Automated storage tower with carousel

Abstract

A storage tower (400), an automated storage and retrieval system (1), and methods of using the same are disclosed. The storage tower (400) comprises a vertically extending support structure having a vertical axis and a plurality of horizontally oriented container supports (402a-m) arranged along the vertical axis of the support structure and distributed at vertical intervals. Each container support (402a-m) is rotatably connected to the support structure and configured to support at least one storage container. Each container support (402a-l) presents at least one opening (403), each having a size that is at least the largest horizontal cross-section of a storage container (106) to be stored.

Description

Technical Field

[0001] The present invention relates to a storage grid and an automated storage and retrieval system for the storage and retrieval of containers from and to such a storage grid. The present invention also relates to a method for storing and retrieving containers within such a storage grid and accessing containers placed deeper in a more time-efficient manner.

Background Art

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

[0003] The skeletal structure 100 includes an upright member 102, a horizontal member 103, and a storage volume including storage columns 105 arranged in rows between the upright member 102 and the horizontal member 103. In these storage columns 105, storage containers 106, also known as containers, are stacked on top of each other to form a stack 107. The members 102, 103 may typically be made of metal, for example, extruded aluminum profiles.

[0004] The skeletal structure 100 of the automated storage and retrieval system 1 includes a rail system 108 arranged across the upper part of the skeletal structure 100. On the rail system 108, a plurality of container handling vehicles 201, 301 are operated to lift the storage container 106 from the storage column 105, lower the storage container 106 into it, and transport the storage container 106 above the storage column 105. The rail system 108 includes a first set 110 of parallel rails arranged to guide the movement of the container handling vehicles 201, 301 in a first direction X across the upper part of the frame structure 100, and a second set 111 of parallel rails arranged at a right angle to the first set 110 of rails for guiding the movement of the container handling vehicles 201, 301 in a second direction Y that is perpendicular to the first direction X. The container 106 stored in the column 105 is accessed by the container handling vehicle through an access opening 112 in the rail system 108. The container handling vehicles 201, 301 can move laterally above the storage column 105, that is, in a plane parallel to the horizontal X-Y plane.

[0005] The upright member 102 of the skeletal structure 100 may be used to guide the storage container during the lifting of the container out of the column 105 and the lowering of the container into it. The stack 107 of containers 106 is typically self-supporting.

[0006] Each of the prior art container handling vehicles 201, 301 includes a vehicle body 201a, 301a and first and second sets 201b, 301b, 201c, 301c of wheels that enable the lateral movement of the container handling vehicles 201, 301 in the X and Y directions, respectively. In FIGS. 2 and 3, the two wheels within each set are fully visible. The first set 201b, 301b of wheels is arranged to engage two adjacent rails of the first set 110 of rails, and the second set 201c, 301c of wheels is arranged to engage two adjacent rails of the second set 111 of rails. At least one of the sets of wheels 201b, 301b, 201c, 301c can be raised and lowered so that the first set 201b, 301b of wheels and / or the second set 201c, 301c of wheels can engage the individual sets 110, 111 of rails at any point in time.

[0007] Each of the prior art container handling vehicles 201, 301 also includes a lifting device (not shown) for the vertical transportation of the storage container 106, for example, lifting the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column 105. The lifting device is adapted to engage the storage container 106 such that the position of the gripping / engagement device relative to the vehicles 201, 301 can be adjusted in a third direction Z that is orthogonal to the first direction X and the second direction Y, and includes one or more gripping / engagement devices that can be lowered from the vehicles 201, 301. A part of the gripping device of the container handling vehicle 301 is shown in FIG. 3 and is indicated by reference numeral 304. The gripping device of the container handling device 201 is located within the vehicle body 301a of FIG. 2.

[0008] As before, and for the purposes of the present application, Z = 1 identifies the topmost layer of the storage container, i.e., the layer directly below the rail system 108, Z = 2 identifies the second layer below the rail system 108, Z = 3 identifies the third layer, and so on. In the exemplary prior art disclosed in FIG. 1, Z = 8 identifies the bottommost layer of the storage container. Similarly, X = 1...n and Y = 1...n identify the positions of each storage column 105 in the horizontal plane. As a result, using the Cartesian coordinate system X, Y, Z as an example and as shown in FIG. 1, it can be said that the storage container identified as 106' in FIG. 1 occupies the storage position X = 10, Y = 2, Z = 3. The container handling vehicles 201, 301 can be said to travel within the layer Z = 0, and each storage column 105 can be identified by its X and Y coordinates.

[0009] The storage volume of the skeletal structure 100 is often referred to as a grid 104, and the possible storage positions within this grid are referred to as storage cells. Each storage column can be identified by its position in the X and Y directions, while each storage cell can be identified by the number of containers in the X, Y, and Z directions.

[0010] Each prior art container handling vehicle 201, 301 is provided with a storage compartment or space for receiving and accommodating the storage container 106 when transporting the storage container 106 across the rail system 108. The storage space may, as shown in FIG. 2 and for example, comprise a cavity arranged in the center within the vehicle body 201a, as described in, for example, WO2015 / 193278A1 (Patent Document 1), the content of which is incorporated herein by reference.

[0011] FIG. 3 shows an alternative configuration of the container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail, for example, in No. 317366 (the content of which is also incorporated herein by reference).

[0012] The central cavity container handling vehicle 201 shown in FIG. 2 may have an occupied area covering an area with dimensions in the X and Y directions generally equal to the lateral extent of the storage column 105, for example, as described in WO2015 / 193278A1 (the content of which is incorporated herein by reference). The term "lateral" as used herein may mean "horizontal".

[0013] Alternatively, the central cavity container handling vehicle 101 may have an occupied area larger than the lateral area defined by the storage column 105, for example, as disclosed in WO2014 / 090684A1 (Patent Document 2).

[0014] The rail system 108 typically comprises rails with grooves in which the vehicle wheels extend. Alternatively, the rails may comprise upwardly projecting elements and the vehicle wheels may be provided with flanges to prevent derailment. These grooves and upwardly projecting elements are collectively known as tracks. Each rail may comprise one track or each rail may comprise two parallel tracks.

[0015] WO2018146304 (Patent Document 3) (the content of which is incorporated herein by reference) illustrates a typical configuration of a rail system 108 comprising rails and parallel tracks in both the X and Y directions.

[0016] In the framework structure 100, most of the columns 105 are storage columns 105, that is, columns 105 where the storage containers 106 are stored in the stack 107. However, some columns 105 may have other purposes. In FIG. 1, columns 119 and 120 are such special-purpose columns that are used by the container handling vehicles 201, 301 to load and unload, and / or load, the storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from the outside of the framework structure 100 or transferred outside or into the framework structure 100. In the art, such locations are usually referred to as "ports", and the columns in which the ports are located may be referred to as "port columns" 119, 120. The transport to the access station may be in any direction, horizontal, diagonal, and / or vertical. For example, the storage container 106 may be installed in a random or dedicated column 105 within the framework structure 100 and then loaded by any container handling vehicle and transported to the port columns 119, 120 for further transport to the access station. Note that the term "diagonal" means the transport direction of the storage container 106 that is common to a location between the horizontal and the vertical.

[0017] In FIG. 1, the first port column 119 may be a dedicated loading / unloading port column, for example, where the container handling vehicles 201, 301 can load and unload the storage containers 106 to be transported to the access or transfer station, and the second port column 120 may be a dedicated loading port column where the container handling vehicles 201, 301 can load the storage containers 106 being transported from the access or transfer station.

[0018] The access station may typically be a picking station or a storage station where product items are removed from or positioned within the storage container 106. At the picking station or storage station, the storage container 106 is usually not removed from the automated storage and retrieval system 1, but once accessed, it is returned back into the framework structure 100. Ports can also be used to transfer the storage container to another storage facility (e.g., another framework structure or another automated storage and retrieval system), to a transport vehicle (e.g., a train or a large truck), or to a production facility.

[0019] A conveyor system with conveyors is typically employed to transport the storage container between the port columns 119, 120 and the access station.

[0020] If the port columns 119, 120 and the access station are located on different levels, the conveyor system may include a lifting device with a vertical component for vertically transporting the storage container 106 between the port columns 119, 120 and the access station.

[0021] The conveyor system may be arranged to transfer the storage container 106 between different framework structures as described, for example, in WO2014 / 075937A1 (Patent Document 4), the content of which is incorporated herein by reference.

[0022] When a storage container 106 stored in one of the columns 105 disclosed in FIG. 1 is to be accessed, one of the container handling vehicles 201, 301 is instructed to retrieve the target storage container 106 from its position and transport it to the loading / unloading port column 119. This operation involves moving the container handling vehicle 201, 301 to a location above the storage column 105 where the target storage container 106 is positioned, using the lifting device (not shown) of the container handling vehicle 201, 301 to retrieve the storage container 106 from the storage column 105, and transporting the storage container 106 to the loading / unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are positioned above the target storage container 106, the operation also involves temporarily moving the storage containers positioned above before raising the target storage container 106 from the storage column 105. Sometimes referred to in the art as "digging out", this step may subsequently be performed using the same container handling vehicle used to transport the target storage container to the loading / unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have a container handling vehicle specifically dedicated to the task of temporarily removing the storage container from the storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container can be repositioned back into the original storage column 105. However, the removed storage container may alternatively be relocated to another storage column.

