Methods and systems using stacking frames

Abstract

This invention relates to a method, system, and computer program product for temporarily storing a storage container (106) in a nearby stacking frame (6) during a retrieval operation. The automated storage system comprises multiple stacking frames, one on top of another, stored in a storage column (105). The method utilizes nearby non-target stacking frames to temporarily store containers in a target stacking frame for retrieval of the target container. Stacking frames are prioritized and selected for storage based on their availability and distance from the target stacking frame.

Description

Technical Field

[0001] This invention relates to an automated storage and retrieval system, and more particularly to the concept of a stacking frame used in the system, and a method for using a nearby stacking frame as temporary storage during container retrieval. Background Technology

[0002] Figure 1 A prior art automated storage and retrieval system 1 with a frame structure 100 is disclosed, and Figure 2 , Figure 3 and Figure 4 Three different prior art container handling vehicles 201, 301, and 401 suitable for operation on such system 1 are disclosed.

[0003] The frame structure 100 includes upright members 102 and storage volumes comprising storage rows 105 arranged in rows between the upright members 102. In these storage rows 105, storage containers 106 (also referred to as boxes) are stacked one on top of another to form a stack 107. The upright members 102 can typically be made of metal, such as extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged across the top of the frame structure 100, through which multiple container handling vehicles 200, 300, and 400 can operate to lift storage containers 106 from and lower storage containers 106 into storage columns 105, and also transport storage containers 106 above storage columns 105. The track system 108 includes a first set of parallel tracks 110 and a second set of parallel tracks 111. The first set of parallel tracks is arranged to guide the container handling vehicles 200, 300, and 400 across the top of the frame structure 100 in a first direction X. The second set of parallel tracks is arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 200, 300, and 400 in a second direction Y, perpendicular to the first direction X. Containers 106 stored in columns 105 are accessed by the container handling vehicles 200, 300, and 400 through access openings 112 in the track system 108. Container handling vehicles 200, 300, and 400 can move laterally above storage column 105, that is, laterally in a plane parallel to the horizontal XY plane.

[0005] The upright members 102 of the frame structure 100 can be used to guide the storage containers during the lifting of containers from the column 105 and the lowering of containers into the column. The stack 107 of the containers 106 is typically self-supporting.

[0006] Each prior art container handling vehicle 200, 300, 400 includes a vehicle body 200a, 300a, 400a and a first set of wheels and a second set of wheels 200b, 200c, 300b, 300c, 400b, 400c, which enable the container handling vehicle 200, 300, 400 to move laterally in the X and Y directions, respectively. Figure 2 , Figure 3 and Figure 4 In this configuration, two wheels in each group are fully visible. The first group of wheels 200b, 300b, and 400b are arranged to engage with two adjacent tracks in the first group of tracks 110, and the second group of wheels 200c, 300c, and 400c are arranged to engage with two adjacent tracks in the second group of tracks 111. At least one group of wheels 200b, 200c, 300b, 300c, 400b, and 400c can be raised and lowered, allowing the first group of wheels 200b, 300b, and 400b and / or the second group of wheels 200c, 300c, and 400c to engage with the corresponding track group 110, 111 at any given time.

[0007] Each prior art container handling vehicle 200, 300, 400 also includes a lifting device for vertically transporting the storage container 106, such as lifting the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column. The lifting device includes one or more clamping / engaging devices adapted to engage the storage container 106, and these clamping / engaging devices can be lowered from the vehicles 200, 300, 400 such that the position of the clamping / engaging devices relative to the vehicles 200, 300, 400 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. The clamping devices of the container handling vehicles 300, 400 are... Figure 3 and Figure 4 The clamping device of the container handling vehicle 200 is shown and indicated by reference numerals 304 and 404. Figure 2 It is located within the vehicle body 200a and is therefore not shown.

[0008] Conventionally, and also for the purposes of this application, Z=1 denotes the uppermost layer below tracks 110 and 111 that can be used for storage containers, i.e., the layer immediately below track system 108; Z=2 denotes the second layer below track system 108; Z=3 denotes 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 in the horizontal plane. Therefore, as an example, and using Figure 1 The Cartesian coordinate system X, Y, Z shown can be said to be in Figure 1The storage container labeled 106 occupies storage positions X=17, Y=1, Z=6. It can be said that container transport vehicles 200, 300, and 400 travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. Therefore, Figure 1 The storage container shown extending above the orbital system 108 is also referred to as being arranged in the layer at Z=0.

[0009] The storage volume of the frame structure 100 is typically referred to as grid 104, and the possible storage locations within this grid are called storage cells. Each storage column 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.

[0010] Each prior art container handling vehicle 200, 300, 400 includes a storage compartment or compartment space for receiving and loading the storage container 106 during transport across the track system 108. The storage space may include cavities arranged inside the vehicle body 200a, 400a, such as… Figure 2 and Figure 4 The contents of these applications, as shown and described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, are incorporated herein by reference.

[0011] Figure 3 An alternative configuration of a container handling vehicle 301 with a cantilever structure is shown. Such a vehicle is described in detail, for example, in NO 317366, the contents of which are also incorporated herein by reference.

[0012] Figure 2 The occupied area of ​​the cavity container transport vehicle 200 shown can cover an area in the X and Y directions with dimensions approximately equal to the lateral extent of the storage column 105, as described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein can mean “horizontal”.

[0013] Alternatively, the area occupied by the cavity container transport vehicle 400 can be larger than the lateral area defined by the storage column 105, such as... Figure 1 and Figure 4 As shown, for example, as disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] Track system 108 typically includes tracks with grooves in which the wheels of a vehicle travel. Alternatively, the tracks may include upwardly projecting elements, where the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track may include one guide rail, or each track 110, 111 may include two parallel guide rails. In other track systems 108, each track in one direction (e.g., the X direction) may include one guide rail, while each track in another perpendicular direction (e.g., the Y direction) may include two guide rails. Each track 110, 111 may also include two guide rail members fastened together, each guide rail member providing one of the pair of guide rails provided by each track.

[0015] WO 2018 / 146304 A1 (the contents of which are incorporated herein by reference) shows a typical configuration of a track system 108, which includes tracks and parallel guide rails in both the X and Y directions.

[0016] In the frame structure 100, most columns are storage columns 105, that is, columns 105 in which storage containers 106 are stored in a stack 107. Besides the storage columns 105, there are also dedicated columns within the frame structure. Figure 1 In this context, columns 119 and 120 are dedicated columns used by container handling vehicles 200, 300, and 400 to unload and / or pick up storage containers 106, enabling the storage containers to be transported to retrieval stations (not shown) where they can be accessed from outside the frame structure 100, or moved in or out of the frame structure 100. In the art, such locations are commonly referred to as "ports," and the columns containing the ports may be referred to as "port columns" 119 and 120. Transport to the retrieval station can take place in any direction (i.e., horizontal, inclined, and / or vertical). For example, the storage container 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 retrieval station. Transport from the port to the retrieval station may require movement along various different directions via transport vehicles, trolleys, or other transport routes. Note that the term "inclined" refers to the transport of storage container 106 having a general transport orientation in a direction between horizontal and vertical.

