Delivery system, automated warehouse system, and method for transporting containers

Abstract

To provide a delivery system for transporting a container to an access point for loading and unloading of items held within the containers by human and / or robotic operators.SOLUTION: There is provided a delivery system for transporting a container to an access point for handling items held within the container by a human operator and / or a robotic operator, the system including: a delivery rail grid, a delivery vehicle 30, and a container access station 60 including at least one conveyor line 66 extending into the access point. The delivery vehicle is arranged to deliver and receive a container 106 from at least one conveyor line, and the at least one conveyor line is arranged for transport of the container between the delivery vehicle and the access point.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a delivery system for the transport of storage containers between a first location and a second location which is an access point. The access point is provided within a container access station having at least one conveyor line. The present invention also relates to an automated warehouse system comprising a delivery system and a method for transporting containers.

Background Art

[0002] Figures 1A and 1C disclose a typical prior art automated warehouse system 1 with a skeletal structure 100. Figures 1B and 1D disclose a prior art container handling vehicle 101 for operating the system 1 disclosed in Figures 1A and 1C respectively.

[0003] The skeletal structure 100 comprises a plurality of upright members 102 and optionally a plurality of horizontal members 103 which support the upright members 102. The members 102, 103 may typically consist of metal, for example extruded aluminium profiles.

[0004] The skeletal structure 100 defines a storage grid 104 which comprises storage columns 105 in which storage containers 106, also known as containers, are stacked on top of one another to form stacks 107 and are arranged in rows.

[0005] Each storage container 106 can typically hold a plurality of product items (not shown) and the product items within the storage container 106 may be the same or of different product types depending on the application.

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

[0007] The automated warehouse system 1 includes a rail system 108 arranged in a grid pattern across the upper part of the storage vault 104. On the rail system 108, a plurality of container handling vehicles 200, 300 (such as illustrated in FIGS. 1B and 1D) operate to lift the storage container 106 from the storage column 105 and lower the storage container 106 into it, and also to transport the storage container 106 above the storage column 105. One horizontal range of the grid cells 122 forming the grid pattern is marked by a thick line in FIGS. 1A and 1C.

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

[0009] The rail system 108 includes a first set 110 of parallel rails arranged to guide the movement of the container handling vehicles 200, 300 in a first direction X across the upper part of the frame structure 100, and a second set 111 of parallel rails arranged at a right angle to the first set 110 of rails for guiding the movement of the container handling vehicles 200, 300 in a second direction Y that is perpendicular to the first direction X. Thus, the rail system 108 defines a grid column in which the container handling vehicles 200, 300 can move laterally above the storage column 105, that is, in a plane parallel to the horizontal X - Y plane.

[0010] Each prior art container handling vehicle 200, 300 includes a vehicle body and a wheel arrangement 201, 301 of eight wheels, with a first set of four wheels enabling lateral movement of the container handling vehicles 200, 300 in the X direction of the vehicle, and a second set of the remaining four wheels enabling lateral movement in the Y direction. One or both sets of wheels within the wheel arrangement can be raised and lowered such that the first set of wheels and / or the second set of wheels can engage an individual set of rails 110, 111 at any given time.

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

[0012] As is conventional and for the purposes of this application, Z = 1 identifies the topmost layer of the grid 104, i.e., the layer directly below the rail system 108, Z = 2 identifies the second layer below the rail system 108, Z = 3 identifies the third layer, and so on. In the exemplary prior art grid 104 disclosed in FIGS. 1A and 1C, Z = 8 identifies the bottommost layer of the grid 104. As a result, using the Cartesian coordinate system X, Y, Z shown as an example in FIGS. 1A and 1D, the storage container identified as 106' in FIG. 1A can be said to occupy the grid location or cell X = 10, Y = 2, Z = 3. The container handling vehicle 101 can be said to travel within the layer Z = 0, and each grid column can be identified by its X and Y coordinates.

[0013] When each container handling vehicle 200 transports the storage container 106 across the rail system 108, it is provided with a storage compartment or space (not shown) for receiving and accommodating the storage container 106. The storage space may, for example, comprise a cavity arranged at the center within the vehicle body, as described in WO 2014 / 090684 A1, the content of which is incorporated herein by reference.

[0014] Alternatively, the container handling vehicle 300 may have a cantilever structure, as described in No. 317366, the content of which is also incorporated herein by reference.

[0015] The container handling vehicle 200 may, for example, have an occupancy area, that is, generally an area equal to the lateral extent of the grid cell 122, that is, the extent in the X and Y directions of the grid cell 122, as described in WO 2015 / 193278 A1, the content of which is incorporated herein by reference. As used herein, the term "lateral" may mean "horizontal".

[0016] Alternatively, the container handling vehicle 200 may have an occupancy area larger than the lateral extent (the lateral area defined thereby) of the grid column 105, as disclosed in WO 2014 / 090684 A1, for example.

[0017] As shown in FIG. 2A, the rail system 108 may be a single rail system. Alternatively, as shown in FIG. 2B, the rail system 108 is a double rail system, and thus, generally, a container handling vehicle 201 having an occupancy area corresponding to the side area defined by the grid column 112 may be adjacent to another container handling vehicle 200 along the column of grid columns even when positioned above the grid column of the adjacent column. Both the single rail system and the double rail system, or a combination comprising a single rail arrangement and a double rail arrangement in the single rail system 108, form a grid pattern comprising a plurality of rectangles each grid cell 122 having a grid opening 115 delimited in the horizontal plane P by a pair of rails 110a, 110b of the first rail 110 and a pair of rails 111a, 111b of the second set of rails 111, and a uniform grid location or grid cell 122. In FIG. 2B, the grid cell 122 is shown by a box with a dashed line.

[0018] As a result, rails 110a and 110b form a pair of rails that define parallel columns of grid cells extending in the X direction, and rails 111a and 111b form a pair of rails that define parallel columns of grid cells extending in the Y direction.

