Automatic storage and retrieval system

Abstract

An automated storage and retrieval system is disclosed herein. The system includes a three-dimensional grid including a plurality of storage columns in which a plurality of storage containers are stored one on top of another in a vertical stack. 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 includes a first transport device configured to transport at least a first product item to a first product item location; and a plurality of robotic container handling vehicles, a robot configured to retrieve the storage containers from the storage column and store the storage containers in the storage column. The first robot comprises a clamping device and a height adjusting mechanism and is further configured to clamp the first storage container and adjust the height of the first storage container for positioning; and an actuation mechanism configured to move the first product item through the first side opening from the first product item position into the first storage container.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to an automated storage and retrieval system, storage containers and associated methods. More specifically, the present disclosure relates to an automated storage and retrieval system comprising storage containers that can be loaded through openings in the side walls of the storage containers. BACKGROUND

[0002] Conventional storage solutions typically involve arranging goods on rows of shelves within a warehouse. The location of each item on the shelves is recorded in an inventory and the goods are retrieved from the shelves by pickers. As goods are brought into and out of the warehouse, the shelves are restocked as necessary and the inventory is updated.

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

[0004] An alternative to conventional warehouse layouts is an automated storage and retrieval system in which robots retrieve items from their recorded locations within a warehouse and deliver the items to packing stations or ports. Such a system can reduce or eliminate the space required to navigate between rows of shelves to access goods, thereby eliminating the need for wide aisles within the warehouse. One example of such a system involves placing goods into bins or containers that are configured to be stacked side-by-side within a three-dimensional grid. A rail system is arranged on top of the grid along which robotic container handling vehicles configured to lift the containers from the grid can travel. The container handling vehicles are configured to transport the containers from the grid and deliver them to ports or stations on the periphery of the grid so that the goods within the containers can be picked and packed.

[0005] In considering how to ensure that the process from delivering product items to a warehouse to storing those product items in an automated storage and retrieval system, such as the system described above, is as smooth and efficient as possible, a number of challenges arise. One particular challenge arises when considering that a product item (e.g. a box) itself contains multiple products that can be used to fulfil different orders. Currently, such a box can need to be manually unpacked and each product loaded into a storage container for transfer to the three-dimensional grid. However, this process is inefficient, time consuming and requires manual intervention. The manual intervention can involve the need to lift heavy goods, for example a box containing several beverages. This existing process can also cause congestion at the ports and at the loading and / or unloading stations. Similar challenges arise when retrieving product items from the storage grid.

[0006] One or more aspects of the application can be set out in the claims. BRIEF DESCRIPTION OF DRAWINGS

[0007] The present disclosure will now be described in more detail, by way of example, with reference to the drawings, in which: Figure 1 a perspective view of a storage system comprising a grid and a plurality of robotic container handling vehicles configured to retrieve and / or reposition goods stored within the grid is shown; Figure 2 a top view of the system of Figure 1 is shown; Figure 3A a side view of a first robotic container handling vehicle suitable for use in the system of Figure 1 is shown; Figure 3B a side view of a second robotic container handling vehicle suitable for use in the system of Figure 1 is shown; Figure 3C a perspective side view of a robot of Figure 3B is shown; Figure 4 a computing device for implementing the operations described herein is shown; Figure 5a and Figure 5b depicts a storage container according to the present disclosure; Figure 6 depicts another storage container according to the present disclosure; Figure 7a and Figure 7b depicts an automated storage and retrieval system according to the present disclosure; Figure 8 is a flowchart depicting a method according to the present disclosure; Figure 9 is a flowchart depicting another method according to the present disclosure. DETAILED DESCRIPTION

[0008] In general, but not limited to, the present disclosure relates to an automated storage and retrieval system, and an associated computer-implemented method of loading product items into storage containers for storage in such a system. The present application relates to an improved design of a storage container comprising at least one side opening, most likely in addition to the top opening commonly seen in the prior art. The system comprises a conveying device configured to convey product items to a specific product item location, and a robot configured to position the side opening of a storage container beside (in alignment with) the first product item location. By positioning the storage container and the product item in this way, an actuation mechanism can move (e.g. push) the product item from the first product item location through the first side opening and into the first storage container in a simple and efficient manner.

[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 an automated storage and retrieval system

[0012] refer to Figure 1 In 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 202Figure 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 clamping device 308 that can be raised and lowered relative to the cantilever element 306, for example, via a height adjustment mechanism. The clamping device 308 is configured to clamp or engage the box 112, for example, by a portion of the box 112 or by passively or actively engaging a suitably configured portion of the box 112.