[0017] exist Figure 1In the first port column 119, for example, it can be a dedicated unloading port column, at which container handling vehicles 200, 300, and 400 can unload storage containers 106 to be transported to the storage or transfer station, and the second port column 120 can be a dedicated pick-up port column, at which container handling vehicles 200, 300, and 400 can pick up storage containers 106 that have been transported from the storage or transfer station.

[0018] The storage and retrieval station is typically a pick-up or preparation station where product items are removed from or positioned into storage container 106. At the pick-up or preparation station, storage container 106 is not typically removed from the automated storage and retrieval system 1, but rather returned to the frame structure 100 after retrieval. Ports can also be used to transfer storage containers to another storage facility (e.g., to another frame structure or another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0019] Storage containers are typically transported between port lines 119 and 120 and the access station using a conveyor system that includes conveyors.

[0020] If port columns 119, 120 and access stations are located at different horizontal levels, the conveying system may include a lifting device with vertical components for vertically transporting storage container 106 between port columns 119, 120 and access stations.

[0021] The conveying system can be arranged to transfer storage containers 106 between different frame structures, such as those described in WO 2014 / 075937 A1, the contents of which are incorporated herein by reference.

[0022] When you need to access the stored Figure 1When a storage container 106 is located in one of the multiple columns 105 disclosed herein, one of the container handling vehicles 200, 300, and 400 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 200, 300, and 400 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 (not shown) of the container handling vehicles 200, 300, and 400, 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 positioned above the target storage container 106, the operation also involves temporarily moving the storage container positioned above it 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 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 container handling vehicles 200, 300, 400 specifically for the task of temporarily removing storage container 106 from storage column 105. After the target storage container 106 has been removed from storage column 105, the temporarily removed storage container 106 can be repositioned to its original storage column 105. However, the removed storage container 106 can alternatively be repositioned to another storage column 105.

[0023] When storage container 106 is to be stored in one of multiple columns 105, one of the container handling vehicles 200, 300, and 400 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 in which it will be stored. After any storage container 106 located at or above the target position within the stack 107 has been removed, the container handling vehicles 200, 300, and 400 position the storage container 106 in the desired location. The removed storage container 106 can then be lowered back into the storage column 105 or repositioned to another storage column 105.

[0024] 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 the container transport vehicles 200, 300, 400, so that the required storage container 106 can be transported to the required location at the required time without the container transport vehicles 200, 300, 400 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 keeping track of the storage containers 106.

[0025] Existing automated storage systems are limited in terms of the height of the storage container stack by the actual lifting height of the container handling vehicle and / or by the weight that the lower storage containers in the stack can support. Therefore, a storage system in which the storage containers can be rearranged more efficiently would be advantageous.

[0026] The storage system stores containers in a vertical stack. When the target storage container is located below many other storage containers in the stack at the first location, the digging operation to remove the target container can become complicated because the container handling vehicle needs to remove all storage containers stored above the target storage container and place them at another location (the second location).

[0027] The second location can be in a separate area near the frame, such as on a shelf or rack. This operation involves a significant amount of movement of container handling vehicles to and from the storage area, and therefore will increase the overall energy consumption of the system. This impact on energy consumption is particularly pronounced in large storage systems with hundreds of container handling vehicles in operation.

[0028] The process of moving the storage container from the first location to the second location will also increase traffic flow near the first location (the target container location) due to the movement of the container transport vehicle, resulting in longer waiting times and increasing the traffic management workload on the control system.

[0029] DE102020207852A1 describes a storage system and a method for operating a transport vehicle in the storage system. The transport vehicle is equipped with a clamping device that extends laterally outside the container receiving space and clamps one or more storage containers and moves the one or more storage containers into the container receiving space.

[0030] DE102018213678A1 describes an apparatus for sorting goods in a storage facility. Each grid cell of the system is equipped with a lowering mechanism. A lowering mechanism is also provided at the bottom of a transport vehicle, through which goods are released into the grid cell. The grid cell further lowers the goods to a horizontal level below the storage facility.

[0031] DE102018213680A1 describes an apparatus for sorting goods in a storage facility. A lowering mechanism is provided at the bottom of a transport vehicle operating on a grid to lower goods into grid cells. The grid cells further lower the goods into a collection device arranged below the grid.

[0032] EP2847105A1 describes a storage system employing a first type of container handling vehicle and a second type of container handling vehicle on a grid. The first vehicle can carry multiple containers in a single operation, while the second vehicle can carry a single container. The two types of vehicles operate together to remove containers.

[0033] The challenge with the aforementioned existing systems is that the process is time-consuming and cumbersome, and it reduces the system's throughput. They also exacerbate traffic congestion in the operating area of ​​the storage system.

[0034] At least a preferred embodiment of the present invention provides a storage system that can be efficiently rearranged.

[0035] At least a preferred embodiment of the present invention improves the efficiency of the storage system and reduces unnecessary wear on system components by reducing the number of times container transport vehicles move during excavation operations. Summary of the Invention

[0036] In a first aspect, a method is provided for storing storage containers using a stacking frame in an automated storage and retrieval system (hereinafter referred to as a "storage system").

[0037] The stacking frame can be defined as a shell or a large container capable of receiving stacks of smaller storage containers, for example, accommodating up to 6 storage containers within the shell.

[0038] The storage system includes a frame structure comprising a plurality of upright members defining a plurality of storage columns for storing stacks of stacked frames, the stacking frames being configured to accommodate stacks of storage containers within the internal space of the respective stacking frames.

[0039] The stacking frame lifting mechanism is configured to move the stacking frame and / or move the storage containers stored in the corresponding stacking frame.

[0040] Multiple container handling vehicles operate on a track system and are configured to transport and store containers.

[0041] The term "handling" can be interpreted as the movement or picking up and arranging of one or more stacking frames and / or storage containers by means of a stacking frame lifting mechanism and a container handling vehicle configured for this purpose.

[0042] The system includes a control system configured to send command signals to control the operation of a stacking frame lifting mechanism and multiple container handling vehicles. The method includes the following steps: - Step A: The control system sends a command signal to the stacking frame lifting mechanism and the container handling vehicle to remove the target storage container from the target stacking frame; - Step B: One or more non-target storage containers positioned above the target storage container are moved from the target stacking frame to the non-target stacking frame for temporary storage using a stacking frame lifting mechanism or container handling vehicle, making the target storage container the uppermost storage container in the target stacking frame; and - Step C: Use a stacking frame lifting mechanism or container handling vehicle to remove the target storage container.