[0023] When storage container 106 is to be stored in one of columns 105, one of container handling vehicles 201, 301 is instructed to load storage container 106 from loading port column 120 and transport it to a location above the storage column 105 where it is to be stored. After any storage container positioned at or above the target position within storage column stack 107 is removed, container handling vehicles 201, 301 position storage container 106 in the desired location. The removed storage container may then be lowered back into storage column 105 or repositioned in another storage column.

[0024] To monitor and control automated storage and retrieval system 1, for example, so that a desired storage container 106 can be delivered to a desired location at a desired time without container handling vehicles 201, 301 colliding with each other, automated storage and retrieval system 1 typically includes a computerized control system 500, typically with a database for tracking storage containers 106, to monitor and control the location of individual storage containers 106 within framework structure 100, the contents of each storage container 106, and the movement of container handling vehicles 201, 301.

[0025] FIG. 4 shows an example of product item 80 stored within storage container 106. Storage container 106 illustrated in FIG. 4 has a height Hf, a width Wf, and a length Lf. Storage container 106 has a horizontal cross-section Af.

[0026] Regarding a system that includes a number of containers within each stack, the "digging out" described above can prove to require a lot of both time and space when the target container is located deep within the grid. For example, if the target container has a location Z = 5, the vehicle must raise four non-target containers and place them in other locations, often on top of the grid (Z = 0), before the target container can be reached. Before being reinstalled to return into the grid, the non-target containers may be forced to select paths that are not optimized for their individual operations by other robots.

[0027] The object of the present invention is thus to provide a storage tower and a storage and retrieval system using such a storage tower that can provide a more time-efficient storage and retrieval method compared to prior art systems.

Prior Art Documents

Patent Documents

[0028]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Summary of the Invention

Means for Solving the Problems

[0029] The present invention is set forth in the independent claims, and the dependent claims describe any optional features of the present invention.

[0030] In particular, the present invention relates to a storage tower for storing storage containers. The storage tower includes a vertically extending support structure having a vertical axis and m horizontally oriented container supports, where m is a positive integer greater than or equal to 2.

[0031] The container support parts are arranged along the vertical axis of the support structure and are supported by the container support framework. The storage support parts are distributed at vertical intervals so as to provide different levels where storage containers can be stored. Each container support part may be rotatably connected to the support structure and configured to support at least one storage container.

[0032] Each of the l levels of the container support parts, which are arranged above the remaining levels of the m - l container support parts, each presents at least one opening, and the at least one opening has a size that is at least the maximum horizontal cross-section of the storage container to be stored. l is a positive integer from 1 to m - 1.

[0033] The l container support parts can be independently rotated about the vertical axis such that at least one opening in each level of the l container support parts can be vertically aligned with at least one opening in other levels of the l container support parts by the individual rotation of the container support parts.

[0034] Preferably, all the container support parts of the storage tower can be independently rotated about the vertical axis such that at least one opening in each level of the container support parts can be vertically aligned with at least one opening in other levels of the container support parts by the individual rotation of the container support parts.

[0035] Thus, a storage container is achieved in which a remote operating vehicle can load the storage container into at least level l + 1 without excavation, and thus time can be saved.

[0036] Thus, a storage container is achieved that can provide a more time - efficient delivery of product items to the customer or other recipient of the items stored in the storage container.

[0037] Accordingly, a storage tower capable of providing a high throughput of product items, such as product items in sales or other products with high demand, is achieved.

[0038] The horizontal container support skeleton may have a repeating geometry, particularly having l container support portions.

[0039] The horizontal container support portions can be seen to provide a set of rotatable storage shelves for storage containers such that the contents thereof can be easily accessed through the step of aligning the opening in the upper container support portion with the lower target storage container.

[0040] The container support portion may be a plate, for example, one continuous plate or several plates, connected to form the container support portion. In other words, the container support portion may provide a continuous surface for installing the storage container thereon. Alternatively, the container support portion may have a frame structure, that is, it may not be accompanied by an inner structure or material between the frame members of the frame structure. Furthermore, the container support portion may be a combination of the two. The container support portions in the storage tower may also be a mixture of the two.

[0041] At least one opening presented by each container support portion may be a separate opening. The opening does not necessarily have to be within the actual container support portion. For example, the container support portion may not extend up to the area of the opening. When the container support portion has two or more openings, these openings may be fused together to form a continuous opening. The container support portion may be provided with a plurality of openings distributed in an arc shape on the container support portion such that the plurality of openings are offset circumferentially with a first radial distance equal to or approximately equal from the vertical axis of the support structure.

[0042] At least one opening and the container space of the same container support portion may be distributed along the same arc.

[0043] The distribution of at least one opening and the container space of each container support part is preferably similar for each container support part. In this way, when the container spaces of any container support parts are coaxially arranged, they will be able to be perfectly aligned with the openings of any of the other container support parts.

[0044] The storage tower may include m container support skeletons arranged along the vertical axis of the support structure and distributed at vertical intervals, where m is a positive integer of 2 or greater. Each of the container support skeletons is configured to support at least one container support part.

[0045] For example, when m - 1 of the container support skeletons are resting on the lower ones, the container support skeletons may be arranged without a space between adjacent container support skeletons. Alternatively, the container support skeletons may be spaced apart.

[0046] The storage tower may include a drive mechanism configured to rotate at least one container support part relative to the vertical axis of the support structure.

[0047] The drive mechanism may be, for example, a swivel drive, a gear drive, a belt drive, a chain drive, or an electromagnetic drive such as a stepper motor.

[0048] The drive mechanism may be arranged, for example, on the support structure, the container support part, or the container support skeleton.

[0049] Typically, all the container support parts of the tower will be rotatable. However, the lowermost container support part may be stationary if all the upper container support parts are rotatable and a remotely operated vehicle can be vertically aligned above all the potential target storage containers supported on the lowermost container support part.

[0050] The container support part is rotatably connected to the support structure at least indirectly, for example via a container support framework, and the container support framework may be connected to the support structure in a non-rotating manner.

[0051] Each of the m container support parts may include a plurality of first container spaces, and the plurality of first container spaces are distributed in an arc shape on the container support part such that the plurality of first container spaces are offset circumferentially with an equal or substantially equal first radial distance from the vertical axis of the support structure.

[0052] Each container support part may include, for example, five first container spaces.

[0053] The plurality of first container spaces may be arranged symmetrically in the radial direction. However, equal distances between the container spaces are not required.

[0054] The container spaces may be configured to store storage containers arranged such that their lateral directions extend radially with respect to the vertical axis of the support structure. In this way, the storage containers to be stored or retrieved may be aligned with one or more grid openings of the grid arranged above the storage tower. Alternatively, the container spaces may be configured to store storage containers arranged such that their longitudinal directions extend radially with respect to the vertical axis of the support structure. Further, the container spaces may be configured to store storage containers arranged with an arbitrary angular displacement with respect to the orientations described above.

[0055] Each of the container support parts may further include a plurality of second container spaces, and the plurality of second container spaces are distributed in an arc shape on at least one horizontally oriented container support part such that the plurality of second container spaces are offset circumferentially with equal or substantially equal second radial distances from the vertical axis, and the second radial distance is greater than the first radial distance. The second radial distance is greater than the first radial distance by at least the width of the container to be stored. The container support part may typically include seven second container spaces.

[0056] Each of the container support parts may further include a plurality of third container spaces, and the plurality of third container spaces are distributed in an arc shape on at least one horizontally oriented container support part such that the plurality of third container spaces are offset circumferentially with equal or substantially equal third radial distances from the vertical axis, and the third radial distance is greater than the first and second radial distances. The third radial distance is greater than the second radial distance by at least the length of the container to be stored. The container support part may typically include eleven third container spaces.

[0057] Each container support part may have a toroidal horizontal cross-section.

[0058] The support structure may be a central pole or a peripheral housing, or a combination of a central pole and a peripheral housing. The housing may be a cage structure.

[0059] At least one of the container support parts may include a plurality of sensor devices for sensing the presence of the storage container. The sensor devices may be distributed across the plurality of container spaces.

[0060] The sensors arranged on the container support part or the container support skeleton may communicate with a control system.

[0061] The sensor device may be selected from the group consisting of a piezoelectric sensor, a weight sensor, a magnetic sensor (which would require the storage container to be made of a magnetic material or to include a magnet device), a vision sensor, a light sensor, a motion sensor, an electrical contact, and / or an inductive sensor.

[0062] At least one of the container supports may include a sensor device for sensing rotation of the container support relative to the support structure.

[0063] Each container support framework may include a plurality of container supports, and the plurality of container supports may be arranged coaxially and may be rotatable relative to each other. In this case, the first, second, and third container spaces of the same container support framework may each be distributed across the first, second, and third container supports, respectively.

[0064] An advantage of this configuration is that two remotely operated vehicles can simultaneously load two separate target storage containers from the same storage tower without interrupting each other. When a first remotely operated vehicle is loading a first storage container from a given container support, a second remotely operated container can load a second or third storage container from any container support of the same storage tower that includes the same container support as the one from which the first remotely operated vehicle is loading.

[0065] The plurality of first container spaces of at least one container support framework may be distributed over the plurality of container supports, for example, when each container support is substantially sector-shaped.

[0066] Each container support framework may further include a stationary portion connected to the support structure in a non-rotating manner. The stationary portion may include a rotating device, such as a wheel, bearing, swivel, or roller. At least one container support may be rotatably coupled to the stationary portion.

[0067] It should be understood that the term "coupled to" also encompasses "resting on" and "supported by".

