Container Storage and Retrieval System

Abstract

The present disclosure relates to a container storage and retrieval system comprising a frame structure configured to store a row of a plurality of containers, the system including a load handling device comprising a first actuation assembly configured to move the row of containers longitudinally to remove containers from the row of containers for delivery to a workstation or to add containers from the workstation to the row of containers.

Description

[Technical field]

[0001] The present disclosure relates to container storage and retrieval systems. More specifically, the invention relates to certain configurations of container storage and retrieval systems that better utilize available space and increase storage volume thereof compared to known systems. Aspects of the invention relate to the container storage and retrieval system itself, load handling devices for retrieving containers from the container storage and retrieval system and storing containers in the container storage and retrieval system, and methods therefor. [Background technology]

[0002] Some commercial and industrial activities require storage and retrieval systems that allow the storage and retrieval of a large number of different products. Examples of such systems are shown in WO 2015 / 019055, WO 2013 / 167907 and WO 2014 / 95901. These systems allow the storage and retrieval of a large number of different products in a relatively small volume due to their general configuration, which includes a number of rails or tracks arranged in a grid pattern above a stack of containers. The grid pattern comprises a number of grid spaces, with each stack being located within the footprint of each grid space. A load handling device is configured to move laterally on the rails above the stacks and includes a container receiving space and a lifting device arranged to lift a container from the stack into the container receiving space through the grid space. The load handling device then moves to another grid space to lower the container and deliver it to a workstation. The cost of building warehouses to accommodate such systems can become increasingly expensive and regulatory requirements become more stringent, especially in urban areas where space may be limited. There is therefore a recognized need for an alternative system that allows for better utilization of space within a warehouse. Summary of the Invention

[0003] The present invention therefore provides in a first aspect a load handling device for a container storage and retrieval system, comprising a frame structure configured to store a plurality of rows of containers, the load handling device comprising a first actuation assembly positionable between the frame structure and a workstation and configured to move the container row longitudinally to remove containers from the container row for delivery to the workstation or add containers from the workstation to the container row. The fact that the load handling device is configured to pull or push the container row from the side means that no space above the containers is required for the load handling device, allowing the accommodation of more rows of containers. The fact that the load handling device is configured to move the container row longitudinally to remove containers from or deliver containers to the container row means that it can be positioned at the side of the frame structure, rather than at the top of the structure as is the case in known systems. This arrangement eliminates the need to create space above the frame structure to accommodate the load handling device.

[0004] Optionally, the first actuation assembly is configured to move laterally in a first direction to engage containers in a row of containers adjacent a first end of the load handling device, and in a second opposite direction to engage containers from a workstation adjacent a second opposite end of the load handling device.

[0005] Optionally, the first actuating assembly comprises first and second actuating members, the first actuating member configured to move laterally in first and second directions, respectively, away from and toward the second actuating member.

[0006] Optionally, the second actuating member is configured to move laterally in first and second directions, respectively towards and away from the first actuating member.

[0007] Optionally, the first actuation assembly comprises a gear arrangement.

[0008] Optionally, the gearing comprises a worm gear configured to mesh with a corresponding track extending along a side of the container.

[0009] Optionally, the load handling device further comprises a second actuation assembly configured to stack one or more containers upwardly following their removal from the row of containers so as to enable access to another container from the row of containers.

[0010] Optionally, the second actuation assembly comprises a pin for engaging the container, the pin configured to move on an upward stroke to lift the container into a stackable position.

[0011] Optionally, the pin is configured to move on a downward stroke to lower the container from the stackable position.

[0012] Optionally, the pin is retractable to disengage the container.

[0013] Optionally, the pin is further configured to move on an upward stroke and a downward stroke upon retraction.

[0014] Optionally, the load handling device further comprises a third actuation assembly configured to stack one or more containers downwardly following their removal from the row of containers so as to enable access to another container from the row of containers.

[0015] Optionally, the third actuation assembly includes a platform for holding one or more containers removed from the row of containers in a stacked arrangement, the third actuation assembly being configured to lower the platform so that another container from the row of containers can be accessed.

[0016] Optionally, each container row comprises a plurality of containers configured to releasably connect or engage with one another in the longitudinal direction, and the load handling device comprises means for decoupling a container from or coupling a container to the container row when the first actuation assembly moves the container row longitudinally.

[0017] In a second aspect, the present invention provides a load handling assembly for a container storage and retrieval system, the load handling assembly comprising a load handling device according to the first aspect.

[0018] Optionally, the load handling assembly comprises a lifting device engaged with the load handling device, the lifting device configured to move the load handling device vertically so that the load handling device can access different rows of containers arranged in a vertical column.

[0019] Optionally, the lifting device comprises a cable connected to the load handling device and one or more spooling devices configured to retract the cable to move the load handling device vertically.

[0020] Optionally, configured to allow lateral movement of the load handling device to access rows of containers arranged in different vertical columns.

[0021] Optionally, the load handling device is configured to be able to move longitudinally away from or towards the framework structure.

[0022] Optionally, further comprising a first guideway comprising a cross member for guiding lateral movement of the load handling device and / or a longitudinal member for guiding longitudinal movement of the load handling device.

[0023] Optionally, the lifting device is configured to engage a cross member to guide lateral movement of the load handling device and / or configured to engage a longitudinal member to guide longitudinal movement of the load handling device.

[0024] Optionally, the load handling assembly further comprises a second guideway comprising a cross member for guiding lateral movement of the load handling device and / or a longitudinal member for guiding longitudinal movement of the load handling device.

[0025] Optionally, the load handling assembly further comprises a base unit for supporting the lifting device, the base unit configured to engage cross members of the second guideway to guide lateral movement of the load handling device and / or engage longitudinal members of the second guideway to guide longitudinal movement of the load handling device.

[0026] Optionally, the load handling assembly further comprises a support frame defining a channel for guiding vertical movement of the load handling device.

[0027] Optionally, the load handling assembly further comprises a first row comprising a plurality of lifting devices and respective load handling devices, each lifting device positioned such that its respective load handling device can access a different row of containers arranged in the vertical column.

[0028] Optionally, the load handling assembly further comprises a second row extending along the first row, the second row comprising at least one lifting device and a load handling device, the load handling assembly configured such that said load handling devices on the second row can move laterally to retrieve containers from or deliver containers to said load handling devices on the first row.

[0029] In a third aspect, the present invention provides a container storage and retrieval system comprising a frame structure configured to store a plurality of rows of containers, a workstation and a load handling assembly according to the second aspect.

[0030] In a fourth aspect, the present invention provides a method of retrieving one or more target containers from a container storage and retrieval system according to the third aspect, the method comprising moving a load handling device to a target container row, moving the target container row lengthwise using the load handling device to retrieve an end container from the target container row, determining whether the retrieved container is a target container, and if the retrieved container is determined to be a non-target container, moving the retrieved container using the load handling device to a temporary storage location or, following a positive determination, moving the retrieved container from the load handling device for delivery to a workstation.

[0031] Optionally, the method further comprises stacking one or more non-target containers upwardly using a load handling device to allow access to the row of target containers.

[0032] Optionally, the method further comprises stacking one or more non-target containers downwardly using a load handling device to allow access to the target container row.

[0033] Optionally, the method further comprises pushing the target container row or another row of containers using a load handling device to return the one or more non-target containers.

[0034] In a fifth aspect, the present invention provides a control system for a load handling assembly for a container storage and retrieval system comprising a frame structure configured to store a plurality of rows of containers, the control system comprising one or more controllers configured to move a load handling device to a target container row, move the target container row longitudinally using the load handling device to retrieve an end container from the target container row, determine whether the retrieved container is a target container, and if the retrieved container is determined to be a non-target container, move the retrieved container using the load handling device to a temporary storage position or, following a positive determination, move the retrieved container from the load handling device for delivery to a workstation.

