Storage system

Abstract

The present disclosure relates to a storage system for storing storage containers, the storage system comprising: a plurality of vertical storage columns, each vertical storage column configured to hold a plurality of storage containers in a vertical stack; a horizontal rail system arranged above the vertical storage columns, the horizontal rail system configured to support vehicles travelling on the rail system to put storage containers into and remove storage containers from the vertical storage columns; and an inspection unit located in one of the vertical storage columns and configured to obtain inspection data from a storage container positioned in the inspection unit.

Description

Technical Field

[0001] This disclosure relates to a storage system. More specifically, this disclosure relates to a storage system for storing storage containers and a method for inspecting storage containers. 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 an inventory list, and goods are retrieved from the shelves by pickers. As goods enter and leave the warehouse, the shelves are replenished as needed, and the inventory list is updated.

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

[0004] An alternative to traditional warehouse installations is an automated storage and retrieval system (AS / RS), in which robots retrieve items from recorded locations within the warehouse and deliver them to packing stations or ports. This system reduces or eliminates 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 positioned 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 and deliver them to ports or stations at the periphery of the grid, allowing the goods within the containers to be picked up and packed.

[0005] Storage containers may need to be inspected from time to time. Such inspections may include determining the condition of the containers, inspecting or determining which goods are stored in a given storage container, inspecting the condition of the containers, or otherwise inspecting the containers.

[0006] Unlike traditional systems where workers retrieve containers from shelves, where workers cannot access the containers to inspect them themselves, this system utilizes container handling vehicles to move containers to a port through which workers can remove the containers from the system and perform inspections. The aim is to provide a fast and simple method for container inspection. Summary of the Invention

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

[0008] The present disclosure will now be described in more detail with reference to several exemplary embodiments illustrated in the accompanying drawings, in which: Figure 1 A perspective view of a storage system is shown, which includes a grid and multiple robotic container 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 A side view of the storage system of this disclosure is shown, wherein the inspection unit is located in a vertical storage column; Figure 6A It shows Figure 5 A side view of the system, in which a robotic container handling vehicle is approaching a vertical storage column with inspection units; Figure 6B It shows Figure 5 A side view of the system, in which a robotic container transport vehicle is lowering a container into an inspection unit; Figure 6C It shows Figure 5 A side view of the system, in which a robotic container transport vehicle is releasing containers from an inspection unit; Figure 6D It shows Figure 5 A side view of the system, showing a robotic container transport vehicle removing containers from an inspection unit; and Figure 7 A flowchart is shown for a method of inspecting containers in an inspection unit. Detailed Implementation

[0009] In general, this disclosure relates to setting up an inspection unit within a grid of a container storage and retrieval system. The grid includes multiple vertical stacking columns for stacking containers. The inspection unit is positioned within one of these vertical stacking columns. Storage containers or boxes are moved to the inspection unit by a container handling vehicle. After the container is located in the inspection unit, it is inspected. The inspection unit has built-in means for inspecting the container. In this way, the container can be inspected without leaving the grid.

[0010] In some instances, the inspection unit includes a load cell configured to support the weight of a container positioned within it. In some instances, the inspection unit has a scanner for scanning barcodes on the containers. In some instances, the inspection unit has a camera for capturing images of the container contents. The inspection unit is located near the top or upper end of a vertical column, close to the grid. This means that containers only need to descend a short distance from the grid via a container transport vehicle to reach the inspection grid.

[0011] By setting inspection units within the grid, containers can be inspected without being removed from the grid. In known systems, containers are inspected outside the storage system. This requires the container to be moved to a port, removed from the grid, and inspected by personnel. In this disclosure, containers can be inspected while still within the grid, without the need for personnel inspection.

