Automatic storage and retrieval system

Abstract

The present disclosure relates to an automated storage and retrieval system. The system includes a three-dimensional grid including: a plurality of storage columns in which a plurality of storage containers are stacked one on top of another to be stored as a vertical stack; and at least one port through which the storage containers can be transferred into the grid. At least a first storage container of the plurality of storage containers includes a first side wall and a first side opening in the first side wall. The system further includes a receiving surface for receiving the first storage container; a first transport device configured to transport at least a first product item to a first location adjacent to the receiving surface; and a height adjusting mechanism. The height adjustment mechanism is configured to adjust a height of the receiving surface. The height adjustment mechanism is configured to position the first side opening alongside the at least first product item when the first storage container is positioned on the receiving surface and the at least first product item is at the first position. The system also includes an actuation mechanism configured to move the product item through the first side opening from the first position into the first storage container.

Description

Technical Field

[0001] This disclosure relates to an automated storage and retrieval system, a storage container, and an associated method. More specifically, this disclosure relates to an automated storage and retrieval system including a receiving surface and a height adjustment mechanism. Background Technology

[0002] Traditional storage solutions typically involve arranging goods on rows of shelves within a warehouse. The shelf location of each item is recorded in an inventory list, and pickers retrieve the goods from the shelves. As goods move in and out of the warehouse, the shelves are replenished and the inventory list is updated as needed.

[0003] Warehouse workers may be assisted by robotic picking machines and automated inventory management systems. Automated transport systems can also be implemented in traditional warehouse layouts to move goods from their storage locations to picking and / or packing stations.

[0004] An alternative to traditional warehouse layouts is the Automated Storage and Retrieval (AS / RS) system, in which robots retrieve items from their recorded locations within the warehouse and deliver them to packing stations or ports. This system can reduce or eliminate the space required to navigate between rows of shelves to access goods, thus eliminating the need for wide aisles within the warehouse. One example of such a system involves placing goods into boxes or containers configured to be stacked side-by-side within a three-dimensional grid. A track system is arranged on top of the grid, along which robotic container handling vehicles, configured to lift containers from the grid, can travel. The container handling vehicles are configured to transport containers out of the grid and deliver them to ports or stations outside the grid, allowing for the picking and packing of the goods within the containers.

[0005] Several challenges arise when considering how to ensure the process from delivering product items to the warehouse to storing those items in automated storage and retrieval systems (such as those described above) is as smooth and efficient as possible. A particular challenge arises when considering a product item (e.g., a box) containing multiple products that may be used to fulfill different orders. Currently, such boxes may require manual unpacking and repacking of individual products into storage containers for transfer to the 3D grid. However, this process is inefficient, time-consuming, and requires manual intervention. This manual intervention may involve lifting heavy cargo, such as boxes containing several beverages. This existing process can also lead to congestion at ports and loading and / or unloading stations.

[0006] One or more aspects of the invention described in this application are set forth in the claims. Attached Figure Description

[0007] The present disclosure will now be described in more detail with reference to several exemplary embodiments illustrated in the accompanying drawings, in which: Figure 1 A perspective view of a storage system is shown, which includes a grid and multiple robotic container handling vehicles configured to retrieve and / or rearrange goods stored within the grid. Figure 2 It shows Figure 1 A top view of the system; Figure 3A It shows what is suitable for use in Figure 1 Side view of the first robotic container handling vehicle in the system; Figure 3B It shows what is suitable for use in Figure 1 A side view of the second robotic container handling vehicle in the system; Figure 3C yes Figure 3B A three-dimensional side view of the robot; Figure 4 A computing device for implementing the operations described herein is shown; Figure 5a and Figure 5b A storage container according to this disclosure is depicted; Figure 6 Another storage container according to this disclosure is depicted; Figure 7a and Figure 7b An automated storage and retrieval system according to this disclosure is described; Figure 8 It is a flowchart depicting the method according to this disclosure; Figure 9 This is a flowchart depicting another method according to this disclosure. Detailed Implementation

[0008] In general, but not limited to, this disclosure relates to an automated storage and retrieval system, and an associated computer-implemented method for loading product articles into a storage container for storage in such a system. This application relates to an improved design of a storage container including at least one side opening, which in most implementations is likely an additional opening in addition to the top opening commonly seen in the prior art. The system includes a conveying device configured to convey a first product article, such as a case of beer, to a first position adjacent to a receiving surface. The storage container including the side opening can be positioned on the receiving surface, and the height of the receiving surface (and therefore the height of the product container) can be adjusted via a height adjustment mechanism. By controlling the height adjustment mechanism, the height of the storage container can be adjusted such that the side opening of the storage container is positioned beside (aligned with) the product article. An actuation mechanism (in a simple form, may include a linear actuator and a pushing member) can then move (e.g., push) the product article through the first side opening from the first position into the first storage container. Another conveying device is configured to transport the now-loaded storage containers containing product items back to the port for transfer into the grid of the storage and retrieval system.

[0009] In some implementations, the actuation mechanism is also configured to remove product items from the storage container. In this way, the loaded storage container can be removed from the storage grid, its height can be adjusted to position the side opening next to a first position, and the actuation mechanism can remove product items from the storage container.

[0010] This system and associated methods enable efficient loading and unloading of storage containers. By allowing loading via one or more side openings, product items can be loaded into crates more easily and efficiently in an automated manner. This is particularly beneficial when the product item itself comprises multiple individual products, such as when the product item is a crate containing several beverages. In this way, crates can be loaded directly into storage bins without manually opening the crates and loading individual products into the storage bins. Taking the beer crate example given above, the entire crate can be loaded into and removed from the grid.

[0011] Overview of Automated Storage and Retrieval Systems

[0012] refer to Figure 1In the embodiment shown, the grid 100 comprises a frame formed by a plurality of generally straight and adjacent vertical columns 102, which are formed between vertical frame members 104 and extend in the X direction 108 and the Y direction 110. The grid elements can be made of any suitable material; for example, the frame members can be formed from extruded aluminum. Storage containers or boxes 112 are preferably stacked on top of each other in a self-supporting manner in the columns 102 along the Z direction 114, which form storage volumes for storage units of the respective boxes 112 extending in the X direction 108, Y direction 110, and Z direction 114.

[0013] A track system or network 116 is formed on top of grid 100, and the track system or network includes pairs of vehicle tracks or rails 118a, 118b and 120a, 120b extending in the X direction 108 and the Y direction 110, respectively. A robotic container handling vehicle or robot 122 may have a range of sizes, shapes, and functions, and is set and configured to operate on tracks 118, 120 and transport boxes 112 in both the X direction 108 and the Y direction 110. Robot 122 is further configured to lift and / or lower boxes 112 from column 102 into column in the Z direction 114, the boxes 112 optionally being guided by vertical frame members 104. Robot 122 accesses the boxes 112 via access openings 124 located above column 102 and formed between tracks 118, 120.

