Storage and retrieval system

Abstract

This disclosure relates to a storage and retrieval system for storage containers. The system includes: a plurality of storage columns arranged in a grid, each storage column configured to store at least one storage container; and a plurality of storage containers, including at least one cardboard storage container, arranged in the plurality of storage columns. The system further includes: a container transport vehicle configured to retrieve one of the plurality of storage containers from one of the storage columns, wherein the cardboard storage container is configured to be retrieved by the container transport vehicle.

Description

Technical Field

[0001] This disclosure relates to a storage and retrieval system. More specifically, it relates to a storage and retrieval system for a storage container, including at least one cardboard storage container, and to a method for retrieving the cardboard storage container from the storage and retrieval system. Background Technology

[0002] Traditional storage solutions typically involve arranging goods on rows of shelves within a warehouse. The shelf location of each item is recorded in inventory, and goods are retrieved from the shelves by a goods picker. The shelves are replenished and inventory is updated as needed when goods enter and leave the warehouse.

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

[0004] An alternative to traditional warehouse setups is an automated storage and retrieval system (AS / RS), in which robots retrieve items from their recorded locations within the warehouse and transport them to packing stations or ports. Such systems can reduce or eliminate the space required to navigate between rows of shelves to access inventory, thus eliminating the need for wide aisles within the warehouse. An example of such a system involves arranging goods in boxes or containers configured to be stacked side-by-side within a three-dimensional grid. A track system is arranged on top of the grid, along which robotic container handlers configured to lift containers from the grid can travel. The container handlers are configured to transport containers from the grid to ports or stations at the periphery of the grid, allowing the goods within the containers to be picked up and packed.

[0005] Storage containers (also known as “boxes”) are typically reusable and returned to the grid after goods are delivered to a packing station or port. To facilitate reuse, storage containers are usually made of plastic or similar materials. The dimensions of the storage containers are designed to fit a standard structure that accommodates storage and retrieval systems, allowing them to be stacked in one or more vertical stacks within the three-dimensional grid of the storage and retrieval system.

[0006] After storage containers have been delivered to a packaging station or port by the storage and retrieval system, the goods to be delivered need to be removed from the storage containers by human or robotic operators and packaged for transport to their destination. Such operations increase the time spent at the packaging station. Furthermore, packaging the retrieved goods for transport further increases the cost of the process. The inventors have recognized that it would be advantageous to provide a system or method that addresses these deficiencies of existing storage and retrieval systems.

[0007] One or more aspects of the invention described in this application are set forth in the claims. Attached Figure Description

[0008] This disclosure will now be described in more detail with reference to several exemplary embodiments shown in the accompanying drawings, in which: Figure 1 A perspective view of a storage system is shown, which includes a grid and multiple robotic container transporters configured to retrieve and / or rearrange goods stored within the grid. Figure 2 It shows Figure 1 A top view of the system; Figure 3A It shows that it is suitable for use in Figure 1 A side view of the first robotic container transporter used in the system; Figure 3B It shows that it is suitable for use in Figure 1 A side view of the second robotic container transporter used in the system; Figure 3C yes Figure 3B A three-dimensional side view of the robot; Figure 4 A computing device for implementing the operations described herein is shown; Figures 5A to 5C An embodiment of a cardboard storage container is shown. Detailed Implementation

[0009] In summary, this disclosure relates to a storage and retrieval system comprising at least one cardboard storage container. The cardboard storage container is configured to be retrieved by a container transport vehicle of the storage and retrieval system, enabling it to be used within the system as a disposable box (or disposable storage container). The disposable box or disposable storage container may also be referred to as a single-use or reusable box. By utilizing the cardboard storage container in the storage and retrieval system, goods stored in the cardboard storage container can be retrieved by the container transport vehicle and transported to a target location without requiring a human or robotic operator to remove the goods from the storage container itself. For example, goods stored in the cardboard storage container can be retrieved from the storage and retrieval system and transported directly from the cardboard storage container to its destination. This reduces time spent at the packaging station and expedites the transportation process of goods in the cardboard storage container.