[0018] The second "internal cavity" type robot 204 is in Figure 3B As 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 system

[0021] Control and monitoring of the automated storage and retrieval system, including monitoring of the location of the bins and storage, control of the delivery, retrieval and transport of bins, route guidance of the robots and collision avoidance, is performed by a control system in communication with the robots and / or other controllable system components as shown in Figure 4 The control can be performed locally or remotely and can be implemented by a processing system, e.g. in the form of a computing device. Thus, 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] Reference is made to Figure 4 A processing system 400 suitable for performing the methods described herein will now be described. Figure 4 A block diagram of one implementation of a processing system 400 in the form of a computing device is shown in which a set of instructions can be executed to cause the computing device to perform any one or more of the methods described herein. In some implementations, the computing device can be connected (e.g., networked) to other machines in a Local Area Network (LAN), an intranet, an extranet, or the Internet. The computing device can operate in the capacity of a server or a client machine in a client-server network environment, or it can operate as a peer machine in a peer-to-peer (or distributed) network environment. The computing device can be a personal computer (PC), a tablet computer, a set-top box (STB), a Personal Digital Assistant (PDA), a cellular telephone, a web appliance, a server, a network router, switch or bridge, or any machine capable of executing a set of instructions (sequential or otherwise) that specify actions to be taken by that machine. Further, while only a single computing device is shown, the term “computing device” shall also be taken to include any collection of machines (e.g., computers) that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methods described herein.

[0023] The 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 a secondary memory (e.g., a data storage device 418), which communicate with each other via a bus 430.

[0024] The processor 402 represents one or more general-purpose processors such as a microprocessor, central processing unit, or the like. More particularly, the processor 402 can be complex instruction set computing (CISC) microprocessors, reduced instruction set computing (RISC) microprocessors, very long instruction word (VLIW) microprocessors, processors implementing other instruction sets, or processors implementing a combination of instruction sets. The processor 402 can also be one or more special-purpose processors such as an application specific integrated circuit (ASIC), a field

[0025] The processing system 400 can also include a network interface device 408. The processing system 400 can also include any one or more 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 touch screen), a cursor control device 414 (e.g., a mouse or touch screen), and an audio device 416 (e.g., a speaker).

[0026] It will be apparent Figure 4 Some of the features of the processing system 400, which are illustrated in FIG. 4, can not be present. For example, the processing system 400 can not need a display device 410 (or any associated adapter). This can be the case, for example, for a server computer device that is used only in its processing capacity and does not need to display information for a user. Similarly, a user input device 412 can not be needed. In its most basic form, the processing system 400 includes the processor 402 and the main memory 404.

[0027] The data storage device 418 can include one or more machine-readable storage media (or more specifically, one or more non-transitory computer-readable storage media) 428 on which is stored one or more sets of instructions 422 embodying any one or more of the methodologies or functions described herein. The instructions 422 can also reside, completely or at least partially, within the main memory 404 and / or within the processor 402 during execution thereof by the processing system 400, the main memory 404 and the processor 402 also constituting computer- readable storage media 428.

[0028] The various methods described herein can be implemented by a computer program. The computer program can include computer code set to instruct a computer to perform one or more of the various methods described herein. The computer program and / or code for performing such methods can 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 can be transitory or non-transitory. The one or more computer-readable media can be, for example, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or a propagation medium for data transmission such as downloaded code in the case of using the internet for downloading code. Alternatively, the one or more computer-readable media can take the form of one or more physical computer-readable media such as semiconductor or solid state memory, magnetic tapes, removable computer floppy disks, random access memory (RAM), read only memory (ROM), rigid magnetic disks or optical disks such as CD-ROM, CD-R / W or DVD.

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

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

[0031] A "hardware component" is tangible (e.g., non-transitory) physical components (e.g., a set of one or more processors) that are capable of carrying out a particular operation and that are physically constructed, permanently configured, or temporarily configured (e.g., programmed) to operate in a certain manner. Hardware components can include specially-constructed circuits or logic operating without software; they can also include programmable logic or circuitry that is temporarily configured by software to operate in a certain manner.

[0032] Accordingly, the phrase "hardware component" should be understood to encompass a tangible entity that is physically constructed, permanently configured (e.g., hardwired), or temporarily configured (e.g., programmed) to operate in a certain manner to carry out certain operations described herein.

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

[0034] Operation of an automated storage and retrieval system

[0035] In operation, each bin 112 is assigned a unique identifier, which can be marked on the bin 112 using a computer-readable identifier (e.g., a barcode, a quick response code, or a radio frequency identification tag) to facilitate identification of the bin 112. A database of the handling system 400 stores the location of each bin 112, and optionally the contents, in association with the unique identifier. As the bins 112 are moved (e.g., when a bin is removed from the grid 100), the database is updated to record the change in its location.

