Automated Storage and Retrieval System

Abstract

The present invention relates to a storage grid for storing storage containers and a method for operating such a storage grid, the storage grid comprising a plurality of vertically distributed horizontal container support frameworks with a vertical offset, each comprising one or more displaceable container supports, and in one embodiment, the storage grid further comprises a support displacement device configured to displace at least one of the plurality of displaceable container supports.

Description

[Technical Field]

[0001] The present invention relates to a storage grid and an automated storage and retrieval system for the storage and retrieval of containers from / to such a storage grid. The present invention also relates to a method for storing and retrieving containers in such a storage grid in order to access deeper located containers in a more time efficient manner. [Background technology]

[0002] FIG. 1 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 of 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 operable to raise storage containers 106 from, lower storage containers 106 into, and 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. Containers 106 stored in storage columns 105 are accessed by container handling vehicles 201, 301 through grid openings 115 in the rail system 108. The container handling vehicles 201, 301 can move laterally above the storage columns 105, i.e., in a plane that is parallel to the horizontal XY plane.

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

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

[0007] Each prior art container handling vehicle 201, 301 also includes a lifting device 304 for vertically transporting the storage containers 106, e.g., raising 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 (not shown) adapted to engage the storage containers 106, which can be lowered from the vehicle 201, 301 so 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. A portion of the lifting device 304 of the container handling vehicle 301 is shown in FIG. 3. The gripping devices of the container handling device 201 are located within the vehicle body 201a of FIG. 2.

[0008] 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. As a result, using, by way of example, the Cartesian coordinate system X, Y, Z shown in FIG. 1 , 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 in layer Z=0, and each storage column 105 may be identified by its X and Y coordinates.

[0009] Skeleton Structure / Prior Art The possible storage locations within the storage grid 100 are referred to as storage cells. Each storage column 105 may be identified by its location in the X and Y directions, while each storage cell may be identified by its container number in the X, Y, and Z directions.

[0010] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and 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.

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

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

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

[0014] Rail system 108 typically includes rails with grooves 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.

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

[0016] In the skeleton structure / prior art storage grid 100, the majority of the columns 105 are storage columns 105, i.e., columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In FIG. 1, columns 119 and 120 are such special-purpose columns used by container handling vehicles 201, 301 to unload and / or load storage containers 106 so that they can be 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 may be referred to as "port columns" 119, 120. Transport to the access stations may be in any direction: horizontal, diagonal, and / or vertical. For example, storage containers 106 may be installed in random or dedicated columns 105 within the framework structure 100 and 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 some general transport orientation between horizontal and vertical.

[0017] In FIG. 1 , 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.

[0018] An 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, the storage containers 106 are typically not removed from the automated storage and retrieval system 1, but are 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.

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

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

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

[0022] 1 is to be accessed, one of the container handling vehicles 201, 301 is commanded to retrieve the target storage container 106 from its location and transport it to the unloading port column 119. This operation involves moving the container handling vehicle 201, 301 to a location above the storage column 105 where the target storage container 106 is located, using the lifting device 304 of the container handling vehicle 201, 301 to retrieve the storage container 106 from the storage column 105, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., with one or more other storage containers 106 positioned above the target storage container 106, the operation also involves temporarily moving the above-positioned storage container prior to lifting the target storage container 106 from the storage column 105. This step, sometimes referred to within the art as "digging out," may then be performed using the same container handling vehicle used to transport the target storage container to the unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have a container handling vehicle specifically dedicated to the task of temporarily removing storage containers from storage columns 105. Once the target storage container 106 is removed from storage column 105, the temporarily removed storage container can be repositioned in the original storage column 105. However, the removed storage container may alternatively be repositioned in another storage column.

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

[0024] To monitor and control the automated storage and retrieval system 1, for example, to monitor and control the location of each storage container 106 within the skeletal structure 100, the contents of each storage container 106, and the movements of the container handling vehicles 201, 301 so that the desired storage containers 106 can be delivered to the desired locations at the desired times without the container handling vehicles 201, 301 colliding with each other, the automated 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.