[0014] Some columns 102 can be used for alternative purposes besides bin storage. For example, port columns 126, 128 include port columns or access columns that allow bins 112 to be moved into and / or out of grid 100. Port columns 126, 128 provide vertical channels for lifting bins 112 from one or more ports 130, 132 or lowering bins 112 to one or more ports. Ports 130, 132 in Figure 1 The port is shown at the lowest horizontal height of the grid; however, the port can be located at any vertical position along the column. Corresponding port columns 126, 128 can be specified for removing (“unloading”) box 112 from grid 100 and / or moving the box back or delivering (“picking up”) it to the grid. Therefore, ports 130, 132 are configured to allow box 112 to be removed and to allow the box to be (horizontally) reintroduced into the associated port column. Therefore, ports 130, 132 can include a conveyor (…). Figure 1 (Not shown in the diagram), the box 112 can be lowered onto the conveyor and transported horizontally out of the port column. Port columns 126, 128 include openings or access points through which the box 112 can enter and leave the column.

[0015] Robot 122 can transport box 112 along the top of grid 100 to port columns 126, 128 and / or transport boxes from port columns, and transport boxes from ports 130, 132 to locations outside grid 100, which may be access stations (not shown) for handling box 112 or its contents, such as picking stations for adding or removing contents from box 112. In alternative instances (not shown), box 112 can be transported to a port of another grid at the same or another horizontal level, or to an external facility. Box 112 can be transported to ports 130, 132 and boxes from ports can be transported by any suitable means (not shown), including conveyors, transport vehicles, elevators, or robots.

[0016] refer to Figure 2 The embodiment shown provides a more detailed view of the XY configuration 200 of the track system 116 and the different types of robots 202, 204. The track system includes tracks 206, between which vertical column access openings 124 are defined for accessing the box 112. The tracks 206 can be any suitable type of track for allowing the robots 202, 204 to travel on them along the X direction 108 and the Y direction 110, including (not shown) recessed tracks for receiving the wheels of a vehicle or protruding tracks for engaging wheel recesses. Each track 206 may include a single guide rail or multiple parallel guide rails in each of the X direction 108 and the Y direction 110.

[0017] The first "cantilever" type robot 202 Figure 3A The diagram is shown in more detail and includes a body 300, a set of wheels 302, and a lifting device 304. The body 300 houses operating equipment (not shown) for the robot 202, including a drive system, a power system, and a control system. The wheels 302 allow the robot 202 to move in one of the X and Y directions, and a set of additional wheels (not visible in this view) allows the robot to move in the other direction, in both cases along corresponding tracks or rails 206. One or both sets of wheels can be raised or lowered to allow selective engagement with tracks for movement in a desired direction. The lifting device 304 includes a cantilever element 306 extending from the top of the body 300 in the XY plane and a gripping device 308 that can be raised and lowered relative to the cantilever element 306. The gripping device 308 is configured to grip or engage the box 112, for example, by a portion of the box 112 or by passively or actively engaging appropriately configured portions of the box 112.

[0018] The second "internal cavity" type robot 204 is in Figure 3BAs shown in more detail below, and as an alternative to a cantilever lifting system, the second “cavity” type robot includes a cavity 310 located within the body 300, and a lifting device 312 including a gripping device (not shown) is located within this cavity. In this case, the body 300 includes the robot’s operating equipment and storage space for one or more boxes 112 for use, for example, when transporting the boxes 112.

[0019] Figure 3C It shows Figure 3B A stereoscopic side view of the robot, in which, Figure 3B The first set of wheels, 302, is visible. (Mentioned above but not mentioned in...) Figure 3B A set of additional wheels shown in Figure 3C The figure shows wheels 303. This set of additional wheels 303 is arranged perpendicular to the first set of wheels 302 to allow the robot 204 to roll in the X and Y directions using the first set of wheels 302 and the second set of wheels 303, respectively. Figure 3C The first set of wheels 302 and the second set of wheels 303 shown can be configured to independently lower into engagement with the track (and conversely raise into disengagement from the track) to allow the robot 202 to... Figure 2 The track arrangement shown moves along the X and Y directions. Although Figure 3C The 3D diagram shown is Figure 3B The image shows a 3D view of robot 204, but it should be understood that a similar vertical wheel arrangement can be applied. Figure 3A Robot 202.

[0020] Control and monitoring systems

[0021] The control and monitoring of the automated storage and retrieval system (including monitoring and storing the boxes, controlling the delivery, retrieval, and transport of the boxes, guiding the robot's route, and avoiding collisions) is handled by... Figure 4 The control system shown communicates with the robot and / or other controllable system components to perform the control. Control can be performed locally or remotely, and can be implemented by a processing system, for example, in the form of a computing device. Therefore, the methods described herein can form all or part of a computer-implemented method, or can form a system configured to perform the methods described herein.

[0022] refer to Figure 4 A processing system 400 suitable for performing the methods described herein will now be described. Figure 4A block diagram illustrating one implementation of a processing system 400 in the form of a computing device is shown, wherein a set of instructions can be executed to cause the computing device to perform any or more of the methods described herein. In some embodiments, the computing device may be connected (e.g., networked) to other machines in a local area network (LAN), intranet, extranet, or the Internet. The computing device may operate as a server or client machine in a client-server network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. The computing device may be a personal computer (PC), tablet computer, set-top box (STB), personal digital assistant (PDA), cellular phone, network device, server, network router, switch, or bridge, or any machine capable of executing (sequentially or otherwise) a set of instructions specifying the action to be taken by the machine. Furthermore, although only a single computing device is shown, the term "computing device" should also be considered as any collection of machines (e.g., computers) that individually or jointly execute a set (or more) of instructions to perform any or more of the methods described herein.

[0023] An exemplary processing system 400 includes a processor 402, a main memory 404 (e.g., read-only memory (ROM), flash memory, dynamic random access memory (DRAM), such as synchronous DRAM (SDRAM) or Rambus DRAM (RDRAM), etc.), a static memory 406 (e.g., flash memory, static random access memory (SRAM), etc.), and auxiliary memory (e.g., data storage device 418), which communicate with each other via a bus 430.

[0024] Processor 402 represents one or more general-purpose processors, such as microprocessors, central processing units, etc. More specifically, processor 402 may be a Complex Instruction Set Computing (CISC) microprocessor, a Reduced Instruction Set Computing (RISC) microprocessor, a Very Long Instruction Word (VLIW) microprocessor, a processor implementing other instruction sets, or a processor implementing combinations of instruction sets. Processor 402 may also be one or more special-purpose processors, such as application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), network processors, etc. Processor 402 is configured to execute processing logic (instructions 422) for performing the operations and steps described herein.

