Automated storage tower with multiple rows

Abstract

A storage tower, an automated warehouse system, and methods for using the same are disclosed. The storage tower includes a plurality of container supports, each configured as a matrix of container spaces with a plurality of columns of container spaces arranged in a first direction and a plurality of rows of container spaces arranged in a second direction. Each row of container spaces of a first container support exhibits at least one opening extending along the second direction, the at least one opening having an opening size that is at least the maximum horizontal cross-section of a storage container to be stored, and the at least one opening of the first container support skeleton and the at least one opening of the second container support skeleton can be vertically aligned with each other. At least one container support is displaceable along the second direction.

Description

[Technical Field]

[0001] The present invention relates to storage towers and automated warehouse systems for storing and retrieving containers from / to such storage grids. The present invention also relates to methods for storing and retrieving containers within such storage towers and for accessing deeper-located containers in a more time-efficient manner. [Background technology]

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

[0003] The skeleton structure 100 comprises upright members 102, horizontal members 103, and a storage volume comprising storage columns 105 arranged in rows between the upright members 102 and the horizontal members 103. In these storage columns 105, storage containers 106, also known as receptacles, are stacked on top of each other to form stacks 107. The members 102, 103 may typically consist of metal, for example extruded aluminum profiles.

[0004] The framework structure 100 of the automated warehouse system 1 includes a rail system 108 arranged across the top of the framework structure 100, on which a plurality of container handling vehicles 201, 301 are operated to lift storage containers 106 from, lower storage containers 106 into, and transport storage containers 106 up the storage columns 105. The rail system 108 includes a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 201, 301 in a first direction X across the top of the framework structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 for guiding movement of the container handling vehicles 201, 301 in a second direction Y that is perpendicular to the first direction X. Containers 106 stored in columns 105 are accessed by container handling vehicles through access openings 112 in rail system 108. Container handling vehicles 201, 301 can move laterally above storage columns 105, i.e., in a plane that is parallel to the horizontal XY plane.

[0005] The uprights 102 of the skeletal structure 100 may be used to guide the storage containers during lifting and lowering of the containers out of and into the columns 105. The stacks 107 of containers 106 are typically freestanding.

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

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

[0008] Conventionally, and for purposes of this application, Z=1 identifies the top layer of a storage container, i.e., the layer immediately below rail system 108; Z=2 identifies the second layer below 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 lowest bottom layer of a storage container. Similarly, X=1...n and Y=1...n identify the position of each storage column 105 in the horizontal plane. Consequently, using the Cartesian coordinate system X, Y, Z shown in FIG. 1 as an example, a storage container identified as 106' in FIG. 1 may be said to occupy storage location X=10, Y=2, Z=3. Container handling vehicles 201, 301 may be said to travel in layer Z=0, and each storage column 105 may be identified by its X and Y coordinates.

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

[0010] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and containing the storage container 106 as it is transported across the rail system 108. The storage space may include a cavity centrally arranged within the vehicle body 201a, as shown in FIG. 2 and as described, for example, in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference.

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

[0012] 2 may have a footprint covering an area with dimensions in the X and Y directions generally equal to the lateral extent of the storage column 105, as described, for example, in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" may mean "horizontal."

[0013] Alternatively, the central hollow container handling vehicle 101 may have a footprint that is greater than the lateral area defined by the storage columns 105, for example as disclosed in WO2014 / 090684A1.

[0014] Rail system 108 typically includes rails with grooves into which vehicle wheels extend. Alternatively, the rails may include upwardly protruding elements, and the vehicle wheels may include flanges to prevent derailment. These grooves and upwardly protruding elements are collectively known as tracks. Each rail may include one track, or each rail may include two parallel tracks.

[0015] WO2018146304 (the contents of which are 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 skeleton structure 100, the majority of the columns 105 are storage columns 105, i.e., columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In FIG. 1 , columns 119 and 120 are such special-purpose columns used by container handling vehicles 201, 301 to unload and / or load storage containers 106 so that they can be accessed from outside the skeleton structure 100 or transported to an access station (not shown) where they can be transferred out of or into the skeleton structure 100. Within the art, such locations are typically referred to as "ports," and the columns in which the ports are located may be referred to as "port columns" 119, 120. Transport to the access station may be in any direction, horizontal, diagonal, and / or vertical. For example, storage containers 106 may be installed in random or dedicated columns 105 within the framework structure 100, then loaded by any container handling vehicle and transported to port columns 119, 120 for further transport to an access station. Note that the term "diagonal" refers to the transportation of storage containers 106 having a general transport orientation somewhere between horizontal and vertical.

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

[0018] An access station may typically be a picking station or a stockpiling station where product items are removed from or placed into storage containers 106. At a picking or stockpiling station, the storage containers 106 are typically not removed from the automated warehousing system 1, but once accessed, are placed back into the backbone structure 100. Ports can also be used to transfer storage containers to another storage facility (e.g., to another backbone structure or to another automated warehousing system), to a transport vehicle (e.g., a train or lorry), or to a production facility.

[0019] A conveyor system comprising conveyors is typically employed to transport storage containers between the port columns 119, 120 and the access stations.

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

[0021] The conveyor system may be arranged to transfer storage containers 106 between different skeletal structures, for example as described in WO2014 / 075937A1 (the contents of which are incorporated herein by reference).

[0022] 1 is to be accessed, one of the container handling vehicles 201, 301 is commanded to retrieve the target storage container 106 from its location and transport it to the unloading port column 119. This operation involves moving the container handling vehicle 201, 301 to a location above the storage column 105 in which the target storage container 106 is located, and using a lifting device (not shown) of the container handling vehicle 201, 301 to retrieve the storage container 106 from the storage column 105 and transport the storage container 106 to the 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 above-positioned storage container prior to raising the target storage container 106 from the storage column 105. This step, sometimes referred to within the art as "digging," may be performed using the same container handling vehicle used to subsequently transport the target storage container to unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively, or in addition, automated warehouse system 1 may have a container handling vehicle specifically dedicated to the task of temporarily removing storage containers from storage column 105. Once target storage container 106 is removed from storage column 105, the temporarily removed storage container can be repositioned in the original storage column 105. However, the removed storage container may alternatively be relocated to another storage column.

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

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

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

[0026] For systems containing multiple containers in each stack, the "digging" described above can prove both time- and space-consuming when the target container is located deep within the grid. For example, if the target container has location Z=5, the vehicle must lift four non-target containers and place them in other locations, often on the grid (Z=0), before the target container can be reached. Before being reinstalled back into the grid, the non-target containers can force other robots to choose non-optimized paths to perform their individual operations.

[0027] It is therefore an object of the present invention to provide a storage grid, and a warehouse system using such a storage grid, which may provide a more time-efficient method of storage and retrieval compared to prior art systems. [Prior art documents] [Patent documents]

[0028] [Patent Document 1] International Publication No. 2015 / 193278 [Patent Document 2] International Publication No. 2014 / 090684 [Patent Document 3] International Publication No. 2018 / 146304 Summary of the Invention [Means for solving the problem]

[0029] The invention is set out in the independent claims, while the dependent claims describe certain optional features of the invention.

[0030] In particular, the present invention relates to a storage tower for storing storage containers, the storage tower comprising a plurality of horizontal container support frameworks that are vertically distributed with a vertical offset.

[0031] The plurality of horizontal container support skeletons comprises a first horizontal container support skeleton and at least one second container support skeleton arranged directly below and parallel to the first container support skeleton.

[0032] The first and at least one second container support skeleton comprises horizontally extending container supports with a main direction in a first direction and an orthogonal second direction, each container support configured as a matrix of container spaces with multiple columns of container spaces arranged in the first direction and multiple rows of container spaces arranged in the second direction.

[0033] Further, each row of the container space of at least the first container support skeleton is configured to receive a plurality of storage containers and presents at least one opening extending along the second direction, the opening size being at least the maximum horizontal cross section of the storage containers to be stored.

[0034] The total area of at least one opening, for example at least one opening in each row in the first container support skeleton and at least one opening in the at least one second container support skeleton, can be vertically aligned with respect to each other.

[0035] The at least one container support is displaceable along a second direction.

[0036] The at least one container support skeleton further comprises a support displacement device configured to displace the displaceable container support.

[0037] Thus, a storage tower is achieved into which remotely operated vehicles can load storage containers without the need for excavation.

[0038] Thus, a storage container is achieved that can provide for more time-efficient delivery of product items to customers or other recipients of the items stored within the storage container.

[0039] Thus, a storage tower is achieved that can provide high throughput of product items, such as product items for sale or other products in high demand.

[0040] The horizontal container support framework may have repeating geometric shapes, in particular secondary container supports.

[0041] The horizontal container support framework can be seen to provide a set of displaceable storage shelves for storage containers whose contents can be easily accessed through aligning openings in the container support framework above with target storage containers below.

[0042] The container support may be a plate, e.g., one continuous plate or several plates connected to form the container support. In other words, the container support may provide a continuous surface for placing storage containers thereon. Alternatively, the container support may have a frame structure, i.e., no internal structure or material between the frame members of the frame structure. Furthermore, the container support may be a combination of the two. The container supports in a storage tower may also be a mixture of the two.

[0043] The matrix of the container space can be a fictitious division mainly determined by the size of the storage container. The size of the matrix of the container space is linked to the number of rows and columns of the matrix. A matrix with l rows and m columns is divided into l × L columns along the first direction X. f and extending along the second direction Y for a distance substantially equal to m×W f Alternatively, a matrix with l rows and m columns may extend along a first direction X for a distance substantially equal to l×W f and extending along the second direction Y for a distance substantially equal to m × L f The extent of the matrix may therefore correspond substantially to the size and number of storage containers. If a rail system is used, adjacent storage containers will be spaced at least corresponding to the width of each rail. The total width of the gaps will depend on the number of rows and columns of the matrix, i.e., the number of storage containers and therefore the number of gaps. The total width of the rails is (l-1) x W ror (m-1)×W r It can be calculated as follows: W r is the width of each rail. The spacing of storage containers will add to the size of the queue of container space in both the first direction X and the second direction Y. When a transportation system (typically comprising a crane) is used, the storage containers can be stored closer together compared to a system with rails. Any spacing of storage containers should be added to the size of the queue even when the transportation system is in use.