[0010] Overview of Automated Storage and Retrieval Systems

[0011] refer to Figure 1In the embodiment shown, the grid 100 comprises a frame formed by a plurality of substantially linear adjacent vertical columns 102, which are formed between vertical frame members 104 and extend in the X and Y directions 108, 110. The grid elements can be made of any suitable material; for example, the frame members can be formed from extruded aluminum. Storage containers or boxes 112 are stacked one on top of another in the storage columns 102 in the Z direction 114, preferably stacked in a self-supporting manner, thereby forming storage volumes for storage units of the respective boxes 112 extending in the X, Y, and Z directions 108, 110, 114.

[0012] A track system or network 116 is formed on top of grid 100 and includes pairs of tracks or rails 118a, 118b and 120a, 120b extending in the X and Y directions 108, 110, respectively. A robotic container transport vehicle or robot 122 is provided, which may have various sizes, shapes, and functions, and is configured to run on tracks 118, 120 and transport boxes 112 in both the X and Y directions 108, 110. Robot 122 is also configured to lift / lower boxes 112 from column 102 in the Z direction 114, with boxes 112 optionally guided by vertical frame members 104. Robot 122 approaches boxes 112 via access openings 124 formed above column 102 and between tracks 118, 120.

[0013] Some columns 102 can be used for alternative purposes beyond bin storage. For example, port columns 126, 128 include ports 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 raising bins 112 from or lowering bins 112 into one or more ports 130, 132. Ports 130, 132... Figure 1 The diagram shows the port at the lowest level of the grid; however, the port can be located at any vertical position along the column. The corresponding port columns 126, 128 can be assigned for removing (“unloading”) box 112 from grid 100 and / or returning or conveying (“picking up”) the box to the grid. Therefore, ports 130, 132 are configured to allow box 112 to be removed and (horizontally) reintroduced into the associated port column. Thus, ports 130, 132 can include a conveyor (…). Figure 1 (Not shown in the image) Box 112 can be lowered onto a conveyor and transported horizontally out of the port column. Port columns 126, 128 include openings or access points through which box 112 enters and exits the column.

[0014] Box 112 can be transported by robot 122 along the top of grid 100 to and / or from port columns 126, 128, and from ports 130, 132 to a location outside grid 100, which may be an access station (not shown) for handling box 112 or its contents, such as a pick-up station for adding or removing contents from box 112. In alternative examples (not shown), box 112 can be transported to a port of another grid at the same or another level, or to an external facility. Transport of box 112 to and from ports 130, 132 can be carried out by any suitable means (not shown), including conveyors, transport vehicles, elevators, or robots.

[0015] refer to Figure 2 The illustrated embodiment provides a more detailed view of the XY configuration 200 of the track system 116 and the various types of robots 202, 204. The track system includes tracks 206 that define vertical column access openings 124 for accessing the bin 112. Tracks 206 can be of any suitable type for allowing robots 202, 204 to travel in the X and Y directions 108, 110, including (not shown) recessed tracks for receiving wheels of the vehicle, or raised tracks for engaging wheel recesses. Each track 206 may include a single track or multiple parallel tracks in each of the X and Y directions 108, 110.

[0016] The first "cantilever" type robot 202 Figure 3A The diagram is shown in more detail and includes a body 300, a set of wheels 302, and a lifting device 304. The body 300 contains operating equipment (not shown) for the robot 202, which includes 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 an additional set of wheels (not visible in this view) allows movement in the other direction, both along corresponding tracks or rails 206. One or both sets of wheels can be raised or lowered to allow selective engagement of tracks for movement in the desired direction. The lifting device 304 includes a cantilever element 306 extending in the XY plane from the top of the body 300, and a gripping device 308 capable of being raised and lowered from the cantilever element 306. The gripping device 308 is configured to grip or engage a box 112; for example, by gripping a portion of the box 112, or by passively or actively engaging a suitable configuration portion of the box 112.

[0017] The second "internal cavity" type robot 204 is in Figure 3BAs shown in more detail below, and as an alternative to a cantilever lifting system, an inner cavity 310 is located within the main body 300, and a lifting device 312 including a clamping device (not shown) is located within this inner cavity. In this case, the main 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.

