Storage system

Abstract

A storage system (1700) comprising a three-dimensional grid (100) for storing storage containers therein; and a network of tracks arranged for movement of storage container handling vehicles on top of the three-dimensional grid. The three-dimensional grid comprises at least one first type of storage column vertically extending from the network of tracks (116), each of the at least one first type of storage column (1302) being configured to receive a single storage container therein. The three-dimensional grid further comprises at least one second type of storage column (1304) vertically extending from the network of tracks (116), each of the at least one second type of storage column being configured to receive a multi-container frame for a plurality of storage containers therein. Each of the at least one first type of storage column comprises a first opening having a first cross-sectional area for receiving a single storage container therein. Each of the second type of storage column comprises a second opening having a second cross-sectional area larger than the first cross-sectional area for receiving a multi-container frame therein.

Description

Technical Field

[0001] This disclosure relates to a storage system. More specifically, this disclosure relates to a storage system comprising a three-dimensional grid for storing storage containers therein and an orbital network. 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. 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. One 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 handling vehicles configured to lift containers from the grid can travel. The container handling vehicles 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] However, known grid-based systems can be slow and cumbersome, difficult to manage or rearrange, and in some cases highly limited. For example, retrieving storage containers deeply buried in a grid can be slow and inefficient. Advances in the design and operation of such grids and related robots can significantly improve the operation of automated storage and retrieval systems. Further improvements in the design of such grids and related robots will be beneficial.

[0006] One or more aspects of the invention described in this application are set forth in the claims. Attached Figure Description

[0007] The present disclosure will now be described in more detail with reference to several exemplary embodiments shown in the accompanying drawings, wherein: Figure 1 A perspective view of a storage system is shown, which includes a grid and multiple robotic container handling vehicles configured to retrieve and / or rearrange goods stored within the grid. Figure 2 It shows Figure 1 A top view of the system; Figure 3A It shows that it is suitable for use in Figure 1 Side view of the first robotic container handling vehicle used in the system; Figure 3B It shows that it is suitable for use in Figure 1 Side view of the second robotic container handling vehicle used in the system; Figure 3C yes Figure 3B A three-dimensional side view of the robot; Figure 4 A computing device for implementing the operations described herein is shown; Figure 5 It shows Figure 1 The mesh includes a multi-container frame section; Figure 6A A perspective view of two exemplary multi-container frames is shown; Figure 6B A side view of an exemplary multi-container frame is shown; Figure 6C A top view of an exemplary multi-container frame is shown; Figure 7A A cross-sectional view of an exemplary multi-container frame is shown, in which a first arrangement of containers stored within the multi-container frame is visible; Figure 7B A cross-sectional view of an exemplary multi-container frame is shown, in which a second arrangement of containers stored within the multi-container frame is visible; Figure 8A An exemplary lifting device for a container transport vehicle is shown, which is configured to be connected to a multi-container frame so that the multi-container frame can be raised or lowered by the container transport vehicle. Figure 8B It shows Figure 8A A side view of the arrangement; Figure 8C It shows Figure 8A and Figure 8B The lifting device is integrated with the multi-container frame; Figure 8D It shows Figure 8C A side view of the arrangement; Figure 9 It shows Figures 8A to 8D An exemplary lifting device is lowered to contact the multi-container frame; Figure 10 It shows Figures 8A to 8D An exemplary lifting device engages with a multi-container frame; Figure 11An exemplary lifting device for a container transport vehicle is shown, which is configured to connect to a container held within a multi-container frame so that the container can be raised or lowered by the container transport vehicle. Figure 12 The image shows a robotic container handling vehicle lifting containers from a multi-container frame. Figure 13 A plan view of a three-dimensional storage grid including different types of storage columns, according to an example of this disclosure, is shown; Figure 14 A side view of a storage system including different types of storage columns, according to an example of this disclosure, is shown; Figure 15 It shows Figure 14 A three-dimensional diagram of the storage system; Figure 16 A floor plan of a storage system having storage areas comprising storage columns of different types from each other, according to an example of this disclosure, is shown; Figure 17A A side view of a storage system having storage areas comprising storage columns of different types from each other, according to an example of this disclosure, is shown; Figure 17B It shows Figure 17A A three-dimensional diagram of the storage system; Figure 18A A floor plan of a storage system having storage areas comprising storage columns of different types from each other, according to yet another example of this disclosure, is shown; Figure 18B It shows Figure 18A A three-dimensional diagram of the storage system; Figure 19 A perspective view of a storage system having storage areas comprising storage columns of different types from each other, according to yet another example of this disclosure, is shown; Figure 20A A perspective view of a storage system having storage areas comprising storage columns of different types from each other, according to yet another example of this disclosure, is shown; Figure 20B It shows Figure 20A A side view of the storage system; Figure 21 A side view of a storage system having storage areas comprising storage columns of different types from each other, according to yet another example of this disclosure, is shown; and Figure 22 The operation is shown according to Figures 16 to 21 Methods for any of the storage systems. Detailed Implementation

[0008] In general, this disclosure relates to a storage system including a three-dimensional grid for storing storage containers therein, wherein the three-dimensional grid includes a first type of storage columns and a second type of storage columns. The first type of storage columns are used to store individual storage containers therein, such as one individual storage container directly stacked on top of another. The internal dimensions of the first type of storage columns may be configured to provide support for one of the storage containers directly stacked on top of another. The second type of storage columns are used to store multi-container frames therein, such as a multi-container frame stacked on top of another. Each multi-container frame itself may be configured to receive multiple storage containers therein. The internal dimensions of the second type of storage columns may be configured to provide support for the multi-container frames stacked therein. In one example, the multi-container frame may include a stacking frame configured to receive one storage container stacked on top of another. In another example, the multi-container frame may be configured to receive storage containers arranged side-by-side therein.