[0025] The processing system 400 may also include a network interface device 408. The processing system 400 may also include any one of a video display unit 410 (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)), an alphanumeric input device 412 (e.g., a keyboard or a touch screen), a cursor control device 414 (e.g., a mouse or a touch screen), and an audio device 416 (e.g., a speaker).

[0026] It is obvious that Figure 4 Some features of the processing system 400 shown may be absent. For example, the processing system 400 may not require a display device 410 (or any associated adapter). This may be the case, for example, with a particular server-side computer device that is used solely for its processing capabilities and does not need to display information to a user. Similarly, a user input device 412 may not be required. In its simplest form, the processing system 400 includes a processor 402 and main memory 404.

[0027] Data storage device 418 may include one or more machine-readable storage media (or more specifically, one or more non-transitory computer-readable storage media) 428 on which one or more sets of instructions 422 embodying any one or more methods or functions described herein are stored. During the execution of instructions 422 by processing system 400, the instructions may also reside wholly or at least partially in main memory 404 and / or processor 402, which also constitute computer-readable storage media 428.

[0028] The various methods described herein can be implemented by a computer program. This computer program may include computer code configured to instruct a computer to perform one or more of the various methods described herein. The computer program and / or code for performing these methods may be provided on one or more computer-readable media or more generally on a computer program product to a device such as a computer. The computer-readable media may be transient or non-transient. One or more computer-readable media may be, for example, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, or propagation media for data transmission, such as for downloading code via the Internet. Alternatively, one or more computer-readable media may take the form of one or more physical computer-readable media, such as semiconductor or solid-state memory, magnetic tape, removable computer floppy disk, random access memory (RAM), read-only memory (ROM), rigid disk, or optical disk, such as CD-ROM, CD-R / W, or DVD.

[0029] A computer program may be executed by processor 402 to perform the functions of the systems and methods described herein.

[0030] In implementation, the modules, components and other features described herein can be implemented as discrete components or integrated into the functionality of hardware components such as ASICs, FPGAs, DSPs or similar devices.

[0031] A "hardware component" is a tangible (e.g., non-transitory) physical component (e.g., a group or more processors) capable of performing certain operations and which can be configured or arranged in a physical manner. A hardware component may include dedicated circuitry or logic permanently configured to perform certain operations. A hardware component may be or include dedicated processors, such as field-programmable gate arrays (FPGAs) or ASICs. A hardware component may also include programmable logic or circuitry that is temporarily configured by software to perform certain operations.

[0032] Therefore, the phrase “hardware component” should be understood to encompass tangible entities that can be physically constructed, permanently configured (e.g., hardwired) or temporarily configured (e.g., programmed) to operate or perform certain operations described herein.

[0033] Furthermore, modules and components can be implemented as firmware or functional circuitry within a hardware device. Additionally, modules and components can be implemented as any combination of hardware devices and software components, or as software alone (e.g., code stored or otherwise embodied in a machine-readable or transportable medium).

[0034] Operation of the automatic storage and retrieval system

[0035] In operation, each box 112 is assigned a unique identifier, which can be marked on the box 112 using a computer-readable identifier (e.g., a barcode, quick-response code, or RFID tag) to facilitate identification. The database of processing system 400 stores the location and optional contents of each box 112 in a manner associated with the unique identifier. When a box 112 is moved (e.g., when it is removed from grid 100), the database is updated to record the change in its location.

[0036] When it is desired to retrieve box 112 from grid 100, under the control of processing system 400, robots 202 and 204 are guided along a route via track system 116 to the vertical column 102 containing the storage unit (according to the database) where box 112 is located, and the lifting devices 304 and 312 are positioned (depending on the robot type) above the corresponding access opening 124, which is located next to or below the robots 202 and 204. Robots 202 and 204 lower gripping device 308, which engages, grips, and lifts box 112 onto the robots 202 and 204. Robots 202 and 204 then transport box 112 to, for example, unloading port columns 126 and 128 for delivery to ports 130 and 132 for subsequent processing outside grid 100. If the target or designated box 112 is located below other boxes in the stack, one or more robots 202, 204, or dedicated to this task can be controlled to perform a "digging" operation to sequentially lift boxes located above the target box 112 and temporarily or permanently reposition these boxes to remove the target box. It should be understood that other operations related to box 112 can be performed in a similar manner. For example, box 112 can be delivered to grid 100 for storage at ports 130, 132 of pick-up port columns 126, 128, gripped and lifted by robots 202, 204, and delivered to the desired storage unit, if necessary, repositioning boxes above the desired location as discussed above.

[0037] Storage containers including side openings

[0038] Figure 5a and Figure 5b A storage container 500 according to this disclosure is depicted. Figure 5a It is a schematic diagram and depicts an angled view, while Figure 5b This is a simplified schematic diagram depicting a side view. The storage container 500 may be referred to herein as a "box". The storage container 500 includes a base 510, two first parallel sidewalls 506 and 508, two second parallel sidewalls 502 and 504, and a top opening. The two first parallel sidewalls 506 and 508 are perpendicular to the two second parallel sidewalls 502 and 504. The first sidewall 506 includes a first side opening 520. The second sidewall 508 also includes a corresponding side opening. While the description herein will primarily focus on the first side opening 520 in the first sidewall 506, it should be noted that... Figure 5aAs depicted, the second side opening may take the same form as the first side opening 520, but is located in the opposite sidewall, namely the second sidewall 508. The first sidewall 506 is substantially rectangular, and the first side opening 520 is a substantially rectangular opening formed in the first sidewall 506. The storage container 500 also includes an edge 512 that defines the lower side of the first side opening. The edge 512 may take the form of a lip or a side. Since the first side opening 520 is an opening in the first sidewall 506, the edge 512 may simply be the lower part of the first sidewall 506. The edge 512 is located at a certain height above the base 510.

[0039] The shape and size of the first side opening 520 are designed to receive one or more product items, such as a box containing individual products. In this way, the storage container 500 can load one or more products or product items via the first side opening 520 in the first side wall 506, and these products or product items can be removed from the storage container 500 via the first side opening 520 (and / or via a corresponding side opening in the second side wall 508). The edge 512 is formed, positioned, and otherwise configured to restrict the movement of product items positioned on the base 510 of the storage container 500, and thereby prevent them from detaching through the first side opening 520 during movement / transportation of the storage container 500. This is achieved in part by the height difference between the base 510 and the edge 512.