[0018] Figure 3C It shows Figure 3B A stereoscopic side view of the robot, in which one can see Figure 3B The first set of wheels, 302. Mentioned above but not mentioned in... Figure 3B The additional set of wheels shown in Figure 3C The wheel 303 is shown in the middle. The additional set of wheels 303 is arranged perpendicular to the first set of wheels 302 to allow the robot 204 to move in the X and Y directions via the first set of wheels and the second set of wheels 302 and 303, respectively. Figure 3C The first set of wheels and the second set of wheels 302, 303 shown can be configured to independently lower to engage with the track (and conversely raise to disengage from the track), thereby allowing the robot 202 to traverse... Figure 2 The track arrangement shown moves in both the X and Y directions. Although Figure 3C The 3D diagram shown has Figure 3B Robot 204, but it should be understood that a similar vertical wheel arrangement can be applied to Figure 3A Robot 202.

[0019] Control and monitoring systems

[0020] The control and monitoring of the automated storage and retrieval system (including monitoring and storing box positions, controlling box delivery, retrieval and transport, and robot path planning and collision avoidance) is handled by, for example, Figure 4 The control system shown communicates with the robot and / or other controllable system components. Control can be performed locally or remotely and can be implemented by a processing system, such as a computing device. Therefore, the methods described herein can form all or part of a computer-implemented method, or a system configured to perform the methods described herein.

[0021] refer to Figure 4 A processing system 400 suitable for performing the methods described herein will now be described. Figure 4A block diagram of one implementation of a processing system 400 is shown, which takes the form of a computing device within which a set of instructions can be executed to cause the computing device to perform any or more of the methods described herein. In some implementations, the computing device may be connected (e.g., networked) to other machines in a local area network, intranet, extranet, or the Internet. The computing device may operate at the capacity of a server or client machine in a client-server network environment, or at the capacity of a peer-to-peer machine in a peer-to-peer (or distributed) network environment. The computing device may be a personal computer (PC), tablet computer, set-top box (STB), personal digital assistant (PDA), cellular phone, networked home appliance, server, network router, switch, or bridge, or any machine capable of executing a set of instructions (sequentially or otherwise) specifying the actions to be taken by the machine. Furthermore, although only a single computing device is illustrated, the term "computing device" should also be understood to include any set of machines (e.g., computers) that individually or collectively execute one or more sets of instructions to perform any or more of the methods described herein.

[0022] The example 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.

[0023] Processor 402 represents one or more general-purpose processors, such as microprocessors, central processing units, etc. More specifically, processor 402 may be a Complex Instruction Set Computing (CISC) microprocessor, a Reduced Instruction Set Computing (RISC) microprocessor, a Very Long Instruction Word (VLIW) microprocessor, a processor implementing other instruction sets, or a processor implementing combinations of instruction sets. Processor 402 may also be one or more special-purpose processors, such as application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), network processors, etc. Processor 402 is configured to execute processing logic (instruction 422) to perform the operations and steps described herein.

[0024] The processing system 400 may also include a network interface device 408. The processing system 400 may also include any of the following devices: a video display unit 410 (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)), an alphanumeric input device 412 (e.g., a keyboard or a touch screen), a cursor control device 414 (e.g., a mouse or a touch screen), and an audio device 416 (e.g., a speaker).

[0025] Obviously, Figure 4 Some features of the processing system 400 shown may be absent. For example, the processing system 400 may not require a display device 410 (or any associated adapter). This may be the case, for example, for a particular server-side computer device used only for its processing capabilities and not required to display information to a user. Similarly, a user input device 412 may not be necessary. In its simplest form, the processing system 400 includes a processor 402 and main memory 404.

[0026] Data storage device 418 may include one or more machine-readable storage media (or more specifically one or more non-transitory computer-readable storage media) 428 storing one or more instruction sets 422 embodying any or more of the methods or functions described herein. The instructions 422 may also reside wholly or at least partially in main memory 404 and / or processor 402 during execution by processing system 400, which also constitute computer-readable storage media 428.