[0025] FIG. 4 shows an example of a product item 80 stored within a storage container 106 having a height Hf, a width Wf, and a length Lf.

[0026] For systems with many bins in each stack, the "digging" described above can prove both time- and space-consuming when the target bin is located deep within the grid. For example, if the target bin has location Z=5, the vehicle must pick up four non-target bins and place them in other locations, often on the grid (Z=0), before the target bin can be reached. The non-target bins may force other robots to choose suboptimal paths to perform their respective operations before being reinstalled back into the grid.

[0027] It is therefore an object of the present invention to provide a storage grid and a storage and retrieval system using such a storage grid that can provide a more time-efficient storage and retrieval method, for example a more time-efficient delivery of product items to customers / end users, compared to prior art systems.

[0028] Another objective, at least in the preferred embodiment, is to provide a solution in which the loading process is carried out by a remotely operated vehicle, without any kind of time-consuming digging operation.

[0029] Yet another object is to provide a storage and retrieval system in which the time efficiency of storing and retrieving product items can be selected by a user according to urgency and / or priority.

[0030] Yet another object is to provide a storage and retrieval system that combines storage capacity with time-efficient delivery of product items to customers.

[0031] Yet another object is to provide a storage grid and a storage and retrieval system using such a storage grid that can provide high throughput of product items, such as product items for sale. Summary of the Invention [Means for solving the problem]

[0032] The invention is set out in the independent claims, while the dependent claims describe certain optional features of the invention.

[0033] In particular, the present invention relates to a storage grid for storing storage containers, the storage grid comprising a plurality of horizontal container support skeletons vertically distributed with a vertical offset.

[0034] The plurality of horizontal container support skeletons includes a first horizontal container support skeleton and at least one second container support skeleton disposed directly below and parallel to the first container support skeleton.

[0035] Each of the first and at least one second container support skeleton comprises one or more container supports configured / designed to support a plurality of storage containers, where several are present, the container supports preferably being arranged in parallel along the first direction (X), i.e. with their sides extending in the second direction (Y) and arranged side by side with an offset.

[0036] The container supports may be elongated with their direction of extension in the second direction (Y). Alternatively, they may be rectangular in shape with major directions in the first and second directions (X, Y). In a further alternative design, the container supports may have the shape of a toroid or multiple coaxially arranged toroids.

[0037] The storage containers are distributed one by one on the container supports within each container support framework. In the case of elongated or rectangular container supports, the storage containers are distributed one by one linearly along at least the second direction (Y). In the case of toroidal container supports, the storage containers may be distributed one by one to follow the curve of the toroid.

[0038] Each container support exhibits at least one aperture with an opening size that is at least the largest horizontal cross section of the storage container to be stored. Furthermore, the storage grid is designed such that at least one aperture of a first container support skeleton is aligned vertically, i.e., at equal positions in the first and second directions (X, Y), with at least one aperture of at least one second container support skeleton.

[0039] At least one, preferably at least two, and most preferably all, of the container supports of the at least one second container support skeleton are displaceable along a second direction (Y) perpendicular to the first direction (X) in the case of an elongated or rectangular container support, or around the central axis of the toroid in the case of a toroidal-shaped container support. At least one of the container supports of the first container support skeleton may be displaceable as well.

[0040] Storage grids comprising a combination of elongated / rectangular shaped container supports and toroidal shaped container supports may also be envisioned.

[0041] In an exemplary configuration, the storage grid further comprises a support displacement device configured to displace at least one, and preferably all, of the plurality of displaceable container supports. The support displacement device can be, for example, a linear actuator, a gear drive, or the like. The support displacement device can be motorized and / or mechanically, hydraulically, pneumatically, and / or electrically operated.

[0042] In yet another exemplary configuration, the storage grid further comprises a control system configured to remotely operate the support displacement device such that the displaceable container supports may be remotely moved, or in the case of multiple displaceable container supports, each of the displaceable container supports may be remotely and independently moved relative to the other displaceable container supports within their respective container support skeletons.