[0036] When a bin 112 is desired to be removed from the grid 100, the robots 202, 204 are routed, under the control of the handling system 400, via the rail system 116 to the vertical column 102 that includes the storage cell in which the bin 112 is located (according to the database), and position the lifting devices 304, 312 (according to the robot type) over the corresponding access opening 124, which is located alongside the robot 202, 204 or below the robot. The robot 202, 204 lowers the gripping device 308, which engages, grips, and lifts the bin 112 to the robot 202, 204. The robot 202, 204 then transports the bin 112 to, for example, the unloading port column 126, 128 for delivery to the port 130, 132 and subsequent processing outside the grid 100. In cases where the target or designated bin 112 is located underneath other bins in the stack, then one robot 202, 204 or multiple robots dedicated to the task can be controlled to perform a “digging” operation in order to sequentially lift the bins located above the target bin 112 and reposition these bins temporarily or permanently to remove the target bin. It will be appreciated that other operations related to the bins 112 can be performed in a similar manner. For example, a bin 112 can be delivered into the grid 100 for storage at a port 130, 132 of the pick-up port column 126, 128, gripped and lifted by a robot 202, 204, and delivered to a desired storage cell, with repositioning of bins above the desired location, if needed, as discussed above.

[0037] Storage container comprising a side opening

[0038] Figure 5a and Figure 5b depicts a storage container 500 according to the present disclosure. Figure 5a is a schematic and depicts an angled view, whereas Figure 5bThis 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 5a As 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 comprising a plurality of 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] Automated storage and retrieval system comprising a robot with a height adjustment mechanism

[0043] Figure 7a and Figure 7b A simplified top view of the automatic storage and retrieval system 700 according to this disclosure is depicted. This will become clear from the following description. Figure 7a A system 700 at a given time or configuration is depicted, wherein a first storage container 730 is stored in a grid, and Figure 7b A system 700 is depicted in another time or a second configuration, wherein a first robot 712 has removed a first storage container 730 and has positioned the first storage container 730 such that its first side opening is positioned next to a first product article 740.

[0044] It should be understood that System 700 is similar in many ways to the above, for example, regarding... Figure 1The system described herein, and the following disclosure will focus primarily on the differences. System 700 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. System 700 may optionally include at least one port through which storage containers can be transferred into and / or transferred out of the grid 710. One or more storage containers in grid 710 include at least one side opening, in a manner as described above regarding Figure 5a , Figure 5b and Figure 6 As described. The system may include a mixture of different storage containers, some of which are single-layer storage containers with side openings, some of which are multi-layer storage containers with multiple side openings, and some of which are storage containers without side openings.

[0045] Examples of storage containers with side openings are shown in Figure 7a and 7b The first storage container 730 is depicted as a first storage container 730. The first storage container 730 is stored in a grid. The first storage container 730 is stacked in a storage column. In this example, the first storage container 730 is a multi-tiered box with two levels and two corresponding side openings. In this example, both storage areas in the multi-tiered box are empty, i.e., they do not contain any product items.

[0046] System 700 also includes multiple robotic container handling vehicles, which may be simply referred to as robots herein. The first robot 712 is... Figure 7a and Figure 7b As shown above, for example, regarding Figure 1 As shown in Figures 3a to 3c, the first robot 712 is configured to retrieve a storage container from a storage column of the grid 710 and store the storage container in that storage column. The first robot 712 can take any form depicted in Figures 3a to 3c, for example, or any other suitable form. The first robot 712 includes a gripping device and a height adjustment mechanism (in... Figure 7a or Figure 7b (Not shown in the image). A height adjustment mechanism is configured to adjust the height of the gripping device. Therefore, the first robot 712 is configured to grip a storage container, such as the first storage container 730, and adjust the height of the gripped storage container. As described above, the system 700 also includes a track system formed on top of a grid, and the first robot 712 is configured to move along the track system in a known manner and under the control of the processing system 400.

[0047] The first robot 712 is configured to lower the gripping device into the storage column where the first storage container 712 is stored via a height adjustment mechanism. The first robot 712 can then grip the first storage container 730 via the gripping device. The first robot 712 can then raise the height of the first storage container 730 to remove it from the grid 710. The first robot 712 is configured, under the control of the processing system 400, to horizontally transport the first storage container 730 across the top of the grid until it is positioned at the first box position. The first box position can be described as the upper box position. When the first storage container 730 is positioned at the first box position, the first storage container 730 and the first robot 712 can be at substantially the same height above the ground.

[0048] The first robot 712 is configured to adjust the height of the first storage container 730 from the first (upper) box position, such that the box is positioned in the second (lower) box position 720. Figure 7b In the second box position 720, the first storage container 730 is positioned at the lower box position 720. In the second box position 720, the side opening of the first storage container 730 is positioned next to the first product item position 770.

[0049] System 700 also 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 article 740 to a first position 770, which may be described herein as a first product article position 770. The first position 770 is adjacent to a lower box position 720. The first product article position 770 may also be adjacent to or near an actuation mechanism 750. 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 a first conveyor 760.

