Robot vehicle

Abstract

The present disclosure relates to a robotic vehicle for handling a multi-container frame configured to be stored in a storage column of an automated storage and retrieval system, the multi-container frame configured to accommodate a plurality of storage containers stored in an interior space of each multi-container frame, the robotic vehicle comprising: a drive system configured to drive the multi-container frame to move; the track system is used for enabling the robot vehicle to move on a track of the track system above the storage column; the first multi-container frame lifting device is used for lifting the multi-container frame; the second multi-container frame lifting device is used for lifting the multi-container frame; wherein each multi-container frame lifting device is configured to lift the multi-container frame from the storage column such that a bottom of the multi-container frame is lifted above a track of the track system to allow the robotic vehicle to freely move on the track of the track system while carrying one or more multi-container frames.

Description

Technical Field

[0001] This disclosure relates to a robotic vehicle. More specifically, it relates to a vehicle for transporting a multi-container frame, components including the multi-container frame and the robotic vehicle, an automated storage and retrieval system, and a method for operating the robotic vehicle. 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 the inventory, and goods are retrieved from the shelves by pickers. The shelves are replenished and the inventory is updated as needed when goods enter or leave the warehouse.

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

[0004] An alternative to traditional warehouse setups is an automated storage and retrieval system (AS / RS), in which robots retrieve items from a recorded location within the warehouse and deliver them to a packing station or port. Such systems can reduce or eliminate the space required to navigate between rows of shelves for accessing inventory, thus eliminating the need for wide aisles within the warehouse. One example of such a system involves placing goods in boxes or containers configured to be stacked side-by-side within a three-dimensional grid. A track system is arranged at the 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 from the storage grid and deliver them to ports or stations around the perimeter of the grid, enabling the picking and packing of goods within the containers.

[0005] Robotic container handling vehicles are central to enabling the efficient operation of automated storage and retrieval systems. Developing and refining the design and operation of such robots can significantly improve the functioning of automated storage and retrieval systems. Improving the design of such robots will be advantageous.

[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 the use of in Figure 1 Side view of the first robotic container handling vehicle used in the system; Figure 3B It shows the use of in Figure 1 Side view of the second robotic container handling vehicle used 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 5 It shows Figure 1 A portion of a mesh containing a multi-container frame; Figure 6A A perspective view of two exemplary multi-container frames is shown; Figure 6B A side view of an exemplary multi-container frame is shown; Figure 6C A top view of an exemplary multi-container frame is shown; Figure 7A A cross-sectional view of an exemplary multi-container frame is shown, which shows a first arrangement of containers stored within the multi-container frame; Figure 7B A cross-sectional view of an exemplary multi-container frame is shown, which shows a second arrangement of containers stored within the multi-container frame; Figure 8A An exemplary lifting device for a container transport vehicle is shown, which is configured to be coupled to a multi-container frame so that the multi-container frame can be lifted or lowered by the container transport vehicle. Figure 8B It shows Figure 8A A side view of the arrangement; Figure 8C It shows Figure 8A and Figure 8B A lifting device that integrates with a multi-container frame; Figure 8D It shows Figure 8C A side view of the arrangement; Figure 9 It shows Figures 8A to 8D An exemplary lifting device that is lowered to contact the multi-container frame; Figure 10 It shows Figures 8A to 8D An exemplary lifting device that engages with a multi-container frame; Figure 11An exemplary lifting device for a container transport vehicle is shown, which is configured to be coupled to a container held within a multi-container frame so that the container can be lifted or lowered by the container transport vehicle. Figure 12 A robotic container handling vehicle is shown lifting containers from a multi-container frame. Figure 13 It shows the location Figure 1 An exemplary robotic container transport vehicle on a portion of a grid containing a multi-container frame; Figure 14 It shows Figure 13 An exemplary robotic container handling vehicle; Figure 15 It shows Figure 13 and Figure 14 An exemplary lifting device for an exemplary robotic container handling vehicle, the exemplary robotic container handling vehicle being located at... Figure 1 On a portion of a mesh containing a multi-container frame; Figure 16 It shows Figure 15 An exemplary lifting device; Figure 17 An exemplary lifting device is shown, which demonstrates Figure 15 and Figure 16 An exemplary lifting device; Figure 18 It shows the location Figure 1 An exemplary robotic container transport vehicle on a portion of a grid containing a multi-container frame; Figure 19 An exemplary robotic container transport vehicle is shown; and Figure 20 A method for operating a robotic container transport vehicle is shown.

[0008] Throughout the specification and drawings, the same reference numerals refer to the same features. Detailed Implementation

[0009] In general, this disclosure relates to a robotic container handling vehicle capable of transporting multiple container frames, and more specifically, to a robotic container handling vehicle capable of lifting multiple multi-container frames. The multi-container frames are configured to hold multiple containers. The multi-container frames can take any suitable form. For example, the multi-container frame itself may include containers, or it may include a frame configured to house containers within a cell of a storage and retrieval system grid. Thus, the multi-container frames can be transported and stored within the grid of an automated storage and retrieval system, similar to any other container. The inventors have recognized that efficiency can be significantly improved by providing a robotic container handling vehicle capable of lifting multiple multi-container frames.

[0010] Specifically, according to a first aspect, a robotic vehicle for transporting multi-container frames is provided. The multi-container frames are configured to be stored in a storage column of an automated storage and retrieval system. They are also configured to accommodate multiple storage containers stored within the internal space of each multi-container frame. The robotic vehicle may have a drive system for moving the robotic vehicle on a track system above the storage column, and a first multi-container frame lifting device for lifting the multi-container frames. Furthermore, the robotic vehicle may have a second multi-container frame lifting device for lifting the multi-container frames. Each multi-container frame lifting device is configured to lift the multi-container frame from the storage column such that the bottom of the multi-container frame is raised above the track system, allowing the robotic vehicle to move freely on the track system while carrying one or more multi-container frames.