[0044] The openings or openings in one or several rows of container spaces may be staggered (i.e., not all openings are aligned along the first direction X). The arrangement of the openings may be offset from one container support to another.

[0045] If the storage tower has only two container supports, the top container support may be movable to align its opening with the bottom container support, even if the bottom container support is not movable.

[0046] The at least one second container support skeleton may comprise a plurality of container supports.

[0047] One example is a storage tower in which a second container support skeleton includes two container supports, each configured as a matrix of container spaces with four rows and three columns (i.e., a 4×3 matrix). The two container supports may be independently displaceable along the second direction Y so that openings can be provided between the rows of the two container supports. Alternatively, openings may be provided at both ends of the container support skeleton in the second direction Y by displacing one container support at a time. The first container support skeleton may include one container support configured as a matrix of container spaces with four rows and five rows (i.e., a 4×5 matrix). A target container positioned within the third container support skeleton and having an identical configuration to the second one can then be accessed through openings provided at both ends of the container support skeleton in the second direction Y. Both container supports of the second container support skeleton should therefore be displaceable by two spaces.

[0048] each row of container spaces of the first container support skeleton, and preferably also of the at least one second container support skeleton, may be configured to receive a plurality of storage containers;

[0049] The storage container exhibits at least one opening extending along the second direction, the opening having an opening size that is at least the maximum horizontal cross section of the storage container to be stored.

[0050] The vertical offset of each container support skeleton may vary within the same storage tower. Different container support skeletons of the same storage tower may be configured for storing storage containers of different heights. In order to optimally utilize the available space within the storage tower, container support skeletons configured for storing storage containers of different heights may preferably have different vertical offsets.

[0051] The support displacement device may comprise a linear actuator, a gear drive (e.g., rack and pinion), a chain drive, a belt drive, or any combination thereof. This includes ball screw and cam type rotary devices that cause linear movement. This should also be understood to include electric, hydraulic, and pneumatic actuators. The support displacement device may be a driven wheel arranged on the container support or on the container support framework.

[0052] The support displacement device may comprise a motor for driving a linear actuator, a gear drive, a chain drive, a belt drive, or any combination thereof, arranged outside the horizontal extent of an individual container support skeleton containing at least one displaceable container support to be displaced.

[0053] The displacement devices may comprise centrally aligned actuators positioned to push and pull the container supports. Alternatively, the displacement devices may be arranged on edges, preferably opposing edges, of the container support skeleton.

[0054] The displacement devices of adjacent container skeletons may be arranged on opposite edges.

[0055] The displacement device may be a direct drive mechanism arranged on the container support, which may for example be connected to rollers arranged on the container support.

[0056] Each container support may further include a plurality of horizontally movable shelf rollers arranged in rotation on at least one side of the container support extending along the second direction, the horizontally movable shelf rollers having a horizontal rotation axis along the first direction.

[0057] Additionally, each of the plurality of container support skeletons may further comprise a set of guide tracks arranged on either side of the container support skeleton along the second direction, the guide tracks being oriented with their longitudinal directions parallel to the second direction.

[0058] Additionally, each guide track may include a horizontal portion for supporting and guiding a plurality of horizontally moving shelf rollers.

[0059] The horizontally moving shelf rollers may be, for example, a number of wheels or linear guide rails.

[0060] Each container support may further comprise a plurality of shelf guides, at least one of which comprises a plurality of horizontally moving shelf rollers, arranged on a side of the container support.

[0061] Additionally, each guide track may include a vertical portion for guiding a plurality of shelf guides.

[0062] The shelf guides may be, for example, a number of wheels, linear guide rails, or sliding surfaces (ie, surfaces that typically have low friction relative to the contact surfaces of the guide tracks).

[0063] Each row may comprise a vertical guide plate arranged at least partially around the perimeter of each of the at least one opening.

[0064] The vertical guide plates may be configured so that storage containers being raised or lowered into the respective openings are aligned in a horizontal plane.

[0065] At least one opening presented by each row of container spaces may be a separate opening.

[0066] At least one opening of each parallel arranged row of container spaces in the at least one container support may be horizontally aligned along the first direction.

[0067] At least one opening provided by each row of container spaces of at least one of the container supports may be fused together to form a continuous opening extending along the first direction and defining an area substantially equal to one column of the container spaces.

[0068] The container support may also include a mixture of separate openings and fused openings.

[0069] At least one of the plurality of horizontal container support skeletons may comprise at least one container support having a horizontal extent that is less than the horizontal extent of the container support skeleton.

[0070] The extent of the container support skeleton in the direction of the second direction is W f The container support may extend over a range of container supports with lengths substantially equal to x×i, where i is an integer, preferably i=1 or i=2.

[0071] The at least one displaceable container support is configured to move along the second direction, W f ×i, where i is an integer, preferably i=1 or i=2.

[0072] Each row of container space may be configured to receive an equal number of storage containers on either side of at least one opening. Such a row would not have openings located at its ends.

[0073] Each row of container spaces may present an opening and be configured to receive two or more storage containers on either side of the opening.

[0074] Each row may exhibit multiple openings distributed with an offset corresponding to d+1 grid cells in the second direction, where d is an integer greater than or equal to 1.

[0075] The matrix of container spaces of each container support may have an equal number of rows and columns.

[0076] The horizontal area of the at least one second container support may be the same as the horizontal area of any further second container support.

[0077] The rows of container spaces of the first and at least one second container support may have an equal distribution of the at least one opening.

[0078] The bottom container support may have at least one row of container spaces without openings.

[0079] At least one of the container supports may include a plurality of sensor devices for sensing the presence of a storage container, and the sensor devices may be distributed across the matrix of the container space.

[0080] Sensors arranged on the storage container support or container support framework may be in communication with the control system.

[0081] 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 be equipped with a magnet device), a visual sensor, an optical sensor, and a motion sensor.

[0082] At least one of the container supports may be provided with a sensor device for sensing displacement of the container support relative to the container support skeleton.

[0083] The storage container may be supported by at least one support plate and / or a plurality of support beams oriented in a first direction and / or a second direction.

[0084] The storage tower may further comprise a transport mechanism arranged above the top container support skeleton at a first vertical offset, the offset providing a vertical gap between a lowest point of the transport mechanism and a top surface of the container space of the first container support that is at least the maximum height of the storage containers to be stored.

[0085] Instead of a vehicle with wheels moving on a rail system, the transportation system may include a crane movable 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 that extends across the width of the storage tower. Movement in a second direction may be achieved by sliding the sliding bar along two fixed bars that extend in the second direction on either side of the storage tower. The crane may be a container handling vehicle with a cantilever construction supported on two parallel sliding bars.

[0086] Thus, a storage tower is achieved that can operate despite not being at the same height. The transport mechanism is less prone to derailment than vehicles that move on wheels. The storage tower can therefore be suitable for operation at sea, for example on board a ship.

[0087] The storage tower may further comprise a rail system arranged above the first container support skeleton at a first vertical offset, the offset providing a vertical gap between a lowest point of the rail system and an uppermost surface of the container space of the first container support that is at least the maximum height of the storage containers to be stored.

[0088] At least one of the container support skeletons may be arranged below the lower edge of an upper adjacent rail system and / or below the lower edge of an upper adjacent container support skeleton at a distance corresponding to a height equal to or greater than the maximum height of a stack of several storage containers.

[0089] The rail system may provide access to target openings in a storage tower and adjacent storage towers and / or storage grids without having to cover the entire horizontal extent of the storage tower.

[0090] The present invention also relates to an automated warehouse system configured to store a plurality of storage containers.

[0091] The rails align the storage tower and rail system so that the container spaces of the first container supports can each be vertically aligned below the grid openings of the cantilevered beam portion.

[0092] The automated warehouse system may include the storage towers described above.

[0093] Additionally, the automated warehouse system may include a plurality of storage containers supported on a plurality of horizontally arranged container support frameworks.

[0094] Additionally, the automated warehouse system may include a remotely operated vehicle configured to move laterally above the plurality of container support frameworks, the remotely operated vehicle including a lifting device configured to grasp and vertically lift the storage containers.

[0095] Additionally, the automated warehouse system may include a control system configured to wirelessly monitor and control the movement of the remotely operated vehicles.

[0096] Thus, an automated warehouse system is achieved in which remotely operated vehicles can load storage containers without the need for digging.

[0097] Thus, an automated warehouse system is achieved that can provide more time-efficient delivery of product items to customers or other recipients of items stored within storage containers.

[0098] Thus, an automated warehouse system is achieved that can provide high throughput of product items, such as product items for sale or other products in high demand.

[0099] The automated warehouse system also a plurality of vertical storage columns for stacking storage containers on top of each other; a rail system on which a plurality of container handling vehicles may operate, the rail system being arranged above a plurality of storage columns; a rail system in which storage containers stored in the storage columns are accessible by container handling vehicles through grid openings in the rail system, and which may include a cantilevered section with 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; The storage grid may comprise:

[0100] One or more of the storage towers may be at least partially aligned below the cantilevered portion of the rail system and positioned such that the container spaces of the first container supports may each be vertically aligned below the grid openings of the cantilevered portion.

[0101] Alternatively, the automated storage system may further comprise: a plurality of vertical storage columns for stacking storage containers on top of each other; A transport mechanism, wherein the remotely operated vehicle is a crane, and the remotely operated vehicle is movable along a sliding bar that is aligned parallel to a first direction, and the sliding bar has two ends that are movable along two fixed bars that are aligned parallel to a second direction; arranged above a plurality of storage columns, a cantilevered beam portion with 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; a transport mechanism; The storage grid may comprise:

[0102] One or more of the storage towers may be arranged at least partially below the cantilever portion of the traveling crane system.

[0103] Thus, a warehouse system is achieved which combines the prior art grid with the grid of the present invention, i.e., a combination of a high extension grid and a low extension grid in which product items can be arranged according to their turnover rate.

