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

Abstract

A delivery system for transporting containers to an access point for loading and unloading of items held in the containers by human and / or robotic operators, the delivery system comprising: a delivery rail grid; a delivery vehicle; and a container access station comprising at least one conveyor line extending into the access point. The delivery vehicle is arranged to deliver / receive containers to / from the at least one conveyor line, and the at least one conveyor line is arranged for transporting the containers between the delivery vehicle and the access point. The present invention is also directed to an automated warehouse system and method for transporting containers to the access point.

Description

[Technical Field]

[0001] The present invention relates to a delivery system for transporting storage containers between a first location and a second location, the second location being an access point. The access point is provided in a container access station comprising at least one conveyor line. The present invention also relates to an automated warehouse system comprising the delivery system and a method for transporting containers. [Background technology]

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

[0003] The skeleton structure 100 comprises a number of upright members 102 and, optionally, a number of horizontal members 103 that support the upright members 102. The members 102, 103 may typically be made of metal, for example, extruded aluminum profiles.

[0004] The skeletal structure 100 defines a storage grid 104 comprising storage columns 105 of storage containers 106, also known as receptacles, arranged in rows, stacked on top of each other to form stacks 107.

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

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

[0007] The automated storage system 1 includes a rail system 108 arranged in a grid pattern across the top of the storage warehouse 104, on which a plurality of container handling vehicles 200, 300 (as illustrated in FIGS. 1B and 1D ) operate to raise storage containers 106 from and lower storage containers 106 into storage columns 105, and to transport storage containers 106 up the storage columns 105. The horizontal extent of one of the grid cells 122 forming the grid pattern is marked by a bold line in FIGS. 1A and 1C .

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

[0009] The rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 200, 300 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 for guiding movement of the container handling vehicles 200, 300 in a second direction Y that is perpendicular to the first direction X. The rail system 108 thus defines a grid column above which the container handling vehicles 200, 300 may move laterally above the storage columns 105, i.e., in a plane that is parallel to the horizontal XY plane.

[0010] Each prior art container handling vehicle 200, 300 comprises a body and a wheel arrangement 201, 301 of eight wheels, with a first set of four wheels allowing lateral movement of the container handling vehicle 200, 300 in the X direction and a second set of four wheels allowing lateral movement in the Y direction. One or both sets of wheels in the wheel arrangement can be raised and lowered so that the first set of wheels and / or the second set of wheels can be engaged with a respective set of rails 110, 111 at any one time.

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

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

[0013] Each container handling vehicle 200 includes a storage compartment or space (not shown) for receiving and containing the storage containers 106 as they are transported across the rail system 108. The storage space may include a cavity centrally arranged within the vehicle body, for example, as described in WO 2014 / 090684 A1, the contents of which are incorporated herein by reference.

[0014] Alternatively, the container handling vehicle 300 may have a cantilever construction as described in NO317366, the contents of which are also incorporated herein by reference.

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

[0016] Alternatively, the container handling vehicle 200 may have a footprint that is greater than the lateral extent (the lateral area defined thereby) of the grid column 105, as disclosed, for example, in WO2014 / 090684A1.

[0017] The rail system 108 may be a single-rail system, as shown in FIG. 2A. Alternatively, the rail system 108 may be a dual-rail system, as shown in FIG. 2B, thus allowing a container handling vehicle 201, having a footprint generally corresponding to the lateral area defined by a grid column 112, to travel along a row of grid columns even when another container handling vehicle 200 is positioned above a neighboring grid column. Both single-rail and dual-rail systems, or a combination of single-rail and dual-rail arrangements in the single-rail system 108, form a grid pattern comprising a plurality of rectangles with grid openings 115 and uniform grid locations or grid cells 122 in the horizontal plane P, each grid cell 122 being 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.

[0018] 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.