[0068] It should be understood that the term "connected" also encompasses "indirectly connected". Therefore, if the container support part is connected to the container support structure, and the container support structure is further connected to the support structure, that is, if the container support part is connected to the support structure via the container support structure, the container support part is considered to be connected to the support structure.

[0069] The rotating device may form part of the drive mechanism.

[0070] The stationary part may form an arm that extends horizontally in the radial direction from the vertical axis of the support structure. The rotating device may be arranged on the arm, for example, at the distal end of the arm. The rotating device arranged on the arm may rotate the associated container support part and thus may be powered to form part of the drive mechanism.

[0071] Each horizontally extending arm may be provided with a plurality of rotating devices, and the plurality of rotating devices are configured to support individual container support parts and enable the rotation of the individual container support parts relative to each other.

[0072] The horizontally extending arms may be provided in a set of different lengths, and each set is configured to support individual coaxially arranged container support parts. In this case, the first, second, and third container support parts of the same container support skeleton may each be supported by the first, second, and third sets of arms, respectively.

[0073] The container support part may include guide posts for guiding the storage container to a fixed position on the container space. The storage container may preferably include guide recesses configured to cooperate with the guide posts.

[0074] The guide posts will also prevent the storage container from moving on the container support part when the container support part is rotated, that is, will ensure that the storage containers maintain their positions during storage.

[0075] Each container support part may include a vertical guide plate, which is arranged around the periphery of each of at least one opening at least partially. The vertical guide plate may be configured such that the storage containers that are raised or lowered into the individual openings are aligned in a horizontal plane.

[0076] The storage tower may further include a transport mechanism arranged above the uppermost container support skeleton or the uppermost container support part at a first vertical offset, and the first vertical offset is at least the maximum height of the storage containers to be stored.

[0077] Instead of a vehicle with wheels moving on a rail system, the transport system may include a crane that is movable (not strictly in those directions but diagonally in combinations of those directions) in the X and Y directions across the storage tower. For example, the crane may be movable in a first direction on a sliding bar extending across the width of the storage tower. Movement in the second direction may be achieved by sliding the sliding bar along two fixed bars extending in the second direction on both sides of the storage tower. Other arrangements and numbers of bars are included herein as long as they can achieve the same movement of the overhead crane. The crane may be a container handling vehicle with a cantilever structure supported on two parallel sliding bars.

[0078] Accordingly, a storage tower is achieved that can operate despite not being of the same height. The transport mechanism is less prone to derailment than a vehicle moving on wheels. The storage tower may thus be suitable for operation at sea, for example, while mounted on a ship.

[0079] As an alternative, the storage tower may comprise a rail system arranged above the top container support skeleton or the upper container support part.

[0080] The rail system may be arranged above the top container support skeleton or the top container support part at a first vertical offset, which is at least the maximum height of the storage containers to be stored.

[0081] The top container support skeleton or the top container support part may be arranged below the lower edge of the adjacent upper rail system at a distance corresponding to a height equal to or higher than the maximum height of a stack of several storage containers. In this way, one part of the storage tower can partially correspond to a prior art storage grid in that storage containers can be positioned on top of each other to form a stack and a remotely operated vehicle may need to perform excavation to reach a target storage container. At the same time, another part of the same storage tower may comprise one or more container support parts where storage containers are not stacked so that excavation is not required.

[0082] The rail system does not need to cover the entire horizontal extent of the storage tower and may provide access to the target opening of the storage tower and adjacent storage towers and / or storage grids.

[0083] The present invention also relates to an automated storage and retrieval system configured to store a plurality of storage containers.

[0084] The automated storage and retrieval system may comprise the storage tower described above.

[0085] Furthermore, the automated storage and retrieval system may include a plurality of storage containers supported on a plurality of container supports.

[0086] Furthermore, the automated storage and retrieval system may include a remotely operated vehicle configured to move laterally above at least a portion of the plurality of container supports. The remotely operated vehicle may include a lifting device configured to grip the storage container and move it vertically up and down.

[0087] Furthermore, the automated storage and retrieval system may include a control system configured to wirelessly monitor and control the movement of the remotely operated vehicle.

[0088] The remotely operated vehicle can be a storage container vehicle or a crane.

[0089] Thus, an automated storage and retrieval system is achieved in which the remotely operated vehicle can load the storage container without the need for excavation.

[0090] Thus, an automated storage and retrieval system is achieved that can provide a more time - efficient delivery of product items to the customer or other recipient of the items stored in the storage container.

[0091] Thus, an automated storage and retrieval system is achieved that can provide a high throughput of product items, such as product items for sale or other products in high demand.

[0092] The automated storage and retrieval system may further include a plurality of vertical storage columns for stacking storage containers on top of each other, a rail system and a storage grid. A plurality of container handling vehicles can be operated on the rail system, and the rail system is arranged above the plurality of storage columns. The storage containers stored within the storage columns are accessible by a container handling vehicle through grid openings within the rail system. The rail system may comprise a cantilever portion having a horizontal extent equal to the difference between the horizontal extent of the rail system and the horizontal extent of the plurality of storage columns.

[0093] One or more of the storage towers may be arranged at least partially below the cantilever portion of the rail system and may be positioned such that l container support portions can be rotated independently about a vertical axis, whereby at least one opening of each of the l container support portions can be vertically aligned with at least one opening of one of the other l container support portions by rotation of the container support portions.

[0094] Alternatively, the automated storage and retrieval system may further comprise a storage grid comprising a plurality of vertical storage columns for stacking storage containers on top of one another, a transport mechanism The transport mechanism may be a crane movable along a sliding bar arranged parallel to a first direction, the sliding bar having two ends movable along two fixed bars arranged parallel to a second direction. The transport mechanism is arranged above the plurality of storage columns and comprises a cantilever portion having a horizontal extent equal to the difference between the horizontal extent of the transport mechanism and the horizontal extent of the plurality of storage columns.

[0095] One or more of the storage towers may be arranged at least partially below the cantilever portion of the traveling crane system.

[0096] Accordingly, a storage and retrieval system is achieved that combines a prior art storage grid and a storage tower of the present invention, i.e., a combination of a high extension tower and a low extension grid in which product items can be arranged according to their rotation rates.

[0097] Thus, for example, before an order is stored (buffered) intermediate in a high-extension storage grid with a high storage capacity, accompanied by a time-efficient delivery of product items to a customer, it is loaded from a low-extension storage grid with a high storage capacity and then efficiently delivered to the customer in response to their arrival, a storage and retrieval system that combines storage capacity and a time-efficient delivery of product items to the customer is achieved.

[0098] The high-extension storage tower is configured such that storage containers enter and then exit the storage tower with a high frequency. The storage containers will typically be stored in the high-extension storage tower for a shorter period compared to being compared with the low-extension storage grid. The high-extension storage tower is particularly suitable for high-demand products. The high-extension storage tower provides quick access and is thus suitable for urgent storage. The high-extension storage tower is not as space-efficient as the low-extension storage grid.

[0099] The low-extension storage grid is more space-efficient compared to the high-extension storage tower. The storage containers will typically be stored in the lower-extension grid for a longer period compared to being compared with the high-extension storage tower. The low-extension storage grid has a slower access compared to the high-extension storage tower and is thus more suitable for storage that is not as urgent.

[0100] Therefore, the high-extension storage tower and the low-extension storage grid complement each other.

[0101] The automated storage and retrieval system may further comprise a rail system arranged above the top container support framework or the top container support. The rail system may be arranged above the top container support framework or the top container support at a first vertical offset, and the first vertical offset is at least the maximum height of the storage container to be stored.

[0102] The automated storage and retrieval system may alternatively comprise a transport mechanism arranged above the uppermost container support skeleton or the uppermost container support of the storage tower at a first vertical offset, the first vertical offset being at least the maximum height of the storage containers to be stored.

[0103] At least one of the container support skeleton or the container support may be arranged below the lower edge of the upper adjacent rail system at a distance corresponding to a height equal to or higher than the maximum height of a stack of several storage containers.

[0104] The invention also relates to a method for storing and retrieving storage containers from an automated storage and retrieval system. The automated storage and retrieval system may be as described above.

[0105] Each of the container supports may comprise a plurality of first container spaces, the plurality of first container spaces being distributed on at least one horizontally oriented container support such that the plurality of first container spaces are circumferentially offset with equal or substantially equal first radial distances from the vertical axis.

[0106] The method includes the following steps. · Moving a remotely operated vehicle or crane to a position where its lifting device can be vertically aligned with a target storage container positioned above one of the first container spaces, or to a position where its lifting device can be vertically aligned with one or more aligned openings of the container support. · Rotating, if necessary, the container support on which the target storage container is supported and positioning the target storage container in vertical alignment below the position of the remotely operated vehicle or crane. ·If necessary and when the container support part that supports the target storage container is not the top container support part, rotating the upper container support part, or each of the upper container support parts, to a circumferential position where the lifting device has direct vertical access to the target storage container through at least one opening. ·Gripping and lifting the target storage container by using the lifting device. ·Moving the remote operation vehicle with the target storage container to horizontally different locations.

[0107] Preferably, the container support part may have an initial setting position in the storage tower where at least one opening of each of the l container support parts is vertically aligned. Further, when the rail system is used, the initial setting positions of these aligned openings of the l container support parts may preferably be vertically aligned with the grid openings of the rail system. Alternatively, when the transport mechanism is used, the initial setting positions of these aligned openings of the l container support parts may preferably be vertically alignable with the lifting device of the crane and may have the same horizontal orientation.

