Automated warehouse system

Abstract

To provide an automated warehouse system, a storage container handling vehicle, and a method for operating such a system.SOLUTION: The automated warehouse system includes one or more vehicles (3) configured to lift and move storage containers (106) stacked within the system. Each vehicle (3) includes: a storage container lifting device; a drive system with wheel structures (19, 20) configured to drive and steer the vehicle (3) along a track system (108); a base (31) to which the wheel structures (19, 20) are connected; a rotating part (30) rotatably connected to the base (31) via a swivel device; and a rotary drive system for rotating the rotating part (30) relative to the base (31).SELECTED DRAWING: Figure 10

Description

[Technical field]

[0001] The present invention relates to an automated storage and retrieval system, a vehicle for lifting and transporting storage containers stacked within the system, and a method thereof. [Background technology]

[0002] FIG. 1 discloses a typical prior art automated warehouse system 1 with a framework structure 100, and FIGS. 2 and 3 disclose two different prior art container handling vehicles 201, 301 suitable for operating on such a system 1.

[0003] The framework structure 100 comprises a number of upright members 102 and a number of horizontal members 103 supported by the upright members 102. The members 102, 103 may typically be made from metal, for example from extruded aluminum profiles.

[0004] The framework structure 100 defines a storage grid 104 comprising storage columns 105 arranged in rows in which storage containers 106, also known as receptacles, are stacked one on top of the other to form a stack 107. Each storage container 106 is typically capable of holding multiple product items (not shown), which may be of the same or different product types, depending on the application. The storage grid 104 prevents horizontal movement of the stack 107 of storage containers 106 and guides vertical movement of the containers 106, but typically does not otherwise support the storage containers 106 when stacked.

[0005] The automated warehouse system 1 includes a rail system 108 arranged in a grid pattern across the top of the storage columns 105, with a plurality of container handling vehicles 201, 301 operated on the rail system 108 to raise storage containers 106 from the storage columns 105, lower storage containers 106 into lower storage columns 105, and transport storage containers 106 above the storage columns 105. The rail system 108 includes a first set of parallel rails 110 and a second set of parallel rails 111, with the first set of parallel rails 110 arranged to guide movement of the container handling vehicles 201, 301 in a first direction X across the top of the frame structure 100, and the second set of parallel rails 111 arranged perpendicular to the first set of rails 110 and to guide movement of the container handling vehicles 201, 301 in a second direction Y that is perpendicular to the first direction X. The rail system 108 thus defines grid columns 112 above which the container handling vehicles 201, 301 can move laterally above the storage columns 105, i.e. in a plane parallel to the horizontal XY plane.

[0006] Each prior art container handling vehicle 201, 301 includes a vehicle body 201a, 301a and first and second sets of wheels 201b, 301b, 201c, 301c that allow lateral movement of the container handling vehicle 201, 301 in the X and Y directions, respectively. In Fig. 2 and Fig. 3, two wheels in each set are fully visible. The first set of wheels 201b, 301b are arranged to engage two adjacent rails of the first set of rails 110, and the second set of wheels 201c, 301c are arranged to engage two adjacent rails of the second set of rails 111. The wheels 201b, 301c of each set are fully visible. The wheels 201b, 301c may be lifted and lowered so that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c may be engaged with the respective sets of rails 110, 111 at any one time.

[0007] Each prior art container handling vehicle 201, 301 also includes a lifting device (not shown) for vertical transportation of the storage container 106, e.g. for raising and lowering the storage container 106 from and into the storage column 105. The lifting device includes one or more gripping / engagement devices (not shown) adapted to engage the storage container 106, such that the gripping / engagement devices can be lowered from the vehicle 201, 301 and that a position of the gripping / engagement devices relative to the vehicle 201, 301 can be adjusted in a third direction Z, the third direction Z being orthogonal to the first direction X and the second direction Y.

[0008] Conventionally, and for purposes of this application, Z=1 identifies the topmost 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, etc. In the embodiment disclosed in FIG. 1, Z=8 identifies the bottom layer at the bottom of the grid 104. Accordingly, by way of example, and using the Cartesian coordinate system X, Y, Z shown in FIG. 1, a storage container identified as 106' in FIG. 1 may be said to occupy grid location or cell X=10, Y=2, Z=3. The container handling vehicles 201, 301 may be said to travel in layer Z=0, and each grid column 112 may be identified by its X and Y coordinates.

[0009] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and storing the storage containers 106 as they are transported across the grid 104. The storage space may include a cavity centrally located within the vehicle body portion 201a, as shown in FIG. 2 and as described, for example, in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference.

[0010] Figure 3 shows an alternative configuration of a container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail, for example, in NO 317366, the contents of which are also incorporated herein by reference.

[0011] The central cavity container handling vehicle 201 shown in FIG. 2 may have a predetermined footprint, i.e., extent in the X and Y directions, that is generally equal to the lateral or horizontal extent of the grid columns 112, i.e., generally equal to the extent of the grid columns 112 in the X and Y directions, as described, for example, in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference.

[0012] Alternatively, the central cavity container handling vehicle 101 may have a footprint larger than the lateral extent of the grid columns 112, for example as disclosed in WO2014 / 090684A1.

[0013] The rail system 108 may be a single rail system, as shown in Figure 4. Alternatively, the rail system 108 may be a double rail system, as shown in Figure 5, such that container handling vehicles 201, 301 having a footprint generally corresponding to the lateral extent of the grid columns 112 are mounted on the rail system. 5 allows a container handling vehicle 101 to travel along a row of grid columns (even when another container handling vehicle 101 is positioned above a neighboring grid column in that row). Both the single-rail and double-rail systems form a grid pattern in a horizontal plane P that includes a plurality of rectangular and uniform grid locations or grid cells 122, where each grid cell 122 includes a grid opening 115 that is bounded by a pair of tracks 110a, 110b of the first set of tracks 110 and a pair of tracks 111a, 111b of the second set of tracks 111. In FIG. 5 the grid cells 122 are indicated by dashed boxes.

[0014] Each grid cell 122 has a width that is typically in the interval of 30 cm to 150 cm, and a length that is typically in the interval of 50 cm to 200 cm. Each grid opening 115 has a width and length that is smaller than the width and length of the grid cell 122, typically 2 cm to 10 cm.

[0015] Within the storage grid 104, the majority of the grid columns 112 are storage columns 105, i.e., grid columns 105 in which storage containers 106 are stored in stacks 107. However, the grid 104 typically has at least one grid column 112 that is not used to store storage containers 106, but rather that includes a location where a container handling vehicle 201, 301 can drop off and / or pick up a storage container 106 so that the storage container 106 can be transported to an access station (not shown) where the storage container 106 can be accessed from outside the grid 104 or transferred out of or into the grid 104. In the art, such locations are typically referred to as "ports" and the grid columns 112 in which the ports are located can be referred to as port columns 119, 120.

[0016] The grid 104 in Fig. 1 includes two port columns 119 and 120. The first port column 119 can, for example, be a dedicated drop-off port column where a container handling vehicle 201, 301 can drop off a storage container 106 to be transported to an access or transfer station, and the second port column 120 can be a dedicated pick-up port column where a container handling vehicle 201, 301 can pick up a storage container 106 that has been transported from an access or transfer station to the grid 104.

[0017] An access station can typically be a picking or stocking station where a product item is removed from or positioned into a storage container 106. At a picking or stocking station, the storage container 106 is typically never removed from the automated storage system 1, but rather is accessed and placed back into the grid 104. Ports can also be used to transfer storage containers out of or into the grid 104, for example, to another storage facility (e.g., to another grid or to another automated storage system), to a transport vehicle (e.g., a train or lorry), or to a production facility.