[0009] According to an exemplary example, a storage system is provided, comprising: a three-dimensional grid for storing storage containers therein; and a track network configured for allowing container transport vehicles to move along the three-dimensional grid, the three-dimensional grid comprising: At least one first-class storage column extends vertically from the track network (e.g., extends below the track network), and each of the at least one first-class storage column is configured to receive a separate storage container therein; and At least one second-class storage column extends vertically from the track network (e.g., from below the track network), and each of the at least one second-class storage column is configured to receive a multi-container frame for multiple storage containers therein; Each of at least one of the first type of storage columns includes a first opening having a first cross-sectional area configured to support a single storage container therein; and Each of at least one of the second-type storage columns includes a second opening having a larger cross-sectional area than the first opening and configured to support a multi-container frame therein. The track network may be positioned on top of a three-dimensional grid, for example, enabling container transport vehicles to move on the three-dimensional grid. The first-type storage columns may be adjacent to the second-type storage columns, for example, in a side-by-side relationship.

[0010] By using multi-container frames (e.g., stacking frames), each configured to receive multiple storage containers, the management and rearrangement of the contents of a 3D mesh of storage containers becomes simpler and faster. In particular, multiple storage containers can be moved at once by moving the multi-container frames in which they are stored. Therefore, by grouping storage containers containing similar or identical products into the same multi-container frame, these similar or identical products can be moved at once, even if they are not all stored in the same single storage container. Furthermore, if the contents of the 3D mesh need to be rearranged, for example, to retrieve a storage container buried deeper and located below other storage containers, the speed of the rearrangement operation is increased, at least because multiple storage containers can be moved at once by moving the multi-container frames in which they are received.

[0011] All storage containers used in the system according to this disclosure can be identical to each other and can be stacked one on top of another. This improves system compatibility and operational convenience. Similarly, all multi-container frames used in the system according to this disclosure can be identical to each other and can be stacked one on top of another. As mentioned above, each multi-container frame of this disclosure can be configured to receive multiple storage containers arranged side-by-side, such as four storage containers arranged side-by-side. In other examples, the multi-container frame may include a stacking frame configured to receive multiple storage containers stacked one on top of another. When the multi-container frame includes a stacking frame, the maximum height of the 3D mesh can be increased. In particular, the multi-container frame can provide additional structural support, allowing for increased stacking height. Furthermore, since using a stacking frame speeds up digging in the mesh, a higher mesh can be used while maintaining an acceptable digging time.

[0012] Advantageously, the versatility of the system is further enhanced by employing a system in which a first type of storage column (configured to receive a storage container directly stacked on top of another) and a second type of storage column (configured to receive a multi-container frame stacked on top of another) are used. For example, products that can be grouped together can be grouped into multi-container frames and stored in the second type of storage column. On the other hand, products that need to be stored in individual storage containers rather than stacking frames can be stored in the second type of storage column.

[0013] Overview of Automated Storage and Retrieval Systems

[0014] 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.

[0015] A track system or network 116 is formed on top of grid 100 and includes pairs of vehicle tracks or rails 118a, 118b and 120a, 120b extending in the X and Y directions 108, 110, respectively. A robotic container handling vehicle or robot (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.

[0016] 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 lowest level of the grid; however, the ports can be located at any vertical position along the columns. 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 conveyors ( 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 can enter and exit the column.

[0017] Box 112 can be transported by robot 122 along the top of grid 100 to and / or from port columns 126, 128, and from ports 130, 132 to a location outside grid 100, which may be an access station (not shown) for handling box 112 or its contents, such as a pick-up station for adding or removing contents from box 112. In alternative instances (not shown), box 112 can be transported to a port of another grid 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.

[0018] 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 vehicle wheels, 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.

[0019] 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.

[0020] The second "internal cavity" type robot 204 is in Figure 3BAs shown in more detail below, and as an alternative to a cantilever-type lifting system, it includes an inner cavity 310 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.

[0021] 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.

[0022] Figure 3D shows the gripping device 308 in more detail. As shown, the gripping device includes four gripping actuators 309 located at corresponding corners of the gripping device. In other examples, more or fewer than four gripping actuators may be used. Each gripping actuator is configured to engage a corresponding corner of the storage container 112 for lifting and lowering the storage container 112. The gripping device 308 of Figure 3D is shown connected to a cavity-type robot 204. However, as the reader will understand, the gripping device 308 can alternatively be connected to a cantilever robot 202.

[0023] Control and monitoring system

[0024] 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.

[0025] refer to Figure 4 A processing system 400 suitable for performing the methods described herein will now be described. Figure 4 A block diagram of one implementation of a processing system 400 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.

[0026] The instance 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.

[0027] 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.

[0028] 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).

[0029] 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.

[0030] 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.

[0031] 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.

[0032] A computer program can be executed by processor 402 to perform the functions of the system and methods described herein.

[0033] 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.

[0034] 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.

[0035] Therefore, the phrase “hardware component” should be understood to encompass tangible entities that can be physically configured, permanently configured (e.g., hardwired), or temporarily configured (e.g., programmed) to operate in a particular manner or perform the specific operations described herein.

[0036] 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).

[0037] Operation of the automatic storage and retrieval system

[0038] 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 the unique identifier and optionally stores the contents of that box. When a box 112 is moved (e.g., when it is removed from grid 100), the database is updated to record the change in its location.

[0039] 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.

[0040] Multi-container framework

[0041] This disclosure uses a multi-container framework, in other words, a framework or container itself configured to hold multiple storage containers 112. These multi-container frameworks can be referenced above. Figures 1 to 4 The storage container 112 is stored and handled in the same manner as in the automated storage and retrieval system of this disclosure. In a typical implementation, the multi-container frame can be configured to accommodate two to six storage containers 112, although larger multi-container frames are also possible.

