Lifting frame with wireless communication

Abstract

To provide a lifting frame with suitable wireless communication.SOLUTION: There is provided a lifting frame with wireless communication having a container cargo handling vehicle (9) for taking out a storage container (6) from a three-dimensional grid (4) of an underlying storage system (1). The container cargo handling vehicle (9) comprises a vehicle body (13) and at least one lifting device (18) for lifting the storage container (6) from the grid (4). The at least one lifting device (18) comprises a lifting frame (17) with a gripper element (24) for releasable connection with the storage container (6). The lifting frame (17) further comprises a first rechargeable power supply source (41) for supplying energy to the gripper element (24).SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a container handling vehicle and method for removing storage containers from a three-dimensional grid of a lower containment system, and more particularly to a container handling vehicle and method for removing storage containers from a three-dimensional grid of a lower containment system without transmitting signals and power through lifting bands connecting a lifting frame to the container handling vehicle. [Background technology]

[0002] Figure 1 discloses the framework of a typical prior art automated storage and retrieval system 1, and Figures 2a and 2b disclose known container handling vehicles of such a system. Storage systems are disclosed in detail, for example, in NO 317366 and WO 2014 / 090684 A1.

[0003] The skeletal structure comprises a number of upright members / profiles 2 and a number of horizontal members 3 supported by the upright members 2. The members 2, 3 may typically be made from metal, for example extruded aluminium profiles.

[0004] The skeletal structure defines a storage grid 4 comprising a number of grid columns 12 arranged in rows. Most of the grid columns 12 are storage columns 5 in which storage containers 6, also known as containers, are stacked on top of each other to form stacks 7. Each storage container 6 (or containers for short) may typically hold multiple product items, which may be the same or different product types, depending on the application. The skeletal structure prevents horizontal movement of the stack 7 of storage containers 6 and guides vertical movement of the containers 6, but does not typically otherwise support the storage containers 6 when stacked.

[0005] Each container handling vehicle 9 comprises a lifting device 18 (shown in FIG. 2b) for vertical transportation of a storage container 6, e.g. raising the storage container 6 from a storage column 5 and lowering the storage container 6 into that storage column 5. The lifting device 18 comprises a lifting frame 17 similar to that shown in FIG. 2b adapted to engage with the storage container 6. The lifting frame 17 can be lowered from the carbody 12 such that the position of the lifting frame 17 relative to the carbody 12 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y.

[0006] Each container handling vehicle 9 comprises a storage compartment or space for receiving and stuffing the storage containers 6 as they are transported across the grid 4. The storage space may comprise a cavity 21 centrally arranged within the vehicle body 13, for example, as described in WO 2014 / 090684 A1, the contents of which are incorporated herein by reference.

[0007] Alternatively, the container handling vehicle may have a cantilever construction as described in NO317366, the contents of which are also incorporated herein by reference.

[0008] In a storage grid, the majority of the grid columns 12 are storage columns 5, i.e., grid columns in which storage containers are stored in stacks. However, a grid will typically have at least one grid column 12 that is not used to store storage containers but includes a location where a container handling vehicle can unload and / or retrieve a storage container 6 so that the storage container 6 can be transported to an access station, i.e., a container handling station, where the storage container 6 can be accessed from outside the grid or transported out of or into the grid. In the art, such a location is typically referred to as a "port" and the grid column in which the port is located may be referred to as a "port column."

[0009] The storage grid 4 of Figure 1 comprises two port columns 19 and 20. The first port column 19 may be, for example, a dedicated unloading port column where a container handling vehicle 9 may unload storage containers to be transported to an access or transfer station (not shown), and the second port column 20 may be a dedicated loading port column where a container handling vehicle 9 may load storage containers transported from an access or transfer station to the grid 4.

[0010] To monitor and control the automated storage and retrieval system, for example to monitor and control the location of each storage container 6 within grid 4, the contents of each storage container 6, and the movements of the container handling vehicles 9 so that the desired storage containers can be delivered to the desired locations at the desired times without the container handling vehicles 9 colliding with each other, the automated storage and retrieval system includes a control system, which is typically computerized and includes a database for tracking the storage containers.