[0050] System 700 also includes an actuation mechanism 750. This 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 push or “load” member and a linear actuator, configured together to push product article 740 into the first storage container through the side opening in the first storage container 730. The actuation mechanism may also include a second push or “remove” member and a second linear actuator, configured together to push or otherwise remove product article 740 from the first storage container through one of the side openings in the first storage container 730 to the first position (or another suitable position). Alternatively, the actuation mechanism 750 may also include a clamping mechanism configured to clamp or otherwise engage product article 740 and remove it from the first storage container 730 through a side opening in the first container 730. The gripping mechanism may include a suction cup or a suction mechanism, such as a robotic arm capable of gripping the product article 730.

[0051] The second or lower box position 720 may also be referred to herein as the loading or unloading position. The loading position 720 can be positioned adjacent to the grid and relatively close to the bottom of the grid. This exemplary implementation is described in... Figure 7a and Figure 7b As shown in the diagram. In this implementation, the first robot 712 lowers the storage container 730 from the top or near the grid 710 to a loading position 720 at or near the bottom of the grid, allowing the actuation mechanism to load or unload the first storage container 720. After loading / unloading, the first storage container 730 is raised back to the top of the grid 710, enabling the first robot 712 to transfer the storage container back into the storage column of the grid 710.

[0052] The loading location can alternatively be positioned at the port of grid 710 or inside it. (See above regarding...) Figure 1 The discussed 3D mesh 710 may include a column of ports. A loading position 720 can be positioned within this column of ports. Storage containers from the mesh 710 can thus be transferred from the storage mesh 710 and lowered along the column of ports via a first robot 712, their height adjusted by a height adjustment mechanism, so that one or more product items 740 can be loaded into or removed from the storage containers via an actuation mechanism 750. In this implementation, the loading position 720 is actually located inside the mesh 710.

[0053] Loading position 720 may alternatively be located inside grid 710, but not at the port. In such an implementation, loading position 720 is located at a specified location within one of the multiple columns of grid 710 (e.g., a storage column).

[0054] The loading location 720 can alternatively be located outside the grid 710, on a different floor within the warehouse building than the grid 710. In such an implementation, the robot 712 lowers the storage container through the first floor of the building containing the grid 710 and down to the floor below the grid 710, allowing the storage container 730 to be loaded and / or unloaded as needed.

[0055] 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 6 The 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 in the image). Each sensing device may include an RF reader configured to read RFID tags and / or an optical detection device such as a camera.

[0056] 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 a first robot 712 to remove the multi-layer storage container from the grid 710 and position it at loading position 720. Alternatively, if the sensing device determines that product item 740 is larger than the size threshold, a single-layer box is removed from the grid 710. System 700 is similarly controlled such that the side opening of the single-layer box is positioned next to 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 the single-layer box.

[0057] Of course, sensing devices including cameras are not necessarily required, and known methods for identifying containers include the use of RFID tags and scanners. As described elsewhere herein, the first storage container may include a computer-readable identifier, which may 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 approaches loading position 720, 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 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, the height of the first storage container 712 can then be adjusted by a height adjustment mechanism to optimally position its side opening next to at least the first product item.

[0058] In this example, the height of the storage container 712 can be adjusted such that, based on a determination of whether the container is a single-layer or multi-layer container, the side opening of the container is correctly positioned next to, i.e., adjacent to, the product item 740. In an implementation where the grid 710 contains a mixture of single-layer and multi-layer containers including side openings, and optionally also containers without side openings, the database of the processing system 400 stores additional information associated with each container. In this implementation, this information can be retrieved from the database based on the identifier of the first storage container. The height adjustment mechanism can then be controlled based on the retrieved information to optimally position the side opening of the container next to the product item. The information associated with the first storage container may include, for example, one or more of the following: the number of side openings the container has, the size and / or shape of the side openings, height information indicating the height of the side openings from the base of the first storage container, and height information indicating the optimal height to which the first storage container should be lowered, allowing the actuation mechanism to move the product item from a first position into the storage container through the first side opening.

[0059] In this way, the container, including only the side opening, is positioned at loading position 720. When the actuation mechanism 750 is to load the container including the side opening, height information is retrieved from the database, and the height of the storage container as it is lowered from the first (upper) position is adjusted accordingly. This ensures that the system 700 optimally positions the side opening of the storage container 730 next to the product item 740, enabling smooth and efficient loading of the storage container 730.

[0060] During operation, the height of the first storage container 730 is adjusted by the height adjustment mechanism of the first robot 712 so that the first side opening of the storage container 730 is located next to the first product item position 770. When the first product item 740 has been positioned at the first product item position 770 by the first conveying device 760, it should be understood that the first side opening is positioned next to the first product item 740. Adjusting the height of the storage container 730 may include positioning the first side opening of the product container 730 so that the side opening is adjacent to and / or horizontally aligned with the product item 740. Then, the actuation mechanism 750 is controlled to load or unload the first storage container 730 as needed.

