Automatic storage and retrieval system

Abstract

The invention relates to a storage grid (400) for storing storage containers (106) and a method for operating such a storage grid (400). The storage grid (400) comprises a plurality of horizontal container support frames (401) vertically distributed with a vertical offset (dV), each horizontal container support frame comprising one or more displaceable container supports (402a) wherein each container support (402a) is provided with at least one aperture (403a-c), the opening size of the hole is at least the maximum horizontal cross section of the storage container (106) to be stored.

Description

[0001] This application is a divisional application of Chinese Patent Invention Application No. 202180039168.1, filed on March 25, 2021, entitled "Automatic Storage and Retrieval System". Technical Field

[0002] This invention relates to storage grids, and automated storage and retrieval systems for storing containers in and from such storage grids. The invention also relates to methods for storing and retrieving containers in such storage grids to access deeper-laid containers more efficiently. Background Technology

[0003] Figure 1 A common prior art automated storage and retrieval system 1 with a frame structure 100 is disclosed, and Figure 2 and 3 Two different prior art container handling vehicles, 201 and 301, suitable for operation on such a system 1 are disclosed.

[0004] The frame structure 100 includes upright members 102, horizontal members 103, and storage volumes comprising storage columns 105 arranged in rows between the upright members 102 and the horizontal members 103. In these storage columns 105, storage containers (also called boxes) 106 are stacked one on top of another to form a stack 107. Members 102 and 103 can typically be made of metal, such as extruded aluminum profiles.

[0005] The frame structure 100 of the automated storage and retrieval system 1 includes a guide rail system 108 arranged across the top of the frame structure 100, on which multiple container handling vehicles 201, 301 are operated to raise and lower storage containers 106 from storage columns 105 and transport storage containers 106 above storage columns 105. The guide rail system 108 includes: a first set of parallel guide rails 110 arranged to guide the movement of container handling vehicles 201, 301 across the top of the frame structure 100 in a first direction X; and a second set of parallel guide rails 111 arranged perpendicular to the first set of guide rails 110 to guide the movement of container handling vehicles 201, 301 in a second direction Y perpendicular to the first direction X. The container handling vehicles 201, 301 access containers 106 stored in storage columns 105 through grid openings 115 in the guide rail system 108. Container handling vehicles 201 and 301 can move laterally above storage column 105, that is, move in a plane parallel to the horizontal XY plane.

[0006] The upright members 102 of the frame structure 100 can be used to guide the storage containers 106 during the lifting of containers from column 105 and the lowering of containers into column. The stacking 107 of containers 106 is typically self-supporting.

[0007] Each prior art container handling vehicle 201, 301 includes a body 201a, 301a, a first set of wheels 201b, 301b, and a second set of wheels 201c, 301c, which enable the container handling vehicles 201, 301 to move laterally in the X and Y directions, respectively. Figure 2 and 3 In this configuration, two wheels in each group are fully visible. The first group of wheels 201b and 301b are arranged to engage with two adjacent rails of the first group of guide rails 110, and the second group of wheels 201c and 301c are arranged to engage with two adjacent rails of the second group of guide rails 111. At least one of these groups of wheels 201b, 301b, 201c, and 301c can be raised and lowered such that the first group of wheels 201b and 301b and / or the second group of wheels 201c and 301c can engage with the corresponding group of guide rails 110 and 111 at any given time.

[0008] Each prior art container handling vehicle 201, 301 also includes a lifting device 304 for the vertical transport of the storage container 106, such as raising the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column. The lifting device 304 includes one or more clamping / engaging devices (not shown) adapted to engage the storage container 106, and these clamping / engaging devices can be lowered from the vehicles 201, 301, such that the position of the clamping / engaging devices relative to the vehicles 201, 301 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. Some portions of the lifting device 304 of the container handling vehicle 301 are... Figure 3 As shown in [the image]. Figure 2 In the container handling device 201, the clamping device is located inside the vehicle body 201a.

[0009] Typically, and for the purposes of this application, Z=1 identifies the topmost layer of the storage container, that is, the layer directly below the guide rail system 108; Z=2 identifies the second layer below the guide rail system 108; Z=3 identifies the third layer, and so on. Figure 1 In the exemplary prior art disclosed herein, Z=8 identifies the bottommost layer of the storage container. Similarly, X=1...n and Y=1...n identify the position of each storage column 105 on the horizontal plane. Therefore, as an example, and using... Figure 1 The Cartesian coordinate system X, Y, Z indicated in the figure, in Figure 1The storage container marked 106' can be said to occupy storage locations X=10, Y=2, Z=3. Container transport vehicles 201 and 301 can be said to travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates.

[0010] Within the frame structure / existing technology storage grid 100, possible storage locations are referred to as storage cells. Each storage column 105 can be identified by its position in the X and Y directions, while each storage cell can be identified by its container number in the X, Y, and Z directions.

[0011] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for accommodating and loading the storage container 106 when transporting it across the guide rail system 108. The storage space may include, for example... Figure 2 The cavity arranged centrally within the vehicle body 201a, as shown and described, for example, in WO2015 / 193278A1 (the contents of which are incorporated herein by reference).

[0012] Figure 3 An alternative configuration of the container handling vehicle 301 with a cantilever structure is shown. Such vehicles are described in detail, for example, in NO 317366, the contents of which are also incorporated herein by reference.

[0013] Figure 2 The central cavity container transport vehicle 201 shown may have a coverage area that covers a region in the X and Y directions that is generally equal in size to the lateral extent of the storage column 105, for example as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein may mean “horizontal”.

[0014] Alternatively, the central cavity container transport vehicle 101 may have a larger coverage area than the lateral area defined by the storage column 105, for example, as disclosed in WO2014 / 090684A1.

[0015] The guide rail system 108 typically includes a guide rail with grooves in which the vehicle's wheels run. Alternatively, the guide rail may include upwardly projecting elements, such as flanges on the vehicle's wheels to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as tracks. Each guide rail may include one track, or each guide rail may include two parallel tracks.

[0016] WO2018146304 (the contents of which are incorporated herein by reference) describes a common configuration of a guide rail system 108 including guide rails and parallel rails in the X and Y directions.

