Container handling vehicles capable of loading and / or unloading

Abstract

A container handling vehicle for operation on a two-dimensional rail system is described, the two-dimensional rail system comprising a first set of parallel rails arranged to guide movement of the container handling vehicle in a first direction (X) across the top of a frame structure and a second set of parallel rails arranged perpendicular to the first set of rails, the container handling vehicle comprising a base, a support structure, a container lifting device and a support surface, the container handling vehicle comprising a movement mechanism for horizontally translating the set of suspension points or the support surface relative to the base.

Description

[Technical Field]

[0001] The present invention relates to an automated storage and retrieval system for the storage and retrieval of containers, and in particular to a container handling vehicle for use in such a system and a method for the transfer of storage containers from a storage location to a support surface on the container handling vehicle. [Background technology]

[0002] FIG. 1A discloses a typical prior art automated storage and retrieval 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 skeletal 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 horizontal members 103. In these storage columns 105, storage containers 106, also known as bins, are stacked on top of each other to form stacks 107. The members 102, 103 may typically be made from metal, for example, extruded aluminum profiles.

[0004] The framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 disposed 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 storage columns 105, lower storage containers 106 into storage columns 105, and also transport storage containers 106 up the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 disposed 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 disposed 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. The containers 106 stored in the columns 105 are accessed by the container handling vehicles through access openings 115 in the rail system 108. The container handling vehicles 201, 301 are able to move laterally above the storage columns 105, i.e. in a plane that is parallel to the horizontal XY plane.

[0005] The horizontal extent of one of the grid cells 122 that make up the grid pattern is marked by a bold line in FIG. 1A.

[0006] Each grid cell 122 has a width typically in the interval of 30-150 cm and a length typically in the interval of 50-200 cm. Each access opening 115 has a width and a length that are typically 2-10 cm less than the width and length of a grid cell 122, respectively, due to the horizontal extent of the rails 110, 111.

[0007] The rail system 108 can be a single-rail system, as shown in FIG. 1B. Alternatively, the rail system 108 can be a dual-rail system, as shown in FIG. 1C, thus allowing a container handling vehicle 201 having an occupancy area generally corresponding to the lateral area defined by the storage columns 105 to travel along a row of grid columns, even if another container handling vehicle 201 is positioned above a grid column adjacent to that row. Both single-rail and dual-rail systems, or a combination of single and dual-rail arrangements within the single-rail system 108, form a grid pattern in the horizontal plane P comprising a plurality of rectangular, uniform grid locations or grid cells 122, each grid cell 122 comprising a grid opening 115 bounded by a pair of rails 110 a, 110 b of the first set of rails 110 and a pair of rails 111 a, 111 b of the second set of rails 111. In FIG. 2B, the grid cells 122 are indicated by dashed boxes.

[0008] As a result, rails 110a and 110b form a pair of rails that define parallel rows of grid cells extending in the X direction, and rails 111a and 111b form a pair of rails that define parallel rows of grid cells extending in the Y direction.

[0009] As shown in FIG. 1D, each grid cell 122 has a width W , typically spaced 30-150 cm apart. c and length L, typically within an interval of 50 to 200 cm. c Each grid opening 115 typically has a width W of a grid cell 122. c and length L c Width W 2 to 10 cm smaller than o and length L o It has the following.

[0010] In the X and Y directions, adjacent grid cells are placed in contact with each other, so that there is no space between them.

[0011] The uprights 102 of the skeletal structure 100 can 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.

[0012] Each prior art container handling vehicle 201, 301 includes a body 201 a, 301 a and first and second sets of wheels 201 b, 301 b, 201 c, 301 c that enable lateral movement of the container handling vehicle 201, 301 in the X and Y directions, respectively. Two wheels in each set are fully visible in Figures 2 and 3. The first set of wheels 201 b, 301 b are positioned to engage two adjacent rails of the first set of rails 110, and the second set of wheels 201 c, 301 c are positioned to engage two adjacent rails of the second set of rails 111. At least one of the wheel sets 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 the respective set of rails 110, 111 at any one time.

[0013] Each prior art container handling vehicle 201, 301 also includes a lifting device (not shown) for vertically transporting the storage containers 106 (e.g., lifting the storage containers 106 from the storage columns 105 and lowering them into the storage columns 105). The lifting device includes one or more gripping / engaging devices adapted to engage with the storage containers 106, which can be lowered from the vehicle 201, 301, thereby adjusting the position of the gripping / engaging devices relative to the vehicle 201, 301 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 201a of FIG. 2.

[0014] As is conventional, for purposes of this application, Z=1 identifies the top layer of storage containers, 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, etc. In the exemplary prior art disclosed in FIG. 1 , Z=8 identifies the lowest bottom layer of storage containers. 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, the 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 at layer Z=0, and each storage column 105 may be identified by its X and Y coordinates.

[0015] 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 a position in the X and Y directions, while each storage cell may be identified by a container number in the X, Y, and Z directions.

[0016] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and storing the storage containers 106 as they are transported across the rail system 108. The storage space may include a centrally located cavity 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.

[0017] 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.

[0018] 2 may have a footprint covering an area with dimensions in the X and Y directions (roughly equal to the lateral extent of the storage column 105), for example, as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" may mean "horizontal."

[0019] Alternatively, the central hollow container handling vehicle 101 may have a footprint larger than the lateral area defined by the storage columns 105, for example as disclosed in WO2014 / 090684A1.

[0020] Rail system 108 typically includes rails with grooves along which vehicle wheels run. 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.

[0021] WO2018 / 146304 (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.

[0022] 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 for unloading and / or loading storage containers 106, whereby the storage containers 106 can be transported to access stations (not shown), where they can be accessed from outside the skeleton structure 100 or 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 can be referred to as "port columns" 119, 120. Transport to the access stations can 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 transport of storage containers 106 having a general transport orientation between some horizontal and vertical.

[0023] In FIG. 1A, the first port column 119 may be, for example, a dedicated unloading 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.

[0024] An access station may typically be a picking station or a stockpiling station where a product item is removed from or placed into a storage container 106. At a picking or stockpiling station, the storage container 106 is typically not removed from the automated storage and retrieval system 1, but is accessed and then 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 storage and retrieval system), to a transport vehicle (e.g., a train or lorry), or to a production facility.

[0025] A conveyor system comprising conveyors is typically employed to transport storage containers between the port columns 119, 120 and the access stations.

[0026] 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.

[0027] 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.

[0028] 1A 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 lowering port column 119. This operation involves moving the container handling vehicle 201, 301 to a location above the storage column 105 where the target storage container 106 is 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 lowering 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 then be performed using the same container handling vehicle 201, 301 used to transport the target storage container 106 to the unloading port column 119, or using one or more other cooperating container handling vehicles 201, 301. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201, 301 specifically dedicated to the task of temporarily removing the storage container 106 from the storage column 105. Once the target storage container 106 is removed from the storage column 105, the temporarily removed storage container 106 can be repositioned in the original storage column 105. However, the removed storage container 106 may alternatively be relocated to another storage column 105.

[0029] 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 106 located at or above the target location in the stack 107 is removed, the container handling vehicle 201, 301 positions the storage container 106 in the desired location. The removed storage container 106 can then be lowered back into the storage column 105 or transferred to another storage column 105.

[0030] To monitor and control the automated storage and retrieval system 1, for example, the location of each storage container 106 within the skeletal structure 100, the contents of each storage container 106, and the movement 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 storage and retrieval system 1 typically includes a control system 500 that is computerized and typically includes a database for tracking the storage containers 106. [Prior art documents] [Patent documents]

[0031] [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]

[0032] SUMMARY OF THE INVENTION It is an object of the present invention to provide a container handling vehicle capable of transporting multiple storage containers.

[0033] It is yet another object of the present invention to provide a container handling vehicle that is capable of loading and unloading storage containers onto and from itself.

[0034] The present invention is set forth and characterized in the independent claims, while the dependent claims describe further characteristics of the invention.

[0035] According to the present invention, there is provided a container handling vehicle capable of loading and unloading itself. The container handling vehicle comprises a base, such as a wheeled base or a belted base, a lifting frame, and a support surface. At least one of the lifting frame and the support surface is movable relative to the base such that the lifting frame can move storage containers from a storage position within the frame structure (i.e., a storage position below the rail system) onto the support surface, and vice versa. Thus, movement of storage containers between the stack and the support surface is achieved by: 1) a lifting frame movable between a location where storage locations below the rail system can be accessed and at least one support surface on a container handling vehicle from which the lifting frame can load and unload storage containers; or 2) at least one support surface that is movable relative to the base between at least one position where it is located directly below the lifting frame and a position where it is positioned beyond the lifting frame so that the lifting frame can access storage locations below the rail system; This can be achieved by either

[0036] 1. A container handling vehicle for operation on a two-dimensional rail system, the two-dimensional rail system comprising a first set of parallel rails arranged to guide movement of the container handling vehicle in a first direction X across an upper portion of a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails for guiding movement of the container handling vehicle in a second direction Y that is perpendicular to the first direction, the first and second sets of parallel rails forming a grid dividing the rail system into a plurality of grid cells, and the container handling vehicle a base comprising movement means for guiding a container handling vehicle in a first direction X and a second direction Y, respectively, along the rail system; a support structure provided on the base, the support structure extending from the lower section to the upper section of the base; a container lifting device comprising a lifting frame for lifting a storage container upward from a storage position below the rail system, the lifting frame being suspended from a set of suspension points on an upper section of a support structure; a support surface for supporting a storage container, the support surface providing a first holding position disposed at a height lower than the lifting frame when the lifting frame is in a docked position adjacent to the upper section of the support structure; -A container handling vehicle is described which includes a movement mechanism for horizontally translating the set of suspension points or support surface relative to the base so that an elevated storage container can be placed on the support surface and a lifting frame separated therefrom.

[0037] The base is preferably a wheeled base comprising a first set of wheels and a second set of wheels for guiding the container handling vehicle along the rail system in the first direction X and the second direction, respectively.

[0038] Alternatively, the base can be a belt base comprising a first belt and a second belt for guiding the container handling vehicle along the rail system in the first direction X and the second direction, respectively.

[0039] The term "horizontally translating" a set of suspension points or a support surface relative to a base can be a movement with only a horizontal component (i.e., in the horizontal direction only), or it can be a movement with both a horizontal and a vertical component (i.e., in both the horizontal and vertical directions). The latter can also be a rotational movement in a vertical plane.

[0040] The container handling vehicle is equipped with a set of suspension points for suspending the lifting frame. The set of suspension points can be pulleys or winders. The set of suspension points can be movable; for example, they can be part of a frame that extends along a fixed cantilever or other horizontal surface guide, or it can be an entire cantilever that slides across.

[0041] The support surface can be provided by any device or surface that serves a function such as a shelf, such as a plate, two arms forming a forklift, a carrier, etc.

[0042] The base, hereafter referred to as the wheeled base, is used as a reference for the movement of the set of suspension points (and therefore the lifting frame) and the support surface, which will usually be above or flush with the upper portion of the wheeled base.

[0043] The movement mechanism may also be configured for horizontal translational movement, either linear (eg, along the X and Y directions) or rotational.

[0044] In addition to the lifting frame and suspension points, the container lifting device may further comprise one or more lifting shafts, lifting bands, guide pulleys for the lifting bands, and the like.

[0045] The container handling vehicle is operable on a two-dimensional rail system comprising a first set of parallel rails positioned to guide movement of the container handling vehicle in a first direction X across the top of the frame structure, and a second set of parallel rails positioned perpendicular to the first set of rails for guiding movement of the container handling vehicle in a second direction Y that is perpendicular to the first direction X.

[0046] In one aspect, at least one of the lift frame and the support surface can be configured for linear translational movement in a horizontal direction, which can be a direction parallel to one set of rails.

[0047] The suspension point may be linearly movable such that in a first position the lifting frame is positioned to retrieve a storage container from a storage location below the rail system, and in a second position the lifting frame is positioned above the first holding location.

[0048] In the first position, the lifting frame can be positioned to retrieve a storage container from a storage location below the rail system on which the container handling vehicle operates, and in the second position, the lifting frame can be positioned above the support surface.

[0049] The lifting frame and the first holding position are In the first position, the vertical projection of the lifting frame is positioned over the first holding position; In the second position, the vertical projection of the lifting frame avoids the first holding position. It can be arranged as follows.

[0050] The support surface may be linearly movable relative to the wheeled base by actuation of the movement mechanism such that, in a first position, the support surface is disposed within a vertical projection of the wheeled base, and in a second position, the support surface is disposed outside the vertical projection of the wheeled base. Thus, in the first position, the lifting device may be positioned to retrieve a storage container from a storage location below the container handling vehicle. The support surface may receive a storage container in a first position, e.g., a container receiving position, below the lifting device and then transport the storage container to a second position, which is a first holding position.

[0051] The first and second positions of the support surface may correspond to the grid layout of the first and second sets of rails such that the lifting device lifts the container in the first position corresponding to the grid space up to the side of the wheeled base, lowers the container onto the support surface, and then transfers the storage container to the first holding position by moving the support surface to a second position corresponding to the grid space below the wheeled base.

[0052] The movement mechanism may be disposed within the wheeled base such that the support surface is horizontally translatable relative to the wheeled base.

[0053] The movement mechanism may be disposed within the upper section such that the lift frame surface is horizontally translatable relative to the wheeled base.

[0054] The container handling vehicle may include a second movement mechanism for horizontally translating the other of the set of suspension points or the support surface relative to the wheeled base. Thus, in this embodiment, both the set of suspension points and the support surface can move relative to the wheeled base.

[0055] The container handling vehicle may include a second support surface providing a second holding position located adjacent to or above the first holding position.

[0056] The movement mechanism may comprise a set of suspension points or a linear guide system that supports a support surface.

[0057] The linear guide system may be horizontally expandable.