[0018] A conveyor system including conveyors is typically used to transport storage containers between the ports 119, 120 and the access stations.

[0019] If the ports 119, 120 and the access stations are located at different levels, the conveyor system may include a lift device with a vertical component for transporting the storage containers 106 vertically between the ports 119, 120 and the access stations.

[0020] A conveyor system may be arranged to transport storage containers 106 between different grids, for example as described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0021] When a storage container 106 stored in the grid 104 disclosed in FIG. 1 is to be accessed, one of the container handling vehicles 201, 301 is instructed to retrieve the target storage container 106 from its position in the grid 104 and transport it to the drop-off port 119. This operation involves moving the container handling vehicle 201, 301 to a grid location above the storage column 105 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using a lifting device (not shown) of the container handling vehicle 201, 301, and transporting the storage container 106 to the drop-off port 119. If the target storage container 106 is located deep in the stack 107, i.e., with one or more other storage containers 106 positioned above the target storage container 106, the operation also involves temporarily moving the storage container positioned above before lifting the target storage container 106 from the storage column 105. This step, which may be referred to in the art as "digging," may be performed by the same container handling vehicle subsequently used to transport the target storage container to the drop-off port 119, or may be performed by one or more other cooperating container handling vehicles. Alternatively or in addition, the automated warehouse system 1 may have a container handling vehicle specifically dedicated to the task of temporarily removing storage containers from the storage columns 105. Once the target storage container 106 is removed from the storage column 105, the temporarily removed storage container may be repositioned back into the original storage column 105. However, the removed storage container may alternatively be repositioned into another storage column.

[0022] When a storage container 106 is to be stored in the grid 104, one of the container handling vehicles 201, 301 is directed to pick up the storage container 106 from the pickup port 120 and transport it to the grid location above the storage column 105 where it is to be stored. After any storage containers positioned at or above the target location in the storage column stack 107 are removed, the container handling vehicle 201, 301 positions the storage container 106 in the desired location. The removed storage container can then be lowered back into the storage column 105 or repositioned in another storage column.

[0023] To monitor and control the automated warehouse system 1, for example to monitor and control the location of each storage container 106 in the grid 104, the contents of each storage container 106, and the movements of the container handling vehicles 201, 301 so that the desired storage containers 106 can be delivered to the desired locations at the desired times without the container handling vehicles 201, 301 colliding with each other, the automated warehouse system 1 includes a control system, which is typically computerized, and which typically includes a database for keeping track of the storage containers 106.

[0024] WO2016 / 120075A1 (the contents of which are incorporated herein by reference) (2003) shows an example of an automated warehouse system using a vehicle with a central cavity. The disclosed container handling vehicle is dimensioned to have a footprint, i.e., a contact area for the track system, with a horizontal extent equal to the horizontal extent of a grid cell. Within the art, such container handling vehicles, i.e., container handling vehicles having a footprint with a horizontal extent corresponding to the horizontal extent of a single grid cell, are sometimes referred to as "single-cell" container handling vehicles. Another single-cell container handling vehicle is disclosed in WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0025] The single cell design, as disclosed in, for example, WO2016 / 120075A1 and WO2015 / 193278A1, reduces the space required for container handling vehicles to travel on the track system, thus allowing more vehicles to operate on the track system without interfering with each other. Furthermore, the stability of vehicle operation is increased compared to cantilever vehicles, as disclosed in, for example, NO317366.

[0026] A problem with prior art automated warehouse systems using storage container vehicles with single-cell design is that these vehicles require a vehicle body with a container receiving cavity that must open to the storage grid below. Therefore, strict space constraints are set for the location and size of the required vehicle components (e.g., lifting devices and wheel displacement means). Prior to maximizing the horizontal cross section of the cavity, at least some of the vehicle components of prior art single-cell vehicles are located above the cavity (see, e.g., WO2015 / 193278A1) and / or in the wheels (see, e.g., WO2016 / 120075A1), a solution that results in high complexity and cost compared to the previously mentioned cantilever vehicle design disclosed in NO317366. Moreover, in order to minimize the height and total weight of the vehicle, components such as the motor and battery should be minimized in size and / or limited to light materials in a "single cell" vehicle, which are criteria that limit the maximum feasible operating efficiency of the vehicle, such as the maximum lifting power available for the storage container lifting device. Bulky components may be placed above the cavity by increasing the total height of the vehicle. However, such increased height results in an undesirable decrease in overall vehicle stability in addition to increased costs.

[0027] The cantilever vehicles disclosed in NO317366 are capable of containing components such as motors and batteries that are significantly larger than "single cell" vehicles. However, cantilever vehicles have the disadvantage of protruding beyond the vehicle's footprint, i.e., into neighboring grid cells. This will prevent other container handling vehicles from operating on neighboring grid cells, thus limiting the space available for other container handling vehicles to operate on the track system. Due to the cantilever design, these prior art vehicles have the additional disadvantage of only being able to lift storage containers from one direction in the horizontal plane, thereby requiring a high degree of maneuvering on the track system during "digging" operations and transport to the port. Moreover, the cantilever design pushes these vehicles into the port and / or boundary grid columns that are located on one particular side of the storage grid, thereby further reducing the overall efficiency of the system.

[0028] From the prior art the following should also be mentioned:

[0029] U.S. Patent Application Publication No. 2008 / 075569(A1) relates to a system and method for secure storage of items, in which a storage structure having a first section is provided in which the storage units are stored in vertically oriented cells with respective storage units stacked on top of each other, and at least one transport vehicle is provided for selectively engaging the storage units and transporting the storage units along an overhead grid track system between the first and second sections, the at least one transport vehicle may be used to either lift or lower the storage units and to move the storage units to and from a storage position in one of the vertical storage cells of the first section of the storage structure.

[0030] EP3192751A1 relates to a temporary storage system with large capacity, which is provided for quickly loading and unloading articles. The temporary storage system has a grid-like traveling rail and a buffer above the processing equipment, except for the area above the load port, and a local vehicle travels along the rail. The carriage of the local vehicle is provided with at least a longitudinal traveling unit, at least a transverse traveling unit, and at least an advance and retreat mechanism for selectively advancing the latter one of the longitudinal traveling unit and the transverse traveling unit to a position supported by the traveling rail, and travels longitudinally and transversely along the traveling rail, and the transfer unit of the local vehicle is provided with a hoist and an arm for moving the hoist horizontally. The local vehicle stops at a position corresponding to the load port, and advances the arm toward the load port to transfer articles between the load ports.

[0031] WO2017 / 148939A1 relates to a robotic service device (50), which is described for use on a robotic picking system grid. The robotic service device (50) can be driven to any location on the grid (14) to restart a faulty robotic load handling device (30) or to perform maintenance operations or on-site cleaning. Additionally, the service device 50 can be used to rescue a robotic load handling device (30) operable in the picking system. The robotic service device (50) can include a releasable docking mechanism 58, allowing it to dock and latch onto a faulty load handling device (30). The service device (50) can also be provided with cleaning means and camera means, allowing the condition of the grid (14) and other robotic devices to be monitored.

[0032] US Patent Application Publication No. 2017 / 121109(A1) relates to a stack driving vehicle for storing and retrieving storage units. One embodiment of the stack driving vehicle includes a first bearing device with a first bearing base and a first holding device for handling at least one storage unit, and also includes a second bearing device with a second bearing base and a second holding device for handling at least one storage unit. The second holding device is movably supported by a guide device along a horizontal guide arrangement; a vertical guide arrangement, in which the first bearing base and the second bearing base are respectively guided along an adjustment path along a vertical direction, and they are formed such that the first bearing base and the second bearing base overlap each other vertically throughout their adjustment path. The disclosure also relates to a method for the execution of a storage instruction by a storage unit with such a stack driving vehicle.