[0017] In the frame structure / existing technology storage grid 100, most columns 105 are storage columns 105, that is, columns 105 stored in storage containers 106 in the form of stacks 107. However, some columns 105 may have other purposes. Figure 1 In this configuration, columns 119 and 120 are dedicated columns for container handling vehicles 201 and 301 to unload and / or pick up storage containers 106 so that they can be transported to an access station (not shown), where storage containers 106 can be accessed from outside the frame structure 100 or transferred out of or into the frame structure 100. Such locations are commonly referred to in the art as “ports,” and the columns containing the ports may be referred to as “port columns” 119 and 120. Transport to the access station can be in any direction, i.e., horizontal, inclined, and / or vertical. For example, storage containers 106 can be placed in a random or dedicated column 105 within the frame structure 100 and then picked up by any container handling vehicle and transported to port columns 119 and 120 for further transport to the access station. It should be noted that the term “inclined” means that the transport of storage containers 106 has an overall transport orientation between horizontal and vertical.

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

[0019] A retrieval station can typically be a pick-up or storage station for removing or positioning product items from or into storage container 106. At a pick-up or storage station, storage container 106 is typically not removed from the automated storage and retrieval system 1, but is returned to frame structure 100 once retrieved. Ports can also be used to transfer storage containers to another storage facility (e.g., another frame structure or another automated storage and retrieval system), transport vehicle (e.g., a train or truck), or production facility.

[0020] Conveyor systems, including conveyors, are typically used to transport storage containers between port columns 119, 120 and the access station.

[0021] If port columns 119, 120 and the access station are located at different horizontal levels, the conveyor system may include a lifting device with vertical components for vertically transporting the storage container 106 between port columns 119, 120 and the access station.

[0022] The conveyor system can be arranged to transfer storage containers 106 between different frame structures, for example, as described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0023] When you need to access the storage Figure 1 When a storage container 106 is located in one of the columns 105 disclosed herein, one of the container handling vehicles 201, 301 is instructed to remove the target storage container 106 from its location and transport it to the unloading port column 119. This operation involves moving the container handling vehicles 201, 301 to a position above the storage column 105 where the target storage container 106 is located, removing the storage container 106 from the storage column 105 using the lifting device 304 of the container handling vehicles 201, 301, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, the operation also involves temporarily moving the storage container located above the target storage container before lifting the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as “digging,” can be performed using the same container handling vehicle subsequently used to transport the target storage container to the unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have a container handling vehicle specifically designed for the task of temporarily removing storage containers from storage column 105. Once the target storage container 106 has been removed from storage column 105, the temporarily removed storage container can be repositioned back into the initial storage column 105. However, the removed storage container may alternatively be repositioned to another storage column.

[0024] When storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201 and 301 is instructed to pick up storage container 106 from pick-up port column 120 and transport it to a position above the storage column 105 where the storage container is to be stored. After any storage containers located at or above the target position within the storage column stack 107 have been removed, the container handling vehicles 201 and 301 position storage container 106 in the desired location. The removed storage container can then be lowered back into the storage column 105 or repositioned to another storage column.

[0025] In order to monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of each storage container 106 within the frame structure 100, the contents of each storage container 106, and the movement of container transport vehicles 201, 301 so that the desired storage container 106 can be delivered to the desired location at a desired time without the container transport vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0026] Figure 4 The image shows the storage with height H. f Width W f and length L f Example of product item 80 in storage container 106.

[0027] For systems containing a large number of boxes in each stack, the aforementioned "digging" can prove both time-consuming and space-intensive when the target box is deep within the grid. For example, if the target box has a position Z=5, then before reaching the target box, the vehicle must lift four non-target boxes and place them in other positions, typically at the top of the grid (Z=0). These non-target boxes, before being returned to the grid, allow other robots to choose non-optimal paths to perform their respective operations.

[0028] Therefore, the object of the present invention is to provide a storage grid and a storage and retrieval system using such a storage grid, which can provide a more efficient storage and retrieval method compared with prior art systems, such as more efficient delivery of product items to customers / end users.

[0029] At least in a preferred embodiment, another objective is to provide a solution where the picking process is performed by a remotely operated vehicle without any type of time-consuming digging operation.

[0030] Another objective is to provide a storage and retrieval system that offers time efficiency for storing and retrieving product items, allowing users to select the system based on urgency and / or priority.

[0031] Another objective is to provide a storage and retrieval system that combines storage capacity with efficient delivery of product items to customers.

[0032] Another objective is to provide storage grids and storage and retrieval systems using such storage grids, which can provide high throughput of product items, such as product items to be sold. Summary of the Invention

[0033] The invention is set forth in the independent claims, and certain optional features of the invention are described in the dependent claims.

[0034] In particular, the present invention relates to a storage grid for storing multiple storage containers. The storage grid includes multiple horizontal container support frames vertically distributed with a vertical offset.

[0035] The plurality of horizontal container support frames include a first horizontal container support frame and at least one second container support frame disposed below and parallel to the first container support frame.

[0036] Each of the first container support frame and at least one second container support frame includes one or more container supports configured / designed to support a plurality of storage containers. If there are a plurality of containers, the container supports are preferably arranged parallel to a first direction X, i.e., their sides extend in a second direction Y and are arranged side by side in an offset manner.

[0037] The container support may be elongated, wherein its / their elongation direction is in the second direction Y. Alternatively, it / they may be perpendicular to the principal direction of the first direction X and the second direction Y. In yet another alternative design, the container support may have an annular shape or multiple annular shapes arranged coaxially.

[0038] Storage containers are distributed one after another on container supports within each container support frame. In the case of elongated or square container supports, the storage containers are linearly distributed one after another along at least a second direction Y. In the case of annular container supports, the storage containers can be distributed one after another along an annular curve.

[0039] Each container support is provided with at least one hole, the opening size of which is at least the maximum horizontal cross-section of the storage container to be stored. Furthermore, the storage grid is designed such that at least one hole in the first container support frame is vertically aligned with at least one hole in at least one second container support frame, i.e., they are equidistant in the first direction X and the second direction Y.

[0040] At least one, preferably at least two, and most preferably all, of the container supports of at least one second container support frame may be displaced along a second direction Y orthogonal to the first direction X in the case of an elongated or square container support, or displaced about the central axis of the ring in the case of annular container support. At least one of the container supports of the first container support frame may also be displaced in a similar manner.