[0035] Preferably, the one or more controllers collectively comprise at least one electronic processor having electrical inputs for receiving the target container position signal and the load handling device position signal, and at least one memory device electrically coupled to the at least one electronic processor and having instructions stored therein, the at least one processor being configured to access and execute the instructions on the at least one memory device to determine a position of a target container train based on the target container position signal, and to select a load handling device for retrieving a container based on a difference between the positions of the target container train and the load handling device as indicated by the load handling device position signal. [Brief description of the drawings]

[0036] These and other aspects of the present invention will now be described, by way of example only, with reference to the accompanying drawings. [Figure 1] FIG. 1 is a perspective view of a storage container and retrieval system with a load handling assembly according to an embodiment of the present invention. [Figure 2a] FIG. 2a is a perspective view of a load handling device of the load handling assembly of FIG. 1 in one position within a vertical column of container rows. [Figure 2b] 2b is a perspective view of a load handling device of the load handling assembly of FIG. 1 in a different position within a vertical column of container rows. [Figure 2c] FIG. 2c is a perspective view of a load handling device of the load handling assembly of FIG. 1 in yet another position within a vertical column of container rows. [Figure 3a] FIG. 3a shows a flow chart illustrating how the load handling assembly of FIG. 1 removes one or more containers from a container train. [Figure 3b] FIG. 3b shows a flow chart illustrating how the load handling assembly of FIG. 1 removes one or more containers from a container train. [Figure 3c] FIG. 3c shows a flow chart illustrating how the load handling assembly of FIG. 1 removes one or more containers from a container train. [Figure 3d] FIG. 3d shows a flow chart illustrating how the load handling assembly of FIG. 1 removes one or more containers from a container train. [Figure 4a] FIG. 4a shows a flow chart illustrating another method by which the load handling assembly of FIG. 1 removes one or more containers from a row of containers. [Figure 4b] FIG. 4b shows a flow chart illustrating another method by which the load handling assembly of FIG. 1 removes one or more containers from a row of containers. [Diagram 5] FIG. 5 is a schematic diagram of a simplified example of a control system such as may be adapted to carry out the methods shown in FIGS. 3a to 3d and 4a and 4b. [Figure 6a] FIG. 6a provides several side views of the first actuation assembly of the load handling device of FIG. 2 and the container in various lateral positions. [Figure 6b] FIG. 6b provides several side views of the first actuation assembly of the load handling device of FIG. 2 and the container in various lateral positions. [Figure 6c]FIG. 6c provides several side views of the first actuation assembly of the load handling device of FIG. 2 and the container in various lateral positions. [Figure 6d] FIG. 6d provides several side views of the first actuation assembly of the load handling device of FIG. 2 and the container in various lateral positions. [Figure 6e] FIG. 6e provides several side views of the first actuation assembly of the load handling device of FIG. 2 and the container in various lateral positions. [Figure 6f] FIG. 6f provides several side views of the first actuation assembly of the load handling device of FIG. 2 and the container in various lateral positions. [Figure 7a] FIG. 7a provides several diagrams illustrating the functionality of the first actuation assembly as well as the second and third actuation assemblies. [Figure 7b] FIG. 7b provides several diagrams illustrating the functionality of the second and third actuation assemblies along with the first actuation assembly. [Figure 7c] FIG. 7c provides several diagrams illustrating the functionality of the second and third actuation assemblies along with the first actuation assembly. [Figure 7d] FIG. 7d provides several diagrams illustrating the functionality of the second and third actuation assemblies along with the first actuation assembly. [Figure 7e] FIG. 7e provides several diagrams illustrating the functionality of the second and third actuation assemblies along with the first actuation assembly. [Figure 7f] FIG. 7f provides several diagrams illustrating the functionality of the second and third actuation assemblies along with the first actuation assembly. [Figure 7g] FIG. 7g provides several diagrams illustrating the functionality of the second and third actuation assemblies along with the first actuation assembly. [Figure 7h] FIG. 7h provides several diagrams illustrating the functionality of the second and third actuation assemblies along with the first actuation assembly. [Figure 7i]FIG. 7i provides several diagrams illustrating the functionality of the second and third actuation assemblies along with the first actuation assembly. [Figure 7j] FIG. 7j provides several diagrams illustrating the functionality of the second and third actuation assemblies along with the first actuation assembly. [Figure 7k] FIG. 7k provides several diagrams illustrating the functionality of the second and third actuation assemblies along with the first actuation assembly. [Figure 7l] FIG. 7l provides several diagrams illustrating the functionality of the second and third actuation assemblies along with the first actuation assembly. [Figure 7m] FIG. 7m provides several diagrams illustrating the functionality of the second and third actuation assemblies along with the first actuation assembly. [Figure 7n] FIG. 7n provides several diagrams illustrating the functionality of the second and third actuation assemblies along with the first actuation assembly. [Figure 7o] FIG. 7o provides several views illustrating the functionality of the second and third actuation assemblies along with the first actuation assembly. [Figure 7p] FIG. 7p provides several views illustrating the functionality of the second and third actuation assemblies along with the first actuation assembly. [Figure 8a] FIG. 8a provides several different views illustrating the functionality of the first, second and third actuation assemblies. [Figure 8b] FIG. 8b provides several different views illustrating the functionality of the first, second and third actuation assemblies. [Figure 8c] FIG. 8c provides several different views illustrating the functionality of the first, second and third actuation assemblies. [Figure 8d] FIG. 8d provides several different views illustrating the functionality of the first, second and third actuation assemblies. [Figure 9] FIG. 9 is a perspective view of the load handling device of FIG. 2 with several target containers stacked. [Figure 10a]FIG. 10a shows a coupling structure for a container. [Figure 10b] FIG. 10b shows a coupling structure for the container. [Figure 10c] FIG. 10c shows a coupling structure for the container. [Figure 10d] FIG. 10d shows a coupling structure for the container. [Figure 10e] FIG. 10e shows a coupling structure for the container. [Figure 11] FIG. 11 is a perspective view of another embodiment of a container storage and retrieval system. [Figure 12] 12 is an end view of the embodiment of the container storage and retrieval system of FIG. [Figure 13] FIG. 13 is a perspective view of yet another embodiment of a container storage and retrieval system. [Figure 14] FIG. 14 shows another application of the load handling device of FIG.

[0037] In the drawings, like features are designated by like reference numerals where appropriate. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0038] In the following description, some specific details are included to provide a thorough understanding of various disclosed embodiments. However, one of ordinary skill in the art will recognize that the embodiments may be practiced without one or more of these specific details, or with other methods, components, materials, etc. In some instances, well-known structures associated with container storage and retrieval systems, such as processors, sensors, storage devices, network interfaces, workpieces, tension members, fasteners, electrical connectors, mixers, and the like, are not shown or described in detail to avoid unnecessarily obscuring the description of the disclosed embodiments.

[0039] Unless the context requires, throughout this specification and the appended claims, the word "comprise" and variations thereof, such as "comprises" and "comprising," are to be interpreted in their open and inclusive sense, including but not limited to.

[0040] References throughout this document to "one," "an," or "another" applied to an "embodiment," "example," or "implementation" mean that a particular feature, structure, or characteristic described in connection with an embodiment, example, or implementation is included in at least one embodiment, example, or implementation. Thus, the appearances of the phrase "in one embodiment" or the like in various places throughout this specification do not necessarily all refer to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments, examples, or implementations.

[0041] As used herein and in the appended claims, the user forms "a," "an," and "the" should be understood to include plural referents unless the context clearly dictates otherwise. Thus, for example, a reference to a system including a "load handling device" includes one load handling device, or two or more load handling devices. It should be noted that the term "or" is generally used in its sense to include "and / or" unless expressly specified otherwise.

[0042] FIG. 1 is a perspective view of one embodiment of a container storage and retrieval system 2 according to an embodiment of the present invention, comprising a frame structure 4 and a workstation 6, with a number of container rows 8 disposed within the frame structure 4. The frame structure 4 comprises a number of upright members 10 supporting a number of horizontal members 12, collectively defining a storage volume of the frame structure 4. In this embodiment, the container rows 8 are arranged in vertical columns, forming a number of columns of container rows 8. Each container row 8 is located on one or more substantially horizontal shelves (not shown) that form part of the frame structure 4. The shelves are configured to support the container rows 8 and facilitate longitudinal movement of the container rows 8 towards or away from a load handling assembly 14 that also forms part of the container storage and retrieval system 2. In this embodiment, the load handling assembly 14 is positioned on one side 15 of the frame structure 4 between the frame structure 4 and the workstation 6 to facilitate transfer of containers between the frame structure 4 and the workstation 6.

[0043] The load handling assembly 14 comprises at least one load handling device 16 that can be positioned adjacent an end of the container row 8. The load handling device 16 comprises a first actuation assembly configured to move the container row 8 longitudinally to remove one or more target containers from the container row 8 for delivery to the workstation 6 or to add one or more containers received directly or indirectly from the workstation 6 to the container row 8. The load handling assembly 14 further comprises at least one lifting device 17 engaged with each load handling device 16 to move the load handling device 16 vertically so that the load handling device 16 can access different rows of containers 8 of the column of the container row 8. In this example, the lifting device 17 comprises a cable 19 connected to the load handling device 16 and one or more spooling devices (not shown) arranged to extend or retract the cable 19 to move the load handling device 16 vertically up and down the column of the container row 8.

