Storage system

Abstract

To provide a suitable storage system.SOLUTION: A storage system comprises: at least one vehicle; a horizontal rail grid; and a charging system for charging a rechargeable power source of the vehicle. The vehicle comprises: a first set of wheels for moving the vehicle on the rail grid; and a second set of wheels. The first set of wheels is vertically displaceable between a first position, a second position, and a third position, the charging system comprising a charging station disposed on the vehicle and comprising at least two charge receiving elements connected to a power source and two charge providing elements connected to a charging power source. The charging station comprises an actuator operatively connected to the charge providing elements, the actuator being arranged such that when the vehicle is positioned above the filling station, the actuator is capable of moving the charge providing elements in a vertical direction, thereby connecting the charge receiving elements to the charge providing elements.SELECTED DRAWING: Figure 18

Description

[Technical field]

[0001] The present invention relates to an automated storage and retrieval system that includes a charging system, and a method of using the automated storage and retrieval system. [Background technology]

[0002] Figures 1A and 2B disclose a typical prior art automated storage and retrieval system 1 with a framework structure 100. Figures 1B and 2B disclose prior art container handling vehicles 200, 300, respectively, operating in the system 1 disclosed in Figures 1A and 2A.

[0003] The framework structure 100 defines a storage grid 104 comprising a plurality of upright members 102 and, optionally, a plurality of horizontal members 103 that support the upright members 102. The members 102, 103 may typically be made from metal, for example, extruded aluminum sections.

[0004] The storage grid 104 comprises a number of grid columns 112. Most of the grid columns, also called storage columns 105, contain storage containers 106, also known as bins, stacked one on top of the other to form a stack 107.

[0005] Each storage container 106 will typically hold multiple product items (not shown), and the product items within the storage containers 106 may be the same or may be different product types, depending on the application.

[0006] The storage grid 104 prevents horizontal movement of the storage containers 106 in the stack 107 and guides vertical movement of the containers 106, but does not typically support the storage containers 106 when stacked.

[0007] The automated storage and retrieval system 1 comprises a rail system 108 (or upper rail grid) arranged in a grid pattern across the top of the storage grid 104, on which a plurality of container handling vehicles 200, 300 (as illustrated in Figures 1B and 2B) are operated to raise and lower storage containers 106 from and into the storage columns 105, and the plurality of container handling vehicles 200, 300 are also operated to transport the storage containers 106 above the storage columns 105. The horizontal extent of one of the grid cells 122 making up the grid pattern is marked by a bold line in Figures 1A and 2A.

[0008] Each grid cell 122 has a width that is typically in the interval of 30-150 cm, and a length that is typically in the interval of 50-200 cm. Each grid opening 115 typically has a width and length that is 2-10 cm less than the width and length of the grid cell 122, due to the horizontal extent of the rails 110, 111.

[0009] The rail system 108 comprises a first set 110 of parallel rails arranged to guide movement of the container handling vehicles 200, 300 in a first direction X across the top of the frame structure 100, and a second set 111 of parallel rails arranged perpendicular to the first set 110 of rails to guide movement of the container handling vehicles 200, 300 in a second direction Y that is perpendicular to the first direction X. The rail system 108 thus defines the upper ends of the grid columns 112 above which the container handling vehicles 200, 300 may move laterally, i.e., in a plane that is parallel to the horizontal XY plane. Typically, at least one of the rail sets 110, 111 is comprised of a dual track rail that allows two container handling vehicles to pass each other over adjacent grid cells 122. Dual track rails are well known and are disclosed, for example, in WO 2015 / 193278 A1 and WO 2015 / 140216 A1, the contents of which are incorporated herein by reference.

[0010] Each prior art container handling vehicle 200, 300 comprises a vehicle body and a wheel arrangement 201, 301 of eight wheels, with a first set of four wheels allowing lateral movement of the container handling vehicle 200, 300 in the X direction and a second set of the remaining four wheels allowing lateral movement in the Y direction. One or both sets of wheels in the wheel arrangement can be lifted and lowered so that the first set of wheels and / or the second set of wheels can be brought into engagement with the respective rail set 110, 111 at any time.

[0011] Each prior art container handling vehicle 200, 300 also includes a lifting device (not shown) for vertical transportation of the storage containers 106, e.g., for raising and lowering the storage containers 106 from and into the storage columns 105. The lifting device includes one or more gripping / engagement devices (not shown) adapted to engage the storage containers 106, which can be lowered from the vehicle 201, 301 such that the position of the gripping / engagement devices relative to the vehicle 201, 301 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y.

[0012] Conventionally, for purposes of this application, Z=1 identifies the top layer of the grid 104, i.e., the layer immediately below the rail system 108, Z=2 identifies the second layer below the rail system 108, Z=3 identifies the third layer, and so on. In the prior art storage grid disclosed in Figures 1A and 2A, Z=8 identifies the bottommost layer of the grid 104. As a result, using, by way of example, the Cartesian coordinate system X, Y, Z shown in Figures 1A and 2B, a storage container identified as 106' in Figure 1 can be considered to occupy a grid location or cell X=10, Y=2, Z=3. The container handling vehicles 200, 300 can be considered to be traveling at layer Z=0, and each grid column can be identified by its X and Y coordinates.

[0013] Each container handling vehicle 200 includes a storage compartment or space (not shown) for receiving and stowing the storage containers 106 as they are transported across the top of the storage grid 104. The storage space may include a centrally located cavity within the vehicle body, for example, as described in WO 2014 / 090684 A1, the contents of which are incorporated herein by reference.

[0014] Alternatively, the container handling vehicle 300 may have a cantilever structure as described in US Pat. No. 317,366, the contents of which are also incorporated herein by reference.

[0015] The container handling vehicle 200 may have a footprint, i.e., extent in the X and Y directions, that is generally equal to the horizontal area of ​​the grid cell 122, i.e., the extent of the grid cell 122 in the X and Y directions, as described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0016] Alternatively, the container handling vehicle 200 may have a footprint larger than the horizontal area of ​​a grid cell 122, for example as disclosed in WO2014 / 090684A1.

[0017] Prior art container handling vehicles are equipped with rechargeable batteries to drive the vehicles and operate the lifting device. The batteries of the container handling vehicles are recharged at a charging station (not shown). Typically, the vehicles and charging stations feature a plug / pin and socket interface. A plug / pin 27 for coupling to a socket of the charging station is shown on the prior art container handling vehicle 300 in FIG. 2. The batteries of the prior art container handling vehicle 300 are recharged by moving the vehicle towards the charging station such that the plug / pin 27 is inserted into a corresponding socket on the charging station. Once the battery is charged, the vehicle is moved away from the charging station to disconnect the plug / pin from the socket. Charging systems in which the container handling vehicles feature replaceable and rechargeable batteries are known and are disclosed, for example, in WO 2015 / 104263 A2.