[0011] When a storage container 6 stored in the grid 4 disclosed in FIG. 1 is to be accessed, one of the container handling vehicles 9 is commanded to retrieve the target storage container from its position in the grid 4 and transport the target storage container to the unloading port 19. This action involves moving the container handling vehicle 9 to a grid location above the storage column 5 where the target storage container is located, and using a lifting device of the container handling vehicle (not shown, arranged internally in the central cavity of the vehicle, but similar to the lifting device 18 of the second prior art vehicle of FIG. 2b) to retrieve the storage container 6 from the storage column 5 and transport the storage container to the unloading port 19. The second prior art vehicle 9 is shown in FIG. 2b to more clearly illustrate the schematic design of the lifting device. Details of the second vehicle 9 are described in Norwegian Patent No. NO 317366. The lifting devices 18 of both prior art vehicles 9 comprise a set of lifting bands 16 that extend vertically and are connected proximate corners of a lifting frame 17 (which may also be referred to as a gripping device) for releasable connection to a storage container. The lifting frame 17 features container connection elements 24 for releasable connection to the storage container and guiding pins 30 for aligning the storage container 6 to the lifting frame 17.

[0012] To raise or lower the lifting frame 17 (with or without the connected storage container 6), the lifting bands 16 are connected to a band drive assembly. In the band drive assembly, the lifting bands 16 are typically wound / unwound on at least two rotating lifting shafts or reels (not shown) arranged in the container handling vehicle, the lifting shafts being further connected via belts / chains to at least one common rotor shaft providing a synchronized rotational movement to the at least two lifting shafts. Various designs of lifting shafts are described, for example, in WO2015 / 193278 A1 and WO2017 / 129384.

[0013] Most prior art container handling vehicles with a central cavity for receiving containment vessels as in FIG. 2a feature a lifting device 18 with a band drive assembly with at least one rotor shaft arranged centrally in the upper section of the vehicle and connected to a lifting motor. In addition to the centrally arranged rotor shaft, such lifting devices comprise an assembly of secondary shafts and / or pulleys on which the lifting bands are wound and unwound. The secondary shafts and / or pulleys are rotated by being connected to the centrally arranged rotor shaft via belts / chains, arranged at the corners of the central cavity and provide the required positioning of the lifting bands 16 relative to the lifting frame 17. Having such an assembly of multiple moving parts is not an optimal solution, since the lifting device is relatively service intensive and occupies a large volume inside the robot.

[0014] A drawback with these prior art container handling vehicles relates to the lifting frame 17 and gripper elements. The gripper elements receive power and signals for gripping and releasing containers via cables embedded in the lifting bands. This solution can present complications when the lifting bands become worn. In the current solution, the lifting bands are all wound up on the rotary shaft. The constant winding and unwinding of the lifting bands on the shaft every time the lifting frame 17 is raised or lowered causes wear on the lifting bands.

[0015] When the lifting bands wear, there is a risk that the cables providing power and operating signals to the gripper elements will also wear, and as they are wound up on the same rotary shaft, there is a risk of a short circuit. A short circuit in the bands can significantly complicate and delay the system, for example if it occurs while the container handling vehicle is excavating, i.e. while moving a storage container over the particular storage container to be accessed. If the lifting device fails during excavation, this can be a major operation to lower the container handling vehicle from the storage system and to have another take over the operation of the first container handling vehicle. There is also a risk of damage to the containers and the goods inside them. A short circuit can also lead to a fire.

[0016] In light of the above, it would be desirable to provide a container handling vehicle with a lifting device in which the disadvantages of the prior art are avoided. [Prior art documents] [Patent documents]

[0017] [Patent Document 1] International Publication No. 2014 / 090684 [Patent Document 2] International Publication No. 2014 / 090684 Summary of the Invention [Means for solving the problem]

[0018] The invention is defined below by the appended claims.

[0019] A preferred embodiment of the present invention is defined by a container handling vehicle for retrieving a storage container from a three-dimensional grid of a lower storage system comprising a vehicle body, at least one lifting device with a lifting frame with gripper elements for releasable connection to the storage container, and a transmitter for communicating instructions for controlling the gripper elements, the lifting frame further comprising a first rechargeable power supply source for supplying energy to the gripper elements.