[0019] As shown in FIG. 2C, each grid cell 122 typically has a width W within a spacing between 30 and 150 cm c and a length L typically within a spacing between 50 and 200 cm. c Each grid opening 115 typically has a width W c and a length L c that is 2 to 10 cm less than the width W o and the length L o of the grid cell 122.

[0020] In the X and Y directions, adjacent grid cells are arranged in contact with each other such that there is no space between them.

[0021] In storage grid 104, most of the grid columns are storage columns 105, that is, grid columns 105 where storage containers 106 are stored within stack 107. However, although grid 104 is not normally used to store storage containers 106, at least one grid column is provided with a location where container handling vehicles 200, 300 can load and unload and / or load storage containers 106 so that the storage containers 106 can be transported to a second location (not shown) where the storage containers 106 can be accessed from outside grid 104 or transferred out of or into grid 104. In the art, such a location is typically referred to as a "port", and the grid column where the port is located may be referred to as "delivery columns" 119, 120. The loading and unloading ports of the container handling vehicles are referred to as the "upper ports of the delivery columns (119, 120)". On the other hand, the opposite end of the delivery column is referred to as the "lower port of the delivery column".

[0022] The storage grid 104 of FIGS. 1A and 1C includes two delivery columns 119 and 120. The first delivery column 119 may include a dedicated loading and unloading port, for example, where container handling vehicles 200, 300 can load and unload storage containers 106 to be transported through delivery column 119 to a further access station or transfer station, and the second delivery column 120 may include a dedicated loading port where container handling vehicles 200, 300 can load storage containers 106 being transported from an access station or transfer station through delivery column 120. The ports of the first and second delivery columns may each include ports suitable for both loading and unloading storage containers.

[0023] When the storage container 106 stored within the grid 104 disclosed in FIG. 1A is to be accessed, one of the container handling vehicles 200, 300 is instructed to retrieve the target storage container 106 from its position within the grid 104 and transport it to or through the delivery column 119. This operation involves moving the container handling vehicles 200, 300 to the grid location above the storage column 105 where 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, and transporting the storage container 106 to the delivery column 119.

[0024] If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers are positioned above the target storage container 106, this operation also involves temporarily moving the storage containers positioned above prior to lifting the target storage container 106 out of the storage column 105. Sometimes referred to in the art as "digging out", this step may be performed using the same container handling vehicles 200, 300 that are subsequently used to transport the target storage container 106 to the delivery column, or using one or more other cooperating container handling vehicles 200, 300. Alternatively, or in addition, the automated storage system 1 may have container handling vehicles 200, 300 that are specifically dedicated to the task of temporarily removing the storage container 106 from the storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container can be repositioned back into the original storage column 105. However, the removed storage container may alternatively be repositioned to another storage column 105.

[0025] When storage container 106 is to be stored within grid 104, one of container handling vehicles 200, 300 is instructed to load storage container 106 from delivery column 120 and transport it to a grid location above storage column 105 where it is to be stored. After any storage container positioned at or above the target position within storage column stack 107 is removed, container handling vehicles 200, 300 position storage container 106 at the desired location. The removed storage container may then be lowered back into storage column 105 or relocated to another storage column 105.

[0026] The container access station may typically be a picking station or a stocking station where product items are removed from or positioned within storage container 106. At the picking station or stocking station, storage container 106 is generally never removed from the automated warehouse system 1, but once accessed, is returned into storage grid 104. Delivery columns and lower ports are also provided for transferring storage containers into or out of storage grid 104, such lower ports being for transferring storage container 106, for example, directly to another storage facility (such as another storage grid), to a transport vehicle (such as a train or a large truck), or to a production facility.

[0027] The picking and stocking operations at the container access station may be performed by a human operator. Improvements are always desirable, despite the means already taken to reduce the risk that a human operator may injure themselves. Additionally, it is also desirable to avoid damage to those devices in any location where it is considered possible for robotic operators, such as robotic arms, to become more common in these areas.

[0028] The object of the present invention is thus to provide an automated warehouse system that is more effective than prior art systems, provides safety to the operator, and increases the delivery capacity to the access points.

[0029] Another object of the present invention is to provide a system that enables effective packing of items held within a storage container for further transportation of the packed items.

Summary of the Invention

Means for Solving the Problems

[0030] The present invention is directed to a delivery system for transporting a container to an access point for handling of items held within the container by a human operator and / or a robotic operator.

[0031] The delivery system comprises at least a first set of parallel rails arranged in a horizontal plane (P1) and extending in a first direction (X), and at least a second set of parallel rails arranged in the horizontal plane (P1) and extending in a second direction (Y) orthogonal to the first direction (X), the at least first and second sets of rails together defining a plurality of delivery grid cells, a delivery rail grid; a delivery vehicle adapted to carry a container and operate on the delivery rail grid; a container access station comprising an access point and at least one conveyor line extending into the access point and operably connected to the delivery rail grid; and

[0032] The delivery vehicle is arranged to deliver / receive the container to / from at least one conveyor line, and the at least one conveyor line is arranged for transportation of the container between the delivery vehicle and the access point.

[0033] The container may be a storage container, a KLT box, a packing box, etc. Thus, the term "container" relates to any container suitable for holding one or more items. The "container" may be made of any material suitable for the purpose of holding at least one item, such as plastic, metal, wood, paper, etc.

[0034] A KLT box is an industrial stacking container that conforms to the VDA4500 standard. The most common sizes are 600mm × 400mm and 400mm × 300mm. That is, these containers, which are stacked on top of each other, will meet the 1,200mm × 800mm, which are European pallet measurements. These containers may be stacked and are typically manufactured from grey polypropylene or another thermoplastic material by injection molding.