[0044] The load handling assembly 14 is further configured to allow lateral movement of the load handling device 16 in a first substantially vertical plane extending forward of the side 15 of the frame structure 4 such that the load handling device 16 can access container rows 8 positioned in different columns of the container rows 8. To that end, in this example, the load handling assembly 14 includes a first guideway 21 including a substantially horizontal cross-member 23 extending along an upper portion of the side 15 of the frame structure 4 for guiding lateral movement of the load handling device 16 in the first substantially vertical plane. Specifically, the lifting device 17 is configured to engage and move along the cross-member 23 to guide lateral movement of the load handling device 16 between the columns of the container rows 8.

[0045] In this example, the load handling assembly 14 further comprises a second guideway 25 which, together with the first guideway 21, facilitates lateral movement of the load handling device 16. Similar to the first guideway 21, the second guideway 25 comprises a cross member 27 which is substantially horizontal but extends along the bottom of the side 15 of the frame structure 4. The cross member 27 of the second guideway 25 carries a base unit 29, visible in FIG. 2a, together with a portion of the cross member 27. The base unit 29 is connected to the lifting device 17 by a support frame 31 which is configured to engage and move along the cross member 27 and extends substantially vertically therebetween, to facilitate lateral movement of the load handling device 16. The support frame 31 defines a channel 33 which serves to guide the vertical movement of the load handling device 16 as provided by the lifting device 16 and to minimize lateral drift as the load handling device 16 is moved laterally. That is, the channel 33 functions in part to reduce or dampen the effects of inertia on the load handling device 16 during lateral movement of the load handling device 16 .

[0046] In general, when removing a target container from the container row 8, the load handling device 16 is first moved to the end of the container row 8 containing the target container (target container row 8). From there, the first actuating assembly moves the target container row 8 substantially longitudinally in a direction towards the load handling device 16 so that the container at the end of the target container row 8, i.e. the end container, is received laterally therein. On the other hand, if the end container is a target container, the first actuating assembly moves the end container from the load handling device 16 for delivery to the workstation 6. On the other hand, if the end container is a non-target container, the end container is moved by the additional actuating assembly to a temporary storage position outside the frame structure 4, freeing up space in the load handling device 16 to receive another container from the target container row 8. The container row 8 continues its repeated longitudinal movement, as enabled by the first actuating assembly, until the next container defining the end of the container row 8 is received in the load handling device 16. From here, the container is removed by the first actuating assembly from the load handling device 16 for delivery to the workstation 6 if it is a target container, or moved to a temporary storage location outside the frame structure 4 if it is not. The load handling device 16 is configured to repeatedly perform these functions until the target container is removed from the target container row 8. Following removal and delivery of the target container, the non-target containers are individually removed from the temporary storage location to the load handling device 16 by the other actuating assembly for delivery to the target container row 8 or another container row 8 by the first actuating assembly, depending on, among other factors, space availability, the preferred order in which the non-target containers are returned to the container row 8, etc. In this generalized example of the load handling assembly 14, the load handling device 16 is configured to remove the target container from the target container row 8 so that the target containers can be individually delivered to the workstation 6 in stages.In another example, the load handling device 16 may be configured to stack target containers in temporary storage locations following their removal for "bulk" delivery to the workstation 6. In this example, target and non-target containers are kept in different temporary storage locations.

[0047] Containers from the workstation 6 may also be added to the container row 8 in a manner similar to their removal from the container row 8. In this case, the container from the workstation 6 is received by the load handling device 16, as enabled by the first actuation assembly. The load handling device 16 then moves to the container row 8 where the container from the workstation 6 is to be added. From here, the first actuation assembly pushes the container from the load handling device 16 to the end of the container row 8, longitudinally displacing the container row 8 away from the load handling device 16 and freeing up space within the frame structure 4 for the addition of the container.

[0048] 2a to 2c are perspective views of the load handling device 16 in different positions within a vertical column of container rows 8, which in this example are not shown for clarity. In FIG. 2a, the load handling device 16 is positioned to access a target container row at the bottom of the vertical column for the purpose of retrieving a target container 18, which is the fourth container from the end of the target container row 8, the first three containers of which are non-target containers. As mentioned above, the first actuation assembly moves the target container row longitudinally until a first non-target container 20 of the three non-target containers is received within the load handling device 16. From here, a second actuation assembly forming part of the load handling device 16 engages the first non-target container 20 and lifts it to a temporary storage position extending above the load handling device 16, making space available within the load handling device 16 for receiving a second non-target container 22. The first actuation assembly moves the target container row longitudinally so as to accommodate the second non-target container 22 within the load handling device 16. From here, the second actuation assembly enables engagement between the first non-target container 20 and the second non-target container 22, forming an upwardly directed pile or stack of non-target containers. The second actuation assembly then engages the second non-target container 22 and lifts it, along with the first non-target container 20, to a temporary storage position, making space available within the load handling device 16 for accommodating the third non-target container 24. As with the first and second non-target containers 20, 22, the first actuation assembly enables movement of the target container row longitudinally towards the load handling device 16 such that the third non-target container 24 is accommodated by the load handling device 16.With the third non-target container 24 in position below the second non-target container 22, the second actuation assembly disengages the second non-target container 22, engages the bottom of the second non-target container 22 with the top of the third non-target container 24, and engages the third non-target container 24, lifting the third non-target container 24 along with the first and second non-target containers 20, 22 to a temporary storage position extending above the load handling device 16. This clears space within the load handling device 16 for the target container 18, the delivery of which is provided by the first actuation assembly for subsequent delivery to the workstation 6. Following delivery of the target container 18 to the workstation 6, the first and second actuation assemblies operate in reverse to return the non-target containers 20, 22, 24 to the target container row 8. That is, the second actuation assembly lowers the third non-target container 24 into the load handling device 16. The second actuation assembly then disengages from the third non-target container 24 and engages the second non-target container 22, lifting it away from the third non-target container 24. The first actuation assembly then pushes the third non-target container 24 into the end of the target container row 8, longitudinally displacing it away from the load handling device 16 to provide space within the frame structure 4 for the return of the third non-target container 24. Following this, the first and second non-target containers 20, 22 are also returned to the target container row 8 in a similar manner as provided by the first and second actuation assemblies.

[0049] The target container row 8 is in a low position in the vertical column in the previous example, and therefore the load handling device 16 is configured to stack the non-target containers 20, 22, 24 upwards using the second actuation assembly to enable removal of the target container 18. In the opposite situation, when the target container row 8 is in a high position in the vertical column, the load handling device 16 uses the third actuation assembly to stack the non-target containers downwards, following removal of the non-target containers from the target container row, as shown in FIG. 2b. In this example, the positions of the target and non-target containers 18, 20, 22, 24 in the target container row are the same as in the previous example shown in FIG. 2a. That is, the non-target containers 20, 22, 24 occupy the first three positions in the target container row 8, while the target container 18 occupies the fourth position, which means that the non-target containers 20, 22, 24 need to be moved before the target container 18 can be accessed. To that end, the first actuating assembly moves the target container row 8 longitudinally until the first non-target container 20 is received within the load handling device 16. From here, the first non-target container 20 is engaged with the third actuating assembly, which lowers the first non-target container 20 to make space available within the load handling device 16 for receiving the second non-target container 22. The first actuating assembly moves the target container row 8 longitudinally so that the second non-target container 22 is received within the load handling device 16. The first and second non-target containers 20, 22 are then engaged with the second non-target container 22 positioned above the first non-target container 20, so that the third actuating assembly supports the weight of both containers 20, 22. The third actuating assembly then lowers the first and second non-target containers 20, 22 to make way for receiving the third non-target container 24. This sequence of steps is then repeated for the third non-target container 24 .That is, lateral accommodation from the target container row 8 to the load handling device 16 is enabled by the first actuating assembly. Following this, the bottom of the third non-target container 24 is brought into contact with the top of the second non-target container 22, so that the third actuating assembly supports the combined weight of all three non-target containers 20, 22, 24, and then the third actuating assembly lowers the stack of the first, second and third non-target containers 20, 22, 24, making available space to accommodate the target container 18 in the load handling device 16 for subsequent delivery to the workstation 6, as provided by the first actuating assembly. Following delivery of the target container 18 to the workstation 6, the first and third actuating assemblies operate in reverse to return the non-target containers 20, 22, 24 to the target container row 8. That is, the third actuating assembly raises the stack so that the third non-target container 24 is accommodated in the load handling device 16. The third non-target container 24 is then disengaged from the second non-target container 22, and the first actuation assembly urges the third non-target container 24 into the end of the target container row 8, longitudinally displacing the third non-target container 24 away from the load handling device 16 to provide space within the frame structure 4 for the return of the third non-target container 24. Following this, the first and second non-target containers 20, 22 are also returned to the target container row 8 in a similar manner provided by the first and third actuation assemblies.