[0020] Further, the container handling vehicle has at least one second rechargeable power supply source configured to charge the first rechargeable power supply source when the lifting frame is in its uppermost position, the at least one second rechargeable power supply source being connected to the at least one upper charger connector and the first rechargeable power supply source being connected to the at least one lower charger connector.

[0021] At least one upper charger connector includes a spring-loaded contact probe, and optionally, at least one upper charger connector includes a contact probe, a spring, a fixing plate, a wire connection nut, a contact probe fixing nut, and a fixing nut, and the lower charger connector is a plate of conductive material.

[0022] At least one of the second rechargeable power source and the first rechargeable power source is a Li-ion battery and / or a capacitor.

[0023] The communication for controlling the gripper elements is wireless communication between a transmitter and a receiver mounted on the lifting frame, the wireless communication being optical communication, the optical communication being implemented by one or more of visible light communication (VLC), Li-Fi, Irda, optical wireless communication (OWC), or Reasonable Optical Near Joint Access (RONJA).

[0024] The transmitter is a first transceiver and the receiver is a second transceiver, the transmitter and receiver being disposed within line of sight of each other.

[0025] The present invention is further defined by a method for retrieving a storage container from a three-dimensional grid of a lower storage system using a container handling vehicle comprising a body, at least one lifting device with a lifting frame with gripper elements for releasable connection to the storage container, and a transmitter for communicating instructions to control the gripper elements, the method comprising the following steps: lowering the lifting frame; communicating instructions to the lifting frame using the transmitter which transmits signals to activate the gripper elements; using a first rechargeable power supply source mounted on the lifting frame to provide energy to activate the gripper elements; lifting the lifting frame; reading the charge level of the first rechargeable power supply using a power reading device; and if the first rechargeable power supply source has a charge level below a set threshold level, using a second rechargeable power supply source to charge the first rechargeable power supply.

[0026] The method is further defined by the step of communicating commands to the lifting frame using the first transceiver by transmitting optical signals to a second transceiver to activate the gripper elements.

[0027] The present invention therefore provides a solution in which neither signals nor power are transmitted directly from the container handling vehicle to the gripper elements on the horizontal lifting frame via electrical conductors when the lifting frame is operated within the storage grid. The present invention provides, for example: (Item 1) A container handling vehicle (9) for removing a storage container (6) from a three-dimensional grid (4) of a lower storage system (1), comprising a vehicle body (13), at least one lifting device (18) with a lifting frame (17) with gripper elements (24) for releasable connection to the storage container (6), and a transmitter (32) for communicating commands for controlling said gripper elements (24), Container handling vehicle (9), characterized in that the lifting frame (17) further comprises a first rechargeable power supply (42) for supplying energy to the gripper elements (24). (Item 2) The container handling vehicle (9) according to item 1, wherein the container handling vehicle (9) has at least one second rechargeable power supply source (41) configured to charge the first rechargeable power supply source (42) when the lifting frame (17) is in its uppermost position. (Item 3) The container handling vehicle (9) described in item 2, wherein the at least one second rechargeable power supply source (41) is connected to at least one upper charger connector (31) and the first rechargeable power supply source (42) is connected to at least one lower charger connector (33). (Item 4) 3. The container handling vehicle (9) according to item 2, wherein at least one upper charger connector (31) comprises a spring-loaded contact probe, and optionally, the at least one upper charger connector comprises a contact probe (35), a spring (36), a fixing plate (37), a wire connection nut (38), a contact probe fixing nut (39), and a fixing nut (40). (Item 5) 5. The container handling vehicle (9) according to item 4, wherein the spring-loaded contact probe can have an internal spring. (Item 6) 5. The container handling vehicle (9) according to item 3 or 4, wherein the lower charger connector (33) is a plate of conductive material. (Item 7) A container handling vehicle (9) according to any one of items 2 to 6, wherein the at least one second rechargeable power supply source (41) is a Li-ion battery and / or a capacitor. (Item 8) The container handling vehicle (9) according to any one of items 1 to 7, wherein the first rechargeable power supply source (42) is a Li-ion battery and / or a capacitor. (Item 9) 2. The container handling vehicle (9) according to claim 1, wherein the communication for controlling the gripper elements (24) is wireless communication between the transmitter (32) and a receiver (34) mounted on the lifting frame. (Item 10) Item 10. The container handling vehicle (9) according to item 9, wherein the wireless communication is optical communication. (Item 11) 11. The container handling vehicle (9) according to item 10, wherein the optical communication is implemented by one or more of visible light communication (VLC), Li-Fi, Irda, optical wireless communication (OWC), or Reasonable Optical Near Joint Access (RONJA). (Item 12) 12. The container handling vehicle (9) according to item 11, wherein the transmitter (32) is a first transceiver and the receiver (34) is a second transceiver. (Item 13) 13. The container handling vehicle (9) according to item 9 or 12, wherein the transmitter (32) and the receiver (34) are arranged so as to be within a line of sight to each other. (Item 14) A method for removing a storage container (6) from a three-dimensional grid (4) of a lower containment system (1) using a container handling vehicle (9), said container handling vehicle (9) comprising a body (13), at least one lifting device (18) with a lifting frame (17) with gripper elements (24) for releasable connection to the storage container (6), and a transmitter (32) for communicating commands for controlling said gripper elements (24), The method comprises the following steps: - lowering said lifting frame (17); - communicating commands to the lifting frame (17) by means of the transmitter (32), which transmits signals to activate the gripper elements (24); - using a first rechargeable power supply (42) mounted on said lifting frame (17) for providing energy to activate said gripper elements (24); - lifting said lifting frame (17); - reading the charge level of said first rechargeable power source (42) using a power reading device (43); - charging the first rechargeable power source (42) using a second rechargeable power source (41) if the first rechargeable power source (42) has a charge level below a set threshold level; A method comprising: (Item 15) Item 15. The method according to item 14, wherein the first rechargeable power supply source (42) is a Li-ion battery or a capacitor. (Item 16) 16. The method according to any one of items 14 to 15, wherein a Li-ion battery and / or a capacitor is used as the at least one second rechargeable power supply source (41). (Item 17) Item 15. The method of item 14, using wireless communication between the transmitter (32) and the receiver (34). (Item 18) 20. The method according to any of claims 17, wherein optical communication is used as the wireless communication between the transmitter (32) and the receiver (34). (Item 19) 18. The method according to claim 17, wherein a first transceiver is used as the transmitter (32) and a second transceiver is used as the receiver (34). (Item 20) 20. The method according to any one of items 14 to 19, wherein the optical communication is one or more of visible light communication (VLC), Li-Fi, Irda, optical wireless communication (OWC), or Reasonable Optical Near Joint Access (RONJA). [Brief description of the drawings]