[0012] Overview of Automated Storage and Retrieval Systems

[0013] refer to Figure 1 In the embodiment shown, the grid 100 comprises a frame consisting of a plurality of generally linear, adjacent vertical columns 102 formed between vertical frame members 104 and extending in the X direction 108 and the Y direction 110. The grid elements can be made of any suitable material; for example, the frame members can be made of extruded aluminum. Storage containers or boxes 112 are preferably stacked on top of each other in a self-supporting manner along the Z direction 114 in the columns 102, forming storage volumes for storage units of the respective boxes 112, which extend in the X direction 108, Y direction 110, and Z direction 114.

[0014] 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 direction 108 and Y direction 110, respectively. A robotic container handling vehicle or robot 122 (which may have a range of sizes, shapes, and functions) is set up and configured to run on tracks 118, 120 and transport boxes 112 in both the X direction 108 and Y direction 110. Robot 122 is also configured to lift / lower boxes 112 from column 102 into the column in the Z direction 114, the boxes 112 being optionally guided by vertical frame members 104. Robot 122 accesses the boxes 112 via access openings 124 located above column 102 and formed between tracks 118 and 120.

[0015] Some columns 102 can be used for purposes other than storing the bins. For example, port columns 126, 128 include port columns or access columns that allow bins 112 to be moved into and / or out of grid 100. Port columns 126, 128 provide vertical channels for lifting bins 112 from ports 130, 132 or lowering bins 112 into the ports. Ports 130, 132 in Figure 1 The port is shown at the lowest horizontal level of the grid; however, the port can be located at any vertical position along the column. The corresponding port columns 126, 128 can be designated for removing (“unloading”) box 112 from grid 100 and / or returning or delivering (“picking up”) the box to the grid. Therefore, ports 130, 132 are configured to allow the removal of box 112 and the (horizontal) reintroduction of the box into the associated port column. Therefore, ports 130, 132 may include a conveying device ( 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.

[0016] Box 112 can be transported by robot 122 along the top of grid 100 to port columns 126, 128 and / or back from port columns, 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 an alternative example (not shown), box 112 may be transported to a port of another grid at the same or another horizontal level, or to an external facility. Transport of box 112 to and from ports 130 and 132 can be carried out by any suitable means (not shown), including conveyors, transport vehicles, lifting mechanisms, or robots.

[0017] refer to Figure 2 The illustrated embodiment provides a more detailed view of the XY configuration 200 of the track system 116 and the different types of robots 202, 204. The track system includes tracks 206, with vertical column access openings 124 defined between the tracks for accessing the bin 112. Tracks 206 can be any suitable type of track for allowing robots 202, 204 to travel along the X direction 108 and Y direction 110, including (not shown) recessed tracks for receiving wheels of a vehicle, or protruding tracks for engaging recesses of wheels. Each track 206 may include a single guide rail or multiple parallel guide rails in each of the X direction 108 and Y direction 110.

[0018] The first "cantilever" type robot 202 Figure 3AThe image, shown in more detail, includes a body 300, a set of wheels 302, and a lifting device 304. The body 300 houses operating devices (not shown) for the robot 202, including a drive system, a power system, and a control system. Wheels 302 allow the robot 202 to move in one of the X and Y directions, while another set of wheels (not visible in this view) allows the robot to move in the other direction, in both cases, along corresponding tracks or rails 206. One or both sets of wheels can be raised or lowered to allow selective engagement of tracks, thereby enabling movement in the desired direction. The lifting device 304 includes a cantilever element 306 extending from the top of the body 300 in the XY plane; and a clamping device 308 capable of being raised and lowered relative to the cantilever element 306. The clamping device 308 is configured to clamp or engage the box 112, for example, via a portion of the clamping box 112, or by passively or actively engaging appropriately configured portions of the box 112.

[0019] The second "internal cavity" type robot 204 is in Figure 3B As shown in more detail below, and as an alternative to a cantilever lifting system, an internal cavity 310 is located within the body 300, and a lifting device 312 including a clamping device (not shown) is positioned within this internal cavity. In this case, the body 300 includes the robot's operating equipment and storage space for one or more boxes 112 for use, for example, during the transport of the boxes 112.