[0043] The target storage container is the storage container of interest to be removed from the stacking frame. The non-target storage container is the storage container positioned above the target storage container within the stacking frame.

[0044] The target storage container is positioned within the target stacking frame. The remaining stacking frames that do not contain or store the target storage container are called non-target stacking frames.

[0045] The topmost storage container can be the target storage container located at the top layer of the target stacking frame, so that the target storage container can be directly accessed by a container handling vehicle or a stacking frame lifting mechanism.

[0046] Non-target stacking frames may have idle capacity for temporary storage of non-target storage containers. Alternatively or additionally, non-target stacking frames may be used for temporary storage by overfilling the non-target stacking frame such that the non-target storage containers protrude above the grid cells comprising the non-target stacking frame.

[0047] In an exemplary method of the first aspect, the frame structure includes a track system arranged on top of the frame structure for guiding the movement of a container transport vehicle running on top of the track system, wherein the track system includes a first set of parallel tracks arranged in a first direction (X) and a second set of parallel tracks arranged in a second direction (Y) perpendicular to the first direction, and wherein the first set of tracks and the second set of tracks intersect to form a grid cell with a grid opening.

[0048] In another exemplary process, the method includes performing the following steps prior to step B: - Use the stacking frame lifting mechanism to remove non-target stacking frames stored above the target stacking frame from the storage column; and - Repeat the above steps to remove non-target stacking frames until the target stacking frame is at the top of the stack of stacking frames.

[0049] The “upper position” is defined as the first position in the vertical stacking of the stacking frame, so that the target stacking frame can be directly accessed by the stacking frame lifting mechanism.

[0050] In another exemplary process, step B includes: - Determine the capacity, location, and availability of the non-target stacking frames of the stacking frame system (7); - Prioritize these non-target stacking frames based on their availability, capacity, and distance from the target stacking frames; and - Select non-target stacking frames for temporary storage based on the assigned priority.

[0051] In an example, the availability of a non-target stacking frame can be determined if it can also store non-target storage containers to the point of overfilling and protruding above the grid cells.

[0052] In this example, "capacity" can be defined as the number of storage containers that each non-target stacking frame can hold. For instance, the same non-target stacking frame can store one, two, three, or more non-target storage containers.

[0053] Each non-target stacking frame can be overfilled such that only one non-target storage container protrudes above the grid cell.

[0054] If a non-target stacking frame already stores a storage container that protrudes above the grid cell, then the non-target stacking frame can be considered unusable.

[0055] Priorities can be assigned to non-target stacking frames, such that the closest and most available non-target stacking frame is assigned the highest priority.

[0056] The highest priority criteria determine the selection / selection of non-target stacking frames used for temporary storage of non-target storage containers.

[0057] In another exemplary process, step B includes: - Move one or more non-target storage containers to a single non-target stacking frame based on priority.

[0058] In another exemplary process, step B includes: - Move one or more non-target storage containers to multiple non-target stacking frames.

[0059] In this example, suppose three non-target storage containers need to be removed from a target stacking frame, and based on priority, there may be two available non-target stacking frames for temporary storage. The first non-target stacking frame (A) may have a capacity to accommodate a single non-target storage container up to overfill, and the second non-target stacking frame (B) may have a capacity to accommodate two non-target storage containers up to overfill. In this case, one non-target storage container is temporarily stored in stacking frame (A), while the other two non-target storage containers are temporarily stored in stacking frame (B).

[0060] In another exemplary process, step B includes: - Position the non-target storage container as an overfilled non-target stacking frame, such that the non-target storage container protrudes above the frame structure from its position on the non-target stacking frame. More specifically, the non-target container protrudes above the grid cells comprising the non-target stacking frame to achieve overfilling.

[0061] "Overfilling" can be defined as the storage container being positioned above the grid cells mentioned above.

[0062] In another exemplary process, each stacking frame includes: - One or more guiding elements are disposed on the inner sidewall of a stacking frame and configured to guide a storage container during storage; and wherein the method includes: - Position the non-target storage container above (or into) the upper opening of the non-target stacking frame; and - Slide the non-target storage container along one or more guide elements to store the non-target storage container within the non-target stacking frame.

[0063] In an example, the guiding element may include a recess or recess that allows a corresponding recess on the storage container to be fitted onto or slide through it, so as to stably hold and position the storage container within or on top of the stacking frame.

[0064] Alternatively or additionally, the lifting frame of the container handling vehicle may be equipped with guide elements along corners. In this case, the non-target storage container can be guided by the guide elements of the lifting frame during the positioning of the non-target container into the non-target stacking frame.

[0065] In a second aspect, an automated storage and retrieval system is provided that uses a stacking frame to store storage containers, wherein the system includes: - A framework structure, which includes: - Multiple upright members define multiple storage columns for storing stacks of stacked containers within stacking frames configured to accommodate stacks of storage containers within the internal space of each stacking frame. - A stacking frame lifting mechanism, configured to move stacking frames and / or move storage containers stored in the corresponding stacking frames; - Multiple container handling vehicles, used to operate on a rail system and configured to transport storage containers; - A control system configured to send command signals to control the operation of the stacking frame lifting mechanism and multiple container handling vehicles to perform the method steps according to the first aspect.

[0066] The term "handling" is defined in contrast to container handling vehicles and stacking frame lifting mechanisms in the first aspect.

[0067] In an exemplary configuration of the second aspect, the system includes a track system arranged on top of a frame structure for guiding the movement of a container transport vehicle running on top of the track system, wherein the track system includes a first set of parallel tracks arranged in a first direction (X) and a second set of parallel tracks arranged in a second direction (Y) perpendicular to the first direction, and wherein the first set of tracks and the second set of tracks intersect to form a grid cell with a grid opening.

[0068] In an exemplary configuration of the second aspect, the stacking frame lifting mechanism includes a gantry device extending above the frame structure.

[0069] In another exemplary configuration of the second aspect, the gantry assembly includes two lifting frames: an inner lifting frame and an outer lifting frame. The inner lifting frame is configured to lift and lower the storage container within the stacking frame, and the outer lifting frame is configured to lift and lower the stacking frame.

[0070] Alternatively or additionally, the two lifting frames can be separate devices that operate independently of each other on the gantry assembly to lift storage containers from the stacking frames and arrange storage containers onto the stacking frames.

[0071] In another exemplary configuration of the second aspect, each stacking frame includes a guide element disposed on an inner sidewall of the stacking frame. More specifically, the guide element is disposed at a corner of the inner sidewall and configured to guide a non-target storage container during storage, such that the non-target storage container is positioned and slid along the guide element from an upper opening of the stacking frame to store the non-target storage container within the stacking frame.