[0104] Thus, a warehouse system is achieved that combines storage capacity with time-efficient delivery of product items to customers or other recipients of items stored in storage containers, where, for example, orders may be loaded from a lower extension grid with high storage capacity before being intermediately stored (buffered) in a higher extension grid with time-efficient delivery of the product items to customers, and then efficiently delivered to customers upon their arrival.

[0105] The high extension storage tower is configured for a high frequency of storage containers entering and exiting the storage tower. Storage containers will typically be stored in the high extension storage tower for a shorter period of time compared to 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 therefore suitable for time-critical storage. The high extension storage tower is less space-efficient than the low extension storage grid.

[0106] The lower extension storage grid is more space efficient compared to the higher extension storage tower. Storage containers will typically be stored in the lower extension grid for longer periods compared to the higher extension storage tower. The lower extension storage grid has slower access compared to the higher extension storage tower and is therefore more suitable for less urgent storage.

[0107] Thus, the high extension storage tower and the low extension storage grid complement each other.

[0108] The automated storage system may further include a rail system arranged above the top container support skeleton at a first vertical offset, the offset providing a vertical gap between a lowest point of the rail system and a top surface of the container space of the first container support that is at least the maximum height of the storage containers to be stored.

[0109] At least one of the container support skeletons may be arranged below the lower edge of an upper adjacent rail system and / or below the lower edge of an upper adjacent container support skeleton at a distance corresponding to a height equal to or greater than the maximum height of a stack of several storage containers.

[0110] The present invention also relates to a method for storing and retrieving storage containers from an automated storage system, which may be as described above.

[0111] The plurality of horizontal container support skeletons preferably comprises a number j of parallel container support skeletons, where j is an integer of 2 or greater.

[0112] At least one container support of the at least one second container support skeleton is preferably displaceable along a second direction that is orthogonal to the first direction.

[0113] The method comprises the following steps: A. A remotely operated vehicle, the lifting device of which: a) a target storage container mounted on a first container framework; or b) a target opening in the first container skeleton that is vertically alignable with the target storage container when the target storage container is mounted on one of the j-1 parallel container skeletons directly below the first container skeleton; to a position positioned in vertical alignment above any of B. If the target storage container is not positioned vertically aligned below the target opening, a) displacing a displaceable container support of the container support skeleton such that the target storage container is supported in a second orientation and positions the target storage container in vertical alignment below the target opening of the first container support skeleton; or b) if at least one container support of the first container support skeleton is displaceable along the second direction, displacing at least one displaceable container support of one or more container support skeletons mounted above and having the same position in the first direction as the row of displaceable container supports on which the target storage container is supported, an equal distance in a second direction opposite to the direction in a) so as to position the target storage container in vertical alignment below the target opening of the first container support skeleton; or c) if at least one container support of the first container support skeleton is displaceable along the second direction, displacing both the target storage container supporting the displaceable container support as described in step a) and one or more displaceable container supports arranged above as described in step b) to position the target storage container in vertical alignment below the target opening; C. Grasping and elevating the target storage container by use of a lifting device; D. moving the remotely operated vehicle with the target storage container horizontally to a different location; may include:

[0114] In the method for storing and retrieving storage containers from an automated warehouse system, step B may be performed prior to or simultaneously with step A. If step Bc) is performed after step A, it may be required to reposition the remotely operated vehicle to a position where its lifting device is positioned vertically aligned above the target opening of the first container support skeleton, which is vertically alignable with the target storage container.

[0115] Thus, a method for loading storage containers with remotely operated vehicles is achieved that does not involve the need for digging.

[0116] Thus, a method is achieved that provides for more time-efficient delivery of product items to customers or other recipients of items stored within storage containers.

[0117] Thus, a method for providing high throughput of product items, such as product items for sale or other products in high demand, is achieved.

[0118] When the remotely operated vehicle or crane is transporting a storage container to be stored within the automated storage system either before or after retrieval of the target storage container, the method comprises the following steps: E. A remotely operated vehicle, the lifting device of which: a) the empty container space of the first container scaffold; or b) a target opening in the first container skeleton that is vertically alignable with an empty container when the empty container space is installed on one of the j-1 parallel container skeletons directly below the first container skeleton; to a position positioned in vertical alignment above any of F. If the empty container space is not positioned vertically aligned below the target opening, a) displacing a displaceable container support of a container skeleton with the empty container space installed in a second orientation to position the empty container space in vertical alignment below the target opening of the first container skeleton; or b) if at least one container support of the first container support skeleton is displaceable along the second direction, displacing at least one displaceable container support of the one or more container support skeletons that are mounted above and have the same position in the first direction as the row of displaceable container supports on which the empty container spaces are mounted an equal distance in a second direction opposite to the direction in a) so as to position the empty container spaces in vertical alignment below the target opening of the first container support skeleton; or c) if at least one container support of the first supporting skeleton is displaceable along the second direction, displacing both the displaceable container support of the empty container space as described in step a) and one or more displaceable container supports arranged above as described in step b) to position the empty container space in vertical alignment below the target opening; G. Lowering the transported storage container into a position above the empty container space by use of a lifting device; may include:

[0119] In the method for storing and retrieving storage containers from an automated warehouse system, step F may be performed prior to step E. If step Fc) is performed after step E, it may be required to reposition the remotely operated vehicle to a position where its lifting device is positioned vertically aligned above the target opening of the first container support skeleton, which is vertically alignable with the target storage container.

[0120] When the automated storage system comprises a storage grid containing target storage containers, the method comprises the following steps: stow a target storage container from a storage grid, e.g., as described in the Technical Background section; storing the target storage container in a storage tower according to the method described above; retrieving the storage container from the storage tower according to the method described above; may include:

[0121] two target storage containers mounted on one of the j-1 parallel container support frameworks and horizontally aligned in a first direction; the system further comprising a second remotely operated vehicle; If the control system is capable of wirelessly monitoring and controlling the movement of a second remotely operated vehicle, The method further comprises the steps of: A2. Moving a second remotely operated vehicle to a location where its lifting device is positioned vertically aligned above a target opening of a first container support framework that is vertically alignable with a second target storage container; C2. Grasping and elevating a second target storage container by use of a lifting device of a second remotely operated vehicle; D2. Moving a second remotely operated vehicle with a second target storage container horizontally to a different location; may include:

[0122] When a storage container is positioned in an empty container space or a target storage container is being retrieved from a storage tower, other container spaces in the same row of container spaces are not available for loading by other remotely operated vehicles. The same is true for other rows in the same queue of container spaces. To avoid queuing, the warehouse system described above may therefore preferably have specific remotely operated vehicles covering the container spaces of a storage tower.

[0123] The control system may be configured to coordinate simultaneous loading by multiple remotely operated vehicles covering the same container space in one or several storage towers, as described in the methods above, and further efficiencies may be achieved.

[0124] The control system may be configured to coordinate two remotely operated vehicles simultaneously loading a target storage container from the same container support. Alternatively, two remotely operated vehicles simultaneously store two storage containers in the same container support. As a further alternative, one remotely operated vehicle retrieves a target storage container from the same container support where another remotely operated vehicle simultaneously stores a storage container.

[0125] The invention also relates to a method for arranging a storage tower in an automated storage system.The storage tower and the automated storage system may be according to the above description.

[0126] The automated warehouse system Storage grids and a vehicle movement system having a horizontal extent greater than the control system storage grid; may also be provided.

[0127] The method comprises: The method may include assembling at least a portion of a storage tower, as described above, beneath the cantilevered portion of the vehicle movement system.

[0128] Thus, a storage tower is achieved that can be retrofitted into existing warehouse systems.

[0129] The vehicle movement system may comprise a rail system; The method therefore further comprises: The method may include aligning the storage tower and rail system so that the container spaces of the first container supports are each vertically aligned below the grid openings of the cantilevered beam portions.

[0130] The automated warehouse described above can be used to deliver items arranged in storage containers stored in storage grids directly to end users.

[0131] The cantilevered portion of the rail system need not extend the entire horizontal extent of the storage tower, but may, for example, only extend far enough to reach a target opening in the storage tower.

[0132] Due to the matrix configuration of the container supports, i.e., the container spaces, a vertical pillar cannot be positioned between rows of container spaces or between columns of container spaces of the same container support, which means that there will be larger spans between the vertical pillars of the storage tower and therefore higher loads on each vertical pillar compared to the uprights of prior art storage grids.

[0133] When present, the rail system must extend and support its weight over a larger area than with conventional storage grids, where each grid space is supported at the corners by upright members.

[0134] To withstand the increased loads, the vertical pillars and / or rail systems may need to be reinforced compared to prior art uprights and rail systems.

[0135] A remotely operated vehicle approaching a storage tower to load a target storage container typically brings another storage container to be stored into the warehousing system. Before the remotely operated vehicle can load the target storage container, a vehicle-held storage container is advantageously placed into 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 storage towers and automated warehousing systems as described above.

[0136] By having fewer storage containers as container space is available in the storage system, there will always be at least one empty container space. Empty container space will also be dynamically generated as remotely operated vehicles load storage containers from within the storage tower. If there is no empty container space in the storage system, the remotely operated vehicle must avoid either bringing in another storage container from, for example, a port column or placing a storage container held atop a storage tower. Both alternatives suffer from drawbacks in terms of time efficiency.

[0137] The empty container (into which the storage container is to be placed) 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 minimal movement of its lifting device between two operations of the exchange process. Therefore, the exchange process time will not be extended due to the opposing displacements of the lifting device and the container support of the target storage container.

[0138] Once the opening is merged, a guide structure and rail system or transport system, if used, can be configured to allow lateral movement of the lifting device while the lifting device is still lowered into the storage tower. This would save time in the exchange process, where the delivered storage container is positioned in a row next to the target storage container. The remotely operated vehicle can therefore move laterally without having to lift and lower the lifting device.

[0139] After positioning the previously held storage container within the empty container space, the lifting device is retracted so that the target storage container is seated directly below the target opening, allowing for the displacement of the container supports, i.e., the return of the container supports of the previously empty container and the deployment of the container supports of the target storage container. If the lifting device is retracted higher than directly above the container support skeleton of the target storage container, the exchange process will become less time-efficient.