[0020] Figure 3C It shows Figure 3B A stereoscopic side view of the robot, in which you can see Figure 3B The first set of wheels, 302. Mentioned above but not mentioned in... Figure 3B Another set of wheels shown in Figure 3C The first set of wheels 302 is shown as wheel 303. Another set of wheels 303 is arranged perpendicular to the first set of wheels 302 to allow the robot 204 to roll along the X and Y directions using the first set of wheels 302 and the second set of wheels 303, respectively. Figure 3C The first set of wheels 302 and the second set of wheels 303 shown can be configured to independently lower and engage with the track (or raise and disengage from the track) to allow the robot 202 to traverse. Figure 2 The track device shown moves along the X and Y directions. Although Figure 3C The 3D diagram shown is Figure 3B Robot 204, however, should be understood that a similar arrangement of vertical wheels can also be applied. Figure 3A Robot 202 in the middle.

[0021] Control and monitoring systems

[0022] The control and monitoring of the automated storage and retrieval system (including monitoring and storing the location of the boxes, controlling the delivery, retrieval and transport of the boxes, and robot route planning and collision avoidance) is handled by Figure 4 The control system shown communicates with the robot and / or other controllable system components to perform the control. This 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 constitute all or part of a computer-implemented method, or a system configured to perform the methods described herein.

[0023] 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 an instruction set can run to cause the computing device to perform any or more methods described herein. In some implementations, the computing device may be connected to (e.g., networked to) other machines in a local area network (LAN), 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 shown, the term "computing device" should also be understood to include any collection of machines (e.g., computers) that individually or collectively execute one or more instruction sets to perform any or more methods described herein.

[0024] An exemplary processing system 400 includes a processor 402, a main memory 404 (e.g., read-only memory (ROM), flash memory, dynamic random access memory (DRAM) such as synchronous DRAM (SDRAM) or Rambus DRAM (RDRAM), etc.), a static memory 406 (e.g., flash memory, static random access memory (SRAM), etc.), and a secondary memory (e.g., a data storage device 418), which communicate with each other via a bus 430.

[0025] 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.

[0026] The processing system 400 may also include a network interface device 408. The processing system 400 may also include any one of a video display unit 410 (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)), an alphanumeric input device 412 (e.g., a keyboard or 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).

[0027] 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, with a particular server-side computer device that is only used for its processing capabilities and does not need 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.

[0028] 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 within main memory 404 and / or processor 402 during execution by processing system 400, which also constitute computer-readable storage media 428.

[0029] 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 floppy disk, random access memory (RAM), read-only memory (ROM), rigid disk, or optical disk, such as CD-ROM, CD-R / W, or DVD.

[0030] A computer program can be run by processor 402 to perform the functions of the systems and methods described herein.

[0031] In implementation, the modules, components, and other features described herein may be implemented as discrete components or integrated into the functionality of hardware components such as ASICs, FPGAs, DSPs, or similar devices.

[0032] A "hardware component" is a tangible (e.g., non-transitory) physical component (e.g., a group or more processors) capable of performing a specific operation and which can be configured or arranged in a specific physical manner. A hardware component may include dedicated circuitry or logic permanently configured to perform a specific operation. A hardware component may be a dedicated processor, or may include dedicated processors such as field-programmable gate arrays (FPGAs) or ASICs. A hardware component may also include programmable logic or circuitry temporarily configured by software to perform a specific operation.

[0033] Therefore, the phrase “hardware component” should be understood to encompass tangible entities that can be physically constructed, permanently configured (e.g., hardwired) or temporarily configured (e.g., programmed) to operate in a particular manner or perform the particular operations described herein.

[0034] Furthermore, modules and components can be implemented as firmware or functional circuitry 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 otherwise embodied in a machine-readable medium or transmission medium).

[0035] Operation of the automatic storage and retrieval system

[0036] 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) to simplify identification of the box 112. 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.