[0061] Method of loading product items into a storage container

[0062] 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 processing system 400. Figure 8 A method 800 according to this disclosure is described, which is adapted to be executed by such a processing system 400. Method 800 is relative to, for example, the above description... Figure 6 The description of the box 600 refers to a multi-layer or multi-level storage container, but the modified method (e.g., omitting steps S825, S830, and S835) can be combined with methods such as those described above. Figure 5a and Figure 5b The described box 500 is used in a single-layer or single-level box. Those skilled in the art will also understand that many of these steps can be performed in different order or simultaneously; for example, step S810 can be performed simultaneously with steps S805 and S815.

[0063] At step S805, the first robot 712 is controlled to remove the first storage container 730 from the grid 710. This may involve controlling the robot 712 to move across the grid's track system to position the gripping device above the storage column storing the first storage container 730. The gripping device is lowered into the storage column by a height adjustment mechanism, and the gripping device grips the first storage container 730. The gripped storage container is then raised to the top of the grid 710. The robot thus removes the first storage container 712 from the grid 710.

[0064] The first storage container 730 may be partially or completely empty. For multi-level containers, for example, the upper area may be occupied by product items, but the lower area may be empty and therefore have the capacity to receive product items from the actuation mechanism. In the following description of method 800, it is assumed that both areas of the storage container are empty. The database maintains records of whether each storage area of ​​each container is empty, full, or partially full, and which products or product items are stored.

[0065] At step S810, the first conveying device 760 is controlled to convey the first product article 740 to the first product article position 770. The first product article position 770 is adjacent to the loading position 720, where the storage container is positioned or will be positioned. Step S805 may include, for example, controlling the conveyor belt and / or one or more robotic gripper arms of the first conveying device 760 to move the product article 740 from the starting position to the first product article position 770.

[0066] In step S815, the first robot 712 is controlled to position the first side opening of the first storage container 730 next to the first product item position 770. In this example, the first storage container 730 is lowered from the top of the grid 710 to a loading position 720 near the bottom of the grid 710. The height of the storage container 730 is adjusted so that the first side opening of the storage container 730 is next to the product item. The side opening is horizontally aligned with the product item 740. In this example, the multi-level storage container is raised so that its lower side opening is present next to the product item 740. 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 730 so that it is optimally positioned to receive the product item 740. Step S815 may include: controlling the first robot to lower the first storage container 730 from a first storage container position (e.g., at the top of the grid 710) to a first height, wherein the first height has been determined to enable the actuation mechanism to move the product item 740 from the first position 770 into the first storage container 730 through the first side opening.

[0067] In a specific implementation, the height of the storage container 730 is adjusted based on the container's identifier. Information related to the container type, 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 suitable for loading product items 740. The height of the storage container 730 can then be adjusted based on information retrieved from a 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 storage container 730 is adjusted based on the retrieved height information such that the lower side opening of the storage container 730 is positioned next to the product items. Thus, the height of the storage container 730 can be adjusted to a predetermined height, which has been determined to be optimal for positioning the first side opening next to the product items 740. Optionally, several predetermined heights may exist, each associated with a specific type of container and / or a specific side opening of each container.

[0068] At step S820, method 800 includes controlling an actuation mechanism 750 to move a product article 730 from a first product article position 770 into a first storage container 730 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 the multi-layer box, thereby loading the lower storage area of ​​the multi-layer box.

[0069] Optionally, in step S825, the first robot 712 is controlled to position the second side opening of the first storage container 730 adjacent to the first product item position 770. Step S825 is similar to step S815 and is intended to position the second side opening such that the product item 740 can be pushed into the second side opening by the actuation mechanism 750. In an example, the upper side opening of the multi-tiered box is positioned adjacent to the first product item position 770. As described above, the height of the storage container 730 can be adjusted based on the box's identification and / or information about the box retrieved from a database. The height of the storage container 730 can be adjusted to a second height, which has been determined to allow the actuation mechanism to move the product item from the first product item position 770 into the storage container through the second side opening of the storage container 730.

[0070] Optionally, at step S830, 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 next to the actuation mechanism 750.

[0071] Optionally, at step S835, 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 S835, 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.

[0072] At step S840, the first robot 712 is controlled to transport the first storage container 730 containing the product item into the three-dimensional grid 710. Step S840 may include raising the now-loaded storage container 730 to the top of the grid, for example, returning it to the first (upper) storage container position. The now-loaded storage container 730 may be transported back to one of a plurality of storage columns of the grid 710 in a known manner.

[0073] The height to which the storage container 730 can be moved by the height adjustment mechanism can be predetermined. The height can be stored in a memory associated with the processing system 400, such as memory 404, static memory 406, and / or auxiliary memory 418. These heights are predetermined as optimal heights for achieving height-related functions; for example, a first height is determined as the optimal height for positioning a first side opening next to the product item, and a second height is determined as the optimal height for positioning a second side opening next to the product item.