[0035] The term "operably connected" means that the container can be transported between two connected areas, i.e., between at least one conveyor and a delivery grid. This applies even if at least one conveyor and the delivery grid are not located on the same level.

[0036] The delivery system of the present invention may be arranged for the transport of containers between a first location and a second location, which may be an access point.

[0037] The first location may be an external location associated with the delivery system. The external location is accessible by a delivery vehicle operating on the delivery system. Thus, the external location may be connected to the delivery system such that the delivery vehicle can collect / deliver the container from / to the external location. One or more external locations connected to the delivery system may exist.

[0038] The external location may be any location above or outside the delivery system that is arranged or constructed to perform certain tasks (such as assembly, production, shipping, etc.) related to the warehouse system. Therefore, a defined area on the delivery system that is constructed to perform certain tasks (such as packing, assembly, production, etc.) may be defined as an external location.

[0039] One or more external locations may be high-priority areas that are areas combined with the automated warehouse system for packing and shipping, distribution, sales, or production purposes.

[0040] One or more external locations may be at least any one of a storage grid, a packing and assembly area, an express delivery location, a production area, a shipping and transportation area, etc.

[0041] The external location may be reached by a delivery vehicle via a delivery rail grid.

[0042] The external location may be located on a different level from the delivery rail grid.

[0043] The external location may be connected to the delivery system such that the delivery vehicle can receive a container from the external location and vice versa for transportation across the delivery rail grid.

[0044] The delivery vehicle may receive a container from a container handling vehicle for transportation across the delivery rail grid. Therefore, the delivery vehicle may deliver the container to a container handling vehicle for transportation to an external location such as a storage grid.

[0045] The delivery vehicle may include an electric vehicle body and a container carrier provided above the electric vehicle body for carrying the container.

[0046] The container carrier may include a conveyor arranged to carry the container horizontally onto and off of the container carrier.

[0047] The conveyor may comprise a plurality of rolls arranged in parallel and having a common longitudinal direction that is perpendicular to one or more side walls. In this way, the rolls allow one or more containers to be guided by the side walls while being offset as the container carrier moves into or out of the container carrier. The conveyor may be connected to a motor for rotation of one or more of the rolls. Other types of conveyors, such as belts or chains, are also possible.

[0048] In the following, the roller may also include a belt or chain drive.

[0049] The conveyor motor may operate reversibly to move the roller in the opposite direction.

[0050] The delivery vehicle further A first set of wheels arranged on the first opposite part of the delivery vehicle for moving the delivery vehicle along a first direction (X) on the delivery rail grid, and A second set of wheels arranged on the second opposite part of the delivery vehicle for moving the delivery vehicle along a second direction (Y) that is perpendicular to the first direction (X) on the delivery rail grid, and May be provided.

[0051] At least one conveyor line may comprise at least any one of a roller, a belt, a chain, etc. At least one conveyor line is operated by a drive motor.

[0052] The drive motor may be reversible to move the roller, belt, chain, etc. in the opposite direction.

[0053] The upper surface of at least one conveyor line is provided at the same height as the upper surface of the container carrier on which the container is transported. This enables the container to easily enter or exit from the delivery vehicle to / from at least one conveyor line.

[0054] The container may be transported on rollers to / from an access point on the same conveyor line. This means that the drive motor drives the rollers to transport the container to the access point, and after the container has been accessed, the drive motor is reversed to transport the container in the opposite direction towards a point on the conveyor line where the container can be loaded by the delivery vehicle, away from the access point.

[0055] The conveyor line may also be arranged within a loop (U-turn) with an entry port and an exit port for the container. The system may comprise a first conveyor line and a second conveyor line that are arranged in parallel with each other and operably connected, and thus the container may move from the first conveyor line to the second conveyor line and vice versa.

[0056] For example, the container may enter at one end of the first conveyor line and be transported to the access point. After the container has been accessed at the access point, it may move to the second conveyor line and further be transported to a point on the second conveyor line where it can be loaded by the delivery vehicle.

[0057] The system may include a third conveyor line having rollers arranged at right angles to the rollers of the first and second conveyors. An access point may be provided in the third conveyor line such that a container can be accessed before being transported on the third conveyor line to the second conveyor line. Thus, a container may enter the first conveyor line, move via the third conveyor line to the second conveyor line, and exit the second conveyor line. The third conveyor line may be operated separately from the first and second conveyor lines.

[0058] The third conveyor line may include a lifting or tilting mechanism for raising (lowering) / tilting the third conveyor line (rollers) with respect to the first and second conveyor lines to allow a container to enter or exit the third conveyor line.

[0059] The system may include a lifting device for lifting a container so as not to contact the rollers (conveyor) at the access point. The lifting device includes an electric band or chain for moving the container from one conveyor line to another.

[0060] The first and second conveyor lines may each have a length such that they can transport two or more containers in a row. The length of the first conveyor line can improve the delivery capacity of the storage containers to the access point in that a delivery vehicle can operate efficiently by continuously delivering containers to the first conveyor line for transport to the access point. Each container, after being handled at the access point, moves to the second conveyor line and waits in a straight line to be collected by a delivery vehicle for further transport.

[0061] The container access station may include a wall or enclosure panel arranged around the access point and at least a section of at least one conveyor line.

[0062] The container access station may include two or more conveyor lines that are arranged side by side and in parallel and separately. "Separately" means that they are not connected and that a container can enter and then exit the same conveyor line.

[0063] Two or more conveyor lines include a first conveyor line and a second conveyor line that are arranged within the same horizontal plane (P2).

[0064] The delivery vehicle may be arranged to deliver a first container to the first conveyor line and move the second conveyor line to receive a second container that is being handled at the access point.

[0065] An advantage of the present invention is that it is possible to provide a delivery system that is effective, provides safety for the operator, and improves the delivery capacity to the access point. This is achieved by shortening the waiting time period while the delivery vehicle is installed at the access point and improving the availability of the delivery vehicle. Therefore, the delivery vehicle does not need to remain occupied at the access port and may move to perform other tasks.