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

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

[0021] In the storage grid 104, the majority of the grid columns are storage columns 105, i.e., grid columns 105 in which storage containers 106 are stored within stacks 107. However, the grid 104 does have at least one grid column that is not typically used to store storage containers 106, but includes a location where a container handling vehicle 200, 300 may unload and / or load the storage containers 106 so that they may be transported to a second location (not shown) where they may be accessed from outside the grid 104 or transferred out of or into the grid 104. In the art, such a location is typically referred to as a "port," and the grid column in which the port is located may be referred to as a "delivery column" 119, 120. The unloading and loading port for the container handling vehicle is referred to as the "upper port of the delivery column (119, 120)," while the opposite end of the delivery column is referred to as the "lower port of the delivery column."

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

[0023] 1A is to be accessed, one of the container handling vehicles 200, 300 is commanded to retrieve the target storage container 106 from its location in the grid 104 and transport it to or through the delivery column 119. This operation involves moving the container handling vehicle 200, 300 to a grid location above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using a lifting device (not shown) on the container handling vehicle, and transporting the storage container 106 to the delivery column 119.

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

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

[0026] A container access station may typically be a picking station or stockpiling station where product items are removed from or placed into storage containers 106. At a picking or stockpiling station, storage containers 106 are typically never removed from the automated warehouse system 1, but once accessed, are placed back into the storage grid 104. Lower ports are also provided in the delivery column for transfer of storage containers out of or into the storage grid 104, such as for transferring storage containers 106 to another storage facility (e.g., another storage grid), directly to a transport vehicle (e.g., a train or lorry), or to a production facility.

[0027] Picking and stockpiling operations at container access stations may be performed by human operators. Despite measures already in place to reduce the risk that human operators may injure themselves, improvements are always desirable. Additionally, as robotic operators, such as robotic arms, become more prevalent in these areas, it is also desirable to avoid damage to those devices wherever possible.

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

[0029] Another object of the present invention is to provide a system that allows for the efficient packaging of items held within a storage container for onward transportation of the packaged items. Summary of the Invention [Means for solving the problem]

[0030] The present invention is directed to a delivery system for transporting containers to access points for loading and unloading of items held within the containers by human and / or robotic operators.

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

[0032] The delivery vehicle is arranged for delivering / receiving containers to / from the at least one conveyor line, and the at least one conveyor line is arranged for transporting the containers between the delivery vehicle and the access point.

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

[0034] KLT boxes are industrial stackable containers that meet the VDA 4500 standard. The most common sizes are 600mm x 400mm and 400mm x 300mm; stacked on top of each other, these containers would meet the European pallet measurement of 1,200mm x 800mm. These containers may be stacked and are typically manufactured from injection-molded gray polypropylene or another thermoplastic.

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

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

[0037] The first location may be an external location associated with the delivery system. The external location is reachable by a delivery vehicle operating on the delivery system. Thus, the external location may be connected to the delivery system such that the delivery vehicle may retrieve / deliver the container from / to the external location. There may be one or more external locations connected to the delivery system.

[0038] An external location may be any location on or outside of a delivery system that is arranged or constructed to perform a task related to a warehouse system (such as assembly, production, shipping, etc.) Thus, a defined area on a delivery system that is constructed to perform a task (such as packaging, assembly, production, etc.) may be defined as an external location.

[0039] One or more external locations may be high priority areas, which may be areas coupled to the automated warehouse system for packing and shipping, distribution, sales, or production purposes.

[0040] The one or more external locations may be at least one of a storage grid, a packaging and assembly area, a dispatch area, a production area, a shipping and transportation area, and the like.

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

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

[0043] The external locations may be connected to the delivery system such that delivery vehicles may receive containers from the external locations for transport across the delivery rail grid, and vice versa.

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

[0045] The delivery vehicle may include a motorized body and a container carrier provided above the motorized body for transporting the container.

[0046] The container carrier may be provided with a conveyor arranged to transport containers horizontally onto and off the container carrier.

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

[0048] In the following, the rollers may also include belt or chain drives.

[0049] The conveyor motor may operate reversibly to move the rollers in opposite directions.