[0072] In another exemplary configuration of the second aspect, each stacking frame includes a recess disposed on an upper section of a side wall of the stacking frame, the recess being configured to engage a releasable latch on a stacking frame lifting mechanism. More specifically, the releasable latch is disposed on an inner lifting frame and an outer lifting frame of the stacking frame lifting mechanism.

[0073] The recess can be located in the center or middle of the upper section or towards the side.

[0074] In another exemplary configuration of the second aspect, the control system is configured to send command signals to the container handling vehicles to temporarily prevent them from moving on or around a non-target stacking frame used for temporary storage. In other words, the control system sends command signals to the container handling vehicles to prevent them from moving on top of the stacking frame used for temporary storage.

[0075] In a third aspect, the present invention relates to a computer program product comprising instructions which, when the program is run by a computer, cause the computer to send instruction signals to a stacker frame lifting mechanism and a container handling vehicle to perform the method of the first aspect, the computer being coupled to or being part of the control system of the automatic storage and retrieval system of the second aspect. Attached Figure Description

[0076] The following figures are attached to aid in understanding the present invention. The figures illustrate embodiments of the invention, which will now be described by way of example only. In the figures: Figure 1 This is a three-dimensional side view of the framework structure of an existing automated storage and retrieval system.

[0077] Figure 2 This is a perspective side view of a prior art container handling vehicle having an internal cavity for carrying storage containers therein.

[0078] Figure 3 This is a perspective side view of a prior art container handling vehicle having a cantilever for supporting storage containers below.

[0079] Figure 4 This is a perspective side view of a prior art container handling vehicle having a central cavity structure for carrying storage containers.

[0080] Figure 5 It is a three-dimensional side view of a storage container using existing technology in a storage system.

[0081] Figure 6 6a and Figure 66b is a three-dimensional side view of a stacking frame that houses a stack of storage containers.

[0082] Figure 7 7a and Figure 7 7b is a perspective view of a stacking frame that has been overfilled for temporary storage.

[0083] Figure 8 8a and Figure 8 Figure 8b is a three-dimensional side view of the stacking frame located in the storage column and the container handling vehicle running on top of the frame structure.

[0084] Figures 9a to 9c The sequence of steps for removing the target storage container from the target stacking frame in the frame structure is shown.

[0085] Figures 10a to 10b A gantry device is shown for a stacking frame lifting mechanism used to remove a target storage container from a target stacking frame.

[0086] Figures 11a to 11d The second type of frame structure and the gantry assembly including an internal lifting frame and an external lifting frame are shown.

[0087] Figures 12a to 12c Another example of a frame structure and a gantry assembly with an internal lifting frame and an external lifting frame is shown.

[0088] Figure 13 It is a flowchart illustrating the steps of retrieving the target storage container and temporarily storing it using a stacking frame.

[0089] Figure 14 This is a flowchart of the process used to assign priorities to stacking frames. Detailed Implementation

[0090] In the following, embodiments of the invention 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 invention to the subject matter depicted therein.

[0091] Figure 5This is a perspective side view of a prior art storage container used in a storage system. The prior art storage container 106 includes four side walls 14, a bottom 15, and an open top including a top edge 16 extending over the entire open top of the container 106. The storage container 106 also has a container connection recess 13 located on the side of the top edge 16. The container connection recess 13 locks into a corresponding clamping device 304 provided on a lifting device of a container transport vehicle 200, 300, 400 to allow the storage container 106 to be lifted and lowered by the container transport vehicle 200, 300, 400. The storage container 106 may optionally include a lid 5 for closing the storage container and sealing and isolating the contents within the storage container 106.

[0092] The automated storage and retrieval system (hereinafter referred to as the "storage system") will refer to Figures 6 to 14 A more detailed description will be provided using examples.

[0093] The framework structure 100 of the automatic storage and retrieval system 1 is in conjunction with the above. Figures 1 to 3 The existing frame structure 100 is constructed in a similar manner. That is, the frame structure 100 includes a plurality of upright members 102 and includes a first upper track system 108 extending in the X and Y directions.

[0094] The frame structure 100 includes storage compartments in the form of storage columns 105 disposed between upright members 102, wherein stacking frames 6 can be stacked in the storage columns 105 in the form of stacks 107. Each stacking frame 6 includes storage containers 106 stacked therein.

[0095] The frame structure 100 can have any size. In particular, it should be understood that the frame structure can be larger than... Figure 1 The frame structure disclosed herein is wider and / or longer and / or deeper. For example, frame structure 100 may have a horizontal range of more than 700x700 columns and a storage depth of more than twelve containers.

[0096] The first exemplary storage system 1' in Figures 8 to 1 As shown in Figure 2, the storage system 1' includes a frame structure 100, a stacking frame system 7, a storage container 106, a stacking frame lifting mechanism 8, and a container lifting mechanism 300. The stacking frame 6 of the stacking frame system 7 may optionally include a cover 5'. The frame structure 100, storage container 106, and container lifting mechanism 300 can be similar to... Figure 1 Corresponding features of existing technology systems. In some illustrations, the stacking frame 6 is shown without a cover 5', but this should not be construed as a limitation on the scope of protection, but is merely for simplification or to show whether the stacking of the stacking frame 6 can be covered or not, and is thus shown in this way.

[0097] The storage system 1' of this document includes a stacking frame 6 for storing containers 106 in storage columns 105, the storage columns constituting the storage volume 104 of the system. The stacking frame 6 may be defined as a shell or a large container capable of receiving a stack of smaller storage containers (e.g., up to six storage containers) within the shell. The stacking frame 6 storing the stack of storage containers 106 is also referred to as a "nested stack".

[0098] The stacking frame 6 allows storage containers 106 to be stored within it, thereby increasing the storage density of the storage system. The stacking frame also enables less digging, as each significant stacking frame (also referred to as the target stacking frame 6') can be raised and lowered by the stacking frame lifting mechanism 8. This is particularly important when the storage system comprises vertical stacks several meters high. In such cases, and without using the stacking frame, digging can be reduced by temporarily removing all non-target storage containers above the target storage container and temporarily storing these non-target storage containers in nearby stacking frames. The term "nearby" can refer to a range of distances from the target stacking frame 6', encompassing any location on all sides of the target stacking frame 6' from adjacent grid cells to a maximum of ten grid cell spaces. Details of temporary storage will be referenced in [reference needed]. Figures 8 to 1 2. Further explanation.