[0028] Certain embodiments will now be described in more detail, by way of example only, and with reference to the accompanying drawings, in which:

[0029] [Figure 1] FIG. 1 is a perspective view of an exemplary containment system according to the present invention.

[0030] [Figure 2a] FIG. 2a is a perspective view of a prior art container handling vehicle with a central cavity for storing a container.

[0031] [Figure 2b] FIG. 2b is a side view of a prior art container handling vehicle in which the lifting frame is shown first in a raised position and then in a slightly lowered position.

[0032] [Diagram 3] FIG. 3 is a side view of a container handling vehicle according to an embodiment of the present invention, with the lifting frame shown in a slightly lowered position.

[0033] [Figure 4] FIG. 4 is a side view of a charging circuit of how a first rechargeable power source may charge a second rechargeable power source. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] 1 is a perspective view of one exemplary storage system according to the present invention. Here, a skeleton structure of a typical prior art automated storage and retrieval system 1 is disclosed. The skeleton structure comprises a number of upright members / profiles 2 and a number of horizontal members 3 supported by the upright members 2. The members 2, 3 may typically be made of metal, for example extruded aluminum profiles.

[0035] The skeletal structure defines a storage grid 4 comprising a number of grid columns 12 arranged in rows. Most of the grid columns 12 are storage columns 5 in which storage containers 6, also known as containers, are stacked on top of one another to form stacks 7. Each storage container 6 (or containers, for short) may typically hold multiple product items (not shown), which may be the same or different product types, depending on the application. The skeletal structure prevents horizontal movement of the stack 7 of storage containers 6 and guides vertical movement of the containers 6, but typically does not otherwise support the storage containers 6 when stacked.

[0036] Fig. 2a is a perspective view of a prior art container handling vehicle with a central cavity for storing containers. In this solution, the lifting frame 17 with the lifting devices and gripper elements is stored inside the central cavity when raised. The advantage of such a solution is that the container handling vehicles take up less space in the underlying grid, allowing more container handling vehicles to operate simultaneously.