[0037] When it is necessary to retrieve box 112 from grid 100, under the control of processing system 400, robots 202 and 204 are routed via track system 116 to vertical column 102 including storage units. Box 112 is positioned at this storage unit according to a database, and lifting devices 304 and 312 (depending on robot type) are positioned above the corresponding access opening 124, adjacent to or below robots 202 and 204. Robots 202 and 204 lower gripping device 308, which engages, grips box 112, and lifts it to robots 202 and 204. 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, robots 202, 204, or multiple robots possibly dedicated to this task, are controlled during the "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 delivered to ports 130, 132 of pick-up port columns 126, 128 for storage in grid 100, gripped and lifted by robots 202, 204, and delivered to the desired storage unit, whereby, if necessary, boxes located above the desired position can be repositioned as discussed above.

[0038] Specific improvements

[0039] Figure 5 A side view of the grid 100 of this disclosure is shown. Tracks 206 are positioned on a plurality of columns 504 defining a plurality of vertical storage columns 502. Each vertical storage column 502 can store a plurality of containers (not shown) in a stacking configuration.

[0040] Robot 204 is located on track 206 and is configured to remove a container from a vertical storage column so that the container (not shown) moves across the top of the grid and descends into the vertical storage column. Figures 5 to 1 The robot 202 shown in Figure 0 is a cantilever robot; however, this disclosure also relates to internal cavity robots.

[0041] Figure 5 The grid in the grid has inspection units 508. Inspection units 508 are located in vertical storage columns 510. Vertical storage columns 510, including inspection units 508, are not used for stacking and storing containers.

[0042] Inspection unit 508 includes a support 512. The support 512 is configured to support the weight of the container. The support is positioned toward the top of the vertical storage column 510. The support is positioned in the upper half of the storage column, and in some embodiments, the support is positioned at the upper quarter or upper tenth of the storage column.

[0043] For systems configured to store and remove containers of a certain height, the support is positioned below the track system at a distance of twice or less than the container's height. By placing the inspection unit in the upper portion of the vertical storage column, relatively close to the track system, the container only needs to descend a short distance from the robot to reach the unit. This will be explained in more detail below.

[0044] Inspection unit 508 has means for inspecting containers located within the unit. Different means for inspecting the containers can be used to obtain different information about the containers. The inspection means acquires inspection data from the containers. The information data includes information about the containers. This information is sent by the inspection unit to a central server.

[0045] exist Figure 5 In one embodiment, the inspection unit includes a load cell for weighing the container. The load cell includes a weighing device and a display 516. The weighing device has a plate 514 located on a support 512, and the display shows the weight of the object supported on the plate 514. In other embodiments, no display is present.

[0046] The load cell calculates the weight of the container located within it. In some embodiments, the weighing device is an electronic weighing device. In embodiments with a display, the weight of the container is displayed on the display. The inspection unit is located at the edge of the grid and is visible to workers outside the grid, who can record the weight displayed on the display 516.

[0047] In other embodiments, a load cell determines the weight of the container and sends the weight to a central controller, such as processing system 400. The load cell transmits data, including the container weight, to processing system 400 via a wired or wireless connection. The wireless connection could be, for example, Bluetooth. TM or WiFi TM .

[0048] The central controller or processing system 400 can store the weight in memory. The weight can be stored along with the container's identifier, for example, in a database. In this way, containers with known weights can be tracked. The weight of a container is known as it moves through the system via a robot. This information can be used to determine where the container is stored in a vertical storage column. For example, the system can determine that containers exceeding a certain threshold weight will not be stacked at the top of the vertical storage column.

[0049] Weight can also be used to determine the contents of a container, such as the goods inside. The processing system 400 can compare the container weight received from a load cell with a predicted container weight based on a combination of the recorded goods in the container and the weight of goods stored in a database on the processing system. If the received weight is within a threshold range of the predicted weight, the system determines that the container was loaded as expected. If the received weight exceeds the threshold range of the predicted weight, the system determines that the container was not loaded as expected. In some instances, this triggers an instruction message to remove the container from the inspection unit and transfer it to a port. The container is then removed from the grid via the port. After the container is removed from the grid, the contents of the container can be determined and recorded by a worker. In other instances, if it is determined that the container was not loaded as expected, an instruction message can be sent to the inspection unit to capture an image of the container's contents. Inspection units configured to capture images of containers will be discussed below.