[0043] In yet another exemplary configuration, the container support exhibits a plurality of holes uniformly distributed along the second direction (Y). However, any distribution of holes along the second direction (Y) can be envisioned, for example, a plurality of holes distributed on both sides of four storage container spaces, then three spaces, then two spaces, etc. The latter may have the advantage of providing different access rates for different types of stockpiles.

[0044] In yet another exemplary configuration, the first container supporting skeleton and the at least one second container supporting skeleton have equal or approximately equal horizontal extents.

[0045] In yet another exemplary configuration, the storage grid has a first vertical offset V that is at least the maximum height of the storage container to be stored. r1 The container further includes a rail system disposed above and adjacent to the first container support framework in a horizontal rail system plane (P rs ) and a first set of parallel rails extending in a first direction (X), and a horizontal plane (P rs and a second set of parallel rails disposed within the grid cells and extending in a second direction (Y). The first and second sets of rails may be aligned in a horizontal plane (P rs ), each grid cell comprising a grid opening defined by a pair of adjacent rails of the first set of rails and a pair of adjacent rails of the second set of rails.

[0046] In yet another exemplary configuration, the container supports are either elongated or rectangular in shape, each having a length corresponding to the length of a plurality of grid cells in the second direction (Y). In one specific example, the width of the container supports is such that only one storage container can be supported along the first direction (X).

[0047] In yet another exemplary configuration, the rail system, the first container support skeleton, and the at least one second container support skeleton have equal or approximately equal horizontal extents.

[0048] In yet another exemplary configuration, the plurality of horizontal container support frameworks are arranged in a horizontal plane (P rs), where i is an integer greater than or equal to 2, more preferably greater than or equal to 3, and even more preferably greater than or equal to 4. Furthermore, the i parallel container support skeletons are spaced a distance dV=i*ΔdV below the lower edge of the rail system, where ΔdV is a constant set equal to or greater than the maximum height of the storage containers (106) to be stored. Alternatively, the i-1 parallel container support skeletons are spaced a distance dV=(i-1)*ΔdV below the lower edge of the first container support skeleton, while the distance V between the lower edge of the rail system and the lower edge of the first support skeleton is set equal to or greater than the maximum height of the storage containers (106) to be stored. r1 is different from ΔdV, for example, larger than it.

[0049] In yet another exemplary configuration, one or more of the container support skeletons are positioned below the lower edge of an upper adjacent rail system and / or the lower edge of an upper adjacent container support skeleton at a distance corresponding to a height equal to or greater than the maximum height of a stack of several storage containers.

[0050] In yet another exemplary configuration, each of the plurality of displaceable container supports exhibits a plurality of holes distributed with an offset corresponding to 2n+1 grid cells along the second direction (Y), where n is an integer greater than or equal to 1.

[0051] In yet another exemplary configuration, each of the plurality of displaceable container supports exhibits a plurality of holes distributed with an offset corresponding to n+1 grid cells along the second direction (Y), where n is an integer greater than or equal to 1.

[0052] In yet another exemplary configuration, the displaceable container support is displaceable at least a distance corresponding to a distance of n grid cells in the second direction (±Y), where n is an integer greater than or equal to 1. In the case of multiple displaceable container supports, each may be individually displaceable a distance corresponding to a distance of at least n grid cells.

[0053] The present invention also relates to an automated storage and retrieval system configured to store a plurality of storage containers, the system comprising: a storage grid as described above; a plurality of storage containers supported on a plurality of horizontally arranged container support skeletons and distributed horizontally one by one; and one or more remotely operated vehicles configured to move laterally / horizontally in a first direction (X) and a second direction (Y) above the plurality of container support skeletons, the remotely operated vehicles comprising lifting devices configured to grasp and lift the storage containers, and a control system configured to wirelessly monitor and control the movement of the remotely operated vehicles.

