of adjacent access openings 112 defined by a pair of adjacent tracks in the first set of tracks 110 and a pair of adjacent tracks in the second set of tracks 111.

[0154] The automated storage and retrieval system 1 may include a storage volume including storage rows 105 arranged in rows between upright members 102, wherein storage containers 106 are stacked one on top of another in the storage rows 105 and are accessible to and from the respective storage rows 105 through the access openings 112.

[0155] The exemplary drawings only show one remotely operated picking vehicle 600. However, two or more remotely operated picking vehicles 600 may operate in the same automated storage and retrieval system 1.

[0156] The automated storage and retrieval system 1 will generally include a plurality of storage containers 106 stored below the storage section of the track system 108, wherein the storage containers 106 can be accessed by means of container handling vehicles 201, 301, 401 and through the access openings 112.

[0157] Figure 6 Only one container handling vehicle 301 is shown. However, as Figure 1 illustrated, the automated storage and retrieval system 1 may include multiple container handling vehicles of one or more types. The container handling vehicles 210, 301, 401 include drive means for transporting on the track system 108 and gripping means 304 for lifting the storage containers 106 above the track system 108.

[0158] The container handling vehicle 301 may be a cantilever type container handling vehicle. The container handling vehicles 201, 401 may also be chamber type container handling vehicles.

[0159] Figure 6 The remotely operated picking vehicle 600 shown in includes: a vehicle body 601 including drive means 602, 603 for transporting on the track system 108; a picker support means 610 for a robotic picking device 630 or a human picker, the picker support means 610 being arranged on the vehicle body 601; and a plurality of storage container handling means 620 arranged on the vehicle body 601.

[0160] The drive device may include: a first set of wheels 602, arranged on opposite sides of the vehicle body 601, for moving the remotely operated picking vehicle 600 along a horizontal first direction X on the track system 108; and a second set of wheels 603, arranged on another pair of opposite sides of the vehicle body 601, for moving the remotely operated picking vehicle 600 along a horizontal second direction Y perpendicular to the first direction X on the track system 108.

[0161] In Figure 6 an example, the remotely operated picking vehicle 600 includes a robotic picking device 630, which is arranged on a picker support device 610. Alternatively, a human picker may replace the robotic picker 630, or cooperate with the robotic picker 630.

[0162] Figures 6 to 9 An example of the robotic picking device 630 arranged on the remotely operated picking vehicle 600 is shown. As illustrated, the robotic picking device 630 includes a first robotic segment 631 connected to the vehicle body 601. The first robotic segment 631 may be a vertical column. Preferably, the first robotic segment 631 is rotatably connected to the vehicle body 601 about a first vertical rotation axis.

[0163] The robotic picking device 630 further includes a gripper 635, which is configured to releasably grip a product 80 from within a storage container 106. The gripper 635 is at least indirectly connected to the first robotic segment 631. The gripper 635 and the first robotic segment 631 are spaced apart by an adjustable radial gripping distance between the first robotic segment and the gripper 635. Preferably, the length of the radial gripping distance is such that the gripper 635 can reach the storage container 106 supported by the storage container handling device 620.

[0164] As Figures 6 to 9 illustrated, the robotic picking device 630 may be a multi-joint robotic picking device. Thus, the robotic picking device 630 generally may include a second robotic segment 632 connected to the first robotic segment 631. Preferably, the second robotic segment 632 is rotatably connected to the first robotic segment 631 about a first radial rotation axis perpendicular to the first vertical rotation axis, such that the longitudinal orientation of the second robotic segment 632 can be adjusted relative to the first vertical rotation axis.

[0165] The robotic picking device 630 may further include a third robotic segment 633 connected to the second robotic segment 632. Preferably, the third robotic segment 633 is rotatably connected to the second robotic segment 632 about a third rotation axis. The third robotic segment may be connected to the gripper 635. In the illustrated example, the third robotic segment is indirectly connected to the gripper 635 via a fourth robotic segment 634.