[0050] In a situation where the target container row is centrally positioned within a vertical column, the load handling device 16 is configured to stack non-target containers above and below using the first, second and third actuating assemblies as described above to access the target containers, as shown in FIG. 2c.

[0051] 3a and 3b show a flow chart illustrating an exemplary method 100 in which a load handling assembly 14 retrieves one or more target containers 18 from a target container row 8. The method begins at step 102 and proceeds to step 104, where the location of the target container 18 is determined using a three coordinate system (x, y, z) indicating the column (x) in which the target container 18 is held, its height within the column (y), and its depth (z) within the container row. In step 106, the coordinates (x, y) of the target container row 8 are determined based on the coordinates (x, y, z) of one or more of the target containers 18. The method 100 then proceeds to step 108, where a load handling device 16 is selected based on the coordinates (x, y) of the target container row 8. Following that selection, the load handling device 16 is moved to the end of the target container row 8 based on the coordinates (x,y) determined in step 106 in step 110 and moves laterally the target container row 8 to retrieve the first end container in step 112. It is then determined in step 114 whether the first end container is one of the target containers 18 identified in step 104 based on its original coordinates (x,y,z) within the frame structure 4 as compared to the coordinates (x,y,z) of the one or more target containers 18. If it is determined that the first end container is a non-target container, the method 100 proceeds to step 116 where the first end container is moved to a buffer location as described above and then returns to step 112 where the load handling device 16 moves the target container row 8 to retrieve the second end container. The method 100 repeats steps 112, 114, and 116 until it is determined in step 114 that the retrieved container is a target container 18. In this case, if in step 114 it is determined that the second end container is the target container 18, the method 100 proceeds to step 118 (see FIG. 3b) where the second end container is moved from the load handling device 16 for delivery to the workstation 6.From here, the method 100 proceeds to step 120 where it is determined whether there are more target containers 18 in the target container row 8 based on a comparison between the (x,y) coordinates of the target container row 8 and the (x,y,z) coordinates of one or more target containers 18. If it is determined that there are more target containers 18 in the target container row 8, the method 100 returns to step 112 where the load handling device 16 removes the third end container. However, if it is determined in step 120 that there are no more target containers 18 in the target container row 8, the method 100 proceeds to step 122 where any non-target containers, such as the first end container in this example, are returned to the target container row 8 by the load handling device 16, after which the method 100 ends at step 124.

[0052] 3a and 3c show a flow chart illustrating another exemplary method 103 in which a load handling assembly 14 retrieves one or more target containers 18 from a target container row 8. As with the previous method, the method 103 begins at step 102 and proceeds to step 104, where the location of the target container 18 is determined using a three-coordinate system (x, y, z) indicating the column (x) in which the target container 18 is held, its height within the column (y), and its depth (z) within the container row. In step 106, the coordinates (x, y) of the target container row 8 are determined based on the coordinates (x, y, z) of one or more of the target containers 18. The method 103 then proceeds to step 108, where a load handling device 16 is selected based on the coordinates (x, y) of the target container row 8. Following that selection, the load handling device 16 is moved to the end of the target container row 8 based on the coordinates (x,y) determined in step 106 in step 110, and moves laterally the target container row 8 to retrieve the first end container in step 112. It is then determined in step 114 whether the first end container is one of the target containers 18 identified in step 104 based on its original coordinates (x,y,z) within the frame structure 4 as compared to the coordinates (x,y,z) of the one or more target containers 18. If it is determined that the first end container is a non-target container, the method 103 proceeds to step 116, where the first end container is moved to a buffer location as described above, and then returns to step 112, where the load handling device 16 moves the target container row 8 to retrieve the second end container. The method 103 repeats steps 112, 114, and 116 until it is determined in step 114 that the retrieved container is a target container 18. In this example, if in step 114 it is determined that the second end container is a target container 18, the method 103 proceeds to step 118 (see FIG. 3c), where any non-target containers are returned by the load handling device 16 to the target container row 8 or a different container row 8.From here, the method 103 proceeds to step 120 where the second end container is removed from the load handling device 16 for delivery to the workstation 6, after which the method 103 ends in step 124.

[0053] 3a and 3d show a flow chart illustrating yet another exemplary method 105 in which a load handling assembly 14 retrieves one or more target containers 18 from a target container row 8. As with the previous method, the method 105 begins at step 102 and proceeds to step 104 where the location of the target container 18 is determined using a three coordinate system (x, y, z) indicating the column (x) in which the target container 18 is held, its height within the column (y), and its depth (z) within the container row. In step 106, the coordinates (x, y) of the target container row 8 are determined based on the coordinates (x, y, z) of one or more of the target containers 18. The method 105 then proceeds to step 108 where a load handling device 16 is selected based on the coordinates (x, y) of the target container row 8. Following that selection, the load handling device 16 is moved to the end of the target container row 8 based on the coordinates (x,y) determined in step 106 in step 110 and moves laterally the target container row 8 to retrieve the first end container in step 112. It is then determined in step 114 whether the first end container is one of the target containers 18 identified in step 104 based on its original coordinates (x,y,z) within the frame structure 4 as compared to the coordinates (x,y,z) of the one or more target containers 18. If it is determined that the first end container is a non-target container, the method 105 proceeds to step 116 where the first end container is moved to a buffer location as described above and then returns to step 112 where the load handling device 16 moves the target container row 8 to retrieve the second end container. The method 105 repeats steps 112, 114, and 116 until it is determined in step 114 that the retrieved container is a target container 18. In this example, if in step 114 it is determined that the second end container is a target container 18, the method 105 proceeds to step 118 (see FIG. 3d), where any non-target containers are returned by the load handling device 16 to the target container row 8 or a different container row 8.From here, the method 105 proceeds to step 120 where it is determined whether there are any more target containers 18 to be removed. If so, the method 105 proceeds to step 122 where the first target container 18 is moved to a second staging location. From there, the load handling device 16 is moved to the container row containing the other target containers 18 in step 124. Once there, in step 126, the load handling device 16 moves across the other target container row 8 to remove the end container. Then, in step 128, it is determined whether the end container is one of the target containers 18 identified in step 104 based on its original coordinates (x,y,z) within the frame structure 4 when compared to the coordinates (x,y,z) of one or more target containers 18. If it is determined that the first end container is a non-target container, method 105 proceeds to step 130 where the end container is moved to a buffer location as described above, then returns to step 126 where the load handling device 16 moves the target container row 8 to remove the second end container. Method 105 repeats steps 126, 128, and 130 until, in step 128, it is determined that the removed container is a target container 18. From here, method 105 cycles back to step 118 where any non-target containers are returned to the container row 8, then in step 120 it is determined whether there are any more target containers 18 to be removed. If so, the method 105 continues to cycle through steps 118, 120, 122, 124, 126, 128, and 130 until all of the target containers 18 have been removed, after which the method 105 moves to step 132, where the target containers 18 are removed from the load handling device 16 for delivery to the workstation. Following this, the method 105 ends at step 134.

[0054] 4a and 4b show a flow chart illustrating yet another exemplary method 101 of the load handling assembly 14 retrieving one or more target containers 18 from a target container row 8. The method 101 allows for stacking of the target containers 18 for bulk delivery to a workstation 6 and is the same as the previous method 100 up until step 114 where it is determined whether the first end container is one of the target containers 18 identified in step 104 based on its original coordinates (x, y, z) in the frame structure 4 as compared to the coordinates (x, y, z) of the one or more target containers 18. If it is determined that the first end container is a non-target container, the method 101 proceeds to step 116 where the first end container is moved to the first staging location as described above and then returns to step 112 where the load handling device 16 moves the target container row 8 to retrieve the second end container. Method 101 repeats steps 112, 114, and 116, causing the load handling device 16 to stack any containers identified as non-target containers in the first staging location until, in step 114, it is determined that the removed container is a target container 18. In this example, if, in step 114, it is determined that the second end container is a target container 18, method 101 proceeds to step 120, where it is determined whether there are more target containers 18 in the target container row 8 based on a comparison of the (x,y) coordinates of the target container row 8 to the (x,y,z) coordinates of the target container 18. If it is determined that there are more target containers 18 in the target container row 8, method 101 proceeds to step 126, where the target container 18 is moved to a second staging location, which is different from the first staging location, such that the target containers and non-target containers can be stacked in separate staging locations. The method 101 continues repeating steps 112, 114, 116, 120, and 126, stacking target and non-target containers separately, until it is determined in step 120 that there are no more target containers 18 in the target container row 8.From here, the method 101 proceeds to step 128 where the final target container 18 is moved to the second temporary storage location and then to step 122 where the load handling device 16 returns the non-target containers to the target container row 8. In this and previous methods, the non-target containers may be returned to the target container row 8 in the same order that they were removed, or potentially in a different order to occupy different container rows 8. Next, in step 130, the stacked target containers 18 are removed from the second temporary storage location by the load handling device 16 for bulk delivery to the workstation 6, after which the method 101 ends in step 124.