[0011] In this way, the robot of the first aspect can transport multiple multi-container frames, and both the first and second lifting devices can hold the corresponding multiple multi-container frames. This enables more efficient handling of both containers and their contents in an automated storage and retrieval system.

[0012] In some implementations, the first multi-container frame lifting device and / or the second multi-container frame lifting device may be as described below and Figures 8A to 10 The lifting device 800 shown in the figure or described below and Figure 11 The lifting device 1100 is shown in the diagram. In some implementations, the first multi-container frame lifting device is the lifting device 800 described below, and the second multi-container frame lifting device is the lifting device 1100 described below. In this way, the robot is able to handle different types of containers.

[0013] In some implementations, the first multi-container frame lifting device and / or the second multi-container frame lifting device may include a lifting frame connected to a lifting belt. In some implementations, the lifting frame may include latches for clamping onto the multi-container frame, such as latch 806 described below. In some implementations, the lifting frame may include a gripper configured to releasably engage a connection recess of a storage container located within the multi-container frame, such as gripper 1106 described below.

[0014] In some implementations, the area occupied by the main body of the robotic vehicle may correspond to the area occupied by at least two storage columns of the automated storage and retrieval system. In some implementations, the area occupied by the main body of the robotic vehicle may correspond to the area occupied by three, four, five, or six storage columns of the automated storage and retrieval system. In some implementations, the robot includes three, four, five, or six multi-container frame lifting devices.

[0015] In some implementations, the track system may be track system 116 as described below and may include: a first set of tracks arranged in a horizontal plane and extending in a first direction; and a second set of tracks arranged in the horizontal plane and extending in a second direction orthogonal to the first direction, wherein the first set of tracks and the second set of tracks form a grid pattern in the horizontal plane comprising a plurality of grid cells, wherein each grid cell includes a grid opening defined by tracks in the first set of tracks and tracks in the second set of tracks. In some implementations, each storage column may be located directly below the grid opening. In some implementations, each multi-container frame may be configured to accommodate a plurality of storage containers stacked on top of each other.

[0016] In some implementations, each of the first and second multi-container frame lifting devices can be arranged to align with a corresponding storage column of the automated storage and retrieval system, and the first and second multi-container frame lifting devices simultaneously lift the multi-container frame from the corresponding storage column.

[0017] In some implementations, the vehicle body of the robotic vehicle may include a first compartment configured to receive a multi-container frame lifted into the first compartment by a first multi-container frame lifting device. In some implementations, the first compartment may include at least one guide configured to guide the first multi-container frame into the first compartment. In this way, the multi-container frame can be safely stored within the robot.

[0018] In some implementations, the vehicle body of the robotic vehicle may include a second compartment configured to receive a multi-container frame lifted into the first compartment by a second multi-container frame lifting device. In some implementations, the second compartment includes at least one guide configured to guide the second multi-container frame into the first compartment. In this way, the multi-container frame can be safely stored within the robot.

[0019] In some implementations, the vehicle body may include a cavity configured to receive a first multi-container frame lifted into the cavity by a first multi-container frame lifting device, and configured to receive a second multi-container frame lifted into the cavity by a second multi-container frame lifting device. In some implementations, the cavity may include at least one guide configured to guide the first and / or second multi-container frames into a first compartment. In some implementations, the first and second multi-container frame lifting devices may be positioned within the cavity when fully retracted. In this way, the multi-container frames can be safely stored within the robot.

[0020] In some implementations, the drive system may include a wheel arrangement. In some implementations, the wheel arrangement may be mounted on the vehicle body. In some implementations, the drive system may be configured to drive the robot vehicle along the track of the track system in at least one of a first direction and a second direction, wherein the first direction and the second direction are orthogonal.

[0021] In some implementations, the wheel arrangement includes a first set of wheels and a second set of wheels, and the first set of wheels is movable between a first position and a second position, in which the first set of wheels allows the robot vehicle to move in a first direction, and in the second position, the second set of wheels allows the robot vehicle to move in a second direction.

[0022] According to another aspect of this disclosure, an assembly is provided comprising one or more multi-container frames and a robotic vehicle as described above. In some implementations, the multi-container frame may include an internal space configured to accommodate a plurality of storage containers, optionally wherein the plurality of storage containers are stacked vertically on top of each other for storage.

[0023] According to another aspect of this disclosure, an automated storage and retrieval system is provided, comprising: a plurality of storage columns; a track system located above the storage columns; a plurality of multi-container frames configured to store within the storage columns of the automated storage and retrieval system; and a robotic vehicle as described above. In some implementations, the track system may be as described above. In some implementations, each storage column may be located directly below a grid opening. In some implementations, each multi-container frame may be configured to accommodate a plurality of storage containers within the internal space of the respective multi-container frame, optionally wherein the plurality of storage containers are stacked vertically on top of each other for storage.

[0024] According to another aspect of this disclosure, a method for operating a robotic vehicle as described above in an automated storage and retrieval system. The method may include: lifting a first multi-container frame from a storage column of the automated storage and retrieval system using a first multi-container frame lifting device; and lifting a second multi-container frame from the storage column of the automated storage and retrieval system using a second multi-container frame lifting device.

[0025] In some implementations, the method may further include the following steps: moving the robot vehicle after lifting the first multi-container frame and before lifting the second multi-container frame, such that the second multi-container frame lifting device lifts the second multi-container frame from the same storage column where the first multi-container frame was lifted.

[0026] In some implementations, the first multi-container frame lifting device and the second multi-container frame lifting device simultaneously lift the first multi-container frame and the second multi-container frame from different storage columns.

[0027] According to another aspect of this disclosure, a computer-readable medium is disclosed. This computer-readable medium includes instructions that, when executed by a computer, cause the computer to perform any of the various methods described herein.

[0028] According to another aspect of this disclosure, a computer program is disclosed. This computer program includes instructions that, when executed by a computer, cause the computer to perform any of the various methods described herein.