[0066] Instead of waiting for a human operator and / or a robot operator while the items stored in the container are being handled, the delivery vehicle may move to the second conveyor line to collect another storage container that is already being handled at the access point.

[0067] At the access point, the items stored in the storage container may be placed in a packing box for further transportation and handling. By including the storage container and the packing box at the container access station, a small and flexible working space is provided where the container is close to the operator and handling can be performed more quickly.

[0068] This saves operating time because after delivering the storage container, the delivery vehicle can move to an adjacent location to collect another container (storage container or packing box) that is already being handled at the access point.

[0069] The present invention also relates to an automated warehouse system comprising a storage grid for storing storage containers as described above and a delivery system.

[0070] The storage grid is a container handling vehicle rail system for guiding a plurality of container handling vehicles, comprising at least a first set of parallel rails arranged in a horizontal plane (P) and extending in a first direction (X), and at least a second set of parallel rails arranged in the horizontal plane (P) and extending in a second direction (Y) orthogonal to the first direction (X), the first and second sets of rails forming a grid pattern in the horizontal plane (P) comprising a plurality of adjacent container handling vehicle grid cells, each container handling vehicle grid cell comprising a container handling vehicle grid opening defined by a pair of adjacent rails of the first set of rails and a pair of adjacent rails of the second set of rails, a container handling vehicle rail system; a delivery column adapted for transferring a storage container between a container handling vehicle operating on the container handling vehicle rail system and a delivery vehicle operating on a delivery vehicle rail system; and.

[0071] The storage container may be stored in a stack of storage containers within a storage column of the warehouse grid.

[0072] The container handling vehicle may be arranged to collect the storage container from a storage location within the warehouse grid and transport it to the delivery column for transfer to a delivery vehicle located at the lower end of the delivery column through the delivery column. Thus, the container handling vehicle may collect the storage container from the delivery vehicle through the delivery column for transport to a storage location within the warehouse grid.

[0073] The container handling vehicle may directly deliver the container to the delivery vehicle through the delivery column or the transfer column. Therefore, the container handling vehicle may directly collect the container from the delivery vehicle through the delivery column and the transfer column and transport the container to the storage location within the storage grid.

[0074] The delivery port may be located at the lower end of the delivery column.

[0075] The remotely operated delivery vehicle may be arranged to transport the storage container from the delivery port of the delivery column of the storage grid across the delivery grid to at least one conveyor line, and also to return this or a different storage container to the delivery port of the delivery column for storage within the storage grid.

[0076] The remotely operated delivery vehicle may also load another container (not a storage container) for transport to an external location.

[0077] The delivery system may include a first delivery rail grid and a second delivery rail grid.

[0078] The first delivery rail grid may be located within the grid structure (vertically below) of the storage grid, and the second delivery rail grid may be located outside the grid structure of the storage grid.

[0079] The first and second delivery rail grids are connected so that the delivery vehicle can operate between the first and second delivery rail grids.

[0080] The container access station and access points may be located on the second delivery rail grid.

[0081] The access point may be part of a container access station, and each container access station includes one of a series of access points within the container access station that is capable of holding a container while it is being accessed.

[0082] The container access station may include two rows of access points that are arranged opposite each other and spaced apart by the length of 3 to 5 containers. The operator can access several containers to collect items into one packing box or KLT container.

[0083] The container access station may include a further row of access points that is arranged at 90 degrees to the other two rows of access points (conventional picking stations). The operator can access several containers that are delivered to the access points from different locations.

[0084] The present invention also relates to a method of transporting a container to an access point of a delivery system as described above. The access point is a location on a delivery rail grid for a robotic operator or a human operator to access items held within a container delivered to the access point.

[0085] The method includes a) operating a delivery vehicle that transports a first container so as to direct the delivery vehicle towards at least one conveyor line; b) operating the delivery vehicle to deliver the first container to the conveyor line for transportation to the access point; c) operating the delivery vehicle to receive a second container that is being handled at the access point from at least one conveyor line; d) transporting the second container to an external location; and includes.

[0086] As described above, the external location may include a high-priority area.