[0018] A common feature of prior art charging stations / systems is the use of a charging interface featuring a plug / pin on the vehicle and a corresponding socket on the charging station (or vice versa). Such interfaces require very high precision during connection and are vulnerable to wear. Furthermore, prior art interfaces requiring horizontal coupling movements limit the practical charging current that can be employed. The reason for the current limitation is that increased current requires a correspondingly larger plug / socket, which increases the friction between the two parts of the interface and, consequently, increases the force required to connect / disconnect the plug / socket. The container handling vehicle 300 can only provide a certain push / pull force in the horizontal plane that is limited by the friction between the vehicle and the rail. As a result, if the plug / socket is too large, the container handling vehicle will not be able to connect / disconnect the plug / pin to and from the socket.

[0019] In view of the above, it is a goal of the present invention to provide an automated storage and retrieval system, and a method of operating such a system, that solves or at least mitigates one or more of the problems associated with the charging systems of prior art storage and retrieval systems. [Prior art documents] [Patent documents]

[0020] [Patent Document 1] International Publication No. 2015 / 193278 [Patent Document 2] International Publication No. 2015 / 140216 Summary of the Invention [Means for solving the problem]

[0021] The invention is defined by the appended claims and below.

[0022] In a first aspect, the present invention provides a storage system comprising at least one vehicle, a horizontal rail grid, and a charging system for charging a rechargeable power source of the vehicle, the vehicle comprises a first set of wheels and a second set of wheels for moving the container vehicle on the rail grid; the first set of wheels is vertically displaceable between a first position in which the first set of wheels can move the vehicle in a first direction, a second position in which the first and second sets of wheels are in contact with the rail grid, and a third position in which the second set of wheels can move the vehicle in a second direction that is perpendicular to the first direction; - the charging system comprises a charging station arranged on the vehicle and comprising at least two charge receiving elements connected to a rechargeable power source and two charge providing elements connected to a charging power source; The charging station includes an actuator operatively connected to the charge providing element and positioned to move the charge providing element vertically such that the charge receiving element can be connected to the charge providing element when the vehicle is positioned above the charging station.

[0023] In other words, the actuator is operatively connected such that the charge-providing element can be moved into electrical contact with the charge-receiving element when the vehicle is positioned over the charging station.

[0024] In other words, the first set of wheels may be vertically displaceable relative to the vehicle body of the vehicle and relative to the second set of wheels. The first set of wheels may be arranged such that when the first set of wheels is displaced from the first position to the second or third position, the vehicle body is lowered towards the rail grid. In other words, the first set of wheels may be arranged such that when the first set of wheels is displaced from the first position to the second or third position, the vehicle body is lowered towards the charging station.

[0025] In one embodiment of the storage system, the actuator is arranged to move the charge providing element between a first position in which the charge receiving element and the charge providing element may be connected, and a second position in which the charge receiving element and the charge providing element are separated, i.e., vertically separated.

[0026] In other words, when the vehicle is positioned above the charging station, the charge providing element can be moved between a first position in which the charge providing element is in contact and a second position in which the charge receiving element and the charge providing element are vertically separated.

[0027] In one embodiment of the storage system, the charge receiving element and the charge providing element are connected when the vehicle is positioned over the charging station and the charge providing element is in a first position.

[0028] In one embodiment of the storage system, the actuator is positioned such that when the charge providing element is in the second position, an upper level of the charge providing element is at or below an upper level of the rail grid, and when the charge providing element is in the first position, an upper level of the rail grid.

[0029] In other words, the top part of the charge providing element is at or below the top level of the rail grid, i.e. the top level of the rails constituting the rail grid, when the charge providing element is in the second position, and is above the top level of the rail grid when the charge providing element is in the first position. This feature is very advantageous in providing a flexible use of the rail grid, since vehicles can pass unhindered above the charging station when the charge providing element is in the second position.

[0030] In one embodiment of the storage system, the charge receiving element and the charge providing element are connected when the vehicle is positioned over the charging station, the charge providing element is in a first position, and the first set of wheels is in a second or third position.

[0031] In one embodiment of the storage system, the charge receiving element is at least one power socket and the charge providing element is at least two power pins.

[0032] At least one power socket may feature contacts for each of the power pins. In other words, the charge receiving element may be a single power socket featuring contacts for each of the power pins, or the charge receiving element may be at least two separate power sockets, each power socket featuring contacts for one of the power pins.

[0033] In one embodiment, the storage system comprises three charge receiving elements arranged on a bottom section of the vehicle, a first of the three charge receiving elements being centrally arranged on the bottom section and a second charge receiving element and a third charge receiving element being arranged on either side of the first charge receiving element, whereby two charge providing elements can be connected to the first charge receiving element and one of the second and third charge receiving elements depending on the orientation in which the vehicle is placed on the rail grid.

[0034] In one embodiment of the storage system, the three charge receiving elements are arranged side by side along the first or second direction. The three charge receiving elements may be three separate power sockets.

[0035] In one embodiment of the storage system, the charging station is positioned within a grid cell of the rail grid such that a vehicle can pass unimpeded above the filling station when the charge providing element is in the second position.

[0036] In an embodiment of the storage system, the charging station may comprise a support structure, which may be located within a single grid cell of the rail grid and at a level below the upper level of the rails of the rail grid. An advantage of having a support structure located within a single grid cell of the rail grid and at a level below the rails of the rail grid is that the charging station may be located anywhere on the rail grid without interfering with vehicle movement.

[0037] In one embodiment of the storage system, the two charge providing elements provide direct current, ie, one of the charge providing elements is DC- and the other is DC+.

[0038] In certain embodiments of the storage system, the rechargeable power source may be a battery or a capacitor.

[0039] In certain embodiments, the storage system may include a storage grid structure having vertical column sections defining a plurality of storage columns, in which the storage containers can be stored one above the other in a vertical stack. The column sections may be interconnected at their upper ends by top rails forming a horizontal top rail grid.

[0040] In one embodiment, the storage system includes at least one horizontal transport rail grid disposed at a level below the upper rail grid.

[0041] In certain embodiments of the storage system, the rail grid may be either an upper rail grid or a transfer rail grid.

[0042] In one embodiment of the storage system, the rail grid is a transport rail grid, and the storage system may also be referred to as a transport system.