[0054] In an exemplary configuration, the remotely operated vehicle may be a traveling crane system comprising a bar movably supported at its ends on two opposite peripheral sides of the storage grid along one of the first and second directions (X, Y) and a crane with a lifting device, as described above, movably disposed on the bar. Movement along the bar ensures movement in the other direction (Y, X) and can be achieved by sliding or rolling. Movement of the bar along the peripheral sides of the storage grid and / or movement of the crane along the bar may be achieved by any known displacement device, such as an arrangement using drive gears. The displacement device may be the same as the support displacement device used to displace the container support, as described above.

[0055] In another exemplary configuration, the storage grid includes a rail system, as described above. In this particular configuration, the storage containers are supported on a horizontally positioned container support framework in such a way that each storage container is positioned directly beneath a grid opening of the rail system. Further, the remotely operated vehicle is configured to move laterally in a first direction (X) and a second direction (Y) on the rail system and lift the storage containers through the grid openings through the use of a lifting device.

[0056] In yet another exemplary configuration, the automated storage and retrieval system may be configured with a horizontal rail system plane (P rs ) and a first set of parallel rails extending in a first direction (X) and a horizontal rail system plane (P rs The storage grid may further comprise a second rail system including a second set of parallel rails disposed within the first direction (X) and extending in a second direction (Y) perpendicular to the first direction (X). The first and second sets of rails may be spaced apart by a horizontal plane (P) including a plurality of adjacent grid cells. rs ), each grid cell comprising a grid opening defined by a pair of adjacent rails of the first set of rails and a pair of adjacent rails of the second set of rails.

[0057] The second storage grid further comprises a plurality of stacks of storage containers arranged in storage columns located beneath the second rail system, each storage column positioned vertically below a grid opening.

[0058] In this exemplary configuration, remotely operated vehicles operable on the storage grid of the present invention are mounted on a second rail system (horizontal plane P rs It is also configured to move laterally (in the

[0059] In yet another exemplary configuration, the system further includes a coupling rail system including rails extending in at least one of a first direction (X) and a second direction (Y) and configured to allow a remotely operated vehicle to move between the rail system of the storage grid of the present invention and a second rail system of the second storage grid. For example, the coupling rail system may be the same as a portion of the rail system of the storage grid of the present invention and / or a portion of the rail system of the second storage grid, and rails of the coupling rail system oriented in the first or second direction (X, Y) are aligned with rails of the two rail systems in the same direction.

[0060] In yet another exemplary configuration, the width of the rails in at least one of the first and second directions (X, Y) of a rail system forming part of a storage grid of the present invention is wider than the width of the rails in the same direction of a rail system forming part of a second storage grid.

[0061] By combining the prior art grid and the grid of the present invention as described above, a storage system is achieved that can combine a time-efficient storage and retrieval storage grid with a high storage capacity storage grid, whereby product items can be arranged according to their required / preferred turnover rate.

[0062] For example, storage containers with product items can be loaded from a high-capacity storage grid of the prior art and intermediately stored (buffered) in the time-efficient storage grid of the present invention. The product items can be items that need to be quickly available, such as pre-ordered items and / or promotional (sale) items. Storage (buffering) in the storage grid of the present invention allows for time-efficient delivery of the product items to customers upon arrival.

[0063] The present invention also relates to a method of storing and retrieving storage containers from an automated storage and retrieval system, such as disclosed above.

[0064] The plurality of horizontal container support skeletons comprises i parallel container support skeletons, where i is an integer greater than or equal to 2. Furthermore, all of the i parallel container support skeletons exhibit at least one hole, and each of the at least i-1 parallel container support skeletons directly below the first (top) skeleton comprises at least one, and preferably at least two, container supports / support tracks displaceable along the second direction (Y). The method comprises the following steps:

[0065] A. moving the remotely operated vehicle to a position where its / their lifting device is positioned vertically aligned above a target storage container supported on a first container support skeleton, or above one of the target holes in the first container support skeleton that is horizontally closest to the target storage container when the target storage container is positioned vertically aligned (i.e., at the same position in the first and second directions (X, Y)) on one of the i-1 parallel container support skeletons directly below the first container support skeleton; B. If the target storage container is not positioned vertically aligned below the target hole, a) displacing a displaceable container support of a supporting scaffold on which a target storage container is supported in a second direction (Y) to position the target storage container in vertical alignment below a target hole in a first container supporting scaffold; or