[0087] The high-priority area of the external location may be at least any one of a storage grid, a production area, a packing and assembly area, an express delivery area, and the like. The present invention provides, for example, the following. (Item 1) A delivery system (140), wherein the delivery system (140) is for transporting a container (70) to an access point (65) for handling items held in the container by a human operator and / or a robot operator, and the delivery system (140) A delivery rail grid (50), wherein the delivery rail grid (50) is arranged in a horizontal plane (P1) and includes at least a first set of parallel rails extending in a first direction (X), and at least a second set of parallel rails arranged in the horizontal plane (P1) and extending in a second direction (Y) orthogonal to the first direction (X), and at least the first and second sets of the rails together define a plurality of delivery grid cells (52), the delivery rail grid (50); A delivery vehicle (30), wherein the delivery vehicle (30) transports the container (70) and is adapted to operate on the delivery rail grid (50), the delivery vehicle (30); A container access station (60), wherein the container access station (60) includes the access point (65) and at least one conveyor line extending into the access point (65) and operably connected to the delivery rail grid (50), the container access station (60) comprising; The delivery vehicle (30) is arranged to deliver / receive the container (70) to / from the at least one conveyor line, and the at least one conveyor line is arranged for transporting the container (70) between the delivery vehicle (30) and the access point (65), the delivery system (140). (Item 2) The delivery vehicle (30) according to claim 1, comprising an electric vehicle body (31) and a container carrier (35) provided above the electric vehicle body for transporting the container (70). (Item 3) The container carrier (35) according to claim 2, comprising a conveyor, and the conveyor is arranged to transport the container (70) horizontally onto and then off the container carrier (35). (Item 4) The delivery vehicle (30) A first set of wheels (32a), wherein the first set of wheels (32a) is arranged at a first opposite part of the delivery vehicle (30) for moving the delivery vehicle along a first direction (X) on the delivery rail (50). A second set of wheels (32b), wherein the second set of wheels (32b) is arranged at a second opposite part of the delivery vehicle (30) for moving the delivery vehicle (30) along a second direction (Y) on the delivery rail (50), and the second direction (Y) is perpendicular to the first direction (X). The delivery system according to any one of the preceding items, comprising the above. (Item 5) The at least one conveyor line (66) according to any one of the preceding items, comprising at least one of a roller (69) with a drive motor, a belt, a chain, etc. (Item 6) The drive motor is reversible for moving the roller (69) in opposite directions The delivery system according to claim 5, having such. (Item 7) The container access station (60) according to any one of the preceding items, comprising a wall or an enclosure panel arranged around the access point (65). (Item 8) The delivery system according to any one of items 2-7, wherein the upper surface of the at least one conveyor line is provided at the same height as the upper surface of the container carrier (35) on which the container (70) is conveyed. (Item 9) The delivery system according to any one of the preceding items, wherein the container access station (60) comprises two or more conveyor lines (66) arranged side by side in parallel. (Item 10) The delivery system according to item 9, wherein the two or more conveyor lines (66) comprise a first conveyor line and a second conveyor line arranged in the same horizontal plane (P2). (Item 11) The delivery system according to item 9 or 10, wherein the delivery vehicle (30) is arranged to deliver a first container (70) to the first conveyor line and to move the second conveyor line to receive a second container (70) being handled at the access point (65). (Item 12) An automated storage system, the automated storage system comprising a storage grid (104) for storing storage containers (106) and a delivery system (140) according to items 1-11, the storage grid (104) being A container handling vehicle rail system (108) for guiding a plurality of container handling vehicles (200, 300), wherein the container handling vehicle rail system (108) is arranged in a horizontal plane (P) and at least a first set (110) of parallel rails extending in a first direction (X), and at least a second set (111) of parallel rails arranged in the horizontal plane (P) and extending in a second direction (Y) orthogonal to the first direction (X), and the first and second sets (110, 111) of rails form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent container handling vehicle grid cells (122), and each container handling vehicle grid cell (122) comprises a container handling vehicle grid opening (115) defined by a pair of adjacent rails (110a, 110b) of the first set (110) of rails and a pair of adjacent rails (111a, 111b) of the second set (111) of rails, a container handling vehicle rail system (108); Delivery columns (119, 120), wherein the delivery columns (119, 120) are adapted for the transfer of storage containers (106) between container handling vehicles (200, 300) operating on the container handling vehicle rail system and delivery vehicles operating on the delivery rail system, delivery columns (119, 120); comprising; The remotely operated delivery vehicle (30) is arranged to transport the storage container (106) from the delivery column of the storage grid (104) across the delivery rail grid (50) to the at least one conveyor line and also to return this or a different storage container to the delivery column for storage within the storage grid (104), an automated warehouse system. (Item 13) The automated warehouse system according to item 12, wherein the delivery vehicle is capable of loading different containers (70) from a second conveyor line for transport to an external location. (Item 14) The delivery system (140) includes a first delivery rail grid and a second delivery rail grid. The first delivery rail grid is located below the grid structure of the storage grid (104), and the second delivery rail grid is located outside the grid structure of the storage grid (104). The first and second delivery rail grids are connected such that the delivery vehicle (30) can operate between the first and second delivery rail grids. The automated warehouse system according to item 12 or 13. (Item 15) The access point (65) is located on the second delivery rail grid. The automated warehouse system according to item 14. (Item 16) A method for transporting a container (70) to an access point (65) of a delivery system (140) according to any one of items 1-11, wherein the access point (65) is a location on the delivery rail grid (50) for a robot operator or a human operator to access an item held within the container (70) being delivered to the access point (65). The method includes: a) Operating the delivery vehicle (30) that conveys the first container (70) so as to direct the delivery vehicle (30) to the at least one conveyor line; b) Operating the delivery vehicle (30) to deliver the first container to the conveyor line for transportation to the access point (65); c) Operating the delivery vehicle (30) to receive a second container (70) being handled at the access point from the at least one conveyor line; d) Transporting the second container (70) to an external location and including. (Item 17) The external location is a high-priority area. The method according to item 16.

Brief Description of the Drawings

[0088] The following drawings are attached only as examples to facilitate the understanding of the present invention.

[0089]

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Best Mode for Carrying Out the Invention

[0090] Detailed Description of the Invention In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted therein.

[0091] Furthermore, although some of the features are described in relation to the delivery vehicle only, it is clear that they are equally effective for the present system and the associated method, and vice versa.

[0092] Referring to FIGS. 1A - D, the storage grid 104 of each storage structure 1 forms a framework 100 within a total of 143 grid columns 112, and the width and length of the framework correspond to the width and length of 13 and 11 grid columns 112, respectively. The uppermost layer of the framework 100 is a rail system 108 on which a plurality of container handling vehicles 200, 300 operate.

[0093] The framework 100 of the storage system 1 is constructed by the upright members 102 and the plurality of horizontal members 103 supported by the upright members 102 as described above, and further, the horizontal members 103 each include a rail system 108 of parallel rails 110, 111 in the X and Y directions arranged across the upper part of the storage column 105. The horizontal area of a single grid cell 122, that is, along the X and Y directions, may be defined by the distance between adjacent rails 110 and 111 (see also FIGS. 2B and 2C). In FIGS. 1A and 1C, such grid cells 122 are marked on the rail system 108 by thick lines.

[0094] The rail system 108 enables the container handling vehicles 200, 300 to move horizontally between different grid locations where each grid location is associated with a grid cell 122.