[0043] In certain embodiments of the storage system, the vehicles may be either container handling vehicles arranged to move on an upper rail grid and container transfer vehicles arranged to move on a transfer rail grid.

[0044] The at least one vehicle may be any vehicle suitable for a storage system, such as a container transfer vehicle, a container handling vehicle, or a vehicle featuring a suitable wheel assembly.

[0045] In a second aspect, the present invention provides a vehicle for a storage system according to any embodiment of the first aspect comprising a rechargeable power source, at least two charge receiving elements for receiving a charging current, a first set of wheels and a second set of wheels; the first set of wheels and the second set of wheels are for moving a vehicle on a rail grid, the first set of wheels being vertically displaceable between a first position in which the first set of wheels can move the vehicle in a first direction, a second position in which the first and second sets of wheels are in contact with the rail grid, and a third position in which the second set of wheels can move the vehicle in a second direction that is perpendicular to the first direction; a rechargeable power source connected to the charge-receiving element; The charge receiving element is located in the bottom section of the container vehicle and faces vertically downwards.

[0046] In one embodiment of the vehicle, the charge receiving element is three separate power sockets for receiving the charging current, a first of which is centrally disposed on the bottom section, a second power socket and a third power socket are disposed on either side of the first power socket, and the three power sockets are disposed side by side along the first or second direction.

[0047] In certain embodiments the vehicle may be equipped with a container transport arrangement or a container lifting device.

[0048] In certain embodiments of the vehicle, the rechargeable power source may be arranged to provide power to at least one drive motor of the vehicle.

[0049] In a third aspect, the present invention provides a charging station for a storage system according to any embodiment of the first aspect, comprising two power pins connected to a charging power source for providing a charging current, an actuator, and a support structure, the actuator being operatively connected to the power pins and arranged to move the power pins vertically between an upper first position and a lower second position.

[0050] The charging power source may be any suitable power system equipped with any required control system for providing a charging current, for example connected to a local power grid.

[0051] In one embodiment of the charging station, the support structure comprises a horizontal plate element having an opening positioned such that when the power pin is in an upper first position, it will extend above an upper edge of the opening, and when the power pin is in a lower second position, it will extend below or at the level of the edge.

[0052] In one embodiment of the charging station, the actuator includes an electric motor, an actuator arm assembly, and a vertically disposed sliding element having a power pin connected thereto, the actuator arm assembly operatively connected between the electric motor and the sliding element such that rotation of the motor can move the power pin between an upper first position and a lower second position.

[0053] In a fourth aspect, the present invention provides a method of charging a vehicle in a storage system, the storage system comprising: a horizontal rail grid; and a charging system for charging a rechargeable power source of the vehicle; the vehicle includes a first set of wheels and a second set of wheels for moving the vehicle on the rail grid; the first set of wheels are vertically displaceable between a first position in which the first set of wheels may move the vehicle in a first direction, a second position in which the first and second sets of wheels are in contact with the rail grid, and a third position in which the second set of wheels may move the vehicle in a second direction that is perpendicular to the first direction; The charging system includes a charging station disposed on a bottom section of the vehicle and including two charge receiving elements connected to a power source and two charge providing elements connected to a charging power source; The charging station includes an actuator operatively connected to the charge-providing element and arranged to move the charge-providing element in a vertical direction, and the method includes: - moving the vehicle in a first direction towards a charging station; - stopping the vehicle in a position above the charge providing element; - vertically moving the charge providing element such that the charge receiving element and the charge providing element are connected.