[0033] WO2017 / 081281A1 relates to a system for picking up items 28 from a containerized storage system. The items 28 are stored in storage containers 10 in a stack 12 in a framework 14, which comprises a grid system 22 arranged above the stack 12 of containers 10. A robotic device 30 is arranged above the grid 22, which serves to pick up containers from the stack 12 of containers 10. The storage system is provided with at least one picking device for picking up the items 28 from the containers 10 and for placing them directly in a delivery container DT.

[0034] WO98 / 55381A1 relates to a device having lift arms (42) with links (46, 46D) connected to the ends of a load spreader (40) or pivotally connected to the lift arms (42) and aligned to hook a special container (20D). The lift arms (42) are pivotally connected to hubs (44, 44B) and swing vertically. Each hub is mounted for rotation on a vertical support shaft (38) centrally between the ends of the load spreader (40) or centrally between the hooking and lifting links (46, 46D) for each end of the load. A hydraulic cylinder (48) connects each lift arm to its hub and lifts and lowers the arms (42) together to lift and lower the load spreader (40) substantially horizontally. The hubs (44, 44B) can be rotated horizontally relative to one another to move the load spreader (40) laterally in a parallel manner and / or turn it to align the load. The rotary crane (18) carries a lift linkage about a support pivot with parallel positioning control to translate the load spreader over a circular area and with control to extend or retract the load spreader laterally.

[0035] In view of the above, it is desirable to provide a vehicle, and method thereof, operating on an automated warehouse system that solves or at least mitigates one or more of the above-mentioned problems associated with the use of prior art storage and retrieval systems. Summary of the Invention [Means for solving the problem]

[0036] The present invention is set forth and characterized in the main claim, while the dependent claims describe other features of the invention.

[0037] In particular, the present invention relates to an automated warehouse system including a track system including a first set of parallel tracks disposed in a horizontal plane (P) and extending in a first direction (X) and a second set of parallel tracks disposed in the horizontal plane (P) and extending in a second direction (Y) orthogonal to the first direction (X). The first and second sets of tracks form a grid pattern in the horizontal plane (P) including a plurality of adjacent grid cells, each of which includes a grid opening defined by a pair of neighboring tracks of the first set of tracks and a pair of neighboring tracks of the second set of tracks. The system further comprises a plurality of stacks of storage containers arranged in storage columns positioned below the track system, each storage column being positioned vertically below a grid opening, and one or more vehicles, the one or more vehicles including a storage container lifting device for lifting and lowering the storage containers stacked in the stacks, a drive system including a wheel arrangement, a base to which the wheel arrangement is connected, a rotating part rotatably connected to the base via a swivel device, preferably having a rotation axis (R) oriented perpendicular to a horizontal plane (P), and a drive mechanism for rotating the rotating part relative to the base. and a rotary drive system configured to drive the vehicles along the track system in a first direction (X), in a second direction (Y), or both. The storage container lifting device is preferably connected to the rotary part.

[0038] The vehicle may also advantageously include one or more alignment devices configured to acquire any information related to the contents / items in the storage containers located on top of the stack during operation, and may include, for example, any recording device such as a camera allowing acquisition of live and / or still images of the contents in any storage container. The alignment devices should be positioned such that a free view towards the track system is ensured during at least a portion of the vehicle's operation time (e.g., when the vehicle is devoid of any storage containers).

[0039] Alternatively or additionally, the vehicle may further include one or more dedicated alignment devices for acquiring data related to the position of the vehicle relative to the track system during operation. With regard to the alignment devices for the contents of the storage containers, the alignment devices should also be placed on the vehicle such that a free view towards the track system is ensured during at least a portion of the vehicle's operation time. Examples of locations for both types of alignment devices are on the rotating and / or base and / or wheel arrangements. An alignment device is defined herein as any device capable of acquiring positional and / or visual information of the environment surrounding the vehicle.

[0040] The possibility to rotate the rotating part relative to the base and wheel construction increases the possible alignment / sweeping area of ​​the vehicle.

[0041] The rotating part preferably further comprises a bulk section rotatably connected to the base, and a protruding section, which extends horizontally from the bulk section in a first direction (X) to form a container receiving space, which is limited in height by the vertical distance from the track system to the protruding section and in a horizontal plane (P) to the horizontal extent of the protruding section. In this particular configuration, the storage container lifting device is at least partially located below the protruding section. The above-mentioned alignment device may be located on the side and / or below the protruding section with respect to this design, for example connected to the storage container lifting device. The latter exemplary location is particularly relevant in the case of alignment devices such as cameras enabling live and / or still images of the contents in the storage container.

[0042] In addition to the protruding section extending horizontally from the bulk section in the first direction (X), the vehicle can in another embodiment also include a second protruding section extending horizontally from the bulk section in the first direction (X) opposite the first protruding section, forming a second container receiving space, which is limited in height and in the horizontal plane (P) in the same manner as for the first container receiving space. As for the first protruding section, the storage container lifting device can be arranged at least partially below the second protruding section. This particular embodiment including two or more protruding sections allows the handling of multiple storage containers in each operation, thereby increasing the rate at which storage containers can be handled when operating the above-mentioned storage and retrieval system, relative to the above-mentioned prior art vehicles with a cantilever design or a "single cell" design.

[0043] In an advantageous configuration, the drive system includes a first wheel arrangement configured to guide the vehicle along the track system in a first direction (X). The first wheel arrangement preferably includes four wheels or two belts, which are arranged with their rotation axes pointing in a second direction (Y). Furthermore, in order to increase the overall stability of the vehicle during operations (i.e. transport and storage container handling), the first wheel arrangement can have a length in the first direction (X) that is longer than the distance between a pair of neighboring tracks of the second set of tracks.

[0044] However, such increased stability may also be achieved by adding additional weight to the bulk section. The latter alternative may be preferred to keep the drive system within the footprint of the grid cell, thereby allowing other vehicles to pass over all neighboring grid cells if there is synchronized rotor rotation. For example, when a vehicle is approaching a neighboring grid cell (with the protruding section of another vehicle extended into the neighboring grid cell), the rotor of the latter vehicle may rotate at least 90° to clear the drive path of the former vehicle.

[0045] The drive system may further include a second wheel arrangement configured to guide the vehicle along the track system in a second direction (Y). As for the first wheel arrangement, the second wheel arrangement preferably includes four wheels or two belts, which are arranged with their rotation axes pointing in the first direction (X). The second wheel arrangement preferably has a length in the second direction (Y) that is equal to or less than the distance between a pair of neighboring tracks of the first set of tracks.

[0046] In another advantageous configuration, the vehicle further comprises an exchangeable power source coupled to the rotating part, e.g. an exchangeable power source with a corresponding charging station as described and illustrated in patent publication WO2015 / 104263A2.

[0047] The present invention also relates to a vehicle suitable for lifting and transporting storage containers stacked in a stack in the automated warehouse system disclosed above. The vehicle of the present invention is configured to travel on a track system above the storage columns and includes a storage container lifting device for lifting storage containers stacked in the stack, a drive system including a wheel arrangement, a base to which the wheel arrangement is connected, a rotating part rotatably connected to the base via a swivel device, and a rotary drive system for rotating the rotating part relative to the base. The drive system is configured to drive the vehicle along the track system in at least one of a first direction (X) and a second direction (Y).

[0048] The present invention also relates to a method of operating an automated warehouse system as described above, the method comprising the steps of: - selecting / identifying a target storage container in a target storage column, for example by entering one or more specific items into a dedicated software, the target storage column including a target storage container with the specific items and at least one non-target storage container; - operating the drive system to steer the vehicle in a horizontal plane (P) such that the storage container lifting device is positioned directly above a grid opening of a target storage column into which a selected target storage container is to be placed; - lifting the top storage container of the target storage column completely above the track system by using a storage container lifting device; Includes.