[0099] Figure 6 6a and Figure 6 Figure 6b shows a front and side view of the stacking frame used in storage system 1. The stacking frame 6 can be conceived as a large external container 6 that can accommodate a number of storage containers 106. Each stacking frame 6 can accommodate up to six storage containers 106. The number of storage containers is merely an example and does not limit the range of storage containers that the stacking frame can accommodate, for example, eight storage containers. The storage containers 106 can be standard-sized storage containers used in the frame structure, which can include external dimensions corresponding to the dimensions of common storage containers used in grid-based automated storage and retrieval systems, i.e., width, length, and height. The internal dimensions can be, for example, 600 x 400 mm (length x width) and can have various heights, such as 200 mm, 310 mm, or 400 mm.

[0100] The top edge 16 of the storage container 106 may include multiple orifices or openings for receiving or allowing the clamping devices of the lifting frame of the container handling vehicle 200, 300, 400 or the stacker frame lifting mechanism 8 to pass through. The top openings of the storage container 106 allow items to be placed into or removed from the interior space.

[0101] However, smaller storage containers, such as those that are half, one-third, or one-quarter the size of a regular storage container, can also be used. These smaller storage containers can be arranged adjacent to each other in one or more layers, one of which can correspond to the area occupied by the regular storage containers.

[0102] like Figure 6 As seen in the diagram, the stacking frame 6 includes sidewalls 20, a bottom 18, and an open top (or upper opening) 19, and can be stacked using recesses provided at the bottom of the stacking frame. The stacking frame may optionally include a cover 5' to cover the top opening 19 when needed. The cover 5' may be provided with recesses that allow the bottom of another stacking frame 6 to be supported on its top, thus allowing stacking frames 6 to be stacked one on top of another.

[0103] The stacking frame 6 also includes a recess 12 provided on the upper section of the side wall 20, such as Figure 6 As shown in 6a, the recess 12 is a horizontal opening, rectangular in shape, and configured to allow engagement with the lifting frame of the stacking frame lifting mechanism 8, thereby facilitating the lifting of the stacking frame 6. However, the recess 12 can be conceived as a structural opening of any shape, as long as it can be configured to engage with the lifting frame, and in particular with the clamping device of the lifting frame.

[0104] The inner wall 20 of the stacking frame is provided with guide elements 21 extending longitudinally at the corners of the stacking frame 6. The stacking frame 6 may include guide elements 21 at each corner of the inner wall. The guide elements 21 provide support and guide the storage container 106 vertically through the upper opening 19 to access the storage volume within the stacking frame 6.

[0105] The guide element 21 may be a structure that allows the storage container 106 to be easily guided within the stacking frame 6, such as a protrusion, a recess, a wedge, etc. The storage container 106 may include corresponding recesses on its outer surface, and more specifically at the outer corners, such that these recesses can slide over the guide element 21 of the stacking frame 6.

[0106] Figure 6 The stacking frame 6 in 6b is almost at its storage capacity. This means that the interior of the stacking frame 6 can accommodate up to six storage containers 106. However, as can be seen, the upper opening 19 of the stacking frame 6 includes storage space that can accommodate at least one storage container 106 on top. When the storage container 106 is positioned on top, the stacking frame 6 is overfilled.

[0107] It can be envisioned that the purpose of this application is to almost completely fill the stacking frame and use it for temporary storage.

[0108] Figure 77a and Figure 7 Figure 7b shows a stacking frame that has been overfilled for temporary storage. The stacking frame 6 is used as temporary storage, storing the storage container 106 in the upper opening 19. This causes the stacking frame 6 to be overfilled.

[0109] Figure 8 8a and Figure 8 Figure 8b depicts a stacking frame system 7, which includes a column of stacking frames 6 in storage column 105. In this example, the stacking frame system 7 includes up to six stacking frames 6, which are stacked one on top of another.

[0110] The container transport vehicle 300 runs on top of the track system 108 located on top of the frame structure 100.

[0111] exist Figure 8 In 8a, the target stacking frame 6' is positioned at the third position counting from the bottom of the stack in the stacking frame system 7. Figure 8 In Figure 8b, the target stacking frame 6' moves to the upper position 9 of the stack. This movement is performed by the stacking frame lifting mechanism 8, and these details will be explained in conjunction with Figure 9.

[0112] The container transport vehicle 300 is positioned on a grid cell on top of the target stacking frame 6'. The container transport vehicle 300 performs a digging operation within the target stacking frame 6', that is, the container transport vehicle 300 lifts and moves the non-target storage container 106 stored above the target storage container 106' from the target stacking frame 6'. The digging process is repeated by the container transport vehicle 300 until the target storage container 106' becomes accessible to the container transport vehicle 300. The non-target storage containers 106 removed during digging can be temporarily stored in a nearby stacking frame.

[0113] Nearby stacking frames 6 are selected based on their availability, the storage capacity of the storage containers, and their distance from the target stacking frame 6'. Factors such as availability, capacity, and distance are used to calculate the priority of stacking frames near the target stacking frame 6'. Non-target storage containers 106 are then moved to the non-target stacking frame 6 with the highest priority.

[0114] Figures 9a to 9c The sequence of steps for removing a target storage container from a target stacking frame in a frame structure is shown. This document will describe the sequence of steps for removing the target storage container 106' from the target stacking frame 6'. Figure 9aThe diagram shows a frame structure 100 including a track system 108 extending from the top of the frame structure, and comprising a first set of parallel tracks extending along a first direction X and a second set of parallel tracks extending along a second direction Y perpendicular to the first direction. These two sets of tracks intersect to form grid cells with grid openings 112.

[0115] The frame structure 100 includes a stacking frame system 7 having multiple stacking frames 6 stacked together. For example... Figure 9a As seen in the image, the target stacking frame 6' is located in the storage column 105 at the second position counting from the top of the stacking frame system 7. The top position of the stacking frame system 7 in the storage column is empty. Therefore, container handling vehicles can directly access the storage containers 106 inside the target stacking frame 6'.

[0116] The container handling vehicle 300 is positioned on top of the grid cell, and its clamping device 304 extends downward to clamp and lift the non-target storage container 106 positioned above the target storage container 106' in the target stacking frame 6'. The container handling vehicle 300 lifts the non-target storage container 106.

[0117] The stacking frame lifting mechanism 8 is also positioned on top of the track system on the frame structure 100, close to the target stacking frame 6'. The stacking frame lifting mechanism 8 is used to lift and move non-target stacking frames 6 that may be positioned above the target stacking frame 6.

[0118] exist Figure 9b In this process, the container handling vehicle 300 has received an instruction signal from the control system 500 to position the non-target storage container 106 within the adjacent non-target stacking frame 6. The adjacent stacking frame 6 is selected because it has the highest priority among the stacking frames 6 available for storage. The non-target storage container 106 is positioned on top of the non-target stacking frame 6 to overfill the stacking frame and utilize the upper opening 19 of the stacking frame 6 for temporary storage.