[0041] Storage grids that combine elongated / square container supports and annular container supports can also be envisioned.

[0042] In an exemplary configuration, the storage grid also includes a support displacement device configured to displace at least one, and preferably all, of a plurality of container supports. The support displacement device may be, for example, a linear actuator, a gear drive, etc. The support displacement device may be motorized and / or mechanically, hydraulically, pneumatically, and / or electrically operated.

[0043] In yet another exemplary configuration, the storage grid also includes a control system configured to remotely operate the support displacement device, such that the movable container supports can be remotely moved. Alternatively, in the case of multiple movable container supports, each of the movable container supports can be moved remotely and independently relative to other movable container supports located within a respective container support frame.

[0044] In yet another exemplary configuration, the container support is provided with a plurality of holes evenly distributed along the second direction Y. However, any distribution of the holes along the second direction Y is conceivable, such as multiple holes distributed on any side of four storage container spaces, then three spaces, then two spaces, etc. The latter may have the advantage of providing different access rates for different types of inventory.

[0045] In yet another exemplary configuration, the first container support frame and at least one second container support frame have equal or nearly equal horizontal ranges.

[0046] In yet another exemplary configuration, the storage grid also includes a rail system with a first vertical offset V of at least the maximum height of the storage containers to be stored. r1 It is positioned above and adjacent to the first container support frame. The guide rail system may include a guide rail system positioned on the horizontal plane P. rs The first set of parallel guide rails extending in the first direction X, and arranged in the horizontal plane P rs The first set of guide rails and the second set of parallel guide rails extend in the second direction Y. The first set of guide rails and the second set of guide rails are in the horizontal plane P. rs A grid pattern comprising multiple adjacent grid cells is formed, wherein each grid cell includes a grid opening defined by a pair of adjacent guide rails of a first set of guide rails and a pair of adjacent guide rails of a second set of guide rails.

[0047] In yet another exemplary configuration, the container supports are elongated or rectangular, with the length of each corresponding to the length of a plurality of grid cells in the second direction Y. In a specific example, the width of the container supports is such that only one storage container can be supported along the first direction X.

[0048] In yet another exemplary configuration, the guide rail system, the first container support frame, and at least one second container support frame have equal or nearly equal horizontal ranges.

[0049] In yet another exemplary configuration, multiple horizontal container support frames are included in the horizontal plane P. rs The system comprises i parallel container support frames, where i is an integer of 2 or greater, more preferably 3 or greater, and even more preferably 4 or greater. Furthermore, the i parallel container support frames are arranged at a distance dV = i below the lower edge of the guide rail system. At dV, where dV is a constant set to be equal to or greater than the maximum height of the storage container 106 to be stored. Alternatively, i-1 parallel container support frames are arranged at a distance dV = (i-1) below the lower edge of the first container support frame. At dV, the distance V between the lower edge of the guide rail system and the lower edge of the first support frame is... r1 Unlike dV, for example, is larger.

[0050] In yet another exemplary configuration, one or more of the container support frames are arranged at a distance below the lower edge of the adjacent upper rail system and / or below the lower edge of the adjacent upper container support frame, the distance corresponding to a height equal to or greater than the maximum height of the stack of the multiple storage containers.

[0051] In yet another exemplary configuration, each of the multiple movable container supports is provided with a plurality of holes distributed along the second direction Y with offsets corresponding to 2n+1 grid cells, where n is an integer of 1 or greater.

[0052] In yet another exemplary configuration, each of the multiple movable container supports is provided with multiple holes distributed along the second direction Y with offsets corresponding to n+1 grid cells, where n is an integer of 1 or greater.

[0053] In yet another exemplary configuration, the movable container support can be displaced by a distance corresponding to at least n grid cells in the second direction ±Y, where n is an integer of 1 or greater. In the case of multiple movable container supports, each movable container support can be individually displaced by a distance corresponding to at least n grid cells.

[0054] The present invention also relates to an automated storage and retrieval system configured to store a plurality of storage containers. The system includes a storage grid as described above, a plurality of storage containers horizontally supported and distributed one after another on a plurality of horizontally arranged container support frames, and one or more remotely operated vehicles configured to move laterally / horizontally above the plurality of container support frames in a first direction X and a second direction Y, wherein the remotely operated vehicles include lifting devices configured to grasp and lift the storage containers and a control system configured to wirelessly monitor and control the movement of the remotely operated vehicles.

[0055] In an exemplary configuration, the remotely operated vehicle may be a mobile crane system comprising a bar movably supported at its end on two opposing peripheral sides of a storage grid along a first direction X and a second direction Y, and a crane having a lifting device as described above, movably arranged onto the bar. Movement along the bar ensures movement in the other direction and can be achieved by sliding or rolling. Movement of the bar along the peripheral sides of the storage grid and / or movement of the crane along the bar can be achieved by any known displacement device, such as an arrangement using drive gears. The displacement device may be the same as the support displacement device described above for displacing container supports.

[0056] In another exemplary configuration, the storage grid includes a rail system as described above. In this particular configuration, storage containers are supported on a horizontally arranged container support frame, such that each storage container is positioned directly below a grid opening in the rail system. Furthermore, a remotely operated vehicle is configured to move laterally on the rail system in a first direction X and a second direction Y, and to raise and lower the storage containers through the grid opening using a lifting device.

[0057] In yet another exemplary configuration, the automated storage and retrieval system may further include a second storage grid, which includes a second rail system comprising components arranged on a horizontal plane P of the rail system. rs The first set of parallel guide rails extending in the first direction X and arranged on the horizontal plane P of the guide rail system rs A second set of parallel guide rails extends in a second direction Y, orthogonal to the first direction X. The first and second sets of guide rails are on the horizontal plane P. rs A grid pattern comprising multiple adjacent grid cells is formed, wherein each grid cell includes a grid opening defined by a pair of adjacent guide rails of a first set of guide rails and a pair of adjacent guide rails of a second set of guide rails.

[0058] The second storage grid also includes a stack of multiple storage containers arranged in storage columns located below the second guide system, wherein each storage column is vertically located below the grid opening.