[0027] The various methods described herein can be implemented by a computer program. A computer program may include computer code arranged to instruct a computer to perform one or more of the various methods described herein. The computer program and / or code for performing such methods may be provided to a device, such as a computer, on one or more computer-readable media or more generally on a computer program product. The computer-readable media may be transient or non-transient. One or more computer-readable media may be, for example, an electronic system, a magnetic system, an optical system, an electromagnetic system, an infrared system, or a semiconductor system, or a propagation medium for data transmission, such as for downloading code via the Internet. Alternatively, one or more computer-readable media may take the form of one or more physical computer-readable media, such as semiconductor or solid-state memory, magnetic tape, removable computer disk, random access memory (RAM), read-only memory (ROM), rigid disk, or optical disk, such as CD-ROM, CD-R / W, or DVD.

[0028] A computer program can be executed by processor 402 to perform the functions of the system and methods described herein.

[0029] In implementation, the modules, components and other features described herein may be implemented as discrete components or integrally formed within the functionality of hardware components such as ASICs, FPGAs, DSPs or similar devices.

[0030] A "hardware component" is a tangible (e.g., non-transitory) physical component (e.g., a group or more processors) capable of performing certain operations and which can be configured or arranged in a particular physical manner. A hardware component may include a dedicated circuit system or logic permanently configured to perform certain operations. A hardware component may be or include dedicated processors, such as field-programmable gate arrays (FPGAs) or ASICs. A hardware component may also include programmable logic or circuit systems temporarily configured by software to perform specific operations.

[0031] Therefore, the phrase “hardware component” should be understood to encompass tangible entities that can be physically constructed, permanently configured (e.g., hardwired), or temporarily configured (e.g., programmed) to operate in a particular manner or perform the specific operations described herein.

[0032] Furthermore, modules and components can be implemented as firmware or functional circuitry systems within a hardware device. Additionally, modules and components can be implemented as any combination of hardware devices and software components, or solely as software (e.g., code stored in or transmitted on a machine-readable medium or otherwise embodied in such media).

[0033] Operation of the automatic storage and retrieval system

[0034] In operation, each box 112 is assigned a unique identifier, which can be marked on the box 112 using a computer-readable identifier (e.g., a barcode, quick-response code, or RFID tag) for easy identification. The database of the processing system 400 stores the location of each box 112 associated with its unique identifier and optionally stores the contents of that box. When a box 112 is moved (e.g., when it is removed from the grid 100), the database is updated to record the change in its location.

[0035] When it is desired to retrieve box 112 from grid 100, under the control of processing system 400, robots 202 and 204 are guided via track system 116 to vertical column 102, which includes storage units. Box 112 is positioned in the storage unit according to a database, and lifting devices 304 and 312 (depending on robot type) are positioned above the corresponding access opening 124, which is adjacent to or below robots 202 and 204. Robots 202 and 204 lower gripping device 308, which engages, grips, and lifts box 112. Robots 202 and 204 then transport box 112 to, for example, unloading port columns 126 and 128 for delivery to ports 130 and 132 for further processing outside grid 100. If the target or designated box 112 is located below other boxes in the stack, then robots 202, 204, or multiple robots possibly dedicated to this task, are controlled in a "digging" operation to temporarily or permanently lift and reposition the boxes above the target box 112 in sequence to retrieve the target box. It should be understood that other operations related to box 112 can be performed in a similar manner. For example, box 112 can be conveyed at ports 130, 132 of pick-up port columns 126, 128 for storage in grid 100, gripped and lifted by robots 202, 204, and conveyed to the desired storage unit, whereby, if necessary, the boxes above the desired location are repositioned as discussed above.

[0036] Cardboard storage containers

[0037] This document provides one embodiment of the storage and retrieval system for storage containers described above. As described above, the system includes multiple storage columns arranged in a grid, wherein each storage column is configured to store at least one storage container. In other words, each storage column in the grid is configured to accommodate one or more storage containers. Each of the multiple storage columns can be configured to store multiple storage containers in a vertically stacked manner. The system also includes: multiple storage containers arranged in the multiple storage columns; and a container transport vehicle configured to retrieve one of the multiple storage containers from one of the multiple storage columns.

[0038] The plurality of storage containers in the storage and retrieval system includes at least one cardboard storage container configured to be retrieved by the container trolley. The cardboard storage container may otherwise have the same or similar characteristics as the other storage containers in the system. In other words, the cardboard storage container may differ from conventionally used storage containers in the system only in that it is formed from cardboard. The cardboard storage container is sized to fit the standard structure of the storage and retrieval system so that it can be accommodated within the system.