[0166] The remotely operated picking vehicle 600 may include a camera system. The camera system generally includes a camera 635 configured to visually inspect the product 80 within the storage container 106 supported by the storage container handling device 620. Such a camera 635 may be directly or indirectly connected to one of the plurality of robotic segments 631, 632, 633, 634.

[0167] The camera system may also include a camera transmitter configured to transmit information obtained by visually inspecting the contents 80 directly or indirectly via the robotic picking device 630 or the remotely operated picking vehicle 600 to the control system 500.

[0168] The number of robotic segments constituting the robotic arm and the direction of the axis of rotation may vary according to the requirements of accuracy and / or flexibility and / or reach.

[0169] The robotic picking device 630 generally communicates signals directly or indirectly via the remotely operated picking vehicle 600 with the control system 500.

[0170] The radial gripping distance of the robotic picking device 630 may extend outside the occupied area of the vehicle body 601. Thus, the gripper 635 may be configured to releasably grip the product 80 from within the storage container 106 located below the rail system 108 (preferably, near the upper layer of the rail system 108). The remotely operated picking vehicle 600 having a storage container handling device configuration as shown in Figure 6 may be configured to reach the storage container 106 located below the rail system 108 by reaching around the corner of the vehicle body 601. The remotely operated picking vehicle 600 having a storage container handling device configuration as illustrated in Figure 8 may be configured to reach the storage container 106 located below the rail system 108 by the corner of the vehicle body 601 or by the sides of the vehicle body 601 where no storage container handling device 620 is arranged. Alternatively, one or more storage container handling devices 620 may be configured to allow an order picker to access the access opening 112 directly below the storage container handling device 620 when no storage container 106 is supported on the storage container handling device.

[0171] The remotely operated picking vehicle 600 includes at least one storage container handling device 620, preferably, a plurality of storage container handling devices 620. In the Figure 6 example, the remotely operated picking vehicle 600 includes eight storage container handling devices 620. In the Figure 8In the example, the remotely operated picking vehicle 600 includes four storage container handling devices 620. A greater number of storage container handling devices 620 can increase the picking capacity. As the number of storage container handling devices 620 increases, the size of the remotely operated picking vehicle 600 will also increase.

[0172] The horizontal range of each storage container handling device 620 (i.e., in the first direction X and the second direction Y) can correspond to the area of the access opening 112.

[0173] Each storage container handling device 620 can extend partially into the occupied area of the vehicle body 601. Each storage container handling device 620 can also extend partially outside the occupied area of the vehicle body 601, for example, corresponding to the area of an access opening 112.

[0174] The storage container handling device 620 is configured to receive the storage container 106 from the container handling vehicle 301 running on the rail system 108. Therefore, the storage container handling device 620 is also configured to remove the storage container 106 from the container handling vehicle 301.

[0175] When the remotely operated picking vehicle 600 includes more than one storage container handling device 620, the remotely operated picking vehicle 600 can receive several storage containers 106 simultaneously and thus cooperate with several container handling vehicles 301.

[0176] In the exemplary drawings, the storage container handling devices 620 are configured to each support one storage container 106. However, the storage container handling devices 620 can be configured to each support two or more storage containers 106, for example, as illustrated in WO2022 / 112055A1.

[0177] The storage container handling device 620 is configured to support the storage container 106 when the storage container 106 is positioned such that the storage container is at least partially lowered into an access opening 112 in the rail system 108. In this way, the exchange of the storage container 106 between the remotely operated picking vehicle 600 and the container handling vehicle 310 can be facilitated.

[0178] The storage container handling device 620 is configured to move the supported storage container 106 vertically, i.e., move up and down along the third direction Z.

[0179] Accordingly, the storage container handling device 620 can have a high position and a low position. When the storage container handling device 620 is in the high position, the storage container 106 supported by the storage container handling device 620 will be located above the rail system 108. And when the storage container handling device 620 is in the low position, the storage container 106 supported by the storage container handling device 620 will at least partially enter one of the access openings 112 in the rail system 108. Accordingly, the storage container 106 can be at least partially lowered into the storage row 105 below the access opening 112.