[0095] In FIGS. 1A and 1C, the storage grid 104 is shown with a height of eight cells. However, it should be understood that the storage grid 104 can, in principle, be of any size. In particular, it should be understood that the storage grid 104 can be significantly wider and / or longer than that disclosed in FIGS. 1A and 1C. For example, the grid 104 may have a horizontal extent exceeding 700×700 grid cells 122. Also, the grid 104 can be significantly deeper than that disclosed in FIGS. 1A and 1C. For example, the storage grid 104 may be deeper by more than 12 grid cells.

[0096] The storage container vehicles 200, 300 can be of any type known in the art, for example, any one of the automated container handling vehicles disclosed in WO2014 / 090684 A1, NO317366, or WO2015 / 193278A1.

[0097] The rail system 108 can be a single rail system such as that shown in FIG. 2A. Alternatively, the rail system 108 can be a double rail system such as that shown in FIG. 2B. The rail system 108 can also be a combination of a single rail and a double rail. Details of the single rail system and the double rail system are disclosed herein under the section of the background art.

[0098] FIGS. 3A - C show an embodiment of the remotely operated delivery vehicle 30, hereinafter referred to as the delivery vehicle 30.

[0099] The delivery vehicle 30 is hereinafter configured to transport a storage container 106 (not shown in FIG. 3C) between an automated storage grid 104 (see FIGS. 4A and B), hereinafter referred to as a storage grid 104, which is configured to store a plurality of stacks 107 of storage containers 106, and an access point 65 provided within a container access station 60 for handling the storage container 106 by at least one of a robot operator and a human operator.

[0100] In the following, the container access station will also be referred to as a container handling station.

[0101] The delivery vehicle 30 includes a vehicle body 31, at least one rolling device 32a, 32b connected to the vehicle body 31, at least one rolling device motor for driving the rolling devices 32a, 32b in a horizontal plane (P), and a power source (not shown) connected to the rolling device motor. The power source should provide sufficient power to the rolling device motor (not shown) to propel the rolling devices 32a, 32b over a set route from the storage grid 104 to, for example, the container access station 60.

[0102] The delivery vehicle 30 may further include a container carrier 35 mounted above the vehicle body 31. The container carrier 35 should be configured to receive the storage container 106, for example, on or in the container carrier 35, such that the storage container 106 is prevented from sliding relative to the delivery vehicle 30 in a horizontal plane (P1).

[0103] The container carrier 35 may include a container support device that supports the storage container 106 from below.

[0104] In FIGS. 3A-B, the container carrier 35 is disclosed in the form of a storage container that receives a compartment having a bottom / base wall and side walls. The volume of the compartment is shown in this exemplary configuration such that it can receive and contain the entire horizontal extent of the storage container and at least a portion of the vertical extent of the storage container.

[0105] The particular configuration of the container carrier 35 disclosed in FIGS. 3A-B enables the delivery vehicle 30 to transport storage containers 106 having different heights.

[0106] Note that the size of the compartment within the container carrier 35 can be easily adapted to receive and support a plurality of storage containers 106 in one operation.

[0107] FIG. 3C shows yet another exemplary configuration of the remote operation delivery vehicle 30. In this configuration, the container carrier 35 includes a base plate, a conveyor arranged on the base plate, and two side walls projecting upward from the base plate. The rolling device 32 and the vehicle body 31 are the same as or similar to the rolling device 32 and the vehicle body 31 described above.

[0108] The conveyor may be constructed by a plurality of parallel-oriented rolls 36 having a common longitudinal direction that is perpendicular to the two side walls in particular. In this way, the rolls 36 enable one or more containers 70 to be displaced into or out of the container carrier 35 while being guided by the side walls. The conveyor may be connected to a conveyor motor that enables the rotation of one or more of the rolls.

[0109] All of the container carriers 35 shown in FIGS. 3A-C may be adapted to transport different types of containers 70 such as KLT boxes, packing boxes, etc., in addition to the storage containers 106 and other styles of containers that serve the main purpose of holding items.

[0110] A perspective view of the automated warehouse system is shown in FIGS. 4A - B. The system includes a delivery system 140 that includes a storage grid 104, a delivery rail grid 50, and a plurality of delivery vehicles 30 that operate on the delivery rail grid 50.

[0111] The storage grid 104 is, or may be identical to, or similar to, the prior art storage grid 104 as described above, i.e., a rail system 108, a plurality of stacks 107 of storage containers 106, a plurality of container handling vehicles 300 for raising and moving the storage containers 106 stacked within the stacks 107, and delivery columns 119, 120 configured to receive the storage containers 106 from the container handling vehicles 300.

[0112] The delivery system 140 includes one or more of the delivery vehicles 30 as described above, i.e., one or more of the delivery vehicles 30 configured to receive and support the storage containers 106 for transport between one or more delivery columns 119, 120 and one or more container handling stations 60 located outside the storage grid 104. The container handling station 60 may be located at any predetermined position suitable for container handling.

[0113] The delivery system 140 may further include a delivery rail grid 50 installed below the delivery ports 150 of one or more of the delivery columns 119, 120.

[0114] The delivery system 140 is arranged such that the storage containers 106 delivered through the delivery columns 119, 120 by a container handling vehicle or elevator are in fact received by the delivery vehicles 30 below the delivery ports 150 and transported on the delivery rail grid 50 to the container access station 60 so as to leave, thereby avoiding overcrowding of the storage containers 106 in the delivery columns 119, 120.

[0115] As shown in FIGS. 4A-B, the delivery rail grid 50 may be constructed in the same or a similar manner as the rail system 108 for the container handling vehicles 200, 300. The delivery rail grid 50 extends from at least one delivery port 150 of at least one or more delivery columns 119, 120 to at least one container access station 60 such that each storage container 106 can be transported into the container access station 60 where the items held within the storage container 106 can be accessed.