[0055] Other methods are also contemplated, such as using a search tree algorithm to determine the route the load handling assembly 14 will take to retrieve one or more target containers 18 from the container train 8.

[0056] Referring to Figure 5, there is illustrated a simplified example of a control system 200 as may be adapted to implement the methods of Figures 3a-3d and 4a-4b described above. The control system 200 generally comprises one or more controllers 210 configured to retrieve one or more target containers from the target container row 8 by moving a load handling device 16 to an end of the target container row 8, using the load handling device 16 to move longitudinally the target container row 8 to retrieve an end container therefrom, determining whether the retrieved container is a target container, and using the load handling device 16 to move the retrieved container to a stowage location if determined to be a non-target container, or move the retrieved container away from the load handling device 16 for delivery to a workstation 6 if determined to be a target container.

[0057] 5, the controller 210 comprises at least one electronic processor 220 having one or more electrical inputs for receiving a target container position signal 230 indicative of a position of at least one target container 18 within the frame structure 4 based on three coordinate systems (x, y, z) and a load handling device position signal 240 indicative of a position of the load handling device 16 in two coordinate systems (x, y) within a first substantially vertical plane extending in front of the side 15 of the frame structure 4. The electronic processor 220 further comprises one or more electrical outputs for outputting a drive control signal 250 and one or more of first, second and third actuator control signals 260, 270, 280 for controlling the first, second and third actuation assemblies, respectively. The controller 210 further comprises at least one memory device 290 electrically coupled to the at least one electronic processor 220 and having instructions stored therein. The electronic processor 220 is configured to access at least one memory device 290 and execute instructions thereon to determine the location of the target container row 8 based on the first two coordinates (x, y) of the target container 18 (x, y, z) as indicated by the target container position signal 230, and to select a load handling device 16 based on the difference in the positions of the target container row 8 and the load handling device 16 as indicated by the load handling device position signal 240. In one example, the load handling device 16 closest to the target container row 8 may be selected. The electronic processor 220 then outputs a drive control signal 250 to move the selected load handling device 18 to the end of the target container row 8. In this example, the drive control signal 250 is received by the lifting device 17 to move the load handling device 16 laterally and vertically as necessary to the end of the target container row 8. The electronic processor 220 is configured to output a first actuator control signal 260 to cause the load handling device 16 to move the target container row 8 longitudinally to retrieve an end container, or to move a retrieved container determined to be a target container 18 from the load handling device 16 for delivery to the workstation 6.The electronic processor 220 determines whether the retrieved container is one of the target containers 18 based on its original coordinates (x,y,z) within the frame structure 4 as compared to the coordinates (x,y,z) indicated in the target container position signal 230. The electronic processor 220 is further configured to output a second or third actuator control signal 270, 280 to the load handling device 16 to hold any retrieved containers identified as non-target containers in the staging location provided by the second and third actuation assemblies. Alternatively, the electronic processor 220 is configured to output one of the second or third actuator control signal 270, 290 to hold the containers identified as non-target containers in the first staging location and output the other of the second or third actuator control signal 270, 290 to hold those containers identified as target containers 18 in the second staging location.

[0058] An example of the first actuation assembly is illustrated in Figures 6a to 6f, which provide several side views of the load handling device 16 and end container 26 in various lateral positions as they are driven into and out of the load handling device 16 by the first actuation assembly. Figure 6a shows the load handling device 16 moved to a position adjacent a container 26 located within the frame structure 4 at the end of the target container row 8. The first actuation assembly, generally indicated at 30, is essentially a linear actuator and in this example comprises first and second actuation members 32, 34 for moving the container between a first end 28 and a second end 36 of the load handling device 16. For ease of understanding, only two actuating members 32, 34 are shown, each associated with a respective end 28, 36 of the load handling device 16, but those skilled in the art will appreciate that it is preferred, but not required, that each end 28, 36 of the load handling device 16 is associated with a pair of actuating members that can be actuated simultaneously. In this example, the first actuating assembly comprises a gear arrangement. Specifically, the first and second actuating members 32, 34 each comprise a substantially horizontal shaft 38 operably connected to a first electric motor (not shown) for rotating the shaft 38 about its longitudinal axis. Each shaft 38 is rotatably mounted to a respective support frame 40 and carries two worm gears 42 at either end. The worm gear 42 is configured to mesh with a corresponding track 44 or thread extending longitudinally along the side of the container 26, whereby rotational motion of the worm gear 42 when engaged with the track 44 is translated into a linear push / pull motion of the container 26 to pull or pull the container 26 into or out of a cavity 46 in the load handling device 16. The support frame 40, on which the shaft 38 is rotatably mounted, is carried on a linear guide in the form of a slide rail 48 and is driven on the slide rail 48 by a second electric motor (not shown) to facilitate changing its lateral position relative to the slide rail 48.Specifically, in this embodiment, the support frame 40 is provided with a moving nut 51 configured to move along the corresponding lead screw 53 when the lead screw 53 is rotated clockwise or counterclockwise by the second electric motor, and converts the rotational motion of the lead screw 53 into linear motion of the support frame 40.

[0059] As mentioned above, the first actuation assembly is configured to move the container row longitudinally to remove one or more target containers from the target container row for delivery to the workstation, or to add one or more containers from the workstation to the target container row. For this purpose, the containers forming the container row are configured to releasably couple or engage with one another longitudinally to form a series of containers connected in an end-to-end arrangement, so that when an end container 26 is pulled into or pushed out of the load handling device 16 by the first actuation assembly, the entire container row is pulled in or pushed out with the container row. The first actuation assembly is thus capable of moving the container row, which in this example is done by engaging the end container 26.

[0060] Referring to FIG. 6b, to engage the container 26, the support frame 40 of the first actuating member 32 is driven by the second electric motor in a first direction from a neutral position toward the container 26, causing the worm gear 42 to protrude from the first end 28 of the load handling device 16. During this movement, the worm gear 42 is rotationally driven by the first electric motor to engage the track 44. To overcome static friction between the worm gear 42 and the track 44 during this initial engagement, the first electric motor may be overdriven for a short period of time to generate a torque greater than its nominal rating that is used while the container 26 is moving. This ability to overdrive the first electric motor beyond its nominal rating provides temporary access to a greater torque, avoiding the need for a larger motor. From here, continued rotation of the worm gear 42 draws the container 26 into the cavity 46, and the remainder of the container train is drawn toward the load handling device 16 along with the container 26, as shown in FIG. 6c. 6d, before the container 26 is fully received within the cavity 46 and while the first actuating member 32 is engaged with the track 44, the support frame 40 of the first actuating member 32 is driven laterally past its neutral position towards the second actuating member 34 in a second direction, the second direction being opposite to the first direction. Simultaneously or similarly, the support frame 40 of the second actuating member 34 is driven laterally from its neutral position towards the first actuating member 32 in the first direction to minimize the distance between the first actuating member 32 and the second actuating member 34. The distance defined between the first actuating member 32 and the second actuating member 34 at this point is less than the length of the container 26, ensuring that the first actuating member 32 and the second actuating member 34 are positioned such that they can engage, and therefore support, both ends of the container 26 during its movement laterally through the load handling device 16. From here, the first actuating member 32 continues to drive the container 26 into the cavity 46 and into engagement with the second actuating member 34, as shown in Figure 6e.The load handling device 16 comprises means (not shown) for decoupling the container from the container row 8 when the first actuating assembly moves the container row longitudinally, and thus when the end 49 of the container 26 used to connect the container 26 to the container row 8 passes the first end 28 of the load handling device 16, the container 26 disengaging from the container row 8 and leaving the subsequent container in the container row adjacent the first end 28 of the load handling device 16 for subsequent engagement by the first actuating assembly. The first and second actuating members 32, 34 continue to drive the container 26 laterally through the cavity 46 of the load handling device 16 until such time as the container 26 disengages the first actuating member 32, leaving the second actuating member 34 as the sole driver of the container 26. From here, the support frame 40 of the first actuating member 32 is returned to its neutral position and simultaneously, or similarly, the support frame 40 of the second actuating member 34 is driven in a second direction away from the first actuating member 32 such that the worm gear 42 of the second actuating member 34 protrudes from the second end 36 of the load handling device 16, as shown in Figure 6f. From here, the second actuating member 34 drives the container 26 from the load handling device 16 for delivery to the workstation 6. In this way, the first actuating means can transfer a target container laterally from the target container row for delivery to the workstation.