[0054] In an embodiment of the method, the step of vertically moving the charge-providing element comprises: - preceded by the step of displacing a first set of wheels from a first position to a second position such that horizontal movement of the vehicle is prevented. The present specification also provides, for example, the following items: (Item 1) A storage system comprising at least one vehicle (6, 36, 300', 400), a horizontal rail grid (108, 5), and a charging system for charging a rechargeable power source (20) of the vehicle; the vehicle comprises a first set of wheels (32a) and a second set of wheels (32b) for moving the vehicle on the rail grid; the first set of wheels (32a) is vertically displaceable between a first position in which the first set of wheels is capable of moving the vehicle in a first direction (X), a second position in which the first and second sets of wheels are in contact with the rail grid, and a third position in which the second set of wheels is capable of moving the vehicle in a second direction (Y) perpendicular to the first direction, The charging system comprises a charging station (22) arranged on the vehicle and comprising at least two charge receiving elements (21a, 21b, 21c) connected to the power source (20) and two charge providing elements (23a, 23b) connected to a charging power source (33); The charging station includes an actuator (31) operatively connected to the charge providing element (23a, 23b), the actuator (31) being arranged to move the charge providing element (23a, 23b) in a vertical direction when the vehicle is positioned above the filling station, whereby the charge receiving element (21a, 21b) is connected with the charge providing element (23a, 23b). (Item 2) 2. The storage system of claim 1, wherein the actuator (31) is arranged to move the charge providing elements (23a, 23b) between a first position in which the charge receiving element (21) and the charge providing elements (23a, 23b) can be connected and a second position in which the charge receiving element (21) and the charge providing elements (23a, 23b) are separated. (Item 3) 3. The storage system of claim 2, wherein the charge receiving elements (21a, 21b) and the charge providing elements (23a, 23b) are connected when the vehicle is positioned above the charging station and the charge providing elements (23a, 23b) are in the first position. (Item 4) 4. The storage system according to claim 2 or 3, wherein the actuator (31) is arranged such that when the charge providing element (23a, 23b) is in the second position, an upper level of the charge providing element (23a, 23b) is at or below an upper level of the rail grid, and when the charge providing element (23a, 23b) is in the first position, an upper level of the rail grid. (Item 5) 5. The storage system according to any of items 2-4, wherein the charge receiving element (21a, 21b) and the charge providing element (23a, 23b) are connected when the vehicle is positioned above the charging station, the charge providing element (23a, 23b) is in the first position, and the first set of wheels (32a) is in the first or second position. (Item 6) 6. The storage system according to any of items 1-5, wherein the charge receiving element is at least one power socket (21a, 21b) and the charge providing element is a power pin (23a, 23b). (Item 7) 7. The storage system according to any of items 1-6, comprising three charge receiving elements (21a, 21b, 21c) arranged on a bottom section of the vehicle, a first of the three charge receiving elements (21b) being centrally arranged on the bottom section and a second charge receiving element (21a) and a third charge receiving element (21c) being arranged on either side of the first charge receiving element (21b), whereby the two charge providing elements (23a, 23b) can be connected to the first charge receiving element and to one of the second and third charge receiving elements depending on the orientation in which the vehicle is arranged on the rail grid. (Item 8) 8. The storage system according to item 7, wherein the three charge receiving elements (21a, 21b, 21c) are arranged side by side along the first or second direction. (Item 9) A vehicle (6, 36, 300', 400) for a storage system according to any of the preceding claims, said vehicle comprising a rechargeable power source, at least two charge receiving elements (21a, 21b, 21c) for receiving a charging current, a first set of wheels (32a) and a second set of wheels (32b), the first set of wheels (32a) and the second set of wheels (32b) are for moving the vehicle on a rail grid, the first set of wheels (32a) being vertically displaceable between a first position in which the first set of wheels is capable of moving the vehicle in a first direction (X), a second position in which the first and second sets of wheels are in contact with the rail grid, and a third position in which the second set of wheels is capable of moving the vehicle in a second direction (Y) perpendicular to the first direction, the rechargeable power source is connected to a charge receiving element (21a, 21b, 21c); The charge receiving elements (21a, 21b, 21c) are disposed in a bottom section (19) of the container vehicle and face vertically downwards. (Item 10) 10. The vehicle of item 9, wherein the charge receiving element is three separate power sockets (21a, 21b, 21c) for receiving a charging current, a first power socket (21b) of the three separate power sockets being centrally disposed on the bottom section (19), a second power socket (21a) and a third power socket (21c) being disposed on either side of the first power socket (21b), and the three power sockets being disposed side by side along the first or second direction. (Item 11) 9. A charging station for a storage system according to any of items 1-8, comprising two power pins (23a, 23b) connected to a charging power source for providing a charging current, an actuator (31), and a support structure (29), the actuator being operably connected to the power pins and arranged to move the power pins vertically between an upper first position and a lower second position. (Item 12) Charging station according to item 13, wherein the support structure (29) comprises a horizontal plate element (28) having an opening (30) arranged such that the power pins (23a, 23b) will extend above an upper edge (37) of the opening when in the upper first position and will extend below or at the level of the edge (37) when in the lower second position. (Item 13) 15. The charging station of claim 13 or 14, wherein the actuator (31) comprises an electric motor (39), an actuator arm assembly (25a, 25b), and a vertically arranged sliding element (26) to which a power pin (23a, 23b) is connected, the actuator arm assembly (25a, 25b) being operatively connected between the electric motor (39) and the sliding element (26) such that rotation of the motor is capable of moving the power pin (23a, 23b) between the upper first position and the lower second position. (Item 14) A method for charging a vehicle (6, 36, 300', 400) in a storage system, the storage system comprising a horizontal rail grid (108, 5) and a charging system for charging a rechargeable power source (20) of the vehicle, the vehicle comprises a first set of wheels (32a) and a second set of wheels (32b) for moving the vehicle on the rail grid; the first set of wheels (32a) is vertically displaceable between a first position in which the first set of wheels is capable of moving the vehicle in a first direction (X), a second position in which the first and second sets of wheels are in contact with the rail grid, and a third position in which the second set of wheels is capable of moving the vehicle in a second direction (Y) perpendicular to the first direction, the charging system comprises a charging station (22) arranged on a bottom section (19) of the vehicle and comprising two charge receiving elements (21 a, 21 b) connected to the power source (20) and two charge providing elements (23 a, 23 b) connected to a charging power source (33); the charging station comprises an actuator (31) operatively connected to the charge providing elements (23a, 23b) and arranged to move the charge providing elements (23a, 23b) in a vertical direction; The method comprises: moving the vehicle in the first direction (X) toward the charging station (22); stopping the vehicle in a position above the charge providing elements (23a, 23b); vertically moving the charge providing elements (23a, 23b) so that the charge receiving elements (21a, 21b) and the charge providing elements (23a, 23b) are connected; A method comprising: (Item 15) The step of vertically moving the charge providing elements (23a, 23b) includes: 17. The method according to claim 16, preceded by the step of displacing the first set of wheels (32a) from the first position to the second position such that horizontal movement of the vehicle is prevented. [Brief description of the drawings]

[0055] The invention is described in detail below, by way of example only, and with reference to the following drawings:

[0056] [Figure 1] Figures 1 and 2 are perspective views of a prior art automated storage and retrieval system, with Figures 1A and 2A showing the complete system and Figures 1B and 2B showing an example of a prior art container handling vehicle suitable for use in the system. [Diagram 2] Figures 1 and 2 are perspective views of a prior art automated storage and retrieval system, with Figures 1A and 2A showing the complete system and Figures 1B and 2B showing an example of a prior art container handling vehicle suitable for use in the system. [Diagram 3] FIG. 3 is a perspective view of a first exemplary storage grid for use in a storage system according to the present invention. [Figure 4] FIG. 4 is a perspective side view of the storage grid of FIG. [Diagram 5] FIG. 5 is a perspective view of the storage grid of FIGS. 3 and 4 featuring container handling vehicles and container transfer vehicles. [Figure 6] FIG. 6 is a perspective view of the storage grid of FIGS. 3-5 with the storage columns stocked with storage containers. [Figure 7] FIG. 7 is a perspective view of a second exemplary storage grid for use in a storage system according to the present invention. [Figure 8] FIG. 8 is a perspective view of the storage grid of FIG. 6 featuring a container handling vehicle and a container transfer vehicle. [Figure 9] FIG. 9 is a perspective top view of a third exemplary storage grid for use in a storage system according to the present invention. [Figure 10] FIG. 10 is a perspective side view of a third exemplary storage grid for use in a storage system according to the present invention. [Figure 11]FIG. 11 is a schematic top view of an exemplary storage system according to the present invention. [Figure 12] FIG. 12 is a detailed view of a section of the storage system of FIG. [Figure 13] FIG. 13 is a perspective view of an exemplary storage system according to the present invention. [Figure 14] 14A and 14B are perspective views of an exemplary container transfer vehicle in accordance with the present invention. [Figure 15] FIG. 15 is a perspective view of a rail grid featuring an exemplary charging station in accordance with the present invention. [Figure 16] 16 and 17 are perspective views of the charging station of FIG. [Figure 17] 16 and 17 are perspective views of the charging station of FIG. [Figure 18] FIG. 18 is a perspective view of an exemplary container transfer vehicle positioned above a charging station as shown in FIGS. 15-17. [Figure 19] 19 is a perspective cross-sectional view of the charging station and the container transfer vehicle of FIG. 18. FIG. [Figure 20] 20 is a perspective view of an actuator of the exemplary charging station of FIG. 18. [Figure 21] FIG. 21 is a perspective view of an exemplary container transfer vehicle positioned above a charging station as shown in FIGS. 15-17. [Figure 22] FIG. 22 is a perspective view of an exemplary container transfer vehicle entering a grid cell featuring a charging station. [Diagram 23] 23 and 24 are cross-sectional views of the charging station and container transfer vehicle of FIG. 21. [Figure 24] 23 and 24 are cross-sectional views of the charging station and container transfer vehicle of FIG. 21. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0057] In the following, embodiments of the present invention will be discussed in more detail with reference to the attached drawings. It should be understood, however, that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings. Moreover, even if some of the features are described only in relation to the system, it is clear that they are equally valid with respect to the related method and vice versa.