[0049] If the top level storage container is identified as a non-target storage container, the method includes: - locating available non-target storage columns in the system onto or into which non-target storage containers may be placed; - positioning the storage container lifting device with the non-target storage container directly above a grid opening of a non-target storage column by operating the drive system to steer the vehicle in a horizontal plane (P) or by operating the rotary drive system to rotate the rotary part relative to the base, or by a combination thereof; - repeating the method steps involving non-target storage containers until the topmost storage container in the target storage column is the selected target storage container; Further includes:

[0050] When the top storage container is identified as the target storage container, the method further includes transporting the top storage container (i.e., the target storage container) to a drop-off port within or adjacent to the track system.

[0051] In the following, numerous specific details are introduced by way of example only to provide a thorough understanding of embodiments of the claimed systems, vehicles, and methods. However, those skilled in the art will recognize that these embodiments may be practiced without one or more of the specific details, or may be practiced together with other components, systems, etc. In other instances, well-known structures or operations are not shown or described in detail to avoid obscuring aspects of the disclosed embodiments.

[0052] The following drawings are included to facilitate understanding of the present invention. [Brief description of the drawings]

[0053] [Figure 1] FIG. 1 is a perspective view of a grid of a prior art automated warehouse system. [Diagram 2] FIG. 1 is a perspective view of a prior art container handling vehicle having a centrally located cavity for containing a storage container therein. [Diagram 3] FIG. 1 is a perspective view of a prior art container handling vehicle having a cantilever beam for containing storage containers thereunder. [Figure 4] FIG. 1 is a top view of a prior art single rail grid. [Diagram 5] FIG. 1 is a top view of a prior art double rail grid. [Figure 6(a)] FIG. 1 is a perspective view of a container handling vehicle of a first embodiment of the present invention operating on a double-rail grid cell of an automated warehouse system. [Figure 6(b)] FIG. 1 is a side view of a container handling vehicle of a first embodiment of the present invention operating on a double-rail grid cell of an automated warehouse system. [Figure 6(c)] FIG. 1 is a top view of a container handling vehicle of a first embodiment of the present invention operating on a double-rail grid cell of an automated warehouse system. [Figure 7] FIG. 7 is a side view of an automated warehouse system filled with storage containers, viewed along the X direction, in which two container handling devices, such as those shown in FIG. 6, are positioned side-by-side on a double-rail grid cell. [Figure 8(a)] FIG. 8 is a perspective view of the container handling vehicle of FIGS. 6 and 7, with the rotating part of the container handling vehicle rotated 180°. [Figure 8(b)] FIG. 8 is a side view of the container handling vehicle of FIGS. 6 and 7, with the rotating part of the container handling vehicle rotated 180°. [Figure 8(c)] FIG. 8 is a top view of the container handling vehicle of FIGS. 6 and 7, with the rotating section of the container handling vehicle rotated 180°. [Figure 9]FIG. 9 is an exploded perspective view of the container handling vehicle of FIGS. 6 to 8. [Figure 10] FIG. 10 is a perspective view of the container handling vehicle of FIGS. 6 to 9, in which the rotating portion of the container vehicle is rotated by 45°. [Figure 11] FIG. 11 is a perspective view of the container handling vehicle of FIGS. 6 to 10, with the lifting device of the container handling vehicle being lowered into a storage column of the automated warehouse system. [Figure 12(a)] FIG. 1 is a perspective view of a container handling vehicle according to a second embodiment of the present invention operating on a double-rail grid cell of an automated warehouse system. [Figure 12(b)] FIG. 1 is a side view of a container handling vehicle according to a second embodiment of the present invention operating on a double-rail grid cell of an automated warehouse system. [Figure 12(c)] FIG. 13 is an end view of a container handling vehicle of a second embodiment of the present invention operating on a double-rail grid cell of an automated warehouse system. [Figure 13(a)] 11A to 11C are perspective views of a container handling vehicle according to a third embodiment of the present invention, taken from different angles. [Figure 13(b)] 11A to 11C are perspective views of a container handling vehicle according to a third embodiment of the present invention, taken from different angles. [Figure 14(a)] FIG. 13 is a side view of the container handling vehicle in FIG. 12, viewed along the Y direction. [Figure 14(b)] FIG. 13 is a side view of the container handling vehicle in FIG. 12, viewed along the X direction. [Figure 15] FIG. 1 is an exploded perspective view of a lifting device capable of lifting a single storage container in one lifting motion. [Figure 16] FIG. 1 is a perspective view of a lifting device capable of lifting multiple storage containers in one lifting motion. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0054] In the drawings, like reference numbers are used to denote like parts, elements or features unless expressly stated otherwise or implicitly understood from the context.

[0055] In the following, embodiments of the invention will be discussed in more detail, by way of example only, and with reference to the accompanying drawings, in which it is to be understood, however, that the drawings are not intended to limit the invention to the subject matter shown in the drawings.

[0056] Unless otherwise stated, the framework 100 of the automated storage system 1 is constructed in accordance with the prior art framework 100 described above in connection with Figures 1-5, i.e. in accordance with a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 103, and further in accordance with which the framework 100 includes a track system 108 of parallel tracks 110, 111 in the X and Y directions disposed across the top of the storage columns 105 / grid columns 112. The horizontal area of ​​the grid column 112, i.e. the area along the X and Y directions, may be defined by the distance between adjacent rails 110 and 111, respectively (see also Figures 4 and 5).

[0057] In Figure 1, grid 104 is shown with a height of eight cells. However, it will be appreciated that grid 104 can, in principle, be of any size. In particular, it will be appreciated that grid 104 can be significantly wider and / or longer and / or deeper than that disclosed in Figure 1. For example, grid 104 can have a horizontal extent of more than 700x700 grid cells and a depth of more than 12 grid cells.

[0058] One embodiment of a container handling vehicle 3 according to the present invention will now be discussed in more detail with reference to Figures 6 to 9.

[0059] Each container handling vehicle 3 comprises a rotating part 30 which is rotationally coupled on a base 31 via a swivel device 32. A drive system 18 is fixed to the base 3 and enables the lateral / horizontal movement of the container handling vehicles 3, i.e. the movement of the vehicles 3 in the X and Y directions on the track system 108 of the storage grid 104.

[0060] The drive system 18 includes a first set of wheels 19 and a second set of wheels 20, with the first set of wheels 19 arranged to engage a pair of tracks 110a, 110b of the first set of tracks 110 and the second set of wheels 20 arranged to engage a pair of tracks 111a, 111b of the second set of tracks 111 (see Figures 4 and 5). At least one of the sets of wheels 19, 20 can be lifted and lowered so that the first set of wheels 19 and / or the second set of wheels 20 can be brought into engagement with the respective sets of tracks 110, 111 at any one time.

[0061] Each set of wheels 19, 20 includes four wheels 19a, 19b, 19c, 19d; 20a, 20b, 20c, 20d arranged along a side of the vehicle 3. The wheels 19a and 19b are arranged in a first vertical plane and the wheels 19c and 19d are arranged in a second vertical plane that is parallel to the first vertical plane and at a distance from the first vertical plane that corresponds to the distance between the rails 110a and 110b. Wheels 20a and 20b are disposed in a third vertical plane that is perpendicular to the vertical plane in which wheels 19a-19d are disposed, and wheels 20c and 20d are disposed in a fourth vertical plane that is parallel to the third vertical plane and at a distance from the third vertical plane that corresponds to the distance between rails 111a and 111b.