[0050] The delivery vehicle further: a first set of wheels arranged on a first opposite portion of the delivery vehicle for moving the delivery vehicle along a first direction (X) on the delivery rail grid; a second set of wheels arranged on a second, opposite portion of the delivery vehicle for moving the delivery vehicle on the delivery rail grid along a second direction (Y), the second direction (Y) being perpendicular to the first direction (X); may also be provided.

[0051] The at least one conveyor line may comprise at least one of rollers, belts, chains, etc. The at least one conveyor line is operated by a drive motor.

[0052] The drive motor may be reversible to move the rollers, belts, chains, etc. in opposite directions.

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

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

[0055] The conveyor lines may also be arranged in a loop (U-turn) with entry and exit ports for containers. The system may include a first conveyor line and a second conveyor line arranged parallel to and operatively connected to each other, so that containers can move from the first conveyor line to the second conveyor line and vice versa.

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

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

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

[0059] The system may include a lifting device for raising and lowering the container so that it does not come into contact with the rollers (conveyors) at the access point. The lifting device may include a motorized band or chain for moving the container from one conveyor line to another.

[0060] The first and second conveyor lines may each have a length such that two or more containers may be transported in a queue. The length of the first conveyor line may increase the delivery capacity of storage containers to the access point in that a delivery vehicle may operate efficiently by continuously delivering containers to the first conveyor line for transport to the access point. After each container is loaded at the access point, it travels to the second conveyor line and waits in a straight line to be collected by a delivery vehicle for further transport.

[0061] The container access station may comprise a wall or enclosure panel and at least a segment of at least one conveyor line arranged about an access point.

[0062] A container access station may comprise two or more conveyor lines arranged separately side-by-side and parallel, "separate" meaning that they are not connected and that containers may enter and exit the same conveyor line.

[0063] The two or more conveyor lines comprise a first conveyor line and a second conveyor line arranged in the same horizontal plane (P2).

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

[0065] An advantage of the present invention is that it is possible to provide a delivery system that is effective, provides safety for operators, and improves delivery capacity to access points. This achieves this advantage by improving the availability of delivery vehicles by reducing the waiting time period while stationed at an access point. Thus, the delivery vehicle does not have to remain occupied at the access port, but may move on to perform other tasks.

[0066] Instead of waiting for a human and / or robotic operator while performing the loading of the items stored in the container, the delivery vehicle may move to a second conveyor line to collect another storage container that has already been loaded at the access point.

[0067] At the access point, items stored in the storage containers may be placed in packing boxes for further transportation and handling. The inclusion of storage containers and packing boxes at the container access station provides a compact and flexible workspace where the containers are in close proximity to the operator and loading and unloading can be performed more quickly.

[0068] This saves operating time because after the delivery vehicle delivers a storage container, it can move to an adjacent location to collect another container (storage container or shipping box) that has already been loaded at the access point.

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

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

[0071] The storage containers may be stored in stacks of storage containers within storage columns of a warehouse grid.

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

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

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

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

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

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

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

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

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

[0081] The access point may be part of a container access station, which comprises one of a row of access points within the container access station, each capable of holding a container while it is being accessed.

[0082] The container access station may comprise two rows of access points, one arranged opposite the other and spaced three to five container lengths apart. An operator may access several containers to collect items into one shipping box or KLT container.

[0083] The container access station may include an additional row of access points arranged at 90 degrees to the other two rows of access points (traditional picking stations). An operator may access several containers delivered to the access point from different locations.

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

[0085] The method comprises: a) operating a delivery vehicle carrying a first container to direct the delivery vehicle toward at least one conveyor line; b) operating a delivery vehicle to deliver a first container to the conveyor line for transport to the access point; c) operating the delivery vehicle to receive a second container being unloaded from the at least one conveyor line at the access point; d) transporting the second container to an external location; Includes:

[0086] As explained above, the external location may comprise a high priority area.

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

[0088] The following drawings are included by way of example only to facilitate an understanding of the invention.