[0039] An exemplary embodiment of the cardboard storage container 512-A is in Figure 5A As shown in the figure. The cardboard storage container 512-A may be formed wholly or partially from cardboard. In an embodiment where the storage container 512-A is partially formed from cardboard, the majority (i.e., at least half) of the storage container is formed from cardboard.

[0040] Storage container 512-A may include one or more recesses 514 configured to engage with a container transport vehicle. The included recesses are configured to allow the container transport vehicle to engage directly with the cardboard storage container, thereby enabling the cardboard storage container to be transported directly from the storage and retrieval system to a target location. The recesses may be located at or near the edge of the cardboard storage container, such as... Figure 5A As shown. The one or more recesses may extend partially or completely into the cardboard storage container 512-A. In some embodiments, the one or more recesses may form one or more handles in or on the storage container 512-A, wherein the one or more handles are configured to engage with a container transport vehicle.

[0041] The cardboard storage container is sized to fit a standard grid structure and includes, in some embodiments, a first sidewall and a second sidewall, wherein the first sidewall is opposite to the second sidewall. In such embodiments, the one or more recesses may be located in one or more sidewalls of the storage container, i.e., in the first sidewall and / or the second sidewall. In a further embodiment, the cardboard storage container may include a first endwall and a second endwall, wherein the first endwall is opposite to the second endwall. In such embodiments, the one or more recesses may be located in one or more endwalls of the cardboard storage container. In other embodiments, the one or more recesses may be located in a combination of one or more sidewalls and one or more endwalls. In other words, in a configuration including two or more recesses, the two or more recesses do not necessarily have to be located in opposite sidewalls or opposite endwalls. In yet another embodiment, one of the one or more recesses may be located in each wall of the cardboard storage container.

[0042] Typically, when a container handling vehicle engages a storage container via engagement with one or more recesses, a relatively large force is applied to the area surrounding the one or more recesses. This force can vary depending on the weight of the goods inside the container, and for heavier goods, this force may damage the cardboard storage container. The inventors have therefore recognized that providing one or more reinforcing regions 516 around the one or more recesses 514 (such as...) Figure 5B and Figure 5C(As shown) This improves the engagement between the container transporter and the one or more recesses and reduces any potential damage to the cardboard storage container. For example, providing a cardboard storage container with one or more reinforcing areas surrounding the one or more recesses can prevent the cardboard storage container from being damaged (e.g., by tearing, ripping, etc.) when lifted and / or transported by the container transporter.

[0043] exist Figure 5B In the exemplary embodiment shown, the cardboard storage container 512-B includes a reinforcing region 516 surrounding a recess 514 on each of the first and second sidewalls. Figure 5C In the exemplary embodiment shown, the cardboard storage container includes a reinforcing region 516 surrounding a recess 514 on each of the first and second sidewalls, and also includes a reinforcing region 516 on the first and second endwalls. As will be apparent to those skilled in the art, these embodiments are merely exemplary, and many different configurations of the one or more reinforcing regions are possible.

[0044] The reinforced area can be an area with increased rigidity and can be made of materials other than cardboard, for example. For instance, the one or more reinforced areas can include plastic, wood, etc. In other examples, the reinforced area can include reinforced cardboard.

[0045] In some embodiments, two or more cardboard storage containers may be configured to be stackable in a storage column in a vertical stack. In such embodiments, each cardboard storage container may include one or more reinforcing walls. These one or more reinforcing walls may be fully or partially reinforced to provide sufficient rigidity for the cardboard storage containers to allow stacking. In some embodiments, the first sidewall and the second sidewall may be reinforcing walls. In the same or other embodiments, the first endwall and the second endwall are reinforcing walls.