[0040] Storage container with multiple side openings

[0041] Figure 6 Another storage container 600 according to this disclosure is depicted. Figure 6This is a simplified schematic diagram depicting a side view. It should be understood that box 600 is similar to box 500 in several respects, and the following disclosure will focus primarily on the differences between box 500 and box 600. Box 600 is a "multi-level" box and includes multiple levels. Box 600 includes two bases positioned one on top of the other. This structure defines two distinct areas within box 600 for storing product articles. Box 600 includes a side wall 606 comprising two side openings: a first side opening 620 and a second side opening 622. The second side opening 622 is positioned above the first side opening 620. Each of the first side opening 620 and the second side opening 622 is shaped and positioned to receive one or more product articles. In this way, for example, a first product article can be introduced into box 600 via a first lower side opening 620. This first product article rests on the lower base of box 600. The first edge 612 serves to prevent the first product item from falling out of the box 600 during movement of the box 600. The second product item can be introduced into the box 600 via the second upper side opening 622. The second product item rests on the upper base of the box 600. The second edge 614 serves to prevent the second product item from falling out of the box 600 during movement of the box 600. In summary, the box 600 includes two distinct storage areas positioned on top of each other, each accessible via corresponding side openings 620, 622.

[0042] Automatic storage and retrieval system including height adjustment mechanism

[0043] Figure 7a and Figure 7b A top view of the automatic storage and retrieval system 700 according to this disclosure is depicted. It should be understood that system 700 is similar in many respects to the above description, for example, regarding... Figure 1 The system described herein, and the following disclosure will focus primarily on the differences, includes a three-dimensional grid 710 comprising: a plurality of storage columns in which a plurality of storage containers are stored in a vertical stack, one on top of another; and at least one port through which storage containers can be transferred into and / or out of the grid 710. One or more storage containers in the grid 710 include at least one side opening, in a manner as described above regarding... Figure 5a , Figure 5b and Figure 6 As described. Instances of such storage containers are in Figure 7a and Figure 7b It is depicted as the first storage container 730.

[0044] System 700 also includes a receiving surface 720 for receiving the first storage container. The receiving surface 720 may be positioned at, within, or near the port. The receiving surface 720 may be substantially rectangular. System 700 includes a height adjustment mechanism (in... Figure 7a or Figure 7b (Not shown in the image). The height adjustment mechanism is configured to adjust the height of the receiving surface 720, for example, between two or more of a plurality of heights. The height adjustment mechanism can take any suitable form and may include, for example, a linear actuator.

[0045] System 700 includes a first conveying device 760. The first conveying device 760 may, for example, include a conveyor belt. The first conveying device 760 is configured to convey product articles 740 to a first position 770. The first position 770 is adjacent to a receiving surface 720. The first position 770 may be located on the first conveying device 760; for example, the first position 770 may be a designated position on the conveyor belt. Figure 7a The product item 740 is depicted at the starting position or starting destination, and Figure 7b Product item 740 is depicted positioned at a first location 770. In this example, the initial destination could be at or near the warehouse where product item 740 is initially delivered, including grid 710. Several product items can be unloaded, for example, from a delivery truck onto the first conveyor 740. These product items are then sequentially conveyed to the first location 770 via the first conveyor 760.

[0046] System 700 also includes an actuation mechanism 750. The actuation mechanism is configured to move product article 740 from a first position 770 into the first storage container 730 through a side opening in the first storage container 730. The actuation mechanism can take any suitable form and may, for example, include a loading member and a linear actuator configured together to push product article 740 into the first storage container 730 through the side opening. Actuation mechanism 750 may also include a gripping mechanism configured to move product article 740 from the first storage container 730 to the first position 770 through the first side opening in the container 730. The gripping mechanism may include a suction cup or a suction mechanism, such as a robotic arm capable of gripping product articles.

[0047] The receiving surface 720 can be positioned adjacent to a port of the grid 710, which can adopt the same configuration as described above. Figure 1Ports 130 and 132 are described as being of the same or similar form. This facilitates the transfer of loaded containers containing one or more product items to grid 700. This transfer can be performed using existing methods and hardware. In this example, a human operator is located at the port and is able to manually transfer the loaded containers from the receiving surface to grid 710.

[0048] System 700 may optionally include a second conveying device (in Figure 7a or Figure 7b (Not shown in the diagram). The second conveying device is configured to convey storage containers from grid 710 via a port to receiving surface 720, and / or convey storage containers from receiving surface 720 to a port for transfer into grid 710. The second conveying device may include one or more conveyor belts, robotic picking arms, etc. In this way, empty or partially filled storage containers from grid 710 can be brought to the receiving surface for loading via actuation mechanism 750. After loading new product items, the loaded storage containers can then be brought back to grid 710 for storage. Receiving surface 720 itself may include a conveyor belt. The receiving surface conveyor belt is configured to convey storage containers positioned on the receiving surface to the second conveying device, such that, by actuation of the receiving surface conveyor belt and the second conveying device, the storage containers containing product items can be conveyed from receiving surface 720 to a port. Receiving surface 720 may be positioned adjacent to the second conveying device to facilitate this transfer.

[0049] The receiving surface 720 can be positioned at the port of the grid 710 or inside it. (As mentioned above...) Figure 1 The discussed 3D mesh 710 may include a column of ports. A receiving surface 720 may be positioned within the column of ports. Storage containers from the mesh 710 can thus be transferred from the mesh to the receiving surface of the ports, whereby their height is adjusted by a height adjustment mechanism, allowing one or more product items 740 to be loaded into or removed from the storage containers by an actuation mechanism 750. In this implementation, the second conveying device may include one or more robotic pickers configured to transfer boxes directly from the mesh 710 to the receiving surface 720.

[0050] The multiple storage containers in system 700 can include all single-layer boxes (such as...) Figure 5a and Figure 5b The boxes depicted in the text), all multi-layer boxes (such as...) Figure 6The system 700 may include, for example, the boxes depicted in the diagram, or combinations of different types of boxes, including boxes without any side openings. Therefore, the system 700 may include means for identifying and / or type of a particular box. The system 700 may also include means for detecting product article 740 and / or means for determining one or more characteristics associated with the product article, such as its size, shape, and location. For example, the system 700 may include one or more sensing devices (in... Figure 7a or Figure 7b (Not shown). Each sensing device may include an RF reader configured to read RFID tags and / or an optical detection device such as a camera. The first sensing device is configured to determine one or more features associated with a storage container to be received by a receiving surface, while the second sensing device is configured to determine one or more features associated with product article 740.