[0058] An embodiment of a storage grid for an automated storage and retrieval system according to the invention is shown in Figures 3 and 4, and the same storage grid featuring a container handling vehicle 300 and a container transfer vehicle 6 is shown in Figure 5. The number of storage columns of the grid has been reduced to better illustrate the inventive features of the storage grid. The main part of the storage grid is constructed in the same manner as the prior art system shown in Figures 1A and 2A. That is, the storage grid structure 104 comprises vertical column profiles 102 defining a number of storage columns 105, in which storage containers 106 can be stored one above the other in a vertical stack 107. The column profiles 102 are interconnected at their upper ends by upper rails 110, 111 forming a horizontal rail grid 108 (hereafter referred to as the upper rail grid) along which the container handling vehicles 200, 300 can move in two perpendicular directions.

[0059] In addition to the storage columns 105, the storage grid structure of the inventive storage system includes a number of transfer columns 119, 120 through which storage containers may be transferred between the upper rail grid 108 (i.e., the upper level of the grid) and a transfer section 2 (or tunnel / passageway) extending within the storage grid structure at a level below the upper rail grid. The transfer section extends from an opening in the exterior of the grid structure 104 below the number of transfer columns 119, 120. In an advantageous embodiment, particularly in connection with large storage grids, the transfer section may extend to a substantially central location of the storage grid and pass through the entire storage grid via a substantially central section of the storage grid structure 104, reducing the distance that storage handling vehicles 200, 300 must travel to reach the transfer columns.

[0060] The transfer section 2 is defined or constructed by a plurality of horizontal ceiling profiles 3, vertical support profiles 4, and a horizontal rail grid 5 (hereafter referred to as transfer rail grid) sections. The ceiling profiles 3 provide a horizontal support grid 18. The height H of the transfer section 2 may be defined by the distance between the bottom surface of the ceiling profiles 3 and the upper surfaces of the opposing rails 110', 111' of the transfer rail grid 5, and the width W of the transfer section is defined by the distance between the inner surfaces of the two support profiles 4 connected to the common ceiling profile 3. A plurality of transfer columns 119, 120 are defined by vertical column profiles extending from the upper rail grid to the ceiling profiles 3. The height H of the transfer section 2 is sufficient to allow the container transfer vehicles 6 to proceed within the transfer section 2 when transporting storage containers.

[0061] The ceiling profile 3 and / or the support grid 18 are supported by vertical support profiles 4 which are arranged on the periphery of the transfer section 2 .

[0062] FIG. 5 shows a situation in which a storage container 106 is being transferred between a container transfer vehicle 6 and a container handling vehicle 300.

[0063] The transfer rail grid 5 in the transfer section 2 is provided with rails 110', 111' (i.e. transfer rails) similar to the rails 110, 111 (i.e. upper rails) of the upper rail grid 108 along which the container transfer vehicle 6 (or delivery vehicle) may move in two perpendicular directions. The container transfer vehicle 6 (see Figures 14A and 14B for a preferred transfer vehicle embodiment) features a wheel base 36 with wheel arrangements 32a, 32b that allow the vehicle to roll on the transfer rail grid 5, and a container carrier 38 for receiving the storage containers to be transferred. The disclosed container transfer vehicle 6 features a container carrier 38 in the form of a deep tray in which the lower part of the storage container 106 may be received. However, numerous alternative solutions for the preferred container carrier are envisaged, the main functional feature of all preferred container carriers being the ability to receive storage containers that have been lowered to the top of the container carrier and to hold the storage containers during the movement of the container transfer vehicle on the transfer rail grid 5. Further, the horizontal perimeter of the container transfer vehicle 6 is preferably such that each of a plurality of adjacent transfer columns 119, 120 may be used to simultaneously transfer a storage container 106 to a respective container transfer vehicle 6. To obtain the latter functionality, the horizontal perimeter of the container transfer vehicle 6 fits within a horizontal area defined by one of the grid cells 122' of the transfer rail grid 5. Furthermore, the transfer rails 110', 111', extending in one of two perpendicular directions, are dual track rails (see below), allowing a plurality of container transfer vehicles to be positioned adjacently beneath a plurality of adjacent transfer columns 119, 120.

[0064] In the arrangement shown, the transfer section 2 has a width W that provides room for three separate transfer vehicle paths 7, 7', 7'' in the longitudinal direction of the transfer section. By having three separate transfer vehicle paths, three transfer vehicles 6 can pass each other at the same time. To enable this feature, at least the rail 111' extending in the longitudinal direction of the transfer section is a double-track rail. Suitable double-track rails are disclosed, for example, in WO 2015 / 193278 A1 and WO 2015 / 140216 A1. The double-track rails 110', 111' comprise two parallel tracks. In other words, three parallel double-track rails can provide two parallel transfer vehicle paths. The rail 110' arranged perpendicular to the rail 111' extending in the longitudinal direction of the transfer section can be a single-track rail or a double-track rail. In particular, when the storage grid structure 104 comprises a plurality of adjacent transfer columns 119, 120, it may be advantageous for all rails 110', 111' in the transfer rail grid 5 to be dual track rails, as this provides optimal flexibility for the movement of the container transfer vehicles 6 to / from positions below the transfer columns 119, 120. The design of the transfer rails 110', 111' and the wheel arrangements 32a, 32b of the container transfer vehicles 6 allows the vehicles to change tracks when required, i.e. the container transfer vehicles 6 may move in two perpendicular directions on the transfer rail grid 5. The wheel arrangements may preferably be similar to those described for the prior art container handling vehicles 200, 300.