[0059] In this exemplary configuration, the remotely operated vehicle, which can operate on the storage grid of the present invention, is also configured to move laterally on the second rail system (in the horizontal plane P). rs middle).

[0060] In yet another exemplary configuration, the system further includes a connecting rail system comprising rails extending in at least one of a first direction X and a second direction Y, and configured such that a remotely operated vehicle can move between the rail system of the storage grid of the present invention and the second rail system of the second storage grid. For example, the connecting rail system may be identical to a portion of the rail system of the storage grid of the present invention and / or a portion of the rail system of the second storage grid, wherein the rails of the connecting rail system oriented in the first direction X or the second direction Y are aligned with the rails of the two rail systems in the same direction.

[0061] In yet another exemplary configuration, the width of the rails on at least one of the first direction X and the second direction Y of the rail system forming part of the storage grid of the present invention is greater than the width of the rails in the same direction of the rail system forming part of the second storage grid.

[0062] By combining existing technology grids with the grids of the present invention as described above, a storage system is achieved that combines efficient storage and retrieval grids with high-capacity storage grids. Therefore, product items can be arranged according to their required / preferred turnover rates.

[0063] For example, a storage container containing product items can be retrieved from a high-capacity storage grid in the prior art and stored (buffered) intermediately into the high-efficiency storage grid of the present invention. The product items can be items that need to be available quickly, such as pre-ordered items and / or promotional items. The storage (buffering) in the storage grid of the present invention enables efficient delivery of product items to customers upon arrival.

[0064] The present invention also relates to a method for storing and retrieving storage containers from an automated storage and retrieval system as disclosed above.

[0065] The plurality of horizontal container support frames include i parallel container support frames, where i is an integer of 2 or greater. Additionally, all i parallel container support frames are provided with at least one hole, and each of the at least i-1 parallel container support frames below the first (uppermost) frame includes at least one, preferably at least two, container support / support track that is displaceable along the second direction Y.

[0066] The method includes the following steps: A. Move the remotely operated vehicles to a position where their lifting devices are vertically aligned above the target storage container supported on the first container support frame, or if the target storage container is vertically aligned on one of the i-1 parallel container support frames below the first container support frame (i.e., the same position in the first direction X and the second direction Y), then move the remotely operated vehicles to a position where their lifting devices are vertically aligned above the target hole on the first container support frame closest to the target storage container. B. If the target storage container is not vertically aligned and positioned below the target hole. a) Displace the movable container support of the target storage container of the support frame in the second direction Y to position the target storage container vertically below the target hole of the first container support frame, or b) If at least one, preferably at least two, of the plurality of container supports of the first container support frame can also be displaced along the second direction Y, then the displaceable container supports of one or more container support frames located above the target storage container to support the displaceable container supports are displaced by a distance in the second direction Y, opposite to the direction in a), so that the target storage container is positioned vertically aligned below the target hole of the first container support frame, wherein, when the target storage container is supported by the displaceable container supports, the displaceable container supports of each of the one or more container support frames located above have the same position in the first direction, or c) If at least one, preferably at least two, of the plurality of container supports of the first container support frame are displaceable along the second direction Y, then the target storage container supported by the displaceable container support as described in step a) and the upper displaceable container support as described in step b) are displaced to position the target storage container vertically aligned below the target hole. C. Lowering, gripping, and lifting the target storage container, for example, through a grid opening, using a lifting device; and D. Move the remotely operated vehicle carrying the target storage container to another horizontal position on top of the storage grid.

[0067] It should be noted that for step B, part of step b) is such that since all the holes are initially vertically aligned (positioned in the same direction in the first direction X and the second direction Y), the container support is configured such that the target hole of the first container support frame is vertically aligned with the target storage container, so that the vehicle can access the target storage container vertically without obstruction.

[0068] In the exemplary process, the storage grid used in the method also includes a rail system as described above, wherein multiple storage containers are supported on multiple horizontally arranged container support frames, such that each storage container is positioned directly below a grid opening in the rail system. Furthermore, a remotely operated vehicle is configured to move laterally on the rail system in a first direction X and a second direction Y, and to raise and lower the storage containers through the grid opening using a lifting device. As an alternative to a remotely operated vehicle operating on such a rail system, the method may use a lateral crane system as described above.

[0069] In another exemplary process, the automated storage and retrieval system further includes a second rail system for the second storage grid as described above, a rail system for the storage grid of the present invention, and a connecting rail system, wherein the remotely operated vehicle moves between the rail system and the second rail system during at least one of steps A and D.

[0070] The present invention also relates to the use of the automated storage and retrieval system disclosed above for delivering items from storage containers arranged in a storage grid to an end user, for example by using a conveyor belt to transport the storage containers, or dedicated delivery containers initially stored within the storage containers, from the storage grid to a location for loading onto a delivery truck and / or for direct transport to the customer / end user. For example, the system could be used in a retail store for the rapid delivery of items to customers. Attached Figure Description

[0071] The accompanying drawings depict alternative embodiments of the invention and are appended to facilitate understanding of the invention. However, the features disclosed in the drawings are for illustrative purposes only and should not be construed as limiting.

[0072] Figure 1 This is a 3D diagram of an existing automated storage and retrieval system.

[0073] Figure 2 It is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein.

[0074] Figure 3 It is a perspective view of a prior art container handling vehicle with cantilever arms for carrying storage containers below.

[0075] Figure 4 It is a three-dimensional view of the storage container and the product items stored in the storage container.

[0076] Figure 5 This is a side view of a storage system according to an embodiment of the present invention, wherein Figure 5Figure A illustrates a storage system in which a target storage container is in an initial position, an empty storage unit for storing the container is in an initial position, and a remotely operated vehicle carries the storage container. Figure 5 Figure B illustrates a storage system in which vacant storage units are positioned to receive storage containers from a remotely operated vehicle. Figure 5 Figure C illustrates a storage system in which a storage container is placed in a previously empty storage unit, and a remotely operated vehicle's lifting mechanism retracts above the container support frame of the target storage container. Figure 5 The image shows a remotely operated vehicle preparing to lift a target storage container, and... Figure 5 E shows the storage system with the target storage container in a position ready for lifting.

[0077] Figure 6 It is based on Figure 5 A top view of the storage system.

[0078] Figure 7 This is a top view of a storage system according to a second embodiment of the present invention.