[0074] Method 800 may include the additional step of determining whether the container to be loaded is a single-level container or a multi-level container, and adjusting the method accordingly based on this determination. For example, if the container to be loaded is a multi-level container, the full method 800 can be performed; while if the container to be loaded is a single-level container, an adjusted method 800 can be performed, for example, the adjusted method excluding optional steps. Thus, method 800 can be adapted to grids that include only single-level containers or only multi-level containers. Method 800 can also be adapted to grids containing a mixture of single-level and double-level containers. In this implementation, known container identification, tracking, and / or recognition techniques can be employed so that system 700 can determine whether the container to be loaded by the actuation mechanism is a single-level or multi-level container. The height at which the storage container is lowered can then be adjusted based on the container identification.

[0075] Method of retrieving product items from a storage container

[0076] Figure 9 A method 900 for retrieving product articles from an automated storage and retrieval system 700 according to this disclosure is described. Like method 800, method 900 can be performed by any suitable processor or processing system, such as the processing system 400 described above. Many steps of method 900 are similar to those described above for method 800.

[0077] At step S905, the first robot is controlled to remove a first storage container containing one or more product items from grid 710. This can be in response to receiving an order related to the product items stored in the storage container. For example, a customer may order the product item itself or a product included within a product item. This order may be 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 removal of the product item from grid 710.

[0078] At step S910, the first robot is controlled to position the first side opening of the first storage container next to the first product item position 770. For example, if the storage container is a single-layer box, its side opening is positioned next to the first position 740, such that the storage container 730 is well positioned to allow the actuation mechanism 750 to remove the product item from the box. In another example, the relevant side opening of a multi-layer box is positioned adjacent to the first position 740, such that the storage container is well positioned to allow the actuation mechanism 750 to remove the product item from the relevant section of the box containing the product item.

[0079] At step S915, the control actuation mechanism 750 moves the first product article from the first storage container 730 to the first product article position 770 through the first side opening. This may include: pushing the product article out of the storage container 730 using a pushing or loading member, or engaging the product article and removing it from the storage container 730 using a clamping member or other engaging member. In this example, the product article is now positioned on the conveyor belt of the first conveying mechanism 760. This step can be performed inside or outside the grid 710, as described above.

[0080] In step S920, the first robot is controlled to position the second side opening of the first storage container next to the first product item position 770.

[0081] At step S925, the first conveying device 760 is controlled to move the first product item away from the first product item location 770, for example, to a destination such as a loading station to begin the next stage of fulfilling a customer order. This may include actuating the conveyor belt of the first conveying device 760.

[0082] In step S930, the control actuator moves the second product article from the first storage container to the position of the first product article through the second side opening. This step is similar to S915.

[0083] In step S935, the first conveying device is controlled to move the second product item from the first product item position 770 to, for example, a loading station.

[0084] At step 940, the first robot is controlled to transport the currently empty first storage container 730 into the three-dimensional mesh 710. This step is similar to step S840 described above.

[0085] 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, method 900 can be used to unload the storage container, but method 800 can be used to load the product items into the storage container and then return it to the grid before performing step S940.

[0086] Methods 800, 900, system 700, and storage containers 500 and 600 offer several advantages. By enabling loading through 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 related to 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. The disclosed methods enable increased efficiency and speed in loading and unloading product items, and thus increased efficiency and speed in order fulfillment. By automating box loading and unloading, congestion at the grid's ports is reduced.

[0087] This document mentions sensing devices configured to determine information about boxes. It should be understood that these devices are optional, and are explained herein as exemplary hardware; such instances can be included in 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. In such an implementation, determining the box's identification may simply involve retrieving the box ID from a database.

[0088] This document describes loading product items from a first position into a box, and unloading product items from the box to the same first position. However, it should be understood that the positions can be different. The actuating components used for loading and unloading can be different; for example, the first part of the actuating device for loading the box can be located at a first position at the base of the grid, while the second part of the actuating device for unloading the box can be located at a different second position at the base of the grid.

[0089] 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.

[0090] 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.

[0091] 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, 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 first conveying device configured to convey at least a first product article to a first product article location; a plurality of robotic container handling vehicles and robots configured to remove storage containers from the storage columns and store storage containers in the storage columns, wherein a first robot among the plurality of robots includes a gripping device and a height adjustment mechanism, and is thereby configured to grip the first storage container and adjust the height of the first storage container to position the first side opening adjacent to the first product article location; and an actuation mechanism configured to move the first product article from the first product article location into the first storage container through the first side opening. The height adjustment mechanism may be configured to adjust the height of the gripping device. The first robot can be configured to: lower the gripping device into the storage column where the first storage containers are stacked via a height adjustment mechanism to grip and remove the first storage container; transport the first storage container to a first box position; and lower the first storage container from the first box position to a loading position, where a first side opening of the first storage container is located next to a first product item position.