[0180] As Figure 12 shown, the storage container handling device 620 can be configured to horizontally move the supported storage container 106, i.e., move along the first direction X and / or along the second direction Y. The storage container handling device 620 can include a rotating base 625, and thus can be configured to rotatably move the supported storage container 106, as Figure 12 shown. Alternatively, the storage container handling device 620 can move the supported storage container 106 in a reciprocating manner. This can allow the supported storage container 106 to move at least partially inside the occupied area of the vehicle body 601. By picking from the storage container 106 that is at least partially inside the occupied area of the vehicle body 601, the problem involving item dropping can be reduced. If a robotic picker or a manual picker drops the product 80 during picking, the product may land at a position on the vehicle body 601 where it is easy to retrieve the product, rather than falling through the rail system 108 to a position where it will be difficult to retrieve the product.

[0181] The storage container handling device 620 can include storage container supports 621; 621'. The storage container supports 621; 621' can move between a high position and a low position, wherein when the storage container supports 621; 621' are in the high position, the storage container 106 supported by the storage container supports 621; 621' is located above the rail system 108, and when the storage container supports 621; 621' are in the low position, the storage container 106 supported by the storage container supports 621; 621' at least partially enters one of the access openings 112 in the rail system 108.

[0182] The storage container handling device 620 can include a lifting device 622 configured to raise and lower the storage container supports 621; 621' relative to the vehicle body 601.

[0183] As Figure 8 、 Figure 9 and Figure 11 shown, the storage container support 621' can include a pair of horizontally arranged arms. The horizontal arms can support a storage container 106 of the type disclosed, for example, in the prior art and Figure 5 herein.

[0184] As Figure 5 shown, the storage container 106 of the prior art generally includes a flange 106a. The flange 106a can be arranged in the upper part of the storage container 106 and near the top opening of the storage container. The flange 106a can extend outwardly and around the storage container 106.

[0185] The horizontally arranged arms are configured to support the flange 106a on at least opposite sides of the storage container 106 such that the storage container 106 can be suspended on the storage container support 621'.

[0186] A pair of horizontal arms can preferably extend away from the vehicle body 601.

[0187] A pair of horizontal arms can extend horizontally within a range between 250 mm and 450 mm or between 350 mm and 650 mm, preferably at least 300 mm, more preferably at least 400 mm.

[0188] The storage container support 621' can include a third arm that is arranged to be orthogonal to the pair of arms and parallel to the vehicle body 601.

[0189] Preferably, a pair of horizontal arms can be configured to support a weight of at least 30 kg.

[0190] The storage container support 621' can include a fourth arm that is arranged to be orthogonal to the pair of arms and parallel to the third arm. The four arms can form a rectangular frame. In such a case, the storage container 106 must be received and removed from above.

[0191] In the case of adopting a configuration with only a pair of arms or only three arms, the storage container support 621' can be configured for laterally receiving the storage container 106.

[0192] When the storage container support 621' is configured for laterally receiving the storage container 106, the storage container support 621' can support the storage container 106 when the storage container 106 is positioned such that the storage container is at least partially lowered into one of the access openings 112 in the track system 108, without having to lower the storage container support 621' into the access opening 112, i.e., Figure 8 and Figure 9 in the case of. In addition, in the case where the storage container support 621' adopts this configuration, the storage container handling device 620 can support the storage container 106 when the storage container 106 is positioned such that the storage container is at least partially lowered into one of the access openings 112 in the track system 108, without having to lower any component of the storage container handling device into the access opening 112.

[0193] In addition to exchanging the storage container 106 with the container handling vehicle 301, this configuration of the storage container handling device 620 can also collect and replace the storage container 106 by itself when the storage container 106 extends above the rail system 108. An example of this situation is shown in Figures 13a to 13c and explained below.