[0037] Figure 2b is a side view of a prior art container handling vehicle, where the lifting frame 17 is shown first in a raised position and then in a slightly lowered position. The container handling vehicle presented here is a cantilevered solution, where the lifting frame 17 with the lifting devices and gripper elements is installed adjacent to the main body of the container handling vehicle. The advantage of this solution is that the containers are installed away from the main power source and the electric motors that move the container handling vehicle.

[0038] 3 is a side view of a container handling vehicle according to an embodiment of the invention, showing a lifting frame 17. The container handling vehicle shown here is a cantilevered solution, but the invention can just as well be used on container handling vehicles with a central cavity for storing a container.

[0039] The container handling vehicle comprises a main body and a cantilever extension. A second rechargeable power source 41 is present in the main body. This second rechargeable power source 41 can preferably be a Li-ion battery or a capacitor. The second rechargeable power source 41 delivers power to at least one electric motor. The electric motor operates the container handling vehicle on the grid of the lower containment system. The electric motor provides motion to at least two sets of wheels. Additionally, the main body can have a central control center.

[0040] In the embodiment presented in Fig. 3, there is a cantilevered extension on the main body on which the lifting device is mounted. In an alternative embodiment, the lifting device can be mounted inside the body of the central cavity container handling vehicle. This does not make a difference to the solution of the present invention.

[0041] The lifting device comprises a lifting band drive assembly connected to the vehicle body. To the lifting band drive assembly at least one rotatable lifting shaft is attached. To the rotatable lifting shaft a plurality of lifting bands 16 is attached. To the lifting bands 16 a horizontal lifting frame 17 is attached. On this lifting frame 17 there is at least one set of gripping elements for releasable connection to a storage container.

[0042] At least one upper charger connector 31 is attached to the bottom of the cantilevered extension. The upper charger connector 31 is connected to a second rechargeable power source 41. The second rechargeable power source 41 can charge a first rechargeable power source 42 mounted on the horizontal lifting frame 17. Charging of the first rechargeable power source 42 occurs when the lifting frame 17 is in its uppermost position.

[0043] The second rechargeable power supply 41 is the main power supply for the container handling vehicle. The power is used to operate the container handling vehicle and to power the lifting of containers by the horizontal lifting frame 17. Additionally, the second rechargeable power supply 41 is used to power the central controller system, which is the main computer system of the container handling vehicle, and to charge the second rechargeable power supply.

[0044] The first rechargeable power supply 42 is used to power the gripper elements 24 on the horizontal lifting frame 17. The first rechargeable power supply 42 is also mounted on the horizontal lifting frame 17.

[0045] The at least one upper charging connector is connected to a second rechargeable power supply 41. The at least one upper charger connector 31 touches the at least one lower charger connector 33 when the horizontal lifting frame 17 is in its uppermost position. The at least one lower charger connector 33 is attached to the upper side of the horizontal lifting frame 17. From here it is connected to a first rechargeable power supply 42.

[0046] The power reading device 43 can check whether the first rechargeable power supply source 42 needs to be charged when the horizontal lifting frame 17 is in its uppermost position. If the first rechargeable power supply source 42 needs to be recharged, power is transferred from the second rechargeable power supply source 41 to the first rechargeable power supply source 42 via the upper and lower charger connectors 33. If the power reading device concludes that the first rechargeable power supply source 42 does not need to be charged, power is not transferred from the second rechargeable power supply source 41 to the first rechargeable power supply source 42 via the upper and lower charger connectors 33.

[0047] The first rechargeable power source 42 can be a Li-ion battery or a capacitor.

[0048] As the horizontal lifting frame 17 is lowered into the underlying grid of the containment system, vertical guide pins 30 ensure that the lifting frame 17 is lowered accurately into the shaft to properly interface with the containers. There is a vertical guide pin at each corner of the horizontal lifting frame 17.

[0049] Once the lifting frame 17 is properly connected to a container, the central controller system commands the gripper elements 24 to grip the container. The central controller system communicates information to a transmitter 32, using light as the medium for communication. The transmitter 32 is mounted within the lower portion of the cantilevered extension. The transmitter 32 transmits information directly downward to a receiver 34, which is mounted on the upper surface of the horizontal lifting frame 17. From here, the information received by the receiver is transmitted along a wire to the gripper elements 24, which either grip the container or release the container depending on the information sent by the central controller system.