[0029] According to another aspect of this disclosure, a controller is disclosed. The controller includes a processor and memory, and is configured to perform any of the various methods described herein.

[0030] The systems and methods described in the overview above will now be described in more detail. To aid understanding, various non-limiting exemplary implementations will be described.

[0031] Overview of Automated Storage and Retrieval Systems

[0032] refer to Figure 1 In the embodiment shown, the grid 100 comprises a frame formed by a plurality of generally linear 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 stacked on top of each other in the storage columns 102 in the Z direction 114, preferably in a self-supporting manner, and these storage columns form storage volumes for the respective boxes 112 and extending in the X direction 108, Y direction 110, and Z direction 114.

[0033] A track system or network 116 is formed on top of grid 100 and includes pairs of vehicle tracks or guide rails 118a, 118b and 120a, 120b extending in the X direction 108 and Y direction 110, respectively. A robotic container handling vehicle, robotic vehicle, or robot 122 is provided, which may have a range of sizes, shapes, and functions, and is configured to operate on tracks 118, 120 and transport boxes 112 in both the X and Y directions 108, 110. Additionally, robot 122 is also configured to lift / lower boxes 112 from column 102 into the column in the Z direction 114, the boxes 112 optionally being guided by vertical frame members 104. Robot 122 accesses boxes 112 via access openings 124 located above column 102 and formed between tracks 118, 120.

[0034] Some columns 102 can be used for purposes other than bin storage. For example, port columns 126, 128 include port columns or access columns that allow bins 112 to be moved into and / or removed from the grid 100. Port columns 126, 128 provide vertical channels for raising bins 112 from ports 130, 132 or lowering bins 112 into the ports. Ports 130, 132 are in Figure 1 The diagram shows the port at the lowest level of the grid; however, the port can be located at any vertical position along that column. Corresponding port columns 126, 128 can be assigned for removing (“unloading”) box 112 from grid 100 and / or returning or delivering (“picking up”) the box to the grid. Therefore, ports 130, 132 are configured to allow the removal of box 112 and its (horizontal) reintroduction into the associated port column. Thus, ports 130, 132 can include conveyors ( Figure 1 (Not shown in the image) 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 box 112 enters and exits the port column.

[0035] Box 112 can be transported by robot 122 along the top of grid 100 to and / or from port columns 126, 128, and from ports 130, 132 to a location outside grid 100, which may be an access station (not shown) for handling box 112 or its contents, such as a pick-up station for adding or removing contents from box 112. In alternative instances (not shown), box 112 can be transported to a port of another grid on the same or other level, or to an external facility. Transporting box 112 to and from ports 130 and 132 can be performed by any suitable means (not shown), including conveyors, transport vehicles, elevators, or robots.

[0036] refer to Figure 2 The illustrated embodiment 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 that define vertical column access openings 124 between them for accessing the box 112. Tracks 206 can be of any suitable type for allowing robots 202, 204 to travel along the X direction 108 and Y direction 110, including (not shown) recessed tracks for receiving vehicle wheels, or protruding tracks for engaging wheel recesses. Each track 206 may include a single rail or multiple parallel rails in each of the X direction 108 and Y direction 110.

[0037] The first type of "cantilever" robot 202 is in Figure 3A The diagram shows and includes a main body 300, a set of wheels 302, and a lifting device 304 in more detail. The main body 300 includes operating devices (not shown) for the robot 202, which include a drive system, a power system, and a control system. Wheels 302 allow the robot 202 to move in one of the X and Y directions, while another set of wheels (not visible in this view) allows movement in the other direction, both 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 the desired direction. The lifting device 304 includes a cantilever element 306 extending from the top of the main body 300 in the XY plane; and a clamping device 308 capable of being raised and lowered from the cantilever element 306. The clamping device 308 is configured to clamp or engage a box 112; for example, by clamping a portion of the box 112, or by passively or actively engaging a suitably configured portion of the box 112.

[0038] As an alternative to the cantilever lifting system, the second type of robot 204, with its internal cavity, is... Figure 3B The image shows and includes, in more detail, an internal cavity 310 located within the main body 300, in which a lifting device 312, including a clamping device (not shown), is located. In this case, the main body 300 includes operating equipment for the robot and storage space for one or more boxes 112 for use, for example, during transport of the boxes 112.

[0039] Figure 3C It shows Figure 3B A stereoscopic side view of the robot, in which you can see Figure 3B The first set of wheels, 302. Mentioned above but not mentioned in... Figure 3B Another set of wheels shown in Figure 3CThe first set of wheels 302 is shown as wheel 303. Another set of wheels 303 is arranged perpendicular to the first set of wheels 302 to allow the robot 204 to travel in the X and Y directions via 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 to engage with the track (and conversely raise to disengage from the track), thereby allowing the robot 202 to traverse... Figure 2 The track arrangement shown moves in both the X and Y directions. Although Figure 3C The 3D diagram shown is Figure 3B Robot 204, but it should be understood that a similar vertical wheel arrangement can be applied to Figure 3A Robot 202 in the middle.

[0040] Control and monitoring systems

[0041] Control and monitoring of automated storage and retrieval systems, including monitoring and storing box locations, controlling box delivery, retrieval and transportation, and robot path planning and collision avoidance, are achieved by, for example... Figure 4 The control system shown communicates with the robot and / or other controllable system components. Control can be performed locally or remotely and can be implemented by a processing system, such as a computing device. Therefore, the methods described herein can form all or part of a computer-implemented method, or a system configured to perform the methods described herein.

[0042] refer to Figure 4 The processing system 400 suitable for performing the methods described herein will now be described. Figure 4A block diagram of one implementation of a processing system 400 is shown, which takes the form of a computing device within which a set of instructions can be executed to cause the computing device to perform one or more of the various methods described herein. In some implementations, the computing device may be connected to (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 a set of instructions (sequentially or otherwise) specifying the actions to be taken by the machine. Further, although only a single computing device is shown, the term "computing device" should also be understood to include a collection of any machines (e.g., computers) that individually or collectively execute a set (or more) of instructions to perform one or more of the various methods described herein.