[0079] Figure 8 This is a top view of a storage system according to a third embodiment of the present invention.

[0080] Figure 9 This is a side perspective view of a storage system according to a fourth embodiment of the present invention.

[0081] Figure 10 This is a perspective view of a container support that forms part of an embodiment of the present invention, wherein Figure 10 A and Figure 10 B shows the container support in isometric view and along one end, respectively.

[0082] Figure 11 It is used to make Figure 10 A three-dimensional view of the linear activator with displacement of the container support shown.

[0083] Figure 12 This is a perspective view of a container support installed in a frame to form part of an embodiment of the present invention.

[0084] Figure 13 yes Figure 12 A three-dimensional view of a portion of the frame shown.

[0085] Figure 14 This is a top perspective view of a storage system according to a fourth embodiment of the present invention. Detailed Implementation

[0086] In the following sections, different alternatives will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the scope of the invention to the subjects depicted in the drawings. Furthermore, even though some of the features are described only in relation to the system, it will be apparent that they are also effective for the method, and vice versa.

[0087] For details, please refer to the following: Figure 5 , Figure 6 and Figure 14 The storage and retrieval system 1 of the present invention includes a remotely operated vehicle 301 operating on a rail system 408. The rail system includes a first set of parallel rails 410 arranged to guide the remotely operated vehicle 301 across a storage grid 400 in a first direction X, and a second set of parallel rails 411 arranged perpendicular to the first set of rails 410 to guide the remotely operated vehicle 301 in a second direction Y perpendicular to the first direction X. Storage containers 106 stored within the storage grid 400 are accessed by the remotely operated vehicle 301 through grid openings 415 in the rail system 408. Each grid opening 415 of the rail system 408 is surrounded by a grid cell 422. The rail system 408 is located in the horizontal plane P. rs Extending from the middle.

[0088] As in Figure 5 As best viewed from the center, storage container 106 stores on multiple frames 401 distributed in the Z direction below guide rail system 408, having a V r1 The indicated vertical offset (i.e., the offset between the lower edge of the guide rail system 408 and the lower edge of the first frame 401a directly below the guide rail system 408) and by The vertical offset indicated by dV (i.e., the average offset between the lower edges of adjacent deeper-laid frames 401b-h).

[0089] Vertical offset V r1 and dV can be selected to provide a height equal to or greater than the maximum height of a stack 107 of one or more storage containers 106. As an example, a first frame 401a may be adapted to store a stack 107 of storage containers 106, while the frames 401b-k below it may be adapted to store a single (unstacked) storage container 106. As another example, several or all frames 401 of a grid 400 may be adapted to store a stack 107 of several storage containers 106. Different frames 401 of the same grid 400 may be configured to store different numbers of stacks 107 of storage containers 106. Compared to a configuration where all frames 401 of a grid 400 are adapted to store a single (unstacked) storage container 106, the vertical space (i.e., available height) required for one or more frames 401 of a grid 400 to be adapted to store a stack 107 of several storage containers 106 can be obtained by reducing the total number of frames 401. Figure 5 The image AE shows the vertical cross-section of the storage system 400.

[0090] In 5A, the target storage container 106' and the vacant storage space 106'' are located in different container support frames 401e, 401g. A remotely operated vehicle 301 approaching to pick up the target storage container 106' typically brings another storage container 106 to be stored in the storage system 400. Before the remotely operated vehicle 301 can pick up the target storage container 106', the storage container 106 held by the vehicle is advantageously placed in the vacant storage space 106'' within the storage grid 400 (this process is typically referred to as an exchange process).

[0091] By making storage container 106 smaller than the available container space within storage system 400, there will always be at least one vacant storage space 106''. Vacant storage space 106'' will also be dynamically generated as remotely operated vehicle 301 retrieves storage container 106 from storage grid 400. If there is no vacant storage space 106'' in storage system 400, then remotely operated vehicle 400 must either avoid bringing in another storage container 106 from, for example, port columns 119, 120, or place the remaining storage container 106 on top of storage grid 400. Both alternatives have drawbacks in terms of time efficiency.

[0092] Figure 5Figure B illustrates storage system 1, wherein an empty storage space 106'' is positioned in preparation to receive a storage container 106 from a remotely operated vehicle 301. The empty storage space 106'' (in which the storage container 106 will be placed) and the target storage container 106' are preferably horizontally closest to the same target aperture 403b'. Thus, the remotely operated vehicle 301 does not need to move between the two operations during the same exchange process. Even more preferably, in addition to being accessible through the same target aperture 403b', the empty storage space 106'' and the target storage container 106' can be located on the same container support 402 (…). Figure 5 (Not shown in the image). Thus, the remotely operated vehicle 301 can minimize the movement of its lifting device 304 between two operations in the exchange process. Therefore, the exchange process time will not be prolonged due to displacement conflicts between the lifting device 304 and the container support 402 of the target storage container 106'.

[0093] Figure 5 Figure C illustrates storage system 1, in which storage container 106, previously held by vehicle 301, has been received into the previously vacant storage space 106''. Furthermore, lifting device 304 has retracted vertically above the container support frame 401e of the target storage container 106'. Therefore, lifting device 304 has retracted sufficiently so that displacement of the container support 402a of the target storage container 106' can begin and continue until the target storage container 106' is below the target hole 403b'. If lifting device 304 retracts above directly above the container support frame 401e of the target storage container 106', the exchange process becomes less time-efficient.

[0094] exist Figure 5 In AB, the target storage container 106' is positioned higher within the storage system 400 than the vacant storage space 106''. Conversely, after the target storage container 106' has been moved to the target hole 403', the container support 402 of the previously vacant storage space 106'' must retract to its initial position so that the lifting device 304 can access the lower-positioned container support frame 401.

[0095] Figure 5Figure D illustrates storage system 1, in which a remotely operated vehicle 301 is prepared to lift a target storage container 106' after placing a previously held storage container 106 into an empty storage space 106'', i.e., its lifting device 304 is positioned just above the frame 401e supporting the target storage container 106'. The container support 402a, now occupied by the storage container 106, in the previously empty storage space 106'', has been moved back to its initial position. The displacement of the container support 402a of the target storage container 106' allows the target storage container 106' to begin being placed below the target hole 403b'.