[0046] The reinforced wall can be a wall that includes a rigid frame. This rigid frame provides support or rigidity to the cardboard storage container, enabling it to be stacked vertically. In other words, the rigid frame provides the necessary support or rigidity to withstand the weight or load of another cardboard storage container stacked directly above it in a vertical stack. In some embodiments, sufficient support or rigidity can be provided to enable the cardboard storage container to withstand the weight or load of a conventional storage container stacked directly above it in a vertical stack. The frame can be constructed in a variety of geometries and can form part or all of one or more walls of a corresponding cardboard storage container. The frame can be formed from any material that provides sufficient rigidity and support to enable the cardboard storage container to be stackable; for example, the frame can be formed from plastic, wood, reinforced cardboard, etc.

[0047] The multiple storage containers in a storage and retrieval system may include a subset of cardboard storage containers. In other words, the multiple storage containers in the system may include multiple cardboard storage containers. Each cardboard storage container in the subset of cardboard storage containers may be located at the top of a corresponding storage column. In embodiments where at least one cardboard storage container includes one or more reinforcing walls, the at least one cardboard storage container including the reinforcing walls may be located at a position other than the top of a corresponding storage column. In other words, the at least one cardboard storage container including the reinforcing walls may be part of a vertical stack of storage containers, wherein at least one storage container is stacked on top of the cardboard storage container. The cardboard storage containers in the multiple cardboard storage containers may include any combination of the features discussed herein, and therefore may include multiple cardboard storage containers without reinforcing walls located at the top of a corresponding storage column, as well as multiple cardboard storage containers with reinforcing walls stacked within a vertical stack of storage containers.

[0048] In some implementations, the multiple storage containers consist of cardboard storage containers. Such a storage and retrieval system may include multiple storage columns arranged in a grid, wherein each storage column is configured to store only one storage container. In this way, a single-layer grid of cardboard storage containers is formed.

[0049] Cardboard storage containers can be configured to be used as transport containers. As described above, the cardboard storage containers are configured to be retrieved by a container transport vehicle of the system, which can transport the cardboard storage containers to a target location. In embodiments where cardboard storage containers are configured as transport containers, goods stored in the cardboard storage containers can be retrieved from the storage and retrieval system and transported directly from the cardboard storage containers to their transport destination. In this way, the transportation process is accelerated, avoiding time spent at the packaging station and avoiding related costs.

[0050] The storage and retrieval system may also include a clamping tool configured to engage with at least one cardboard storage container. In such embodiments, as an alternative to the container transport vehicle engaging directly with the cardboard storage container, the clamping tool may engage with the cardboard storage container, wherein the container transport vehicle is configured to engage with the clamping tool. In some embodiments, the clamping tool is configured to engage with one or more recesses of the cardboard storage container.

[0051] A clamping tool configured to engage with at least one cardboard storage container is provided for the storage and retrieval system, allowing the cardboard storage container to be handled in a manner different from that used for, for example, plastic storage containers within the system. Using the same device as that used for, for example, plastic containers to engage cardboard storage containers may not always be appropriate, as such a device may not handle the containers with the level of care required for less robust materials such as cardboard. Therefore, providing a clamping tool configured to engage with at least one cardboard storage container can reduce damage (e.g., tearing or ripping) to the cardboard storage container during retrieval. Because the container transport vehicle is configured to engage with the clamping tool, it can store and / or retrieve each type of storage container in the storage and retrieval system.

[0052] This document also provides a method 600 for retrieving a storage container in the storage and retrieval system described herein. A computer, controller, or control unit may be configured to perform the steps of method 600.

[0053] At step 6100, the target cardboard storage container in the storage column is identified. The target cardboard storage container can be identified using its unique identifier, which can be marked on the cardboard storage container using a computer-readable identifier (e.g., a barcode, quick response code, or RFID tag). The target cardboard storage container can be identified by the processing system 400, or by a computer, controller, or control unit configured to perform method 600.

[0054] At step 6200, the container transport vehicle removes the target cardboard storage container. In a configuration where the target cardboard storage container is located within a stack of storage containers, removing the target cardboard storage container may include repositioning one or more storage containers in the grid. In other words, when the target cardboard storage container is located below other storage containers in the stack, a controlled "digging" operation occurs, in which storage containers above the target cardboard storage container are sequentially lifted and repositioned (temporarily or permanently) to other locations in the grid.

[0055] In some embodiments, removing a target cardboard storage container by a container transport vehicle includes engaging one or more recesses of the target cardboard storage container and removing the target cardboard storage container from the storage column. The one or more recesses may be the same as or similar to one or more recesses described in any embodiment of the storage and retrieval system described herein.