[0194] Figure 11 A side view showing Figure 8 and Figure 9 the details in is presented, where, for clarity, some components are hidden. The storage container handling device 620 is arranged on the vehicle body 601. In this example, the storage container handling device 620 is attached to the fence 611, specifically, to two uprights 612 of the fence 611. When the remotely operated picking vehicle 600 does not include the fence 611, or when the position of the fence 611 is not close to the edge of the vehicle body 601, the storage container handling device 620 itself can include a base (for example, as shown in Figure 12 ), where a rotating base 625 is used. This base does not necessarily have to be rotatable; it can also be fixed. Other brackets for arranging the storage container handling device 620 on the vehicle body 601 are also conceivable.

[0195] Figure 11 The example of

[0196] shows that the storage container handling device 620 can include one or more sleeve brackets 623 for connecting to the upright 612. The sleeve brackets 623 are configured to move vertically along the upright 612. When the storage container handling device 620 is connected to the fence 611 using one sleeve bracket 623, the sleeve bracket 623 can be configured to rotate on the upright 612, that is, rotate relative to the vehicle body 601. However, when the storage container handling device 620 is connected by means of two sleeve brackets 623, rotation will generally be prevented. By rotating the sleeve bracket 623 or moving it vertically, at least the storage container support 621' will move along with the sleeve bracket. Figure 11

[0196] Figure 6 The storage container handling device 620 can include a lifting device 622, which is configured to move the storage container support 621' up and down. In the example of

[0197] The sleeve bracket 623 can extend outside the occupied area of the vehicle body 601 such that the storage container support 621' is disposed outside the occupied area of the vehicle body 601.

[0198] The storage container handling device 620 can include side plates 624. The side plates 624 can increase structural integrity and also provide lateral support to the carried storage container 106. The storage container support 621' can be connected directly or via the side plates 624 to the sleeve bracket 623. The side plates 624 can be configured to be lowered into the access opening 112.

[0199] As observed in Figure 8 、 Figure 9 and Figure 11 when the storage container 106 is lowered into the access opening 112, the storage container support 621' including a horizontal arm is typically also above the rail system 108.

[0200] As Figure 6 、 Figure 7 and Figure 10 shown, the storage container support 621 can include a horizontal plate configured to receive the storage container 106 on the horizontal plate. The horizontal plate can support a storage container 106 of the type disclosed, for example, in the prior art and Figure 5 .

[0201] Figure 10 Shows a side view of the details in Figure 6 and Figure 7 wherein, for clarity, some components are hidden. Except for the different storage container supports 621, the configuration of the storage container handling device 620 can be similar to the configuration described in Figure 11 . Compared to the storage container support 621' including a horizontal arm, the storage container support 621 including a horizontal plate will typically be lowered into the access opening 112 together with the carried storage container 106.

[0202] As Figures 6 to 9 、 Figure 12 as well as Figures 13b to 13cAs shown, the remotely operated picking vehicle 600 can include a plurality of storage container handling devices 620, where each storage container handling device 620 is configured to receive a storage container 106 and allow the storage container 106 to be lowered into a corresponding access opening 112 independently of other containers 106. That is, the storage container handling devices 620 can be configured to operate independently and perform different tasks. As an example, two storage container handling devices 620 can each carry a storage container 106, where one storage container 106 is for consolidating customer orders and the other storage container 106 is for picking from. At the same time, the two storage container handling devices 620 can exchange the storage container 106 with corresponding container handling vehicles 301, where one storage container 106 is received by the storage container handling device and the other storage container 106 is taken out by the container handling vehicle.

[0203] One or more storage container handling devices 620 can carry one or more consolidation containers. When picking products 80 from the storage container 106, customer orders can be collected into the consolidation containers. The consolidation containers and the storage containers can be the same.

[0204] One or more consolidation containers can be placed on the vehicle body 601, for example, within the picker support device 610.

[0205] To pick and complete customer orders, the remotely operated picking vehicle 600 will typically need to pick products 80 from several storage containers 106. To allow the storage containers 106 to flow into and out of the remotely operated picking vehicle 600, one or more container handling vehicles 301 will typically be utilized to perform the exchange of the storage containers.