[0050] In addition to or replacing the load cells used for weighing the container, the inspection unit may also include other means for inspecting the container positioned within the unit. In one embodiment, the inspection unit has an image capturing device, such as a camera. In some embodiments, the camera is positioned to capture images from above the container located within the inspection unit. The container has an open top. This means that the camera positioned above the container can capture images of the container from above. The images include the interior of the container, and if the container is loaded, its contents.

[0051] In some implementations, the camera is a digital camera and is configured to send captured image data to a central controller, such as processing system 400. Processing system 400 then processes the image data, as will be discussed in more detail below. In some implementations, the camera is configured to capture any of the following: color images, black and white images, or infrared images. The images can be still images or video images. In some implementations, the video images can be sent to the controller for a user to view live footage from the camera.

[0052] Image data captured by the camera is transmitted to the central controller via a wired or wireless connection. Once received at the central controller, the image data is processed in any of the following ways.

[0053] In some implementations, images captured by a camera are displayed to the user on a monitor. The user can visually inspect the contents of the container. The user can visually identify inventory and manually record the contents / goods in the container. Therefore, the user can maintain accurate inventory records. If a user needs to locate an object within the storage system, they can move the container to the inspection unit. They can then view the container image provided by the camera in the inspection unit to determine if the object they are looking for is in the container. This is more efficient than requiring the container to be removed from the grid and its contents to be physically / manually inspected. It also provides a more efficient system because less energy is used to remove containers from the system to determine the required information, and no energy is wasted when removing containers that do not contain the required goods.

[0054] Optionally, users can record the inventory / goods in the container by inputting information into the central controller. The controller can store the inventory records in memory. In some implementations, the controller is also configured to store images of the container.

[0055] Users can also inspect the images for debris on the monitor. This allows users to determine if the container is clean. If the user determines the container is not clean, or contains debris such as dirt or broken objects, the container can be removed from the grid. This is done by moving the container to the port (using a container transport vehicle). The container can then be cleaned, and any debris can be removed. Once the container is ready for use, it can be returned to the grid. By viewing the container's interior within the inspection unit, the container's condition can be determined without removing it from the grid, providing a more efficient system. This also supports better system maintenance, as the container can be removed if it is not clean or contains debris. This avoids situations where a container is found to be unclean / unsuitable only during use (such as when loading goods at the port). If dust or debris is found in a container when it is full, a replacement container must be found. This increases loading time and leads to system inefficiency. By setting up inspection units within the grid, the condition of the container can be assessed, and video images can be acquired. The camera is capable of taking pictures, and the camera and image capture (content recognition and inspection of cleanliness) are performed.

[0056] The scanner and the barcode on each container are associated with the weight and the image taken.

[0057] The method is as follows: insert, capture data, and remove.

[0058] Try to follow the "structure first, operation later" approach.

[0059] Use headings freely, using the "Heading 2" style to ensure proper formatting and to make the headings appear in Word's navigation pane.

[0060] We have a terminology classification system; please use it whenever possible.

[0061] Final Comments

[0062] This disclosure also includes the following provisions: 1. A storage system for storing storage containers, the storage system comprising: Multiple vertical storage columns, each configured to accommodate multiple storage containers in a vertically stacked manner; A horizontal track system, arranged above the vertical storage column, is configured to support vehicles traveling on the track system to place and remove storage containers from the vertical storage column; and An inspection unit is located in a vertical storage column and is configured to retrieve inspection data from a storage container located within the inspection unit.

[0063] 2. The storage system according to Clause 1, wherein the inspection unit includes a support for supporting the weight of the storage container.

[0064] 3. A storage system according to any of the foregoing provisions, wherein the inspection unit is positioned toward the top of the vertical storage column.