[0056] In other embodiments, removing the target cardboard storage container from the container transport vehicle includes engaging the container transport vehicle with a clamping tool, engaging the clamping tool with the target cardboard storage container, and removing the target cardboard storage container from the storage column. This clamping tool may be the same as or similar to the clamping tool described in any embodiment of the storage and retrieval system described herein.

[0057] At step 6300, a container transport vehicle delivers the target cardboard storage container to a target location. The target location may be outside the storage and retrieval system and may be a transportation destination. For example, the target cardboard storage container may be transported from the storage and retrieval system to a desired transportation location. Alternatively, the cardboard storage container may be transported to a station outside the grid of the storage and retrieval system.

[0058] It should be understood that the above description is intended to be illustrative and not restrictive. Many other embodiments 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 embodiments, it will be appreciated that this disclosure is not limited to the described embodiments but can be practiced with modifications and variations within the spirit and scope of the appended claims. Therefore, the specification and drawings should be regarded as illustrative rather than restrictive. Consequently, the scope of this disclosure should be determined by reference to the appended claims and the full scope of their equivalents.

Claims

1. A storage and retrieval system for a storage container, the system comprising: Multiple storage columns are arranged in a grid, and each storage column is configured to store at least one storage container. Multiple storage containers, including at least one cardboard storage container, are arranged in the multiple storage columns; as well as A container transport vehicle is configured to retrieve one storage container from one of the plurality of storage columns. The cardboard storage container is configured to be removed by the container transport vehicle.

2. The storage and retrieval system according to claim 1, wherein, The cardboard storage container includes one or more recesses configured to engage with the container transport vehicle.

3. The storage and retrieval system according to claim 2, wherein, The one or more recesses are located at or near the edge of the cardboard storage container, or The one or more recesses are located in one or more side walls of the cardboard storage container.

4. The storage and retrieval system according to any one of the preceding claims, wherein, The cardboard storage container includes one or more reinforced walls.

5. The storage and retrieval system according to any one of claims 2 to 4, wherein, The cardboard storage container includes one or more reinforcing regions surrounding the one or more recesses.

6. The storage and retrieval system according to any one of the preceding claims, wherein, The cardboard storage container includes a first sidewall and a second sidewall opposite to the first sidewall, wherein the first sidewall and the second sidewall are reinforcing walls, and / or The first and second end walls of the cardboard storage container are reinforced walls.

7. The storage and retrieval system according to claim 4 or claim 6, wherein, Each of the one or more reinforcing walls includes a corresponding rigid frame.

8. The storage and retrieval system according to any one of the preceding claims, wherein, The plurality of storage containers includes a subset of cardboard storage containers.

9. The storage and retrieval system according to any one of the preceding claims, wherein, The cardboard storage container is configured to be used as a transport container.

10. The storage and retrieval system according to any one of the preceding claims, further comprising a clamping tool configured to engage with the cardboard storage container, wherein, The container transport vehicle is configured to engage with the clamping tool.

11. The storage and retrieval system according to any one of the preceding claims, wherein, Each of the plurality of storage columns is configured to store a plurality of storage containers in a vertically stacked manner.

12. A method for retrieving a storage container in a storage and retrieval system according to any one of claims 1 to 11, the method comprising: Identify the target cardboard storage container in the storage column; The container transport vehicle removes the target cardboard storage container; as well as The container transport vehicle transports the target cardboard storage container to the target location.

13. The method according to claim 12, wherein, Removing the target cardboard storage container from the container transport vehicle includes making the container transport vehicle: Engages with one or more recesses of the target cardboard storage container; and Remove the target cardboard storage container from the storage column, or The process of having the container transport vehicle remove the target cardboard storage container includes having the container transport vehicle: Engage with clamping tools; Engage the clamping tool with the target cardboard storage container; and Remove the target cardboard storage container from the storage column.

14. The method according to claim 12 or 13, wherein, The target location is outside the storage and retrieval system.

15. A computer-readable medium comprising, when executed, instructions that cause a computer to perform the method according to any one of claims 12 to 14.

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