[0051] In this example, based on input from a sensing device, it is determined that the size of product item 740 is below a threshold size. Based on this determination, it is determined that product item 740 will fit into one of the smaller storage areas provided by a multi-layer box. The processing system controls system 700 to remove the multi-layer storage container from grid 710 and position it on receiving surface 720. The processing system then controls a height adjustment mechanism so that the side opening of the multi-layer box is positioned next to the product item, and then controls the system according to the method described herein to load product item 740 into the multi-layer box and return the loaded box to grid 710. Alternatively, if the sensing device determines that product item 740 is larger than the size threshold, a single-layer box is removed from grid 710. System 700 is similarly controlled so that the side opening of the single-layer box is positioned next to the product item 740, and using the method of this disclosure, a larger product item 740 can thus be loaded into a larger storage area provided by a single-layer box.

[0052] Of course, sensing devices including cameras are not necessarily required, and known methods for identifying container identifiers include the use of RFID tags and scanners. As described elsewhere in this document, the first storage container includes a computer-readable identifier, which can take any suitable form. The identifier can be scanned or “read” by a suitably configured sensing device. A sensing device, suitably configured and positioned to scan the computer-readable identifier, for example, when the storage container is near a receiving surface, can scan the unique identifier and send one or more signals to the processing system. The processing system can then identify the first storage container based on the one or more signals received from the sensing device and retrieve information related to the first storage container from a database. Based on the retrieved information, a height adjustment mechanism can then be controlled to adjust the height of the receiving surface to optimally position the first side opening next to at least the first product item.

[0053] In this example, based on the detection and identification of boxes via communication between the sensing device and the processing system, the height of the receiving surface can be adjusted so that the side opening of the box is correctly positioned next to, i.e., adjacent to, the product item 740, regardless of whether the box is a single-layer box or a multi-layer box. Specifically, the unique identifier of each box can be scanned to determine whether the box is a single-layer box or a multi-layer box. In an implementation where the grid 710 contains a mixture of single-layer boxes and multi-layer boxes including side openings, and optionally boxes without side openings, the database of the processing system 400 also stores, in association with the unique identifier of each box, the number of layers of each box, the number of side openings of each box, and height information optionally related to the height of any side openings that the box has. In this way, boxes including only side openings are positioned on the receiving surface 720. When a box including side openings is to be presented to the receiving surface 720 for loading by an actuation mechanism, the box is identified and its height information is retrieved from the database. The height of the storage container 740 when positioned on the receiving surface 720 can then be adjusted based on the retrieved height information. This ensures that the system 700 optimally positions the side opening of the container next to the product items, enabling smooth and efficient loading of the storage container.

[0054] A method for loading product items into storage containers and transferring the loaded storage containers into a 3D mesh.

[0055] In use, the operation of system 700 is handled by one or more processing systems (such as those mentioned above). Figure 4 The described processing system 400 is controlled. System 700 may include the processing system. Figure 8 A method 800 according to this disclosure is described, which is suitable for execution by such a processing system. Method 800 is relative to, for example, the above-described... Figure 6 The description of the box 600 refers to a multi-layer or multi-level storage container, but the method, with modifications (e.g., omitting steps S820, S825, and S830), can be combined with methods such as those described above. Figure 5a and Figure 5b The described box 500 is used for single-layer or single-level use.

[0056] At step S800, the first conveying device 760 is controlled to convey the first product article 740 to a first position 770 adjacent to the receiving surface 720. This may include, for example, controlling a conveyor belt and / or one or more robotic gripper arms to move the product article 740 from the starting position to the first position 770.

[0057] At step S805, the second conveying device is controlled to convey the first storage container 730 to the receiving surface 720. The first storage container 730 may be partially or completely empty. For a multi-level container, for example, the upper area may be occupied by product articles, but the lower area may be empty and therefore have the capacity to receive product articles from the actuation mechanism. In the following description of method 800, it is assumed that both areas of the storage container are empty.

[0058] In step S810, the height of the receiving surface 720 is adjusted such that the first side opening of the product container is located next to the product article. In other words, the height of the box positioned on the receiving surface 720 is adjusted so that the first side opening of the box is positioned near, i.e., adjacent to, the product article. Adjusting the height of the receiving surface 720 may include positioning the first side opening of the product container so that the opening is horizontally aligned with the product article 740. In an example, the multi-level storage container is raised so that its lower side opening is present near the product article. As will be understood after referring to the remaining steps of the method, the purpose of this step is to position the side opening of the storage container so that it is optimally positioned to receive the product article. The height of the storage container may be adjusted to a first height, which has been determined such that the actuation mechanism can move the product article from a first position into the first storage container through the first side opening.

[0059] In a specific implementation, the height of the receiving surface is adjusted based on the identification of the storage container. For example, the unique identifier of the storage container is scanned, and information related to the storage container is retrieved from a database. For example, information related to the type of container, including whether the container is a single-layer or multi-layer container, and / or information related to the number of side openings the container has, height information associated with the side openings, and / or information related to which storage areas defined by the container are empty and can be used to load product items 740. The height of the receiving surface 720 can then be adjusted based on the information retrieved from the database. For example, if the database indicates that the lower storage area of ​​the storage container 730 is empty and suitable for receiving product items 740, the height of the receiving surface is adjusted based on the retrieved height information so that the lower side opening of the storage container 730 is located next to the product items. Thus, the height of the receiving surface can be adjusted to a predetermined height, wherein the predetermined height has been pre-determined to be optimal for positioning the first side opening next to the product items. Optionally, multiple predetermined heights may exist, each of which is associated with a specific type of container and / or a specific side opening of each container.

[0060] In another specific implementation, the height adjustment mechanism includes a sensing device such as a camera and a processing system, wherein the camera and processing system are configured together to detect the product item and assess its size, shape, and position. Based on this detection and assessment, the height of the receiving surface is adjusted such that a first side opening of the box is positioned near, i.e., adjacent to, the product item. Optionally, the same camera and processing system, or another similar camera and processing system, can be configured to detect the storage container and determine whether the storage container has a single side opening or multiple side openings. This determination may include determining whether the storage container is a single-layer box or a multi-layer box, and adjusting the height of the receiving surface based on this determination.

[0061] At step S815, method 800 includes controlling an actuation mechanism 750 to move a product article 730 from a first position 740 into a first storage container through a first side opening. In an example, a loading / pushing member of the actuation mechanism pushes the product article 730 through a lower side opening of a multi-layer box, thereby loading the lower region of the multi-layer box.

[0062] Optionally, at step S820, the first conveying device 760 is controlled to convey the second product article to the first position 740. This may include: actuating the conveyor belt to move the second product article to a designated position near the actuation mechanism 750.