[0042] In the following exemplary example, a multi-container frame is configured to house a plurality of storage containers 112, which are stacked one on top of another. In this case, the multi-container frame may be referred to as a “stacking frame” because the storage containers 112 housed therein are stacked one on top of another. For simplicity, the remainder of this disclosure will focus on this form of multi-container frame. However, it will be understood that in other implementations (not shown in the figures), the multi-container frame may house a plurality of storage containers 112 arranged side-by-side or otherwise, and the storage containers 112 within the multi-container frame may not be stacked one on top of another. Therefore, while the remainder of this disclosure focuses on a stacking frame, this should not be considered limiting, and the present invention relates to any form of multi-container frame configured to house a plurality of storage containers 112. In the following description, we will therefore refer to a stacking frame 500 and a storage container 504, wherein the storage container 504 is configured to be arranged (e.g., stacked) within the stacking frame 500. As the reader will understand, the storage container 504 may be the same as the storage container 112.

[0043] Now go to Figure 5 The diagram shows Figure 1 A partial sectional view of the automated storage and retrieval system is shown. A portion of grid 100 can be seen, as well as robotic container handling vehicles, robotic vehicles, or robots 202 and 204 operating on the track system 116. Figure 5 In the system shown, the multi-container frames 500 are arranged stacked on top of each other in each column of the grid. As described above, in this embodiment, all the multi-container frames 500 are stacked frames 500, in which storage containers 112 are stored one on top of another. Therefore, for simplicity, the term "stacked frame" will be used below. However, the following description applies to any form of multi-container frame.

[0044] from Figure 5 As can be seen, one of the stacking frames 500 is being lifted by robot 204. This operation is consistent with the above-mentioned... Figure 1 The process is similar to that described for container 112. Further details regarding how the stacking frame 500 is lifted will be described below.

[0045] Further details of the exemplary stacking frame 500 are shown in Figures 6A to 6CIn the middle. Each stacking frame 500 has an open top 502 for allowing storage containers 504 to enter the stacking frame 500. As described above, each stacking frame 500 is configured to house a plurality of storage containers 504 stacked vertically on top of each other. Thus, each stacking frame 500 is configured to support the lowest storage container 504 within the stacking frame 500. One or more additional storage containers 504 are then arranged on top of the lowest storage container 504, each storage container 504 supporting the storage containers arranged thereon. The storage containers 504 stored within the stacking frame 500 can correspond to Figure 1 The container 112 in the middle. For example, the stacking frame 500 can be specially configured to store multiple storage containers 504 in a stacked arrangement, such as up to three storage containers 504.

[0046] Each stacking frame 500 includes a bottom end 506 for supporting the lowest storage container 504. In this example, a side wall 508 extends between the bottom end 506 and the top end 502, but in other examples, the stacking frame 500 may only include a framework defining the frame within which the storage container 504 is held, so the side wall 508 may be largely omitted.

[0047] In this embodiment, connecting recesses 510 are arranged at the top end 502 within the opposing sidewalls 508. The connecting recesses 510 are arranged such that, when the stacking frame 500 is full, they are close together and protrude above the top of the uppermost storage container 504 in the stack of storage containers 504 within each stacking frame 500. These recesses allow the stacking frame 500 to be placed into and lifted from the grid of storage columns, as will be described in further detail below.

[0048] To facilitate efficient storage and enable the stacking frames 500 themselves to be stacked, the bottom end 506 of each stacking frame 500 may have a recessed portion 512, the outer perimeter of which is smaller than (i.e. configured to fit) the inner perimeter of the top end 502 of another stacking frame 500. In this way, the stacking frames 500 can be stacked one on top of another while limiting horizontal movement between the stacking frames 500 to improve stability.

[0049] from Figure 6C As can be seen from the top view of the stacking frame 500 in this embodiment, each storage container 504 held within the stacking frame 500 includes a connecting recess 514. These recesses 514 are arranged on the upper surface or upper edge of the sidewall of the storage container 504. These recesses allow the storage container 504 to be placed into and lifted out of the stacking frame 500, as will be described in further detail below.

[0050] Figure 7A and Figure 7B A stacking frame 500 with a cut section is shown to better illustrate the stacking of storage containers 504 inside the stacking frame 500. Figure 7A The stacking frame 500 shown has three uniformly sized storage containers 504, while... Figure 7B In the stacking frame 500 shown, the bottommost storage container 504 is taller than the other storage containers 504. The number, shape, and size of the storage containers 504 that can be accommodated within any given stacking frame 500 can vary. As mentioned above, when the stacking frame 500 is full, there are typically two to six storage containers 504 within it.

[0051] As described above, the stacking frame 500 can be stored in the grid 100 and moved by container handling vehicles 202, 204 in a manner similar to that of ordinary boxes or containers 112. Various modifications can be made to the container handling vehicles 202, 204 to enable them to better interact with the stacking frame 500 and the storage containers 504 stored within the stacking frame. Some exemplary embodiments detailing such modifications will now be described, but it should be understood that other mechanisms may be provided alternatively or in lieu of them.

[0052] Figure 8A , Figure 8B , Figure 8C , Figure 8D , Figure 9 and Figure 10 An exemplary lifting device 800 is shown for enabling container handling vehicles 202, 204 to raise and lower a stacking frame 500. The lifting device 800 may be configured as a lifting device 304 for container handling vehicle 202 or a lifting device 312 for container handling vehicle 204. It may also be used in the lifting devices of any of the robots 1300, 1600, 1800, 1900, and 2000 described below. The lifting device 800 is configured to engage with the stacking frame 500 such that the stacking frame 500 can be raised or lowered to enter or exit column 102 of grid 100.