[0062] At least one of the wheels in each set 19, 20 may be motorized to propel the vehicle 3 along the track system 108. At least one motorized wheel in each set may include a hub motor, i.e. an electric motor, which is coupled to or integrated into the hub of the wheel and drives the wheel directly. An example of a container handling vehicle with such a motor is disclosed in WO2016 / 120075A1, the contents of which are incorporated herein by reference. In an alternative example, at least one of the wheels 19a-d; 20a-d is a passive wheel propelled by one or more motors located in the base 31 and / or the rotating part 30 and / or the slewing device 32 of the vehicle 3. A drive system 18 with a combination of a hub motor and an externally located motor may also be envisaged.

[0063] Each rotor 30 includes a bulk section 30b and a protruding section (hereafter referred to as a cantilever 30a), the protruding section extending horizontally in the X direction. 6-9, the cantilever 30a is formed by fixing a cantilever beam 30c on each vertical side of a vehicle framework 30d at or near the top of the vehicle 3. Both the vehicle framework 30d (forming part of the rotating part 30) and the cantilever beam 30c are covered by two parallel vertical side covers 39 oriented along the direction of the cantilever beam 30c, a vertical front cover 37 oriented perpendicular to the direction of the cantilever beam 30b, a vertical back cover 38 oriented perpendicular to the direction of the cantilever beam 30c covering the rotating part 30 below the cantilever 30a, and a horizontal top cover 36 covering the entire footprint of the vehicle 3, i.e. the horizontal extent of the vehicle 3 as seen from above.

[0064] The bulk section 30b may contain bulky components such as the vehicle battery 40, the control panel 35, and any motors 15a that operate the vehicle 3.

[0065] The vehicle battery 40 can be fixed into the bulk section 30b by fastening means. Furthermore, the vehicle 3 can include a charging socket 41, which is coupled to the battery 40 to enable battery recharging in a dedicated charging station in the automated warehouse system 1. Alternatively or additionally, the vehicle 3 can be equipped with an exchangeable battery 40, for example with a corresponding battery slot 40a in the vehicle 3, for example in the bulk section 30b, and a battery opening 40b having a size that allows the exchangeable battery 40 to be guided therethrough. The battery opening 40b is, for example, in the front cover 37. The corresponding charging station and battery exchange mechanism can be the same as the charging station and exchange mechanism as disclosed in International Patent Publication WO2015 / 104263, the contents of which are incorporated herein by reference. Please refer in particular to the disclosure of the battery exchange mechanism in WO2015 / 104263 with reference to Figs. 7-9.

[0066] Because the bulk section 30b of the rotating section 30 does not need to allocate any space for the storage container 106, the design of the vehicle 3 allows larger batteries to be mounted within / coupled to the vehicle 3.

[0067] The rotating section 30 includes a storage container lifting device 16 which is arranged in and / or below the cantilever beam 30a for vertical transport of the storage container 106, for example to lift the storage container 106 from the storage column 105 and bring the storage container 106 into a predetermined position in the container receiving space 33 between the underlying rail system 108 and the cantilever beam 30a, and also to lower the storage container 106 from the container receiving space 33 into the storage column 105. The lifting device 16 comprises one or more lifting shafts 15, one or more lifting belts 14 and a lifting plate 13, the one or more lifting shafts 15 being connected to one or more lifting motors 15a that ensure a rotational force on the lifting shafts 15, the one or more lifting belts 14 being rotationally attached to the lifting shafts 15, and the lifting plate 13 being attached at its upper side to the end of the lifting belt 14 that is not attached to the respective lifting shaft 15. The lifting shafts 15, the lifting motors 15a and the lifting belts 14 are configured to allow winding / unwinding onto / from the lifting shafts 15 during operation by the lifting motors 15a, thereby allowing the lifting and lowering of the lifting plate 13, i.e. and adjusting the lifting plate 13 in a third direction Z, which is orthogonal to the first direction X and the second direction Y. The lifting device 16 further comprises one or more engagement or gripping devices 12 and one or more guide pins 17 arranged on an underside of the lifting plate 13. The engagement devices 12 are configured to grip or engage with the storage container 106 for lifting / lowering, and the guide pins 17 are configured to ensure sufficiently accurate positioning of the lifting device 16 with respect to the storage container 106 during the lifting / lowering operation.

[0068] In the embodiment shown in Figures 6-9, the lifting device 16 includes two lifting shafts 15, which are arranged in the cantilever beam 30a in the direction of the cantilever beam 30b at or near each vertical side of the vehicle, and two lifting belts 14 are arranged at or near the ends of the respective lifting shafts 15 to allow winding thereon, and the ends of the respective belts 14 distal to the lifting shafts 15 are attached at or near the four corners on the upper side of the lifting plate 13. Each lifting shaft 15 is operated by a dedicated lifting motor 15a, which is arranged in the rotating part 30 outside the cantilever beam 30a. Also, the lifting shafts 15 can be arranged directly above and / or below the cantilever beam 30a.

[0069] Conventionally, and for the purposes of this application, Z=1 identifies the top layer of the storage grid, i.e., the layer immediately below track system 10, Z=2 identifies the second layer below track system 10, Z=3 identifies the third layer, etc. The container handling vehicle 3 may be said to travel in layer Z=0. Consequently, each storage column may be identified by its X and Y coordinates, and each storage location in the storage grid may be identified by its X, Y, and Z coordinates.

[0070] When a storage container 106 stored in the storage grid 104 is to be accessed, one of the container handling vehicles 3 is directed to retrieve the target storage container 106 from its position in the storage grid 104 and to transport the target storage container 106 to an access station (not shown) where it may be accessed from outside the storage grid 104 or transferred out of the storage grid 104. This operation involves moving the container handling vehicle 3 into position (where the cantilever beam 30a is positioned directly above the grid opening 115 of the storage column 105 in which the target storage container 106 is positioned) and retrieving the storage container 106 from the storage column 105 using the lifting device 16 of the container handling vehicle. This step involves using the lifting device 16 to lift the storage container 106 from the storage column 105, through the grid opening 115 and into the container receiving space 33 of the vehicle 3.

[0071] If the target storage container 106 is located deep within the stack 107, i.e., with one or more other storage containers positioned above the target storage container 106, the operation also involves temporarily displacing the storage containers positioned above before lifting the target storage container 106 from the storage column 105. This step, which may be referred to in the art as "digging", may be performed by the same container handling vehicle 3 that is subsequently used to transport the target storage container 106 to the access station, or may be performed by one or more other cooperating container handling vehicles. Alternatively or in addition, the automated storage system 1 may be configured to dig the storage container out of the storage column 105. It is possible to have a container handling vehicle specifically specialized for the task of temporarily removing a target storage container 106. Once the target storage container 106 is removed from the storage column 105, the temporarily removed storage container may be repositioned back into the original storage column 105. However, the removed storage container may alternatively be repositioned into another storage column.

[0072] Once the target storage container 106 is brought directly beneath or partially into the cantilever beam 30a and into the container receiving space 33 of the container handling vehicle 3, the vehicle 3 transports the storage container 106 to an access station where it is unloaded. The access stations may typically include grid locations at the periphery of the storage grid 104 where the storage container 106 may be accessed manually or further transported using a suitable conveyor system.

[0073] When a storage container 106 is to be stored in the storage grid 104, one of the container handling vehicles 3 is directed to pick up the storage container 106 from a pick-up station (not shown), which may also double as an access station, and transport it to the grid opening 115 above the storage column 105 where it is to be stored. After any storage container positioned at or above the target position in the storage column stack 107 is removed, the container handling vehicle 3 positions the storage container 106 in the desired position. The removed storage container can then be lowered back into the storage column 105 or repositioned in another storage column in the storage grid 104.