[0096] Figure 5 E shows the storage system 1, in which the target storage container 106' is presented below the target hole 403b', i.e., in a position ready to be lifted by the lifting device 304 of the vehicle 301.

[0097] After the target storage container 106' has been lifted above the container support frame 401e, the container support 402a can be moved back to its initial position.

[0098] for Figure 5 and Figure 6 In the specific embodiments depicted, each of the frames 401a-k includes several elongated container supports 402a-d, which have a longitudinal orientation in the Y direction and are arranged parallel to each other in the X direction. Each container support 402a-d in each frame 401a-k shows holes 403a-f distributed along the Y direction, wherein the cross-section of each hole 403a-c is at least the cross-sectional area of ​​the storage container 106, i.e., at least Wf × Lf (see [reference]). Figure 4 Storage container 106 is located on top of support plate 404 between these holes 403a-c. Each storage container 106 is stabilized on horizontal plane P by a first stabilizing rib 405 along the X direction and a second stabilizing rib 406 along the Y direction. rs In the middle, a first stabilizing rib 405 protrudes upward from both sides of each of the support plates 404 in the X direction, thereby preventing each storage container 106 from moving relative to the container support 402b in the Y direction. Additionally, a second stabilizing rib 406 extends along the entire length of the container support 402b in the Y direction, thus having a portion protruding above the support plate 404, thereby preventing each storage container 106 from moving relative to the container support 402b in the X direction.

[0099] Examples of this type of container support design include Figure 10 As shown. The container support 402b has an elongated shape extending in the Y direction and a width in the X direction to allow a storage container 106 to have W fEach storage container 106 is constrained in the X and Y directions by the aforementioned stabilizing frames 405, 406. Container supports 402b exhibit holes 403a-f along the Y direction after every three storage container spaces, each of holes 403a-f having approximately the width W of storage container 106 in both the X and Y directions. f and length L f Width and length. In this particular embodiment of container support 402b, storage container guide structure 409, in the form of a bottomless box, is fixed along the periphery of each hole 403a-f to help the storage container be properly guided through the holes 403a-f during the lifting / lowering of the corresponding vehicle 301.

[0100] Each side of the support plate 404 is fastened to the second stabilizing rib 406 by a bracket 407.

[0101] In order to store and retrieve the target storage container 106' using the above embodiments, special reference is made to Figure 5 For D and E, perform the following operations: The control system 500 issues a command to the vehicle 301 to pick up the target storage container 106' with coordinates X, Y, Z. This position corresponds to 3× below the guide rail system 408. dV + V r1 Storage container 106 is supported at depth on support plate 404 of container support member 402a, which forms part of horizontal container support frame 401e. The target storage container 106 is separated from the nearest hole 403b' (i.e., the target hole) in the Y direction by a non-target storage container 106. Since all holes in the storage grid 400 are initially aligned (having the same XY coordinates), the XY position of the target hole 403b' of the container support frame 401a adjacent to the guide rail system 408 is equal to the XY position of the target hole 403b' of the lower container support frame 401b-h.

[0102] - The vehicle 301 moves in the X and Y directions by means of its drive components 301b and c until its lifting device 304 is directly above the target hole 403b' which is closest to the target storage container 106' in the horizontal direction.

[0103] -During and / or after the vehicle 301 moves to a position above the target hole 403b', the control system 500 moves towards the support displacement device 700 (see...). Figure 11 Send a command to move the container support 402a of the container frame 401e a sufficient distance in the Y direction so that the target storage container 106' is vertically aligned with the target hole 403b' of the container frame 401a-d located above.

[0104] - During and / or after the displacement of the container support 402a, the lifting device 304 of the vehicle 301 is activated and descends through the clamping opening 415 and the aligned target hole 403b' until the clamping portion of the lifting device 304 is in position to clamp the target storage container 106.

[0105] -After the target storage container 106' has been clamped by the lifting device 304 and raised above the container frame 401d, the support shifting device 700 is activated again to move the container support 402a back to its initial Y position.

[0106] - Once the target storage container 106' has been lifted above the rail system 408, the vehicle 301 is moved to another location on the rail system 408, such as to a dedicated port column / slope 436, for delivery to the access station 436.

[0107] The advantage of this process is that it eliminates the need to mine existing technology storage and retrieval systems.

[0108] Figure 7 and Figure 8 Another embodiment of the system 1 of the present invention is shown, wherein the storage grid 400 of the present invention is placed adjacent to the prior art storage grid 100. The prior art second storage grid 100 is based on the above combination. Figures 1-3 The described storage grid 100 is constructed of a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102, and the second storage grid 100 also includes a guide rail system 108 in the X and Y directions. The prior art storage grid 100 also includes storage compartments arranged in the form of storage columns 105 between the members 102, 103, wherein storage containers 106 can be stacked into a stack 107 within the storage columns 105.

[0109] Both the storage grid of the present invention and the prior art storage grid 100 can have any size. In particular, it should be understood that one or both of the storage grids 100 and 400 can be much wider and / or longer and / or deeper than disclosed in the figures. For example, the storage grids 100 and 400 can have a horizontal range for more than 700 × 700 storage containers 106 and a storage depth for more than twelve storage containers 106.

[0110] exist Figure 7In this invention, the storage grid 400, with dimensions corresponding to 4×15 grid cells 422 of its respective guide system 408, is positioned such that a vertical edge extends in the Y direction along the vertical edge of the prior art storage grid 100, with dimensions corresponding to 5×17 grid cells 122 of its respective guide system 108. The guide system 408 of the storage grid 400 of this invention and the guide system 108 of the prior art storage grid 100 have mutual orientation and design, allowing vehicles 301 of the same type to operate on both guide systems 108, 408.

[0111] Refer again Figure 14 This illustrates a possible connection between two guide rail systems 108 and 408, allowing vehicles 301 of the same type to move between two storage grids 100 and 400. Figure 14 In a specific configuration, the desired connection is achieved through an intermediate connecting rail system 408' extending in the X direction. Due to the different constructions of the container frame 401 for the storage grid 400 of the present invention and the stack 107 of the storage container 106 for the prior art storage grid 100, the rails 410, 411 above the container frame 401 may have the advantage of being wider in at least one of the X and Y directions compared to the rails 110, 111 above the stack 107.