[0053] The lifting device 800 in this example includes a lifting frame 802 connected to a lifting belt 804, the lifting belt being wound / wound from at least one lifting shaft (not shown) of container transport vehicles 202, 204 to raise or lower the lifting frame 802. The lifting frame 802 includes a horizontal element (as shown) and a latch 806 arranged on the lifting frame 802. The latch 806 is an exemplary embodiment of a clamping device, such as the clamping device 308 described above. The latch 806 is configured to be in a released position (e.g., Figure 8A , Figure 8B and Figure 9 (as shown) and connection position (such as) Figure 8C , Figure 8D and Figure 10 The latch 806 moves between the release position and the connection position. In the release position, the latch 806 is closer to the vertical centerline C of the lifting frame 802 than in the connection position. When moving from the release position to the connection position, the latch 806 moves away from the vertical centerline C and is configured to extend through the connection recess 510 in the side wall 508 of the stacking frame 500.

[0054] When the latch 806 engages with the connecting recess 510, it is located within the interior space of the stacking frame 500. This is particularly advantageous because, since the lifting device 800 does not require clearance outside the stacking frame 500, the space provided between adjacent columns 102 of the grid 100 can be reduced.

[0055] Figure 11 and Figure 12 A lifting device 1100 is shown for lifting storage container 504 from stacking frame 500. Lifting device 1100 may be provided as lifting device 304 of container handling vehicle 202 or lifting device 312 of container handling vehicle 204. It can also be used in the lifting devices of any of the robots 1300, 1800, 1900, and 2000 described below. Lifting device 1100 is configured to engage with storage container 504 to raise or lower storage container 504 relative to the stacking frame 500 storing storage container 504.

[0056] The lifting device 1100 may include a lifting frame 1102 connected to a lifting belt 1104, the lifting belt 1104 being wound / wound by at least one lifting shaft (not shown) of the container handling vehicles 202, 204 to raise or lower the lifting frame 1102. The lifting frame 1102 includes a horizontal element (as shown) and a clamp 1106 disposed on the lifting frame 1102. The clamp 1106 is configured to releasably engage a connection recess 514 disposed in the upper edge of the storage container 504, such as... Figure 6A , Figure 6C , Figure 7A and Figure 7B As shown.

[0057] Container handling vehicles 202 and 204 can be configured to retrieve storage containers 504 through the open top 502 of the stacking frame 500, for example... Figure 12 As shown in the figure. Figure 12 The uppermost stacking frame 500 has a cutout to better illustrate the stacking of storage containers 504 inside the stacking frame 500. The uppermost storage container 504 has been lifted out of the uppermost stacking frame 500 by the container handling vehicle 202.

[0058] In order to remove the storage container 504 from the stacking frame 500 in this manner, the lifting frame 1102 has an outer periphery configured to fit into the inner periphery of the sidewall of the stacking frame 500. The inner periphery of the sidewall of the stacking frame 500 can be configured to guide the lifting frame 1102 when it is inside the stacking frame 500.

[0059] Already referred to Figures 8A to 12 Exemplary lifting mechanisms are described for enabling container handling vehicles to lift stacking frame 500 or lift storage containers 504 from stacking frame. However, it should be understood that these mechanisms are merely exemplary. Other mechanisms may be used, and both stacking frame 500 and storage containers 504 may be appropriately modified to accommodate alternative forms of lifting mechanisms.

[0060] Detailed Improvement Description - Hybrid System

[0061] Figure 5 An automated storage and retrieval system is shown, in which a three-dimensional grid consists entirely of columns configured to receive stacking frames 500. The advantages of such an automated storage and retrieval system have been described above.

[0062] The inventors have found that it can be advantageous to provide an automated storage and retrieval system in which a three-dimensional grid comprises: a first class of columns configured to receive individually stacked storage containers 504 (i.e., storage containers 504 stacked directly on top of one another rather than within a stacking frame 500); and a second class of columns configured to receive stacking frames 500 therein. Figure 13 A planar view of a three-dimensional mesh 1300 is shown, which includes a first class of columns 1302 and a second class of columns 1304. (See diagram below.) Figure 13 As shown, these columns are arranged to form a two-dimensional grid in the X and Y directions. These columns extend below this two-dimensional grid, thus forming a three-dimensional storage grid 1300. It can be seen that... Figure 13 The grid comprises a 2x2 column grid, including two first-type columns 1302 and two second-type columns 1304. The first and second-type columns 1302 and 1304 are arranged side-by-side in a uniform two-dimensional grid 1300, such that each column occupies one cell 1301 within the two-dimensional grid. That is, these columns are arranged side-by-side in the two-dimensional grid and extend perpendicularly to the two-dimensional grid to form a three-dimensional grid. Figure 13 As shown, the two-dimensional grid can be defined in the XY direction (i.e., the horizontal plane). Therefore, these columns can extend in the Z direction 112 (i.e., the vertical direction).

[0063] like Figure 13As shown, the inner dimensions of the first column 1302 are smaller than the inner dimensions of the second column 1304. Specifically, the first column 1302 includes first support members 1306 extending along the length of the column 1302 and spaced apart to engage with the outer surface of the storage container 504 housed therein. Specifically, the inner spacing between the first support members 1306 is substantially equal to the outer dimension of the storage container 504. A first opening with a first cross-sectional area is defined at the top of each column 1302 between the first support members 1306. On the other hand, the second column 1304 includes second support members 1308 extending along the length of the column 1304 and spaced apart to engage with the outer surface of the stacking frame 500 housed therein. Specifically, the inner spacing between the second support members 1308 is substantially equal to the outer dimension of the stacking frame 500. A second opening with a second cross-sectional area (larger than the first cross-sectional area) is defined at the top of each column 1304 between the second support members 1308.