[0116] The delivery system 140 may comprise a first delivery rail grid and a second delivery rail grid, the first delivery rail grid being located directly below the grid structure of the storage grid 104 and the second delivery rail grid being located outside the grid structure of the storage grid 104, the first and second delivery rail grids being connected such that a delivery vehicle 30 can operate between the first and second delivery rail grids as shown in FIG. 4B.

[0117] FIG. 4A shows a first delivery rail grid located within (directly below) the storage grid structure and a second delivery rail grid extending into an access container access station 60 (not shown).

[0118] The access point 65 may be one or more delivery grid cells 52 located on the second delivery rail grid.

[0119] The container access station 60 may comprise a cabinet 61 having a wall and an upper cover supported thereon. Items held within a storage container 106 that are transported by a delivery vehicle 30 and transported to the access point 65 of the container access station 60 are accessible through an access opening 63 within the upper cover of the cabinet 61.

[0120] The cabinet 61 is arranged adjacent to the storage grid 104 such that the delivery rail grid 50 extends from below the delivery port 150 to the access point 65 of the container access station 60.

[0121] As described above, the container carrier 35 of the delivery vehicle 30 may be adapted to carry different types of containers 70. The term "container" thus refers to different types of containers adapted to hold one or more items.

[0122] FIG. 5 shows a delivery system 140 for transporting a container 70 to an access point 65 for the handling of items held within the container 70 by a human operator and / or a robotic operator.

[0123] The delivery system 140 comprises - a delivery rail grid 50 comprising at least a first set of parallel rails arranged in a horizontal plane (P1) and extending in a first direction (X), and at least a second set of parallel rails arranged in the horizontal plane (P1) and extending in a second direction (Y) orthogonal to the first direction (X), wherein the at least first and second sets of rails together define a plurality of delivery grid cells 52, - a delivery vehicle 30 adapted to carry a container 70 and operate on the delivery rail grid 50, - a container access station 60 comprising an access point 65 and at least one conveyor line 66 extending into the access point 65 and operably connected to the delivery rail grid 50, and comprises.

[0124] The delivery vehicle 30 is arranged to deliver / receive the container 70 to / from at least one conveyor line 66, and the at least one conveyor line 66 is arranged for the transport of the container 70 between the delivery vehicle 30 and the access point 65.

[0125] The container carrier 35 of the delivery vehicle 30 in FIG. 3C may include a conveyor 36 arranged to carry the container 70 horizontally onto and off of the container carrier 35.

[0126] The conveyor 69 of at least one conveyor line 66 may include a plurality of laterally oriented rolls having a common longitudinal direction that is perpendicular to the side walls. In this way, the rolls allow one or more containers 70 to be guided by the side walls while being offset as they enter or leave the container carrier 35. The conveyor 69 may be connected to a conveyor motor (not shown) that allows rotation of one or more of the rolls in both directions.

[0127] The container access station may include four conveyor lines 66 arranged separately, side by side, and in parallel, as shown in FIGS. 5 - 7 and 9. Each conveyor line 66 includes an access point 65 provided at an end of the conveyor line 66. The container 70 may be delivered to an end of the conveyor line 66 located opposite the access point 65 and transported on powered rollers to the access point 65. After the container 70 is loaded or accessed at the access point 65, the container 70 is transported back to the end of the conveyor line 66 and loaded by any available delivery vehicle 30.

[0128] The conveyor lines 66 may be separated by walls such that a container 70 can only enter and exit the same conveyor line 66. Thus, one container 70 can be located on a single conveyor line 66 at a time.

[0129] The delivery vehicle 30 may be operated to deliver a container 70 to one of the conveyor lines 66, move to another conveyor line, and receive another container 70 that is being accessed or loaded at the access point 65.

[0130] As shown in FIG. 5, the access point 65 may include a lifting device 67 for lifting the container 70 so as not to contact the roller (conveyor) 69 at the access point 65. The lifting device 67 may include an electric band 68 for moving the container 70 from the first conveyor line to the second conveyor line 66.

[0131] The lifting device 67 may include a frame structure that supports the periphery of the container 70 from below. The frame structure may include a conveyor 69 that is arranged to extend from the first conveyor line to the second conveyor line and is arranged at a right angle to the moving direction of the first and second conveyor lines 66. When the frame structure is lifted, the container 70 may move at a right angle so that the container 70 is lifted from the conveyor of the first conveyor line 66 and transferred from the first conveyor line to the second conveyor line.

[0132] The first and second conveyor lines 66 may each have a length capable of holding a plurality of containers 70 arranged in a row (see FIG. 5). The length of the first conveyor line can improve the capacity in that the delivery vehicle 30 can wait in a straight line while delivering more containers 70 and moving towards the access point 65. Correspondingly, the second conveyor line 66 may contain several containers 70 being accessed at the access point 65 and may wait in a straight line so that they can be loaded by the delivery vehicle 30.

[0133] FIGS. 6-10 show a delivery system 140 according to an embodiment of the present invention. The system includes two container access stations 60 according to the present invention, arranged with another container access station with a cabinet. An operator can load items from different access points 65 provided within different container access stations 60.

[0134] The access point 65 may be part of the access area. The access point 65 may include one of the columns of access points 65 within an access area that can each hold the container 70 while being accessed.

[0135] The access area may include two columns of access points 65 that are arranged opposite each other and spaced apart by the length of three to five containers. The operator can access several containers to collect items into one packing box or KLT container.

[0136] The access area includes a further column of access points 65 that is arranged at 90 degrees to the other two columns of access points (conventional picking stations). The operator can access several containers 70 that are delivered to the access point 65 from different locations.