[0065] Depending on the requirements of the inventive storage system (i.e., size of the storage grid, turnover rate of storage containers, etc.), one or more of the transport vehicle paths 7, 7', 7'' are positioned below any number of transport columns 119, 120. Grid columns 112 positioned above the transfer section and not designated as transfer columns can be used as storage columns 105' (see Figures 6 and 12). This is achieved by adding stop elements 16 (e.g., brackets fastened to the associated column profiles) to the lower ends of the respective grid columns 102 (stop elements in storage columns 105' positioned above the transfer section 2 are not visible in the drawings). The stop elements 16 are designed to support storage containers 106 being lowered into the respective grid columns 112 and prevent them from entering the transfer section 2 below. In this way, a minimum of potential storage space is lost from the storage grid structure 104 due to the transfer section 2. The stop elements 16 can also be used to provide an operator passage 17 below the row of storage columns 105' adjacent to the transfer section 2. In this way, operators or maintenance personnel may have access to the container transfer vehicle 6 in the event of, for example, an obstruction preventing the vehicle from exiting the transfer section.

[0066] The transfer rail grid 5 extends from the storage grid structure 104 and, depending on the design and extent of the transfer rail grid 5, the container transfer vehicle 6 may be used to transfer storage containers 106 between multiple separate storage grid structures, to transfer containers from the storage grid to picking / stock stations, to dedicated stock areas, to assembly lines for part delivery, etc.

[0067] A second embodiment of a storage grid 104 for an automated storage and retrieval system according to the present invention is shown in Figures 7 and 8. In this embodiment, the differentiating feature in view of the embodiments discussed above is that the transfer section 2 is positioned along or adjacent to the outer section 12 of the storage grid 104.

[0068] A third embodiment of a storage grid 104 for an automated storage and retrieval system according to the invention is shown in Figures 9 and 10. The main differentiating feature of the third embodiment in view of the embodiments discussed above is the construction of the support grid 18 which allows the container transfer vehicles to exit / enter the transfer section via the longitudinal sides of the transfer section.

[0069] The preferred placement and size of the transfer section 2, and the positioning of the transfer columns 119, 120 in any given storage system will depend on the size of the storage grid structure 104, the intended use of the storage system 1, the available space in which the storage system is to be placed, the shape / layout of said space, etc. Independent of the specific positioning of the transfer section 2 within the storage grid structure, a storage system in accordance with the present invention, as disclosed throughout this specification, will offer several advantages over prior art storage systems.

[0070] A schematic overview of an exemplary layout of the inventive storage system 1 is shown in Figures 11 and 12. The exemplary layout illustrates some of the many advantages of the inventive storage system.

[0071] The storage system of FIG. 11 comprises three separate storage grid structures 104, 104', 104''. Each of the first and third storage grid structures 104, 104'' features a transfer section 2, 2'' that extends throughout the respective storage grid structure, i.e., the transfer section extends from a first opening 11 in an outer side 12 of the storage grid to a second opening 13 in the opposite outer side 12'. In this manner, a container transfer vehicle 6 that has received or delivered a storage container 106 via any of a plurality of transfer columns 119, 120 may exit through the first opening 11 or the second opening 13 of the transfer section 2 depending on which route to the selected destination is most efficient.

[0072] Each of the transfer sections 2, 2', 2'' features three transfer vehicle paths 7, 7', 7'' (see FIG. 9). The first vehicle path 7 is disposed beneath a plurality of adjacent transfer columns 119, 120 through which storage containers 106 may be transferred between the upper rail grid 108 and container transfer vehicles 6. The second and third vehicle paths 7', 7'' are disposed beneath a plurality of storage columns 105' and are primarily used by container transfer vehicles 6 to travel to and from the transfer columns 119, 120 within the transfer section. The transfer section 2' in the second storage grid 104' does not extend through the entire storage grid and container transfer vehicles 6 will always enter and exit the transfer section via the first opening.

[0073] The transfer grid 5 interconnects the transfer columns 119, 120 of the first storage grid 104 with the transfer columns 119, 120 of the second and third storage grids 104', 104'', interconnects the transfer columns 119, 120 with a rail loop / circuit 14 (which may be located, for example, at a picking / stock station (see FIG. 13)), interconnects the transfer columns 119, 120 with a multi-use transfer grid area 15, and interconnects the transfer columns 119, 120 with any other destinations to which transfer of storage containers is desired. The multi-use transfer grid area 15 may be used, for example, as a temporary parking area for transfer vehicles carrying storage containers with items in high demand, for stocking a large number of new items in the storage grid, and / or as a loading area for storage containers to enter the storage grid.

[0074] In the exemplary layout of Figure 11, the multi-use transfer grid area 15 includes two charging stations 22 for charging the batteries of the container transfer vehicles 6. The type of charging stations used for the container transfer vehicles 6 and the container handling vehicles 200, 300 will depend on the specific charging system used. A description of an inventive charging system suitable for a container transfer vehicle 6 and a prior art container handling vehicle 300 having a cantilever structure is described below with reference to Figures 15-24.

[0075] The use of areas or sections of the transfer grid 5, i.e. parking sections of the transfer grid, for accommodating container transfer vehicles 6 carrying storage containers 106 with items in high demand provides a highly efficient way of retrieving items with a very high picking rate (i.e. with a particularly high turnover rate). In prior art systems, such high turnover items entail that the concrete storage containers in which these items are stored are transported more or less continuously back and forth between the storage columns 105 and the picking / stock station. In the inventive storage system, items with a particularly high turnover rate can be permanently (or at least moderately) stored in storage containers arranged on the transfer vehicles 6. In this way, high turnover items can be accessed in a very short time, congestion in the transfer columns is further minimized and unnecessary use of the container handling vehicles 200, 300 is avoided.

[0076] The schematic overview of FIG. 12 shows details of the first storage grid 104 of FIG. 11, however, alternative layouts of a storage system comprising a single storage grid 104 may also be illustrated.

[0077] FIG. 13 discloses an embodiment of an inventive storage system having a layout substantially as shown in FIG. 12. The storage system features two picking / stock stations 8, each positioned such that a container transfer vehicle 6, while moving on a transfer rail grid 5, may pass directly underneath a container access opening 9 located within the picking / stock station. In other words, the picking / stock stations 8 are positioned such that a container transfer vehicle 6 may pass the picking / stock station via a rail loop 14 as shown in FIGS. 11 and 12. Thus, a storage container 106 containing an item to be picked (or a storage container in which an item is to be stocked) is first picked up by a container handling vehicle 200, 300 positioned on the upper rail grid 108, lowered onto a container transfer vehicle 6 positioned inside the transfer section 2 directly underneath a suitable transfer column 119, 120, and transported by the container transfer vehicle 6 to the picking / stock station 8, which stops in a position directly underneath the container access opening 9 to allow an operator to pick the item.