[0058] The linear guide system is a first movement mechanism for horizontal translational movement of the lifting frame or the support surface within an area defined by the vertical projection of the wheeled base; a second movement mechanism for horizontal translation of the lifting frame or the support surface outside the area defined by the vertical projection of the wheeled base; The moving mechanism may include at least two moving mechanisms including:

[0059] The first movement mechanism may comprise a linear bearing, a rack and pinion, a linear actuator, and / or a ball screw.

[0060] The second movement mechanism may comprise a linear bearing, a rack and pinion, a linear actuator, and / or a ball screw.

[0061] In one aspect, at least one lifting device motor and a movement mechanism for horizontally moving the lifting frame may be located on or above the lifting frame, preferably next to or above the lifting frame, so as not to be within the operating area required for vertical and / or horizontal movement of the lifting frame. Additionally, one or more batteries may also possibly be located on or above the lifting frame; however, the battery / batteries may be located within the wheeled base, and a cable may extend to the lifting device motor.

[0062] When the storage container is positioned in the first holding position, a top portion of the storage container may represent a first height; the lift frame may have a lowermost portion at a second height when in a docked state; The second height exceeds the first height such that the bottom portion of the docked lift frame can pass over the top portion of the storage container positioned in the first holding position.

[0063] Container handling vehicles: a wheeled base in the form of a wheel base unit, the first and second sets of wheels forming the periphery of the footprint of the wheel base unit; a lower section provided on the wheel base unit, the lower section having an footprint with a horizontal extent equal to or less than the footprint of the wheel base unit, the lower section having an upper surface, the upper surface providing a support surface; a support section forming a support structure and extending vertically from the lower section, the support section having an occupation area with a horizontal extent smaller than the occupation area of ​​the lower section; a cantilever section forming the upper section and extending horizontally from the support section beyond the area occupied by the lower section; The support section may include a through opening for moving the support surface or lifting frame therethrough.

[0064] The through opening may be sized to allow the storage container to pass through. Thus, it may have a width dimension greater than the width dimension of the storage container (optionally the larger of the width dimensions of the storage container) and a height dimension greater than the height dimension of the storage container. The through opening may be large enough to accommodate the lifting device and / or support structure. The through opening may comprise a substantially rectangular opening.

[0065] The footprint of a wheel base unit may correspond in size to a single grid cell of the underlying grid provided by the two sets of rails (i.e., corresponding to the area of ​​the opening in the grid and the area around the opening corresponding to the width of the rail track). In other embodiments, the wheel base unit may correspond to an integer number of grid cells, the integer being greater than 1.

[0066] The container handling vehicle may include a second support surface providing a second holding position disposed above the support surface forming the first holding position, and the cross-sectional area of ​​the through opening may be configured for passage of the support surface both when either of the support surfaces is holding a storage container and when it is not holding a storage container. The second support surface may be located within the vertical projection of the (first) support surface when the support surface is located directly above the wheel base unit.

[0067] The container handling vehicle may include two lifting frames and at least two support surfaces, the two lifting frames may be positioned on either side of the wheeled base and outside the vertical projection of the wheeled base, and the at least two support surfaces may be positioned within the vertical projection of the wheeled base, and each of the support surfaces may be movable relative to the wheeled base to a position outside the wheeled base and below one of the lifting frames, respectively.

[0068] The container handling vehicle may include two wheeled bases and at least two support surfaces, the wheeled bases may be provided on either side of the support structure, one lifting frame may be suspended from an upper section of the support structure, and each of the support surfaces may be movable relative to the wheeled bases to a position below the lifting frame. When no support surface is provided below the lifting frame, the lifting frame may be positioned to retrieve a storage container from a storage location below the rail system.

[0069] The container handling vehicle may include a second movement mechanism for horizontally translating the set of suspension points relative to the wheeled base in the other of the first or second directions (X, Y) so that the lifting frame may move in the X and Y directions. The second movement mechanism may be a movement mechanism separate from the (first) movement mechanism or may form part of the (first) movement mechanism.

[0070] Container handling vehicles: a wheeled base in the form of a wheel base unit, the first and second sets of wheels defining a perimeter of a footprint of the wheel base unit; a lower section that may be provided on the wheel base unit, the lower section having an area with a horizontal extent that may be equal to or less than the area of ​​the wheel base unit, the lower section having an upper surface, the upper surface providing a support surface; a support section forming a support structure and extending vertically from the lower section, the support section having an occupation area with a horizontal extent smaller than the occupation area of ​​the lower section; a cantilever section forming the upper section and extending horizontally from the support section beyond the footprint of the lower section; The transfer mechanism may further comprise a rotation device adapted to rotate the support section, and therefore the cantilever section, relative to the wheeled base so that in a first state the lifting frame can lift the container upward from a storage position below the rail system, and in a second state the lifting frame can place the storage container on the support surface.

[0071] When in the second state, the support section and the cantilever section may be within the occupation area of ​​the wheel base unit. In the first state, the container handling vehicle may occupy two grid cells, while in the second state, the container handling vehicle may occupy only one grid cell.

[0072] The center of gravity of the support surface may be located above the wheeled base.

[0073] The container handling vehicle may further include a weight distribution system including a movable load and a load-moving device for varying the center of gravity of the container handling vehicle in response to the load of one or more storage containers being carried by the container handling vehicle. The load-moving device may be an actuator, a ball screw, or the like. The movable load may be located relatively high or relatively low within the container handling vehicle. In one aspect, it may be located above the lifting device. In another aspect, it may be located within a wheeled base.

[0074] The weight distribution system a set of sensors for measuring the weight of any storage container supported by the support surface and by the lifting frame; a control system connected to both the set of sensors and the load moving device, the control system sensing a change in mass on at least two opposite sides of the container handling vehicle based on measurement data from the set of sensors, calculating a travel distance for the movable load corresponding to the change in mass, and commanding the load moving device to move the movable load the calculated travel distance in the opposite direction to the relatively heavier side of the container handling vehicle. The control system may perform live, i.e., real-time, calculations of the dynamic center of gravity of the moving container handling vehicle, such as acceleration and deceleration, and command the load moving device to move the movable load in a direction such that the center of gravity is pushed to a more advantageous point, for example with a reduced risk of tipping the container handling vehicle.

[0075] 1. A method of loading storage containers between a stack location in an automated storage and retrieval system and a storage location on a container handling vehicle, as described above, comprising: - loading the storage container from a stacking position located below the rail system using a lifting frame of a lifting device; - placing the storage container on a support surface of the container handling vehicle and decoupling the lifting frame from the storage container; A method is further described that includes:

[0076] The method is: The method may further include the step of moving the loaded storage container by using a movement mechanism to horizontally translate the set of suspension points or support surface relative to the wheeled base.

[0077] An automated storage and retrieval system is further described comprising a two-dimensional rail system, the two-dimensional rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction X across the top of the frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails for guiding movement of the container handling vehicle in a second direction that is perpendicular to the first direction, the first and second sets of parallel rails forming a grid that divides the rail system into a plurality of grid cells, and the automated storage and retrieval system further comprising at least one container handling vehicle as described above.

[0078] The system may further include multiple stacks of storage containers below the grid cells.

[0079] The system may further comprise a control system configured to receive information relating to the container handling vehicle's occupation area and use the information to control the system.

[0080] The present invention can be used in concepts related to storage container systems and in vertical farming and e-grocery applications.

[0081] The relative terms "upper," "lower," "below," "above," "higher," etc. shall be understood in their ordinary sense and as viewed in a Cartesian coordinate system. When stated in the context of a well, "upper" or "above" shall be understood as a position closer to the surface of the well (relative to another component), in contrast to the terms "lower" or "below," which shall be understood as a position further away from the surface of the well (relative to another component).

[0082] In summary, the present invention provides a container handling vehicle that is capable of loading and unloading itself. The present invention provides, for example, the following. (Item 1) A container handling vehicle (401, 501, 601, 701, 801, 901, 1001, 1101, 1201, 1301, 1401, 1501) for operation on a two-dimensional rail system (108), comprising: the two-dimensional rail system (108) comprises a first set (110) of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) across the top of the frame structure (100), and a second set (111) of parallel rails arranged perpendicular to the first set (110) of rails to guide movement of the container handling vehicle (401) in a second direction (Y) perpendicular to the first direction, the first and second sets (110, 111) of parallel rails forming a grid that divides the rail system (108) into a plurality of grid cells (122); The container handling vehicle is a base (2) provided with movement means for guiding the container handling vehicle along the rail system (108) in the first direction (X) and the second direction (Y), respectively; a support structure (402) provided on the base (2), the support structure (402) extending from a lower section to an upper section of the base (2); a container lifting device (414) comprising a lifting frame (415) for lifting a storage container (106) upward from a storage position below the rail system (108), the lifting frame (415) being suspended from a set of suspension points on the upper section of the support structure (402); a support surface (425) for supporting said storage container (106); Equipped with the support surface (425) provides a first support position disposed at a height lower than the lift frame (415) when the lift frame (415) is docked adjacent the upper section of the support structure (402); The container handling vehicle includes a movement mechanism (426, 426', 426'', 427, 427', 427'', 446, 460) for horizontally translating the set of suspension points (423) or the support surface (425) relative to the base (2), whereby an elevated storage container (106) can be placed on the support surface (425) and the lifting frame (415) is decoupled from the elevated storage container (106). (Item 2) Item 1. A container handling vehicle (401, 501, 601, 701, 801, 901, 1001, 1101, 1201, 1301, 1401, 1501) according to item 1, wherein the base is a wheeled base (2) and the moving means is a first set of wheels (32a) and a second set of wheels (32b). (Item 3) 3. The container handling vehicle according to claim 1 or 2, wherein at least one of the lifting frame (415) and the support surface (425) is configured for linear translational movement in a horizontal direction, preferably parallel to one of the first or second directions (X, Y). (Item 4) 4. The container handling vehicle according to any of items 1-3, further comprising a through opening sized for a storage container (106) to pass through. (Item 5) 5. A container handling vehicle according to any one of items 1 to 4, wherein the suspension point (423) is linearly movable, whereby in a first position, the lifting frame (415) is positioned to retrieve a storage container (106) from a storage position below the rail system (108), and in a second position, the lifting frame (415) is positioned above the first holding position (425). (Item 6) The lifting frame (415) and the first holding position (425) are - in the first position, the vertical projection of said lifting frame (415) covers over said first holding position (425); - in the second position, the vertical projection of the lifting frame (415) clears the first holding position (425); Container handling vehicles according to any of items 1-5, (Item 7) 7. A container handling vehicle according to any one of items 1 to 6, wherein the support surface (425) is linearly movable relative to the base (2) by actuation of the movement mechanism (426, 426', 426''), whereby, in a first position, the support surface (425) is positioned within the vertical projection of the base (2), and in a second position, the support surface (425) is positioned outside the vertical projection of the base (2). (Item 8) 8. The container handling vehicle according to item 7, wherein the moving mechanism (426) is disposed within the base (2) such that the support surface (425) is horizontally translatable relative to the base (2). (Item 9) The container handling vehicle according to items 1-6, wherein the movement mechanism (427, 427', 427'') is arranged in the upper section such that the lifting frame (415) is horizontally translatable relative to the base (2). (Item 10) 10. The container handling vehicle according to any one of items 1-9, wherein the container handling vehicle is provided with a second movement mechanism (427'') for horizontally translating the other of the set of suspension points (423) or the support surface (425) relative to the base (2). (Item 11) 11. The container handling vehicle according to any of items 1-10, further comprising a second support surface (425) providing a second holding position located adjacent to or above the first holding position (425). (Item 12) 12. The container handling vehicle according to any one of items 1-11, wherein the movement mechanism (426, 426', 426'', 427, 427', 427'') comprises a linear guide system that supports the set of suspension points (423) or the support surface (425). (Item 13) Item 13. The container handling vehicle according to item 12, wherein the linear guide system is horizontally extendable. (Item 14) The linear guide system comprises at least two movement mechanisms (426, 426', 426'', 427, 427', 427''), the at least two movement mechanisms comprising: a first movement mechanism (426', 427') for horizontal translation of the lifting frame (415) or the support surface (425) within the area defined by the vertical projection of the base (2); a second movement mechanism (426'', 427'') for horizontal translation of the lifting frame (415) or the support surface (425) outside the area defined by the vertical projection of the base (2); Container handling vehicles as described in items 12-13, including: (Item 15) 15. The container handling vehicle according to any one of the preceding items 13-14, wherein the first movement mechanism (426', 427') comprises a linear bearing, a rack and pinion, a linear actuator, and / or a ball screw. (Item 16) Item 16. The container handling vehicle according to item 14 or 15, wherein the second movement mechanism (426'', 427'') comprises a linear bearing, a rack and pinion, a linear actuator, and / or a ball screw. (Item 17) 17. The container handling vehicle according to any one of items 1-16, wherein at least a lifting device motor (416) and a movement mechanism for horizontally moving the lifting frame (415) are disposed on or above the lifting frame (415). (Item 18) When the storage container (106) is positioned in the first holding position, a top portion of the storage container (106) exhibits a first height; the lift frame (415) has a lowermost portion that represents a second height when in a docked position; 18. The container handling vehicle according to any one of items 1-17, wherein the second height exceeds the first height, thereby allowing the lowest portion of the docked lifting frame (415) to pass over the highest portion of the storage container (106) positioned on the first support surface (425). (Item 19) The container handling vehicle is the base in the form of a wheel base unit (2), wherein the first and second sets of wheels (32a, 32b) form the periphery of the footprint of the wheel base unit (2); a lower section provided on the wheel base unit (2), the lower section having an occupation area with a horizontal extent equal to or less than the occupation area of ​​the wheel base unit (2), the lower section having an upper surface, the upper surface providing the support surface (425); a support section (402) forming the support structure and extending vertically from the lower section, the support section (402) having an footprint with a horizontal extent smaller than the footprint of the lower section; a cantilever section (413) forming the upper section and extending horizontally from the support section (402) beyond the occupied area of ​​the lower section; Equipped with 19. The container handling vehicle according to any of items 1-18, wherein the support section (402) is provided with the through opening (422) for moving the support surface (425) or the lifting frame (415) therethrough. (Item 20) 20. The container handling vehicle of claim 19, wherein the container handling vehicle comprises a second support surface (425) providing a second holding position disposed above the support surface (425) forming the first holding position, and the cross-sectional area of ​​the through opening (422) is configured for passage of the support surfaces (425) both when any of the support surfaces (425) is holding a storage container (106) and when no storage container (106) is being held. (Item 21) 18. A container handling vehicle according to any one of items 1-17, comprising two lifting frames (415) and at least two support surfaces (425), the two lifting frames (415) being arranged on either side of the base (2) and outside the vertical projection of the base (2), the at least two support surfaces (425) being arranged within the vertical projection of the base (2), and each of the support surfaces (425) being movable relative to the base (2) to a position outside the base (2) and below one of the lifting frames (415). (Item 22) A container handling vehicle as described in any of items 2-17, wherein the container handling vehicle comprises two wheeled bases (2) and at least two support surfaces (425), the wheeled bases (2) being provided on both sides of the support structure (402), one lifting frame (415) being suspended from the upper section of the support structure (402), and each of the support surfaces (425) being movable relative to the wheeled bases (2) to a position below the lifting frame (415). (Item 23) A container handling vehicle as described in any of items 1-22, wherein the container handling vehicle is provided with a second movement mechanism (426'', 427'') for horizontally translating the set of suspension points (423) relative to the base (2) in the other of the first or second directions (X, Y). (Item 24) The container handling vehicle is the wheeled base in the form of a wheeled base unit (2), wherein the first and second sets of wheels (32a, 32b) form the periphery of the footprint of the wheeled base unit (2); a lower section provided on the wheel base unit (2), the lower section having an occupation area with a horizontal extent equal to or less than the occupation area of ​​the wheel base unit (2), the lower section having an upper surface, the upper surface (425) providing the support surface (425); a support section (402) forming the support structure and extending vertically from the lower section, the support section (402) having an footprint with a horizontal extent smaller than the footprint of the lower section; a cantilever section (413) forming the upper section and extending horizontally from the support section (412) beyond the occupied area of ​​the lower section; Equipped with 3. The container handling vehicle of claim 2, wherein the moving mechanism comprises a rotation device (446) adapted to rotate the support section (402) relative to the base (2), and thus to rotate the cantilever section (413), so that in a first state, the lifting frame (415) can lift a storage container (106) upward from a storage position below the rail system (108), and in a second state, the lifting frame (415) can place a storage container on the support surface (425). (Item 25) 25. The container handling vehicle according to item 24, wherein when in the second state, the support section (402) and the cantilever section (413) are within the occupied area of ​​the wheel base unit (2). (Item 26) 26. The container handling vehicle according to any of the preceding items, wherein the center of gravity of the support surface (425) is located above the base (2). (Item 27) 27. The container handling vehicle of any of items 1-26, further comprising a weight distribution system (450), the weight distribution system (450) comprising a movable load (452) and a load moving device (451), the load moving device (451) changing the center of gravity of the container handling vehicle depending on the load of one or more storage containers (106) being carried by the container handling vehicle. (Item 28) The weight distribution system (450) comprises: a set of sensors (456) for measuring the weight of any storage container (106) supported by said support surface (425) and by said lifting frame (415); a control system (454) connected to both said set of sensors (456) and said load moving device (453); Equipped with Item 28. The container handling vehicle described in Item 27, wherein the control system (454) senses a change in mass on at least two opposite sides of the container handling vehicle based on measurement data from the set of sensors (456), calculates a travel distance for the movable load (452) corresponding to the change in mass, and instructs the load moving device (453) to move the movable load (452) in the opposite direction to the relatively heavier side of the container handling vehicle by the calculated travel distance. (Item 29) 29. A method for loading a storage container (106) between a stack location in an automated storage and retrieval system according to any one of items 1-28 and a storage location on a container handling vehicle, comprising: - loading a storage container from the stack location located below the rail system (108) using the lifting frame (415) of the lifting device (414); - placing the storage container (106) on the support surface (425) of the container handling vehicle and detaching the lifting frame (415) from the storage container (106); A method comprising: (Item 30) The method comprises: 30. The method according to claim 29, further comprising the step of: moving the loaded storage container (106) and horizontally translating the set of suspension points (423) or the support surface (425) relative to the base (2) by using a movement mechanism (426, 426′, 426″, 427, 427′, 427″). (Item 31) An automated storage and retrieval system (1) comprising a two-dimensional rail system (108), the two-dimensional rail system (108) comprising a first set of parallel rails (110) arranged to guide movement of a container handling vehicle in a first direction (X) across the top of the frame structure (100), and a second set of parallel rails (111) arranged perpendicular to the first set of rails (110) to guide movement of the container handling vehicle in a second direction (Y) that is perpendicular to the first direction, the first and second sets of parallel rails (110, 111) forming a grid that divides the rail system (108) into a plurality of grid cells (122), the automated storage and retrieval system comprising at least one container handling vehicle according to any of items 1-28. (Item 32) - The automated storage and retrieval system (1) according to item 31, further comprising a plurality of stacks of storage containers below the grid cells (122). (Item 33) 33. The automated storage and retrieval system (1) of any one of items 31-32, wherein the system (1) further comprises a control system (500) configured to receive information about the occupied area of ​​the container handling vehicle and use the information to control the system. [Brief explanation of the drawings]