[0043] 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 an auxiliary memory (e.g., a data storage device 418), which communicate with each other via a bus 430.

[0044] 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 (instruction 422) to perform the operations and steps described herein.

[0045] 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).

[0046] It will be obvious that, Figure 4 Some features of the processing system 400 shown can be omitted. 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 certain server-side computer equipment, where the use of such devices is solely for their processing capabilities and there is no need to display information to the user. Similarly, the user input device 412 may not be necessary. In its simplest form, the processing system 400 includes a processor 402 and main memory 404.

[0047] 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 instruction sets 422 are stored, embodying any one or more of the various methods or functions described herein. Instructions 422 may also reside wholly or at least partially in main memory 404 and / or processor 402 during execution by processing system 400, which also constitute computer-readable storage media 428.

[0048] The various methods described herein can be implemented by a computer program. A computer program may include computer code arranged to instruct a computer to perform one or more of the various methods described herein. Computer programs and / or code for performing such methods may be provided to a device (such as a computer) on one or more computer-readable media or more generally on a computer program product. The computer-readable media may be transient or non-transient. One or more computer-readable media may be, for example, an electronic system, a magnetic system, an optical system, an electromagnetic system, an infrared system, or a semiconductor system, or a propagation medium for data transmission (e.g., 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.

[0049] A computer program can be executed by processor 402 to perform the functions of the systems and methods described herein.

[0050] In implementation, the modules, components, and other features described herein may be implemented as discrete components or integrated into the functionality of hardware components such as ASICs, FPGAs, DSPs, or similar devices.

[0051] A "hardware component" is a tangible (e.g., non-transitory) physical component (e.g., a group or more processors) capable of performing a specific operation and which can be physically configured or arranged in some way. A hardware component may include dedicated circuitry or logic permanently configured to perform a specific operation. A hardware component may be or may 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 a specific operation.

[0052] Therefore, the phrase “hardware component” should be understood to encompass a tangible entity that can be physically constructed, permanently configured (e.g., hardwired) or temporarily configured (e.g., programmed) to operate or perform the specific operations described herein.

[0053] Additionally, modules and components can be implemented as firmware or functional circuitry within a hardware device. Furthermore, modules and components can be implemented as any combination of hardware devices and software components, or solely as software (e.g., code stored or otherwise embodied in a machine-readable medium or transmitted medium).

[0054] Operation of the automatic storage and retrieval system

[0055] In operation, each box 112 is assigned a unique identification code, which can be marked on the box 112 using a computer-readable identification code (e.g., a barcode, a quick-response code, or an RFID tag) to simplify the identification of the box 112. The database of the processing system 400 stores the location of each box 112 and, optionally, its contents, in association with the unique identification code. When a box 112 is moved (e.g., when it is removed from the grid 100), the database is updated to record its change of location.

[0056] When it is desired to retrieve box 112 from grid 100, under the control of processing system 400, robots 202 and 204 are guided via track system 116 to vertical column 102 including storage units. Box 112 is positioned at the storage unit according to a database, and (depending on robot type) lifting devices 304 and 312 are positioned above the corresponding access opening 124 (adjacent to or below robots 202 and 204). Robots 202 and 204 lower gripping device 308, which engages, grips, and lifts box 112 to their positions. Robots 202 and 204 then transport box 112, for example, to unloading port columns 126 and 128 for delivery to ports 130 and 132 for further processing outside grid 100. When the target or designated box 112 is located below other boxes in the stack, robots 202, 204, or multiple robots possibly dedicated to this task, are controlled in a "digging" operation to sequentially lift and temporarily or permanently reposition the boxes above the target box 112 to retrieve 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 ports 130, 132 of pick-up port columns 126, 128 for storage in grid 100, gripped and lifted by robots 202, 204, and delivered to the desired storage unit, whereby, if necessary, boxes located above the desired position will be repositioned as discussed above.

[0057] Specific description of improvements

[0058] This disclosure relates to multi-container frameworks, in other words, frameworks or containers configured to hold multiple other containers. These multi-container frameworks can be combined with the above. Figures 1 to 4 The mentioned boxes or storage containers 112 are stored and handled in the same manner as in the automated storage and retrieval system of this disclosure. Therefore, the multi-container frame is represented above and in... Figure 1 , Figure 2 , Figure 3A and Figure 3B The example implementation of container or bin 112 shown is illustrated. A multi-container framework can typically be configured to accommodate two to six containers in a typical implementation, but larger multi-container frameworks are also possible.

[0059] In the main implementation of this disclosure, a multi-container frame is configured to house multiple boxes or containers stacked on top of each other. In this case, the multi-container frame may be referred to as a "stacked frame" because the containers held therein are stacked on top of each other. For simplicity, the remainder of this disclosure will focus on this form of multi-container frame. However, it should be understood that in other implementations (not shown in the figures), the multi-container frame may house multiple containers arranged side-by-side or otherwise, and the containers may not be stacked on top of each other within the multi-container frame. Therefore, while the remainder of this disclosure focuses on stacked frames, this should not be considered limiting, and the present invention relates to any form of multi-container frame configured to house multiple containers.

[0060] Now for reference Figure 5 The figure shows Figure 1 This is a sub-section of the automated storage and retrieval system shown. A portion of grid 100 and robotic container handling vehicles, robotic vehicles, or robots 202 and 204 running on track system 116 can be seen. Figure 5 In the system shown, container or bin 112 is a multi-container frame 500. As mentioned above, in this implementation, the multi-container frames 500 are all stacked frames 500, in which containers are stored stacked on top of each other. Therefore, for simplicity, the phrase "stacked frame" will be used below. However, the following description applies to any form of multi-container frame.

[0061] from Figure 5 It can be seen that one of the stacking frames 500 is being lifted by robot 204. This is in conjunction with the above. Figure 1 The same manner as discussed in container 112 is used. Further details on how the stacked frame 500 is promoted will be described below.