[0065] 4. The storage system according to Clause 3, wherein the inspection unit is located at the top of the vertical storage column.

[0066] 5. A storage system according to any of the preceding provisions, wherein the storage system is configured to store a storage container having a given height, and wherein the inspection unit includes a support located below the horizontal track system at a distance less than twice the height of the storage container.

[0067] 6. A storage system according to any of the foregoing provisions, wherein the inspection unit includes a load cell configured to record the weight of a storage container positioned in the inspection unit.

[0068] 7. The storage system pursuant to Clause 6, wherein the load-bearing sensor includes an electronic weighing device.

[0069] 8. A storage system according to any of the foregoing provisions, wherein the inspection unit includes a camera configured to image a storage container located in the inspection unit.

[0070] 9. A storage system according to any of the preceding provisions, wherein the inspection unit includes a scanner configured to scan the barcode of a storage container in the inspection unit.

[0071] 10. The storage system according to any of the foregoing provisions further includes a vehicle configured to travel on a track system and to place and remove storage containers into and out of vertical storage columns.

[0072] 11. The storage system pursuant to Clause 10, wherein the vehicle is configured as follows: Place the storage container into the inspection unit; Release the storage container; The inspection unit is waiting to retrieve inspection data from the storage container; and Remove the storage container from the inspection unit.

[0073] 12. The storage system pursuant to Clause 11, wherein the vehicle is further configured to: Receive an indication from the central server that the container has been inspected; and After receiving instructions, remove the storage container from the inspection unit.

[0074] 13. A storage system according to any of the foregoing provisions, wherein the inspection unit is configured to transmit the acquired inspection data to a central controller.

[0075] 14. The storage system pursuant to Clause 13, wherein the inspection unit is configured to transmit acquired inspection data to a central controller via a wired or wireless connection.

[0076] 15. The storage system according to any of the foregoing provisions further includes a central controller configured to receive information from the inspection unit.

[0077] 16. A storage system pursuant to Clause 15, wherein a central controller is configured to store received information in a database.

[0078] 17. A storage system pursuant to Clause 15 or Clause 16, wherein the inspection unit is configured to capture images of the storage container, and the central controller is configured to perform at least one of the following: Determine the loading status of the storage container; Identify the contents of the storage container; and The cleanliness of the storage container is determined by analyzing the presence of debris in the image.

[0079] 18. A storage system pursuant to any one of Clauses 15 to 17, wherein the inspection unit is configured to scan a barcode on a storage container, and the central controller is further configured to use the scanned barcode to identify the storage container.

[0080] 19. A storage system pursuant to any one of Clauses 15 to 18, wherein the central controller is further configured to remotely operate one or more vehicles to travel on the track system and to place and remove storage containers into and out of vertical storage columns.

[0081] 20. The storage system pursuant to any of the foregoing provisions further includes one or more storage containers.

[0082] 21. A method for inspecting a storage container in a storage system according to any of the preceding provisions, the method comprising: The vehicle places the storage container into the inspection unit located in the vertical storage column; The storage container is released from the vehicle; The storage container is inspected by the inspection unit; and The storage container is removed from the inspection unit by the vehicle.

[0083] 22. The method according to Clause 21, wherein placing the storage container into the inspection unit comprises: vertically lowering the storage container into the inspection unit, and wherein removing the storage container from the inspection unit comprises: vertically lifting the storage container from the inspection unit.

[0084] 23. The method according to Clause 21 or Clause 22, wherein inspecting the storage container includes: weighing the storage container.

[0085] 24. The method according to any one of clauses 21 to 23, wherein inspecting the storage container includes: taking images of the storage container.

[0086] 25. The method according to Clause 24 further includes: analyzing the captured images to determine the loading status of the storage container.

[0087] 26. The method according to Clause 24 or Clause 25 also includes: determining the contents of the storage container from an image.

[0088] 27. The method according to any one of clauses 24 to 26 further includes: analyzing whether there is debris in the image.

[0089] 28. The method according to any one of clauses 21 to 27, wherein inspecting the storage container includes: scanning the barcode of the storage container.