[0092] In any embodiment, the first robot may also be configured to raise a first storage container containing at least a first product article and convey the first storage container into a storage column among a plurality of storage containers. In any embodiment, the system may also include a track system formed on top of a grid, and each of the plurality of robots is configured to: move along the track system; and transport the storage container horizontally across the top of the grid. In any embodiment, the actuation mechanism may include a loading member configured to push the product article through a first side opening into the first storage container. In any embodiment, the system may also 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. The robot may also be configured to lower the first storage container from a first storage container position to one or both of a first height and a second height, wherein the first height has been determined such that the actuation mechanism can move the product article through the first side opening from a first position into the first storage container, and the second height has been determined such that the actuation mechanism can move the product article through the second side opening from the first position into the first storage container.

[0093] In any implementation, the first storage container may include one or more of the following: a base; Two first parallel sidewalls, including a first sidewall; 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 a first product article and thereby prevent it from detaching through the first side opening during movement of the first storage container. In any embodiment, the actuation mechanism may also be configured to move one or more product articles loaded in the first storage container through the first side opening from the first storage container to a first position. In any embodiment, the system may further include: a processing system configured to control the operation of the first conveying device, the robot, and the actuation mechanism, and further including a memory storing a database; and the processing system may also be configured to: retrieve information related to the first storage container from the database based on an identifier of the first storage container; and, based on the retrieved information related to the first storage container, control a height adjustment mechanism to position the first side opening at least next to the first product article. Information relating to the first storage container includes one or more of the following: the number of side openings of the first storage container, the size and / or shape of the first side openings, first height information indicating the height of the first side openings as measured from the base of the first storage container, and second height information indicating an optimal height to which the first storage container should be lowered, the optimal height enabling the actuating mechanism to move product articles from a first position into the first storage container through the first side openings.

[0094] 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 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 the system of 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 at least the first product article to a first product article location; The method involves controlling a first robotic container transport vehicle to position a first side opening next to a first product item location; controlling an actuation mechanism to move at least a first product item from the first product item location through the first side opening into a first storage container; and controlling the first robot to transport the first storage container containing the product items into a three-dimensional mesh. The storage container may also include a second side opening, and each of the first and second side openings is shaped and positioned to receive one or more product items; wherein controlling the first robot to position the first side opening next to the first product item location includes: controlling the first robot to lower the first storage container from the first storage container location to one or both of a first height and a second height, wherein the first height is determined such that the actuation mechanism can move the product item from a first location through the first side opening into the first storage container, and the second height is determined such that the actuation mechanism can move the product item from the first location through the second side opening into the first storage container. In one or more embodiments, the invention relates to a computer-readable medium including instructions that, when executed by a system processor, cause a device to perform the methods described above.

[0095] 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 multiple storage columns in which multiple storage containers are stored in a vertical stack, one on top of another, wherein at least a first storage container among the multiple storage containers includes a first sidewall and a first side opening in the first sidewall; A first conveying device is configured to convey at least a first product article to a first product article location; Multiple robotic container handling vehicles and robots are configured to retrieve storage containers from and store them in a storage column, wherein a first robot among the multiple robots includes a gripping device and a height adjustment mechanism, and is thereby configured to grip a first storage container and adjust the height of the first storage container to position a first side opening next to a first product item location; and An actuation mechanism is configured to move a first product article from its position into a first storage container through a first side opening.

[0096] 2. The system according to Clause 1, wherein the height adjustment mechanism is configured to adjust the height of the clamping device.

[0097] 3. In the system according to Clause 2, the first robot is configured to: The clamping device is lowered into the storage column where the first storage container is stacked via a height adjustment mechanism to clamp and remove the first storage container; Transport the first storage container to the first box location; and The first storage container is lowered from the first box position to the loading position, where the first side opening of the first storage container is located next to the first product item position.

[0098] 4. The system according to any of the foregoing provisions, wherein the first robot is further configured to raise a first storage container containing at least a first product article and to convey the first storage container into a storage column of a plurality of storage containers.

[0099] 5. The system according to Clause 1 further includes a track system formed on top of the grid, wherein each of the plurality of robots is configured to: move along the track system; and

[0100] Transport storage containers horizontally across the top of the grid.

[0101] 6. 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.

[0102] 7. 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.

[0103] 8. According to the system of Clause 7, the robot is also configured to lower the first storage container from the first storage container position to one or both of a first height and a second height, wherein the first height has been determined to enable the actuation mechanism to move the product article from the first position into the first storage container through a first side opening, and the second height has been determined to enable the actuation mechanism to move the product article from the first position into the first storage container through a second side opening.

[0104] 9. 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, 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 a first product article and thereby prevent the first product article from detaching through the first side opening during movement of the first storage container.

[0105] 10. The system according to Clause 1, wherein the actuation mechanism is further configured to move one or more product articles loaded in the first storage container through the first side opening from the first storage container to a first position.