[0108] Accordingly, a method for loading a storage container with a remote operation vehicle without the need for excavation is achieved.

[0109] Accordingly, a method for providing a more time - efficient delivery of product items to a customer or other recipient of an item stored in a storage container is achieved.

[0110] Accordingly, a method for providing a high throughput of product items, such as product items for sale or other products in high demand, is achieved.

[0111] When each of the container supports includes a plurality of second container spaces and possibly also a third container space, two remotely operated vehicles may simultaneously load a target storage container from the same container support. Alternatively, two remotely operated vehicles may simultaneously store two storage containers within the same container support. As a further alternative, one remotely operated vehicle may retrieve a target storage container from the same container support as another remotely operated vehicle that is simultaneously storing a storage container.

[0112] If a remotely operated vehicle or crane is transporting a storage container to be stored within the automated storage and retrieval system either before or after retrieval of the target storage container, the method may include the following steps. · Moving the remotely operated vehicle or crane to a position where its lifting device can be vertically aligned with an empty container space, e.g., to one of the first container spaces, or to a position where its lifting device can be vertically aligned with one or more aligned openings of the container support. · If necessary, rotating the container support of the empty container space to position the empty container space in vertical alignment below the position of the remotely operated vehicle or crane. · If the container support of the empty container space is not the top container support, rotating the upper container support, or each of the upper container supports, to a circumferential position where the lifting device has direct vertical access to the empty container space through at least one opening. · Lowering the transported storage container to a fixed position above the empty container space by use of the lifting device.

[0113] If the automated storage and retrieval system includes a storage grid that includes the target storage container, the method may include the following steps. · For example, as described in the section on the technical background, the step of loading a target storage container from a storage grid. · The step of storing a target storage container in a storage tower according to the method described above. · The step of retrieving a storage container from a storage tower according to a method for storing and retrieving storage containers.

[0114] The automated storage and retrieval system described above can be used to directly deliver items arranged in a storage container stored in a storage tower to an end user.

[0115] The present invention also relates to a method for disposing a storage tower in an automated storage and retrieval system. The storage tower and the automated storage and retrieval system may be as described above.

[0116] The automated storage and retrieval system may comprise the following. · A storage grid. · A vehicle movement system having a horizontal range larger than that of the storage grid.

[0117] The method includes the following steps. · The step of assembling at least a part of the storage tower as described above directly below the cantilever portion of the vehicle movement system.

[0118] Thus, a storage tower that can be retrofitted to an existing storage and retrieval system is achieved.

[0119] The vehicle movement system may comprise a rail system, and the method may thus further include the following steps. · The step of aligning the storage tower and the rail system such that at least one opening of the first container support skeleton and each of the m - 1 top container support skeletons can be vertically aligned below a grid opening of a part of the rail system extending beyond the storage grid.

[0120] The cantilever portion of the rail system need not extend across the entire horizontal extent of the storage tower. The cantilever portion of the rail system may extend only to the extent of reaching the target opening of the storage tower, for example.

[0121] Due to the configuration of the container support, the vertical pillars cannot be positioned inside the storage tower. This means that there is a larger bay between the vertical pillars of the storage tower and thus there will be a higher load on each vertical pillar compared to the upright members of a prior art storage grid.

[0122] When present, the rail system extends over a larger area and must support the weight thereof than when using a prior storage grid where each grid space is supported at the corners by upright members.

[0123] In order to withstand the increased load, the vertical pillars and / or the rail system may need to be reinforced compared to the upright members and rail system of the prior art.

[0124] A remotely operated vehicle approaching the storage tower to load a target storage container typically brings another storage container to be stored into the storage and retrieval system. Before the remotely operated vehicle can load the target storage container, the vehicle-held storage container is preferably placed within an empty container space within the same storage tower. This is a process typically referred to as an exchange process. Such an exchange process can occur within a storage tower and an automated storage and retrieval system as described above.

[0125] By having fewer storage containers where there is available container space within the storage system, there will always be at least one empty container space available. The empty container space will also be generated dynamically as the remotely operated vehicle loads storage containers from within the storage tower. If there is no empty container space within the storage system, the remotely operated vehicle must avoid, for example, bringing in another storage container from the port column or installing a storage container held above the storage tower. Both alternatives suffer drawbacks in terms of time efficiency.

[0126] (In which a storage container should be installed) The empty container and the target storage container are preferably horizontally closest to the same target opening. In this way, the remotely operated vehicle does not need to move between two operations during the same exchange process. Even more preferably, in addition to being available through the same target opening, the empty container space and the target storage container can be located on the same container support. In this way, the remotely operated vehicle can have a minimum movement of its lifting device between the two operations of the exchange process. Thus, the exchange process time will not be extended due to the displacement of the lifting device and the opposing displacement of the container support of the target storage container.

[0127] After the remotely operated vehicle positions the previously held storage container within the empty container space, the remotely operated vehicle must retract the lifting device. By retracting the lifting device, the container support on which the previously held storage container was positioned is enabled to rotate, i.e., return to its predetermined initial orientation. The initial setting position of the container support is typically where at least one opening of each container support is vertically aligned. For efficient operation in terms of time, the remotely operated vehicle does not retract the lifting device higher than strictly necessary, i.e., it should not be raised higher. If the target storage container is positioned deeper within the storage tower than the position of the previously held storage container, the lifting device only needs to be raised to sweep over the container support on which the previously held storage container was positioned. If the target storage container is positioned higher within the storage tower than the position of the previously held storage container, the lifting device needs to be raised to sweep over the container support on which the target storage container is positioned for it to be rotated. However, the lifting device does not need to be raised to any higher location. Retracting the lifting device all the way back to the remotely operated vehicle is thus not required unless the target storage container or the empty container space is positioned within the uppermost container support. For efficient operation in terms of time, the container support of the target storage container and the container support of the previously held storage container can be rotated simultaneously.