[0074] Also, the cantilever 30a and / or the suspended lifting device 16 may hold one or more sensors 21 and / or one or more cameras 21, preferably down-looking sensors 21 and / or cameras 21. The sensors may be used to establish the position of the vehicle on the track system 108, for example the alignment of the vehicle with respect to the grid openings 115, or to establish the position of the vehicle 3 with respect to other vehicles on the track system 108, for example when operating the vehicles as a single file of vehicles, an operation which may be beneficial for a cantilever type vehicle with a rotation, since a single file of vehicles can be easily formed by a uniform orientation of the cantilever by a simple rotation.

[0075] The camera opens up additional possibilities, such as visual inspection of the contents in the storage container, the image of which can be sent to the user / customer via the control system. Thus, when searching for one or more particular items, the user and / or customer can have access to an image of the position, orientation and size in the storage container 106. The sensor and / or camera can be placed on the underside of the cantilever 30a, such that a free view into the track system below is ensured at least for a part of the operation time. Furthermore, the camera can alternatively or additionally be placed on the storage container lifting device 16, allowing a free view into at least the topmost storage container 106 in the storage column 105. The ability to rotate the rotating part 30 further increases the usefulness of said sensor or camera, since it allows sweeping over a larger area in the system 1.

[0076] Of course, one or more cameras and / or sensors may be mounted elsewhere on the vehicle 3, for example to obtain information of the zone along and / or above the framework 100. For example, a camera may be mounted on the vehicle 3 and / or on an antenna of the vehicle 3.

[0077] 15 shows an example of a lifting device 16 including a lifting plate 13, a number of gripping devices 12 for gripping / engaging with the storage containers 106, and a number of guide pins 17 for aligning the lifting device 16 with the storage containers 106. The lifting plate 13 further includes a top cover 13a, a base cover 13b, and one or more cameras 21, which are mounted on the lifting plate 13, preferably in the base cover 13b. The one or more cameras 12 are configured to record and align images of products placed below the lifting device 16, i.e., into the framework structure 100 and the underlying storage containers 106.

[0078] To monitor and control the automated storage system 1 so that the desired storage containers 106 can be delivered to the desired locations at the desired times without the container handling vehicles 3 colliding with each other, the automated storage system includes a control system (not shown), which is typically computerized and includes, for example, a database for monitoring and controlling the location of each storage container 106 in the storage grid 104, the contents of each storage container 106, and the movement of the container handling vehicles 3.

[0079] The container handling vehicle 3 typically communicates with the control system from a control panel 35 (typically located on the vehicle 30 as shown in Figures 6-9) via wireless communication means, for example via WLAN operating under the IEEE 802.11 (WiFi) standard and / or utilising mobile telecommunications technologies such as 4G or above.

[0080] Each container handling vehicle 3 includes a battery 40 which provides power to on-board equipment including the lifting motor 15a, the drive system 18 for the first and second wheel formations 19, 20, and the on-board control and communication systems.

[0081] The wheels 19a-19d, 20a-20d are arranged around the periphery of the base 31 of the vehicle 3, below the rotating part 30. The vertical side walls 37-39 (see FIG. 9) covering the sides of the rotating part 30 are in the same plane as the vertical plane in which the wheels 19a-19d; 20a-20d are arranged in the first embodiment. As a result, the bulk section 30b, i.e. the rotating part 30 excluding the cantilever beam 30a, has a generally rectangular parallelepiped shape.

[0082] As is most clear in Figures 6(b) and (c), 7, and 8(b) and (c), the first embodiment vehicle 3 has an X footprint, i.e., horizontal extent in the X direction as viewed from above, that covers two grid openings 115, and a Y footprint, i.e., horizontal extent in the Y direction as viewed from above, that covers a single grid opening.

[0083] A result of the cantilever design described above is that when a vehicle 3 is positioned above a grid opening 115, for example to access a container 106 in a storage column 105 that is positioned vertically below the grid opening 115, the cantilever 30a will extend above a neighboring grid opening 115. Typically, this would prevent a second vehicle from traveling above this neighboring grid cell (i.e., the grid cell into which the protruding section 27 of the first vehicle 3 extends), thereby potentially reducing the overall capacity of the automated storage system 1.

[0084] However, due to the novel configuration of vehicle 3, other vehicles may be able to see the vehicle before and / or after the passage of other vehicles. may be allowed to pass over a nearby grid opening by rotating the rotating portion 30 (and thereby the cantilever 30a) by more than 180° relative to the base 31 during the rotation. The proper timing of the rotation may be set by a control system. This embodiment is not shown in the attached figures. However, it may be implemented by simply removing the wheel structure protrusion 22 (see Figures 6, 8, 9 and 11), which is described further below, and by reconfiguring the affected wheels 19b, 19c to ensure that the footprint in both the X and Y directions below the cantilever 30a is within the size of the grid opening 115.

[0085] The rotation of the rotator 30 relative to the base 31 is illustrated in Figures 6 and 8, showing the vehicle 3 initially in a position where the cantilever 30a is oriented in the negative X direction (Figure 6(a)), resulting in an orientation of the cantilever 30a along the positive X direction after a 180° rotation of the rotator 30 (Figure 8(a)). Rotation of the rotator 30 is achieved by operating the pivoting device 32 by means of a rotor activation motor 34, which is preferably located in the base 31 (Figure 9).

[0086] In order to achieve further stability of the vehicle 3, the first wheel structure 19 oriented in the X direction has, on each side of the vehicle 3, a wheel structure protrusion 22 which extends the total length of the first wheel structure 19, in particular beyond the footprint of the bulk section 30b, the distance between the respective wheel pairs 19a, 19b and 19c, 19d.

[0087] For both configurations, i.e., without and with wheel structure projections 22, the ability to rotate the cantilever 30a has advantages over the prior art cantilever design disclosed in NO317366. For example, the rotating portion 30 can be rotated 180 oDue to the possibility of rotating the vehicle 3 more than once, each vehicle 3 is able to transport storage columns 106 from / to port columns 119, 120 and / or conveyor belts located on two opposite vertical sides of the outer boundary of the storage grid 104. If the port columns and / or conveyor belts are located in the storage grid 104 as shown in FIG. 1, each vehicle 3 is able to transport storage containers 106 from / to ports / conveyor belts located on all vertical sides of the outer boundary of the storage grid 104, i.e., vertical sides oriented in both the X-direction and the Y-direction. Another advantage with respect to the prior art cantilever design is that all the new vehicles 3 operating on the system 1 are able to access all storage columns 105, even those located on the outer boundary of the storage grid 104.

[0088] FIG. 10 shows the container handling vehicle 3 when the rotatable part 30 is rotated approximately 45° in the horizontal plane (P) relative to the X direction.

[0089] Additionally, FIG. 11 shows a container handling vehicle 3 having a cantilever beam 30b oriented along the positive X direction, where the lifting device 16 is lowered into the underlying framework 100 towards the topmost storage container 106 of a stack 107.

[0090] 12 shows a second embodiment of the present invention, in which the rotating section 30 of the vehicle 3 includes a bulk section 30b and two protruding sections 30a extending horizontally from the top of the bulk section 30b. Except for having protruding sections 30a in both the positive and negative X directions, the configuration of the vehicle 3 in the second embodiment is the same or nearly the same as the first embodiment, i.e., the storage container lifting device 12(b) and (c), the vehicle 3 of the second embodiment has a footprint in the X direction covering three grid openings 15 and a footprint in the Y direction covering a single grid opening. As with the first embodiment, the vehicle battery 40 can be either fixed in the bulk section 30b or replaceable as illustrated in patent publication WO2015 / 104263, which is incorporated herein by reference.