[0206] To perform the exchange of the storage containers, move the remotely operated picking vehicle 600 to position one of the storage container handling devices 620 of the remotely operated picking vehicle in vertical alignment with the access opening 112. In this way, the storage container 106 carried by the storage container handling device 620 can be at least partially lowered into the access opening 112.

[0207] When in vertical alignment with the access opening 112, the storage container handling device 620 can be lowered regardless of whether the storage container handling device is carrying a storage container 106. The storage container handling device 620 does not need to be lowered to its lowest position as long as the storage container 106 carried or to be carried by the storage container handling device 620 will be at least partially lowered into the access opening 112. The situation where the container handling device 620 is carrying the storage container 106 is shown in Figure 8 and Figure 9 illustrates the case where the container handling device 620 is carrying the storage container 106.

[0208] When the storage container handling device 620 is carrying the storage container 106, the container handling vehicle 301 that is not carrying the storage container 106 can be moved so that the lifting device 304 of the container handling vehicle is positioned vertically aligned with the storage container 106 that is at least partially lowered into the access opening 112. Then, the container handling vehicle 301 can retrieve the storage container 106. To retrieve the storage container 106, the container handling vehicle 301 lowers its lifting device onto the storage container 106 and engages the gripper of the lifting device with the storage container 106. Then, the container handling vehicle 301 can lift the storage container 106 above the rail system 108 and move away from the remotely operated picking vehicle 600. Figure 7 Such a situation is shown.

[0209] When the storage container handling device 620 is not carrying the storage container 106, the container handling vehicle 301 carrying the storage container can be moved so that the carried storage container 106 is positioned vertically aligned with the storage container handling device 620. Then, the container handling vehicle 301 can deliver the storage container 106 to the remotely operated picking vehicle 600. To deliver the storage container 106, the container handling vehicle 301 lowers the storage container 106 onto the storage container handling device 620 by means of its lifting device. Then, the gripper disengages from the storage container 106 and the lifting device then retracts into the container handling vehicle 301. At this time, the storage container 106 is carried by the remotely operated picking vehicle 600, and the container handling vehicle 301 can then move away from the remotely operated picking vehicle 600.

[0210] After the storage container is exchanged, the storage container handling device 620 must be raised above the rail system 108 before the remotely operated picking vehicle 600 can move along the rail system 108. Any other storage container handling device 620 of the remotely operated picking vehicle 600 must also be raised above the rail system 108 before the remotely operated picking vehicle 600 can move along the rail system 108.

[0211] When the storage container handling device 620 is raised above the rail system 108, the storage container handling device will generally be closer to the robotic picker or the manual picker, and thus the picker can more easily access the contents of the storage container. Therefore, it may be beneficial to move the storage container handling device 620 to its high position when the picker wants to pick from the storage container 106 carried by the storage container handling device 620.

[0212] When the remotely operated picking vehicle 600 is moving and when it is stationary, the remotely operated picking vehicle 600 can pick products 80 from the storage containers 106 carried by the remotely operated picking vehicle 600 by means of a robotic picking device 630 or a manual picker arranged on the remotely operated picking vehicle 600.

[0213] Thus, when the remotely operated picking vehicle 600 is in a first position on the track system 108, the storage container 106 can be received by the storage container handling device 620, and then at a later time point, when the remotely operated picking vehicle 600 is in a second position on the track system 108, the storage container can be removed from the storage container handling device 620.

[0214] The remotely operated picking vehicle 600 can move along the track system 108 to shorten the travel distance for the container handling vehicle 301 to deliver the storage container 106 to the remotely operated picking vehicle 600 and to remove the storage container from the remotely operated picking vehicle.

[0215] The remotely operated picking vehicle 600 will typically include a plurality of storage container handling devices 620, as observed in Figures 6 to 9 and Figures 12 to 13c Preferably, the plurality of storage container handling devices 620 are arranged to match the pattern of the access openings 112 in the track system 108 such that all the storage container handling devices 620 can be vertically aligned with the respective access openings 112 simultaneously. Thus, by positioning one storage container handling device 620 vertically aligned with the access opening 112, the other storage container handling devices 620 will be aligned with the other access openings 112.