[0062] Exemplary stacking frame 500 in Figures 6A to 6C This is shown in more detail below. Each of the plurality of stacking frames 500 has an open top 502 for allowing storage containers 504 to pass through into the stacking frame 500. As previously described, each stacking frame 500 is configured to accommodate a plurality of storage containers 504, which are stored by being stacked vertically on top of each other within the stacking frame 500. Thus, each stacking frame 500 is configured to support the lowest storage container 504 within the stacking frame 500. Then, one or more additional storage containers 504 are placed on top of the lowest storage container 504, each container 504 supporting the container placed above it. The storage containers 504 stored within the stacking frame 500 can correspond to Figure 1 The container 112, or it may be a specially designed container configured for storage within the stacking frame 500.

[0063] Each stacking frame 500 includes a bottom end 506 for supporting the bottommost storage container 504. In this example, a side wall 508 extends between the bottom end 506 and the top end 502, but in other examples, the stacking frame 500 may consist only of a frame structure defining the frame within which the container 504 is held, and therefore the side wall 508 may be largely omitted.

[0064] In this implementation, connecting recesses 510 are arranged within opposite side walls 508 at the top end 502. The connecting recesses 510 are arranged such that, when the stacking frames 500 are full, the connecting recesses are accessible and extend above the top of the uppermost storage container 504 in the stack of storage containers 504 within each stacking frame 500. These recesses allow the stacking frames 500 to be placed into and lifted from the grid of storage columns, as will be described in more detail below.

[0065] To facilitate efficient storage and enable the stacking frames 500 to be stacked, the bottom 506 of each stacking frame 500 may have a recessed portion 512, the outer perimeter of which is smaller than the inner perimeter of the top 502 of the other stacking frames 500 (i.e., configured to fit within it). In this way, the stacking frames 500 can be stacked on top of each other while horizontal movement between them is restricted to improve stability.

[0066] exist Figure 6C As can be seen in the top view of the stacking frame 500, in this implementation, each storage container 504 held within the stacking frame 500 includes a connecting recess 514. These recesses 514 are arranged in the upper edge or upward-facing surface of the sidewall of the storage container 504. These recesses allow the container 504 to be placed into and lifted out of the stacking frame 500, as will be described in more detail below.

[0067] Figure 7A and Figure 7B A stacking frame 500 with a cut section is shown to better illustrate the stacking of storage containers 504 inside the stacking frame 500. Figure 7A The stacking frame 500 shown has three storage containers 504 of uniform size, while... Figure 7B In the stacking frame 500 shown, the bottommost storage container 504 is taller than the other storage containers 504. The number, shape, and size of the storage containers 504 that can be accommodated in any given stacking frame 500 can vary. As mentioned above, when the stacking frame 500 is full, there are typically two to six storage containers 504 within the stacking frame 500.

[0068] As described above, the stacking frame 500 can be stored in the grid 100 and moved around by container transport vehicles 202, 204 in a manner similar to ordinary boxes or containers 112. Various modifications can be made to the container transport vehicles 202, 204 to better interact with the stacking frame 500 and the containers 504 stored within the stacking frame. Some exemplary implementations that detail such modifications will now be described; however, it should be understood that other mechanisms may be provided alternatively or as alternatives.

[0069] Figure 8A , Figure 8B , Figure 8C , Figure 8D , Figure 9 and Figure 10 An exemplary lifting device 800 is shown, which enables container transport vehicles 202, 204 to lift the stacking frame 500. The lifting device 800 may be provided as a lifting device 304 for container transport vehicle 202 or a lifting device 312 for container transport vehicle 204. It may also be used in the lifting device of any of the robots 1300, 1800, and 1900 described below. The lifting device 800 is configured to engage with the stacking frame 500 such that the stacking frame 500 can be lowered into or raised from the storage column 102 of the grid 100.

[0070] In this example, the lifting device 800 includes a lifting frame 802 connected to lifting belts 804, which are wound / coiled around at least one lifting shaft (not shown) of container handling vehicles 202, 204 to raise or lower the lifting frame 802. The lifting frame 802 includes horizontal elements (as depicted) and latches 806 arranged on the lifting frame 802. The latches 806 are an exemplary implementation of a clamping device, such as the clamping device 308 described above. The latches 806 are configured to be in a released position (e.g., Figure 8A , Figure 8B and Figure 9 (as shown) and connection position (such as) Figure 8C , Figure 8D and Figure 10 The latch 806 moves between the release position and the connection position. In the release position, the latch 806 is closer to the vertical center line C of the lifting frame 802 than in the connection position. When moving from the release position to the connection position, the latch 806 moves away from the vertical center line C and is configured to extend through the connection recess 510 in the side wall 508 of the stacked frame 500.

[0071] When the latch 806 engages with the connecting recess 510, the latch is locked within the interior space of the stacking frame 500. This is particularly advantageous because the space provided between adjacent columns 102 of the grid 100 can be reduced, since the lifting device 800 does not require clearance outside the stacking frame 500.

[0072] Figure 11 and Figure 12 A lifting device 1100 for lifting storage container 504 from stacking frame 500 is shown. Lifting device 1100 may be provided as lifting device 304 of container handling vehicle 202 or lifting device 312 of container handling vehicle 204. It may also be used in the lifting device of any of the robots 1300, 1800, and 1900 described below. Lifting device 1100 is configured to engage storage container 504 to raise or lower storage container 504 relative to the stacking frame 500 in which storage container 500 is stored.

[0073] The lifting device 1100 includes a lifting frame 1102 connected to lifting belts 1104, which are wound / coiled around at least one lifting shaft (not shown) of container handling vehicles 202, 204 to raise or lower the lifting frame 1102. The lifting frame 1102 includes horizontal elements (as depicted) and grippers 1106 arranged on the lifting frame 1102. The grippers 1106 are configured to releasably engage a connection recess 514 arranged in the upper edge of the storage container 504, such as... Figure 6A , Figure 6C , Figure 7A and Figure 7B As shown.