[0089] [Figure 1-1] 1A-D are perspective views of a prior art automated warehouse system, with FIGS. 1A and 1C showing the system as a whole and FIGS. 1B and 1D showing an example of a prior art container handling vehicle capable of operating with the system. [Figure 1-2] 1A-D are perspective views of a prior art automated warehouse system, with FIGS. 1A and 1C showing the system as a whole and FIGS. 1B and 1D showing an example of a prior art container handling vehicle capable of operating with the system. [Figure 2] 2A-C are views from above of a grid cell with a set of parallel rails arranged to guide the movement of a remotely operated vehicle. [Figure 3]3A-C show different versions of a remotely operated delivery vehicle arranged to transport storage containers between a first location and a second location, which is an access point. [Figure 4] 4A-B are perspective views of another automated warehouse grid and delivery system for transporting storage containers between the storage grid and a container access station. [Figure 5] FIG. 5 shows a container access station with multiple conveyor lines connected so that containers can enter on one conveyor line and exit on another. [Figure 6] Figure 6 shows a container access station with a further row of access points arranged at 90 degrees to the other two rows of access points so that an operator may access several containers delivered to the access points from different locations. [Figure 7] Figures 7-9 show the system of Figure 6 from different angles. [Figure 8] Figures 7-9 show the system of Figure 6 from different angles. [Figure 9] Figures 7-9 show the system of Figure 6 from different angles. DETAILED DESCRIPTION OF THE INVENTION

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

[0091] Furthermore, although some of the features are described in relation only to delivery vehicles, it will be apparent that they are equally valid for the present system and associated methods, and vice versa.

[0092] 1A-D, the storage grids 104 of each storage structure 1 form a skeleton 100 in a total of 143 grid columns 112, with the skeleton's width and length corresponding to the width and length of 13 and 11 grid columns 112, respectively. The top layer of the skeleton 100 is a rail system 108 upon which a plurality of container handling vehicles 200, 300 operate.

[0093] The skeleton 100 of the storage system 1 is constructed from the above-described prior art skeleton 100, i.e., a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102, which further include a rail system 108 of parallel rails 110, 111 in the X and Y directions, respectively, arranged across the top of the storage columns 105. The horizontal area of ​​a single grid cell 122, i.e., along the X and Y directions, may be defined by the distance between adjacent rails 110, 111, respectively (see also FIGS. 2B and 2C). In FIGS. 1A and 1C, such a grid cell 122 is marked on the rail system 108 by a bold line.

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

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

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

[0097] The rail system 108 may be a single rail system such as that shown in Figure 2A. Alternatively, the rail system 108 may be a dual rail system such as that shown in Figure 2B. The rail system 108 may also be a combination of single and dual rails. Details of single and dual rail systems are disclosed herein under the Background section.

[0098] 3A-C illustrate one embodiment of a remotely operated delivery vehicle 30, hereafter referred to as delivery vehicle 30. FIG.

[0099] The delivery vehicle 30 is configured for transporting storage containers 106 (not shown in FIG. 3C ) between an automated warehouse grid 104 (see FIGS. 4A and B ), which is configured to store multiple stacks 107 of storage containers 106, hereafter referred to as storage grids 104, and access points 65 provided within the container access station 60 for loading and unloading of the storage containers 106 by at least one of a robotic operator and a human operator.

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

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

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

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

[0104] 3A-B, the container carrier 35 is disclosed in the form of a storage container having a bottom / base wall and side walls, the compartment receiving volume being shown in this exemplary configuration to be capable of receiving and containing the entire horizontal extent of the storage container and at least a portion of the vertical extent of the storage container.

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

[0106] It should be noted that the size of the compartments within the container carrier 35 can be easily adapted to receive and support multiple numbers of storage containers 106 in one operation.

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

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

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

[0110] A perspective view of an automated warehouse system is shown in Figures 4A-B. The system comprises a storage grid 104, a delivery system 140 comprising a delivery rail grid 50 and a plurality of delivery vehicles 30 operating on the delivery rail grid 50.