[0061] To transfer a container coming from a workstation to a row of containers in the frame structure 4, the above process is carried out in reverse, i.e. the support frame 40 of the second actuating member 34 moves from its neutral position in a second direction away from the first actuating member in order to engage a container track 44 positioned adjacent the second end 36 of the load handling device 16. From here, the second actuating member 34 drives the container into the cavity 46 of the load handling device 16, and the support frame 40 of the second actuating member 34 is moved in the first direction towards the first actuating member 32, which itself is driven in the second direction towards the second actuating member 34 in order to engage the container 26. After engaging the track 44 of the container 26, the support frame 40 of the first actuating member 32 is moved in a first direction away from the second actuating member 34 to drive the container 26 to the first end 28 of the load handling device 16 where the container 26 engages the end of the row of containers 8 to which it is being added. At this stage, the means for separating the container from the row of containers can also function in reverse to couple the container to the row of containers, such that the end 49 of the container 26 interlocks with the container at the end of the row of containers 8 as it passes the first end 28 of the load handling device. From here, the row of containers 8 is displaced longitudinally away from the load handling device 16 to make sufficient space to accommodate the container 26 through continued lateral movement of the container 26 as provided by the first actuating member 32.

[0062] As already mentioned, the first actuation assembly is configured to enable longitudinal movement of the container row 8 to remove or add containers to the container row 8. In the above example, since the shelf on which the container row 8 rests is substantially horizontal, the first actuation assembly engages the end container to pull the end container and the container row 8 towards the load handling device 16 or pushes the container into the container row 8 to displace it away from the load handling device 16. For the interface, to facilitate longitudinal movement of the container row 8, the container and the shelf on which the container rests may be provided with cooperating flat surfaces forming a linear bearing. In another example, the container may be provided with a number of wheels arranged to engage the shelf to enable displacement of the container row 8 towards or away from the load handling device 16. In any of these examples, and in others, the shelves are arranged to be inclined upwardly away from the load handling assembly 14, as opposed to being arranged substantially horizontally, so that the row of containers 8 are driven under gravity towards the load handling device, eliminating the need for end-to-end coupling of the containers. In this example, the first actuation assembly may comprise a gate mechanism or the like, which when actuated, moves the row of containers 8 under gravity to remove containers from the row of containers 8. A linear actuator or the like may then be used to push the containers into the row of containers 8 against gravity to add them to the row of containers 8. In all examples, the first actuation assembly allows for repetitive or container-by-container movement of the row of containers 8, such that subsequent containers may be accessed for removal by the first actuation assembly following removal of a preceding container.

[0063] 7a-7p provide an example of how the first, second, and third actuation assemblies cooperate with one another to remove a target container from the target container row 8. These figures show a load handling device 16 without many of the features of the first actuation assembly so as not to obscure the features and functionality of the second and third actuation assemblies. Referring to FIG. 7a, in this example, a target container 18 is located at the far end of a target container row 8 that includes five non-target containers 20, 22, 24, 50, 52 positioned between the target container row 8 and the load handling device 16. The first non-target container 20 is pulled into the cavity 46 of the load handling device 16 by the first actuation assembly as described above and as shown in FIG. 7b. The load handling device 16 includes a retractable rail 54 on which the container rests when it is held within the cavity 46. The retractable rails 54 extend within the cavity 46 along the longitudinal sides 56 of the load handling device 16 and are crossed by four retractable pins 58 that comprise part of the second actuation assembly, only two pins 58 on one side of the cavity 46 are shown in the figures. The pins 58 are configured to engage a container held within the cavity 46 and, under the control of a third electric motor (not shown) in respective guides 60, to move on an upward stroke from a lowermost position to a uppermost position to lift the container to a temporary storage or stackable position above the cavity 46 and to move on a downward stroke from the uppermost position to a lowermost position to lower the container from the temporary storage position into the cavity 46. Referring to FIG. 7c, the first non-target container 20 is lifted by the pins 58 out of the cavity 46 and placed in a temporary storage position above the cavity 46 to make room for the second non-target container 22 within the cavity 46. The pins 58 then hold the first non-target container 20 over the cavity 46 while the second non-target container 22 is pulled into the cavity 46 by the first actuation assembly, as shown in Figure 7d. Once the second non-target container 22 is in the cavity 46, the pins 58 retract within their respective guides 60 to disengage the first non-target container 20, as shown in Figure 7e.Without the support of the pins 58, the bottom of the first non-target container 20 is brought into contact with the top of the second non-target container 22 in the stacked arrangement. The pins 58 then move in a downward stroke from their top to bottom positions in their stored positions. Once in the bottom position, the pins 58 move from their stored positions to their extended positions to engage the second non-target container 22, as shown in FIG. 7f. Referring to FIG. 7g, the pins 58 then lift the second non-target container 22 out of the cavity 46, and in so doing move the first and second non-target containers 20, 22 to a temporary storage position above the cavity 46, making space available within the cavity to accommodate the third non-target container 24. The first and second actuation assemblies continue to cooperate in this iterative manner until all five non-target containers 20, 22, 24, 50, 52 are held above the cavity 46 by the second actuation assembly in a stacked arrangement, as shown in Figure 7h, and the target container 18 is held within the cavity 46 having been moved thereto by the first actuation assembly. From here, the retractable rails 54 are retracted, allowing the target container 18 to rest directly on a platform 62 forming the base of the load handling device 16. The platform 62 forms part of a third actuation assembly, and is configured to be lowered from its position at the base of the load handling device 16, away from the cavity 46, to hold one or more containers in a temporary storage position extending below the cavity 46, freeing the cavity 46 so that, for example, another container from the row of containers can be accessed. Referring to FIG. 7i, while the non-target containers 20, 22, 24, 50, 52 are held above the cavity 46 by the second actuating assembly, the target container 18 is then lowered from the cavity 46 by the third actuating assembly to make space available within the cavity 46, and the retractable rails 54 are returned to their extended positions.From here, the pins 58 of the second actuation assembly are moved to their bottommost position to lower the stack of non-target containers 20, 22, 24, 50, 52 until the bottom non-target container, i.e., the fifth non-target container 52, is received within the cavity 46 located at the top of the retractable rail 54, as shown in FIG. 7j. The pins 58 are then retracted to disengage the fifth non-target container 52 and move it on an upward stroke to their topmost position within the guides 60, as shown in FIG. 7k. Following that, the pins 58 are moved to their extended position to engage the fourth non-target container 50 and lift the stack of non-target containers 20, 22, 24, 50 away from the fifth non-target container 52 located within the cavity 46. The fifth non-target container 52 is then moved back to the target container row 8 by the first actuation assembly, as shown in FIG. 7l. Following returning the fifth non-target container 52, the pins 58 are moved to their lowest position, carrying the fourth non-target container 50 into the cavity 46 and back into the target container row 8, as shown in Fig. 7m, and the process is repeated until all of the non-target containers 20, 22, 24, 50, 52 have been returned to the target container row 8, as provided by the first and second actuation assemblies, as shown in Fig. 7n. Following returning the non-target containers 20, 22, 24, 50, 52, the retractable rails 54 are moved to their retracted position, as shown in Fig. 7o, and the platform 62 is raised, lifting the target container 18 into the cavity 46. From here, the retractable rails 54 are moved to their extended position, wedging themselves between the platform 62 and the underside of the target container 18 to support the weight of the container 18, as shown in Fig. 7p, and the target container 18 is then removed from the load handling device 16 by the first actuation assembly for delivery to the workstation 6.

[0064] 8a-8d show another example of how non-target containers can be stacked, this time using a third actuation assembly, to access a target container. In this example, the target container 18 is the fourth container in the target container row 8, and the first through third, fifth, and sixth containers are non-target containers 20, 22, 24, 50, 52, as shown in FIG. 8a. In this example, the first non-target container 20 is driven into the cavity 46 of the load handling device 16 by the first actuation assembly, pulling the container row 8 with it. The retractable rails 54 and pins 58 of the second actuation assembly are subsequently retracted, lowering the first non-target container 20 onto the platform 62 of the third actuation assembly. The platform 62 is then lowered and the retractable rails 54 are extended to prepare to receive the second non-target container 22, which is driven into the cavity 46 of the load handling device 16 by the first actuation assembly. The retractable rails 54 are then retracted to place the second non-target container 22 on top of the first non-target container 20 in a stacked arrangement. The platform 62 then lowers the first and second non-target containers 20, 22 and the retractable rails 54 are extended in preparation for receipt of the third non-target container 24. This iterative process using the first and third actuation assemblies continues until the target container 18 is brought into the cavity 46, as shown in FIG. 8b. From here, the pins 58 are moved to their lowest positions within the guides 60, if they are not already there, and extended from their retracted positions to engage the target container 18. The pins 58 are then moved to their highest positions to lift the target container 18 out of the cavity 46, as shown in FIG. 8c. The retractable rails 54 are then retracted to allow the platform 62 to lift the third non-target container 24 into the cavity 46, after which the retractable rails 54 are extended and pushed between the platform 62 and the third non-target container 24 to support the weight of the third non-target container 24.The third non-target container 24 is then moved back into the target container row 8 by the first actuating assembly. The retractable rails 54 are again retracted and the process of moving the first and second non-target containers 20, 22 back into the target container row 8 similarly continues, as shown in Figure 8d. From here, the pins 58 of the second actuating assembly return to their lowermost position, lowering the target container 18 into the cavity 46, from which it is then removed from the load handling device 16 by the first actuating assembly for delivery to the workstation 6.