[0074] Container handling vehicles 202, 204 can be configured to retrieve storage containers 504 via the open top 502 of the stacking frame 500, for example... Figure 12 As shown in the figure. Figure 12 The uppermost stacking frame 500 has a cutout to better show the stacking of storage containers 504 inside the stacking frame 500. The topmost container 504 has been lifted out of the topmost stacking frame 500 by the container handling vehicle 202.

[0075] To enable the storage container 504 to be removed from the stacking frame 500 in this manner, the outer periphery of the lifting frame 1102 is configured to fit within the inner periphery of the sidewall of the stacking frame 500. The inner periphery of the sidewall of the stacking frame 500 can be configured to guide the lifting frame 1102 when it is within the stacking frame 500.

[0076] Referenced Figures 8A to 12Exemplary lifting mechanisms that enable container handling vehicles to lift stacking frames 500 or lift containers 504 from stacking frames have been described. However, it should be understood that these mechanisms are merely exemplary. Other mechanisms may be used, and both stacking frames 500 and containers 504 may be suitably modified to accommodate alternative forms of lifting mechanisms.

[0077] Figure 13 It shows Figure 1 This is a sub-section of the automated storage and retrieval system shown. A portion of grid 100 and a robotic container handling vehicle 1300 (also referred to as a robotic vehicle or robot) running on a track system 116 can be seen. Figure 13 In the system shown, container or bin 112 is a multi-container frame 500. As mentioned above, in this implementation, the multi-container frames 500 are all stacked frames 500, in which containers are stored stacked on top of each other. Therefore, for simplicity, the phrase "stacked frame" will be used below. However, the following description applies to any form of multi-container frame.

[0078] Robot 1300 can operate in a similar manner to robots 202 and 204 described above, and can have any of the features of those robots. For example, the vehicle body 1400 of robot 1300 can include operating equipment (not shown) for robot 1300, which includes a drive system, a power system, and a control system.

[0079] from Figure 13 It can be seen that one of the stacking frames 500 is being lifted by robot 1300. This is in conjunction with the above. Figure 1 The same method is used as discussed in container 112. Further details on how the stacked frame 500 is promoted are combined with the above. Figure 8A , Figure 8B , Figure 8C , Figure 8D , Figure 10 A, Figure 9 and Figure 10 The lifting device 800 shown and Figure 11 and Figure 12 The lifting devices 1100 shown are described, and these lifting devices can all be provided as lifting devices in the robotic container handling vehicle 1300.

[0080] from Figure 13 As can be seen, robot 1300 spans two access openings 124 located above storage column 102. In other words, the area occupied by robot 1300 corresponds to the area occupied by at least two storage columns 102 of the automated storage and retrieval system.

[0081] Robot 1300 Figure 14 As shown separately, the stacked frame 500 is held by the robot 1300.

[0082] Robot 1300 includes a first set of wheels 1402 and a second set of wheels 1404 located on the underside of the vehicle body 1400 of robot 1300. The first set of wheels 1402 is arranged on a first opposite side of the vehicle body 1400 for moving robot 1300 in a first direction X 108. The second set of wheels 1404 is arranged on a second opposite side of the vehicle body 1400 for moving robot 1300 in a second direction 110 Y orthogonal to the first direction X. In this example, the first set of wheels 1402 is displaceable in a vertical direction Z 114 between a first position and a second position, in which the first set of wheels 1402 allows robot 1300 to move in the first direction X 108, and in the second position, the second set of wheels 1404 allows robot 1300 to move in the second direction Y 110.

[0083] Figure 15 It shows Figure 1 This is a sub-section of the automated storage and retrieval system shown. A portion of grid 100 can be seen, and two separate stacking frame lifting devices 1500 of robot 1300 can be seen without other features of robot 1300. It can be seen that these two lifting devices 1500 together span the two access openings 124 located above column 102. In other words, the occupancy area of ​​each of the two lifting devices 1500 corresponds to the occupancy area of ​​storage column 102, and the occupancy area of ​​the two lifting devices together corresponds to the occupancy area of ​​at least two storage columns 102 of the automated storage and retrieval system.

[0084] In some implementations, multiple lifting devices are directly connected together. In other implementations, multiple lifting devices can be individually connected to the vehicle body 1400 of the robot 1300.

[0085] Lifting device 1500 can Figure 16 and Figure 17 Seen separately in the text. Both lifting devices 1500 include a lifting frame 802, each lifting frame 802 being connected to a lifting belt 804, as described above and in Figure 8A , Figure 8B , Figure 8C , Figure 8D , Figure 9 and Figure 10As shown in the illustration. Each lifting frame 802 has a latch 806 that functions as a stacking frame holder and is configured to engage the stacked frames 500. In the depicted example, each lifting frame 802 is attached to four lifting straps 804. The lifting frames 802, lifting straps 804, and latches 806 can be used in conjunction with those described above and Figure 8A , Figure 8B , Figure 8C , Figure 8D , Figure 9 and Figure 10 The same as those shown in the figure. The lifting device 1500 can be configured to be positioned within the vehicle body 1400 of the robot 1300 (or a cavity or compartment therein) when fully retracted.

[0086] In some implementations, one or both of the two lifting devices 1500 may be equipped with, for example... Figure 11 The lifting frame 1102 described and shown is used in place of the lifting frame 802. A robot 1300 with such a lifting device 1500 is capable of lifting the container 504.

[0087] Each lifting frame 802 is connected to a corresponding lifting frame displacement device 1600 via a lifting belt 804. Each lifting frame displacement device 1600 is configured to move its corresponding lifting frame 802 in the vertical direction (i.e., along direction Z 114). This can be achieved by winding or coiling the lifting belt 804 around a lifting shaft (not shown).