[0216] When the remotely operated picking vehicle 600 includes a plurality of storage container handling devices 620, these storage container handling devices 620 can preferably be operated independently of each other. For example, the first storage container handling device 620 can be lowered while the second storage container handling device 620 can be raised, while the third storage container handling device 620 remains stationary and the fourth storage container handling device 620 rotates.

[0217] When the remotely operated picking vehicle 600 includes a plurality of storage container handling devices 620, several storage containers can be exchanged simultaneously. For example, while exchanging the first storage container 106 between the first container handling vehicle 301 and the first storage container handling device 620, the second storage container 106 can be exchanged between the second container handling vehicle 301 and the second storage container handling device 620.

[0218] Although the remotely operated picking vehicle 600 can generally use the container handling vehicle 301 to perform the box exchange operation, the storage container 106 can also be delivered to and removed from the remotely operated picking vehicle 600 in other ways. An example is that the remotely operated picking vehicle 600 stores and retrieves the storage container 106 by itself, for example, as shown in the sequence of Figures 13a to 13c as shown.

[0219] In Figures 13a to 13c of the sequence, the remotely operated picking vehicle 600 retrieves the storage container 106 by itself. When the remotely operated picking vehicle 600 stores the storage container 106 again, the sequence is reversed.

[0220] In Figure 13a , the remotely operated picking vehicle 301 has placed the target storage container 106' (i.e., the storage container 106 requested by the remotely operated picking vehicle 600) in the storage column 105 of the storage and retrieval system 1 such that the target storage container 106' extends above the track system 108. This storage level height is referred to as Z = 0 in the description of Figure 1 .

[0221] Figures 13a to 13c The storage container 106 shown in Figure 5 is a prior art storage container 106 also shown in

[0222] Figures 13b to 13c . The storage container 106 includes a flange 106a through which the storage container can be lifted. Figure 13a The remotely operated picking vehicle 600 for retrieving the target storage container 106' shown in

[0223] In Figure 13b , the remotely operated picking vehicle 600 has moved to align the pair of horizontally arranged arms with the target storage container 106'. To vertically align the pair of horizontally arranged arms with the target storage container 106', the remotely operated picking vehicle 600 can first lower the storage container handling device 620 such that the vertical height of the pair of horizontally arranged arms is lower than the vertical height of the flange 106a of the target storage container 106'. Then, the remotely operated picking vehicle 600 can approach the target storage container 106' from the side until the desired alignment is achieved.

[0224] After the pair of horizontally arranged arms are aligned with the target storage container 106', the pair of horizontally arranged arms can be raised to lift the target storage container 106' above the rail system 108 through the flange 106a. Such a situation is shown in Figure 13c . At this time, picking can be performed from the target storage container 106'. The remotely operated picking vehicle 600 carrying the target storage container 106' can move along the rail system 108 and then return the target storage container to the storage state at the position where it was taken out or at other positions.

[0225] In the foregoing description, various aspects of the delivery vehicle and the automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. For illustrative purposes, specific numbers, systems, and configurations have been set forth to provide a thorough understanding of the system and how it operates. 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.

[0226] List of Reference Numerals

[0227]

Claims

1. A remotely operated picking vehicle (600) for an automated storage and retrieval system (1), the remotely operated picking vehicle being configured to retrieve products from within a storage container (106) and store products within the storage container. Among them, The automated storage and retrieval system (1) includes: - An orbital system (108), comprising a first set of parallel tracks (110) and a second set of parallel tracks (111), the first set of parallel tracks being arranged in a horizontal plane (P H ) and extending in a first direction (X), the second set of parallel tracks being arranged in the horizontal plane (P H ) and extending in a second direction (Y) orthogonal to the first direction (X), Among them, the first set of tracks (110) and the second set of tracks (111) form a grid pattern in the horizontal plane (P H )), the grid pattern includes a plurality of adjacent access openings (112), and the access openings are defined by a pair of adjacent tracks in the first set of tracks (110) and a pair of adjacent tracks in the second set of tracks (111). wherein the remotely operated picking vehicle (600) includes: - A vehicle body (601) including drive means for transportation on the track system (108); - A picker support means (610) for a robotic picking device (630) or a human picker, the picker support means (610) being arranged on the vehicle body (601); - A storage container handling means (620) arranged on the vehicle body (601), wherein the storage container handling means (620) is configured to receive a storage container (106) from a container handling vehicle (301) running on the track system (108); wherein the storage container handling means (620) is configured to support the storage container (106) when the storage container (106) is positioned such that the storage container is at least partially lowered into one of the access openings (112) in the track system (108), to allow the storage container (106) to be exchanged between the container handling vehicle (301) and the storage container handling means (620).