[0091] In addition to advantages regarding port placement and access to storage cells at the storage grid perimeter, the second embodiment vehicle 3 has the advantage of allowing simultaneous or sequential handling of multiple storage containers 106, for example lowering a storage container on one side of the vehicle 3 while raising another storage container on the other side of the vehicle 3, or lowering / raising two storage containers simultaneously, or lowering / raising two storage containers from / to the same storage column by rotating the rotatable section 180°.

[0092] In both the first and second embodiments of the invention, the base 31 of the vehicle 3 is located entirely within both the vertical and horizontal extents of the wheel structure 18. Furthermore, the vehicle battery 40 is located within, on or under the bulk section 30b of the rotating part 30. Figures 13-14 show a third embodiment of the invention, in which the base 31 extends above or is located above the wheel structure 18. In this particular embodiment, at least some bulky components such as the vehicle battery 40 may advantageously be located on or in the base 31 instead of the rotating part 30. In Figures 13-14, a battery receiving structure 40a is shown on the vertical wall 37 of the vehicle base 31 facing the negative X-direction. When the vehicle battery 40 is to be replaced, the vehicle 3 travels to a dedicated charging station (not shown) and performs a battery exchange similar or equivalent to the battery exchange disclosed in WO2015 / 104263, which is incorporated herein by reference. To avoid or reduce interference with the cantilever beam 30a, the rotating portion 30 can optionally be rotated 90° relative to the base 31 prior to battery exchange with the charging station. Alternatively, the vehicle battery 40 can be mounted on the side wall.

[0093] As illustrated diagrammatically in FIG. 16, a single storage container lifting device 16 can also handle multiple storage containers 106, and the lifting device 16 can be equipped with multiple engagement devices 12, such as claws or clips, corresponding to the total number of upper horizontal corners of the storage containers 106 to be picked up by the vehicle 3 in the same picking operation. FIG. 16 shows the specific example of a 4x4 clip, allowing up to four storage containers 106 to be picked up in the same operation, assuming a 2x2 storage container configuration in the storage column. Each, some or all of the clips in each lifting unit 6 can be operated remotely by a control system. As explained above, each corner of the lower side of the lifting plate 13 is preferably arranged with one or more guide pins 17 to ensure sufficient guidance of the engagement device 12 onto or into the corresponding engagement device receiving structure.

[0094] In the preceding description, various aspects of the automated storage system, vehicle, and method according to the present invention have been described with reference to exemplary embodiments. However, this description is not intended to be interpreted in a limiting sense. Various modifications and variations of the exemplary embodiments, as well as other embodiments of the system, vehicle, and method that are obvious to those skilled in the art, are considered to be within the scope of the present invention as defined by the following claims. By way of example, an automated storage system may be envisioned when the above-mentioned cantilever vehicle of the present invention operates together with prior art vehicles, such as the central cavity vehicle disclosed in WO2014 / 090684A1, the single cell vehicle disclosed in WO2015 / 193278A1, and / or the non-rotating cantilever vehicle disclosed in NO317366, and when the cantilever of each cantilever vehicle of the present invention is sufficiently high above the rail system to allow one or more of the prior art vehicles to operate underneath during operation. [Explanation of symbols]

[0095] 1. Automated warehouse system 3 Vehicle, first embodiment 12 Grasping devices / engaging devices / claws / clips 13 Lifting Plate 13a Upper cover of lifting plate 13 13b Base cover for lifting plate 13 14 Lifting Belt 15 Lifting shaft 15a Lifting motor 16 Storage Container Lifting Device 17 Guide pin 18 Drive system / wheel assembly of vehicle 3 19 First wheel arrangement / first set of wheels / first drive system, first direction X 19a: First wheel of the first wheel structure 19 19b: second wheel of the first wheel structure 19 19c: the third wheel of the first wheel structure 19 19d Fourth wheel of the first wheel structure 19 20 second wheel arrangement / second set of wheels / first drive system, second direction Y 20a: first wheel of the second wheel structure 19 20b: second wheel of the second wheel structure 19 20c: the third wheel of the second wheel structure 19 20d Fourth wheel of the second wheel structure 19 21 Alignment devices / cameras / sensors 22 Wheel structure protrusion for the first wheel structure 19 30 Rotating part of vehicle 3 30a - cantilever / protruding section of rotating part 30 30b Bulk Section 30c cantilever beam 30d vehicle framework 31 Base / Stationary Part of Vehicle 3 31a Top cover to base 32 Rotating Device 33 Container Receiving Space 34 Rotational drive means / rotational activation motor 35 Control Panel / Transmission Means 36 Rotating section upper cover 37 front cover of rotating part 30 / end section of rotating part opposite protruding section 30a 38 Back cover of rotating part 30 39 Vertical side cover of rotating part 30 40 Vehicle Battery 40a Slot for replaceable vehicle battery 40b Battery opening in front cover for access to battery 40 41 Charging socket / coupling point for replaceable battery 100 Framework Structure 102 Framework structure upright members 103 Horizontal members of framework structures 104 Storage Grid 105 Storage Column 106 Storage Container 106' Specific location of storage container 107 Stack 108 Rail System / Track System 110 Parallel tracks in the first direction (X) 110a: First track of neighboring tracks 110 110b: the second track of the neighboring track 110 111 Parallel tracks in the second direction (Y) 111a First track of nearby track 111 111b The second track of nearby track 111 112 Grid Column 115 Grid Opening 119 1st Port Column / 1st Port 120 Second Port Column / Second Port 122 Grid Cells / Storage Cells 201 Prior Art Single Cell Storage Container Vehicles 201a Vehicle body part of storage container vehicle 101 201b Drive means / wheel structure, first direction (X) 201c Drive means / wheel structure, second direction (Y) 301 Prior Art Cantilever Storage Container Vehicles 301a Vehicle body part of storage container vehicle 101 301b Driving means in a first direction (X) 301c Driving means in the second direction (Y) X First Direction Y Second Direction Z third direction P horizontal plane R Rotation axis

Claims

1. An automated warehouse system (1), a track system (108) including a first set of parallel tracks (110) arranged in a horizontal plane (P) and extending in a first direction (X) and a second set of parallel tracks (111) arranged in said horizontal plane (P) and extending in a second direction (Y) perpendicular to said first direction (X), said first and second sets of tracks (110, 111) forming a grid pattern in said horizontal plane (P) including a plurality of adjacent grid cells (122), each including a grid opening (115) defined by a pair of neighboring tracks (110a, 110b) of said first set of tracks (110) and a pair of neighboring tracks (111a, 111b) of said second set of tracks (111); a plurality of stacks (107) of storage containers (106) disposed in storage columns (105) positioned below said track system (108), each storage column (105) being positioned vertically below a grid opening (115); a vehicle (3) including a storage container lifting device (16) for lifting a storage container (106) stacked in said stack (107) and a drive system (18) including wheel arrangements (19, 20), said drive system (18) configured to drive said vehicle (3) along said track system (108) in at least one of said first direction (X) and said second direction (Y); In an automated warehouse system (1), The vehicle (3) a base (31) to which the wheel structure (19, 20) is connected; a rotating part (30) rotatably connected to the base (31) via a swivel device (32) having a rotation axis (R) oriented perpendicular to the horizontal plane (P), the rotating part (30) comprising a bulk section (30b) rotatably connected to the base (31) and a protruding section (30a) extending horizontally from the bulk section (30b) in the first direction (X), forming a container receiving space (33), the container receiving space (33) being limited in height by a vertical distance from the track system (108) to the protruding section (30a) and being limited in the horizontal extent of the protruding section (30a) in the horizontal plane (P), the storage container lifting device (16) being at least partially arranged below the protruding section (30a), the storage container lifting device (16) being connected to an underside of the protruding section (30a); a rotational drive system (34) for rotating the rotating part (30) relative to the base (31); The automated warehouse system (1) further comprises:

2. 2. The system (1) according to claim 1, characterized in that the vehicle (3) further comprises at least one camera (21) enabling the acquisition of live and / or still images.