[0088] Each lifting frame displacement device 1600 includes two parallel lifting shafts 1602 spaced apart from each other. These two lifting shafts 1602 are configured to wind or unwind the lifting belt 804, and each is connected to a lifting motor 1604 via a belt 1606. Rotation of the lifting motor 1604 drives the belt 1606 via a gear 1608. The belt 1606 drives the lifting shafts 1602 to wind or unwind the lifting belt 804. In this way, the lifting frame 802 and any stacked frames 500 connected to it are raised or lowered.

[0089] When the lifting frame displacement device 1600 is in the fully retracted position, any stacked frames 500 held by the corresponding lifting frame 802 are lifted above the track system 116 and therefore do not collide with the track of the track system 116.

[0090] In an exemplary implementation, the stacking frame 500 is moved within the robot 1300, such as... Figure 13 and Figure 14As shown. The vehicle body 1400 of robot 1300 may include a cavity (not shown) configured to receive a stacked frame 500 lifted into the cavity by one of a plurality of stacked frame lifting devices 1500, and / or configured to receive a stacked frame 500 lifted into the cavity by another of the plurality of stacked frame lifting devices 1500. Two stacked frames 500 may be lifted into the same cavity by the lifting devices 1500. Alternatively, the vehicle body 1400 of robot 1300 may include: a first compartment (not shown) configured to receive a first stacked frame 500 lifted into the first compartment by one of the plurality of stacked frame lifting devices 1500; and a second compartment (not shown) configured to receive a second stacked frame 500 lifted into the second compartment by another of the plurality of second stacked frame lifting devices 1500.

[0091] The cavity, the first compartment, and / or the second compartment may include one or more guide structures (not shown) within the cavity, the first compartment, and / or the second compartment for guiding the stacked frame 500 as it is lifted into the cavity, the first compartment, and / or the second compartment. The guide structures may take the form of protrusions corresponding to the external shape of the stacked frame.

[0092] In an exemplary implementation, the stacked frame 500 is lifted by the lifting device 1500 when both sets of wheels 1402 and 1404 are in contact with the track of the track system 116. This improves stability during the lifting of the stacked frame 500.

[0093] Figure 18 A robotic container handling vehicle 1800 (also referred to as a robotic vehicle or robot) is shown located on a portion of grid 100. The area occupied by robot 1800 corresponds to the area occupied by six storage columns 102 arranged in a 2×3 configuration in an automated storage and retrieval system. Robot 1800 may have up to six lifting devices, each corresponding to a specific storage column 102. Such a robot is capable of simultaneously lifting six stacked frames 500 from their respective storage columns 102.

[0094] Robot 1800 can operate in a similar manner to robots 202, 204, and 1300 described above and can have any of the features of those robots. For example, the vehicle body of robot 1800 may include operating equipment (not shown) for robot 1800, which includes a drive system, a power system, and a control system.

[0095] Robot 1800 has a first set of wheels 1802 and a second set of wheels 1804. The first set of wheels 1802 is displaceable in the vertical direction Z 114 between a first position and a second position. In the first position, the first set of wheels 1802 allows robot 1800 to move in a first direction X 108, and in the second position, the second set of wheels 1804 allows robot 1800 to move in a second direction Y 110. Both the first set of wheels 1802 and the second set of wheels 1804 have more than two pairs of wheels on opposite sides of robot 1800 to provide improved stability and support on track system 116. In the depicted example, the first set of wheels 1802 includes three wheels on each side of robot 1800, and the second set of wheels 1804 includes three wheels on each side of robot 1800. The first set of wheels 1802 and the second set of wheels 1804 can operate in a similar manner to the first set of wheels 1402 and the second set of wheels 1404 of robot 1300, as described above.

[0096] Figure 19 A robotic container handling vehicle 1900 (also referred to as a robotic vehicle or robot) is shown, the occupied area of ​​which corresponds to the occupied area of ​​three storage columns 102 of an automated storage and retrieval system. The robot 1900 has two enclosed compartments at both ends for receiving stacked frames 500, and an open area in the middle for receiving stacked frames 500. The robot 1900 has three lifting devices, each corresponding to a specific storage column 102. Such a robot is capable of simultaneously lifting three stacked frames 500 from their respective storage columns 102.

[0097] Advantageously, such a robot is capable of accessing stacked frames 500 stored in storage column 102 and extending above the height of the track system 116. When accessing, for example, a stacked frame below such a stacked frame, it may have already been temporarily stored at the top of column 102. The open side of the central portion of the robot 1900 allows the robot to be driven onto such a protruding stacked frame and then lifted.

[0098] Robot 1900 can operate in a similar manner to robots 202, 204, 1300 and 1800 described above and can have any of the features of those robots. For example, the vehicle body of robot 1900 may include operating equipment (not shown) for robot 1900, which includes a drive system, a power system and a control system.

[0099] Robots with other numbers of lifting devices or occupying areas corresponding to other numbers of storage columns 102 can be provided. For example, robots with two to six lifting devices can be provided.

[0100] exist Figure 20 The image shows a method for use in automated storage and retrieval systems (such as...) Figure 1 The method of operating a robotic vehicle (such as any of the robotic vehicles 1300, 1800 or 1900 described above) in the automated storage and retrieval system shown. Figure 20 The method can be achieved by the controller of an automatic storage and retrieval system (e.g., in conjunction with the above). Figure 4 The described processing system 400) is executed. In some implementations, the controller can work in conjunction with a warehouse management system configured to control and monitor other aspects of the storage and retrieval system, such as inventory monitoring, order monitoring, climate control, etc. Figure 20 The method can be executed by transmitting instructions to or receiving instructions from such a warehouse management system.

[0101] Step 2010 includes: using a first multi-container frame lifting device 1500 of a robotic vehicle 1300, 1800, or 1900 to lift a first multi-container frame 500 from a storage column 102 of an automated storage and retrieval system.

[0102] Step 2020 includes: using a second multi-container frame lifting device of a robotic vehicle 1300, 1800 or 1900 to lift a second multi-container frame 500 from the storage column of the automated storage and retrieval system.