[0064] Figure 13 The diagram also shows multiple first tracks 1310 extending in the X direction 108 and multiple second tracks 1312 extending in the Y direction 110. Tracks 1310 and 1312 can form a track network 116 as described above. Each unit cell of the two-dimensional grid is defined between adjacent pairs of first tracks 1310 and adjacent pairs of second tracks 1312. Because each column (whether it is a first-type column 1302 or a second-type column 1304) occupies a single cell defined between adjacent track pairs, a vehicle (e.g., robot 202 or 204) can drive through each column, regardless of its type. Therefore, a vehicle can retrieve (e.g., extract) a single storage container 504 from the first-type column 1302 and from the second-type column 1304.

[0065] Figure 13 The first dashed line is shown to illustrate the storage container 504 received between and supported by the first support members 1306. It can be seen that the first cross-sectional area between the first support members 1306 substantially matches the external dimensions of the storage container 504, such that the stacking of the storage containers 504 can be supported by the first support members 1306. Figure 13 The second dashed line is shown to illustrate the stacking frame 500 received between and supported by the second support members 1308. It can be seen that the second cross-sectional area between the second support members 1308 substantially matches the external dimensions of the stacking frame 500, such that the stacking of the stacking frame can be supported by the second support members 1308.

[0066] Readers of the art will understand that the first and second support members 1306, 1308 can extend along the entire length of each column. Thus, each column can have the same inner cross section along its entire length, extending from an opening at the top of each column.

[0067] Figure 13 The diagram shows a 2x2 column grid, comprising two first-class columns 1302 and two second-class columns 1304. However, the reader will understand that the number of first-class columns 1302, the number of second-class columns 1304, or the total number of columns can be more or less than [a certain number]. Figure 13 The quantity shown.

[0068] For example, Figure 14 A side view of a 1×2 grid 1400 is shown, which consists of a single first-class storage column 1302 and a single second-class storage column 1304 arranged side by side with the first-class storage column 1302. Figure 15 Show Figure 14 A three-dimensional image. Figure 14 and Figure 15 The 1×2 grid shown is for illustrative purposes. However, those skilled in the art will understand that grids of any size and shape can be used. Those skilled in the art will also understand that, in practice, there can be far more than two columns of storage.

[0069] like Figures 14 to 15 As shown, a first-type container handling vehicle is configured to travel on a track (e.g., track 116, or tracks 1310, 1312) located at the top of grid 1400. The first-type container handling vehicle can be a cantilever robot 202, shown located at the top of grid 1400. However, in other examples, the first-type container handling vehicle can be a cavity-type robot 204. In the following text, whenever the first-type container handling vehicle is mentioned, it should be understood that the first-type container handling vehicle can be either robot 202 or robot 204.

[0070] The first type of storage column 1302 has multiple storage containers 504 stacked directly on top of each other. The second type of storage column 1304 has multiple stacking frames 500 stacked on top of each other. Although Figure 1 Not visible in the image, but each stacking frame 500 may contain one or more storage containers 504 stacked therein, for example as... Figures 7A to 7B As shown.

[0071] The first type of container handling vehicle may include a first type of lifting device for lifting storage container 504 from a first type of storage row 1302 or from a second type of storage row 1304. For example, the first type of lifting device may include a first type of gripper for engaging and lifting storage container 504. For example, the first type of lifting device may include, for example, Figure 11 and Figure 12The lifting device 1100 shown includes a gripper 1106. Therefore, the cantilever robot 202 can be configured to lift the storage container 504 using the gripper 1106. In some examples, the first type of lifting device can be further configured to lift the stacking frame 500, for example, it can further include a second type of gripper for engaging and lifting the stacking frame 500. For example, the first type of lifting device can further include a latch 806 for engaging and lifting the stacking frame 500.

[0072] The automated storage and retrieval system may also include a gantry system positioned above grid 1400 and above track 116. Figures 14 to 15 (Not shown in the diagram), for example, suspended from the ceiling of the building where grid 1400 is located. A second type of container handling vehicle may be mounted on this gantry system. The second type of container handling vehicle may include, for example, a crane that can move along the gantry system (and thus above the three-dimensional grid 1400) in the X direction 110 and the Y direction 112.

[0073] The second type of container handling vehicle may include a second type of lifting device for lifting the stacking frame from the second type of storage column 1304. For example, the second type of lifting device may include a second type of clamp for engaging and lifting the stacking frame. For example, the second type of lifting device may include, Figure 8A , Figure 8B , Figure 8C , Figure 8D , Figure 9 and Figure 10 The illustrated lifting device 800 includes a latch 806. In some examples, the second type of lifting device may be further configured to lift the storage container 504, for example, it may further include a first type of gripper for engaging and lifting the storage container 504. For example, the second type of lifting device may further include a gripper 1106 for engaging and lifting the storage container 504.

[0074] By using both type I and type II vehicles simultaneously, the speed at which storage containers 504 within the management grid 1400 are managed and reordered can be increased. Type II vehicles are particularly useful when type I vehicles only include grippers 1106 for lifting storage containers 504, and therefore cannot lift stacking frames 500. In this case, type I vehicles will lift storage containers 504 and move them between type I and type II storage columns 1302, 1304, while type II vehicles will lift stacking frames 500 and move them between type II storage columns 1304.

[0075] As previously described, in at least one example, each of the first and second type of vehicles can be configured to lift both the storage container 504 and the stacking frame 500. In other examples, the first type of vehicle can be dedicated solely to lifting the storage container 504, while the second type of vehicle can be dedicated solely to lifting the stacking frame 500. In other examples, the second type of vehicle can be omitted, and only the first type of vehicle can be used. In such examples, the first type of vehicle can be configured to lift both the storage container 504 and the stacking frame 500.

[0076] like Figures 14 to 15 As shown, the first type of storage column 1302 and the second type of storage column 1304 are at the same height. Therefore, the track spans the first and second type of storage columns 1302 and 1304, and container handling vehicles can drive over both types of storage columns.