[0066] b) when at least one, preferably at least two, of the plurality of container supports of the first container support skeleton are also displaceable along the second direction (Y), one of the displaceable container supports of each of the container support skeletons placed above displaceable container supports supporting a target storage container having the same position in the first direction (X) as the displaceable container support supporting the target storage container is displaced by a distance in the second direction (Y) opposite to the direction in a), thereby positioning the target storage container vertically aligned below the target hole of the first container support skeleton; or

[0067] c) if at least one, preferably at least two of the plurality of container supports (402a-d) of the first container support skeleton (401a) are displaceable along the second direction (Y), displacing both the displaceable container support supporting the target storage container as described in step a) and the displaceable container support placed above as described in step b) to position the target storage container vertically aligned below the target hole; C. Lowering, grasping, and lifting the target storage container, e.g., through the grid opening, by use of a lifting device;

[0068] D. moving the remotely operated vehicle with the target storage container to another level location; Includes:

[0069] With respect to step b) of step B, it should be noted that since all holes are initially aligned vertically (at the same position in the first and second directions (X, Y)), the step of installing the container support with the target holes in the first container support skeleton vertically aligned with the target storage container results in the vehicle having unobstructed vertical access to the target storage container.

[0070] In one exemplary process, the storage grid used in the method further comprises a rail system as described above, and the plurality of storage containers are supported on a plurality of horizontally arranged container support frameworks such that each storage container is positioned directly beneath a grid opening of the rail system. Further, the remotely operated vehicle is configured to move laterally in a first direction (X) and a second direction (Y) on the rail system and lift the storage containers through the grid openings with the use of a lifting device. As an alternative to a remotely operated vehicle operating on such a rail system, the method may use a system of lateral cranes, as described above.

[0071] In another exemplary process, the automated storage and retrieval system further comprises a second rail system of a second storage grid, the rail system of the storage grid of the present invention, and a combined rail system as described above, and the remotely operated vehicle travels between the rail system and the second rail system during at least one of step A and step D.