[0140] If the target storage container is located deeper within the storage tower than the empty container space, the container supports of the target storage container can be deployed prior to retraction of the lifting device and displacement back to the initial position of the container supports of the previously empty container space.

[0141] After the target storage container is raised above the container support skeleton, the container support can be displaced back to its initial position. The present invention provides, for example, the following items. (Item 1) A storage tower (400) for storing storage containers (106), said storage tower comprising a plurality of horizontally extending container support frameworks (401) distributed with a vertical offset (ΔdVb-n); The plurality of horizontal container support frameworks (401) are a first container support skeleton (401a), at least one second container support skeleton (401b-n) arranged directly below said first container support skeleton (401a) and extending parallel to said first container support skeleton (401a); Equipped with Each of the first container support skeleton and the at least one second container support skeleton (401b-n) comprises: - horizontally extending container supports (402) with main directions in a first direction (X) and an orthogonal second direction (Y), each container support (402) being configured as a matrix of container spaces with a plurality of columns of container spaces arranged in the first direction (X) and a plurality of rows of container spaces arranged in the second direction (Y); Equipped with Each row of the container space of the first container support skeleton (401a) is - configured to receive a plurality of storage containers (106); - presenting at least one opening (403) extending along said second direction (Y), said at least one opening (403) being at least as large as the largest horizontal cross section (A) of said storage container (106) to be stored; f ) and has an opening size of the at least one opening (403) of said first container support skeleton (401 a) and the at least one opening (403) of said at least one second container support skeleton (401 b-n) may be vertically aligned with respect to each other; At least one container support (402) is displaceable along said second direction (Y); a storage tower, wherein at least one container support framework (401a-n) further comprises a support displacement device (700) configured to displace said displaceable container support (402). (Item 2) Each row of container spaces of said at least one second container skeleton (401b-n) comprises: - configured to receive a plurality of storage containers (106); - presenting at least one opening (403) extending along said second direction (Y), said at least one opening (403) being at least as large as the largest horizontal cross section (A) of said storage container (106) to be stored; f Item 1. The storage tower (400) according to item 1, having an opening size of (Item 3) 3. The storage tower (400) of claim 1 or 2, wherein the support displacement device (700) comprises a linear actuator, a gear drive, a chain drive, a belt drive, or any combination thereof. (Item 4) the support displacement device (700) comprises a motor for driving the linear actuator, gear drive, chain drive, belt drive, or any combination thereof, the motor being arranged outside the horizontal extent of the individual container support framework (401) containing at least one displaceable container support (402) to be displaced; or 4. The storage tower (400) according to item 3, wherein the displacement device (700) is a direct drive mechanism arranged on the container support (402). (Item 5) Each container support (402) further comprises a plurality of horizontally moving shelf rollers (709') arranged in a rotating manner on at least one side of the container support (402) extending along the second direction (Y), the horizontally moving shelf rollers (709') having a horizontal rotation axis aligned with the first direction (X); Each of the plurality of container support skeletons (401) further comprises a set of guide tracks (710) arranged on both sides of the container support skeleton (401) along the second direction (Y), the sets of guide tracks (710) being oriented with their longitudinal directions parallel to the second direction (Y); Item 10. The storage tower (400) of any one of the preceding items, wherein each guide track (710) comprises a horizontal portion (710') for supporting and guiding the plurality of horizontally moving shelf rollers (709'). (Item 6) Each container support (402) further comprises a plurality of shelf guides (709) arranged at least on the side of the container support (402) comprising the plurality of horizontally moving shelf rollers (709'); 6. The storage tower (400) according to item 5, wherein each guide track (710) further comprises a vertical portion (710'') for guiding the plurality of shelf guides (709). (Item 7) each row comprising a vertical guide plate (409) arranged at least partially around the periphery of each of said at least one opening (403); A storage tower (400) according to any one of the preceding items, wherein the vertical guide plate (409) is configured so that storage containers (106) being raised or lowered into the individual openings (403) are aligned in a horizontal plane. (Item 8) the at least one opening (403) presented by each row of container spaces is a separate opening (403); Item 11. A storage tower (400) according to any one of the preceding items, wherein the at least one opening (403) of each parallel arranged row of container spaces in the at least one container support (402) is horizontally aligned along the first direction (X). (Item 9) 8. The storage tower (400) according to any one of items 1 to 7, wherein the at least one opening (403) presented by each row of at least one container space of the container supports (402) are fused together to form a continuous opening (403) extending along the first direction (X) and defining an area substantially equal to one column of container spaces. (Item 10) The at least one displaceable container support (402) is arranged along the second direction (Y) in a direction W f 3. The storage tower (400) of claim 1, wherein the storage tower (400) is displaceable by a distance substantially equal to ≈1 × i, where i is an integer, preferably i=1 or i=2. (Item 11) Item 10. A storage tower (400) according to any one of the preceding items, wherein each row presents a plurality of openings (403) distributed with an offset corresponding to d+1 grid cells (422) in the second direction (Y), where d is an integer greater than or equal to 1. (Item 12) Item 10. The storage tower (400) of any one of the preceding items, wherein the rows of container spaces of the first container support and the at least one second container support (402) have an equal distribution of the at least one opening (403). (Item 13) Item 10. The storage tower (400) of any one of the preceding items, wherein the lowermost container support (402) has at least one row of container spaces without openings (403). (Item 14) The storage tower (400) has a first vertical offset (V r1 ) above the uppermost container support framework (401a). (Item 15) The storage tower (400) has a first vertical offset (V r1 10. The storage tower (400) according to any one of the preceding items, further comprising a rail system (408) arranged above the first container support framework (401a) in a (Item 16) The rail system (408) comprises a first set (410) of parallel rails arranged in the first direction (X) and a second set (411) of parallel rails arranged in the second direction (Y), Item 16. The storage tower (400) according to item 15, wherein the rail system (408) is aligned with the container support framework (401) such that each row of container spaces is vertically aligned with the second set of parallel rails (411). (Item 17) An automated warehouse system (1) configured to store a plurality of storage containers (106), comprising: A storage tower (400) according to any one of items 1 to 13, a plurality of storage containers (106) supported on the plurality of horizontally arranged container support frameworks (401); a remotely operated vehicle (201; 301; 602) configured to move laterally above the plurality of container support frameworks (401), the remotely operated vehicle (201; 301; 602) comprising a lifting device (304) configured to grip and vertically lift a storage container (106); a control system (500) configured to wirelessly monitor and control the movement of said remotely operated vehicle (201; 301); An automated warehouse system (1) comprising: (Item 18) The system (1) further comprises a storage grid (100); The storage grid comprises: a plurality of vertical storage columns (105) for stacking storage containers (106) on top of each other; a rail system (108) on which a plurality of container handling vehicles (201; 301) can be operated; Equipped with the rail system (108) is 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 section (CP) with a horizontal extent equal to the difference between the horizontal extent of the rail system (108) and the horizontal extent of the plurality of storage columns (105); Item 18. The automated warehouse system (1) of item 17, wherein one or more of the storage towers (400) are at least partially aligned below the cantilever portion (CP) of the rail system (108) and positioned so that each of the container spaces of the first container support (402) can be vertically aligned below a grid opening (415) of the cantilever portion (CP). (Item 19) The system (1) further comprises a storage grid (100); The storage grid comprises: a plurality of vertical storage columns (105) for stacking storage containers (106) on top of each other; a transport mechanism (601), wherein the remotely operated vehicle is a crane (602) movable along a sliding bar (603) aligned parallel to a first direction (X); Equipped with The sliding bar (603) has two ends that are movable along two fixed bars (604) that are aligned parallel to the second direction (Y), the transport mechanism (601) is arranged above the plurality of storage columns (105); the transport mechanism (601) comprises a cantilever section (CP) with a horizontal extent equal to the difference between the horizontal extent of the transport mechanism (601) and the horizontal extent of the plurality of storage columns (105); Item 18. The automated warehouse system (1) according to item 17, wherein one or more of the storage towers (400) are at least partially arranged below the cantilever portion (CP) of the traveling crane system (108). (Item 20) The storage tower (400) has a first vertical offset (V r1 Item 18. The automated warehouse system (1) according to item 17, further comprising a rail system (408) arranged above the uppermost container support framework (401a) in the automated warehouse system (1). (Item 21) 21. A method for storing and retrieving storage containers (106) from an automated warehouse system (1) according to any one of items 17 to 20, wherein the plurality of horizontal container support skeletons (401) comprises a number j of parallel container support skeletons (401 a-n), where j is an integer equal to or greater than 2; at least one container support (402) of said at least one second container support skeleton (401b) is displaceable along a second direction (Y) perpendicular to the first direction (X); The method comprises: A. The lifting device (304) a) a target storage container (106') supported on said first container support framework (401a); or b) a target opening (403a') of the first container support skeleton (401a) that is vertically alignable with the target storage container (106') when the target storage container (106') is mounted on one of the j-1 parallel container support skeletons (401b-n) directly below the first container support skeleton (401a); moving the remotely operated vehicle (201; 301; 602) to a position where it is positioned in vertical alignment above any of the B. The target storage container (106') is not positioned vertically aligned below the target opening (403a'); a) displacing the displaceable container support (402) of the container support skeleton (401b) such that the target storage container (106') is supported in the second direction (Y) and the target storage container (106') is positioned vertically aligned below the target opening (403a') of the first container support skeleton (401a); or b) if at least one container support (402) of the first container support skeleton (401 a) is displaceable along the second direction (Y), displacing at least one displaceable container support (402) of the one or more container support skeletons (401 a-k) that is mounted above and has the same position in the first direction (X) as the row of displaceable container supports (402) on which the target storage container (106′) is supported by an equal distance in the second direction (Y) opposite to the direction in a), so as to position the target storage container (106′) vertically aligned below the target opening (403 a′) of the first container support skeleton (401 a); or c) if at least one container support (402) of the first container support framework (401 a) is displaceable along the second direction (Y), displacing both the target storage container (106′) supporting the displaceable container support (402) as described in step a) and the one or more displaceable container supports (402) arranged above as described in step b) so as to position the target storage container (106′) vertically aligned below the target opening (403 a′); C. grasping and lifting the target storage container (106') by using the lifting device (304); D. moving the remotely operated vehicle (201; 301) with the target storage container (106') horizontally to a different location; A method comprising: [Brief explanation of the drawings]

[0142] The following drawings depict alternatives to the invention and are included to facilitate an understanding of the invention. The drawings show embodiments of the invention that will be described herein by way of example only.