[0077] Specific Improvement Description - Hybrid Storage System

[0078] In the foregoing description, a hybrid system has been described in which a three-dimensional mesh comprises both a first type of storage column 1302 and a second type of storage column 1304, and wherein a first type of vehicle (e.g., robot 202) can travel on both types of storage columns in the mesh. The different types of storage columns in the hybrid system are arranged side by side (therefore the mesh is hybrid).

[0079] In a different arrangement, as described below, a hybrid storage system is provided. The hybrid storage system is similar to the hybrid system in that it includes a first type of storage column 1302 and a second type of storage column 1304. However, in the hybrid storage system, the first type of storage column 1302 is arranged in a first storage area, while the second type of storage column 1304 is arranged in a second storage area. The first and second storage areas are adjacent to each other, with a buffer area positioned between the first and second storage areas for moving storage containers between them.

[0080] Figure 16 This is a schematic plan view illustrating the concept of a hybrid storage system 1600 according to the present disclosure. The hybrid storage system 1600 includes: a first storage region 1602 comprising a three-dimensional grid of a plurality of first-type storage columns 1302; a second storage region 1604 comprising a three-dimensional grid of a plurality of second-type storage columns 1304; and a buffer region 1606 comprising a plurality of buffer cells 1608. The buffer region 1606 is disposed between the first storage region 1602 and the second storage region 1604. Figure 16In the example, the first storage region 1602 includes a three-dimensional grid consisting of 2×3 grids of first-class storage columns 1302; the second storage region 1604 includes a three-dimensional grid consisting of 2×3 grids of second-class storage columns 1304; and the buffer region 1606 includes a 1×3 grid of buffer cells 1608. However, those skilled in the art will understand that each region may contain more or fewer storage columns or cells than shown.

[0081] Figure 17A A side view of a hybrid storage system 1700 according to yet another example of the present disclosure is shown. The hybrid storage system 1700 includes a first storage area 1702 having a first type of storage column 1302, a second storage area 1704 having a second type of storage column 1304, and a buffer area 1706 including a buffer unit 1708 having a stacking frame 500 therein. Figure 17B A perspective view of the hybrid storage system 1700 is shown.

[0082] As in the previous example, the first type of storage column 1302 is configured to store a storage container 504 directly stacked on top of another. The second type of storage column 1304 is configured to store a stacking frame 500 stacked on top of another. On the other hand, each buffer unit includes a single bucket configured to receive a single stacking frame 500 therein. Thus, a stacking frame 500 can be removed from the second type of storage column 1304 and placed in the bucket of a corresponding buffer unit 1708. Once placed in the bucket, the stacking frame 500 can be filled with a storage container 504 from the first type of storage column 1302, or the storage container 504 can be removed from the stacking frame and moved to the first type of storage column 1302. Therefore, the buffer unit 1708 in the buffer area 1706 provides for the movement of storage containers between the first area 1702 and the second area 1704. Figures 17A to 17B As shown, this is particularly advantageous when the second type of storage column 1304 is higher than the first type of storage column 1302.

[0083] like Figure 17A and Figure 17BAs shown, a first type of vehicle (shown as robot 202, but alternatively robot 204 as described above) is provided for traveling on tracks 116 (not shown) on the first storage area 1702 and buffer area 1706. A second type of vehicle (shown as crane 1710) is provided for traveling on a gantry system 1712 extending above the second area 1704 and above the buffer area 1706. Thus, the first type of vehicle is operable to lift storage containers 504 from the first type of storage column 1302 and move them to the buffer area 1706; and to lift storage containers 504 from the buffer area 1706 and move them to the first type of storage column 1302. The second type of vehicle is operable to lift stacking frames 500 from the second type of storage column 1304 and move them to the buffer area 1706; and to lift stacking frames 500 from the buffer area 1706 and move them to the second type of storage column 1304.

[0084] The first type of vehicle configuration is used for lifting storage containers. That is, as previously stated, the first type of vehicle includes a first type of lifting device. In this example, the first type of vehicle may not be able to lift the stacking frame 500.

[0085] Buffer area 1706 includes a plurality of buffer units 1708 arranged side by side (similar to storage columns in a corresponding storage area). Each buffer unit 1708 is configured to receive a single stacking frame 500 therein. Therefore, the stacking frame 500 can move between the second type of storage column 1304 in the second area 1704 and the buffer unit 1708 in the buffer area 1706. Once the stacking frame 500 is placed in the buffer unit 1708, a first type of vehicle can move storage containers between the stacking frame 500 and the first type of storage column 1302. In the illustrated example, the upper surface of the buffer unit is flush with the upper surface of the first type of storage column 1302.

[0086] Category II vehicles (in) Figures 17A to 17B The crane 1710 (shown as suspended from gantry 1712) is configured to lift the stacking frame. That is, as previously described, the second type of vehicle includes a second type of lifting device. In one example, the second type of vehicle cannot lift the storage container 504. In another example, the second type of vehicle can lift both the storage container 504 and the stacking frame 500.

[0087] The second type of vehicle can move along the gantry system 1712 in the X direction 108 and the Y direction 110. Therefore, the second type of vehicle is operable to lift individual stacking frames 500 from the second type of storage column 1304 and move them to empty buffer units 1708; and lift stacking frames 500 from buffer units 1708 and return them to the second type of storage column 1304.

[0088] from Figure 17A and Figure 17B As can be seen, the first storage area 1702 includes storage columns 1302 of a first height; while the second storage area 1704 includes storage columns 1304 of a second height, which is higher than the first height. Because the stacking height capacity of the stacking frames 500 is greater, the second type of storage columns 1304 can be taller. In this type of system, by providing two types of vehicles as described above, the stacking frames 500 can be transported to and from the buffer area 1706 by the second type of vehicle, and the storage containers 504 can be placed within and removed from the stacking frames 500 in the buffer area 1706 by the first type of vehicle. In other words, the buffer area 1706 provides for the movement of the storage containers 504 between the first and second storage areas.