[0137]

Table 1-1

Table 1-2

Claims

A delivery vehicle for transporting containers, the delivery vehicle comprising: Conveying the container and operating on a delivery rail grid, the delivery rail grid comprising at least a first set of parallel rails arranged in a first horizontal plane and extending in a first direction, and at least a second set of parallel rails arranged in the first horizontal plane and extending in a second direction orthogonal to the first direction, the first set of parallel rails and the second set of parallel rails together defining a plurality of delivery grid cells; Delivering the container to / Receiving the container from at least one conveyor line, the at least one conveyor line being configured to transport the container between an access point for handling items held within the container by a human operator and / or a robot operator and the delivery vehicle; A delivery vehicle configured to perform the above. The delivery vehicle according to claim 1, further comprising a vehicle body and a container carrier provided above the vehicle body for transporting the container, the container carrier comprising a container support device configured to support the storage container from below. The delivery vehicle according to claim 1, configured to deliver the container to / Receive the container from at least one conveyor line in a horizontal direction. The delivery vehicle according to claim 1, having an occupied area corresponding to the side area defined by the delivery grid cells. The delivery vehicle according to claim 2, wherein the container carrier comprises a conveyor, and the conveyor is arranged to transport the container horizontally onto and off the container carrier. The delivery vehicle according to claim 1, configured to transport the storage container from a delivery column for transferring the container from a container handling vehicle rail system. The delivery vehicle according to claim 7, comprising: A first set of wheels, wherein the first set of wheels is arranged on a first opposite part of the delivery vehicle and is for moving the delivery vehicle along the first direction on the delivery rail grid. A second set of wheels, wherein the second set of wheels is arranged on a second opposite part of the delivery vehicle and is for moving the delivery vehicle (30) along the second direction on the delivery rail grid. The delivery vehicle according to claim 1, comprising the above.

8. A delivery system for transporting a container to an access point for handling items held within the container by a human operator and / or a robotic operator, the delivery system comprising: A delivery rail grid, wherein the delivery rail grid is arranged in a first horizontal plane and comprises at least a first set of parallel rails extending in a first direction, and at least a second set of parallel rails arranged in the first horizontal plane and extending in a second direction orthogonal to the first direction. The first set of parallel rails and the second set of parallel rails together define a plurality of delivery grid cells. A container access station, wherein the container access station comprises at least one conveyor line extending to the access point, and the at least one conveyor is operably connected to the delivery rail grid. A delivery vehicle, wherein the delivery vehicle is configured to carry the container and operate on the delivery rail grid, and is configured to deliver the container to / receive the container from the at least one conveyor line, and the at least one conveyor line is configured to transport the container between the access point and the delivery vehicle. The delivery system comprising the above.

9. The delivery system according to claim 8, wherein the delivery vehicle comprises a vehicle body and a container carrier provided above the vehicle body for carrying the container, and the container carrier comprises a container support device configured to support the storage container from below.

10. The delivery vehicle is configured to deliver at least one container to / receive at least one container from at least one conveyor line in the horizontal direction, the delivery system according to Claim 8.

11. The delivery vehicle has an occupied area corresponding to a lateral area defined by delivery grid cells, the delivery system according to Claim 8.

12. The container carrier is provided with a conveyor, and the conveyor is arranged to convey the container on the container carrier and lower the container from the container carrier in the horizontal direction, the delivery system according to Claim 9.

13. The delivery vehicle is configured to transport the storage container from a delivery column for transferring the container from a container handling vehicle rail system, the delivery system according to Claim 8.

14. The delivery vehicle is a first set of wheels, the first set of wheels being arranged at a first opposite part of the delivery vehicle for moving the delivery vehicle along the first direction on the delivery rail grid, a second set of wheels, the second set of wheels being arranged at a second opposite part of the delivery vehicle for moving the delivery vehicle along the second direction on the delivery rail grid and comprising the delivery system according to Claim 8.

15. The upper surface of the at least one conveyor line is provided at the same height as the upper surface of the container carrier, the delivery system according to Claim 9.

16. The container access station comprises two or more conveyor lines arranged side by side in parallel, and the delivery vehicle is configured to deliver a first container to a first conveyor line and move to a second conveyor line to receive a second container being handled at the access point, the delivery system according to Claim 8.

17. An automated warehouse system, the automated warehouse system comprising a storage grid for storing storage containers and the delivery system according to Claims 8 to 16, the storage grid being A container handling vehicle rail system for guiding a plurality of container handling vehicles, the container handling vehicle rail system comprising at least a first set of parallel rails arranged in a second horizontal plane and extending in a first direction, and at least a second set of parallel rails arranged in the second horizontal plane and extending in a second direction orthogonal to the first direction, the first set of parallel rails and the second set of parallel rails forming a grid pattern in the second horizontal plane comprising a plurality of adjacent container handling vehicle grid cells, each container handling vehicle grid cell comprising a container handling vehicle grid opening defined by a pair of adjacent rails of the first set of parallel rails and a pair of adjacent rails of the second set of parallel rails, a container handling vehicle rail system; A delivery column for transferring a storage container between a container handling vehicle operating on the container handling vehicle rail system and a delivery vehicle operating on the delivery rail system; Comprising; The delivery vehicle is configured to transport the storage container from the delivery column of the storage grid across the delivery rail grid to the at least one conveyor line, an automated warehouse system.

18. The delivery vehicle is configured to return the storage container or a different storage container to the delivery column for storage within the storage grid, and the delivery vehicle is capable of loading the different container from a second conveyor line. The automated warehouse system according to claim 17.

19. A method of transporting a container to an access point of the delivery system according to claims 8 to 16, the access point being a location on the delivery rail grid where a robotic operator or a human operator accesses an item held within the container being delivered to the access point, the method comprising: Operating the delivery vehicle to direct the delivery vehicle carrying the first container towards the at least one conveyor line; Operating the delivery vehicle to deliver the first container to the conveyor line for transport to the access point; A method of transporting a container, including.

20. The method comprises: Operating the delivery vehicle so as to receive a second container being handled at the access point from the at least one conveyor line; Transporting the second container to an external location; A method for transporting a container according to claim 19, comprising:

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