[0090] 29. The method according to any one of clauses 21 to 28 further includes: sending the captured inspection data related to the storage container to the central controller from the inspection unit.

[0091] It should be understood that the above description is intended to be illustrative and not restrictive. Many other implementations will be apparent to those skilled in the art upon reading and understanding the above description. Although this disclosure has been described with reference to specific exemplary implementations, it should be recognized that this disclosure is not limited to the described implementations but can be practiced with modifications and alterations falling within the spirit and scope of the appended claims. Therefore, the specification and drawings are to be regarded in an illustrative sense and not a restrictive sense. 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 for storing storage containers, the storage system comprising: Multiple vertical storage columns, each of which is configured to accommodate multiple storage containers in a vertically stacked manner; A horizontal track system is arranged above the vertical storage column, the horizontal track system being configured to support vehicles traveling on the horizontal track system to place and remove storage containers from the vertical storage column; as well as An inspection unit is located in a vertical storage column, and the inspection unit is configured to obtain inspection data from a storage container located in the inspection unit.

2. The storage system according to any one of the preceding claims, wherein, The inspection unit is positioned towards the top of the vertical storage column.

3. The storage system according to any one of the preceding claims further includes at least one storage container, and wherein, The inspection unit includes a support frame located below the horizontal track system at a distance less than twice the height of the storage container.

4. The storage system according to any one of the preceding claims, wherein, The inspection unit includes a load cell configured to record the weight of a storage container located within the inspection unit.

5. The storage system according to claim 4, wherein, The load-bearing sensor includes an electronic weighing device.

6. The storage system according to any one of the preceding claims, wherein, The inspection unit includes at least one of the following: A camera is configured to image a storage container located in the inspection unit; as well as A scanner configured to scan the barcode of the storage container in the inspection unit.

7. The storage system according to any of the preceding claims further includes a vehicle configured to travel on the horizontal track system and to place and remove storage containers from the vertical storage column, wherein, The vehicle is configured as follows: Place the storage container into the inspection unit; Release the storage container; Waiting for the testing unit to retrieve testing data from the storage container; and Remove the storage container from the inspection unit.

8. The storage system according to claim 7, wherein, The vehicle is also configured to: Receive an indication from the central server that the container has been inspected; and After receiving the instruction, the storage container is removed from the inspection unit.

9. The storage system according to any one of the preceding claims, wherein, The inspection unit is configured to transmit the acquired inspection data to the central controller via a wired or wireless connection.

10. The storage system according to any of the preceding claims further includes a central controller configured to receive information from the verification unit and store the received information.

11. The storage system according to claim 10, wherein, The inspection unit is configured to capture images of the storage container, and the central controller is configured to perform at least one of the following: Determine the loading status of the storage container; Identify the contents of the storage container; as well as The cleanliness of the storage container is determined by analyzing the presence of debris in the image. or The inspection unit is configured to scan the barcode on the storage container, and the central controller is further configured to use the scanned barcode to identify the storage container.

12. A method for inspecting a storage container in a storage system according to any one of the preceding claims, the method comprising: The storage container is placed into the inspection unit located in a vertical storage column by a vehicle; The storage container is released by the vehicle; The storage container is inspected by the inspection unit; as well as The storage container is removed from the inspection unit by the vehicle.

13. The method according to claim 12, wherein, Placing the storage container into the inspection unit includes: vertically lowering the storage container into the inspection unit, and wherein removing the storage container from the inspection unit includes: vertically lifting the storage container from the inspection unit.

14. The method according to claim 12 or claim 13, wherein, Inspecting the storage container includes at least one of weighing the storage container and scanning the barcode of the storage container.

15. The method according to any one of claims 12 to 14, wherein, Inspecting the storage container includes: taking an image of the storage container, and wherein the method further includes at least one of the following: Analyze the captured images to determine the loading status of the storage container; Determine the contents of the storage container from the image; and Analyze whether there is debris in the image.

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