[0072] The present invention also relates to the use of an automated storage and retrieval system, as disclosed above, to deliver items placed in storage containers stored in the storage grid to end users, for example, by use of a conveyor belt that transports the storage containers from the storage grid to a location for loading onto a delivery truck and / or directly to a customer / end user, or by use of dedicated delivery containers that are initially stored within the storage containers. The system may be used, for example, in a retail store, for quick delivery of items to customers. The present specification also provides, for example, the following items: (Item 1) A storage grid (400) for storing storage containers (106), said storage grid (400) comprising a plurality of horizontal container support skeletons (401) vertically distributed with a vertical offset (ΔdV), said plurality of horizontal container support skeletons (401) comprising: a first container support skeleton (401a); at least one second container support skeleton (401b-k) arranged directly below and parallel to said first container support skeleton (401a); Equipped with each of the first and at least one second container support framework (401a-k) comprises a plurality of container supports (402, 402a-d) arranged in parallel along a first direction (X); each container support (402a-d) presents at least one hole (403a-f) with an opening size that is at least the largest horizontal cross section of said storage container (106) to be stored; the at least one hole (403a-f) of the first container supporting skeleton (401a) is vertically aligned with the at least one hole (403a-f) of the at least one second container supporting skeleton (401b-k); A storage grid (400) wherein at least two of the plurality of container supports (402a-d) of the at least one second container support skeleton (401b) are displaceable along a second direction (Y) perpendicular to the first direction (X). (Item 2) The storage grid (400) Item 1. The storage grid (400) according to item 1, further comprising a support displacement device (700) configured to displace at least one of the plurality of displaceable container supports (402a-d). (Item 3) The storage grid (400) further comprises a control system (500), the control system (500) comprising: The storage grid (400) according to item 2, configured to remotely operate the support displacement device (700) such that each of the plurality of displaceable container supports (402a) can be moved remotely and independently relative to the other displaceable container supports (402b-d) within their respective container support frameworks (401b-k). (Item 4) 4. The storage grid (400) according to any one of items 1-3, wherein each of the plurality of container supports (402a-d) exhibits a plurality of holes (403a-f) uniformly distributed along the second direction (Y). (Item 5) 5. The storage grid (400) according to any one of items 1-4, wherein the first container support skeleton (401a) and the at least one second container support skeleton (401b-k) have equal or approximately equal horizontal extents. (Item 6) The storage grid (400) further comprises a rail system (408), the rail system (408) being configured to have a first vertical offset (V) that is at least the maximum height of the storage containers (106) to be stored. r1 6. The storage grid (400) according to any one of items 1-5, arranged above and adjacent to the first container support skeleton (401a) in the container support structure (401). (Item 7) The rail system (408) ·Level rail system plane (P rs a first set (410) of parallel rails arranged within the first direction (X) and extending in the first direction (X); ·The horizontal plane (P rs a second set (411) of parallel rails arranged in the first set (411) and extending in the second direction (Y); Equipped with The first and second sets of rails (410, 411) are arranged on the horizontal plane (P rs ) and each of the grid cells (422) has a grid opening (415) defined by a pair of adjacent rails of the first set of rails (410) and a pair of adjacent rails of the second set of rails (411). (Item 8) 8. The storage grid (400) according to item 6 or 7, wherein each of the container supports (402a-d) has a length corresponding to the length of a plurality of grid cells (422) in the second direction (Y). (Item 9) 9. The storage grid (400) according to any one of items 6-8, wherein the rail system (408), the first container support skeleton (401a), and the at least one second container support skeleton (401b-k) have equal or approximately equal horizontal extents. (Item 10) the plurality of horizontal container support skeletons (401) comprises i parallel container support skeletons (401a-k), where i is an integer greater than or equal to 2; 10. The storage grid (400) according to any one of items 6-9, wherein the i parallel container support frameworks (401a-k) are arranged below the lower edge of the rail system (408) at a distance dV=i*ΔdV, where ΔdV is a constant set equal to or greater than the maximum height of the storage containers (106) to be stored. (Item 11) 11. A storage grid (400) according to one or more of items 6-10, wherein each of the plurality of displaceable container supports (402a-d) exhibits a plurality of holes (403a) distributed with an offset corresponding to 2n+1 grid cells (422) in the second direction (Y), where n is an integer greater than or equal to 1. (Item 12) 11. A storage grid (400) according to one or more of items 6-10, wherein each of the plurality of displaceable container supports (402a-d) exhibits a plurality of holes (403a) distributed with an offset corresponding to n+1 grid cells (422) in the second direction (Y), where n is an integer greater than or equal to 1. (Item 13) 12. The storage grid (400) according to item 10 or 11, wherein the plurality of displaceable container supports (402a-d) are individually displaceable at least by a distance corresponding to a distance of n grid cells (422) in the second direction (Y), where n is an integer greater than or equal to 1. (Item 14) An automated storage and retrieval system (1) configured to store a plurality of storage containers (106), the automated storage and retrieval system (1) comprising: A storage grid (400) according to any one of items 1-13, a plurality of storage containers (106) supported on the plurality of horizontally arranged container support frameworks (401); a remotely operated vehicle (201, 301) configured to move laterally in the first direction (X) and the second direction (Y) above the plurality of container support frameworks (401), the remotely operated vehicle (201, 301) comprising a lifting