[0143] [Figure 1] FIG. 1 is a perspective view of the skeleton structure of a prior art automated warehouse system. [Figure 2] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for transporting storage containers therein. [Figure 3] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever beam for holding a storage container underneath. [Figure 4] FIG. 4 is a perspective view of a storage container and a product item stored within the storage container. [Figure 5] FIG. 5 is a top view of a storage system in which all container supports in the storage towers are vertically aligned. [Figure 6] FIG. 6 is a side view of the storage system of FIG. [Figure 7] FIG. 7 is a perspective view of a container support configured as a matrix of container spaces (when no storage containers are present), with multiple columns of container spaces arranged in a first horizontal direction and multiple rows of container spaces arranged in a second horizontal direction. [Figure 8]FIG. 8 is a perspective view of a container support configured as a matrix of container spaces, with multiple columns of container spaces arranged in a first horizontal direction and multiple rows of container spaces arranged in a second horizontal direction. [Figure 9] FIG. 9 is a perspective view of the container support and container support framework, in particular details of the support displacement device. [Figure 10] FIG. 10 is a perspective view of the container support, particularly the details of the shelf rollers. [Figure 11] FIG. 11 is a perspective view of the container supports and container support framework, in particular further details of the support displacement device by which the lowermost container support is displaced relative to the upper container support. [Figure 12] FIG. 12 is a side view of a storage system according to an embodiment of the present invention in which the storage grids and storage towers are positioned side by side and below the rail system. [Figure 13] FIG. 13 is a perspective view of the storage system of FIG. 12 in which the storage grids and storage towers are positioned side-by-side. [Figure 14] FIG. 14 is a perspective view of the storage system of FIG. 12 with the storage grid and storage tower positioned side-by-side and one container support displaced. [Figure 15A] 15A is a perspective view of the storage system of FIG. 12 in which the storage grid and storage tower are positioned side-by-side and the plurality of container supports are displaced in opposite directions. [Figure 15B] FIG. 15B is a cross section of the storage system according to FIG. 15A. [Figure 16] 16A and 16B are different perspective views of another embodiment of a storage system according to the present invention, in which a storage tower is positioned below a transport system. [Figure 17] FIG. 17 is a side view of the storage system of FIG. 16A. [Figure 18] 18A and 18B are different perspective views showing the storage system of FIGS. 16A-B and 17A-B, particularly details of the transport mechanism. [Figure 19] 19a-c are perspective views of three storage towers, each with a different configuration of container support framework and container supports. DETAILED DESCRIPTION OF THE INVENTION

[0144] Detailed Description of the Invention In the following, different alternatives 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 scope of the invention to the subject matter depicted in the drawings. Furthermore, even if some of the features are described only in relation to a system, it will be apparent that they are also valid for a method, and vice versa.

[0145] In the foregoing description, various aspects of the delivery vehicle and automated warehouse system according to the present invention have been described with reference to illustrative embodiments. For purposes of explanation, specific 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, that are apparent to those skilled in the art to which the disclosed subject matter pertains are deemed to be within the scope of the present invention.

[0146] 5-6 and 12-15, the warehouse system 1 of the present invention comprises a remotely operated vehicle 301 operating on a rail system 408 comprising a first set of parallel rails 410 arranged to guide movement of the remotely operated vehicle 301 in a first direction X across the storage tower 400, and a second set of parallel rails 411 arranged perpendicular to the first set of rails 410 for guiding movement of the remotely operated vehicle 301 in a second direction Y that is perpendicular to the first direction X. Storage containers 106 stored within the storage tower 400 are accessed by the remotely operated vehicle 301 through grid openings 415 in the rail system 408. Each grid opening 415 of the rail system 408 is enclosed by a grid cell 422. The rail system 408 is configured to extend in a horizontal plane P rs It extends in.

[0147] As best seen in FIG. 6, the storage container 106 is r1 (i.e., the offset between the lower edge of the rail system 408 and the lower edge for the first container support skeleton 401a directly below the rail system 408) and a vertical offset indicated by ΔdVb-n (i.e., the offset between the lower edges of two adjacent container support skeletons 401a-n).

[0148] Vertical Offset V r1and ΔdVb-n may be selected to provide a height equal to or greater than the maximum height of one storage container 106 or stack 107 of several storage containers 106, or equal to or greater than the maximum height of different storage containers 106 stored within individual container support skeletons 401. As an example, a first container support skeleton 401a may be adapted to store a stack 107 of storage containers 106, while the lower mounted container support skeletons 401b-n may be adapted to store single (non-stacked) storage containers 106. As a further example, some or all container support skeletons 401 of a tower 400 may be adapted to store a stack 107 of several storage containers 106. Different container support skeletons 401 of the same tower 400 may be configured to store unequal numbers of stacks 107 of storage containers 106. The vertical space (i.e., available height) required for one or several container support skeletons 401 of a 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 support skeletons 401 compared to a configuration of a tower 400 in which all container support skeletons 401 are adapted to store a single (unstacked) storage container 106.

[0149] FIG. 6 shows a storage tower 400 in which each container support skeleton 401 a - n comprises one horizontally extending container support 402 .

[0150] Figures 7 and 8 show one example of such a container support design: Figure 7 shows the container support 402 without a storage container 106, and Figure 8 shows the same container support 402 with a storage container 106 positioned within the container space.

[0151] The container supports 402 have main directions in a first direction X and an orthogonal second direction Y. The container supports 402 are configured as a horizontal matrix of container spaces, with a plurality of columns of container spaces arranged in the first horizontal direction X and a plurality of rows of container spaces arranged in the second horizontal direction Y. Each row of container spaces is configured to receive a plurality of storage containers 106 and typically further exhibits at least one opening 403 extending along the second direction Y. The opening 403 may have a horizontal extent along the first direction X that is substantially equal to the horizontal extent of the row along the first direction X. The container supports 402 of the lowermost container support skeleton 401n typically do not exhibit openings 403. The at least one opening 403 in each row of container spaces typically extends at least as far as the maximum horizontal cross-section A of the storage containers 106 to be stored. f (W f ×L f ) has an opening size of

[0152] The container support 402 of Figures 7 and 8 includes a plurality of guide structures 409 for the openings 403. The guide structures 409 are fixed along the periphery of each opening 403a-d to help ensure that the storage container 106 is accurately guided through the opening 403a-d during lifting / lowering by the respective remotely operated vehicle 201; 301; 601.

[0153] The container support 402 may be a plate or frame without an internal structure. The container space is typically at least the width of the largest horizontal cross section A of the storage container 106 to be stored. f (W f ×L f ) along the first direction X. The matrix of container space can be an imaginary division mainly set by the size of the storage container 106. The size of the matrix of container space is linked to the number of rows and columns of the matrix. A matrix with l rows and m columns has a horizontal extent of l×L f and extending along the second direction Y for a distance substantially equal to m×W fAlternatively, a matrix with l rows and m columns may extend along a first direction X for a distance substantially equal to l×W f and extending along the second direction Y for a distance substantially equal to m × L f If a rail system 108 is used, the storage container 106 may extend a distance substantially equal to at least the rail width W r The spacing between storage containers 106 will add to the size of the matrix of container space. The overall contribution from this spacing will depend on the number of containers 106 and therefore the number of spacings. The total spacing width will be (l-1) x W r or (m-1)×W r When a transport system 601 (typically comprising a crane 602) is used, the storage containers 106 can be stored closer together compared to a system involving rails 108. Any spacing between storage containers 106 should be added to the queue size even when the transport system 601 is used.

[0154] In the example of Figure 7, the container support 402 has a matrix of container spaces with four rows and five columns. The horizontal extent of this matrix is 4 x L along the first direction X. f and a distance substantially equal to 5×W along the second direction Y. f4. Any spacing between storage containers 106 should be added to the size of the matrix of container spaces, as explained above. The container support may have four openings 403 along the centerline of the openings 403, e.g., a column. Alternatively, one single opening 403 extends through all four rows. Alternatively, a combination of openings 403 extends through one, two, or three rows. Container spaces in a 4x2 configuration are provided on either side of the central opening 403, or in line with the openings 403. This may be interpreted as two columns, with four container spaces on either side of the opening 403. Alternatively, this may be interpreted as four rows of five container spaces, with the central container space being the opening 403. Alternatively, this may be interpreted as four rows, with four container spaces on each side of the opening 403.

[0155] The openings 403 of the first container support skeleton 401 a, i.e., at least one opening 403 a-d in each row and at least one opening 403 of the at least one second container support skeleton 401 b-n, may be vertically aligned with respect to one another. This may be achieved by at least one container support 402 of the at least one second container support skeleton 401 b-n being displaceable along the second direction Y. The displacement may be achieved by the at least one second container support skeleton 401 b-n comprising a support displacement device 700 configured to displace the displaceable container support 402 of the at least one second container support skeleton 401 b-n. One example of such a support displacement device 700 is illustrated in FIG. 9 and described further below. Since all container spaces of the first container support 402a, i.e. the top container support 402, are accessible through the grid openings 415, the first container support skeleton 401a, i.e. the top container support skeleton 401 does not need to be equipped with a support displacement device 700, although efficiency may be improved if it is equipped with one.

[0156] The container support 402 of FIGS. 7 and 8 includes a support plate 404 that provides a container space. In FIG. 8, a storage container 106 is installed on the support plate 404. One support plate 404 may provide four container spaces distributed along a first horizontal direction X, forming a complete column. Alternatively, each column may include multiple support plates 404, e.g., one support plate 404 per container space. As a further alternative, one support plate 404 may provide two or more container spaces distributed along a second horizontal direction Y, forming at least a portion of a row. One support plate 404 may also provide multiple container spaces distributed along both the first direction X and the second direction Y.