3. 3. The system (1) according to claim 2, characterized in that at least one of the at least one cameras (2) is configured to enable the acquisition of live and / or still images of the contents in the storage container (106).

4. The rotating portion (30) is arranged to the side and / or below the protruding section (30a).

4. The system (1) according to claim 1, further comprising an alignment device (21) adapted to acquire information related to contents in the storage container (106).

5. 5. The system (1) according to claim 4, characterized in that the alignment device (21) is connected to the storage container lifting device (16).

6. The system (1) according to claim 4 or 5, characterized in that the alignment device (21) is a camera enabling live and / or still images of the contents in the storage container (106).

7. 7. The system (1) according to any one of claims 1 to 6, characterized in that an end section (37) of the rotating part (30) opposite the protruding section (30a) is shaped such that the rotating part (30) can rotate without the end section (37) extending beyond the maximum horizontal extent of the drive system (18).

8. The rotating part (30) is a bulk section (30b) rotatably connected to said base (31); a first protruding section (30a) extending horizontally in the first direction (X) from the bulk section (30b), the first protruding section (30a) defining a first container receiving space (33), the first container receiving space (33) being limited in height by a vertical distance from the track system (108) to the first protruding section (30a) and being limited in horizontal extent in the horizontal plane (P) of the first protruding section (30a); a second protruding section (30a) extending horizontally in the first direction (X) from the bulk section (30b) opposite the first protruding section (30b), the second protruding section (30a) defining a second container receiving space (33), the second container receiving space (33) being limited in height by the vertical distance from the track system (108) to the second protruding section (30a) and being limited in horizontal extent in the horizontal plane (P) of the second protruding section (30a); Further comprising:

8. The system (1) according to any one of claims 1 to 7, characterized in that the storage container lifting device (16) is at least partially arranged under at least one of the first and second protruding sections (30a).

9. The drive system (18) comprises: a first wheel arrangement (19) configured to guide the vehicle (3) along the track system (108) in the first direction (X); 9. The system (1) according to any one of claims 1 to 8, characterized in that the first wheel construction (19) has a length in the first direction (X) that is longer than the distance between a pair of adjacent tracks (111a, 111b) of the second set of tracks (111).

10. The drive system (18) comprises: a second wheel arrangement (20) configured to guide the vehicle (3) along the track system (108) in the second direction (Y); The second wheel structure (20) is a pair of the first set of tracks (110).

10. The system (1) according to claim 9, characterized in that it has a length in the second direction (Y) equal to or less than the distance between adjacent tracks (110a, 110b).

11. The system (1) according to any one of claims 1 to 10, characterized in that the vehicle (3) further comprises a replaceable power source (40) coupled to the rotating part (30).

12. A vehicle (3) for lifting and transporting storage containers (106) stacked in a stack (107) in an automated warehouse system (1) according to any one of claims 1 to 11, comprising: the vehicle (3) is configured to move on the track system (108) above the storage columns (105), the track system (108) comprising a first set of parallel tracks (110) arranged in a horizontal plane (P) and extending in a first direction (X) and a second set of parallel tracks (111) arranged in the horizontal plane (P) and extending in a second direction (Y) perpendicular to the first direction (X), the first and second sets of tracks (110, 111) forming a grid pattern in the horizontal plane (P) comprising a plurality of adjacent grid cells (122), each of which comprises a grid opening (115) defined by a pair of neighboring tracks (110a, 110b) of the first set of tracks (110) and a pair of neighboring tracks (111a, 111b) of the second set of tracks (111); The vehicle (3) a storage container lifting device (16) for lifting a storage container (106) stacked in said stack (107); a drive system (18) including wheel structures (19, 20), the drive system (18) configured to drive the vehicle (3) along the track system (108) in at least one of the first direction (X) and the second direction (Y); In a vehicle (3), The vehicle (3) a base (31) to which the wheel structure (19, 20) is connected; a rotating part (30) rotatably connected to the base (31) via a pivoting device (32) having a rotation axis (R) oriented perpendicular to the horizontal plane (P), the rotating part (30) comprising a bulk section (30b) rotatably connected to the base (31) and a protruding section (30a) extending horizontally from the bulk section (30b) in the first direction (X), forming a container receiving space (33), the container receiving space (33) being limited in height by a vertical distance from the track system (108) to the protruding section (30a) and being limited in the horizontal extent of the protruding section (30a) in the horizontal plane (P), the storage container lifting device (16) being at least partially connected below the protruding section (30a), the storage container lifting device (16) being connected to the underside of the protruding section (30a); a rotational drive system (34) for rotating the rotating part (30) relative to the base (31); The vehicle (3) further comprises:

13. A method for operating an automated warehouse system (1), comprising: a first set of parallel tracks (110) arranged in a horizontal plane (P) and extending in a first direction (X) and a second set of parallel tracks (111) arranged in said horizontal plane (P) and extending in a second direction (Y) perpendicular to said first direction (X); a track system (108) including: said first and second sets of tracks (110, 111) forming a grid pattern in said horizontal plane (P) including a plurality of adjacent grid cells (122), each including a grid opening (115) defined by a pair of neighboring tracks (110a, 110b) of said first set of tracks (110) and a pair of neighboring tracks (111a, 111b) of said second set of tracks (111); a plurality of stacks (107) of storage containers (106) disposed in storage columns (105) positioned below said track system (108), each storage column (105) positioned vertically below a grid opening (115); A vehicle (3), comprising a storage container lifting device (16) for lifting a storage container (106) stacked in the stack (107); a drive system (18) including wheel structures (19, 20), configured to drive the vehicle (3) along the track system (108) in at least one of the first direction (X) and the second direction (Y); a base (31) to which the wheel structures (19, 20) are connected; and a rotating part (30) rotatably connected to the base (31) via a swivel device (32) having a rotation axis (R) oriented perpendicular to the horizontal plane (P), the bulk section (106) rotatably connected to the base (31). a rotating part (30) including a bulk section (30b) and a protruding section (30a) extending horizontally from the bulk section (30b) in the first direction (X) to form a container receiving space (33), the container receiving space (33) being limited in height by a vertical distance from the track system (108) to the protruding section (30a) and being limited in the horizontal plane (P) to the horizontal extent of the protruding section (30a), the storage container lifting device (16) being at least partially arranged below the protruding section (30a), the storage container lifting device (16) being connected to an underside of the protruding section (30a); a rotational drive system (34) for rotating the rotating part (30) relative to the base (31); In a method, the method comprises: identifying a target storage container (106) within a target storage column (105) including the target storage container (106) and at least one non-target storage container; operating the drive system (18) to steer the vehicle (3) in the horizontal plane (P) so that the storage container lifting device (16) is positioned directly above the grid opening (115) of the target storage column (105) into which the selected target storage container (106) is to be placed; lifting the top storage container of the target storage column (105) completely above the track system (108) by using the storage container lifting device (16); If the top storage container is a non-target storage container, Positioning a non-target storage column onto or into which the non-target storage containers may be placed; positioning the storage container lifting device (16) with the non-target storage containers directly above the grid openings (115) of the non-target storage columns by operating the drive system (18) to steer the vehicle (3) in the horizontal plane (P) or by operating the rotation drive system (34) to rotate the rotator (30) relative to the base (31), or by a combination thereof; repeating the method steps involving the non-target storage containers until the topmost storage container of the target storage column (105) is the selected target storage container (106); transporting the top storage container (106) to a drop-off port (119) within or adjacent to the track system (108); A method comprising:

14. The method according to claim 13, wherein the automated warehouse system (1) is one according to any one of claims 1 to 11.

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