[0083] The following drawings are included to facilitate an understanding of the invention: The drawings illustrate embodiments of the invention, which will herein be described by way of example only.

[0084] [Figure 1-1] 1A-1D illustrate side views of a prior art warehouse system. FIG. 1A is a perspective view of the skeletal structure of a prior art automated storage and retrieval system. FIG. 1B is a plan view of two sets of single-track rails. FIG. 1C is a plan view of two sets of dual-track rails. FIG. 1D is a plan view showing the dimensions of a single grid cell. [Figure 1-2]1A-1D illustrate side views of a prior art warehouse system. FIG. 1A is a perspective view of the skeletal structure of a prior art automated storage and retrieval system. FIG. 1B is a plan view of two sets of single-track rails. FIG. 1C is a plan view of two sets of dual-track rails. FIG. 1D is a plan view showing the dimensions of a single grid cell. [Figure 2] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally located cavity for transporting storage containers. [Figure 3] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever beam for transporting storage containers underneath. [Figure 4] 4A and 4B show an exemplary wheeled base in the form of a wheeled base unit for a container handling vehicle. [Figure 5-1] 5A-5H show different examples of container handling vehicles with through openings in the support section, where the support surface is linearly movable relative to the wheeled base between a position directly above the wheeled base and a position directly below the lift frame. FIG. 5A is a front perspective view of a storage container disposed on a support surface positioned directly below the lift frame. FIG. 5B is a rear perspective view of FIG. 5A. In FIG. 5C, a storage container is disposed on the support surface, with the support surface with the storage container disposed thereon midway between a position directly below the lift frame and a position directly above the wheeled base. FIG. 5D is a rear perspective view of FIG. 5C. FIG. 5E is a front perspective view of a storage container disposed on a support surface directly above the wheeled base. FIG. 5F is a rear side view of FIG. 5E. FIG. 5G is a front perspective view of a container handling vehicle holding two storage containers disposed on a support surface, where one storage container is elevated by the lift frame while the other storage container is positioned directly above the wheeled base. FIG. 5H is a rear perspective view of FIG. 5G. [Figure 5-2]5A-5H show different examples of container handling vehicles with through openings in the support section, where the support surface is linearly movable relative to the wheeled base between a position directly above the wheeled base and a position directly below the lift frame. FIG. 5A is a front perspective view of a storage container disposed on a support surface positioned directly below the lift frame. FIG. 5B is a rear perspective view of FIG. 5A. In FIG. 5C, a storage container is disposed on the support surface, with the support surface with the storage container disposed thereon midway between a position directly below the lift frame and a position directly above the wheeled base. FIG. 5D is a rear perspective view of FIG. 5C. FIG. 5E is a front perspective view of a storage container disposed on a support surface directly above the wheeled base. FIG. 5F is a rear side view of FIG. 5E. FIG. 5G is a front perspective view of a container handling vehicle holding two storage containers disposed on a support surface, where one storage container is elevated by the lift frame while the other storage container is positioned directly above the wheeled base. FIG. 5H is a rear perspective view of FIG. 5G. [Figure 6] 6A-6F are examples of container handling vehicles with two support surfaces arranged with through openings in the support sections and linearly movable relative to the wheeled base between a position directly above the wheeled base and a position directly below the lift frame. FIG. 6A is a side view of the container handling vehicle with one storage container held by the lift frame while the support surfaces are empty. FIG. 6B is a side view of the container handling vehicle with one storage container held by the lift frame while the upper support surface holds a storage container and the lower support surface is empty. FIG. 6C is a rear side view of the container handling vehicle with one storage container held on the upper and lower support surfaces, respectively, while the lift frame does not hold a storage container. FIG. 6D is a side view of the container handling vehicle with one storage container held by the lift frame while the upper support surface holds a storage container. FIG. 6E is a side view of the container handling vehicle with one storage container carried by the upper support surface positioned directly above the wheeled base and one storage container carried by the lower support surface positioned directly below the lift frame. FIG. 6F is a rear side view of FIG. 6E. [Figure 7-1] 7A-7E are examples of a container handling vehicle with two lifting frames disposed on either side of a wheeled base, with openings provided in the support sections, with four support surfaces disposed, two side-by-side and two vertically, all of which are linearly movable relative to the wheeled base between a position directly above the wheeled base and a position directly below the lifting frames. FIG. 7A is a side view of the container handling vehicle with storage containers carried by both of the lifting frames, with all of the support surfaces located directly above the wheeled base and all of them empty. FIG. 7B is a side view of the container handling vehicle with storage containers carried by both of the lifting frames, with the two upper support surfaces moved to respective positions directly below each of the lifting frames, while the two lower support surfaces are located directly above the wheeled base. Figure 7C is a side view of a container handling vehicle with storage containers carried by both of the lifting frames and positioned directly below the lifting frames, with two upper support surfaces positioned directly above the wheeled base, both of which hold storage containers, while two lower support surfaces are shown not holding storage containers. Figure 7D is a side view of a container handling vehicle with the lifting frame not holding a storage container, with two upper support surfaces positioned directly above the wheeled base, both of which hold storage containers, while two lower support surfaces are positioned directly below the lifting frame holding storage containers. Figure 7E is a side view of a container handling vehicle with the lifting frame not holding storage containers, with all of the support surfaces positioned directly above the wheeled base, all of which hold storage containers. [Figure 7-2]7A-7E are examples of a container handling vehicle with two lifting frames disposed on either side of a wheeled base, with openings provided in the support sections, with four support surfaces disposed, two side-by-side and two vertically, all of which are linearly movable relative to the wheeled base between a position directly above the wheeled base and a position directly below the lifting frames. FIG. 7A is a side view of the container handling vehicle with storage containers carried by both of the lifting frames, with all of the support surfaces located directly above the wheeled base and all of them empty. FIG. 7B is a side view of the container handling vehicle with storage containers carried by both of the lifting frames, with the two upper support surfaces moved to respective positions directly below each of the lifting frames, while the two lower support surfaces are located directly above the wheeled base. Figure 7C is a side view of a container handling vehicle with storage containers carried by both of the lifting frames and positioned directly below the lifting frames, with two upper support surfaces positioned directly above the wheeled base, both of which hold storage containers, while two lower support surfaces are shown not holding storage containers. Figure 7D is a side view of a container handling vehicle with the lifting frame not holding a storage container, with two upper support surfaces positioned directly above the wheeled base, both of which hold storage containers, while two lower support surfaces are positioned directly below the lifting frame holding storage containers. Figure 7E is a side view of a container handling vehicle with the lifting frame not holding storage containers, with all of the support surfaces positioned directly above the wheeled base, all of which hold storage containers. [Figure 8-1]8A-8G show examples of container handling vehicles with one lift frame centered between two wheeled bases, an opening provided in the support section, and four support surfaces, two on each side of the lift frame, that are linearly movable relative to the respective wheeled bases between a position directly above the wheeled bases and a position directly below the lift frame. FIG. 8A is a side view of the container handling vehicle in which the lift frame does not hold any storage containers, while the remaining three support surfaces are positioned directly above the respective wheeled bases and are all empty. FIG. 8B is a side view of the container handling vehicle in which the lift frame does not hold any storage containers, and three of the support surfaces are positioned directly above the respective wheeled bases, one of which is positioned directly below the lift frame and holds a storage container, while the remaining three are empty. FIG. 8C is a side view of the container handling vehicle in which the lift frame does not hold any storage containers, and all of the support surfaces are positioned directly above their respective wheeled bases, one of which does not hold a storage container and is empty. Figure 8D is a side view of a container handling vehicle in which the lift frame holds a storage container and one support surface is located directly below the lift frame, while the remaining three support surfaces are located directly above the wheeled base, one of which holds a storage container and two of which are empty. Figure 8E is a side view of a container handling vehicle in which the lift frame holds a storage container and all of the support surfaces are located directly above the wheeled base, two of which hold storage containers and two of which are empty. Figure 8F is a side view of a container handling vehicle in which the lift frame does not hold a storage container and one support surface is located directly below the lift frame, while the remaining three support surfaces are located directly above the wheeled base, two of which hold storage containers and one is empty. Figure 8G is a side view of a container handling vehicle in which the lift frame does not hold a storage container and all of the support surfaces are located directly above the wheeled base, three of which hold storage containers and one is empty. [Figure 8-2]8A-8G show examples of container handling vehicles with one lift frame centered between two wheeled bases, an opening provided in the support section, and four support surfaces, two on each side of the lift frame, that are linearly movable relative to the respective wheeled bases between a position directly above the wheeled bases and a position directly below the lift frame. FIG. 8A is a side view of the container handling vehicle in which the lift frame does not hold any storage containers, while the remaining three support surfaces are positioned directly above the respective wheeled bases and are all empty. FIG. 8B is a side view of the container handling vehicle in which the lift frame does not hold any storage containers, and three of the support surfaces are positioned directly above the respective wheeled bases, one of which is positioned directly below the lift frame and holds a storage container, while the remaining three are empty. FIG. 8C is a side view of the container handling vehicle in which the lift frame does not hold any storage containers, and all of the support surfaces are positioned directly above their respective wheeled bases, one of which does not hold a storage container and is empty. Figure 8D is a side view of a container handling vehicle in which the lift frame holds a storage container and one support surface is located directly below the lift frame, while the remaining three support surfaces are located directly above the wheeled base, one of which holds a storage container and two of which are empty. Figure 8E is a side view of a container handling vehicle in which the lift frame holds a storage container and all of the support surfaces are located directly above the wheeled base, two of which hold storage containers and two of which are empty. Figure 8F is a side view of a container handling vehicle in which the lift frame does not hold a storage container and one support surface is located directly below the lift frame, while the remaining three support surfaces are located directly above the wheeled base, two of which hold storage containers and one is empty. Figure 8G is a side view of a container handling vehicle in which the lift frame does not hold a storage container and all of the support surfaces are located directly above the wheeled base, three of which hold storage containers and one is empty. [Figure 9-1]9A-9E are examples of a container handling vehicle with one lifting frame suspended from a set of suspension points, where the set of suspension points, and therefore the lifting frame, are configured for translational movement from a position directly above a fixed support surface located on the container handling vehicle's wheeled base and a position directly above storage locations below the rail system, and the figures show the sequential movement of storage containers from their respective storage locations below the rail system onto the support surface on the container handling vehicle. FIG. 9A is a side view of the container handling vehicle with the lifting frame in a position directly above the storage locations below the rail system. FIG. 9B is a side view of the container handling vehicle with the lifting frame moved a distance equal to one grid cell relative to its position in FIG. 9A and now in a position directly above one of the support surfaces, lowering a storage container onto the support surface. FIG. 9C is a side view of the container handling vehicle with the lifting frame lowered below the rail system and loading a storage container from a storage location below the rail system. Figure 9D is a side view of the container handling vehicle with the lifting frame having moved a distance equal to two grid cells relative to its position in Figure 9C and is now in a position directly above another of the support surfaces compared to Figure 9B, and lowering a storage container onto the support surface. Figure 9E is a side view of the container handling vehicle after two stacks of storage containers with two storage containers in each stack, for a total of four storage containers, have been positioned on the support surface. [Figure 9-2]9A-9E are examples of a container handling vehicle with one lifting frame suspended from a set of suspension points, where the set of suspension points, and therefore the lifting frame, are configured for translational movement from a position directly above a fixed support surface located on the container handling vehicle's wheeled base and a position directly above a storage location below the rail system, and the figures show the sequential movement of storage containers from their respective storage locations below the rail system onto the support surface on the container handling vehicle. FIG. 9A is a side view of the container handling vehicle with the lifting frame in a position directly above the storage locations below the rail system. FIG. 9B is a side view of the container handling vehicle with the lifting frame having moved a distance equal to one grid cell relative to its position in FIG. 9A and now in a position directly above one of the support surfaces, lowering a storage container onto the support surface. FIG. 9C is a side view of the container handling