2. The remotely operated picking vehicle (600) according to claim 1, Among them, The drive means includes: - A first set of wheels (602) arranged on opposite sides of the vehicle body (601) for moving the remotely operated picking vehicle (600) along a horizontal first direction (X) on the track system (108); and - A second set of wheels (603) arranged on other opposite sides of the vehicle body (601) for moving the remotely operated picking vehicle (600) along a horizontal second direction (Y) on the track system (108), the second direction (Y) being perpendicular to the first direction (X).

3. The remotely operated picking vehicle (600) according to claim 1 or 2, Among them, The storage container handling means (620) includes: - A storage container support (621; 621’).

4. The remotely operated picking vehicle (600) according to claim 3, Among them, The storage container handling means (620) includes: - A lifting means (622) configured to raise and lower the storage container support (621; 621’) relative to the vehicle body (601).

5. The remotely operated picking vehicle (600) according to claim 3 or 4, Among them, Each storage container (106) includes a flange (106a), and wherein the storage container support (621’) includes a pair of horizontally arranged arms configured to support the flange (106a) such that the storage container (106) can be suspended from the storage container support (621’).

6. The remote operation picking vehicle (600) according to claim 5, wherein, The arms are configured to receive the storage container (106) laterally.

7. The remote-operated picking vehicle (600) according to claim 3 or 4, Among them, wherein the storage container support (621) is a horizontal plate configured to receive the storage container (106) on the horizontal plate.

8. The remotely operated picking vehicle (600) according to any one of the preceding claims, wherein, The storage container support (621; 621') is movable between a high position and a low position, wherein when the storage container support (621; 621') is in the high position, the storage container (106) supported by the storage container support (621; 621') is located above the rail system (108), and when the storage container support (621; 621') is in the low position, the storage container (106) supported by the storage container support (621; 621') at least partially enters one of the access openings (112) in the rail system (108).

9. The remotely operated picking vehicle (600) according to any one of the preceding claims, wherein, The vehicle body (601) has an occupied area, and the storage container support (621; 621') extends outside the occupied area.

10. The remotely operated picking vehicle (600) according to any one of the preceding claims, wherein, The remote-operated picking vehicle (600) includes: - a plurality of storage container handling devices (620), wherein each storage container handling device (620) is configured to receive a storage container (106) and allow the storage container (106) to be lowered into a corresponding access opening (112) independently of other containers (106).

11. The remotely operated picking vehicle (600) according to any one of the preceding claims, wherein, The automated storage and retrieval system (1) includes: - a storage volume including storage rows (105) arranged in rows between upright members (102), wherein the storage containers (106) are stacked on top of one another in the storage rows (105) and can enter and exit the corresponding storage rows (105) through the access openings (112).

12. An automatic storage and retrieval system (1), wherein, The system includes: - a remote-operated picking vehicle (600) according to any one of the preceding claims; - An orbital system (108) comprising a first set of parallel tracks (110) and a second set of parallel tracks (111), said first set of parallel tracks being arranged in a horizontal plane (P H ) and extending in a first direction (X), said second set of parallel tracks being arranged in said horizontal plane (P H ) and extending in a second direction (Y) orthogonal to said first direction (X), wherein said first set of tracks (110) and said second set of tracks (111) form a grid pattern in said horizontal plane (P H ) which grid pattern includes a plurality of adjacent access openings (112), said access openings being defined by a pair of adjacent tracks in said first set of tracks (110) and a pair of adjacent tracks in said second set of tracks (111); - a plurality of storage containers (106) stored below the storage section of the rail system (108), wherein the storage containers (106) can be accessed through the access openings (112); and - a container handling vehicle (301) including a driving device for transporting on the rail system (108) and a gripping device (304) for lifting the storage container (106) above the rail system (108).