[0157] Each container support 402 comprises a first container support beam 406 extending in a first horizontal direction X and a second container support beam 407 extending in a second horizontal direction Y. The first and second support beams 406, 407 provide rigidity and align the container support 402 with the horizontal plane P rs The first support beam 406 may extend the entire length of the column. The second support beam 407 may extend the entire length of the row.

[0158] 7-8 , a first support beam 406 is arranged between each row of container spaces, for a total of four first beams 406. The first support beams 406 may be used for mounting the guide structures 409. The first support beams 406 may also be used for mounting the support plates 404. The first support beams 406 may protrude upward relative to the support plates 404, thereby preventing the storage containers 106 from moving along the second horizontal direction Y relative to the container supports 402. The first support beams 406 may also be used to support the storage containers 106 and thus provide the container spaces, i.e., provide the container spaces without using the support plates 404.

[0159] 7-8 , two second support beams 407 are arranged parallel to the rows. In this embodiment, the second support beams 407 are arranged so as not to divide the rows, i.e., on the edges of the container supports 402. The second support beams 407 may also be arranged to divide the rows. The second support beams 407 may be used for mounting the guide structures 409. The second support beams 407 may also be used for mounting the support plates 404. The second support beams 407 may protrude upward relative to the support plates 404, thereby preventing the storage containers 106 from moving in the first direction X relative to the container supports 402. The second support beams 407 may also be used to support the storage containers 106 and thus provide container space, i.e., provide container space without using the support plates 404. Alternatively, the first and second support beams 406, 407 may both provide container space. The second support beam 407 may also be used for mounting shelf guides 709. The second support beam 407 may also be used for mounting horizontally moving shelf rollers 709'. The shelf rollers 709, 709' are further described below with reference to FIG. 10. The second support beam 407 may also be used for mounting vertical pillars 431. These are particularly illustrated in FIG. 11.

[0160] Each container support 402 may include stabilizing ribs 405 arranged in a first direction X. In FIGS. 7-8 , two stabilizing ribs 405 are arranged so as not to divide the row, i.e., on the edge of the container support 402. Stabilizing ribs 405 may additionally be arranged to divide the row. The stabilizing ribs 405 may be used for mounting the guide structure 409. The stabilizing ribs 405 may also be used for mounting the support plate 404. The stabilizing ribs 405 may have a higher vertical extent than the support plate 404. The stabilizing ribs 405 may also be used to stabilize the storage container 106. The stabilizing ribs 405 may also stabilize the container support, for example, by stiffening the structure to prevent twisting under non-uniform loads. The stabilizing ribs 405 may also be arranged in a second direction Y. Stabilizing ribs 405 may replace one or more first support beams 406, or vice versa. Stabilizing ribs 405 may replace one or more second support beams 407, or vice versa.

[0161] The first support beam 406, the second support beam 407, the stabilizing ribs 405, the support plate 404, the guide structure 409, and any other components associated with the container support 402 may be connected to each other using fasteners, welding, a snap lock system, a tongue and groove system, or other known methods known to those skilled in the art.

[0162] 9 and 10 show that the container supports 402 of one or more container support skeletons 401 can be made displaceable along the second horizontal direction Y relative to the container support skeleton 401. To displace the displaceable container supports 402 along the second horizontal direction Y, the container support skeleton 401 of FIG. 9 is equipped with a support displacement device 700. Alternatively, the container supports 402 may be equipped with the support displacement device 700. The support displacement device 700 is configured to displace the displaceable container supports 402 relative to the container support skeleton 401.

[0163] To be displaceable along the second horizontal direction Y, the container support 402 and the corresponding container support skeleton 401 include a guide track 710 and a plurality of shelf rollers 709, 709′. The shelf rollers 709, 709′ are configured to run along the guide track 710. As illustrated in Figures 9 and 10, the guide track 710 may be provided on the container support skeleton 401 and the shelf rollers 709, 709′ may be provided on the container support 402, or vice versa.

[0164] The guide track 710 of Figure 9 is an extruded profile. The guide track 710 includes a horizontal portion 710'' and a vertical portion 710'. When the guide track 710 is arranged with its longitudinal direction extending along the second horizontal direction Y, the horizontal portion 710'' extends horizontally and the vertical portion 710' extends vertically.

[0165] The rollers 709, 709' in FIG. 10 are provided in pairs, each consisting of a shelf guide 709 and a horizontally moving shelf roller 709'. The shelf guide 709 has a rotation axis oriented vertically. The horizontally moving shelf roller 709' has a rotation axis oriented along the first horizontal direction X. As shown in FIG. 7, three pairs of rollers 709, 709' can be arranged along the side of the container support 402 and cooperate with corresponding guide tracks 710. The pairs of rollers 709, 709' are distributed so that one pair is in the center and one pair is at each distal end of the edge of the container support 402. One container support 402 will typically have rollers 709, 709' arranged at two opposing edges.

[0166] 9 shows how the horizontally moving shelf rollers 709′ cooperate with the guide track horizontal section 710″, in that the horizontally moving shelf rollers 709′ can roll along the guide track horizontal section 710″. The cooperation of the guide track horizontal section 710″ and the horizontally moving shelf rollers 709′ allows for relative displacement between the container support 402 and the container support skeleton 401.

[0167] 9 shows how the shelf guides 709 cooperate with the guide track horizontal section 710, in which the vertically moving shelf rollers 709' can roll along the guide track vertical section 710''. The cooperation of the guide track vertical section 710' and the shelf guides 709 controls the direction of relative movement between the container support 402 and the container support skeleton 401.

[0168] FIG. 9 shows an embodiment of a support displacement device 700. The support displacement device 700 comprises an electric motor 701. The electric motor 701 is arranged on the container support skeleton 401 by means of a bracket 713. The bracket can be connected to, for example, the vertical pillar 431. For maintenance purposes, the components of the support displacement device 700 are preferably arranged in a position that is easily accessible to technicians. In particular, the electric motor 701 or an alternative drive device is preferably arranged on the edge of the container support skeleton 401 and should extend outside the container support skeleton 401, preferably also close to the corners of the container support skeleton 401. By arranging the electric motors 701 of adjacent container support skeletons 401 on both sides of the container support skeleton 401, more space becomes available for technicians to install or perform maintenance on the electric motors 701 and / or the support displacement device 700.

[0169] The support displacement device 700 comprises a drive shaft 702 configured to be driven by an electric motor 701. The drive shaft 702 is also configured to drive, i.e. displace, the displaceable container support 402.

[0170] 9 and 11 show how the drive shafts 702 can be arranged on the container support skeleton 401. The drive shafts 702 are arranged on the container support skeleton 401 using brackets 712. These brackets 712 can be arranged on the vertical pillars 431. These brackets 712 are typically arranged at the distal ends of the drive shafts 702. The brackets 712 must allow rotation of the drive shafts 702. The drive shafts 712 are arranged at approximately the same height and extend along a first direction X.

[0171] 9 and 11, rotation of the electric motor 701 causes rotation of the drive shaft 702 by means of a belt wheel 708 arranged on the electric motor 701, a belt wheel 708 arranged on the drive shaft 702, and a first belt 706 connecting these belt wheels 708. The belt wheel 708 arranged on the drive shaft 702 is arranged on the distal end of the drive shaft 702 and aligns with the belt wheel 708 arranged on the electric motor 701. In FIGS. 9 and 11, each drive shaft 702 is driven by one electric motor 701. This is advantageous because it requires fewer parts and movement along each side is synchronized by the drive shaft 702 that is common to both sides. Alternatively, two electric motors 701 can be provided per drive shaft 702, connected to both ends of the drive shaft 702 or drive shaft portion.

[0172] 9 and 11, rotation of the drive shaft 702 causes displacement of the displaceable container support 402 using two belt wheels 708 arranged on the drive shaft 702, two belt wheels 708 arranged on the container support skeleton 401, two brackets 711 arranged on the container support 402, and two second belts 707.

[0173] Two belt wheels 708 arranged on the drive shaft 702 and configured to drive the container support 402 are concentric with each other and with the belt wheels 708 arranged on the drive shaft and configured to cooperate with an electric motor 701.

[0174] Two belt wheels 708 arranged on the container support skeleton 401 are provided on both sides of the container support skeleton 401 and are connected, for example, to guide tracks 710 or vertical pillars 431. The belt wheels 708 arranged on the container support skeleton 401 are aligned with the belt wheels 708 arranged on the drive shaft 702.

[0175] Each of the two second belts 707 connects one belt wheel 708 arranged on the drive shaft 702 with one belt wheel 708 arranged on the container support skeleton 401. When connected, the second belts 707 extend along a second horizontal direction Y. The second belts 707 therefore extend in the same direction as the intended displacement of the container support 402. The extension of the second belts 707 along the second horizontal direction Y should substantially correspond to or exceed the predetermined distance of displacement of the container support 402.

[0176] The two second belts 707 are arranged in the first direction X with a distance between them that exceeds the horizontal extension of the container support 402 along the first direction X.

[0177] Two brackets 711 are arranged on either side of the container support 402, facing a respective second belt 707. Each bracket 711 is aligned with and connected to a respective second belt 707. The brackets 711 and the second belts 707 can be crimped together using a plate arranged therebetween that is bolted to the brackets 711 and the second belts. In this way, the brackets can be connected to any given portion of the second belts 707.

[0178] The direction of displacement of the container support 402 depends on the direction of rotation of the drive shaft 702 and therefore the direction of rotation of the electric motor 701. By providing clockwise rotation from the electric motor 701, the container support 402 will be displaced in the opposite direction than when counterclockwise rotation is provided from the electric motor 701. The displacement rotation ratio between the container support 402 and the drive shaft 702 or electric motor 701 can be configured by selecting the size of the belt wheel 708.

[0179] 11 is a perspective view of the bottom portion of the storage tower 400. The bottom container support 402n, i.e., one of the second container supports 402b-n, is displaced relative to the upper container support 402. The displaced container support 402 is displaced in the second direction Y a distance corresponding to one grid cell 422.