[0065] The above-described processes are only two examples of how the load handling device 16 can access target containers in a row of target containers by stacking non-target containers upwards or downwards using the first, second and third actuation assemblies. In another example, non-target containers may be stacked in both directions upwards and downwards to access the target containers. Furthermore, instead of stacking only non-target containers, the load handling device 16 can also stack target containers for bulk delivery to the workstation 6 in the same manner as stacking non-target containers. To this end, the second end 36 of the load handling device 16 is an open end so that a stack of target containers 64 can pass through for delivery to the workstation 6, as shown in FIG. 9. In this example, the stack of target containers 64 may be stacked downwards using the third actuation assembly and then lifted until the bottom target container 66 is within the cavity 46. The retractable rail 54 then extends to interpose between the platform 62 and the bottom container 66 to support the weight of the stack of target containers 64. From here, the first actuation assembly acts on the bottom target container 66 to drive the stack of target containers 64 from the load handling device 16 for delivery to the workstation 6. Alternatively, the stack of target containers 64 can be stacked upwards using the second actuation assembly and then lowered using the pins 58 until the bottom target container 66 is retained within the cavity 46. From here, as previously described, the first actuation assembly acts on the bottom target container 66 to drive the stack of target containers 64 from the load handling device 16 for bulk delivery to the workstation 6.

[0066] The vertical movement provided by the second and third actuation assemblies aids in passive coupling of the containers within the container row 8. An example of such coupling is shown in Figures 10a to 10e. In this example, each container 300 includes complementary female connectors 302 and male connectors 304 that cooperate to couple adjacent containers 300, 306. The connectors 302, 306 are configured to connect or disconnect when the end container 306 is raised or lowered relative to the other containers 300 in the container row 8 by the second or third actuation assemblies.

[0067] Figures 11 and 12 show another embodiment of a container storage and retrieval system 2 according to the invention. This embodiment is similar to the previous embodiment as far as the functionality of the load handling devices 16 is concerned, but differs in that the load handling assembly 14 comprises two adjacent rows 68, 70 of a plurality of load handling devices 16 together with the other components mentioned above, such as the lifting devices 17, necessary to facilitate their lateral and vertical movement. The load handling devices 16 on the second row 70 are configured to retrieve containers from or deliver containers to the load handling devices on the first row 68 using the first actuation assembly. Due to the presence of other load handling devices 16 on the first row 68, a single load handling device 16 on that row can only retrieve containers from and add containers to the container row 8 in a limited number of columns of the container row 8. That is, the extent to which the load handling devices 16 on the first row 68 can move laterally is limited by the presence of other load handling devices 16 on that row. To mitigate this, the second row 70 is provided with fewer load handling devices 16 compared to the first row 68. In this example, the first row 68 and the second row 70 include ten and four load handling devices 16, respectively. This results in less interference between the load handling devices 16 and a greater range over which each load handling device 16 can move. In doing so, the number of locations at which containers may be positioned for delivery to the workstations 6 is increased without compromising the overall throughput of the system 2.

[0068] 13 shows yet another embodiment of a storage and retrieval system 2 according to the invention. In this embodiment, the load handling device 16 can move towards or away from the frame structure 4 and can move laterally in a second substantially vertical plane extending perpendicular to the first substantially vertical plane. For this purpose, the first and second guideways 21, 25 comprise a plurality of cross members 23, 27 and longitudinal members 72, 74 which combine to form a lattice 76, 78 in front of the frame structure 4, one lattice 76 for engaging with the lifting device 17 and the other lattice 78 for engaging with the base unit 29. The lifting device 17 and the base unit 29 each include at least two sets of wheels 80, 82, one set of wheels 80 arranged to engage with the cross members 23, 27 of the grids 76, 78 to drive the load handling device 16 laterally across the side 15 of the frame structure 4, and the other set of wheels 82 arranged to engage with the longitudinal members 72, 74 of the grids 76, 78 to drive the load handling device 16 towards or away from the frame structure 4. This arrangement improves the maneuverability of the load handling device 16 such that it can access all of the container rows 8.

[0069] FIG. 14 shows another application example of the load handling device 16. In this example, the load handling device 16 is stationary on a conveyor 84, receives a stack of containers 86, shuffles them into a predetermined order using the first, second, and third actuation assemblies, and outputs the stack 86 to the same or another conveyor. In this example using only the first and second actuation assemblies, the target container 18 is positioned third from the bottom in the stack of containers 86, as shown in step a, and needs to be moved to the third position from the top of the stack 86, as shown in the final step h. From step a, the second actuation assembly of the load handling device 16 lifts the top five containers to access the target container 18, as shown in step b. Then, in step c, the target container 18 is removed from the stack 86 by the first actuation assembly, and in step d, the top five containers are placed on the stack 86. The target container 18 is then moved into position for insertion back into the stack 86, in step e, and the top two containers are lifted from the stack 86, in step f. The target container 18 is then reinserted into the stack 86, in step g, and the top two containers are lowered onto the target container 18, completing the stack 86, in step h. The invention as originally claimed in the present application is set forth below. [1] A load handling device for a container storage and retrieval system, comprising: The container storage and retrieval system includes a frame structure configured to store a plurality of rows of containers; The load handling device is positionable between the frame structure and a workstation and comprises a first actuation assembly configured to move the row of containers longitudinally to remove containers from the row of containers for delivery to the workstation or to add containers from the workstation to the row of containers. [2] The load handling device described in [1], wherein the first actuating assembly is configured to move laterally in a first direction to engage containers in a row of containers adjacent a first end of the load handling device, and in a second opposite direction to engage containers from the workstation adjacent a second opposite end of the load handling device. [3] the first actuating assembly includes first and second actuating members; The load handling device of [2], wherein the first actuating member is configured to move laterally in the first and second directions, respectively, away from and toward the second actuating member. [4] The load handling device described in [3], wherein the second actuating member is configured to move laterally in the first and second directions, respectively, toward and away from the first actuating member. [5] A load handling device as described in any one of [1] to [4], wherein the first actuating assembly comprises a gear device. [6] The cargo handling device described in [5], wherein the gear arrangement includes a worm gear configured to mesh with a corresponding track extending along the side of the container. [7] The load handling device of any one of [1] to [6], further comprising a second actuation assembly configured to stack one or more containers upwardly following their removal from the container row so as to enable access to another container from the container row. [8] the second actuation assembly includes a pin for engaging a container; The load handling device of [7], wherein the pin is configured to move on an upward stroke to lift the container into a stackable position. [9] The load handling device of [8], wherein the pin is further configured to move in a downward stroke to lower the container from the stackable position.

[10] A cargo handling device as described in [8] or [9], wherein the pin is retractable to release the engagement with the container.

[11] The load handling device of

[10] , wherein the pin is further configured to move on the upward stroke and the downward stroke during storage.

[12] The load handling device of any one of [1] to

[11] , further comprising a third actuation assembly configured to stack one or more containers downwardly following their removal from the container row so as to enable access to another container from the container row.

[13] The third actuation assembly includes a platform for holding one or more containers removed from the train of containers in a stacked arrangement;

[12] The load handling device of

[12] , wherein the third actuation assembly is configured to lower the platform to enable access to another container from the row of containers.

[14] Each container row comprises a plurality of containers configured to releasably couple or engage with one another in a longitudinal direction; The cargo handling device of any one of [1] to

[13] , further comprising means for separating a container from or coupling a container to a row of containers when the first actuating assembly moves the row of containers longitudinally.

[15] A load handling assembly for a container storage and retrieval system, the load handling assembly comprising a load handling device according to any one of [1] to

[14] .

[16] A lifting device engaged with the load handling device,

[15] The load handling assembly of

[15] , wherein the lifting device is configured to move the load handling device vertically so that the load handling device can access different rows of containers arranged in vertical columns.