13. The automated storage and retrieval system (1) according to claim 12, Among them, wherein the container handling vehicle (301) has a cantilever configuration.

14. A method for handling a product (80) within a storage container (106), said storage container being stored in an automated storage and retrieval system (1) according to claim 12 or 13, wherein, The method includes the steps of: - performing an exchange of storage containers between the remote-operated picking vehicle (600) and the container handling vehicle (301), - carrying a storage container (106) by means of the storage container handling device (620) of the remote-operated picking vehicle (600), and - picking a product (80) from the storage container (106) carried by the remote-operated picking vehicle (600) by means of a robotic picking device (630) or a human picker arranged on the remote-operated picking vehicle (600).

15. The method according to claim 14, Among them, performing an exchange of the storage container before picking, and the exchange of the storage container comprising: delivering the storage container (106) to the storage container handling device (620) of the remotely operated picking vehicle (600) by means of the container handling vehicle (301).

16. The method according to claim 14 or 15, Among them, performing an exchange of the storage container after picking, and the exchange of the storage container comprising: removing the storage container (106) from the storage container handling device (620) by means of the container handling vehicle (301).

17. The method according to any one of claims 14 to 16, Among them, as part of the exchange of the storage container, the method comprising the steps of: - moving the remotely operated picking vehicle (600) to a position where the storage container (106) carried by the storage container handling device (620) is vertically aligned with one of the access openings (112) in the track system (108), - moving the storage container handling device (620) to a position where the storage container handling device can support the storage container (106) at least partially lowered into the access opening (112), and - delivering the storage container (106) to the storage container handling device (620) by means of the container handling vehicle (301), or - removing the storage container (106) from the storage container handling device (620) by means of the container handling vehicle (301).

18. The method according to any one of claims 14 to 17, Among them, before picking, the method comprising the steps of: - raising the storage container handling device (620) to present the carried storage container (106) to the robotic picking device (630) or a manual picker arranged on the picker support device (610).

19. The method according to any one of claims 14 to 18, Among them, the method comprising the steps of: - moving the storage container handling device (620) to a position where the carried storage container (106) is located above the track system (108), and - moving the remotely operated picking vehicle (600) along the track system (108) in the direction of the target storage container (106') or the target port column (119).

20. The method according to any one of claims 14 to 19, Among them, the remotely operated picking vehicle (600) comprises a plurality of the storage container handling devices (620), and wherein, the method comprises the steps of: - while exchanging a first storage container (106) between a first container handling vehicle (301) and a first storage container handling device (620), exchanging a second storage container (106) between a second container handling vehicle (301) and a second storage container handling device (620).

21. A method for handling a product (80) within a storage container (106), said storage container being stored in an automated storage and retrieval system (1) according to claim 12 or 13, wherein, Each storage container (106) includes a flange (106a), and the storage container handling device (620) of the remotely operated picking vehicle (600) includes a pair of horizontally arranged arms configured to support the storage container (106) by means of the flange (106a). Wherein, the method includes the following steps: - Removing a target storage container (106') by means of a container handling vehicle (301). - Placing the target storage container (106') in the storage row (105) of the storage and retrieval system (1) such that the target storage container (106') extends above the rail system (108). - Moving the remotely operated picking vehicle (600) to align the pair of horizontally arranged arms with the target storage container (106'). - Raising the pair of horizontally arranged arms to lift the target storage container (106') above the rail system (108) by means of the flange (106a), and - Picking a product (80) from the target storage container (106') carried by the remotely operated picking vehicle (600) by means of a robotic picking device (630) or a manual picker arranged on the remotely operated picking vehicle (600).

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