vehicle with the lifting frame lowered below the rail system to load a storage container from a storage location below the rail system. Figure 9D is a side view of the container handling vehicle with the lifting frame having moved a distance equal to two grid cells relative to its position in Figure 9C and is now in a position directly above another of the support surfaces compared to Figure 9B, and lowering a storage container onto the support surface. Figure 9E is a side view of the container handling vehicle after two stacks of storage containers with two storage containers in each stack, for a total of four storage containers, have been positioned on the support surface. [Figure 10A] FIG. 10A shows a container handling vehicle with one lifting frame suspended from a set of suspension points, where the set of suspension points, and therefore the lifting frame, is configured for translational movement from two positions, one directly above a fixed support surface located on the wheeled base of the container handling vehicle and one directly above a storage position below the rail system, the two positions being on either side of the wheeled base; the container handling vehicle of FIG. 10A occupies two grid cells because the lifting frame is directly above one of the fixed support surfaces. [Figure 10B]FIG. 10B shows the container handling vehicle 901 of FIG. 10A with the lifting frame 415 moved to a position above the storage location below the rail system 108. [Figure 11-1] 11A-11C show examples of container handling vehicles arranged on a rail system, each having a lifting frame suspended from a set of suspension points, where the set of suspension points, and therefore the lifting frame, are configured for translational movement from two positions: one directly above a fixed support surface located on the wheeled base of the container handling vehicle, and one directly above a storage location below the rail system, the two positions being on opposite sides of the wheeled base. FIG. 11A shows a container handling vehicle in which the lifting frame is positioned directly above a storage location below the rail system to hold storage containers, occupying three grid cells in this configuration. FIG. 11B shows a container handling vehicle in which the lifting frame is positioned on the opposite side of the wheeled base compared to FIG. 11A, and is positioned directly above a storage location below the rail system to hold storage containers, occupying three grid cells in this configuration. FIG. 11C shows a container handling vehicle with the lifting frame positioned directly above one of the support surfaces, occupying two grid cells in this configuration. [Figure 11-2]11A-11C show examples of container handling vehicles arranged on a rail system, each having a lifting frame suspended from a set of suspension points, where the set of suspension points, and therefore the lifting frame, are configured for translational movement from two positions: one directly above a fixed support surface located on the wheeled base of the container handling vehicle, and one directly above a storage location below the rail system, the two positions being on opposite sides of the wheeled base. FIG. 11A shows a container handling vehicle in which the lifting frame is positioned directly above a storage location below the rail system to hold storage containers, occupying three grid cells in this configuration. FIG. 11B shows a container handling vehicle in which the lifting frame is positioned on the opposite side of the wheeled base compared to FIG. 11A, and is positioned directly above a storage location below the rail system to hold storage containers, occupying three grid cells in this configuration. FIG. 11C shows a container handling vehicle with the lifting frame positioned directly above one of the support surfaces, occupying two grid cells in this configuration. [Figure 12]12A-12D are examples of container handling vehicles with one lifting frame suspended from a set of suspension points, where the set of suspension points, and therefore the lifting frame, are configured for translational movement from a position directly above the wheeled base of the container handling vehicle and a position directly above a storage position below a rail system, and the figures show different relative positions of the lifting frame and movable support surface. FIG. 12A shows a container handling vehicle with the lifting frame in a position directly above the wheeled base and an empty support surface in a position outside (beyond) the wheeled base. FIG. 12B shows a container handling vehicle with the lifting frame in a position directly above the wheeled base and a support surface holding storage containers in a position outside (beyond) the wheeled base. FIG. 12C shows a container handling vehicle with the lifting frame in a position outside (beyond) the wheeled base and a support surface holding storage containers in a position outside (beyond) the wheeled base directly below the lifting frame. FIG. 12D shows a container handling vehicle with the lift frame positioned outside (beyond) the wheeled base, holding storage containers, and with the support surface positioned directly above the wheeled base. [Figure 13A] Figure 13A is a top view of a container handling vehicle with two linear movement mechanisms for the suspension point and therefore the lifting frame, the movement mechanisms being equipped with an extendable linear guide system, the first movement mechanism for horizontal translational movement of the lifting frame or support surface within the area defined by the vertical projection of the wheeled base, and the second movement mechanism for horizontal translational movement of the lifting frame or support surface outside (beyond) the area defined by the vertical projection of the wheeled base. [Figure 13B] FIG. 13B is an enlarged view of section A of FIG. 13A. [Figure 13C] FIG. 13C shows details of a linear translation mechanism in the form of a ball screw for moving the suspension point or movable support surface. [Figure 13D] FIG. 13D is an enlarged view of section B of FIG. 13C. [Figure 13E]In FIG. 13E, the lateral support elements have been removed to more clearly illustrate the threaded shaft portion and the nut, which includes a ball bearing that engages the lateral support elements for interaction with the threaded shaft portion. [Figure 14-1] 14A-14D show examples of a container handling vehicle with a wheeled base, a support section, and a cantilever section, in which a lifting frame is suspended from a set of suspension points in the cantilever section, and a movement mechanism including a rotation device adapted to rotate the support section, and therefore the cantilever section, relative to the wheeled base so that in a first state, the lifting frame can lift a container upward from a storage location below the rail system, and in a second state, the lifting frame can place a storage container on a support surface. FIG. 14A shows the container handling vehicle with the lifting frame positioned directly above the storage location below the rail system and the support surface empty. FIG. 14B is a rear view of FIG. 14A. FIG. 14C shows the container handling vehicle with the lifting frame rotated 180 degrees compared to FIGS. 14A and 14B, and both the lifting frame and the support surface empty, i.e., not holding any storage containers. FIG. 14D is a container handling vehicle in which the lifting frame is positioned directly above the storage location below the rail system, with both the lifting frame and support surface holding the storage container. [Figure 14-2]14A-14D show examples of a container handling vehicle with a wheeled base, a support section, and a cantilever section, in which a lifting frame is suspended from a set of suspension points in the cantilever section, and a movement mechanism including a rotation device adapted to rotate the support section, and therefore the cantilever section, relative to the wheeled base so that in a first state, the lifting frame can lift a container upward from a storage location below the rail system, and in a second state, the lifting frame can place a storage container on a support surface. FIG. 14A shows the container handling vehicle with the lifting frame positioned directly above the storage location below the rail system and the support surface empty. FIG. 14B is a rear view of FIG. 14A. FIG. 14C shows the container handling vehicle with the lifting frame rotated 180 degrees compared to FIGS. 14A and 14B, and both the lifting frame and the support surface empty, i.e., not holding any storage containers. FIG. 14D is a container handling vehicle in which the lifting frame is positioned directly above the storage location below the rail system, with both the lifting frame and support surface holding the storage container. [Figure 15] FIG. 15 is a top view of one example of a container handling vehicle component that may be placed within a lifting device. [Figure 16] 16A-16B show different examples of container handling vehicles with a weight distribution system including a movable load and a load moving device for varying the center of gravity of the container handling vehicle in response to the load of one or more storage containers being carried by the container handling vehicle. FIG. 16A shows an example of a container handling vehicle with a cantilever design and a movable support surface. FIG. 16B shows an example of the container handling vehicle of FIGS. 5A-5H with a weight distribution system. [Figure 17]17A-17C show different examples of container handling vehicles with through openings in the support section, where the support surface is linearly movable relative to the wheeled base between a position directly above the wheeled base and a position directly below the lifting frame, and the container handling vehicle further includes a weight distribution system. FIG. 17A is a front perspective view of a storage container placed on a support surface positioned directly above the wheeled base. FIG. 17B is a top perspective view of FIG. 17A. FIG. 17C is a detailed view of the dotted area of ​​FIG. 17B. [Figure 18-1] 18A-18E show details of the container handling vehicle of FIGS. 17A-17C, the container handling vehicle having a wheeled base, a support section, and a cantilever section, a lifting frame suspended from a set of suspension points in the cantilever section, and a support surface movable relative to the wheeled base between a position directly above the wheeled base and a position directly below the lifting frame through rotational movement in a vertical plane. FIG. 18A is a side perspective view of the container handling vehicle with the lifting frame holding a storage container and an empty support surface directly above the wheeled base. In FIG. 18B, the lifting frame still holds a storage container, and the support surface is moving from its initial position directly above the wheeled base to a position directly below the lifting frame. In FIG. 18C, the support surface has moved to a position directly below the lifting frame, and the lifting frame is lowered onto the support surface so that it is not holding a storage container. In Figure 18D, the lift frame does not carry a storage container, and the support surface and storage containers provided thereon are in the process of moving from a position directly below the lift frame to a position directly above the wheeled base. In Figure 18E, the lift frame does not carry a storage container, and the support surface and storage containers provided thereon are in the process of moving to a position directly above the wheeled base. [Figure 18-2]18A-18E show details of the container handling vehicle of FIGS. 17A-17C, the container handling vehicle having a wheeled base, a support section, and a cantilever section, a lifting frame suspended from a set of suspension points in the cantilever section, and a support surface movable relative to the wheeled base between a position directly above the wheeled base and a position directly below the lifting frame through rotational movement in a vertical plane. FIG. 18A is a side perspective view of the container handling vehicle with the lifting frame holding a storage container and an empty support surface directly above the wheeled base. In FIG. 18B, the lifting frame still holds a storage container, and the support surface is moving from its initial position directly above the wheeled base to a position directly below the lifting frame. In FIG. 18C, the support surface has moved to a position directly below the lifting frame, and the lifting frame is lowered onto the support surface so that it is not holding a storage container. In Figure 18D, the lift frame does not carry a storage container, and the support surface and storage containers provided thereon are in the process of moving from a position directly below the lift frame to a position directly above the wheeled base. In Figure 18E, the lift frame does not carry a storage container, and the support surface and storage containers provided thereon are in the process of moving to a position directly above the wheeled base. [Figure 19] 19A and 19B show details of the vertical plane movement mechanism for moving the support surface between a position directly above the wheeled base and a position directly below the lifting frame. [Figure 20]20A-20B show an example of a container handling vehicle with three linear movement mechanisms for the suspension points, and therefore the lifting frame, where the movement mechanisms are equipped with an extendable linear guide system, where a first movement mechanism is for horizontal translational movement of the lifting frame in a first direction within an area defined by the vertical projection of the wheeled base, a second movement mechanism is for horizontal translational movement of the lifting frame outside (beyond) the area defined by the vertical projection of the wheeled base, and a third movement mechanism is for movement in a direction perpendicular to the first direction. In FIG. 20A, the lifting frame is positioned within the area defined by the vertical projection of the wheeled base. In FIG. 20B, the lifting frame has been moved to a position outside the area defined by the vertical projection of the wheeled base. [Figure 21-1] 21A-21C show an example of a container handling vehicle with three linear movement mechanisms for the suspension points, and therefore the lifting frame, and a rotation mechanism for rotating the suspension points, and therefore the lifting frame. In FIG. 21A, the lifting frame is located outside the area defined by the vertical projection of the wheeled base. In FIG. 21B, an example of a rotation mechanism for rotating the suspension points, and therefore the lifting frame, is shown. In FIG. 21C, the lifting frame is located within the area defined by the vertical projection of the wheeled base, and the lifting frame is rotated 90 degrees compared to the lifting device in FIG. 21A. [Figure 21-2] 21A-21C show an example of a container handling vehicle with three linear movement mechanisms for the suspension points, and therefore the lifting frame, and a rotation mechanism for rotating the suspension points, and therefore the lifting frame. In FIG. 21A, the lifting frame is located outside the area defined by the vertical projection of the wheeled base. In FIG. 21B, an example of a rotation mechanism for rotating the suspension points, and therefore the lifting frame, is shown. In FIG. 21C, the lifting frame is located within the area defined by the vertical projection of the wheeled base, and the lifting frame is rotated 90 degrees compared to the lifting device in FIG. 21A. DETAILED DESCRIPTION OF THE INVENTION

[0085] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings, in which it should be understood, however, that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

[0086] The skeleton structure 100 of the automated storage and retrieval system 1 is constructed in accordance with the prior art skeleton structure 100 described above in connection with FIGS. 1-3 , i.e., several upright members 102 and several horizontal members 103 supported by the upright members 102, and further, the skeleton structure 100 is provided with a first upper rail system 108 in the X and Y directions.