[0112] like Figure 7 As shown, by using the shifting device 700, different container supports 402a-d can be moved in the Y direction by a distance corresponding to two grid cells.

[0113] Figure 11 and Figure 12 An example of a displacement device 700 is shown. Displacement of each container support 402a-d is achieved by a mechanical linear actuator (ball screw) that converts rotational motion into linear motion. A threaded shaft 702 is provided with helical raceways for ball bearings to act as a precision screw. The desired rotation of the shaft is achieved by a motor 701 connected to one end of the shaft. A stop 705 is fixed to the other end of the shaft 702. Furthermore, a slider 703 is coupled to the rotating shaft such that it moves along the shaft 702 during rotation. The desired displacement in the Y direction is achieved by attaching the slider 703 to the ends of the container supports 402a-d. The linear actuator 700 shown is fastened to a frame structure comprising a plurality of towers 430, the height of which corresponds to the height of the storage grid excluding the guide rail system 408 and the horizontal range corresponding to n×m storage container spaces, where n and m are integers of 1 or greater. Figure 13An example of such a tower 430 with a horizontal dimension of 1×1 is shown. The tower 430 includes a horizontal frame for each vertical height of a container frame 401, the horizontal frame being constructed of two rods 432 in the X direction and two vertical plates 433 in the Y direction for structural rigidity. Container support wheels 434 are rotatably fastened to the inward-facing surfaces of the two vertical plates 433. The two rods 432 and the two vertical plates 433 are rectangularly fastened to four or more vertical supports 431. The tower 430 itself is supported on a floor 440 by tower supports 435.

[0114] As in Figure 12 As best viewed from the center, each container support 402 is arranged within a row of towers 430 oriented in the Y direction. The container supports 402 can be easily moved due to the container support wheels 434. The linear actuator 700 is connected to the frame structure of the towers 430 by fixing the linear actuator support 704 between the rod 432 of the outermost tower 430 and the rod 432 of the adjacent towers 430. Additionally, a stop 705 at the end furthest from the motor 701 is further fixed to the frame structure at the rod 432 (e.g., corresponding to the length of three adjacent storage container spaces, such as...). Figure 12 (As depicted in the image). The end of the container support 402 is connected to a slider 703 that is movable along axis 702, thereby allowing desired displacement in the Y direction. It should be noted that, for better illustration, the container support 402 has been removed from the bottom of the frame structure.

[0115] Figure 8 Another configuration of the storage and retrieval system 1 is shown, comprising a prior art storage grid 100 and three storage grids 400 of the present invention arranged along the Y direction on the sides of the prior art storage grid 100. The container supports 402, 402a-d of each storage grid 400 of the present invention can be shifted in the Y direction corresponding to the length of two adjacent storage container spaces (bidirectional). Holes 403a-c are distributed along the Y direction, their spacing corresponding to four adjacent storage container spaces. As described above, for Figure 6 and 7 As shown in the configuration, the guide rail system 408 of the storage grid 400 of the present invention and the guide rail system 108 of the prior art storage grid 100 are configured to interact with each other, such as vehicles 301 of the same type can move between all storage grids 100, 400 without human intervention.

[0116] Figure 9 A perspective view showing the configuration of storage and retrieval system 1, which is similar to... Figure 8The configuration shown includes one storage grid 400 of the present invention and several prior art storage grids 100. The aforementioned linear actuator 700, acting as a shifting device, is shown disposed at the end of each container support 402. This particular configuration includes eleven container support frames 401a-k disposed below the guide rail system 408, each frame having three container supports 402a-c that are movable in the Y direction. For movement between the different storage grids 100, 400, a connecting guide rail system 408' interconnects the guide rail system 108 of the prior art storage grid 100 and the guide rail system 408 of the storage grid 400 of the present invention. See also... Figure 14 .

[0117] One way to install the storage grid 400 described above is to remove, as... Figure 1 The prior art storage and retrieval system 1 shown is a stack of all storage containers below a guide rail system, and one or more storage grids 400 of the present invention are inserted into the empty volume section.

[0118] In the foregoing description, various aspects of automated storage and retrieval systems and related methods for picking up product items using vehicles have been described with reference to illustrative embodiments. Specific figures, systems, and configurations have been set forth for illustrative purposes to provide a thorough understanding of the systems and how they operate. However, this description is not intended to be construed as limiting. It will be apparent to those skilled in the art to which this disclosure pertains that various modifications and variations of the illustrative embodiments and other embodiments of the systems are considered to fall within the scope of this invention.

[0119] Figure label:

Claims

1. A storage grid (400) for storing multiple storage containers (106) includes multiple horizontal container support frames (401) vertically distributed in layers from the bottom to the top. Each horizontal container support frame (401a-k) above the lowest layer includes a corresponding container support (402, 402a-d) for supporting a plurality of storage containers to be stored linearly in the storage grid along the second direction (Y) and for supporting one storage container with its width in the first direction (X). Each of the respective container supports (402a-d) is provided with at least one corresponding hole (403a-f), the hole being at least the maximum horizontal cross-section of each of the plurality of storage containers (106) to be stored, and Each of the corresponding container supports (402a-d) can be displaced along a second direction (Y) orthogonal to the first direction (X).

2. The storage grid (400) according to claim 1, wherein, Each horizontal container support frame in each layer includes a plurality of corresponding container supports arranged side by side along the first direction (X), each of the plurality of corresponding container supports including the corresponding container support of the layer.

3. The storage grid (400) according to claim 1, wherein, The storage grid (400) also includes: A support displacement device (700) is configured to displace at least one of the container supports (402a-d).

4. The storage grid (400) according to claim 3, wherein, The storage grid (400) also includes: The control system (500) is configured to remotely operate the support displacement device (700) so that each container support (402a) can be moved independently and remotely relative to other container supports (402b-d) located within the respective container support frame (401b-k).

5. The storage grid (400) according to any one of the preceding claims, wherein, The storage grid (400) also includes a rail system (408) arranged above the uppermost container support frame (401a).