device (304) configured to grasp and lift a storage container (106); a control system (500) configured to wirelessly monitor and control the movement of said remotely operated vehicle (201, 301); An automated storage and retrieval system (1). (Item 15) The storage grid (400) further complies with any one of items 6-13, the plurality of storage containers (106) are supported on the plurality of horizontally arranged container support frameworks (401) such that each storage container (106) is positioned directly below a grid opening (415) of the rail system (408); Item 15. The automated storage and retrieval system (1) of item 14, wherein the remotely operated vehicles (201, 301) are configured to move laterally in the first direction (X) and the second direction (Y) on the rail system (408) and to lift the storage containers (106) through the grid openings (415) by use of the lifting devices (304). (Item 16) The system (1) Second storage grid (100) Furthermore, The second storage grid (100) comprises: o The horizontal rail system plane (P rs ) and a first set of parallel rails (110) extending in a first direction (X), and a horizontal rail system plane (P rs a second rail system (108) disposed within the horizontal plane (P) and extending in a second direction (Y) perpendicular to the first direction (X), the first and second sets of rails (110, 111) intersecting the horizontal plane (P) and including a plurality of adjacent grid cells (122). rs a second rail system (108) forming a grid pattern in a grid cell (122) in a first set (110) of rails and a second set (111) of rails, each of said grid cells (122) having a grid opening (115) defined by a pair of adjacent rails of said first set (110) of rails and a pair of adjacent rails of said second set (111) of rails; a plurality of stacks (107) of storage containers (106) disposed within storage columns (105) located directly below the second rail system (408); Equipped with Each storage column (105) is positioned vertically below a grid opening (115), Item 16. The automated storage and retrieval system (1) according to item 15, wherein the remotely operated vehicles (201, 301) are also configured to move laterally on the second rail system (108). (Item 17) Item 17. The automated storage and retrieval system (1) of item 16, wherein the system (1) further comprises a connecting rail system (408') having rails extending in at least one of the first direction (X) and the second direction (Y), and the connecting rail system (408') is configured such that the remotely operated vehicle (201, 301) is movable between the rail system (408) of the storage grid (400) and the second rail system (108) of the second storage grid (100). (Item 18) 18. A method for storing and retrieving storage containers (106) from an automated storage and retrieval system (1) according to any one of items 14-17, wherein the plurality of horizontal container support skeletons (401) comprises i parallel container support skeletons (401a-k), where i is an integer greater than or equal to 2; at least one of the plurality of container supports (402a-d) of the at least one second container support framework (401b) is displaceable along a second direction (Y) perpendicular to the first direction (X); The method comprises: A. moving a remotely operated vehicle (201, 301) to a position where its lifting device (304) is positioned vertically aligned above a target storage container (106') supported on the first container support skeleton (401a), or vertically aligned above a target hole (403a') in the first container support skeleton (401a) that is horizontally closest to the target storage container (106') when the target storage container (106') is mounted on one of the i-1 parallel container support skeletons (401b-k) vertically aligned directly below the first container support skeleton (401a); B. The target storage container (106') is not positioned vertically aligned below the target hole (403a'); a) displacing a displaceable container support (402a) of the support skeleton (401k) on which the target storage container (106') is supported in the second direction (Y) to position the target storage container (106') vertically aligned below a target hole (403a') in the first container support skeleton (401a); or b) when at least one of the plurality of container supports (402a-d) of the first container support framework (401a) is displaceable along the second direction (Y); displacing one or more displaceable container supports (402a) of the one or more container support skeletons (401a-k) mounted above the displaceable container supports supporting the target storage container by a distance in the second direction (Y) opposite to the direction in a) to position the target storage container (106') vertically aligned below the target hole (403a') of the first container support skeleton (401a), wherein one of the displaceable container supports of each of the upper-mounted container support skeletons has the same position in the first direction (X) as the displaceable container support supporting the target storage container; or c) if at least one of the plurality of container supports (402a-d) of the first container support framework (401a) is displaceable along the second direction (Y), displacing both the displaceable container support supporting the target storage container as described in step a) and the one or more displaceable container supports arranged above as described in step b) to position the target storage container (106') vertically aligned below the target hole (403a'); C. Lowering, grasping, and lifting the target storage container (106') by use of the lifting device (304); D. moving the remotely operated vehicle (201, 301) with the target storage container (106') to another horizontal location; A method comprising: (Item 19) The storage grid (400) further complies with any one of items 6-13, wherein the plurality of storage containers (106) are supported on the plurality of horizontally arranged container support frameworks (401) such that each storage container (106) is positioned directly below a grid opening (415) of the rail system (408); Item 19. The method according to item 18, wherein the remotely operated vehicle (201, 301) is configured to move laterally in the first direction (X) and the second direction (Y) on the rail system (408) and to lift the storage container (106) through the grid opening (415) by use of the lifting device (304). (Item 20) Use of the automated storage and retrieval system (1) according to any one of items 14-17 for delivering items placed in the storage containers stored in the storage grid (400) to an end user. [Brief explanation of the drawings]