[0087] The skeleton structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102, 103, with storage containers 106 being stackable in stacks 107 within the storage columns 105.

[0088] Skeleton structure 100 can be of any size. In particular, it should be understood that skeletal structure 100 can be significantly wider and / or longer and / or deeper than that disclosed in FIG. 1A. For example, skeletal structure 100 can have a horizontal extent of greater than 700 by 700 columns and a storage depth of greater than 12 containers.

[0089] An exemplary wheeled base in the form of a wheel base unit for a remotely operated vehicle according to the present invention is shown in Figures 4A and 4B. The wheel base unit 2 features a wheel arrangement 32a, 32b having a first set of wheels 32a for movement in a first direction on the rail system and a second set of wheels 32b for movement in a second direction perpendicular to the first direction. Each set of wheels includes two pairs of wheels located on opposite sides of the wheel base unit 2. To change the direction in which the wheel base unit can travel on the rail system, one of the wheel sets 32b is connected to a wheel displacement assembly 7. The wheel displacement assembly is capable of raising and lowering the connected set of wheels 32b relative to the other set of wheels 32a so that only the wheel set traveling in the desired direction contacts the rail system. The wheel displacement assembly 7 is driven by an electric motor 8. Furthermore, two electric motors 4, 4' powered by a rechargeable battery 6 are connected to the wheel sets 32a, 32b to move the wheel base unit in the desired direction.

[0090] 4A and 4B, the horizontal perimeter of the wheel base unit 2 is sized to fit within the horizontal area defined by the grid cell such that two wheel base units 2 can pass each other on any adjacent grid cell of the rail system 108, 308. In other words, the wheel base unit 2 may have an footprint, i.e., extent in the X and Y directions, that is generally equal to the horizontal area of ​​the grid cell (i.e., the extent of the grid cell in the X and Y directions), as described, for example, in WO2015 / 193278A1 (the contents of which are incorporated herein by reference).

[0091] 4B, the wheel base unit 2 has a top panel / flange 9 (i.e., upper surface) that is configured as a connection interface for a container carrier. The top panel 9 has a central opening 20 and features a plurality of through-holes 10 (i.e., connection elements) that are suitable for bolted connections via corresponding through-holes in a lower section of the container carrier. In other embodiments, the connection elements of the top panel 9 may be, for example, threaded pins for interaction with through-holes in the lower section. The presence of the central opening 20 is advantageous because it provides access to the internal components of the wheel base unit 2 (such as the rechargeable battery 6 and electronic control system 21).

[0092] 5A-5H show different examples of a container handling vehicle 401 with a through opening 422 in a support section 402 through which a support surface 425 is linearly movable relative to the wheeled base 2 between a position directly above the wheeled base 2 and a position directly below the lifting frame 415. The container handling vehicle 401 is disclosed with a wheeled base 2 equipped with first and second sets of wheels 32 a, 32 b that guide the container handling vehicle 401 along the rail system 108 in first and second orthogonal directions X, Y, respectively. The container handling vehicle further comprises a support structure 402 provided on the wheeled base 2, the support structure 402 extending from a lower section of the wheeled base 2 to an upper section to which a cantilever section 413 is connected. The container handling vehicle 401 further includes a container lifting device 414 having a lifting frame 415 that lifts the storage container 106 upward from a storage position below an underlying rail system (the rail system is not shown in FIGS. 5A-5H). The lifting frame 415 is suspended from a set of suspension points (not shown in FIGS. 5A-5H) on the cantilevered beam section 413 via lifting bands (also not shown in FIGS. 5A-5H) and includes bin guides 424 at each corner that help guide the lifting frame 415 relative to the storage container 106 when approaching the storage container 106 from above. The lifting frame 415 further includes releasable connections or grippers 421 for connection with corresponding holes in the storage container. The container handling vehicle 401 further comprises a support surface 425 for supporting a storage container 106, the support surface 425 providing a first holding position located at a height lower than the lifting frame 415 when the lifting frame 415 is in a docked position adjacent to the cantilever section 413. The container handling vehicle 401 comprises a linear movement mechanism 426 for horizontally translating the support surface 425 relative to the wheeled base 2, whereby the elevated storage container 106 can be placed on the support surface 425 and the lifting frame 415 can be decoupled from the storage container 106.The footprint of the wheeled base 2 is one grid cell, while the footprint of the container handling vehicle is two grid cells.

[0093] FIG. 5A is a front perspective view of a storage container 106 positioned on a support surface 425 positioned directly beneath a lift frame 415 of a container handling vehicle 401.

[0094] FIG. 5B is a rear perspective view of FIG. 5A.

[0095] In FIG. 5C, the storage container 106 is positioned on the support surface 425, with the support surface 425 with the storage container 106 positioned thereon being midway between a position directly below the lifting frame 415 and a position directly above the wheeled base 2.

[0096] FIG. 5D is a rear perspective view of FIG. 5C.

[0097] FIG. 5E is a front perspective view of storage container 106 positioned on support surface 425, having been moved from a position directly below the lift frame (as in FIGS. 5A and 5B) to a position on the support surface directly above wheeled base 2.

[0098] FIG. 5F is a rear side view of FIG. 5E.

[0099] FIG. 5G is a front perspective view of a container handling vehicle 401 holding two storage containers 106 positioned on a movable support surface 425, with one storage container 106 being elevated by a lifting frame 106 while the other storage container 401 is positioned directly above a wheeled base 2.

[0100] FIG. 5H is a rear perspective view of FIG. 5G.

[0101] 6A-6F are examples of a container handling vehicle 501 with a through opening 422 in the support section 402, with two support surfaces 425 disposed thereon that are linearly movable relative to the wheeled base 2 between a position directly above the wheeled base 2 and a position directly below the lifting frame 415. The footprint of the wheeled base 2 is one grid cell, while the footprint of the container handling vehicle is two grid cells. Thus, the container handling vehicle 501 of FIGS. 6A-6F can transport three storage containers 106 while occupying only two grid cells. The remaining features of the container handling vehicle 501 are similar to those of the container handling vehicle 401 described in connection with FIGS. 5A-5H and will not be repeated here.

[0102] FIG. 6A is a side view of container handling vehicle 501 with one storage container 106 held by lifting frame 415 while support surface 425 is empty.

[0103] 6B is a side view of container handling vehicle 501 with lift frame 415 holding one storage container 106, while upper support surface 425 holds a storage container 106, and lower support surface 425 is empty. Lower support surface 425 is shown in a position directly below lift frame 415, while upper support surface 425 is positioned directly above wheeled base 2.

[0104] 6C is a rear side view of the container handling vehicle 501 holding one storage container 106 on each of the upper and lower support surfaces 425, while the lift frame 415 is not holding a storage container 106 at the time. Both support surfaces 425 are positioned directly above the wheeled base 2.

[0105] Figure 6D is a side view of container handling vehicle 501 with lifting frame 415 holding one storage container 106 while upper support surface 425 holds the storage container 106. The lower support surface is not visible in Figure 6D.

[0106] Figure 6E is a side view of a container handling vehicle 501 in which one storage container 106 is carried by an upper support surface 425 positioned directly above the wheeled base 2 and one storage container 106 is carried by a lower support surface 425 positioned directly below the lifting frame 425. The lower support surface 426 is not visible in Figure 6E but may carry additional storage containers 106, as shown in Figure 6F.

[0107] FIG. 6F is a rear side view of FIG. 6E.

[0108] 7A-7E show an example of a container handling vehicle 601 with two lifting frames 415 arranged on either side of a wheeled base 2. Openings are provided in the support sections, providing a total of four support surfaces 425, two of which are arranged side-by-side at two different heights. The container handling vehicle 601 of FIGS. 7A-7E is of a double cantilever type, i.e., it has two cantilevers 413. All of the support surfaces 425 are linearly movable relative to the wheeled base 2 between a position directly above the wheeled base 2 and a position directly below the lifting frames 415. The wheeled base 2 occupies an area of ​​two grid cells, while the container handling vehicle occupies an area of ​​four grid cells. Therefore, the container handling vehicle 601 of FIGS. 7A-7E can transport six storage containers 106 while occupying only four grid cells. The remaining features of container handling vehicle 601 are similar to those of container handling vehicles 401, 501 described in connection with Figures 5A-5H and 6A-6F and will not be repeated here.

[0109] FIG. 7A is a side view of the container handling vehicle 601 with storage containers 106 being carried by both lifting frames 415 and all of the support surfaces 425 positioned directly above the wheeled bases 2, all of which are empty.

[0110] FIG. 7B is a side view of the container handling vehicle 601 with the storage container 106 being carried by both of the lifting frames 415 and the two upper support surfaces 425 being moved to respective positions directly below each of the lifting frames 425, while the two lower support surfaces 425 are in a position directly above the wheeled base 2.

[0111] Figure 7C is a side view of a container handling vehicle 601 in which a storage container 106 is carried by both of the lifting frames 415, and two upper support surfaces 425 are positioned directly above the wheeled base 2, both of which hold a storage container 106, while two lower support surfaces 106 are positioned directly below the lifting frames 415 which are not holding a storage container 106.

[0112] FIG. 7D is a side view of the container handling vehicle 601 in which the lifting frame 415 is not holding a storage container 415, and two upper support surfaces 425 are positioned directly above the wheeled base 2, both of which hold a storage container 106, while two lower support surfaces 425 are positioned directly below the lifting frame 415 which holds the storage container 106.

[0113] FIG. 7E is a side view of the container handling vehicle 601 in which the lifting frame 415 is not holding a storage container 106 and all of the support surfaces 425 are positioned directly above the wheeled bases 2, all of which are holding storage containers 106.

[0114] 8A-8G show an example of a container handling vehicle 701 with one lifting frame centrally located between two wheeled bases 2, with openings provided in the support sections and four support surfaces, two on each side of the lifting frame 415. The body of the container handling vehicle 701 is therefore a central cavity design that allows storage containers to be lifted into the storage space in the center of the container handling vehicle 701. The body of the container handling vehicle 701 connects the two wheeled bases 2. On both sides of the body, openings (not shown) are provided to allow each of the four support surfaces 425 to move therethrough along with the storage container 106 between a position above one of the wheeled bases 2 and directly below the lifting frame 415. All of the support surfaces 425 are linearly movable relative to their respective wheeled bases 2 between a position directly above the wheeled bases 2 and a position directly below the lifting frame 415. The footprint of the two wheeled bases 2 is two grid cells, while the footprint of the container handling vehicle is three grid cells. Thus, in this arrangement, the container handling vehicle 701 of Figures 8A-8G can carry five storage containers 106 while occupying only three grid cells. The remaining features of the container handling vehicle 601 are similar to those of the container handling vehicles 401, 501 described in connection with Figures 5A-5H and 6A-F and 7A-7E and will not be repeated here.

[0115] FIG. 8A is a side view of the container handling vehicle 701 in which the lifting frame 415 is not holding a storage container 106, while the remaining three support surfaces 425 are positioned directly above their respective wheeled bases 2, and are all empty.

[0116] FIG. 8B is a side view of the container handling vehicle 701 with the lifting frame 415 not holding a storage container 106, three of the support surfaces 425 positioned directly above each wheeled base 2, one of the support surfaces 425 positioned directly below the lifting frame 415 and holding a storage container 106, while the remaining three are empty.

[0117] FIG. 8C is a side view of the container handling vehicle 701 with the lifting frame 415 not holding a storage container 106 and all of the support surfaces 425 positioned directly above their respective wheeled bases 2, one of which holds a storage container 106 while the remaining three are empty.

[0118] FIG. 8D is a side view of the container handling vehicle 701 in which the lifting frame 415 holds a storage container 106 and one support surface 425 is positioned directly below the lifting frame 415, while the remaining three support surfaces 425 are positioned directly above the wheeled base 2, one of which holds a storage container 106 while the remaining two are empty.

[0119] FIG. 8E is a side view of container handling vehicle 701 with lifting frame 415 holding storage containers 106 and all of the support surfaces 425 positioned directly above wheeled bases 2, two of which are holding storage containers 106 while two are empty.