[0128] After the target storage container has been raised above the container support, the container support can be rotated to return to its initial position. The present invention provides, for example, the following items. (Item 1) A storage tower (400) for storing storage containers (106), the storage tower (400) comprising: A vertically extending support structure (450) having a vertical axis (A v ) and m horizontally oriented container support portions (402) arranged along the vertical axis of the support structure (450) and supported by a container support framework (401), the container support portions (402) being distributed at a vertical interval (ΔdV) so as to provide different levels in which the storage containers (106) can be stored, m being a positive integer of 2 or greater, each container support portion (420) being rotatably connected to the support structure (450) and configured to support at least one storage container (106), the container support portion (402) and Each level of the l container support portions (402a-l) arranged above the remaining levels of the m-l container support portions (402) presents at least one opening (403), the at least one opening (403) having at least the size of the maximum horizontal cross-section (A f ) of the storage container (106) to be stored, l being a positive integer from 1 to m-1, The l container support portions (402a-l) can be rotated independently about the vertical axis (A v ) such that at least one opening (403) in each level of the l container support portions (402a-l) can be vertically aligned with at least one opening in another level of the l container support portions (402a-l) by the individual rotation of the l container support portions (402a-l). Storage tower (400). (Item 2) The storage tower (400) according to item 1, further comprising a drive mechanism (700) configured to rotate the at least one container support portion (402) with respect to the vertical axis (A v ). (Item 3) Each of the m container support portions (402a-n) includes a plurality of first container spaces (104a), the plurality of first container spaces (104a) being such that the plurality of first container spaces (104a) are circularly offset on the container support portion (402) with a first radial distance (r v ) equal to or approximately equal to the vertical axis (A 1 ). The storage tower (400) according to any one of the above items. (Item 4) Each of the container support parts (402) further includes a plurality of second container spaces (104b), and the plurality of second container spaces (104b) are such that the plurality of second container spaces (104b) are equal or substantially equal from the vertical axis (A v ) and are arc-shapedly distributed on the at least one horizontally oriented container support part (402) so as to be offset circumferentially with a second radial distance (r 2 ), and the second radial distance (r 2 ) is greater than the first radial distance (r 1 ). The storage tower (400) according to item 3. (Item 5) Each container support part (402) has a toroidal horizontal cross-section. The storage tower (400) according to any one of the above items. (Item 6) The support structure (450) is a central pole or a peripheral housing, or a combination of a central pole and a peripheral housing. The storage tower (400) according to any one of the above items. (Item 7) Each container support skeleton (401a~m) includes a plurality of container support parts (402), and the plurality of container support parts (402) are coaxially arranged and rotatable relative to each other. The storage tower (400) according to any one of the above items. (Item 8) The plurality of first container spaces (104a) of at least one container support skeleton (401) are distributed on a plurality of container support parts (402). The storage tower (400) according to any one of items 3 to 7. (Item 9) Each of the container support skeletons (401a~m) further includes a stationary part connected to the support structure (450) in a non-rotating manner. The stationary part includes a rotating device (406), and the at least one horizontally oriented container support part (402) is rotationally coupled to the stationary part. The storage tower (400) according to any one of the above items. (Item 10) The rotating device (406) forms a part of the driving mechanism (700). The storage tower (400) according to item 9. (Item 11) The stationary part forms an arm (405) that extends horizontally in the radial direction from the vertical axis (A v ) of the support structure (450), and the rotating device (406) is arranged at the distal end of the arm (405). The storage tower (400) according to item 9 or 10. (Item 12) The horizontally extending arm (405) comprises a plurality of rotating devices (406), said plurality of rotating devices (406) supporting individual container supports (402) and configured to enable rotation of said individual container supports (402) relative to one another, the storage tower (400) according to item 11. (Item 13) The horizontally extending arm is provided in sets of different lengths, each set being configured to support individual coaxially arranged container supports (402), the storage tower (400) according to item 11. (Item 14) The container support (402) comprises a guide post (407) for guiding the storage container (106) to a fixed position above the container space (104), the storage tower (400) according to any one of the preceding items. (Item 15) Each container support (402) comprises a vertical guide plate (409), said vertical guide plate (409) being arranged at least partially around the periphery of each of said at least one opening (403), said vertical guide plate (409) being configured such that storage containers (106) raised or lowered into said individual openings (403) are aligned in the horizontal plane, the storage tower (400) according to any one of the preceding items. (Item 16) The storage tower (400) further comprises a transport mechanism arranged above the uppermost container support skeleton (401a) or the uppermost container support (402) at a first vertical offset (V r1 ), said first vertical offset (V r1 ) being at least the maximum height of the storage container (106) to be stored, the storage tower (400) according to any one of the preceding items. (Item 17) The storage tower (400) further comprises a rail system (408) arranged above the uppermost container support skeleton (401a) or the upper container support (402a), the storage tower (400) according to any one of the preceding items. (Item 18) The rail system (408) is arranged above the uppermost container support skeleton (401a) or the uppermost container support (402a) at a first vertical offset (V r1 ), said first vertical offset (V r1 ) being at least the maximum height of the storage container (106) to be stored, the storage tower (400) according to item 17. (Item 19) The storage tower (400) according to item 17 or 18, wherein the uppermost container support framework (401a) or the uppermost container support portion (402a) is arranged below the lower edge of the upper adjacent rail system (408) at a distance equal to or higher than the maximum height of the stack (107) of several storage containers (106). (Item 20) An automated storage and retrieval system (1) configured to store a plurality of storage containers (106), one or more storage towers (400) according to any one of items 1 to 16, a plurality of storage containers (106) supported on the plurality of container support portions (402), a remotely operated vehicle (201; 301; 602) configured to move laterally above at least a part of the plurality of container support portions (402), wherein the remotely operated vehicle (201; 301; 602) is provided with a lifting device (304), and the lifting device (304) is configured to grip and vertically lift a storage container (106), the remotely operated vehicle (201; 301; 602), a control system (500) configured to wirelessly monitor and control the movement of the remotely operated vehicle (201; 301) and an automated storage and retrieval system (1) comprising the same. (Item 21) further comprising a storage grid (100), the storage grid (100) comprising a plurality of vertical storage columns (105) for stacking storage containers (106) on top of each other, a rail system (108) and a plurality of container handling vehicles (201; 301) can be operated on the rail system (108), the rail system (108) being arranged above the plurality of storage columns (105), the storage containers (106) stored in the storage columns (105) are accessible by the container handling vehicles (201; 301) through the grid openings (115) in the rail system (108), the rail system (108) comprises a cantilever portion (CP) with a horizontal range equal to the difference between the horizontal range of the rail system (108) and the horizontal range of the plurality of storage columns (105), One or more of the storage towers (400) are arranged at least partially below the cantilever portion (CP) of the rail system (108), and the l container supports (402a-l) are positioned such that they can be rotated independently about the vertical axis, whereby at least one opening (403) of each of the l container supports (402a-l) can be vertically aligned with at least one opening of another of the l container supports (402a-l) by rotation of the container supports (402a-l). The automated storage and retrieval system (1) according to item 20. (Item 22) The system (1) further comprises a storage grid (100), the storage grid (100) comprising a plurality of vertical storage columns (105) for stacking storage containers (106) on top of each other, and a transport mechanism The remote operating vehicle is a crane (602) movable along a sliding bar (603) arranged parallel to a first direction (X), the sliding bar (603) having two ends movable along two fixed bars (604) arranged parallel to a second direction (Y), and the transport mechanism is arranged above the plurality of storage columns (105). The transport mechanism comprises a cantilever portion (CP) with a horizontal range equal to the difference between the horizontal range of the transport mechanism and the horizontal range of the plurality of storage columns (105). One or more of the storage towers (400) are arranged at least partially below the cantilever portion (CP) of the traveling crane system (108). The automated storage and retrieval system (1) according to item 20. (Item 23) The storage tower (400) further comprises a rail system (408) arranged above the uppermost container support skeleton (401a) or the uppermost container support (402a) at a first vertical offset (V r1 ) The first vertical offset (V r1 ) is at least the maximum height of the storage container (106) to be stored. The automated storage and retrieval system (1) according to item 20. (Item 24) The automated storage and retrieval system (1) according to item 23, wherein at least one of the container support skeletons (401) is arranged below the lower edge of the upper adjacent rail system (408) at a distance corresponding to or higher than the maximum height of a stack (107) of a plurality of storage containers (106). (Item 25) A method for storing and retrieving storage containers (106) from the automated storage and retrieval system (1) according to any one of items 20 to 24, each of the container supports (402a - n) includes a plurality of first container spaces (104a), and the plurality of first container spaces (104a) are such that the plurality of first container spaces (104a) are at an equal or substantially equal first radial distance (r v ) from the vertical axis (A 1 ) and are distributed circumferentially offset on the at least one horizontally oriented container support (402). The method includes moving the remotely operated vehicle (201; 301) or the crane (602) to a position where its lifting device (304) can be vertically aligned with a target storage container (106') positioned above one of the first container spaces (104a), or moving the lifting device to a position where it can be vertically aligned with one or more aligned openings (403) of the container support (402); rotating the container support (402) on which the target storage container (106') is supported, if necessary, and positioning the target storage container (106') in vertical alignment below the position of the remotely operated vehicle (201; 301) or the crane (602); rotating the upper container support (402), or each of the upper container supports (402), to a circumferential position where the lifting device (340) has direct vertical access to the target storage container (106) through the at least one opening (403), if necessary and if the container support (402) on which the target storage container (106') is supported is not the uppermost container support (402a). lifting the target storage container (106’) by using the lifting device (304); moving the remote operation vehicle (201; 301; 602) with the target storage container (106’) to horizontally different locations A method comprising the steps of. (Item 26) Before or after the retrieval of the target storage container (106’), the remote operation vehicle (201; 301) or the crane (602) transports a storage container (106) to be stored in the automated storage and retrieval system (1), and the method includes: moving the remote operation vehicle (201; 301) or the crane (602) to a position where its lifting device (304) can be vertically aligned with the empty container space (106’’), or to a position where its lifting device can be vertically aligned with one or more aligned openings (403) of the container support (402); rotating the container support (402) of the empty container space (106’’) if necessary, and positioning the empty container space (106’’) in vertical alignment below the position of the remote operation vehicle (201; 301) or the crane (602); when the container support (402) of the empty container space (106’’) is not the uppermost container support (402a), rotating the upper container support (402) or each of the upper container supports (402) to a circumferential position having direct vertical access to the empty container space (106’’) through the at least one opening (403); lowering the transported storage container (106) to a fixed position above the empty container space (106’’) by using the lifting device (304); The method according to item 25, comprising the steps of. (Item 27) The automated storage and retrieval system (1) includes a storage grid (100) including a target storage container (106’), and the method includes: loading the target storage container (106’) from the storage grid (100); storing the target storage container (106’) in the storage tower (400) according to item 26; According to item 25, the step of retrieving the storage container (106’) from the storage tower (400) and The method according to item 26, including this step. (Item 28) Use of the automated storage and retrieval system (1) according to any one of items 20 to 24 for directly delivering items arranged in the storage container stored in the storage tower (400) to an end user.

Brief Description of the Drawings

[0129] The following drawings are attached to facilitate the understanding of the present invention. The drawings show embodiments of the present invention, which will be described here only as examples.

[0130]

Figure 1

[0131]

Figure 2

[0132]

Figure 3

[0133]

Figure 4

[0134]

Figure 5a

[0135]

Figure 5b

[0136]

Figure 5c

[0137]

Figure 6

[0138]

Figure 7

[0139]

Figure 8

[0140]

Figure 9

[0141]

Figure 10

[0142]

Figure 11

[0143]

Figure 12

[0144]

Figure 13

[0145]

Figure 14

[0146]

Figure 15

[0147] **DETAILED DESCRIPTION OF THE INVENTION** In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings.

[0148] The skeletal structure 100 of the automated storage and retrieval system 1 is constructed of the prior art skeletal structure 100 described above in connection with FIGS. 1-3, namely, several upright members 102 and several horizontal members 103 supported by the upright members 102, and further, the skeletal structure 100 includes a first upper rail system 108 in the X and Y directions.

[0149] The skeletal structure 100 further includes storage compartments in the form of storage columns 105 provided between the members 102 and 103, and storage containers 106 can be stacked within stacks 107 within the storage columns 105.

[0150] The skeletal structure 100 can be of any size. In particular, it should be understood that the skeletal structure can be significantly wider and / or longer and / or deeper than that disclosed in FIG. 1. For example, the skeletal structure 100 may have a horizontal extent of more than 700×700 columns and a storage depth of more than 12 containers.

[0151] Embodiments of the automated storage and retrieval system according to the present invention will now be discussed in more detail with reference to FIGS. 5a-15.