[0119] exist Figure 9c During the process, it was observed that the overfilled stacking frame 6 contained a non-target storage container 106. Simultaneously, the container handling vehicle 300 moved to the target stacking frame 6' and continued the excavation operation to remove the target storage container 106'.

[0120] When needed, the stacking frame lifting mechanism 8 can be used to raise and lower the stacking frame 6. For this purpose, the stacking frame lifting mechanism 8 may include a lifting mechanism with a clamping device, which is similar to a combination Figure 4 The described container handling vehicle 200 has a clamping device.

[0121] Figures 10a to 10bA second embodiment of the storage system is shown, which includes a gantry device for a stacking frame lifting mechanism for retrieving a target storage container from a target stacking frame. The frame structure 100 includes a track system 108 located on top of the frame structure. A gantry device 30 extends from an upright member 102 at an end of the frame structure 100. The gantry device 30 includes a first gantry beam 24 extending horizontally on top of the frame structure 100, a second gantry beam 25 extending horizontally from the end of the first gantry beam 24, a first telescopic arm 26, and a second telescopic arm 26'. The first telescopic arm and the second telescopic arm 26' can extend downward and are configured to access a desired stacking frame 6 in the stacking frame system 7.

[0122] The outer lifting frame 27 and the inner lifting frame 27' extend from the ends of the telescopic arms 26, 26'.

[0123] The external lifting frame 27 is clamped onto the stacking frame 6 by engaging the clamping device with the recess 12 on the stacking frame 6, as shown in FIG10.

[0124] Normally, the internal lifting frame 27' is clamped onto the storage container 106 by engaging the clamping device with a recess in the storage container 13. However, in the example of FIG10, the internal lifting frame 27' is configured and sized to engage its clamping device with the stacking frame 6.

[0125] Figure 10b The container handling vehicle 300 seen in the image cooperates with the internal lifting frame 27 and the external lifting frame 27' of the gantry device 30 to remove the target storage container 106' from the stacking frame system 7.

[0126] The internal lifting frame 27' and the external lifting frame 27 can receive instruction signals from the control system 500 to remove non-target stacking frames 6 stored above the target stacking frame 6'. The external lifting frame 27 can lift a non-target stacking frame 6 and move it to a nearby designated location or to an empty position on the frame. The internal lifting frame 27' can lift a second non-target stacking frame 6 and move it to another position on the frame 100. The container handling vehicle 300 can then access the target storage container 106' from the target stacking frame 6' (see...). Figure 10b When the target storage container 106' is stored at the top, it can be directly accessed. If the target storage container 106' is stored deep inside the target stacking frame 6', the container handling vehicle 300 can perform a digging operation as instructed by the control system 500 to lift the non-target storage container 106 and store it in a nearby stacking frame 6.

[0127] Figures 11a to 11d A second type of frame structure and a gantry assembly including an internal lifting frame and an external lifting frame are shown. As can be seen, this frame structure does not include a track system 108 located on top of the frame structure 100'. Storage columns 105 store stacked frames 6 in a vertically stacked manner. As can be seen, the gantry assembly 30 includes an internal lifting frame 27' and an external lifting frame 27. The internal lifting frame 27' is configured to lift and lower storage containers 106, 106' stored within the stacked frames 6. The external lifting frame 27 is configured to lift the stacked frames 6 from the storage columns.

[0128] The inner lifting frame 27' and the outer lifting frame 27 can move horizontally along the gantry assembly, enabling access to different parts of the frame structure 100'. The lifting frames 27, 27' are connected to the first gantry beam 24 by means of telescopic arms 26, 26'. The telescopic arms 26', 26' allow for the extension and retraction of the inner lifting frame 27' and the outer lifting frame 27.

[0129] exist Figure 11a In the diagram, the external lifting frame 27 is seen lifting the non-target stacking frame 6 from the top position of the stack. Simultaneously, the internal lifting frame 27' is seen lifting the target storage container 106' from the target stacking frame 6'. The target storage container 106' can then be directly transferred to the access station 50 located next to the frame structure 100'.

[0130] exist Figure 11b In the middle, it was observed Figure 11a Rear view of frame 100'. Storage container 106 is seen stored within stacking frame 6, which has space at top opening 19 for accommodating at least one storage container 106. Therefore, the space on the nearby stacking frame 6 can be effectively utilized for temporary storage of storage container 106 during excavation operations.

[0131] Figures 11c to 11d This is a corresponding rear view of the frame structure 100', showing a gantry assembly with an inner lifting frame 27' and an outer lifting frame 27'. The outer lifting frame 27' lifts the non-target stacking frame and moves it to a position indicated by the control system 500. The inner lifting frame 27' lifts the target storage container 106' and sends the storage container 106' to the access station 30.

[0132] Figures 12a to 12cAnother example of a frame structure and a gantry assembly with an internal lifting frame and an external lifting frame is shown. The frame structure 100' includes a large external container 6'' that houses a stacking frame 6 within it. The external lifting frame 27 is configured to lift the stacking frame 6 stored within the large external container 6''. Simultaneously, the internal lifting frame 27' is configured to lift the storage container 106 stored within the stacking frame 6. Figure 12a A rear view of frame structure 100' is shown.

[0133] exist Figure 12b In the middle, I saw Figure 12a A variant of the frame structure 100'. The large external container 6'' houses the stacking of the stacking frame 6 within it. The internal lifting frame 27' of the gantry assembly 30 is seen lifting the target storage container 106'.

[0134] The target storage container 106' can also be removed from the frame structure 100' and transferred to the access station 50 located below the frame structure 100'. Figure 12c In the middle, we can see a side-view perspective of the 100' frame structure.

[0135] Figure 13 This is a flowchart illustrating the steps of a method for retrieving a target storage container and temporarily storing it using a stacking frame. The control system 500 sends a command signal to the container handling vehicle 300 and the stacking frame lifting mechanism 8 (step 1301). This command signal contains information about retrieving the target storage container 106' stored in the target stacking frame 6'. If the stacking frame 8 includes a gantry assembly with an inner lifting frame 27' and an outer lifting frame 27', the command signal is sent to the stacking frame lifting mechanism. The container handling vehicle 300 and the stacking frame lifting mechanism 8 traverse to the location of the grid cell containing the target stacking frame (step 1302). The control system sends a command signal to the container handling vehicle 300 and the stacking frame lifting mechanism 8 (step 1303), wherein the command signal contains information about which non-target stacking frames 6 are available, the locations of the available stacking frames 6, and the capacity of each available stacking frame 6. The control system 500 also prioritizes the non-target stacking frames 6 by considering factors such as availability, location, and capacity. For example, a non-target stacking frame 6 adjacent to the target stacking frame and capable of overfilling a single storage container 106 can be designated as Level 1, which is the highest priority. Meanwhile, another non-target stacking frame 6 located two grid cells away from the target stacking frame 6' along the X direction and capable of storing two storage containers 106 can be designated as Level 2. Priority information is also transmitted by the control system 500 in an indication signal.