[0120] FIG. 8F is a side view of the container handling vehicle 701 in which the lifting frame 415 is not holding a storage container 106, one support surface 425 is positioned directly below the lifting frame 415, while the remaining three support surfaces 425 are positioned directly above the wheeled base 2, two of which hold storage containers 106 while one is empty.

[0121] FIG. 8G is a side view of the container handling vehicle 701 with the lifting frame 451 not holding a storage container 106 and all of the support surfaces 425 positioned directly above the wheeled base 2, three of which hold storage containers 106 while one is empty.

[0122] 9A-9E are examples of a container handling vehicle 801 with one lifting frame 415 suspended from a set of suspension points 423 (not shown in detail in FIGS. 9A-9E, see FIGS. 10-13), where the set of suspension points, and therefore the lifting frame 415, are configured for translational movement from a position directly above a fixed support surface 425 located on the wheeled base 2 of the container handling vehicle 801 and a position directly above a storage location located below the rail system. The figures show the sequential movement of storage containers 106 from their respective storage locations located below the rail system onto the support surface 425 on the container handling vehicle 801. The container handling vehicle 801 can have two support surfaces 425 as shown in FIGS. 9A-9E. However, although not shown, it is also possible for the container handling vehicle 801 to have four or even more support surfaces 425, for example, support surfaces 425 arranged in a line, or support surfaces 425 arranged 2x2 to form a cube. In the latter case, the set of suspension points must be able to translate the lifting frame 415 in both the X and Y directions. The container handling vehicle 801 has different footprints depending on whether the lifting frame 415 is positioned directly above a storage location below the rail system 108 (see, e.g., FIG. 9A) or directly above one of the support surfaces 425 on the container handling vehicle 801 (see, e.g., FIG. 9B). In order to move the suspension point 423 (and therefore the lifting frame 415) between a position directly above a fixed support surface 425 located on the wheeled base 2 of the container handling vehicle 801 and a position directly above a storage position below the rail system 108, the container handling vehicle may be provided with a first movement mechanism for horizontal translational movement of the lifting frame 415 within an area defined by the vertical projection of the wheeled base 2, and a second movement mechanism for horizontal translational movement of the lifting frame 415 or the support surface outside the area defined by the vertical projection of the wheeled base 2.

[0123] Figure 9A is a side view of a container handling vehicle 801 with the lifting frame 415 in a position just above a storage location below the rail system 108. The container handling vehicle 801 occupies three grid cells 122 in Figure 9A.

[0124] Figure 9B is a side view of the container handling vehicle 801 with the lifting frame 415 having moved a distance equal to one grid cell relative to its position in Figure 9A and is now in a position directly above one of the support surfaces 425 and has lowered a storage container 106 onto the support surface 425. The container handling vehicle 801 occupies two grid cells 122 in Figure 9B.

[0125] FIG. 9C is a side view of a container handling vehicle 801 in which a lifting frame 415 is suspended below the rail system 108 using lifting bands 417a, 417b and a storage container 108 is loaded from a storage location located below the rail system 108.

[0126] Figure 9D is a side view of the container handling vehicle 801 with the lifting frame 415 having moved a distance equal to two grid cells relative to its position in Figure 9C and now directly above another of the support surfaces 425 compared to Figure 9B, and having lowered the storage container 106 onto the support surface 425.

[0127] FIG. 9E is a side view of the container handling vehicle 801 after a total of four storage containers 106 have been positioned on the support surface 425, with two stacks of storage containers having two storage containers 106 in each stack.

[0128] 10A shows a container handling vehicle 901 with one lifting frame 415 suspended from a set of suspension points 423. The set of suspension points 423, and therefore the lifting frame 415, is configured for translational movement, using a linear movement mechanism 427, from a position directly above a fixed support surface 425 located on the wheeled base 2 of the container handling vehicle 901 to one of two positions located directly above a storage location 425 positioned below the rail system 108. The two positions are on either side of the wheeled base 2. The container handling vehicle of Figure 10A occupies two grid cells 122 as the lifting frame 415 is directly above one of the fixed support surfaces 425. The movement mechanism of Figure 10A is in the form of a linear guide system, where the lifting device 414 with the lifting frame 415 is located inside the upper part of the container handling vehicle 901 and is movable along the guide system via complementary connections such as linear bearings, rack and pinions, linear actuators, and / or ball screws. In order to move the suspension points 423 (and therefore the lifting frames 415) between a position directly above one of the fixed support surfaces 425 disposed on the wheeled base 2 of the container handling vehicle 801 and a position directly above a storage position below the rail system 108, the container handling vehicle 901 may include a first movement mechanism 427' for horizontal translational movement of the lifting frame 415 within an area defined by the vertical projection of the wheeled base 2, and a second movement mechanism 427" for horizontal translational movement of the lifting frame 415 outside of (beyond) the area defined by the vertical projection of the wheeled base 2. Examples and more detailed views of the different movement mechanisms 427, 427', 427" for the set of suspension points 423 (and the movable support surfaces 425 of the exemplary container handling vehicle described above) are shown in FIG. 13.

[0129] Figure 10B shows the container handling vehicle 901 of Figure 10A with the lifting frame 415 moved to a position above the storage location below the rail system 108. The container handling vehicle of Figure 10B occupies three grid cells 122 because the lifting frame 415 is outside the wheeled base 2 and directly above the storage location below the rail system 108.

[0130] 11A-11C are examples of a container handling vehicle 1001 disposed on a rail system 1001. The container handling vehicle 1001 comprises a lifting frame 415 suspended from a set of suspension points 423, with the set of suspension points 423 (and thus the lifting frame 415) configured for translational movement from two positions, one directly above a fixed support surface 425 disposed on a wheeled base 2 of the container handling vehicle 1001 and the other directly above a storage position located below the rail system 108, the two positions being on opposite sides of the wheeled base 2. The container handling vehicle 1001 has many similar features to the container handling vehicle 901 of FIGS. 10A and 10B, and these features will not be repeated here. Similar to the exemplary container handling vehicles 801, 901 of Figures 9 and 10, the container handling vehicle of Figures 11A-11C may include a first movement mechanism 427' (illustrated as a rack and pinion system) and a second movement mechanism 427'' (illustrated as a ball screw system).

[0131] Figure 11A shows a container handling vehicle 1001 with a lifting frame 415 positioned directly above a storage location 425 located below a rail system 108 to hold a storage container 108. The container handling vehicle 1001 of Figure 11A occupies three grid cells in this configuration.

[0132] Figure 11B shows a container handling vehicle 1001 with the lifting frame 415 positioned on the opposite side of the wheeled base 2 compared to Figure 11A, directly above a storage location located below the rail system 108, holding a storage container 108. The container handling vehicle 1001 occupies three grid cells 122 in this configuration.

[0133] 11C shows the container handling vehicle 1001 with the lifting frame 415 positioned directly above one of the support surfaces 425. The container handling vehicle 1001 occupies two grid cells 122.

[0134] 12A-12D are examples of a container handling vehicle 1101 with one lifting frame 415 suspended from a set of suspension points 423, where the set of suspension points 423, and therefore the lifting frame 415, are configured for translational movement from a position directly above a movable support surface 425 located on the wheeled base 2 of the container handling vehicle 1101 and a position directly above a storage position located below a rail system. The figures show different relative positions of the lifting frame 415 and the movable support surface 425. The container handling vehicle 1101 of FIGS. 12A-12D is similar to that described in connection with FIGS. 10A and 10B, except that the container handling vehicle 1101 of FIGS. 12A-12D has a movable support surface 425 compared to the fixed support surface 425 of FIGS. 10A and 10B, and will not be described in further detail herein. To move the support surface 425 between a position directly above the wheeled base 2 and a position outside the wheeled base 2, the container handling vehicle 901 may include a first movement mechanism 426' for horizontal translation of the support surface 425 within an area defined by the vertical projection of the wheeled base 2, and a second movement mechanism 426" for horizontal translation of the support surface 425 outside (i.e., beyond) the area defined by the vertical projection of the wheeled base 2. Examples and more detailed views of the different movement mechanisms 426, 426', 426'", 427, 427', 427" for the sets of suspension points 423 and movable support surfaces 425 of the above exemplary container handling vehicle are shown in Figures 13A-E.

[0135] FIG. 12A shows the container handling vehicle 1101 with the lifting frame 415 in a position directly above the wheeled base 2 and the empty support surface 425 in a position outside the wheeled base 2.

[0136] FIG. 12B shows the container handling vehicle 1101 with the lifting frame 415 in a position directly above the wheeled base 2 and the movable support surface 415 holding the storage container 106 in a position outside the wheeled base 2.

[0137] FIG. 12C shows the container handling vehicle 1101 with the lifting frame 415 in a position outside the wheeled base 2 and the support surface 425 holding the storage container 106 in a position outside the wheeled base 2 directly below the lifting frame 415.

[0138] FIG. 12D shows the container handling vehicle 1101 with the lifting frame 415 in a position outside the wheeled base 2, holding a storage container 106, and with the support surface 425 positioned directly above the wheeled base 2.

[0139] 13A is a top view of a container handling vehicle with two linear movement mechanisms 427′, 427″ for the suspension point 423 (and therefore the lifting frame 415). The first movement mechanism 427′ comprises a linear guide system that is extendable, and is in the form of a rack-and-pinion system for horizontal translation of the lifting frame (or the support surface 425, if it supports a support surface) within the area defined by the vertical projection of the wheeled base 2. The second movement mechanism 427″ is for horizontal translation of the lifting frame 415 (or the support surface 425, if it supports a support surface) outside the area defined by the vertical projection of the wheeled base 2. The second movement mechanism 427″ is in the form of a ball screw. The rack-and-pinion system comprises one or more rollers 440 movable along tracks 441 provided on both sides of the container handling vehicle. The ball screw 442 mechanism converts the rotational movement of a threaded shaft portion 443 located on the container handling vehicle into linear movement of ball bearings 444 on lateral supports 445 for the suspension point 423. The lateral supports 445 extend between the threaded shaft portions 443 on either side of the container handling vehicle. The principle of the ball screw 442, i.e., conversion of rotational movement into linear movement, is known to those skilled in the art and will not be further described herein.

[0140] Drive for the movement mechanisms 426, 427 may be provided by suitable drive motors or actuation mechanisms known to those skilled in the art and will not be described in more detail herein.

[0141] FIG. 13B is an enlarged view of section A of FIG. 13A.

[0142] FIG. 13C shows details of linear translation mechanisms 426, 427 in the form of a ball screw 442 arrangement for moving the suspension point 423 or the movable support surface 425. The ball screw 442 arrangement illustrated in FIGS. 13C-13E can be used as both the first translation mechanism 426′, 427′ and the second translation mechanism 426″, 427′ for both the movable suspension point 423 and the movable support surface 425. In the illustrated embodiment of FIG. 13C, two parallel threaded shaft portions 443 are disclosed. Two lateral support elements 445 extend between the parallel threaded shaft portions 443. The lateral support elements 445 include ball bearings 444 for linear translation when the threaded shaft portions 443 are rotated.

[0143] FIG. 13D is an enlarged view of section B of FIG. 13C.

[0144] In FIG. 13E, lateral support element 445 has been removed to more clearly illustrate threaded shaft portion 443 and the ball bearings on lateral support element 445 for interaction with threaded shaft portion 443.

[0145] 14A-14D are an example of a container handling vehicle 1201 with a wheeled base 2, a support section 402, and a cantilever section 413. A lifting frame 415 is suspended from a set of suspension points 423 within the cantilever section 413. A movement mechanism 427 includes a rotation device 446 (see FIG. 14C ) adapted to rotate the support section 402, and thus the cantilever section 413, relative to the wheeled base 2, so that in a first state ( FIGS. 14A and 14B ), the lifting frame 413 can lift a container upward from a storage position below the rail system 108, and in a second state ( FIG. 14C ), the lifting frame 415 can place a storage container 106 on the support surface 425. As shown in Figures 14A-14D, in a first state, the container handling vehicle 1201 occupies two grid cells 122, while in a second state, the container handling vehicle 1201 occupies only one grid cell 122.

[0146] FIG. 14A shows the container handling vehicle 1201 with the lifting frame 415 positioned directly above a storage location located below the rail system 108 and with the support surface 425 empty.

[0147] FIG. 14B is a rear view of FIG. 14A.

[0148] Figure 14C shows the container handling vehicle 1201 with the support section 402, and therefore the cantilever section 413 and lift frame 415, rotated 180 degrees compared to Figures 14A and 14B by the rotation device 446. In the figure, both the lift frame 415 and the support surface 425 are empty, i.e., not holding a storage container 106.

[0149] 14D shows a container handling vehicle 1201 with a lifting frame 415 positioned directly above a storage location located below the rail system 108. Both the lifting frame 415 and the support surface 425 are shown holding a storage container 106.

[0150] Figure 15 is a top view of one example of a component of a container handling vehicle that may be located in a lifting device. Thus, a possible configuration of a lifting device 414 is disclosed, where in addition to lifting shafts 418 and lifting bands 417 that can be wound onto or unwound from common or separate lifting shafts 418, there are also lifting device motors 416. The lifting device motors 416 in Figure 15 can be brushless DC motors that surround one of the lifting shafts 418, as shown. In the example of Figure 15, two lifting device motors 416 are shown, one on each side of a lifting device control 419. Instead of winding the lifting bands 417 onto the same lifting shafts 418, synchronous movement of the lifting shafts 418 can be obtained by a synchronizing element, such as a force transmission element as disclosed in Figures 5A-5E and 6A-6H of WO 2019 / 137870 A1 (Applicant: Autostore Technology AS), the contents of which are incorporated herein by reference.

[0151] 16A-16B show different examples of different container handling vehicles with weight distribution system 450. Weight distribution system 450 includes a movable load 452 and a load moving device 451 for varying the center of gravity of the container handling vehicle in response to the load of one or more storage containers 106 being carried by the container handling vehicle, for example, when a non-uniform load is present or when it is desirable to provide additional counterbalance. Weight distribution system 450 may further include a control system 454, which may include: The load moving device 451 is commanded to move the movable load 452 in a direction (as indicated by the arrow in the figure) against the weight of the storage container 106 held by the support surface 425 or lifting frame 415 .