[17] The load handling assembly of

[16] , wherein the lifting device comprises a cable connected to the load handling device and one or more spooling devices configured to retract the cable to vertically move the load handling device.

[18] The load handling assembly of any one of

[15] to

[17] , further configured such that the load handling devices can move laterally to access rows of containers arranged in different vertical columns.

[19] A load handling assembly as described in any one of

[15] to

[18] , further configured such that the load handling device can move longitudinally away from or towards the framework structure.

[20] The load handling assembly of

[18] or

[19] , further comprising a first guideway having a cross member for guiding lateral movement of the load handling device and / or a longitudinal member for guiding longitudinal movement of the load handling device.

[21] The load handling assembly of

[20] , wherein the lifting device is configured to engage the cross member to guide lateral movement of the load handling device and / or to engage the longitudinal member to guide longitudinal movement of the load handling device.

[22] The load handling assembly of

[20] or

[21] , further comprising a second guideway having a cross member for guiding lateral movement of the load handling device and / or a longitudinal member for guiding the longitudinal movement of the load handling device.

[23] Further comprising a base unit for supporting the lifting device;

[22] A load handling assembly as described in claim 1, wherein the base unit is configured to engage the cross members of the second guideway to guide lateral movement of the load handling device and / or engage the longitudinal members of the second guideway to guide the longitudinal movement of the load handling device.

[24] A load handling assembly as described in any one of

[15] to

[23] , further comprising a support frame defining a channel for guiding vertical movement of the load handling device.

[25] further comprising a first train including a plurality of lifting devices and respective load handling devices; A load handling assembly as described in any one of

[15] to

[24] , wherein each lifting device is positioned such that its respective load handling device can access a different row of containers arranged in the vertical column.

[26] The method further comprises: the second row includes at least one lifting device and a load handling device; The load handling assembly is configured such that the load handling devices on the second row can move laterally to remove containers from or deliver containers to the load handling devices on the first row.

[27] A container storage and retrieval system comprising: a frame structure configured to store a plurality of rows of containers and a workstation; A container storage and retrieval system comprising a cargo handling assembly according to any one of

[15] to

[26] .

[28] A method for retrieving one or more target containers from a container storage and retrieval system according to

[27] , comprising the steps of: moving the load handling device to a target container row; moving the target container row lengthwise using the load handling device to remove end containers from the target container row; determining whether the removed container is the target container; if the removed container is determined to be a non-target container, moving the removed container to a temporary storage location using the load handling device; or Following an affirmative determination, removing the removed container from the load handling device for delivery to a workstation.

[29] The method of

[28] , further comprising stacking one or more non-target containers upwardly using the load handling device to allow access to the row of target containers.

[30] The method of

[29] , further comprising stacking one or more non-target containers downwardly using the load handling device to allow access to the row of target containers.

[31] The method of any one of

[28] to

[30] , further comprising using the load handling device to push the target container row or another row of containers to return one or more non-target containers.

Claims

1. 1. A load handling device for a container storage and retrieval system, comprising: The container storage and retrieval system includes a frame structure configured to store a plurality of rows of containers; the load handling device comprises a first actuation assembly positionable between the frame structure and a workstation and configured to move the row of containers longitudinally to remove containers from the row of containers for delivery to the workstation or to add containers from the workstation to the row of containers; The load handling device further comprises a second actuation assembly configured to stack one or more containers upwardly following removal of a container from the container row so that another container can be accessed from the container row, and / or a third actuation assembly configured to stack one or more containers downwardly following removal of a container from the container row so that another container can be accessed from the container row.

2. 2. The load handling device of claim 1, wherein the first actuating assembly is configured to move laterally in a first direction to engage a container in a row of containers adjacent a first end of the load handling device and in a second opposite direction to engage a container from the workstation adjacent a second opposite end of the load handling device.

3. the first actuation assembly includes first and second actuation members; 3. The load handling device of claim 2, wherein the first actuating member is configured to move laterally in the first and second directions, respectively, away from and toward the second actuating member.

4. 4. The load handling device of claim 3, wherein the second actuating member is configured to move laterally in the first and second directions toward and away from the first actuating member, respectively.

5. A load handling device according to claim 1 , wherein the first actuation assembly comprises a gear arrangement.

6. 6. The cargo handling device of claim 5, wherein the gearing comprises a worm gear configured to mesh with a corresponding track extending along a side of the container.

7. the second actuation assembly including a pin for engaging a container; A load handling device according to any preceding claim, wherein the pins are configured to move on an upward stroke to lift containers into a stackable position.

8. The load handling device of claim 7 , wherein the pin is further configured to move on a downward stroke to lower the container from the stackable position.

9. A load handling device according to claim 7 or 8, wherein the pin is retractable to release it from engagement with the container.

10. The load handling device of claim 9 , wherein the pin is further configured to move on the upward and downward strokes during retraction.

11. the third actuation assembly includes a platform for holding one or more containers removed from the row of containers in a stacked arrangement; A load handling device according to any one of claims 1 to 10, wherein the third actuation assembly is configured to lower the platform to allow access to another container from the row of containers.

12. Each row of containers comprises a plurality of containers configured to releasably couple or engage with one another in a longitudinal direction; 12. The load handling device of claim 1, further comprising means for decoupling a container from or coupling a container to a row of containers as the first actuation assembly moves the row of containers longitudinally.

13. A load handling assembly for a container storage and retrieval system, said load handling assembly comprising a load handling device according to any one of claims 1 to 12.

14. a lifting device engaged with the load handling device; 14. The load handling assembly of claim 13, wherein the lifting device is configured to move the load handling device vertically so that the load handling device can access different rows of containers arranged in vertical columns.

15. 15. The load handling assembly of claim 14, wherein the lifting device comprises a cable connected to the load handling device and one or more spooling devices configured to retract and extend the cable to vertically move the load handling device.

16. 16. A load handling assembly according to any one of claims 13 to 15, further configured such that the load handling device can move laterally to access rows of containers arranged in different vertical columns.

17. 17. A load handling assembly according to any one of claims 13 to 16, further configured such that the load handling device can move longitudinally away from or towards the framework structure.

18. 18. A load handling assembly as claimed in claim 16 or 17, further comprising a first guideway comprising a cross member for guiding lateral movement of the load handling device and / or a longitudinal member for guiding longitudinal movement of the load handling device.

19. A load handling assembly as described in claim 18, which is based on claim 14, wherein the lifting device is configured to engage the cross member to guide lateral movement of the load handling device and / or to engage the longitudinal member to guide longitudinal movement of the load handling device.

20. 20. A load handling assembly as claimed in claim 18 or 19, further comprising a second guideway comprising a cross member for guiding lateral movement of the load handling device and / or a longitudinal member for guiding the longitudinal movement of the load handling device.

21. a base unit for supporting the lifting device; A load handling assembly as described in claim 20, which cites claim 14, wherein the base unit is configured to engage the cross members of the second guideway to guide lateral movement of the load handling device and / or engage the longitudinal members of the second guideway to guide the longitudinal movement of the load handling device.

22. 22. A load handling assembly according to any one of claims 13 to 21, further comprising a support frame defining a channel for guiding vertical movement of the load handling device.

23. a first train including a plurality of lifting devices and respective load handling devices; 23. A load handling assembly according to any one of claims 13 to 22, wherein each lifting device is positioned such that its respective load handling device can access a different row of containers arranged in a vertical column.

24. a second row extending along the first row; the second row includes at least one lifting device and a load handling device; 24. The load handling assembly of claim 23, wherein the load handling assembly is configured such that the load handling devices on the second row can move laterally to retrieve containers from or deliver containers to the load handling devices on the first row.

25. 1. A container storage and retrieval system comprising: a frame structure configured to store a plurality of rows of containers and a workstation; A container storage and retrieval system comprising a load handling assembly according to any one of claims 13 to 24.

26. 26. A method for retrieving one or more target containers from a container storage and retrieval system as claimed in claim 25, comprising the steps of: moving the load handling device to a target container row; moving the target container row lengthwise using the load handling device to remove end containers from the target container row; determining whether the removed container is the target container; if the removed container is determined to be a non-target container, moving the removed container to a temporary storage location using the load handling device; or Following an affirmative determination, removing the removed container from the load handling device for delivery to a workstation.

27. 27. The method of claim 26, further comprising stacking one or more non-target containers upwardly using the load handling device to allow access to the row of target containers.

28. 30. The method of claim 27, further comprising stacking one or more non-target containers downwardly using the load handling device to allow access to the row of target containers.

29. 29. The method of any one of claims 26 to 28, further comprising using the load handling device to push the target container row or another row of containers to return one or more non-target containers.

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