[0180] 11 shows that the storage tower 400 includes a plurality of vertical pillars 431. These vertical pillars 431 are typically supported by the floor 440 and possibly also connected to the floor 440 using pillar brackets 435. The plurality of vertical pillars 431 are configured to support a plurality of guide tracks 710. If the storage tower 400 includes a rail system 408, the plurality of vertical pillars 431 can be configured to support the rail system 408. The vertical pillars 431 are dispersed with a distance along the first direction X and / or the second direction Y that is greater than the distance between the upright members 102 of the prior art skeletal structure 100. This is because the container supports 402 have a greater span than the storage columns 105 of the prior art skeletal structure 100. Therefore, each vertical pillar 431 should be configured to withstand a greater load than the upright members 102 since there are fewer of them. If the storage tower 400 includes a transport system 601, the plurality of vertical pillars 431 can be configured to support the transport system 601. This is illustrated in Figures 18A and 18B.

[0181] FIG. 12 shows a side view of a warehouse system 1 with one storage tower 400 of the present invention and one prior art storage grid 100. The support displacement devices 700 described above are shown arranged at the end of each container support 402. This particular configuration includes fourteen container support skeletons 401 a-n arranged beneath a rail system 408, each with one container support 402 displaceable in the Y direction. Other numbers of container support skeletons may be present as appropriate. Preferably, there are more than five container support skeletons, and preferably more than ten. A connecting rail system 408' can be seen 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 to enable movement between the storage grid 100 and the storage tower 400. 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 a mutual orientation and design such that the same type of vehicle 301 can operate on both rail systems 108, 408. Due to the different construction of the container support skeleton 401 for the storage tower 400 of the present invention and the stack 107 of storage containers 106 for the prior art storage grid 100, the upper rails 410, 411 of the container support skeleton 401 can advantageously be made wider compared to the upper rails 110, 111 of the stack 107 in at least one of the X / Y directions.

[0182] FIG. 13 shows a perspective view of the same warehouse system 1 as in FIG.

[0183] Both the storage tower 400 of the present invention and the storage grid 100 of the prior art can be of any size. In particular, it should be understood that the storage tower 400 and / or storage grid 100 can be significantly wider and / or longer and / or deeper than those disclosed in the accompanying figures. For example, the storage tower 400 and / or storage grid 100 may have a horizontal extent with space for more than 700 x 700 storage containers 106 and a storage depth of more than 14 storage containers 106.

[0184] As explained above, one method of disposing of storage towers 400 can be to remove all stacks 107 of storage containers 106 directly below the rail system 108 portion of the prior art warehouse system 1, as shown in Figure 1, leaving the cantilevered portion CP of the rail system 108. The step then is to insert one or more storage towers 400 of the present invention into the empty volume below the cantilevered portion CP of the rail system 108.

[0185] Figures 14 and 15A are perspective views of storage system 1 including storage tower 400 during operation. Figure 15B shows a vertical cross section of storage system 1 of Figure 15A.

[0186] To store and retrieve a target storage container 106' using the storage tower 400, the following operations are performed (see FIG. 14). - the control system 500 gives the vehicle 301 a command to load the target storage container 106' with coordinates X, Y, Z. This position corresponds to the storage container 106 being positioned within the container space of the container support 402, which forms part of the horizontal container support skeleton 401g at a depth of 5×ΔdV+Vr1 below the rail system 408. All of the openings 403 in the storage tower 400 are initially aligned (with the same XY coordinates), so that the XY position of the target opening 403' in the container support skeleton 401a adjacent the rail system 408 is equal to the XY position of the target opening 403' in the underlying container support skeletons 401b-n. - The vehicle 301 moves in the X and Y directions with the aid of its drive means 301b,c until its lifting device 304 is positioned directly above the target opening 403', which is mounted within the row of storage containers in which the target storage container 106' is located. During and / or after the vehicle 301 moves to a position above the target opening 403', the control system 500 sends a command to the support displacement device 700 to displace the container support 402 of the container support skeleton 401g a sufficient distance in the second direction Y so that the target storage container 106' is vertically aligned with the target opening 403' of the upper installed container support skeleton 401a-f. During and / or after the displacement of the container support 402, the lifting device 304 of the vehicle 301 is activated and lowered downward 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 grasped by the lifting device 304 and raised above the container support skeleton 401f mounted above, the support displacement device 700 is activated again to move the container support 402 back to its initial Y position. Once the target storage container 106' is elevated above the rail system 408, the vehicle 301 is moved to another location on the rail system 408, for example, a dedicated port column / chute 436 for delivery to an access station 437.

[0187] The present process has the advantage that the need to perform excavations, which was performed for prior art warehouse systems, is no longer necessary.

[0188] In the operational example of FIG. 14 , the target storage container 106′ is positioned next to an opening 403 in the same row of container spaces. Some rows of container spaces may include more than one container space on either side of the opening 403. If the target storage container 106′ is not positioned next to an opening 403, i.e., if a container space exists between the target storage container 106′ and the opening 403, the container support 402 must be displaced a distance along the second horizontal direction Y corresponding to two grid cells 422 to position the target storage container 106′ vertically aligned with the target opening 403′ in the upper installed container support framework 401 a-f. There may not be enough space within the storage tower 400 for the container support 402 to be displaced a distance corresponding to two grid cells 422 in both directions along the second direction Y from its initial position. In that case, the target storage container 106' can be retrieved by displacing all of the container supports upward by the distance of one grid cell in the other direction, as shown in FIG. 15A.

[0189] The retrieval operation of Figure 15A is similar to the operation described with reference to Figure 14. However, an additional step is performed. During movement of the vehicle 301 to a position above the target opening 403', the control system 500 sends a command to the support displacement device 700 to displace the container support skeletons 401 a-f of the container support skeletons 401 a-f above the target storage container 106' a sufficient distance in the second horizontal direction Y such that the target storage container 106' is vertically aligned with the target opening 403' of the upper mounted container support skeletons 401 a-f. The container supports 402 of the container support skeletons 401 a-f mounted above the target storage container 106' are displaced along the second horizontal direction Y a distance corresponding to one grid cell 422 and opposite to the displacement of the container supports 402 of the target storage container 106'.

[0190] Figure 15B shows a cross section of the storage system 1 according to Figure 15A, where two vehicles 301 simultaneously retrieve separate target containers 106' positioned on the same container support 402. When the control system 500 detects two target storage containers 106' positioned on the same container support 402, particularly when positioned within the same row of the container space, the control system 500 may instruct the two vehicles 301 to simultaneously load these target storage containers 106'.

[0191] 16A-B, 17, and 18A-B show a warehouse system 1 that includes one storage tower 400. Instead of vehicles 201, 301 with wheels that move on a rail system 408, warehouse system 1 includes a transport system 601. Transport system 601 includes a crane 602 that is movable in a first direction X on a sliding bar 603 that extends across the width of storage tower 400. Movement in a second direction Y is achieved by sliding the sliding bar 603 along two fixed bars 604 that extend in the second direction Y on either side of storage tower 400. In FIGS. 16-18, crane 602 is shown as a container handling vehicle with a cantilever construction supported on two parallel sliding bars 603.

[0192] When the transport system 601 receives a command from the control system 500 to retrieve a target storage container 106', for example, stored in the sixth container support skeleton 401f and counting from above (as shown in FIG. 17), the support displacement device 700 displaces the container support 402 in the Y direction until the target storage container 106' is vertically aligned with the target opening 403', which is vertically aligned with the five container support skeletons 401a-e installed above. Before, during, or after the displacement of the container support 402, the crane 602 of the transport system 601 is moved, by use of the sliding bar 603 and fixed bar 604, to a location where the lifting device 304 is vertically aligned above the target opening 403' of the first container support skeleton 401a (due to the initial alignment, the corresponding openings 403 of the container support skeletons 401b-e are also aligned downwards to at least the container support skeleton 401f with the target storage container 106').

[0193] The storage tower 400 shown in Figures 16A-18B also includes a dedicated port column or chute 436 onto which target storage containers 106' can be lowered / lifted by use of the lifting device 403 of the crane 602. In Figures 16A-B and 17, an access station 437 is shown arranged below the lower end of the chute 436 to receive and provide, respectively, storage containers 106 to be retrieved and stored.

[0194] The operations described with reference to Figures 14 and 15A-B apply mutatis mutandis to storage tower 400 with transport system 601.

[0195] 18A-B show that storage tower 400 may include horizontal beams 432 for connection to the tops of vertical pillars 431.

[0196] In the foregoing description, various aspects of an automated warehouse system and associated method for loading product items using vehicles have been described with reference to illustrative embodiments. For purposes of explanation, specific numbers, 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, that are apparent to those skilled in the art to which the disclosed subject matter pertains are deemed to be within the scope of the present invention.

[0197] 19a-c show three different storage towers 400. FIG.

[0198] The storage tower 400 of Figure 19a has a container support 402 with a matrix of container spaces with four rows and five columns, i.e., a 4x5 matrix. The four rows of container spaces are symmetrical. Each row is configured to receive four storage containers 106 and includes one opening 403.

[0199] The storage tower 400 of FIG. 19b has a container support 402 with a matrix of container spaces with four rows and ten columns, i.e., a 4×10 matrix. The four rows of container spaces are symmetrical. Each row is configured to receive eight storage containers 106 and has two openings 403. One container support 402 of the storage tower 400 of FIG. 19b is equivalent to two container supports 402 of the storage tower 400 of FIG. 19a, installed side by side along the second direction Y.

[0200] The storage tower 400 of FIG. 19c has a container support 402 with a matrix of container spaces with four rows and 15 columns, i.e., a 4×15 matrix. The four rows of container spaces are symmetrical. Each row is configured to receive 12 storage containers 106 and has three openings 403. One container support 402 of the storage tower 400 of FIG. 19c is equivalent to three container supports 402 of the storage tower 400 of FIG. 19a, installed side by side along the second direction Y.

[0201] 19b and 19c, each row of the container space exhibits a plurality of openings 403 distributed with an offset corresponding to d+1 grid cells 422 in the second direction Y, where d is an integer greater than or equal to 1. In these particular examples, d=4.