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

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

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

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

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

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

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

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

[0119] Container access station 60 may include a cabinet 61 with walls and a top cover supported thereon, as shown in Figures 4A-B. Items held in storage containers 106 carried by delivery vehicles 30 and transported to access points 65 of container access station 60 are reachable through access openings 63 in the top cover of cabinet 61.

[0120] The cabinets 61 are arranged adjacent to the storage grid 104 with the delivery rail grid 50 extending from below the delivery port 150 to the access point 65 of the container access station 60 .

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

[0122] FIG. 5 shows a delivery system 140 for transporting containers 70 to access points 65 for loading and unloading of items held within the containers 70 by human and / or robotic operators.

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

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

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

[0126] The conveyor 69 of at least one conveyor line 66 may comprise a plurality of parallel-oriented rolls having a common longitudinal direction that is perpendicular to the sidewalls. In this manner, the rolls allow one or more containers 70 to be guided by the sidewalls while being biased into or away from the container carrier 35. The conveyor 69 may be connected to a conveyor motor (not shown) that allows rotation of one or more of the rolls in both directions.

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

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

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

[0130] 5, the access point 65 may include a lifting device 67 for raising and lowering the container 70 so that it does not come into contact with the rollers (conveyors) 69 at the access point 65. The lifting device 67 may include a motorized band 68 for moving the container 70 from the first conveyor line to the second conveyor line 66.

[0131] The lifting device 67 may comprise a frame structure that supports the periphery of the container 70 from below. The frame structure may comprise a conveyor 69 arranged to extend from the first conveyor line to the second conveyor line and arranged perpendicular to the direction of movement of the first and second conveyor lines 66. When the frame structure is raised or lowered, the container 70 may move perpendicularly so that it is lifted or lowered from the conveyor of the first conveyor line 66 and transferred from the first conveyor line to the second conveyor line.

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

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

[0134] The access point 65 may be part of an access area, and the access point 65 may comprise one of a row of access points 65 within the access area, each capable of holding a container 70 while being accessed.

[0135] The access area may comprise two rows of access points 65, arranged one opposite the other and spaced three to five container lengths apart. An operator may access several containers to collect items into one shipping box or KLT container.

[0136] The access area comprises a further row of access points 65 arranged at 90 degrees to the other two rows of access points (traditional picking stations). An operator may access several containers 70 delivered to the access points 65 from different locations.

[0137] [Table 1-1] [Table 1-2]

Claims

1. A delivery system (140) for transporting a container (70) to an access point (65) for loading and unloading of items held in the container by a human operator and / or a robotic operator, the delivery system (140) comprising: a delivery rail grid (50) comprising at least a first set of parallel rails arranged in a horizontal plane (P1) and extending in a first direction (X) and at least a second set of parallel rails arranged in the horizontal plane (P1) and extending in a second direction (Y) perpendicular to the first direction (X), the at least first and second sets of parallel rails together defining a plurality of delivery grid cells (52); a delivery vehicle (30), said delivery vehicle (30) adapted to carry said container (70) and operate on said delivery rail grid (50); a container access station (60), said container access station (60) comprising said access point (65) and at least one conveyor line extending into said access point (65) and operably connected to said delivery rail grid (50); Equipped with the delivery vehicle (30) is arranged to deliver / receive the container (70) to / from the at least one conveyor line, and the at least one conveyor line is arranged for transporting the container (70) between the delivery vehicle (30) and the access point (65); A delivery system (140) characterized in that the delivery vehicle (30) comprises an electric body (31) and a container carrier (35) provided above the electric body for transporting the container (70), the container carrier (35) comprising a conveyor, the conveyor being arranged to transport the container (70) horizontally onto the container carrier (35) and off the container carrier (35).

2. The delivery vehicle (30) a first set of wheels (32a) arranged on a first opposite portion of the delivery vehicle (30) for moving the delivery vehicle along a first direction (X) on the delivery rail grid (50); a second set of wheels (32b) arranged on a second, opposite portion of the delivery vehicle (30) for moving the delivery vehicle (30) on the delivery rail grid (50) along a second direction (Y), the second direction (Y) being perpendicular to the first direction (X); 10. The delivery system of claim 1, comprising:

3. 3. The delivery system of claim 1 or 2, wherein the at least one conveyor line (66) comprises at least one of rollers (69) with a drive motor, a belt, and a chain.