[0050] The gripper elements 24 are connected to a gripper sensor 43. The gripper sensor 43 provides information regarding whether the gripper elements 24 are actually gripping a container. The sensor can provide this information in the form of feedback to a central controller system. Additionally, the gripper sensor 43 can also measure the amount of force that the gripper elements 24 are using.

[0051] Furthermore, the transmitter 32 may be a first transceiver and the receiver 34 may be a second transceiver ensuring two-way communication between the lifting frame 17 and a central control system.

[0052] The optical communication can be implemented by one or more of visible light communication (VLC), Li-Fi, Irda, optical wireless communication (OWC), or Reasonable Optical Near Joint Access (RONJA).

[0053] Additionally, the transmitter 32 and receiver 34 must be within line of sight of each other.

[0054] FIG. 4 is a side view of a charging circuit of how a second rechargeable power source 41 can charge a first rechargeable power source 42 in accordance with a preferred embodiment of the present invention.

[0055] A second rechargeable power supply 41 is connected to the two upper charger connectors 31. The contact probes 35 of the upper charger connectors 31 protrude from the bottom surface of the cantilevered extension. In a central cavity solution, the contact probes 35 of the upper charger connectors 31 protrude slightly from the lower part of the cantilevered extension of the container handling vehicle.

[0056] When the lifting frame 17 is in its uppermost position, the two upper charger connectors 31 are in physical contact with a corresponding pair of lower charger connectors 33. These lower charger connectors 33 according to a preferred embodiment of the present invention are in the form of plates of conductive material. The lower charger connectors 33 are mounted on the top side of the lifting frame 17. The lower and upper charger connectors 31 are adjacent to each other so as to touch when the lifting frame 17 is in its uppermost position.

[0057] The power reading device 43 can read the charge level of the first rechargeable power source 42 when the upper and lower charger connectors 33 are in physical contact with each other. When the first rechargeable power source 42 needs to be recharged, the second rechargeable power source 41 charges the second rechargeable power source. When the first rechargeable power source 42 has sufficient charge, power is not transferred from the second rechargeable power source 41 to the first rechargeable power source 42.

[0058] Each upper charger connector 31 comprises a contact probe 35, a spring 36, a fixing plate 37, a wire connection nut 38, a contact probe fixing nut 39, and a fixing nut 40. The contact probe passes through the entire center of the upper charger connector 31 and is preferably an electrode of a conductive metal, for example copper. Between the contact probe 35 and the fixing plate 37 is a spring 36. The spring 36, which biases the contact probe 35 towards the fixing plate 37, ensures a reliable connection between the upper and lower charger connectors 33. The upper charger connector 31 is fixed to the fixing plate with a fixing nut. The contact probe is fixed to the rest of the upper charger connector 31 with a contact probe fixing nut. Wires from a second rechargeable power supply 41 are fixed between the contact probe fixing nut and the wire connection nut.

Claims

1. A container handling vehicle (9) for removing a storage container (6) from a three-dimensional grid (4) of a lower storage system (1), comprising a vehicle body (13), at least one lifting device (18) with a horizontal lifting frame (17) with gripper elements (24) for releasable connection to the storage container (6), and a transmitter (32) for communicating commands to control the gripper elements (24); the horizontal lifting frame (17) further comprises a first rechargeable power supply source (42) for supplying energy to the gripper elements (24); the container handling vehicle (9) has at least one second rechargeable power supply source (41) configured to charge the first rechargeable power supply source (42) when the horizontal lifting frame (17) is in its uppermost position, the at least one second rechargeable power supply source (41) being connected to at least one upper charger connector (31) and the first rechargeable power supply source (42) being connected to at least one lower charger connector (33), the at least one lower charger connector (33) being attached to an upper side of the horizontal lifting frame (17), the at least one lower charger connector (33) being connected to the first rechargeable power supply source (42) from the upper side of the horizontal lifting frame (17); The car body (13) comprises a main body and a cantilevered extension on the main body, the at least one lifting device (18) being mounted on the cantilevered extension; The at least one upper charger connector (31) includes a spring-loaded contact probe (35) protruding from a bottom surface of the cantilevered extension.