[0078] The storage system 1 shown in Figures 11 and 12 features three laterally separated storage grid structures 104, 104', 104'' arranged at the same level. However, it is also envisaged that a storage system according to the invention may comprise vertically separated (e.g. stacked on top of one another) storage grid structures. When vertically separated, the transport rail grid of the storage system may comprise a container transfer vehicle lift for lifting a container transfer vehicle between separate levels of the transport rail grid, for example, so that the container transfer vehicle may access all areas of the transfer grid.

[0079] In the disclosed embodiment of the invention, the transport section 2 comprises a section of a transport rail grid 5 featuring three parallel vehicle paths 7, 7', 7'' that allow three transport vehicles 6 to pass each other simultaneously. However, many of the advantages of the inventive storage system can also be obtained by use of a transport section 2 comprising at least one vehicle path, provided that a track is positioned below at least one transport column 119, 120.

[0080] In the disclosed embodiment of the invention, the transfer rails 110', 111' of the transfer rail grid 5 are dual track rails, the same as the rails 110, 111 of the upper rail grid. This feature is advantageous from a cost standpoint, since the number of different parts used in constructing the storage grid structure 104 is minimized. Furthermore, it allows the use of transfer vehicles 6 with wheel arrangements similar to those used in the container handling vehicles 200, 300, a feature that significantly simplifies the overall system cost. However, the main advantages of the inventive storage system and storage grid structure, e.g., highly flexible and efficient transfer of storage containers in and out of the storage grid, and avoidance of single points of failure that would disrupt the operation of the storage system, may also be obtained by an embodiment of the invention in which the transfer rails of the transfer rail grid 5 are different from the rails of the upper rail grid 108. The key feature for avoiding single points of failure is that the container transfer vehicles may pass each other and move in two perpendicular directions, at least in the section of the transfer rail grid that is located in the transfer section. This feature allows container transfer vehicles, for example, to avoid non-functional container transfer vehicles that would otherwise cause an interruption in storage system operations. The presence of multiple transfer columns may further minimize any risk of a single point of failure disrupting storage system operations.

[0081] It should be noted that the dimensions of the grid cells 122 of the upper rail grid 108 (see the description of the prior art systems and related prior art in Figures 1A and 2A) are preferably similar or identical to the dimensions of the grid cells 122' of the transport rail grid 5 (see Figure 10). Having similarly sized grid cells allows for optimal use of the inventive storage system, for example, by allowing adjacent transport columns to be used simultaneously.

[0082] Although the use of dual track rails 110', 111' in at least one direction of the transfer rail grid 5 provides some advantages in terms of space efficiency, for example by allowing container transfer vehicles 6 to pass each other in adjacent grid cells 122', advantageous storage systems may also be obtained by having a transfer grid equipped with only a single track rail. The use of a single track rail would require a slightly larger transfer grid to allow container transfer vehicles 6 to pass each other as compared to a dual track rail, since such a grid would not allow container transfer vehicles 6 to pass each other on adjacent grid cells 122'. For example, the dual track transfer rails 110', 111' of the transfer grid 5 disclosed in Figures 3 and 5 could be replaced by a single track rail. In that case, two container transfer vehicles 6 would still be able to pass each other on the transfer grid 5, for example by having one of the container transfer vehicles proceed on the vehicle path 7 and the other proceed on the vehicle path 7''.

[0083] A storage system featuring an inventive charging system is disclosed in Figs. 15-24. The container transfer vehicles 6, container handling vehicles 200, 300, and wheel bases 26 suitable for the charging system may be generally referred to as vehicles. The vehicles have in common that they feature a first set of wheels 32a and a second set of wheels 32b for moving the container vehicle or wheel base on a rail grid 5, 108. The first set of wheels 32a is vertically displaceable between a first position where the first set of wheels may move the vehicle in a first direction X, a second position where the first and second sets of wheels are in contact with the rail grid, and a third position where the second set of wheels 32b may move the vehicle in a second direction Y that is perpendicular to the first direction. The charging system may be used in combination with any suitable rail grid, such as any of the transfer rail grid 5 and upper rail grid 108 disclosed in the storage system of Figs. 1-13.

[0084] A charging station 22 of the inventive charging system is shown in Figures 15-17. In this embodiment, the charging station 22 is located within a grid cell 122' (see Figure 10) of the transfer rail grid 5. The charging system may have any number of charging stations 22, depending, for example, on the size of the storage system and the number of container vehicles. Each charging station features a support structure 29, an actuator 31, and two power pins 23a, 23b (i.e., charge providing elements) that are connected by wires 34 to a charging power source 33 (see Figure 18). The support structure includes a horizontal plate element 28 having an opening 30, which features an upper edge 37 (see Figure 16). The charging station features a positioning sensor 24 to detect whether the vehicle is in the correct position on the charging station prior to charging.

[0085] By having a charging station located within a single grid cell, other vehicles located on the rail grid may pass the charging station in grid cells or rails adjacent to the charging station, even when the vehicle is being charged.

[0086] The actuator 31 (see Figures 18-20 for a detailed view) comprises an electric motor 39, a crank arm 25a (i.e., a first actuator arm) coupled to a rotating axle of the electric motor and pivotally connected to a push / pull arm 25b (i.e., a second actuator arm combined with the first actuator arm to provide an actuator arm assembly), and a vertically arranged slide element to which the power pins 23a, 23b are connected. The crank arm 25a and the push / pull arm 25b are operatively connected between the electric motor and the slide element such that rotation of the motor may move the power pins between an upper first position where the power pins would extend above an upper edge 37 of the opening 30 (see Figure 17) and a lower second position where the upper end of the power pin is below or at the level of the edge 37 (see Figure 16). The power pins may be connected to a charging power source 33 via a wire connector 35.

[0087] The wheel base 36 is used to illustrate the functionality of the inventive charging system. However, the charging system can be adapted for any type of vehicle, such as the container vehicle 6, 200, 300, that features a first set of wheels 32a and a second set of wheels 32b as described above.