4. 4. The delivery system of claim 3, wherein the drive motor is reversible to move the rollers (69) in opposite directions.

5. The delivery system of any one of claims 1 to 4, wherein the container access station (60) comprises a wall or enclosure panel aligned about the access point (65).

6. A delivery system according to any one of claims 1 to 5, wherein the upper surface of the at least one conveyor line is provided at the same height as the upper surface of the container carrier (35) on which the containers (70) are transported.

7. A delivery system according to any one of claims 1 to 6, wherein the container access station (60) comprises two or more conveyor lines (66) arranged side by side in parallel.

8. 8. The delivery system of claim 7, wherein the two or more conveyor lines (66) comprise a first conveyor line and a second conveyor line arranged in the same horizontal plane (P2).

9. 9. The delivery system of claim 8, wherein the delivery vehicle (30) is arranged to deliver a first container (70) to the first conveyor line and move to the second conveyor line to receive a second container (70) being loaded at the access point (65).

10. An automated storage system comprising a storage grid (104) for storage of storage containers (106) and a delivery system (140) according to any one of claims 1 to 9, wherein the storage grid (104) A container handling vehicle rail system (108) for guiding a plurality of container handling vehicles (200, 300), said container handling vehicle rail system (108) comprising at least a first set (110) of parallel rails arranged in a horizontal plane (P) and extending in a first direction (X), and at least a second set (111) of parallel rails arranged in said horizontal plane (P) and extending in a second direction (Y) perpendicular to said first direction (X), said first and second sets of parallel rails a container handling vehicle rail system (108) in which the parallel rails (110, 111) form a grid pattern in said horizontal plane (P) comprising a plurality of adjacent container handling vehicle grid cells (122), each container handling vehicle grid cell (122) comprising a container handling vehicle grid opening (115) defined by a pair of adjacent rails (110a, 110b) of said first set of parallel rails (110) and a pair of adjacent rails (111a, 111b) of said second set of parallel rails; delivery columns (119, 120) adapted for transferring storage containers (106) between container handling vehicles (200, 300) operating on the container handling vehicle rail system and delivery vehicles operating on the delivery rail grid; Equipped with the delivery vehicle (30) is arranged to transport the storage container (106) from the delivery column of the storage grid (104) across the delivery rail grid (50) to the at least one conveyor line and return the storage container or a different storage container to the delivery column for storage within the storage grid (104).

11. 11. The automated warehouse system of claim 10, wherein the delivery vehicle is capable of loading a different container (70) from a second conveyor line for transport to an external location.

12. 12. The automated warehouse system of claim 10 or 11, wherein the delivery system (140) comprises a first delivery rail grid and a second delivery rail grid, the first delivery rail grid being located below a grid structure of the storage grid (104) and the second delivery rail grid being located outside the grid structure of the storage grid (104), and the first and second delivery rail grids being connected such that the delivery vehicle (30) can operate between the first and second delivery rail grids.

13. 13. The automated warehouse system according to claim 12, wherein the access point (65) is located on the second delivery rail grid.

14. 10. A method of transporting a container (70) to an access point (65) of a delivery system (140) according to any one of claims 1 to 9, said access point (65) being a location on said delivery rail grid (50) for a robotic or human operator to access items held in said container (70) being delivered to said access point (65), said method comprising: a) operating said delivery vehicle (30) carrying a first container (70) to direct said delivery vehicle (30) toward said at least one conveyor line; b) operating said delivery vehicle (30) to deliver said first container to said conveyor line for transport to said access point (65); c) operating said delivery vehicle (30) to receive a second container (70) being unloaded at said access point from said at least one conveyor line; d) transporting said second container (70) to an external location; A method comprising:

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