[0152] FIG. 16A shows an example of a container handling vehicle with a cantilever design and a linearly movable support surface 425. The movable load 452 in FIG. 16A is located on an upper portion of the container handling vehicle and is movable along the entire length of the container handling vehicle corresponding to the entire length of the wheeled base 2 and cantilever section 413. The container handling vehicle in FIG. 16A is disclosed with a sensor suite 456 that measures the weight of any storage containers 106 supported by the support surface 425 and lifting frame 415. A control system 454 may be connected to both the sensor suite 456 and the load moving device 452 and may sense changes in mass on at least two opposite sides of the container handling vehicle based on measured data from the sensor suite 456, calculate a travel distance for the movable load 452 corresponding to the change in mass, and command the load moving device 451 to move the movable load 452 the calculated travel distance in the opposite direction to the relatively heavier side of the container handling vehicle.

[0153] Figure 16B is an example of the container handling vehicle of Figures 5A-5H with a weight distribution system 450 as described above in connection with Figure 16A. The movable load 452 of Figure 16B is disposed on the upper portion of the cantilever section 413 and is movable along a range equal to the length of the cantilever section 413. The container handling vehicle of Figure 16B has a Z-shape and a linearly movable support surface 425. The functionality of the weight distribution system 450 with the set of sensors 456 and control system 454 for the load moving device 453 is similar to the functionality already described in connection with Figure 16A and will not be repeated here.

[0154] 17A-17C show different examples of a container handling vehicle 1301 with a through opening in the support section, where the support surface is linearly movable relative to the wheeled base between a position directly above the wheeled base and a position directly below the lifting frame, and the container handling vehicle further includes a weight distribution system. The container handling vehicle of FIGS. 17A-17C has similar features to the container handling vehicle 401 shown and described above in connection with FIGS. 5A-5H, except that the container handling vehicle of FIGS. 17A-17C has a wall and cover surrounding the support surface 425 when the support surface 425 is directly above the wheeled base 2. Furthermore, the system for moving the support surface 425 relative to the wheeled base 2 is different. This will be explained in more detail with reference to FIGS. 18A-18E, 19A, and 19B.

[0155] Figure 17A is a front perspective view of a storage container 106 disposed on a support surface 425 positioned directly above the wheeled base 2. In the cantilever section 413, a weight distribution system 450 is disclosed. A movable load 452 in Figure 17A is disposed on the upper portion of the container handling vehicle and is movable along the entire length of the container handling vehicle, which corresponds to the entire length of the wheeled base 2 and the cantilever section 413. A control system for the load movement device 454, as described above in connection with Figure 16B, is also disclosed and will not be described in greater detail herein.

[0156] Figure 17B is a top perspective view of Figure 17A. As disclosed in Figure 17B, a load moving device 451 is guideable within cantilever beam section 413 along load guide 453. Load moving device 451 is in the form of a ball screw, the rotation of which is translated into linear movement of moveable load 452 along load guide 453.

[0157] Figure 17C is a detailed view of the dotted area of ​​Figure 17B, showing further details of weight distribution system 450. In addition to the features shown in connection with Figures 17A and 17C, a load moving device motor 457, powered by a battery or the like (not shown), is disclosed along with a rotation arrangement 458 in the form of a belt for transferring rotational movement from load moving device motor 457 to load moving device 451. Although rotation arrangement 458 in the form of a belt transferring movement to load moving device 451 in the form of a ball screw 451 is disclosed, other arrangements for transferring movement to load moving device 451 are possible, provided they perform the required function.

[0158] 18A-18E show details of the container handling vehicle 1301 of FIGS. 17A-17C, which includes a wheeled base 2, a support section 402, and a cantilever section 413, with a lift frame 415 suspended from a set of suspension points on the cantilever section 413. A support surface 425 is movable relative to the wheeled base 2 between a position directly above the wheeled base 2 and a position directly below the lift frame 425 via a vertical plane movement mechanism 460. The vertical plane movement mechanism 460 has a horizontal component and a vertical component (i.e., is horizontally and vertically oriented). This means that movement of the support surface 425 between a position directly above the wheeled base 2 and a position directly below the lift frame 425 is through rotation in a vertical plane. To allow for this movement, the vertical distance from the support surface 425 to the rail system 108 is not constant during movement between the positions. The vertical distance is greatest when the support surface 425 is at the middle of its travel and is least when the support surface 425 is at the two extreme positions, directly above the wheeled base and directly below the lifting frame 415. The function of the vertical planar movement mechanism 460 and the components forming part of it will be described in detail with reference to Figures 19A and 19B.

[0159] 18A is a side perspective view of a container handling vehicle 1301 with a lifting frame 415 holding a storage container 106 and an empty support surface 425 directly above a wheeled base 2. The container handling vehicle 1301 is shown with a weight distribution system 450. This weight distribution system 450 may be similar to the weight distribution system 450 described and shown in connection with FIGS. 17A-17C above and will not be described in further detail herein.

[0160] In FIG. 18B, the lift frame 415 still holds the storage container 106 and the support surface 425 is in the process of moving from its initial position directly above the wheeled base 2 to a position directly below the lift frame 425.

[0161] 18C, the vertical plane movement mechanism 460 has moved the support surface 425 to a position directly below the lift frame 415. As can be seen, the lift frame 415 is no longer holding the storage container 106 as it has been lowered onto the support surface 425.

[0162] 18D, the lift frame 415 is not holding a storage container 106. The support surface 425 and the storage container 106 provided thereon are in the process of moving from a position directly below the lift frame 425 to a position directly above the wheeled base 2.

[0163] In Figure 18E, the lifting frame 415 is not holding a storage container 106. The support surface 425 and the storage container 106 provided thereon have been moved to a position directly above the wheeled base 2. The lifting frame 415 can now load a new storage container from a storage location below the rail system 108.

[0164] 19A and 19B show details of the vertical plane movement mechanism 460 for moving the support surface 425 between a position directly above the wheeled base 2 and a position directly below the lift frame 415. As explained above, the vertical plane movement mechanism 460 has a horizontal component and a vertical component (i.e., horizontal and vertical directions). This means that the movement of the support surface 425 between a position directly above the wheeled base 2 and a position directly below the lift frame 425 is through a rotation in the vertical plane. To be able to allow this movement, the vertical distance from the support surface 425 to the rail system 108 is not constant during movement between the positions. The vertical distance is greatest when the support surface 425 is in the middle of its movement, and the vertical distance is smallest when the support surface 425 is at one of the two extreme positions (directly above the wheeled base and directly below the lift frame 415). The support surface 425 is connected to the wheeled base 2 via two bars 461′, 461″. Each bar 461′, 461″ is rotatably connected at one end to the wheeled base 2, and a bracket 462 is connected at its opposite end to the underside of the support surface 425 through fastening means 463, such as a pin or bolt. A rotary movement motor 464, powered by a battery or the like (not shown), provides rotation of a belt arrangement connected to the bars 461′, 461″, such that the motor 464, via belt 465 and shaft 466, can rotate the bars 461′, 461″ (and therefore the support surface 425) in a vertical plane between a position directly above the wheeled base 2 and a position directly below the lifting frame 415. The belt 465 and shaft 466 arrangement provides synchronous movement of the bars 461′, 461″.

[0165] In order for the support surface 425 to have a horizontal orientation during its overall movement, the two rotatable bars 461′, 461″ are offset relative to one another in a vertical plane. As seen in FIGS. 19A and 19B, each bar 461′, 461″ is connected to a shaft 465 in the wheeled base 2 at different heights. Similarly, as best shown in FIG. 19B, each shaft 461′, 461″ is connected to a lower bracket 462 on the support surface 425 at different heights. However, the bars 461′, 461″ are of equal length so that when they move through the same angle, they have the same arc length (i.e., the same semicircular path of movement). However, because they are connected to the shafts and brackets at different heights, the semicircular paths of movement are offset relative to one another.

[0166] 20A-20B show an example of a container handling vehicle 1401 with three linear movement mechanisms for the suspension point 423 (and therefore the lifting frame 415), the movement mechanisms comprising an extendable linear guide system, a first movement mechanism for horizontal translational movement of the lifting frame 415 in a first direction within an area defined by the vertical projection of the wheeled base 2, a second movement mechanism for horizontal translational movement of the lifting frame 415 outside (beyond) the area defined by the vertical projection of the wheeled base 2, and a third movement mechanism for movement in a direction perpendicular to the first direction. The functional settings of the first and second movement mechanisms are similar to the two linear movement mechanisms 427′, 427″ for the suspension point (and therefore the lifting frame 415), as described above in connection with FIGS. 13A-13E , and will not be described in detail herein. However, for a description of the movement mechanism in a third direction relative to the directions described above with reference to Figures 13A-13E, please refer to Figure 21A.

[0167] In FIG. 20A , the lifting frame 415 is positioned within the area defined by the vertical projection of the wheeled base 2. The support surface 425 in FIGS. 20A and 20B may support a total of four storage containers 106 thereon. Each of the storage containers 106 supported by the support surface 425 may support at least one storage container 106 thereon. Although not shown, the container handling vehicle 1401 may have a cover or wall to ensure that the storage containers 106 remain in their dedicated positions on the support surface 425. This is done to prevent the storage containers 106 from sliding off the support surface 425 and may also be done to ensure that the bin guides on the lifting frame 425 are aligned with each corner of the storage container 106 if the storage container 106 is to be retrieved by the lifting frame 415 while positioned on the support surface 425.

[0168] In FIG. 20B, the lifting frame 415 has been moved to a position outside the area defined by the vertical projection of the wheeled base 2.

[0169] 21A-21C show an example of a container handling vehicle 1501 with three linear movement mechanisms for the suspension point 423 (and therefore the lifting frame 415) and a rotation mechanism 470 for rotating the suspension point (and therefore the lifting frame 415).

[0170] In Figure 21A, the lifting frame is in a position outside the area defined by the vertical projection of the wheeled base. The functional configuration of the first and second movement mechanisms is similar to the two linear movement mechanisms 427', 427" for the suspension point 423 (and therefore the lifting frame 415), as described above in connection with Figures 13A-13E. The third linear movement mechanism, which is in a direction perpendicular to the first linear movement mechanism, may be provided by a rack and pinion 440' in combination with rollers 441', as described above in connection with Figure 13A, i.e., the rack and pinion system comprises one or more rollers 440' movable along tracks 441' provided on both sides of the container handling vehicle 1501.

[0171] In FIG. 21B, one example of a rotation mechanism 470 for rotating the suspension point 423 (and therefore the lifting frame 415) is shown. The rotation mechanism 470 comprises a rotation motor 471 powered by a battery or the like (not shown), with external teeth 472 for interaction with a gear 473 connected to the lifting frame 415. This setup ensures that when the rotation motor 471 rotates, the lifting frame 415 rotates, thereby allowing the storage container 106 to be placed in any orientation on the support surface 425 (i.e., a pallet as shown in FIG. 21C) of the container handling vehicle 1501.

[0172] In Figure 21C, the lifting frame 415 is in a position within the area defined by the vertical projection of the wheeled base 2, and the lifting frame 415 has been rotated 90 degrees compared to the lifting device of Figure 21A using the rotation mechanism 470 of Figure 21B. The support surface 425 is in the form of a pallet. The pallet can be a standard industrial size, such as a EURO pallet (120 cm x 80 cm).

[0173] In the foregoing description, various aspects of the container handling vehicle and automated storage and retrieval 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. For example, while the term "wheeled base with first and second sets of wheels" is used as an example throughout this description, a belt base with first and second belts for guidance along a rail system could be used instead. Various modifications and variations of the illustrative embodiments, and 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.

[0174] (List of reference numbers) 1. Prior Art Automated Storage and Retrieval System 2 Wheeled base / wheel base unit 4, 4' electric motor 6 Rechargeable Batteries 7 Wheel Displacement Assembly 8 Electric motor for wheel displacement assembly 9 Top Panel / Flange 10 through holes 20 Center opening 21 Electronic Control System 29 Switch Module 32a Wheel arrangement, first set of wheels 32a'-32a'''' First, second, third, and fourth wheels in the first set of wheels 39 Bracket 41 Lifting band clamp 68 Spring-loaded pin 69 Control Module 70 Control gripper motor 70b Grasper bar 71 Wire 100 Skeletal Structure 102 Upright members of skeletal structure 103 Horizontal members of skeletal structure 104 Storage Grid 105 Storage Column 106 Storage Container 106' Specific location of storage container 107 stacks 108 Rail System 110 Parallel rails in the first direction (X) 110a: First rail in first direction (X) 110b second rail in the first direction (X) 111 Parallel rails in the second direction (Y) 111a first rail in second direction (Y) 111b second rail in second direction (Y) 115 Access opening 119 First Port Column 120 Second Port Column 122 grid cells 201 Conventional storage container vehicle 201a Storage container vehicle body 201 201b Drive means / wheel arrangement, first direction (X) 201c Drive means / wheel arrangement, second direction (Y) 301 Conventional cantilever-supported storage container vehicle 301a Storage container vehicle body 301 301b Driving means in the first direction (X) 301c Driving means in the second direction (Y) 304 Part of the grasping device 401 Container handling vehicle with cantilever and one linearly movable support surface 402 Support classification 413 Cantilever beam section 414 Container lifting device 415 Lifting Frame 416 Lifting device motor 417a, b lifting band 418 Elevating Shaft 419 Lifting device control unit 421 Releasable connections, grippers 422 Through opening 423 Suspension point set 424 Bin Guide 425 Support surface / holding position 426, 426', 426'' Linear movement mechanism for supporting surface 427, 427', 427'' Linear movement mechanism for suspension point 440, 440' Rollers in rack and pinion systems 441, 441' Track in rack and pinion system 442 Ball screw 443 Threaded shaft section 444 Ball bearings on lateral support elements 445 Lateral Support Elements 446 Rotating Device 450 Weight Distribution System 451 Load Transfer Device 452 Movable load 453 Load Guide 454 Control System for Load Transfer Device 455 Pivot Connection Support Surface 456 Sensor set for measuring weight 457 Load Transfer Device Motor 458 Rotating arrangement / Belt 460 Vertical plane movement mechanism 461', 461'' bar 462 Bracket 463', 463'' fastening means 464 Rotational Movement Motor 465 Belt 470 Rotation Mechanism 471 Rotary Motor 472 External teeth 500 Control System 501 Container handling vehicle with two cantilevers and two movable support surfaces 601 Container handling vehicle with cantilever and four movable support platforms 701 Container handling vehicle with two wheel bases, a central cavity, and four movable support surfaces 801 Container handling vehicle with movable lifting frame and two support surfaces 901 Container handling vehicle with movable lifting frame and two support surfaces 1001 Container handling vehicle with movable lifting frame and two support surfaces 1101 Container handling vehicle with movable lifting frame and movable support surface 1201 Container handling vehicles with rotatable support sections 1301 Container handling vehicle with stationary lifting frame and vertically and horizontally movable support surface 1401 Container handling vehicle with three linear movement mechanisms for lifting frame 1501 Container handling vehicle with three linear movement mechanisms for the lifting frame and a rotation device for rotating the lifting frame X first direction Y Second direction Z third direction