[0063] Optionally, at step S825, the height of the receiving surface and thereby the height of the storage container are adjusted such that the second side opening of the storage container is located next to the second product article. Step S825 is similar to step S810 and is intended to position the second side opening such that the product article can be pushed into the second side opening by the actuation mechanism 750. In this example, the upper side opening of the multi-layer box is positioned adjacent to the product article 740. As described above, the height of the receiving surface can be adjusted based on the box's identification and / or information about the box retrieved from a database. The height of the receiving surface can be adjusted to a second height, which has been determined to allow the actuation mechanism to move the product article from the first position into the storage container through its second side opening.

[0064] Optionally, at step S830, the actuation mechanism 750 is controlled to move the second product item from the first position 770 into the first storage container through the second side opening. In an example, the loading / pushing member of the actuation mechanism 750 pushes the second storage item into the upper side opening of the multi-layer box. As a result of step S830, the multi-layer box is fully loaded, the first product item rests on the upper base of the box, and the second product item rests on the lower base of the box.

[0065] Optionally, at step S835, the second conveying device is controlled to convey the loaded first storage container from the receiving surface 720 to the port of the grid 710. This process may also optionally include adjusting the height of the receiving surface 720 and thereby adjusting the height of the loaded storage container 730 to bring the loaded storage container to a height suitable for collection and / or conveying by the second conveying device. In one implementation, step S835 may include controlling a first conveyor belt located at or on the receiving surface 720, and another conveyor belt positioned adjacent to the receiving surface 720, to convey the loaded storage container containing product articles from the receiving surface 720 to the port.

[0066] Therefore, for a multi-stage container, method 800 includes adjusting the height of the receiving surface via a height adjustment mechanism when the first storage container is positioned on the receiving surface. The height of the receiving surface is adjusted such that when the first storage container is positioned at a first height, an actuation mechanism can move a first product article from a first position into the first storage container through a first side opening, and when the second storage container is positioned at a second height, the actuation mechanism can move a second product article from the first position into the first storage container through a second side opening. The height adjustment mechanism can also be configured to move further between additional different heights, for example, from an initial height optimal for receiving the storage container from the second conveyor system to the first height, then to the second height, and then back to a final height optimal for returning the now-loaded storage container to the second conveyor, such that the loaded storage container can be returned to the port.

[0067] The height adjustment mechanism can move the receiving surface to a predetermined height. The height can be stored in a memory associated with the height adjustment mechanism, such as memory 404, static memory 406, and / or auxiliary memory 418. These heights are predetermined as optimal heights to achieve the functions associated with the height; for example, a first height is determined as the optimal height so that a first side opening is positioned near the product item, and a second height is determined as the optimal height so that a second side opening is positioned near the product item.

[0068] Method 800 may include the additional step of determining whether the box to be loaded is a single-layer box or a multi-layer box, and adjusting the method accordingly based on this determination. For example, if the box to be loaded is a multi-layer box, the complete method 800 can be performed; while if the box to be loaded is a single-layer box, an adjusted method 800 can be performed, for example, the adjusted method does not include optional steps S820, S825, and S830. Thus, method 800 can be adapted to meshes that include only single-layer boxes or only multi-layer boxes. Method 800 can also be adapted to meshes containing a mixture of single-layer and double-layer boxes. In this implementation, known box identification and / or recognition techniques are employed so that system 700 can determine whether the box to be received by the receiving surface is a single-level box or a multi-level box. One or more heights to which the receiving surface is adjusted are then adjusted based on this identification and / or recognition.

[0069] Method 800, system 700, and storage containers 500 and 600 offer several advantages. By enabling loading via one or more side openings, product items can be loaded into boxes more easily and efficiently in an automated manner. This is particularly beneficial when the product item itself comprises multiple individual products, such as when the product item is a box containing several beverages. This allows boxes to be loaded directly into storage containers without manually opening the boxes and loading individual products into the storage containers. When an order for a product item is received, the entire box can be easily retrieved using existing methods. By eliminating manual steps, especially those that may involve lifting heavy product items, operator safety and health are improved.

[0070] Method for removing product items from storage containers

[0071] Figure 9 A method 900 for retrieving product items from an automated storage and retrieval system according to this disclosure is described. At step S905, an order related to the product item is received. For example, a customer may order the product item itself or products included within the product item. This order is received, for example, at processing system 400, to be (partially) fulfilled by automated storage and retrieval system 700. The nature of the order requires the product item to be retrieved from grid 710. At step S910, a second conveying device is controlled to transport a loaded storage container containing (i.e., loaded with) the relevant product item to receiving surface 720.

[0072] In step S915, the height of the receiving surface is adjusted via a height adjustment mechanism so that the first or second side opening of the loaded storage container is located next to the first position. For example, if the storage container is a single-layer box, its side opening is positioned next to the first position, so that the storage container is well positioned to allow the actuating mechanism to remove the product article from the box. In another example, the relevant side opening of a multi-layer box is positioned adjacent to the first position, so that the storage container is well positioned to allow the actuating mechanism to remove the product article from the relevant section of the box containing the product article.

[0073] At step S920, the control actuator 750 moves the product item from the loaded storage container to a first position 760 through a first side opening or a second side opening. In this example, the product item is now positioned on the conveyor belt of the first conveying mechanism. At step S925, the first conveying device is then controlled to transport the product item to a destination location, such as a loading station, where the product item can be packaged for shipment to the customer associated with the order received at step S905.

[0074] Although methods 800 and 900 have been described separately, those skilled in the art will understand that aspects of these methods can be combined. For example, a storage container can be unloaded using method 900. Instead of returning to grid 710, the now-empty storage container can be loaded with product items using method 800 and then returned to grid 710.

[0075] The beneficial effects of method 900 are similar to those described above for method 800. For example, this method enables improved efficiency and speed of product item retrieval, and thus improved order fulfillment efficiency and speed. Automated bin loading and unloading reduces congestion at the grid's ports.

[0076] This document refers to sensing devices configured to determine information about boxes approaching a receiving surface and / or product items approaching a first location. It should be understood that these devices are optional, and are explained herein by way of example, and may include implementations of the methods disclosed herein. In alternative implementations, for example, each box is assigned a box ID as described above. The processing system controls the movement of each box in the system, and therefore the ID and position of each box in the system are known to the processing system. This can be supplemented, or may not be, through communication between the box and the processing system and / or sensing devices such as RFID and optical sensing devices.

[0077] It should be understood that the above description is intended to be illustrative and not restrictive. Many other implementations will be apparent to those skilled in the art upon reading and understanding the above description. Although this disclosure has been described with reference to specific exemplary implementations, it should be recognized that this disclosure is not limited to the described implementations but can be practiced with modifications and alterations within the spirit and scope of the appended claims. Accordingly, the specification and drawings are to be regarded in an illustrative rather than restrictive sense. Therefore, the scope of this disclosure should be determined with reference to the appended claims and the full scope of their equivalents.