[0088] The wheel base (see Figs. 18 and 19) features two separate power sockets 21a, 21b (i.e., charge receiving elements) located in the bottom section 19 and connected to a rechargeable battery 20 (i.e., a rechargeable power source) via a set of wires (not shown). The rechargeable battery 20 is used to drive any selected electric motor of the wheel base 36, e.g., the wheel motor. Each power socket 21a, 21b features contacts complementary to a corresponding plug and faces in a downward direction. In this embodiment, the power sockets 21a, 21b are designed as separate sockets, but in other embodiments may form an integrated power socket (i.e., a single power socket providing two charge receiving elements) with separate contacts for each of the power pins. Charging may be controlled by any suitable control system known to those skilled in the art, e.g., such as any control system used in prior art charging stations / systems. Preferably, the control system will ensure that the charge providing elements provide the required current based on the condition of the rechargeable batteries. The condition may be based on at least one of voltage, temperature, state of charge, depth of discharge, state of health, and current. The control system may in a further embodiment feature a first signaling element located on the wheel base and connected to the power source, and the charging station may feature a second signaling element connected to the charging power source. The first and second signaling elements may be arranged to be connected when the power socket and the pin are connected. In an embodiment, the first signaling element may be a socket and the second signaling element may be a pin operatively connected to an actuator, such that the signaling elements are connected when the power socket and the pin are connected. Alternatively, the required signaling between the rechargeable battery 20 and the charging station may advantageously be performed by any suitable wireless transmission.

[0089] A second embodiment of the charging system according to the invention is shown in Figs. 21-24. The main differentiating feature of the wheel base 36 of the second embodiment is the presence of a third separate power socket 21c located at the bottom section of the wheel base 36 and the central positioning of the first power socket 21b. The presence of the additional power socket 21c ensures that the wheel base 36 can be charged by the charging station even if it is turned 180 degrees relative to the charging station when it is positioned on the rail grid 5, 108. This feature is particularly advantageous when the wheel base 36 is part of a container handling vehicle with a cantilever section, such as the prior art vehicle 300 shown in Fig. 2B. The centrally located power pin 23b will always be in contact with the power socket 21b during charging, while the other power pin 23a will be in contact with one of the other two power sockets 21a, 21c depending on the direction in which the wheel base is positioned on the rail grid.

[0090] 22, the wheel base 36 is shown entering a grid cell 122' that features a charging station 22 by moving the wheel base in a first direction. When moving in the first direction, the first set of wheels 32a is in a first position.

[0091] When the wheel base 36 is in a position above the charging station 22 (see FIG. 23), the power sockets 21a-c are spaced apart from the power pins 23a-b. Two of the power sockets, the first centrally located power socket 21b and one of the other two power sockets 21a, 21c depending on the orientation of the wheel base 36 on the transport rail grid, are located directly above the power pins 23a, 23b. Initially, the second set of wheels 32b is not in contact with the transport rail grid 5. In this embodiment, the centrally located power socket 21b may be designed to receive a DC- current, while the other two power sockets are designed to receive a DC+ current.

[0092] Before charging of the rechargeable battery 20 can begin, the first set of wheels 32a is moved vertically from a first position to a second position, with the first and second sets of wheels 32a, 32b in contact with the rail grid 5. By having both sets of wheels 32a, 32b in contact with the transport rail grid 5, the positioning of the wheel base 36 relative to the charging station 22 is fixed. The rail grid is not perfectly flat all the time, and by having the first set of wheels in the second position, any unintended lateral movement of the wheel base is prevented. The actuator 31 is then operated such that the power pins 23a, 23b are moved vertically upwards and into contact with the power sockets 21a, 21b of the wheel base 36.

[0093] The inventive charging system allows for higher charging capacity than the horizontally positioned plug / socket connections of the prior art because the contact area between the power socket and the power pin can be increased without introducing problems associated with coupling / uncoupling of the power pin and power socket due to increased friction.

[0094] When used in connection with container transfer vehicles 6, the charging stations may be advantageously arranged so that the transfer vehicles are charged while positioned beneath the transfer columns 119, 120 (see FIG. 6) (charging stations not shown). In other words, the charging stations may be located within grid cells that are located directly beneath the transfer columns. In this manner, the transfer vehicles may be utilized even more efficiently since they may be charged while in operation.

[0095] Any container vehicle featuring the disclosed wheel base 36 and similar wheel bases is equipped with a rechargeable battery as a rechargeable power source, however, in other embodiments, it is contemplated that the rechargeable power source may be any suitable power source that can be recharged by an electric current, including capacitors and the like.

[0096] In the disclosed embodiment, the power pin is located on the charging station and the power socket is located on the container vehicle. This particular arrangement is advantageous in that debris or dust is prevented from entering the power socket due to its downward facing arrangement. However, in further embodiments, the opposite arrangement is also contemplated.

[0097] In the disclosed embodiment, the wheel base features two or three power sockets 21 a-c and the charging station 22 features two corresponding power pins 23 a, 23 b, however, in other embodiments the charging system interface may feature any suitable number of power sockets and associated power pins. [Table 1-1] [Table 1-2]

Claims

1. A charging station for use in a storage system, the storage system comprising a rail grid and a vehicle, the charging station comprising: at least two power providing elements connected to a charging power source for providing a charging current; an actuator operably connected to the power providing element, the actuator being arranged to move the power providing element vertically between an upper first position at which the power providing element may be connected to a vehicle positioned above the charging station, and a lower second position at which the power providing element and the vehicle are separated; Equipped with a charging station.

2. The charging station of claim 1, further comprising a control system, the control system being configured to supply a required current based on conditions of the vehicle's power source.

3. A charging station as described in claim 2, further comprising a signal transmission element connected to the charging power source, the signal transmission element being arranged to enable signaling between a rechargeable battery and the charging station.

4. A charging station as described in claim 3, wherein the signal transmission element is arranged to be connected to the vehicle when the power providing element is connected to the vehicle.

5. A charging station as described in any one of claims 1 to 4, further comprising a positioning sensor arranged to detect whether the vehicle is in the correct position on the charging station prior to charging.

6. A system comprising a charging station as described in any one of claims 1 to 5 and the storage system, wherein the charging station is positioned such that the vehicle can pass unobstructed above the charging station when the power providing element is in the second position.

7. A system comprising a charging station as described in any one of claims 1 to 6 and the storage system, wherein the charging station comprises a support structure, the support structure being positioned within a single grid cell of the rail grid.

8. The system described in claim 7, wherein the support structure is positioned at a level below an upper level of the rails of the rail grid.

9. A method for charging a vehicle using a charging station according to any one of claims 1 to 8, comprising: moving the vehicle towards the charging station; stopping the vehicle in a position above the power providing element; vertically moving the power providing element such that the power providing element is connected to a suitable power receiving element on the vehicle; A method comprising:

10. The method of claim 9, wherein signaling between the vehicle and the charging station is performed wirelessly.

11. The method according to claim 1, 11. The method of claim 9 or 10 when dependent on claim 5, further comprising detecting whether the vehicle is in the correct position on the charging station prior to charging.

Images