[0106] 11. The system pursuant to Clause 1 also includes: The processing system is configured to control the operation of the first conveying device, the robot and the actuation mechanism, and also includes a memory in which a database is stored; 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 position the first side opening next to at least the first product item.

[0107] 12. The system according to Clause 11, wherein the information relating to the first storage container includes one or more of the following: the number of side openings having the first storage container, the size and / or shape of the first side openings, first height information indicating the height of the first side openings measured from the base of the first storage container, and second height information indicating an optimal height to which the first storage container should be lowered, the optimal height enabling the actuating mechanism to move product articles from a first position into the first storage container through the first side openings.

[0108] 13. A computer-implemented method for loading at least a first product article into a first storage container 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 the 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 at least the first product item to the first product item location; Control the first robotic container transport vehicle; the robot positions the first side opening next to the location of the first product item. The control actuation mechanism moves at least a first product article from its position into the first storage container through a first side opening; and The first robot is controlled to transport the first storage container containing the product items into the three-dimensional grid.

[0109] 14. According to the method of Clause 13, the 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; The control of the first robot to position the first side opening next to the location of the first product item includes: The first robot is controlled to lower the first storage container from its first storage container position to one or both of a first height and a second height, wherein the first height is determined such that an actuation mechanism can move a product article from the first position into the first storage container through a first side opening, and the second height is determined such that an actuation mechanism can move a product article from the first position into the first storage container through a second side opening.

[0110] 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 13.

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, 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 first conveying device configured to convey at least a first product item to a first product item location; a plurality of robotic container handling vehicles, robots, configured to retrieve storage containers from and store storage containers in the storage columns, wherein a first robot of the plurality of robots comprises a gripping device and a height adjustment mechanism, and thereby is configured to grip the first storage container and adjust a height of the first storage container to position the first side opening next to the first product item location; and an actuation mechanism configured to move the first product item through the first side opening from the first product item location into the first storage container.

2. The system of claim 1, wherein, the height adjustment mechanism is configured to adjust a height of the gripping device.

3. The system of claim 2, wherein, the first robot is configured to: lower the gripping device into a storage column in which the first storage container is stacked via the height adjustment mechanism to grip and retrieve the first storage container; convey the first storage container to a first bin location; and lower the first storage container from the first bin location to a loading location at which the first side opening of the first storage container is positioned next to the first product item location. the first robot is further configured to raise the first storage container containing the at least first product item and convey the first storage container into a storage column of the plurality of storage containers.

4. The system of any preceding claim, wherein, each robot of the plurality of robots is configured to:

5. The system of any preceding claim, further comprising a track system formed on top of the grid, and wherein, move along the rail system; and transport the storage containers horizontally across the top of the grid.

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

7. The system of any preceding claim, further comprising the first storage container, wherein, the first storage container further comprises 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 items.

8. The system of claim 7, the robot further configured to lower the first storage container from a first storage container position to one or both of a first height and a second height, wherein, the first height has been determined such that the actuation mechanism is able to 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 is able to move a product item through the second side opening from the first location into the first storage container.

9. The system of any preceding claim, the first storage container comprising one or more of: a base; two first parallel side walls, including 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 movement of the first storage container.

10. The system of any preceding claim, wherein, The actuation mechanism is further configured to move one or more product items loaded in the first storage container through the first side opening from the first storage container to the first location.

11. The system according to any preceding claim, further comprising: a processing system configured to control operation of the first conveying device, the robot, 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 position the first side opening next to the at least first product item based on the retrieved information related to the first storage container.

12. The system of claim 11, wherein, The information related to the first storage container comprises one or more of: a number of side openings the first storage container has, a size and / or shape of the first side opening, first height information indicating a height of the first side opening measured from a base of the first storage container, and second height information indicating an optimal height the first storage container should be lowered to, which enables the actuation mechanism to move a product item through the first side opening from the first location into the first storage container.

13. A computer-implemented method for loading at least a first product item into a first storage container 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 at least a first product item to a first product item location; controlling a first robotic container handling vehicle, robot, to position the first side opening next to the first product item location; controlling an actuation mechanism to move the at least first product item through the first side opening from the first product item location into the first storage container; and controlling the first robot to convey the first storage container loaded with the product item into the three-dimensional grid.

14. The method of claim 13, the storage container further comprising a second side opening, and wherein, Each of the first and second side openings are shaped and positioned to receive one or more product items; wherein controlling the first robot to position the first side opening next to the first product item location comprises: controlling the first robot to position the first side opening next to the first product item location comprises: controlling the first robot to lower the first storage container from a first storage container position to one or both of a first height and a second height, wherein the first height has been determined to enable the actuation mechanism to move a product item through the first side opening from the first position into the first storage container, and the second height has been determined to enable the actuation mechanism to move a product item through the second side opening from the first position into the first storage container.

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 13 or claim 14.

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