6. The storage grid (400) according to claim 5, wherein, The guide rail system (408) includes: The first set of parallel guide rails (410) are arranged on the horizontal plane (P) of the guide rail system. rs ) and extends in the first direction (X); and The second set of parallel guide rails (411) are arranged on the horizontal plane (P). rs ) and extends in the second direction (Y), wherein The parallel first set of guide rails (410) and the parallel second set of guide rails (411) are on the horizontal plane (P) rs A grid pattern is formed in the first set of guide rails (410) and the second set of guide rails (411), wherein the grid pattern defines a grid opening (415) between a pair of adjacent guide rails of the first set of guide rails (410) and a pair of adjacent guide rails of the second set of guide rails (411).

7. The storage grid (400) according to claim 6, wherein, The length of each of the plurality of container supports (402a-d) corresponds to the length of the grid pattern in the second direction (Y).

8. The storage grid (400) according to claim 1, wherein, Each corresponding container support includes a first stabilizing rib arranged parallel to the first direction, the first stabilizing rib preventing each storage container from moving relative to the container support along the second direction.

9. The storage grid (400) according to claim 1, wherein, Each of the at least one corresponding hole in the respective container support has a storage container guide structure along the periphery of the at least one corresponding hole to help the storage container be properly guided through the at least one corresponding hole during lifting / lowering of the storage container.

10. An automated storage and retrieval system (1) configured to store a plurality of storage containers (106), comprising: The storage grid (400) according to claim 6 or 7; Multiple storage containers (106) are supported on multiple horizontally arranged container support frames (401); Remotely operated vehicles (201, 301) are configured to move laterally in the first direction (X) and the second direction (Y) above a plurality of said container support frames (401), wherein said remotely operated vehicles (201, 301) include a lifting device (304) configured to grasp a storage container (106) and raise or lower the storage container; and The control system (500) is configured to monitor and control the movement of the remotely operated vehicles (201, 301).

11. The automatic storage and retrieval system (1) according to claim 10. Multiple storage containers (106) are supported on multiple horizontally arranged container support frames (401), such that each storage container (106) is located directly below the grid opening (415) of the guide rail system (408), and The remotely operated vehicles (201, 301) are configured to move laterally in the first direction (X) and the second direction (Y) on the guide rail system (408) and to lift the storage container (106) through the grid opening (415) by using the lifting device (304).

12. The automatic storage and retrieval system (1) according to claim 11, wherein, The system (1) also includes: A second storage grid (100), the second storage grid comprising: A second guide rail system (108), the second guide rail system including a guide rail system horizontal plane (P) arranged on the guide rail system horizontal plane (P) rs The first set of parallel guide rails (110) extending in the first direction (X) and arranged in the horizontal plane (P) of the guide rail system. rs A second set of guide rails (111) extends parallel to the first direction (X) and in a second direction (Y) orthogonal to the first direction (X). The first set of guide rails and the second set of guide rails (110, 111) are in the horizontal plane (P). rs A grid pattern is formed in the first set of guide rails (110) and the second set of guide rails (111), wherein the grid pattern defines a grid opening (115) between a pair of adjacent guide rails of the first set of guide rails (110) and a pair of adjacent guide rails of the second set of guide rails (111); and Multiple stacks (107) of storage containers (106) are arranged in storage columns (105) below the second guide rail system (408), wherein each of the storage columns (105) is vertically positioned below the grid opening (115); and The remotely operated vehicles (201, 301) are configured to also move laterally on the second guide rail system (108).

13. The automatic storage and retrieval system (1) according to claim 12, wherein, The system (1) further includes a connecting rail system (408') comprising rails extending in at least one of the first direction (X) and the second direction (Y) and configured to allow the remotely operated vehicle (201, 301) to move between the rail system (408) of the storage grid (400) and the second rail system (108) of the second storage grid (100).

14. A method for storing and retrieving a storage container (106) from an automated storage and retrieval system (1) according to any one of claims 10 to 13, wherein, The plurality of horizontal container support frames (401) include i parallel container support frames (401a-k), where i is an integer of 2 or greater. At least one of the plurality of container supports (402a-d) of at least one second container support frame (401b) is displaceable along a second direction (Y) orthogonal to the first direction (X), and wherein the method includes the following steps: A. Move the remotely operated vehicle (201, 301) to a position where the lifting device (304) of the remotely operated vehicle is vertically aligned above the target storage container (106') supported on the first container support frame (401a), or When the target storage container (106') is located on one of the i-1 parallel container support frames (401b-k) vertically aligned below the first container support frame (401a), the remotely operated vehicle is moved to a position where the lifting device (304) of the remotely operated vehicle is vertically aligned with the target hole (403a') located closest to the target storage container (106') on the horizontal plane of the first container support frame (401a). B. If the target storage container (106') is not positioned vertically below the target hole (403a'), a) Displace the movable container support (402a) of the support frame (401k) supporting the target storage container (106') in the second direction (Y) to position the target storage container (106') vertically aligned below the target hole (403a') of the first container support frame (401a), or (b) In the case that at least one of the container supports (402a-d) of the first container support frame (401a) is movable along the second direction (Y), one or more movable container supports (402a) of one or more container support frames (401a-k) located above the target storage container to support the movable container support are moved a distance in the second direction (Y) opposite to the direction in (a), so that the target storage container (106') is positioned vertically aligned below the target hole (403a') of the first container support frame (401a), wherein, when the target storage container is supported by the movable container support, the one or more movable container supports of each of the one or more container support frames located above have the same position in the first direction, or c) If at least one of the plurality of container supports (402a-d) of the first container support frame (401a) is movable along the second direction (Y), the target storage container supported by the movable container support as described in step a) and the one or more movable container supports arranged above as described in step b) are both displaced to position the target storage container (106') vertically aligned below the target hole (403a'). C. By using the lifting device (304) to lower, grasp, and lift the target storage container (106'); and D. Move the remotely operated vehicle (201, 301) carrying the target storage container (106') to another horizontal position.

15. The method of claim 14, wherein the plurality of storage containers (106) are supported on a plurality of horizontally arranged container support frames (401), such that each storage container (106) is positioned directly below the grid opening (415) of the guide rail system (408), and in, The remotely operated vehicle (201, 301) is configured to move laterally in the first direction (X) and the second direction (Y) on the guide rail system (408) and to lift the storage container (106) through the grid opening (415) by using the lifting device (304).

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