[0136] The stacking frame lifting mechanism 8 is moved to the position of the target grid cell, and a digging operation is performed to lift the non-target stacking frame 6 positioned above the target stacking frame 6' (step 1304). The lifted non-target stacking frame 6 is then temporarily moved to another position by the stacking frame lifting mechanism 8. If more than one non-target stacking frame 6 is positioned above the target stacking frame 6', the stacking frame lifting mechanism 8 can perform multiple rounds of digging to lift the non-target stacking frames 6 and position these non-target stacking frames at temporary positions.

[0137] When the target stacking frame 6' is accessible (meaning the target stacking frame 6' is positioned within the stack such that no other non-target stacking frames are above it), the container transport vehicle 300 moves to a position on the grid cell above the target stacking frame 6' and performs a digging operation on the storage container 106 stored within the target stacking frame 6' (step 1305). The non-target storage containers 106 stored above the target storage container 106' are lifted by the container transport vehicle 300 and moved to the non-target stacking frame 6 assigned the highest priority. In one example, if there are two non-target storage containers 106 above the target storage container 106, one of the non-target storage containers can be moved to the adjacent stacking frame 6 with priority 1, while the second non-target storage container 106 can be moved to another non-target stacking frame 6 located one row away from the target stacking frame 6'.

[0138] When the target storage container 106' becomes accessible by the container transport vehicle 300, the target storage container 106' is lifted and moved to the desired location or moved down along port columns 119, 120 to the access station 50 (step 1306), from which personnel or machine operators can access the target storage container.

[0139] Optionally, the container handling vehicle 300 may, depending on its availability, place the removed storage container 106 back into the target stacking frame 6'. Similarly, the stacking frame lifting mechanism 8 may, depending on availability, return the removed stacking frame 6 to its original position.

[0140] Figure 14 This is a flowchart of the process for prioritizing stacking frames. During the process of removing the target storage container 106' from the target stacking frame 6', the container handling vehicle 300 will perform a digging operation to remove all non-target storage containers 106 stored above the target storage container 106. The number of non-target storage containers 106 to be removed by the container handling vehicle 300 is determined by the control system 500 (step 1401). This information is based on the information exchange between the container handling vehicle 300 operating on the frame structure 100' and the control system 500, which includes information about the location and position of both the storage containers and the container handling vehicle 300.

[0141] Based on the number of non-target storage containers 106, the control system 500 then determines the number of non-target stacking frames 6 available for temporary storage. The control system 500 determines the number of non-target stacking frames 6 near the target stacking frame 6, their locations, and the availability and capacity of the nearby non-target stacking frames 6 (step 1402). Availability is determined as follows: there is space at the top of the upper opening 19 of the non-target stacking frame 6 such that at least one storage container can be stored to overfill the non-target stacking frame 6. Capacity is determined as follows: the non-target stacking frame 6 can store more than one storage container 106; for example, the non-target stacking frame 6 can have a capacity to store three storage containers to overfill. Overfill can be understood as defined above, i.e., the storage container 106 protrudes from the top of the grid cell including the non-target stacking frame 6.

[0142] Based on the determined availability, location (or distance), and capacity of nearby stacking frames 6, the control system 500 assigns priorities to nearby stacking frames (step 1403). The highest priority is assigned to the nearest available stacking frame 6, and the lowest priority is assigned to the more distant stacking frame 6. "Nearby" or "nearest" means a stacking frame 6 located adjacent to the target stacking frame 6' or a stacking frame located within two grid cell spaces of the target stacking frame 6'.

[0143] The control system 500 then sends an instruction signal to the container handling vehicle 300 to store the non-target storage container 106 into a non-target stacking frame based on priority. The container handling vehicle 300 stores the non-target storage container into an available non-target stacking frame based on the assigned priority (step 1404).

[0144] It should be understood that the above description is intended to be illustrative and not restrictive. Many other implementations will be apparent to those skilled in the art upon reading and understanding the above description. Although this disclosure has been described with reference to specific exemplary implementations, it should be recognized that this disclosure is not limited to the described implementations but can be practiced with modifications and changes within the spirit and scope of the appended claims. Therefore, the specification and drawings are to be regarded as illustrative and not restrictive. Consequently, the scope of this disclosure should be determined by reference to the appended claims and the full scope of their equivalents.

[0145] Reference number list

[0146] 1. Existing automated storage and retrieval systems

[0147] 1' Storage System

[0148] 5. Lids of storage containers

[0149] 6 Stacking Frame

[0150] 6' Target stacking frame

[0151] 7 Stacking Frame System

[0152] 8. Stacking frame lifting mechanism

[0153] 9. The upper part of the stack

[0154] 12. Connecting recess of stacking frame

[0155] 13 Container connection recess

[0156] 14. Side walls of storage containers

[0157] 15. Bottom of the storage container

[0158] 16. Top edge of the storage container

[0159] 18. Bottom of the stacking frame

[0160] 19. Top opening of each stacking frame

[0161] 20. Side walls of the stacking frame

[0162] 21. Guiding elements of stacking frames

[0163] 22. Bottom recess of the stacking frame

[0164] 24 First portal frame beam

[0165] 25 Second portal frame beam

[0166] 26 Telescopic boom

[0167] 27 External lifting frame

[0168] 27' Internal lifting frame

[0169] 30. Gantry assembly for stacking frame lifting mechanism

[0170] 50 access stations

[0171] 100 Frame Structure

[0172] 100' Second type of frame structure

[0173] 102. Upright members of a frame structure

[0174] 104 Storage Volume / Grid

[0175] 105 Storage Columns

[0176] 106 Storage Containers

[0177] 106' Target storage container

[0178] 107 Stacking

[0179] 108 orbital system

[0180] 110 Parallel orbits in the first direction (X)

[0181] 111 Parallel track in the second direction (Y)

[0182] 112 Access Opening

[0183] 119 First Port Column

[0184] 120 Second Port Column

[0185] 200 Container handling vehicles of the prior art

[0186] 200a Container handling vehicle 201 vehicle body

[0187] 200b Drive unit / wheel assembly / first set of wheels in the first direction (X)

[0188] 200c Drive unit / wheel unit / second set of wheels in the second direction (Y)

[0189] 300 Existing cantilever container handling vehicles

[0190] 300a Container handling vehicle 301 vehicle body

[0191] 300b Drive unit / first set of wheels in the first direction (X)

[0192] 300c Drive unit / second set of wheels in the second direction (Y)

[0193] 304 clamping device

[0194] 400 Existing Container Handling Vehicles

[0195] 400a Container handling vehicle 401 vehicle body

[0196] 400b Drive unit / first set of wheels in the first direction (X)

[0197] 400c Drive unit / second set of wheels in the second direction (Y)

[0198] 404 clamping device

[0199] 404a lifting belt

[0200] 404b clamp

[0201] 404C pilot pin

[0202] 404d lifting frame

[0203] 500 Control System

[0204] X First Direction

[0205] Y Second Direction

[0206] Z is the third direction.