[0078] The following paragraphs are intended to show that certain features may be included together with other features in one or more embodiments of the disclosed invention. These are intended only to illustrate specific examples of feature combinations and not to be an exhaustive list.

[0079] In one or more embodiments, the present invention relates to an automated storage and retrieval system, comprising: a three-dimensional grid including a plurality of storage columns in which a plurality of storage containers are stored vertically stacked, one on top of another; and at least one port through which a storage container can be transferred into the grid, wherein at least a first storage container among the plurality of storage containers includes a first sidewall and a first side opening in the first sidewall; a receiving surface for receiving the first storage container; a first conveying device configured to convey at least a first product article to a first position adjacent to the receiving surface; a height adjustment mechanism configured to adjust the height of the receiving surface, wherein the height adjustment mechanism is configured to position the first side opening next to at least the first product article when the first storage container is positioned on the receiving surface and at least the first product article is located at the first position; and an actuation mechanism configured to move the product article from the first position into the first storage container through the first side opening. The actuation mechanism may include a loading member configured to push the product article into the first storage container through the first side opening.

[0080] In any embodiment, the receiving surface may be positioned adjacent to at least one port. In any embodiment, the receiving surface is positioned inside at least one port. The three-dimensional mesh may also include a column of ports, which may include at least one port, and wherein the receiving surface may be positioned within the column of ports. Any embodiment may also include a second conveying device configured to: convey the first storage container from at least one port to the receiving surface; and convey the first storage container from the receiving surface to at least one port for transfer into the three-dimensional mesh. The receiving surface includes a conveyor belt, and the receiving surface is positioned adjacent to the second conveying device such that the storage container can be conveyed from the receiving surface to at least one port by actuation of the conveyor belt and the second conveying device.

[0081] Any implementation may further include a first storage container, wherein the first storage container further includes a second side opening, and wherein each of the first and second side openings is shaped and positioned to receive one or more product articles. A height adjustment mechanism is also configured to adjust the height of the first storage container between a first height and a second height when the first storage container is positioned on a receiving surface, wherein the first height is determined such that an actuation mechanism can move product articles through the first side opening from a first position into the first storage container, and the second height is determined such that an actuation mechanism can move product articles through the second side opening from the first position into the first storage container.

[0082] In any embodiment, the first storage container may include one or more of the following: a base; two first parallel sidewalls, including the first sidewalls; and two second parallel sidewalls perpendicular to the two first parallel sidewalls; a top opening; wherein the first storage container includes an edge defining a lower side of the first side opening, wherein the edge is configured to restrict movement of the first product article and thereby prevent it from detaching through the first side opening during transport of the first storage container. In any embodiment, a storage container among a plurality of storage containers may be transferred out of the grid through at least one port; and an actuation mechanism is further configured to move the product article from the first storage container through the first side opening to a first position. The actuation mechanism may also include a clamping mechanism configured to move the product article from the first storage container through the first side opening to the first position.

[0083] Any implementation may further include: a processing system configured to control the operation of the first conveying device, the height adjustment mechanism, and the actuation mechanism, and also includes a memory storing a database; wherein the processing system is further configured to: retrieve information related to the first storage container from the database based on an identifier of the first storage container; and control the height adjustment mechanism to adjust the height of the receiving surface based on the retrieved information related to the first storage container to position the first side opening next to at least the first product article.

[0084] In one or more embodiments, the present invention relates to a computer-implemented method for loading at least a first product article into a first storage container among a plurality of storage containers and transferring the first storage container into a three-dimensional grid of an automated storage and retrieval system, wherein the automated storage and retrieval system is a system according to any of the preceding claims, and wherein the first storage container includes a first sidewall and a first side opening in the first sidewall; the method includes: controlling a first conveying device to convey the first product article to a first position adjacent to a receiving surface; controlling a second conveying device to convey the first storage container to the receiving surface; adjusting the height of the receiving surface via a height adjustment mechanism such that the first side opening is located next to the first product article; controlling an actuation mechanism to move the first product article from the first position into the first storage container through the first side opening; and controlling the second conveying device to convey the first storage container containing the product article from the receiving surface to at least one port for transfer into a three-dimensional grid.

[0085] In one or more embodiments, the present invention relates to a computer-readable medium comprising instructions that, when executed by a processor of a system, cause a device to perform the methods described above.

[0086] Examples of this disclosure are set forth in the following numbered clauses: 1. An automatic storage and retrieval system, comprising: A three-dimensional grid includes: a plurality of storage columns in which a plurality of storage containers are stored in a vertical stack, one on top of another; and at least one port through which storage containers can be transferred into the grid, wherein at least a first storage container among the plurality of storage containers includes a first sidewall and a first side opening in the first sidewall; A receiving surface for receiving a first storage container; A first conveying device is configured to convey at least a first product article to a first position adjacent to a receiving surface; A height adjustment mechanism is configured to adjust the height of a receiving surface, wherein the height adjustment mechanism is configured to position a first side opening at least next to the first product article when the first storage container is positioned on the receiving surface and at least the first product article is in a first position; and An actuation mechanism is configured to move a product item from a first position into a first storage container through a first side opening.

[0087] 2. The system according to Clause 1, wherein the actuation mechanism includes a loading member configured to push product articles through a first side opening into a first storage container.

[0088] 3. The system according to Clause 1, wherein the receiving surface is positioned adjacent to at least one port.

[0089] 4. The system according to Clause 1, wherein the receiving surface is located inside at least one port.

[0090] 5. The system according to Clause 4, wherein the three-dimensional mesh further includes a port column comprising at least one port, and wherein a receiving surface is positioned within the port column.

[0091] 6. The system according to Clause 1 further includes a second conveying device configured to: The first storage container is conveyed from at least one port to the receiving surface; and The first storage container is transported from the receiving surface to at least one port for transfer into the three-dimensional mesh.

[0092] 7. The system according to Clause 6, wherein the receiving surface includes a conveyor belt and the receiving surface is positioned adjacent to a second conveying device such that, by actuation of the conveyor belt and the second conveying device, the storage container can be conveyed from the receiving surface to at least one port.

[0093] 8. The system according to Clause 1 further includes a first storage container, wherein the first storage container further includes a second side opening, and wherein each of the first side opening and the second side opening is shaped and positioned to receive one or more product articles.