[0152] In the foregoing description, various aspects of a delivery vehicle and an automated storage and retrieval system according to the present invention have been described with reference to exemplary embodiments. For purposes of explanation, specific numerical values, systems, and configurations have been described to provide a thorough understanding of the system and its operation. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the exemplary embodiments, as well as other embodiments of the system, which are apparent to those skilled in the art to which the disclosed subject matter pertains, are considered to be within the scope of the present invention.

[0153] Referring particularly to FIGS. 5-6 and FIGS. 9-15, a storage and retrieval system 1 of the present invention includes a first set 410 of parallel rails arranged to guide the movement of a remotely operated vehicle 301 in a first direction X across a storage grid 400, and a second set 411 of parallel rails arranged perpendicular to the first set 410 of rails for guiding the movement of the remotely operated vehicle 301 in a second direction Y that is perpendicular to the first direction X. The remotely operated vehicle 301 operates on a rail system 408 that includes the first set 410 and the second set 411 of rails. Storage containers 106 stored within the storage tower 400 are accessed by the remotely operated vehicle 301 through grid openings 415 within the rail system 408. Each grid opening 415 of the rail system 408 is enclosed by a grid cell 422. The rail system 408 extends in a horizontal plane P rs as shown in FIG. 7.

[0154] As shown in most detail in FIG. 9, the storage containers 106 are stored on a plurality of container supports 402 that are distributed in the Z direction below the rail system 408 with a vertical offset V r1 (i.e., the offset between the lower edge of the rail system 408 and the lower edge of the first container support 402a directly below the rail system 408) and a vertical offset ΔdV (i.e., the average offset between the lower edges of adjacent deeper container supports 402b-m).

[0155] The letter "m", i.e., the 13th letter of the alphabet, is used to identify the bottom container support, but in the embodiment of FIG. 9, which represents 13 levels of container supports, other numbers of levels of container supports may exist within the storage and retrieval system. Thus, m is not limited to the number 13 and can be equal to any integer equal to 2 or greater.

[0156] Vertical offset V r1 And ΔdV may be selected to be equal to or greater than the maximum height of one storage container 106 or stack 107 of several storage containers 106. As an example, the first container support 402a may be adapted to store a stack 107 of storage containers 106, while the container supports 402b to m (or some of them) installed below may be adapted to store a single (unstacked) storage container 106. As a further example, some or all of the container supports 402 of the tower 400 may be adapted to store a stack 107 of several storage containers 106. Different container supports 402 of the same storage tower 400 may be configured to store stacks 107 of unequal numbers of storage containers 106. The vertical space (i.e., the available height) required for one or some of the container supports 402 of the storage tower 400 to be adapted to store a stack 107 of several storage containers 106 can be obtained by reducing the total number of container supports 402 compared to the configuration of the storage tower 400 in which all container supports 402 are adapted to store a single (unstacked) storage container 106.

[0157] FIGS. 5a - c show the vertical axis A vShows a top view of the storage tower 400, which includes a vertically extending support structure 450 having. A plurality of horizontally oriented container support portions 402a~m are arranged along the vertical axis of the support structure 450 and are distributed at a vertical interval ΔdV as described above. Each container support portion 420 is rotatably connected to the support structure 450 and is configured to support at least one storage container 106.

[0158] The l container support portions 402a~l arranged above the remaining m-l container support portions 402 each present at least one opening 403, and at least one opening 403 is at least the maximum horizontal cross-section A of the storage container 106 to be stored f having a size that is.

[0159] Similar to the number "m", the integer "integer" is also not limited to any specific integer and may include any integer less than "m".

[0160] The l container support portions 402a~l are such that at least one opening 403 of each of the m container support portions 402a~m can be vertically aligned with at least one opening of the other m container support portions 402a~m by the individual rotation of the container support portions 402a~m, about the vertical axis A v can be rotated independently.

[0161] The storage tower 400 may include a plurality of container support skeletons 410a~m, each configured to support at least one container support portion 402.

[0162] Each container support portion 402 may include a plurality of first container spaces 104a that are circumferentially offset with a first radial distance r1 equal to or approximately equal to from the vertical axis A of the support structure 450 v On the container support portion 402. In the embodiment of FIG. 11, the container support portion 402 includes six first container spaces 104a and one opening 403.

[0163] The container spaces 104 of the container supports 402 are spaced apart from each other by a width that is parallel to the vertical axis A of the support structure 450. v The storage tower 400 may be configured to store storage containers 106 arranged in a radially extending manner relative to the rail system 408. In this manner, the storage containers 106 to be stored or retrieved may be vertically aligned with one or more grid openings 415 of the rail system 408 arranged above the storage tower 400 (the length and width of the grid openings 415 being aligned with the length and width of the storage containers 106). When one of the first container spaces 104a is vertically aligned with a grid opening 415, the other first container spaces 104a can also be vertically aligned with the same grid opening 415 by rotation of the container support 402.

[0164] FIG. 7 illustrates the container support 402, in which the plurality of first container spaces 104a are aligned with the vertical axis A of the support structure 450. v 10 shows that the container support 402 may include a plurality of first container spaces 104a distributed in an arc on the container support 402 such that the first container spaces 104a are circumferentially offset with an equal or nearly equal first radial distance r1 from the container support 402. The container support 402 in this example includes five first container spaces 104a and one first opening 403a.

[0165] FIG. 7 also illustrates that the container support 402 is arranged such that the plurality of second container spaces 104b are aligned along a vertical axis A v 10 shows that the container support 402 may include a plurality of second container spaces 104b distributed in an arc such that the second container spaces 104b are circumferentially offset from the first container space 104b with an equal or nearly equal second radial distance r2 from the first container space 104b, the second radial distance r2 being greater than the first radial distance r1. The second radial distance r2 is greater than the first radial distance r1 by at least the width of the storage container 106 to be stored. The container support 402 of this embodiment may include seven second container spaces 104b and a second opening 403b.

[0166] FIG. 8 shows that the container support portion 402 of FIG. 7 has a plurality of third container spaces 104c offset circumferentially with a third radial distance r3 equal to or approximately equal to the vertical axis A v so as to be offset circumferentially with a third radial distance r3 that is equal to or substantially equal to the vertical axis A, and may include a plurality of third container spaces 104c distributed in an arc shape on at least one horizontally oriented container support portion 402. The third radial distance r3 is greater than the first and second radial distances r1, r2. The third radial distance r3 is greater than the second radial distance r2 by at least the length of the storage container 106 to be stored. The container support portion 402 of the present embodiment includes 11 third container spaces 104c and a third opening 403c.

[0167] The number of the first, second, and third container spaces 104c may vary, for example, according to the number of the container support portion 402 and the storage container 106.

[0168] As shown, the container support portion 402 may preferably have a toroidal horizontal cross-section. All the container support portions 402 will typically have the same geometric shape. The lowermost container support portion 402 will typically be different from the others in that it does not have an opening 403 because there is no storage container 106 or container space 104 to be reached below this container support portion 402.

[0169] In the exemplary drawings, the support structure 450 is a central pole. However, other arrangements are envisioned where the container support is mounted on a circumferential bearing provided within a cylindrical skeleton surrounding the container support.

[0170] When arranged within the container support framework 401, the container support portions 402 in FIGS. 7 and 8 may be divided into a plurality of coaxially arranged container support portions 402 within the same container support framework 401. The container support portions 402 of the same container support framework 401 may thus be rotatable relative to one another. In this case, the first, second, and third container spaces 104c of the same container support framework 401 may each be distributed across the first, second, and third container support portions 402, respectively.

[0171] Alternatively, the container support portion 402 may be partitioned into sections such that a plurality of first container spaces 104a are distributed over the plurality of container support portions 402. A gap between pairs of partitions may provide an opening for the storage container 106 to pass through.

[0172] FIG. 11 shows that the storage tower 400 may include a drive mechanism 700 configured to rotate at least one container support portion 402 about the vertical axis A of the support structure 450 v Thereby.

[0173] In FIG. 11, some of the container support portions 402 have been removed for illustrative purposes. The drive mechanism 700 may be connected to the support structure 450, the container support framework 401, or the container support portion 402. In FIG. 11, the drive mechanism 700 is connected to a part of the container support framework 401 that forms an arm 405 extending horizontally in the radial direction from the vertical axis A of the support structure 450. v Thereby.

[0174] The drive mechanism 700 may be, for example, a swivel drive, a gear drive, a belt drive, a chain drive, or an electromagnetic drive such as a stepper motor.

[0175] Typically, all of the container support portions 402 of the storage tower 400 would be rotatable. However, the lowermost container support portion 402 may be in a stationary state if all of the upper container support portions 402 are rotatable and a remotely operated vehicle can be vertically aligned above all of the potential target storage containers 106' supported on the lowermost container support portion 402.

[0176] The container support portion 402 is rotatably connected at least indirectly to the support structure 450, for example via a container support framework 401, and the container support framework 401 may be connected to the support structure 450 in a non-rotating manner. In that case, the container support framework 401 can be regarded as a stationary part of the storage tower 400.

[0177] FIG. 11 shows that the drive mechanism 700 can be configured to be connected to a stationary part (e.g., a container support framework) and to rotate the container support portion 402 using gear drive. The container support portion 402 may have gears arranged close to its center as in FIG. 11, or the gears may be arranged closer to or on its periphery.