Claims

1. A method for storing storage containers (106) using a stacking frame (6) in an automated storage and retrieval system (1), wherein, The automatic storage and retrieval system (1) includes: - Frame structure (100), the frame structure comprising: - Multiple upright members (102) define multiple storage columns (105) for storing stacks of stacking frames (6), the stacking frames (6) being configured to accommodate stacks of storage containers (106, 106') within the internal space of the respective stacking frames (6). - Stacking frame lifting mechanism (8), configured to transport stacking frames (6) and / or transport storage containers (106) stored in the respective stacking frames (6). - Multiple container handling vehicles (200, 300, 400) operate on a track system (108) and are configured to handle the storage containers (106). - A control system (500) configured to send command signals to control the operation of the stacking frame lifting mechanism (8) and the plurality of container handling vehicles (200, 300, 400), wherein the method includes the following steps: - Step A: The control system (500) sends a command signal to the stacking frame lifting mechanism (8) and the container handling vehicle (200, 300, 400) to remove the target storage container (106') from the target stacking frame (6'); - Step B: One or more non-target storage containers (106') positioned above the target storage container (106') are moved from the target stacking frame (6') to the non-target stacking frame (6') for temporary storage by the stacking frame lifting mechanism (8) or the container handling vehicles (200, 300, 400), such that the target storage container (106') becomes the uppermost storage container in the target stacking frame (6'); and - Step C: Use the stacking frame lifting mechanism (8) or the container handling vehicle (200, 300, 400) to remove the target storage container (106').

2. The method according to claim 1, wherein, The method includes performing the following steps prior to step B: - Using the stacking frame lifting mechanism (8), remove the non-target stacking frame (6) stored above the target stacking frame (6') from the storage column (105); and - Repeat the previous step until the target stacking frame (6') is at the upper position (9) of the stacking frame (6).

3. The method according to any one of the preceding claims, wherein, Step B includes: - Determine the capacity, location, and availability of non-target stacking frames (6) in the stacking of the stacking frames (6); - Based on the availability, capacity, and distance from the target stacking frame (6') of these non-target stacking frames, assign priorities to the non-target stacking frames; and - Select non-target stacking frames for temporary storage based on the assigned priority (6).

4. The method according to any one of the preceding claims, wherein, Step B includes: - Move one or more of the non-target storage containers (106) to a single non-target stacking frame (6).

5. The method according to any one of claims 1 to 4, wherein, Step B includes: - Move one or more of the non-target storage containers (106) to multiple non-target stacking frames (6).

6. The method according to any one of the preceding claims, wherein, Step B includes: - Position the non-target storage container (106) to overfill the non-target stacking frame (6) such that the non-target storage container (106) protrudes above the frame structure from the position of the non-target stacking frame (6).

7. The method according to any one of the preceding claims, wherein, Each of the stacking frames (6) includes: - One or more guiding elements (21) are disposed on the inner sidewall (20) of the stacking frame (6) and configured to guide the storage containers (106, 106') during storage; and wherein the method includes: - Position the non-target storage container (106) above the upper opening (19) of the non-target stacking frame (6); and - Slide the non-target storage container (106) along the one or more guide elements (21) to store the non-target storage container (106) within the non-target stacking frame (6).

8. An automated storage and retrieval system employing a stacking frame (6) to store storage containers (106), wherein, The automated storage and retrieval system includes: - Frame structure (100), the frame structure comprising: - Multiple upright members (102) define multiple storage columns (105) for storing stacks of stacked containers (106) in the internal space of the respective stacked frames (6). - Stacking frame lifting mechanism (8), configured to transport stacking frames (6) and / or transport storage containers (106) stored in the respective stacking frames (6). - Multiple container handling vehicles (200, 300, 400) are used to operate on the track system (108) and are configured to transport the storage containers (106). - A control system (500) configured to send command signals to control the operation of the stacking frame lifting mechanism (8) and the plurality of container handling vehicles (200, 300, 400) to perform the steps of the method according to claims 1 to 7.

9. The automatic storage and retrieval system according to claim 8, wherein, The automated storage and retrieval system includes the track system (108) arranged on top of the frame structure (100) for guiding the movement of container handling vehicles (200, 300, 400) running on top of the track system (108). The track system includes a first set of parallel tracks (110) arranged in a first direction (X) and a second set of parallel tracks (111) arranged in a second direction (Y) perpendicular to the first direction. The first set of tracks and the second set of tracks (110, 111) intersect to form a grid cell with a grid opening (112).

10. The automatic storage and retrieval system according to claim 8, wherein, The stacking frame lifting mechanism includes a gantry device (30) extending above the frame structure (100).

11. The automatic storage and retrieval system according to claim 10, wherein, The gantry device (30) includes an inner lifting frame (27') and an outer lifting frame (27), wherein the inner lifting frame (27') is configured to lift the storage container (106) within the stacking frame (6), and the outer lifting frame (27) is configured to lift the stacking frame (6).

12. The automatic storage and retrieval system according to any one of claims 8 to 11, wherein, Each of the stacking frames (6) includes a guide element (21) disposed on the inner sidewall (20) of the stacking frame (6), and the guide element is configured to guide a non-target storage container (106, 106') during storage, such that the non-target storage container (106) is positioned and slid along the guide element (21) from the upper opening (19) of the stacking frame (6) to store the non-target storage container (106) within the stacking frame (6).

13. The automatic storage and retrieval system according to any one of claims 8 to 12, wherein, Each of the stacking frames (6) includes a recess (12) disposed on the upper section of the side wall (20) of the stacking frame (6), the recess being configured to engage with a releasable latch on the stacking frame lifting mechanism (8).

14. The automatic storage and retrieval system according to any one of claims 8 to 13, wherein, The control system is configured to send command signals to the container handling vehicles (200, 300, 400) to temporarily prevent the container handling vehicles from moving on or around the non-target stacking frame (6) used for temporary storage.

15. A computer program product comprising, when the computer program product is run by a computer, causing the computer to send instruction signals to a stacking frame lifting mechanism and a container handling vehicle to perform the steps of the method according to claims 1 to 7, wherein the computer is coupled to or is part of the control system of an automated storage and retrieval system according to any one of claims 8 to 14.

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