[0103] The method may optionally include the following steps: moving robot vehicle 1300, 1800, or 1900 after lifting the first multi-container frame and before lifting the second multi-container frame, such that the second multi-container frame lifting device lifts the second multi-container frame from the same storage column where the first multi-container frame was lifted. In performing this step, the robot may be moved such that the second multi-container frame lifting device moves onto column 102 from which the first multi-container frame lifting device lifts the first multi-container frame.

[0104] Alternatively, the first multi-container frame lifting device and the second multi-container frame lifting device can simultaneously lift the first multi-container frame and the second multi-container frame from different storage columns 102.

[0105] Supplementary Explanation

[0106] 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 concept 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 by reference to the appended claims and the full scope of their equivalents.

Claims

1. A robotic vehicle for transporting a multi-container frame, the multi-container frame being configured to be stored in a storage column of an automated storage and retrieval system, the multi-container frame being configured to accommodate a plurality of storage containers, the plurality of storage containers being stored in the internal space of each of the multi-container frames; The robotic vehicle includes: A drive system for moving the robotic vehicle on the track of the track system above the storage column; The first multi-container frame lifting device is used to lift the multi-container frame; The second multi-container frame lifting device is used to lift the multi-container frame; Each multi-container frame lifting device is configured to lift a multi-container frame from the storage column such that the bottom of the multi-container frame is raised above the track of the track system, allowing the robotic vehicle to move freely on the track of the track system while carrying one or more multi-container frames.

2. The robot vehicle according to claim 1, in, The area occupied by the main body of the robotic vehicle corresponds to the area occupied by at least two storage columns of the automatic storage and retrieval system.

3. The robot vehicle according to claim 1 or 2, in, Each of the first and second multi-container frame lifting devices is arranged to be aligned with a corresponding storage column of the automated storage and retrieval system, and the first and second multi-container frame lifting devices simultaneously lift the multi-container frame from the corresponding storage column.

4. The robot vehicle according to any one of the preceding claims, in, The vehicle body of the robotic vehicle includes a first compartment configured to receive a multi-container frame lifted into the first compartment by the first multi-container frame lifting device. Optionally, the first compartment includes at least one guide configured to guide the first multi-container frame into the first compartment.

5. The robotic vehicle according to any one of the preceding claims, wherein, The vehicle body of the robotic vehicle includes a second compartment configured to receive a multi-container frame lifted into the second compartment by a second multi-container frame lifting device. Optionally, the second compartment includes at least one guide configured to guide the second multi-container frame into the first compartment.

6. The robotic vehicle according to any one of claims 1 to 3, wherein, The vehicle body includes a cavity configured to receive a first multi-container frame lifted into the cavity by a first multi-container frame lifting device, and configured to receive a second multi-container frame lifted into the cavity by a second multi-container frame lifting device. Optionally, the cavity includes at least one guide configured to guide the first multi-container frame and / or the second multi-container frame into the first compartment. The first multi-container frame lifting device and the second multi-container frame lifting device are positioned within the cavity when fully retracted.

7. The robotic vehicle according to any one of the preceding claims, wherein, The drive system includes a wheel arrangement, optionally, The wheel arrangement is located on the vehicle body; The drive system is configured to drive the robot vehicle to move along the track of the track system in at least one of a first direction and a second direction; The first direction and the second direction are orthogonal.

8. The robot vehicle according to claim 7, in, The wheel arrangement includes a first set of wheels and a second set of wheels; The first set of wheels is movable between a first position and a second position. In the first position, the first set of wheels allows the robot vehicle to move along a first direction, and in the second position, the second set of wheels allows the robot vehicle to move along a second direction.

9. An assembly comprising one or more multi-container frames and a robotic vehicle according to any one of the preceding claims.

10. The component of claim 9, wherein, The multi-container frame includes an internal space configured to accommodate a plurality of storage containers, optionally wherein the plurality of storage containers are stacked vertically on top of each other for storage.

11. An automatic storage and retrieval system, comprising: Multiple storage columns; The track system is located above the storage column; Multiple multi-container frames are configured to be stored in the storage column of the automatic storage and retrieval system; as well as The robot vehicle according to any one of claims 1 to 8.

12. The automatic storage and retrieval system according to claim 11, wherein, The track system includes: a first set of tracks arranged in a horizontal plane and extending in a first direction; and a second set of tracks arranged in the horizontal plane and extending in a second direction orthogonal to the first direction, wherein the first set of tracks and the second set of tracks form a grid pattern comprising a plurality of grid cells in the horizontal plane, wherein each grid cell includes a grid opening defined by the tracks in the first set of tracks and the tracks in the second set of tracks; and / or Each of the storage columns is located directly below a grid opening; and / or Each of the multi-container frames is configured to accommodate multiple storage containers within the internal space of the respective multi-container frame. Optionally, the multiple storage containers are stacked vertically on top of each other for storage.

13. A method for operating a robotic vehicle according to any one of claims 1 to 8 in an automated storage and retrieval system, the method comprising: The first multi-container frame is lifted from the storage column of the automated storage and retrieval system using the first multi-container frame lifting device; as well as The second multi-container frame is lifted from the storage column of the automated storage and retrieval system using the second multi-container frame lifting device.

14. The method of claim 13, further comprising the step of: After lifting the first multi-container frame and before lifting the second multi-container frame, the robot vehicle is moved such that the lifting device for the second multi-container frame lifts the second multi-container frame from the same storage column where the first multi-container frame was lifted; or The first multi-container frame lifting device and the second multi-container frame lifting device simultaneously lift the first multi-container frame and the second multi-container frame from different storage columns.

15. A computer-readable medium comprising, when executed by one or more processors, causing a computer to perform the method according to claim 13 or claim 14; or A computer program comprising, when executed by a computer, causing the computer to perform instructions according to claim 13 or claim 14; or A controller includes a processor and a memory, the controller being configured to perform the method according to claim 13 or claim 14.

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