[0178] FIG. 12 shows that the framework 401 can be used to support one container support portion 402. To enable rotation of the container support portion 402 relative to the container support framework 401, the container support framework 401 may comprise one or more rotation devices 406. The rotation devices 406 may be wheels, bearings, swivels, rollers. The container support portion 402 can thus be regarded as being rotatably coupled to a stationary part, in this case the container support framework 401. In an alternative configuration, the container support portion 402 may comprise such rotation devices and be arranged to extend across a surface or track provided by the container support framework.

[0179] The rotation devices 406 may rotate and thus be powered to form the drive mechanism 700.

[0180] In FIG. 12, the rotary device 406 is arranged within the distal portion of the arm 405.

[0181] If one container support skeleton 401 comprises a plurality of coaxially arranged container supports 402 as described above, each arm 405 may require a corresponding number of rotary devices 406. The rotary devices 406 should thus be arranged at a radial distance (e.g., the radially inner and outer ranges of the container support) from the vertical axis A of the support structure 450 corresponding to the horizontal expansion of the container supports 402. v from the vertical axis A (e.g., the radially inner and outer ranges of the container support).

[0182] Alternatively, each of the plurality of container supports 402 may have a dedicated arm 405 having rotary devices 406 arranged at different positions according to the horizontal range of the container support 402, for example, having different lengths according to the horizontal range of the container support 402, or having the same length but to be rotatably connected.

[0183] The container support 402 may comprise guide posts 407 for guiding the storage container 106 to a fixed position on the container space 104. The storage container 106 may preferably comprise guide recesses configured to cooperate with the guide posts 407.

[0184] The container support 402 may have cutouts, for example, within the container space 104. These cutouts may reduce the weight and the cost of the container support 402.

[0185] To store and retrieve the target storage container 106' using the storage tower 400, the following operations are performed (see FIGS. 6 and 5a - c). ·The control system 500 gives an instruction to the vehicle 301 to load the target storage container 106' with coordinates X, Y, and Z. This position corresponds to the storage container 106 positioned within the container space 104 of the container support 402g at a depth of 5×ΔdV + Vr1 below the rail system 408. Since all of the openings 403 within the storage tower 400 are initially aligned (with the same X - Y coordinates), the X - Y position of the target opening 403' of the container support 402a adjacent to the rail system 408 is equal to the X - Y position of the target openings 403' of the lower - layer container support skeletons 401b - m. ·The vehicle 301 moves in the X and Y directions with the assistance of its drive means 301b, c until its lifting device 304 is positioned directly above the target opening 403'. ·During and / or after the movement of the vehicle 301 to a position above the target opening 403', the control system 500 sends an instruction to the drive mechanism 700 to rotate the container support 402g so that the target storage container 106' is vertically aligned with the target openings 403' of the upper - mounted container supports 402a - f. ·During and / or after the displacement of the container support 402g, the lifting device 304 of the vehicle 301 is activated and lowered through the grid opening 415 and the aligned target opening 403' until the gripping portion of the lifting device 304 reaches a fixed position and grips the target storage container 106'. ·After the target storage container 106' is gripped by the lifting device 304 and lifted above the container support 402f, the drive mechanism 700 is activated again to move the container support 402g back to its initial position. ·When the target storage container 106' is lifted above the rail system 408, the vehicle 301 is moved to another location on the rail system 408, for example, to a dedicated port column / shoot for delivery to an access station.

[0186] This process has the advantage that the need to perform excavations carried out for legacy storage and retrieval systems is no longer necessary.

[0187] Figures 5a - c show grid openings 415 through which lifting device 304 can access storage container 106. The container space 104 of storage container 106, opening 403, and container support 402 can be vertically aligned with this grid opening 415. Due to the rotational movement of container support 402 and the rectangular shape of grid opening 415, storage container 106, opening 403, and container space 104, not all of grid opening 415 are suitable access points. In some cases, only one grid opening 415 is a suitable access point over the entire 360 - degree rotation of container support 402. By adjusting the sizes of storage container 106, opening 403, container space 104, and / or grid opening 415, two suitable access points can be provided with a 180 - degree offset. By further making storage container 106, opening 403, container space 104, and grid opening 415 more square, four suitable access points can be provided with a 90 - degree offset. This is based on container support 402 having only a plurality of first container spaces 104a. Also, container support 402 having a plurality of second storage spaces 104b can have twice the number of access points. Also, container support 402 having a plurality of third storage spaces 104c can have three times the number of access points, and so on.

[0188] FIG. 9 shows a side view of a storage and retrieval system 1 with one storage tower 400 of the present invention and one prior art storage grid 100. The drive mechanism 700 described above is arranged close to the center of each container support 402. This particular configuration comprises 13 container supports 402a - m arranged directly below the rail system 408. The container supports 402a - m are arranged within corresponding numbers of container support skeletons 401a - m. All the container supports 402 are rotatable relative to each other. Other numbers of container supports 402 may also be present as appropriate. Preferably, more than 5 container supports 402, more preferably more than 10, are present.

[0189] To enable movement between the storage grid 100 and the storage tower 400, a coupling rail system 408' interconnecting the rail system 108 of the prior art storage grid 100 and the rail system 408 of the storage tower 400 of the present invention can be seen, for example, in FIG. 15. The rail system 408 of the storage tower 400 of the present invention and the rail system 108 of the prior art storage grid 100 have orientations and designs such that the same type of vehicle 301 can operate on both rail systems 108, 408. Due to the different structures of the container supports 402 of the storage tower 400 of the present invention and the stack 107 of storage containers 106 of the prior art storage grid 100, the rails 410, 411 above the container supports 402 may be made wider compared to the rails 110, 111 above the stack 107 in at least one of the X - Y directions. To ensure grid openings 415 through which the storage containers 106 can pass, the rails 410, 411 above the container supports 402 may be made deeper, i.e., in the Z direction.

[0190] Both the storage tower 400 of the present invention and the prior art storage grid 100 can be of any size. In particular, it should be understood that the storage tower 400 and / or the storage grid 100 can be significantly wider and / or longer and / or deeper than those disclosed in the accompanying drawings. For example, the storage tower 400 and / or the storage grid 100 may have a horizontal extent with space for more than 700×700 storage containers 106 and a storage depth of more than 14 storage containers 106.

[0191] As described above, one way to dispose the storage tower 400 is, as shown in FIG. 1, to remove most of all the stacks 107 of the storage containers 106 and the vertical pillars 431 directly below the rail system 108 portion of the prior art storage and recovery system 1, and leave the cantilever portion CP of the rail system 108 and some of the vertical pillars 431 as shown in FIG. 10. Then, it is a step of inserting one or more storage towers 400 of the present invention into the empty volume below the cantilever portion CP of the rail system 108. FIG. 10 illustrates a way in which some of the container supports 402 are removed and the container support skeletons 401 can be installed on top of each other without space between them.

[0192] FIG. 13 shows an embodiment of a storage and recovery system 1 in which a plurality of storage towers 400 are arranged side by side and adjacent to the storage grid 100. In the embodiment of FIG. 13, three storage towers 400 and one storage grid are arranged below the same rail system 108. In the embodiment of FIG. 14, one storage tower 400 and one storage grid are arranged below the same rail system 108.

[0193] FIG. 14 shows a storage tower 400 with a plurality of container supports 402a - m. This embodiment shows 13 container supports 402. The fourth container support 402d when counted from the top has an empty container space 106''. Also, the sixth container support 402f when counted from the top also has an empty container space 106''.

[0194] In the foregoing description, various aspects of the associated method of loading product items using an automated storage and retrieval system and vehicle have been described with reference to illustrative embodiments. For purposes of explanation, specific numerical values, systems, and configurations have been set forth to provide a thorough understanding of the system and its operation. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, which are apparent to those skilled in the art to which the disclosed subject matter pertains, are considered to be within the scope of the invention.

[0195] List of reference numbers

Table 1-1

Table 1-2

Claims

1. A storage tower (400) for storing storage containers (106), wherein the storage tower (400) is Vertical axis (A ｖ ) having a vertically extending support structure (450), m horizontally oriented container support portions (402) arranged along the vertical axis of the support structure (450) and supported by a container support framework (401), the container support portions (402) being distributed at a vertical interval (ΔdV) so as to provide different levels on which the storage containers (106) can be stored, m being a positive integer of 2 or more, each container support portion (420) being rotatably connected to the support structure (450) and configured to support at least one storage container (106), the container support portion (402); and comprising, each layer of the l container support portions (402a to l) arranged above the remaining layers of the m - l container support portions (402) presents at least one opening (403), and the at least one opening (403) has a size that is at least the maximum horizontal cross-section (A ｆ ) of the storage container (106) to be stored, where l is a positive integer from 1 to m - 1, The l container support portions (402a to l) are configured such that at least one opening (403) in each layer of the l container support portions (402a to l) can be vertically aligned with at least one opening in another layer of the l container support portions (402a to l) by individual rotation of the l container support portions (402a to l), around the vertical axis (A ｖ ) and can be rotated independently, Each of the container support frameworks (401a-m) has a stationary portion connected to the support structure (450) in a non-rotating manner and further includes a rotating device (406), the at least one horizontally oriented container support portion (402) being rotatably coupled to the stationary portion, the stationary portion forming an arm (405) that extends horizontally radially from the vertical axis (Av) of the support structure (450), the rotating device (406) being arranged at the distal end of the arm (405), each horizontally extending arm (405) having a plurality of rotating devices (406), the plurality of rotating devices (406) being configured to support individual container support portions (402) and to enable rotation of the individual container support portions (402) relative to each other, the storage tower (400).