[0089] Figure 18A A plan view of a storage system 1800 according to yet another example is shown, the storage system 1800 including a first storage area 1802, a second storage area 1804 and a buffer area 1806 located between the first storage area 1802 and the second storage area 1804. Figure 18B A perspective view of the same storage system 1800 is shown. Similar to the example in Figure 17, the first storage area 1802 includes a first type of storage column 1302; the second storage area 1804 includes a second type of storage column 1304. In the example in Figure 18, the buffer area 1806 includes only two buffer units 1808 for moving storage containers 504 between the first storage area 1802 and the second storage area 1804. Each buffer unit 1808 is associated with… Figures 17A to 17B The buffer units are the same. Figures 18A-18B The container transport vehicle in the example can be with Figures 17A to 17B The container transport vehicles in the example are the same.

[0090] In the example of Figure 18, two Class I vehicles (robots 202 in the illustrated arrangement) are arranged in the first storage area 1802, and two Class II vehicles (cranes 1810 in the illustrated arrangement) are arranged in the second storage area 1804. A vertical tubular structure 1812 is provided above each buffer unit 1808. Each vertical tubular structure is used to guide the Class II lifting device downwards toward the buffer unit.

[0091] As in the previous example, the track network 116 (e.g., tracks 1310 and 1312) extends over the first region 1802 and optionally over the buffer region 1806. The gantry system 1812 extends over the second region 1804 and over the buffer region 1806.

[0092] Each crane 1810 is movable along a gantry system 1810 located above the second storage area 1804. Each crane 1810 includes a lifting frame that includes latches 806 for lifting the stacking frame 500.

[0093] Each robot 202 is movable along a track extending along the upper surface of the first storage area 1802. Each robot 202 includes a lifting frame that includes a gripper 1106 for lifting the storage container 504.

[0094] Similar to the system of Figure 17, each crane 1810 is operable to move the stacking frame 500 between the second type of storage column 1304 and the buffer unit 1808; each robot 202 is operable to move the storage container 504 between the first type of storage column 1302 and the buffer unit 1808. Therefore, as with the system of Figure 17, the buffer area 1806 provides communication between the storage container 504 and the second storage area 1804.

[0095] Figure 19 A modification of system 1800 shown in Figure 18 is illustrated. (Compared to...) Figures 18A to 18B The system differs as follows. In this example, the second type of vehicle includes a robot, such as an internal cavity robot 204, instead of a crane. Therefore, the gantry system 1812 is also omitted. Thus, in this example, the first type of vehicle includes robot 202, and the second type of vehicle includes robot 204. In other examples, the first type of vehicle may include robot 204, and the second type of vehicle may include robot 202. In any case, the first type of vehicle includes a first type of lifting device for moving the storage container 504, and the second type of vehicle includes a second type of lifting device for moving the stacking frame 500.

[0096] Figure 20A A perspective view of a hybrid system 2000 according to another example is shown. Figure 20B A side view of the same hybrid system 2000 is shown. Figures 20A to 20B Hybrid system 2000 and Figures 17A to 17B The system shown is similar to system 1700, except that all columns in system 2000 have the same height. That is, column 1302 of the first type and column 1304 of the second type have the same height. According to... Figures 20A to 20B The hybrid system 2000 is similar to other systems in other aspects. Figures 17A to 17B The system is similar to system 1700. In particular, Figures 20A to 20BThe system 2000 includes a first storage area 2002, including a first column 1302; a second storage area 2004, including a second column 1304; and a buffer area 2006 located between the first and second storage areas, including a buffer unit 2008. The first storage area 2002 is served by a first type of vehicle (e.g., robot 202), and the second storage area 2004 is served by a second type of vehicle (e.g., crane 2010 mounted on a gantry system 2012).

[0097] Figure 21 A hybrid system 2100 according to another example of this disclosure is shown. Figure 21 System 2100 and Figures 20A to 20B The system is similar to 2000, except that the crane 2010 and the associated gantry system 2012 are omitted. Instead, the second type of vehicle includes robots 202 / 204 (robot 204 in the example shown), and is designed for... Figure 19 It is similar to the system described in 1900.

[0098] Figure 22 It shows according to Figures 16 to 21 The system operation method for any of the diagrams.

[0099] In step S2202, the second type of vehicle is lifted from the second type of storage column 1304, and the stacking frame 500 is placed into the buffer unit. Thus, the stacking frame 500 is moved by the second type of vehicle from the second storage area to the buffer area. The stacking frame 500 may be empty, partially filled with storage containers 504, or fully filled with storage containers 504.

[0100] In step S2204, the first type of vehicle lifts the storage container 504 from the first type of storage column 1302 and places the storage container 504 into the buffer unit where the stacking frame 500 was arranged in step S2202. Thus, the storage container 504 is moved from the first storage area to the buffer area by the first type of vehicle. Alternatively, the first type of vehicle lifts the storage container 504 from the stacking frame 500 in the buffer unit and places the storage container 504 into the first type of storage column 1302. Thus, the storage container 504 is moved from the buffer area to the first storage area by the first type of vehicle.

[0101] Step S2204 can be repeated multiple times until the required storage container is present in the stacking frame 500, and thus the stacking frame 500 is ready to return to the second storage area.

[0102] In step S2206, the second type of vehicle is lifted from the buffer unit, and the storage container 504 is arranged in the second type column. The stacking frame 500 may be returned to the same second type column 1304 from which it was initially taken, or alternatively, it may be returned to a different second type column 1304. In either case, the stacking frame 500 is thus returned to the second storage area.