Claims

1. A container handling vehicle (401, 501, 601, 701, 801, 901, 1001, 1101, 1201, 1301, 1401, 1501) for operation on a rail system (108), said container handling vehicle comprising: a base (2) provided with means of movement for guiding said container handling vehicles along said rail system (108); a container lifting device (414) comprising a lifting frame (415) for lifting a storage container (106) upward from a storage position below said rail system (108); a support surface (425) for supporting said storage container (106); a cantilever section extending horizontally beyond the footprint of the base and configured to support the lifting frame; Equipped with The container handling vehicle comprises a movement mechanism (426, 426', 426'', 427, 427', 427'', 446, 460) for horizontally translating the lifting frame (415) or the support surface (425) relative to the base (2), whereby an elevated storage container (106) can be placed on the support surface (425) and the lifting frame (415) is decoupled from the elevated storage container (106).

2. the container handling vehicle is for operation on a two-dimensional rail system (108) comprising a first set of parallel rails (110) arranged to guide movement of the container handling vehicle in a first direction (X) across the top of the frame structure (100) and a second set of parallel rails (111) arranged perpendicular to the first set of rails (110) to guide movement of the container handling vehicle (401) in a second direction (Y) perpendicular to the first direction, the first and second sets of parallel rails (110, 111) forming a grid dividing the rail system (108) into a plurality of grid cells (122); The container handling vehicle further comprises a support structure (402) provided on the base (2), the support structure (402) extending from a lower section to an upper section of the base (2); the lifting frame (415) is suspended from a set of suspension points (423) on the upper section of the support structure (402), the support surface (425) providing a first holding position disposed at a height lower than the lifting frame (415) when the lifting frame (415) is in a docked state adjacent to the upper section of the support structure (402), and the moving means are for guiding the container handling vehicle along the rail system (108) in the first direction (X) and the second direction (Y), respectively; 2. The container handling vehicle of claim 1, wherein the movement mechanism (426, 426', 426'', 427, 427', 427'', 446, 460) is configured to horizontally translate the set of suspension points or the support surface (425) relative to the base (2), whereby an elevated storage container (106) can be placed on the support surface (425) and the lifting frame (415) is decoupled from the elevated storage container (106).

3. A container handling vehicle (401, 501, 601, 701, 801, 901, 1001, 1101, 1201, 1301, 1401, 1501) according to claim 1 or 2, wherein the base is a wheeled base (2) and the moving means are a first set of wheels (32a) and a second set of wheels (32b).

4. 4. A container handling vehicle as claimed in claim 1, 2 or 3, wherein at least one of the lifting frame (415) and the support surface (425) is configured for linear translational movement in a horizontal direction, preferably parallel to one of the first or second directions (X, Y).

5. A container handling vehicle according to any preceding claim, further comprising a through opening sized for the passage of a storage container (106).

6. The container handling vehicle according to claim 2 or any one of claims 3 to 5 dependent on claim 2, wherein the suspension point (423) is linearly movable, whereby in a first position the lifting frame (415) is arranged to retrieve a storage container (106) from a storage position below the rail system (108), and in a second position the lifting frame (415) is arranged above the first holding position (425).

7. The lifting frame (415) and the first holding position (425) - in a first position, the vertical projection of said lifting frame (415) covers said first holding position (425); - in a second position, the vertical projection of the lifting frame (415) clears the first holding position (425); The container handling vehicle according to claim 2 or any one of claims 3 to 6 dependent on claim 2, wherein

8. 8. A container handling vehicle according to claim 1, wherein the support surface (425) is linearly movable relative to the base (2) by actuation of the moving mechanism (426, 426', 426''), whereby, in a first position, the support surface (425) is positioned within the vertical projection of the base (2), and in a second position, the support surface (425) is positioned outside the vertical projection of the base (2).

9. 9. The container handling vehicle of claim 8, wherein the movement mechanism (426) is arranged within the base (2) such that the support surface (425) is horizontally translatable relative to the base (2).

10. The container handling vehicle according to claim 2 or any one of claims 3 to 7 dependent on claim 2, wherein the movement mechanism (427, 427', 427'') is arranged in the upper section such that the lifting frame (415) is horizontally translatable relative to the base (2).

11. A container handling vehicle as described in claim 2 or any of claims 3 to 10 dependent on claim 2, wherein the container handling vehicle is provided with a second movement mechanism (427'') for horizontally translating the other of the set of suspension points (423) or the support surface (425) relative to the base (2).

12. 12. A container handling vehicle according to claim 2 or any of claims 3 to 11 dependent on claim 2, further comprising a second support surface (425) providing a second holding position arranged adjacent to or above the first holding position (425).

13. Container handling vehicle according to claim 2 or any of claims 3 to 12 dependent on claim 2, wherein the movement mechanism (426, 426', 426'', 427, 427', 427'') comprises a linear guide system supporting the set of suspension points (423) or the support surface (425).

14. The container handling vehicle of claim 13 , wherein the linear guide system is horizontally extendable.

15. The linear guide system comprises at least two movement mechanisms (426, 426', 426'', 427, 427', 427''), the at least two movement mechanisms comprising: a first movement mechanism (426', 427') for horizontal translation of the lifting frame (415) or the support surface (425) within an area defined by the vertical projection of the base (2); a second movement mechanism (426'', 427'') for horizontal translation of the lifting frame (415) or the support surface (425) outside the area defined by the vertical projection of the base (2); The container handling vehicle according to any one of claims 13 to 14, comprising:

16. 16. The container handling vehicle of claim 15, wherein the first movement mechanism (426', 427') comprises a linear bearing, a rack and pinion, a linear actuator, and / or a ball screw.

17. Container handling vehicle according to claim 15 or claim 16, wherein the second movement mechanism (426'', 427'') comprises a linear bearing, a rack and pinion, a linear actuator, and / or a ball screw.

18. A container handling vehicle as described in any one of claims 1 to 17, wherein at least a lifting device motor (416) and a movement mechanism for horizontally moving the lifting frame (415) are arranged on the lifting frame (415) or above the lifting frame (415).

19. When the storage container (106) is positioned in the first holding position, a top portion of the storage container (106) exhibits a first height; the lift frame (415) has a bottom portion that represents a second height when in a docked position; 20. A container handling vehicle as described in claim 2 or any of claims 3 to 18 dependent on claim 2, wherein the second height exceeds the first height, thereby allowing the lowest portion of the docked lifting frame (415) to pass over the highest portion of the storage container (106) positioned on the support surface (425).

20. The container handling vehicle is the base in the form of a wheel base unit (2), wherein a first set of wheels (32a) and a second set of wheels (32b) form the periphery of the footprint of the wheel base unit (2); a lower section provided on the wheel base unit (2), the lower section having an occupation area with a horizontal extent equal to or less than the occupation area of ​​the wheel base unit (2), the lower section having an upper surface, the upper surface providing the support surface (425); a support section (402) forming the support structure and extending vertically from the lower section, the support section (402) having an footprint with a horizontal extent smaller than the footprint of the lower section; the cantilever section (413) forming the upper section and extending horizontally from the support section (402) beyond the footprint of the lower section; Equipped with 20. A container handling vehicle according to claim 2 or any of claims 3 to 19 dependent on claim 2, wherein the support section (402) is provided with a through opening (422) for moving the support surface (425) or the lifting frame (415) therethrough.

21. 21. The container handling vehicle of claim 20, wherein the container handling vehicle comprises a second support surface (425) providing a second holding position disposed above the support surface (425) forming the first holding position, and the cross-sectional area of ​​the through opening (422) is configured for passage of the support surface (425) through the through opening (422) both when any of the support surfaces (425) is holding a storage container (106) and when no storage container (106) is being held.

22. 19. A container handling vehicle according to any one of claims 1 to 18, comprising two lifting frames (415) and at least two support surfaces (425), the two lifting frames (415) being arranged on either side of the base (2) and outside the vertical projection of the base (2), the at least two support surfaces (425) being arranged within the vertical projection of the base (2), and each of the support surfaces (425) being movable relative to the base (2) to a position outside the base (2) and below one of the lifting frames (415), respectively.

23. A container handling vehicle as described in any one of claims 3 to 18 dependent on claim 2, wherein the container handling vehicle comprises two wheeled bases (2) and at least two support surfaces (425), the wheeled bases (2) being provided on either side of the support structure (402), one lifting frame (415) being suspended from the upper section of the support structure (402), and each of the support surfaces (425) being movable relative to the wheeled bases (2) to a position below the lifting frame (415).

24. A container handling vehicle as described in claim 2 or any of claims 3 to 23 dependent on claim 2, wherein the container handling vehicle comprises a second movement mechanism (426'', 427'') for horizontally translating the set of suspension points (423) relative to the base (2) so that the set of suspension points is translatable in the first and second directions (X, Y).

25. The container handling vehicle is the wheeled base (2) in the form of a wheeled base unit (2), wherein the first and second sets of wheels (32a, 32b) form the periphery of the footprint of the wheeled base unit (2); a lower section provided on the wheel base unit (2), the lower section having an occupation area with a horizontal extent equal to or less than the occupation area of ​​the wheel base unit (2), the lower section having an upper surface, the upper surface (425) providing the support surface (425); a support section (402) forming the support structure and extending vertically from the lower section, the support section (402) having an footprint with a horizontal extent smaller than the footprint of the lower section; the cantilever section (413) forming the upper section and extending horizontally from the support section (412) beyond the footprint of the lower section; Equipped with 4. A container handling vehicle as claimed in claim 3 when dependent on claim 2, wherein the movement mechanism comprises a rotation device (446) adapted to rotate the support section (402) relative to the base (2), and thus to rotate the cantilever section (413), so that in a first state, the lifting frame (415) can lift a storage container (106) upward from a storage position below the rail system (108), and in a second state, the lifting frame (415) can place a storage container on the support surface (425).

26. 26. A container handling vehicle according to claim 25, wherein when in the second state, the support section (402) and the cantilever section (413) are within the footprint of the wheel base unit (2).

27. Container handling vehicle according to any of the preceding claims, wherein the centre of gravity of the support surface (425) is located above the base (2).

28. 28. A container handling vehicle as described in any preceding claim, further comprising a weight distribution system (450) comprising a movable load (452) and a load moving device (451), the load moving device (451) changing the center of gravity of the container handling vehicle in response to the load of one or more storage containers (106) being carried by the container handling vehicle.

29. The weight distribution system (450) comprises: a set of sensors (456) for measuring the weight of any storage container (106) supported by said support surface (425) and by said lifting frame (415); a control system (454) connected to both said set of sensors (456) and said load moving device (453); Equipped with 29. The container handling vehicle of claim 28, wherein the control system (454) senses changes in mass on at least two opposite sides of the container handling vehicle based on measurement data from the set of sensors (456), calculates a travel distance for the movable load (452) corresponding to the change in mass, and commands the load moving device (453) to move the movable load (452) in the opposite direction to the relatively heavier side of the container handling vehicle by the calculated travel distance.

30. 30. A method of loading storage containers (106) between a stack location in an automated storage and retrieval system and a storage location on a container handling vehicle according to any of claims 1 to 29, said method comprising: - loading a storage container from said stack location located below said rail system (108) using said lifting frame (415) of said lifting device (414); - placing the storage container (106) on the support surface (425) of the container handling vehicle and detaching the lifting frame (415) from the storage container (106); A method comprising:

31. The method comprises: - moving the loaded storage container (106) and horizontally translating the set of suspension points (423) or the support surface (425) relative to the base (2) by using a movement mechanism (426, 426', 426'', 427, 427', 427''); 31. The method of claim 30 when dependent on claim 2, further comprising:

32. 1. An automated storage and retrieval system (1) comprising a two-dimensional rail system (108) comprising a first set of parallel rails (110) arranged to guide movement of a container handling vehicle in a first direction (X) across an upper portion of a frame 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 vehicle in a second direction (Y) perpendicular to the first direction, the first and second sets of parallel rails (110, 111) forming a grid dividing the rail system (108) into a plurality of grid cells (122), the automated storage and retrieval system comprising at least one container handling vehicle according to claim 2 or any of claims 3 to 29 dependent on claim 2.

33. The automated storage and retrieval system (1) of claim 32, further comprising a plurality of stacks of storage containers below said grid cells (122).

34. 34. The automated storage and retrieval system (1) of any one of claims 32 to 33, wherein the system (1) further comprises a control system (500) configured to receive information about the occupied area of ​​the container handling vehicle and to use said information to control the system.

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