[0202] List of Reference Numbers [Table 1-1] [Table 1-2] [Table 1-3]

Claims

1. A storage tower (400) for storing storage containers (106), said storage tower comprising a plurality of horizontally extending container support skeletons (401) distributed with a vertical offset (ΔdVb-n); said plurality of horizontal container support skeletons (401) a first container support skeleton (401a), at least one second container support skeleton (401b-n) arranged directly below said first container support skeleton (401a) and extending parallel to said first container support skeleton (401a); Equipped with each of said first container support skeleton and said at least one second container support skeleton (401b-n) - horizontally extending container supports (402) with main directions in a first direction (X) and an orthogonal second direction (Y), each container support (402) being configured as a matrix of container spaces with a number of columns of container spaces arranged in said first direction (X) and a number of rows of container spaces arranged in said second direction (Y); Equipped with Each row of container spaces of said first container skeleton (401a) comprises: - configured to receive a plurality of storage containers (106); - presenting at least one opening (403) extending along said second direction (Y), said at least one opening (403) being at least as large as the largest horizontal cross section (A) of said storage container (106) to be stored; ｆ ) and has an opening size of at least one opening (403) of said first container skeleton (401a) and at least one opening (403) of said at least one second container skeleton (401b-n) may be vertically aligned with respect to each other; at least one container support (402) is displaceable along said second direction (Y); A storage tower, wherein at least one container support framework (401a-n) further comprises a support displacement device (700) configured to displace said displaceable container supports (402).

2. Each row of container spaces of said at least one second container skeleton (401b-n) comprises: - configured to receive a plurality of storage containers (106); - presenting at least one opening (403) extending along said second direction (Y), said at least one opening (403) being at least as large as the largest horizontal cross section (A) of said storage container (106) to be stored; ｆ 2. The storage tower (400) of claim 1, having an opening size of:

3. 3. The storage tower (400) of claim 1 or 2, wherein the support displacement device (700) comprises a linear actuator, a gear drive, a chain drive, a belt drive, or any combination thereof.

4. the support displacement device (700) comprises a motor for driving the linear actuator, gear drive, chain drive, belt drive, or any combination thereof, the motor being arranged outside the horizontal extent of the individual container support skeleton (401) containing at least one displaceable container support (402) to be displaced; or 4. The storage tower (400) of claim 3, wherein the support displacement device (700) is a direct drive mechanism arranged on the container support (402).

5. Each container support (402) further comprises a plurality of horizontally moving shelf rollers (709') arranged in a rotational manner on at least one side of the container support (402) extending along the second direction (Y), the horizontally moving shelf rollers (709') having a horizontal rotation axis aligned with the first direction (X); Each of the plurality of container support skeletons (401) further comprises a set of guide tracks (710) arranged on both sides of the container support skeleton (401) along the second direction (Y), the sets of guide tracks (710) being oriented with their longitudinal directions parallel to the second direction (Y); The storage tower (400) according to any one of claims 1 to 4, wherein each guide track (710) comprises a horizontal portion (710') for supporting and guiding said plurality of horizontally moving shelf rollers (709').

6. Each container support (402) further comprises a plurality of shelf guides (709) arranged at least on the side of the container support (402) comprising the plurality of horizontally moving shelf rollers (709'); 6. The storage tower (400) of claim 5, wherein each guide track (710) further comprises a vertical portion (710'') for guiding the plurality of shelf guides (709).

7. each row comprising a vertical guide plate (409) arranged at least partially around the periphery of each of said at least one opening (403); The storage tower (400) of any one of claims 1 to 6, wherein the vertical guide plate (409) is configured so that storage containers (106) being raised or lowered into the individual openings (403) are aligned in a horizontal plane.

8. the at least one opening (403) presented by each row of container spaces is a separate opening (403); 8. The storage tower (400) of claim 1, wherein the at least one opening (403) of each parallel arranged row of container spaces in the at least one container support (402) is horizontally aligned along the first direction (X).

9. 8. The storage tower (400) of claim 1, wherein the at least one opening (403) presented by each row of at least one container space of the container supports (402) are fused together to form a continuous opening (403) extending along the first direction (X) and defining an area substantially equal to one column of container spaces.

10. The at least one displaceable container support (402) is arranged along the second direction (Y) in a direction ｆ 10. The storage tower (400) of any one of claims 1 to 9, wherein the storage tower (400) is displaceable by a distance substantially equal to x×i, where i is an integer, preferably i=1 or i=2.

11. A storage tower (400) as described in any one of claims 1 to 10, wherein each row of container spaces presents a plurality of openings (403) separated from one another by intervals corresponding to d+1 grid cells (422) in the second direction (Y), where d is an integer greater than or equal to 1.

12. A storage tower (400) as described in any one of claims 1 to 11, wherein each row of the container space presents at least one opening (403), the number of at least one opening (403) in each row is the same, and the distribution of the at least one opening (403) in each row is the same.

13. A storage tower (400) according to any one of claims 1 to 12, wherein the lowest container support (402) has at least one row of container spaces without openings (403).

14. The storage tower (400) has a first vertical offset (V ｒ１ 14. The storage tower (400) of any one of claims 1 to 13, further comprising a transport mechanism (601) arranged above the uppermost container support framework (401a) in the storage tower (400).

15. The storage tower (400) has a first vertical offset (V ｒ１ 15. The storage tower (400) of claim 1, further comprising a rail system (408) arranged above the first container support framework (401a) in a

16. The rail system (408) comprises a first set (410) of parallel rails arranged in the first direction (X) and a second set (411) of parallel rails arranged in the second direction (Y), 16. The storage tower (400) of claim 15, wherein the rail system (408) is aligned with the container support framework (401) such that each row of container spaces is vertically aligned with the second set of parallel rails (411).

17. An automated warehouse system (1) configured to store a plurality of storage containers (106), comprising: a storage tower (400) according to any one of claims 1 to 13; a plurality of storage containers (106) supported on said plurality of horizontally arranged container support skeletons (401); a remotely operated vehicle (201; 301; 602) configured to move laterally above said plurality of container support frameworks (401), said remotely operated vehicle (201; 301; 602) comprising a lifting device (304) configured to grip and vertically lift a storage container (106); a control system (500) configured to wirelessly monitor and control the movement of said remotely operated vehicle (201; 301); An automated warehouse system (1) comprising:

18. The system (1) further comprises a storage grid (100), The storage grid comprises: - a plurality of vertical storage columns (105) for stacking storage containers (106) on top of each other; a rail system (108) on which a plurality of container handling vehicles (201; 301) can be operated; Equipped with the rail system (108) is arranged above the plurality of storage columns (105); 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 cantilevered portion (CP) with a horizontal extent equal to the difference between the horizontal extent of the rail system (108) and the horizontal extent of the plurality of storage columns (105); 18. The automated warehouse system (1) of claim 17, wherein one or more of the storage towers (400) are at least partially aligned below the cantilever portion (CP) of the rail system (108) and positioned such that each of the container spaces of the first container support (402) can be vertically aligned below a grid opening (415) of the cantilever portion (CP).

19. The system (1) further comprises a storage grid (100), The storage grid comprises: - a plurality of vertical storage columns (105) for stacking storage containers (106) on top of each other; a transport mechanism (601), wherein the remotely operated vehicle is a crane (602) movable along a sliding bar (603) aligned parallel to a first direction (X); Equipped with the sliding bar (603) has two ends movable along two fixed bars (604) arranged parallel to a second direction (Y); the transport mechanism (601) is arranged above the plurality of storage columns (105); the transport mechanism (601) comprises a cantilever portion (CP) with a horizontal extent equal to the difference between the horizontal extent of the transport mechanism (601) and the horizontal extent of the plurality of storage columns (105); 18. The automated warehouse system (1) according to claim 17, wherein one or more of the storage towers (400) are at least partially arranged below the cantilever portion (CP) of the traveling crane system (108).

20. The storage tower (400) has a first vertical offset (V ｒ１ 18. The automated warehouse system (1) according to claim 17, further comprising a rail system (408) arranged above the top container support framework (401a) in the automated warehouse system (1).

21. 21. A method for storing and retrieving storage containers (106) from an automated warehouse system (1) according to any one of claims 17 to 20, wherein the plurality of horizontal container support skeletons (401) comprises a number j of parallel container support skeletons (401a-n), where j is an integer greater than or equal to 2, at least one container support (402) of said at least one second container support skeleton (401b) is displaceable along a second direction (Y) perpendicular to the first direction (X); The method comprises: A. The lifting device (304) a) a target storage container (106') supported on said first container support skeleton (401a), or b) a target opening (403a') of the first container support skeleton (401a) that is vertically alignable with the target storage container (106') when the target storage container (106') is installed on one of the j-1 parallel container support skeletons (401b-n) directly below the first container support skeleton (401a); moving the remotely operated vehicle (201; 301; 602) to a position where it is positioned in vertical alignment above any of the B. If the target storage container (106') is not positioned vertically aligned below the target opening (403a'), a) displacing a displaceable container support (402) of the container support skeleton (401b) on which the target storage container (106') is supported in the second direction (Y) and positioned in vertical alignment below the target opening (403a') of the first container support skeleton (401a); or b) if at least one container support (402) of the first container support skeleton (401 a) is displaceable along the second direction (Y), displacing the at least one displaceable container support (402) of the one or more container support skeletons (401 a-k) mounted above and having the same position in the first direction (X) as the row of displaceable container supports (402) on which the target storage container (106′) is supported by an equal distance in the second direction (Y) opposite to the direction in a), so as to position the target storage container (106′) vertically aligned below the target opening (403 a′) of the first container support skeleton (401 a); or c) if at least one container support (402) of the first container support skeleton (401 a) is displaceable along the second direction (Y), displacing both the target storage container (106′) supported on the container support (402) as described in step a) and the one or more displaceable container supports (402) arranged above as described in step b) so as to position the target storage container (106′) vertically aligned below the target opening (403 a′); C. Grasping and lifting the target storage container (106') by using the lifting device (304); D. moving the remotely operated vehicle (201; 301) with the target storage container (106') horizontally to a different location; A method comprising:

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