2. The storage tower (400) has a drive mechanism (700) configured to rotate the at least one container support portion (402) with respect to the vertical axis (A ｖ ), the storage tower (400) according to claim 1.

3. The storage tower (400) according to claim 2, wherein the rotating device (406) forms part of the drive mechanism (700).

4. Each of the m container support parts (402a to n) includes a plurality of first container spaces (104a), and the plurality of first container spaces (104a) are such that the plurality of first container spaces (104a) are equal or substantially equal from the vertical axis (A ｖ ) with a first radial distance (r １ ) and are distributed in an arc shape on the container support part (402), and the storage tower (400) according to any one of claims 1 to 3.

5. Each of the container supports (402) further comprises a plurality of second container spaces (104b), and the plurality of second container spaces (104b) are such that the plurality of second container spaces (104b) are equal or substantially equal from the vertical axis (A ｖ ) with a second radial distance (r ２ ) and are distributed in an arc on the at least one horizontally oriented container support (402), and the second radial distance (r ２ ) is greater than the first radial distance (r １ ). The storage tower (400) according to claim 4.

6. The storage tower (400) according to any one of claims 4 to 5, wherein the plurality of first container spaces (104a) of at least one container support framework (401) are distributed over the plurality of container support portions (402).

7. The storage tower (400) according to any one of claims 4 to 6, wherein the container support portion (402) includes a guide post (407) for guiding the storage container (106) to a fixed position on the container space (104).

8. The storage tower (400) according to any one of claims 1 to 7, wherein each container support portion (402) has a toroidal horizontal cross-section.

9. The storage tower (400) according to any one of claims 1 to 8, wherein the support structure (450) is a central pole or a peripheral housing, or a combination of a central pole and a peripheral housing.

10. The storage tower (400) according to any one of claims 1 to 9, wherein each container support skeleton (401a to m) includes a plurality of container supports (402), and the plurality of container supports (402) are arranged coaxially and rotatable relative to each other.

11. The storage tower (400) according to any one of claims 1 to 9, wherein the horizontally extending arms are provided in sets of different lengths, and each set is configured to support individually coaxially arranged container supports (402).

12. Each container support (402) includes a vertical guide plate (409), and the vertical guide plate (409) is arranged at least partially around the periphery of each of the at least one opening (403). The storage tower (400) according to any one of claims 1 to 11, wherein the vertical guide plate (409) is configured such that storage containers (106) that are raised or lowered into the individual openings (403) are aligned in the horizontal plane.

13. The storage tower (400) further includes a transport mechanism arranged above the uppermost container support skeleton (401a) or the uppermost container support portion (402a) in the first vertical offset (V ｒ１ ), and the first vertical offset (V ｒ１ ) is at least the maximum height of the storage container (106) to be stored. The storage tower (400) according to any one of claims 1 to 12.

14. The storage tower (400) according to claim 13, further comprising a rail system (408) arranged above the uppermost container support skeleton (401a) or the uppermost container support (402a).

15. The rail system (408) is arranged above the uppermost container support skeleton (401a) or the uppermost container support portion (402a) at a first vertical offset (V ｒ１ ), and the first vertical offset (V ｒ１ ) is at least the maximum height of the storage container (106) to be stored. The storage tower (400) according to claim 14.

16. The uppermost container support skeleton (401a) or the uppermost container support (402a) is arranged at a distance corresponding to a height equal to or higher than the maximum height of a stack (107) of several storage containers (106) below the lower edge of the adjacent upper rail system (408). The storage tower (400) according to claim 14 or 15.

17. An automated storage and retrieval system (1) configured to store a plurality of storage containers (106), One or more storage towers (400) according to any one of claims 1 to 13, and A plurality of storage containers (106) supported on the plurality of container supports (402). A remote-operated vehicle (201; 301; 602) configured to move laterally above at least a part of the plurality of container support parts (402), the remote-operated vehicle (201; 301; 602) comprising a lifting device (304), the lifting device (304) being configured to grip a storage container (106) and lift it vertically, the remote-operated vehicle (201; 301; 602). A control system (500) configured to wirelessly monitor and control the movement of the remote-operated vehicle (201; 301). An automated storage and retrieval system (1) comprising the same. **Claim 18**: The system (1) further comprises a storage grid (100), the storage grid (100) comprising A plurality of vertical storage columns (105) for stacking storage containers (106) on top of each other, A rail system (108). A plurality of container handling vehicles (201; 301) can be operated on the rail system (108), the rail system (108) being arranged above the plurality of storage columns (105). The storage containers (106) stored in the storage columns (105) are accessible by the container handling vehicles (201; 301) through grid openings (115) in the rail system (108). The rail system (108) comprises a cantilever portion (CP) with a horizontal range equal to the difference between the horizontal range of the rail system (108) and the horizontal range of the plurality of storage columns (105). One or more of the storage towers (400) are at least partially arranged below the cantilever portion (CP) of the rail system (108), and the l container support parts (402a-l) are positioned so as to be rotatable independently about the vertical axis, whereby at least one opening (403) of each of the l container support parts (402a-l) can be vertically aligned with at least one opening of another of the l container support parts (402a-l) by rotation of the container support parts (402a-l). The automated storage and retrieval system (1) according to claim 17. **Claim 19** The system (1) further comprises a storage grid (100), the storage grid (100) comprising A plurality of vertical storage columns (105) for stacking storage containers (106) on top of each other, a transport mechanism, The remote operation vehicle is a crane (602) that is movable along a sliding bar (603) arranged in parallel with respect to a first direction (X). The sliding bar (603) has two ends that are movable along two fixed bars (604) arranged in parallel with respect to a second direction (Y). The transport mechanism is arranged above the plurality of storage columns (105), and the transport mechanism includes a cantilever portion (CP) having a horizontal range equal to the difference between the horizontal range of the transport mechanism and the horizontal range of the plurality of storage columns (105). One or more of the storage towers (400) are at least partially arranged below the cantilever portion (CP) of the transport mechanism. The automated storage and retrieval system (1) according to claim 17.

20. The storage tower (400) further includes a rail system (408) arranged above the uppermost container support skeleton (401a) or the uppermost container support portion (402a) in a first vertical offset (V ｒ１ ), and the first vertical offset (V ｒ１ ) is at least the maximum height of the storage container (106) to be stored, the automated storage and retrieval system (1) according to claim 17.

21. At least one of the container support skeletons (401) is arranged below the lower edge of the upper adjacent rail system (408) at a distance corresponding to a height equal to or higher than the maximum height of a stack (107) of some storage containers (106). The automated storage and retrieval system (1) according to claim 20.

22. A method for storing and retrieving a storage container (106) from the automated storage and retrieval system (1) according to any one of claims 20 to 21, Each of the container supports (402a to n) includes a plurality of first container spaces (104a), and the plurality of first container spaces (104a) are such that the plurality of first container spaces (104a) are at an equal or substantially equal first radial distance (r ｖ ) from the vertical axis (A １ ) and are distributed on the at least one horizontally oriented container support (402) so as to be offset circumferentially, The method includes, Moving the remote operation vehicle (201; 301) or the crane (602) to a position where its lifting device (304) can be vertically aligned with a target storage container (106') positioned above one of the first container spaces (104a), or to a position where its lifting device can be vertically aligned with one or more aligned openings (403) of the container support (402); Rotating the container support (402) on which the target storage container (106') is supported, if necessary, and positioning the target storage container (106') in vertical alignment below the position of the remote operation vehicle (201; 301) or the crane (602). If necessary, and if the container support part (402) on which the target storage container (106') is supported is not the uppermost container support part (402a), rotating the upper container support part (402), or each of the upper container support parts (402), to a circumferential position where the lifting device (340) has direct vertical access to the target storage container (106) through the at least one opening (403); grasping and lifting the target storage container (106') by using the lifting device (304); moving the remote operation vehicle (201; 301; 602) with the target storage container (106') to different horizontally located places A method comprising.

23. The remote operation vehicle (201; 301) or the crane (602) conveys a storage container (106) to be stored in the automated storage and retrieval system (1) either before or after the retrieval of the target storage container (106'), and the method moving the remote operation vehicle (201; 301) or the crane (602) to a position where its lifting device (304) can be vertically aligned with the empty container space (106''), or to a position where its lifting device can be vertically aligned with one or more aligned openings (403) of the container support part (402); if necessary, rotating the container support part (402) of the empty container space (106'') and positioning the empty container space (106'') in vertical alignment below the position of the remote operation vehicle (201; 301) or the crane (602); if the container support part (402) of the empty container space (106'') is not the uppermost container support part (402a), rotating the upper container support part (402), or each of the upper container support parts (402), to a circumferential position where the lifting device (340) has direct vertical access to the empty container space (106'') through the at least one opening (403); Lowering the transported storage container (106) to a fixed position above the empty container space (106'') by use of the lifting device (304); The method according to claim 22, comprising: **Claim 24** The automated storage and retrieval system (1) comprises a storage grid (100) including a target storage container (106'), and the method comprises: Loading the target storage container (106') from the storage grid (100); Storing the target storage container (106') in the storage tower (400) according to claim 23; Retrieving the storage container (106') from the storage tower (400) according to claim 22 The method according to claim 23, comprising: **Claim 25** Use of the automated storage and retrieval system (1) according to any one of claims 17 to 21 for directly delivering items arranged in the storage container stored in the storage tower (400) to an end user.

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