[0103] For implementation Figure 22 The instructions for the method can be stored on a computer-readable medium, such as a non-transitory computer-readable medium, like static memory 406, and can be implemented by a processor 402. In some examples, both Type I and Type II vehicles can be controlled from a central control center. That is, Figure 22 The method can be implemented from a central location, for example, by sending commands from a central location to control the vehicle.

[0104] It should be understood that the above description is intended to be illustrative and not restrictive. Many other embodiments will become apparent to those skilled in the art upon reading and understanding the above description. While 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 considered 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.

Claims

1. A storage system, comprising: A three-dimensional grid is used to store storage containers within the three-dimensional grid. and a track network configured to allow storage container transport vehicles to move along the three-dimensional grid, the three-dimensional grid comprising: At least one first-class storage column extends vertically from the track network, each of the at least one first-class storage column being configured to receive a separate storage container within the first-class storage column; and At least one second-class storage column extends vertically from the track network, and each of the at least one second-class storage columns is configured to receive a multi-container frame for multiple storage containers in the second-class storage column; Each of the at least one first-type storage columns includes a first opening having a first cross-sectional area configured to support a single storage container within the first opening; and Each of the at least one second type of storage column includes a second opening having a second cross-sectional area configured to support a multi-container frame within the second opening, the second cross-sectional area being larger than the first cross-sectional area.

2. The storage system of claim 1, wherein each of the at least one second type of storage column is configured to receive a stacking frame for storing containers in the second type of storage column, wherein the second cross-sectional area is configured to support the stacking frame, wherein the first type of storage column and the second type of storage column are arranged together in a two-dimensional grid with cells of uniform size, wherein each of the at least one first type of storage column occupies a single cell of the two-dimensional grid, and wherein each of the at least one second type of storage column occupies a single cell of the two-dimensional grid.

3. The storage system according to claim 2, wherein the track network comprises: Multiple first tracks, all extending along a first direction; And a plurality of second tracks, all extending along a second direction perpendicular to the first direction, the first track and the second track together defining the two-dimensional grid, wherein each of the at least one first type of storage column and each of the at least one second type of storage column is located between a corresponding pair of adjacent first tracks and between a corresponding pair of adjacent second tracks.

4. The storage system according to any one of the preceding claims further comprises: A first type of container transport vehicle is capable of moving along the three-dimensional grid. The first type of container transport vehicle is configured to retrieve storage containers from the first type of column and optionally also configured to retrieve storage containers from the second type of column.

5. The storage system according to claim 4 when dependent on claim 3, wherein the first type of container transport vehicle travels along the track, and wherein the track network optionally spans each cell in the cell.

6. The storage system according to claim 4 or claim 5, further comprising: The second type of container transport vehicle is capable of moving on top of the three-dimensional grid. The second type of container transport vehicle is configured to lift multi-container frames from the second type of column and optionally also configured to lift storage containers from the first type of column or the second type of column. Optionally, the second type of container transport vehicle is suspended on a gantry system located above the three-dimensional grid.

7. The storage system according to any one of the preceding claims, wherein the first type of storage column and the second type of storage column have the same height.

8. The storage system according to any one of claims 1 to 3, comprising a plurality of first-type storage columns and a plurality of second-type storage columns, wherein the first-type storage columns are located in a first region, wherein the second-type storage columns are located in a second region adjacent to the first region, and wherein the three-dimensional grid further comprises a buffer region located between the first region and the second region for moving storage containers between the first region and the second region, the buffer region comprising: At least one buffer unit is configured to receive a multi-container frame and / or a storage container.

9. The storage system according to claim 8, further comprising: A first type of container handling vehicle, configured to lift storage containers from the first type of column; as well as The second type of container handling vehicle is configured to lift multi-container frames from the second type of column; The first type of container transport vehicle is configured to move on the first area and optionally also configured to move on the buffer area; and The second type of container transport vehicle is configured to move in the second area and optionally also configured to move in the buffer area.

10. The storage system of claim 9, wherein the track network spans the first region and optionally also spans the buffer region, and wherein the first type of container transport vehicle is configured to move on the track network.

11. The storage system according to claim 9 or claim 10, further comprising: A gantry system or a separate track network spans the second area and optionally also the buffer area, wherein the second vehicle is configured to move on the gantry system or the separate track network.

12. The storage system according to any one of claims 8 to 11, wherein the first type of storage column has a first height, and wherein the second type of storage column has a second height different from the first height, for example, the second height is higher than the first height; and / or wherein, The opening in the upper surface of the at least one buffer unit is flush with the opening of the first type of storage column or with the opening of the second type of storage column.

13. The storage system according to any one of the preceding claims further includes a storage container received in the first class column, and further includes a multi-container frame received in the second class column, wherein the multi-container frame is configured to receive a plurality of storage containers in the multi-container frame; Optionally, further wherein the first cross-sectional area of ​​the first opening substantially matches the external dimensions of the storage container, such that the storage container is supported by the first storage column; and / or Optionally, the second cross-sectional area of ​​the second opening substantially matches the external dimensions of the multi-container frame, such that the multi-container frame is supported by the second storage column.

14. A method of operating the storage system according to claim 9, the method comprising: The second type of container transport vehicle moves the multi-container frame from the second type column to the buffer unit in the at least one buffer unit; Cause the first type of container transport vehicle to perform one of the following: Move the storage container from the multi-container frame located in the buffer unit to the first type of storage column; and Move the storage container from the first type of storage column to the multi-container frame located in the buffer unit; as well as The second type of container transport vehicle moves the multi-container frame from the buffer unit to a second type column or the second type column.

15. A computer-readable medium having instructions stored on the computer-readable medium that are executable by a processor to cause the processor to perform the method according to claim 14.

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