2. A container handling vehicle (9) as described in claim 1, wherein the at least one upper charger connector further comprises a spring (36), a fixing plate (37), a wire connection nut (38), a contact probe fixing nut (39), and a fixing nut (40).

3. A container handling vehicle (9) as described in claim 1, wherein the spring-loaded contact probe is provided with an internal spring.

4. A container handling vehicle (9) as described in claim 1, wherein the at least one lower charger connector (33) is a plate of conductive material.

5. A container handling vehicle (9) as described in any one of claims 1 to 4, wherein the at least one second rechargeable power supply source (41) is a Li-ion battery and / or a capacitor.

6. A container handling vehicle (9) as described in any one of claims 1 to 5, wherein the first rechargeable power supply source (42) is a Li-ion battery and / or a capacitor.

7. A container handling vehicle (9) as described in claim 1, wherein the communication for controlling the gripper element (24) is wireless communication between the transmitter (32) and a receiver (34) mounted on the horizontal lifting frame.

8. A container handling vehicle (9) as described in claim 7, wherein the wireless communication is optical communication.

9. A container handling vehicle (9) as described in claim 8, wherein the optical communication is implemented by one or more of visible light communication (VLC), Li-Fi, Irda, optical wireless communication (OWC), or Reasonable Optical Near Joint Access (RONJA).

10. A container handling vehicle (9) as described in claim 7, wherein the transmitter (32) is a first transceiver and the receiver (34) is a second transceiver.

11. A container handling vehicle (9) as described in claim 7, wherein the transmitter (32) and the receiver (34) are arranged within line of sight of each other.

12. A method for removing a storage container (6) from a three-dimensional grid (4) of a lower storage system (1) using a container handling vehicle (9), said container handling vehicle (9) comprising a car body (13), at least one lifting device (18) with a horizontal lifting frame (17) with gripper elements (24) for releasable connection to a storage container (6), and a transmitter (32) for communicating commands to control said gripper elements (24), said car body (13) comprising a main body and a cantilever support extension on said main body, said at least one lifting device (18) being mounted on said cantilever support extension, The method comprises: - lowering said horizontal lifting frame (17); - communicating commands to said horizontal lifting frame (17) by means of said transmitter (32) which transmits signals to activate said gripper elements (24); - using a first rechargeable power supply (42) mounted on said horizontal lifting frame (17) to provide energy to activate said gripper elements (24); - lifting said horizontal lifting frame (17); - reading the charge level of said first rechargeable power source (42) using a power reading device (43); - charging said first rechargeable power source (42) using a second rechargeable power source (41) when said first rechargeable power source (42) has a charge level below a set threshold level; - charging said first rechargeable power supply (42) using at least one second rechargeable power supply (41) of said container handling vehicle (9) when said horizontal lifting frame (17) is in its uppermost position; Including, - said at least one second rechargeable power supply source (41) is connected to at least one upper charger connector (31) and said first rechargeable power supply source (42) is connected to at least one lower charger connector (33); - said at least one lower charger connector (33) is attached to an upper side of said horizontal lifting frame (17), said at least one lower charger connector (33) being connected to said first rechargeable power supply source (42) from the upper side of said horizontal lifting frame (17); - said at least one upper charger connector (31) comprises a spring-loaded contact probe (35) protruding from a bottom surface of said cantilevered extension.

13. The method of claim 12, wherein the first rechargeable power supply source (42) is a Li-ion battery or a capacitor.

14. A method as claimed in claim 12 or claim 13, wherein a Li-ion battery and / or a capacitor is used as the at least one second rechargeable power supply source (41).

15. The method of claim 12, further comprising using wireless communication between the transmitter (32) and receiver (34).

16. The method described in claim 15, wherein optical communication is used as the wireless communication between the transmitter (32) and the receiver (34).

17. The method of claim 15, further comprising using a first transceiver as the transmitter (32) and using a second transceiver as the receiver (34).

18. A method according to any one of claims 12 to 17, wherein the optical communication is one or more of visible light communication (VLC), Li-Fi, Irda, optical wireless communication (OWC), or Reasonable Optical Near Joint Access (RONJA).

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