[0094] 9. In accordance with the system of Clause 8, the height adjustment mechanism is further configured to adjust the height of the first storage container between a first height and a second height when the first storage container is positioned on the receiving surface, wherein the first height is determined to enable the actuating mechanism to move the product article from the first position into the first storage container through the first side opening, and the second height is determined to enable the actuating mechanism to move the product article from the first position into the first storage container through the second side opening.

[0095] 10. Under the system of Clause 1, the first storage container comprises one or more of the following: Base; Two first parallel sidewalls, including the first sidewalls; and Two second parallel sidewalls are perpendicular to the two first parallel sidewalls; Top opening; The first storage container includes an edge that defines the lower side of a first side opening, wherein the edge is configured to restrict movement of the first product article and thereby prevent the first product article from detaching through the first side opening during transport of the first storage container.

[0096] 11. The system according to Clause 1, wherein a storage container among a plurality of storage containers can be transferred out of the grid through at least one port; and the actuation mechanism is further configured to move a product article from a first storage container to a first position through a first side opening.

[0097] 12. The system according to Clause 11, wherein the actuation mechanism further includes a clamping mechanism configured to move a product article from the first storage container to a first position through a first side opening.

[0098] 13. The system pursuant to Clause 1 also includes: The processing system is configured to control the operation of the first conveying device, the height adjustment mechanism and the actuation mechanism, and also includes a memory storing a database. The processing system is also configured to: Based on the identifier of the first storage container, retrieve information related to the first storage container from the database; and Based on the retrieved information related to the first storage container, the height adjustment mechanism is controlled to adjust the height of the receiving surface to position the first side opening next to at least the first product item.

[0099] 14. A computer-implemented method for loading at least a first product article into a first storage container among a plurality of storage containers and transferring the first storage container into a three-dimensional grid of an automated storage and retrieval system, wherein the automated storage and retrieval system is a system of any of the preceding clauses, and wherein the first storage container includes a first sidewall and a first side opening in the first sidewall; The method includes: Control the first conveying device to transport the first product item to a first position adjacent to the receiving surface; The second conveying device is controlled to convey the first storage container to the receiving surface; The height of the receiving surface is adjusted by a height adjustment mechanism so that the first side opening is located next to the first product item; The control actuation mechanism moves the first product article from the first position through the first side opening into the first storage container; and The second conveying device is controlled to transport the first storage container containing the product items from the receiving surface to at least one port for transfer into the three-dimensional grid.

[0100] 15. A computer-readable medium comprising instructions that, when executed by a processor of a system, cause a device to perform the method of clause 14.

Claims

1. An automated storage and retrieval system, comprising: a three-dimensional grid comprising a plurality of storage columns in which a plurality of storage containers are stored one on top of another in vertical stacks, and at least one port through which the storage containers can be transferred into the grid, wherein at least a first storage container of the plurality of storage containers comprises a first side wall and a first side opening in the first side wall; a receiving surface for receiving the first storage container; a first conveying device configured to convey at least a first product item to a first location adjacent to the receiving surface; a height adjustment mechanism configured to adjust a height of the receiving surface, wherein the height adjustment mechanism is configured to position the first side opening next to the at least first product item when the first storage container is positioned on the receiving surface and the at least first product item is located at the first location; and an actuation mechanism configured to move the product item through the first side opening from the first location into the first storage container.

2. The system of claim 1, wherein, The actuation mechanism comprises a loading member configured to push the product item through the first side opening into the first storage container.

3. The system of any preceding claim, wherein, The receiving surface is positioned adjacent to the at least one port.

4. The system of claim 1 or claim 2, wherein, The receiving surface is positioned inside the at least one port.

5. The system of claim 4, wherein, The three-dimensional grid further comprises a port column comprising the at least one port, and wherein the receiving surface is positioned within the port column.

6. The system of any preceding claim, further comprising a second conveying device configured to: convey the first storage container from the at least one port to the receiving surface; and convey the first storage container from the receiving surface to the at least one port for transfer into the three-dimensional grid.

7. The system of claim 6, wherein, The receiving surface comprises a conveyor belt and the receiving surface is positioned adjacent to the second conveying device such that the storage container can be conveyed from the receiving surface to the at least one port by actuation of the conveyor belt and the second conveying device.

8. The system of any preceding claim, further comprising the first storage vessel, wherein, The first storage container further comprises a second side opening, and wherein each of the first side opening and the second side opening are shaped and positioned to receive one or more product items.

9. The system of claim 8, the height adjustment mechanism further configured to adjust a height of the first storage container between a first height and a second height when the first storage container is positioned on the receiving surface, wherein, The first height has been determined such that the actuation mechanism can move a product item through the first side opening from the first location into the first storage container, and the second height has been determined such that the actuation mechanism can move a product item through the second side opening from the first location into the first storage container.

10. The system of any preceding claim, the first storage container comprising one or more of: a base; two first parallel side walls comprising the first side wall; and two second parallel side walls perpendicular to the two first parallel side walls; a top opening; wherein the first storage container comprises an edge defining a lower side of the first side opening, wherein the edge is configured to limit movement of the first product item and thereby prevent the first product item from escaping through the first side opening during transport of the first storage container.

11. The system of any preceding claim, wherein, The storage container of the plurality of storage containers is transferable out of the grid through the at least one port; and the actuation mechanism is further configured to move the product item from the first storage container through the first side opening to the first location.

12. The system of claim 11, wherein, The actuation mechanism further comprises a gripping mechanism configured to move the product item from the first storage container through the first side opening to the first location.

13. The system according to any preceding claim, further comprising: a processing system configured to control operation of the first conveying device, the height adjustment mechanism, and the actuation mechanism, and further comprising a memory having a database stored therein; wherein the processing system is further configured to: retrieve information related to the first storage container from the database based on the identification of the first storage container; and control the height adjustment mechanism to adjust the height of the receiving surface to position the first side opening next to the at least first product item based on the retrieved information related to the first storage container.

14. A computer-implemented method of loading at least a first product item into a first storage container of a plurality of storage containers and transferring the first storage container into a three-dimensional grid of an automated storage and retrieval system, wherein, The automated storage and retrieval system is according to any preceding claim, and wherein the first storage container comprises a first side wall and a first side opening in the first side wall; The method comprises: controlling a first conveying device to convey the first product item to a first location adjacent to a receiving surface; controlling a second conveying device to convey a first storage container to the receiving surface; adjusting a height of the receiving surface via a height adjustment mechanism such that the first side opening is located next to the first product item; controlling an actuation mechanism to move the first product item from the first location through the first side opening into the first storage container; and controlling the second conveying device to convey the first storage container with the product item from the receiving surface to the at least one port for transfer into the three-dimensional grid.

15. A computer readable medium comprising instructions which, when executed by a processor of a system, cause an apparatus to perform the method of claim 14.

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