[0073] The following drawings depict alternatives to the present invention and are included to facilitate an understanding of the present invention. However, the features disclosed in the drawings are for illustrative purposes only and should not be construed in a limiting sense.

[0074] [Figure 1] FIG. 1 is a perspective view of a prior art automated storage and retrieval system.

[0075] [Figure 2] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers therein.

[0076] [Figure 3]FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever beam underneath for carrying storage containers.

[0077] [Figure 4] FIG. 4 is a perspective view of a storage container and a product item stored within the storage container.

[0078] [Figure 5] Figure 5 is a side view of a storage system according to one embodiment of the present invention, where Figure 5A shows a storage system comprising a target storage container in an initial position, an empty storage cell for the storage container in the initial position, and a remotely operated vehicle transporting the storage container, Figure 5B shows a storage system with an empty storage cell in a fixed position ready to receive a storage container from the remotely operated vehicle, Figure 5C shows a storage system with a storage container installed in a previously empty storage cell and the lifting device of the remotely operated vehicle retracted above the container support skeleton of the target storage container, Figure 5D shows a storage system with a remotely operated vehicle ready to lift the target storage container, and Figure 5E shows a storage system with a target storage container in a fixed position ready to be lifted. [Figure 5-1] Figure 5 is a side view of a storage system according to one embodiment of the present invention, where Figure 5A shows a storage system comprising a target storage container in an initial position, an empty storage cell for the storage container in the initial position, and a remotely operated vehicle transporting the storage container, Figure 5B shows a storage system with an empty storage cell in a fixed position ready to receive a storage container from the remotely operated vehicle, Figure 5C shows a storage system with a storage container installed in a previously empty storage cell and the lifting device of the remotely operated vehicle retracted above the container support skeleton of the target storage container, Figure 5D shows a storage system with a remotely operated vehicle ready to lift the target storage container, and Figure 5E shows a storage system with a target storage container in a fixed position ready to be lifted.

[0079] [Figure 6] FIG. 6 is a top view of the storage system according to FIG.

[0080] [Figure 7] FIG. 7 is a top view of a storage system according to a second embodiment of the present invention.

[0081] [Figure 8] FIG. 8 is a top view of a storage system according to a third embodiment of the present invention.

[0082] [Figure 9] FIG. 9 is a perspective side view of a storage system according to a fourth embodiment of the present invention.

[0083] [Figure 10] Figure 10 is a perspective view of a container support forming part of an embodiment of the present invention, with Figures 10A and 10B showing the container support in an isometric view and along one edge, respectively.

[0084] [Figure 11] 11 is a perspective view of a linear activation device for displacing the container support shown in FIG. 10. FIG.

[0085] [Figure 12] FIG. 12 is a perspective view of a container support mounted within a framework forming part of an embodiment of the present invention.

[0086] [Figure 13] FIG. 13 is a perspective view of a portion of the skeleton shown in FIG.

[0087] [Figure 14] FIG. 14 is a perspective top view of a storage system according to a fourth embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0088] In the following, different alternatives will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the scope of the invention to the subject matter depicted in the drawings. Furthermore, even if some of the features are described only in relation to a system, it will be apparent that they are also valid for a method, and vice versa.

[0089] 5, 6, and 14, the storage and retrieval system 1 of the present invention includes a remotely operated vehicle 301 operating on a rail system 408 including a first set of parallel rails 410 positioned to guide movement of the remotely operated vehicle 301 in a first direction X across a storage grid 400, and a second set of parallel rails 411 positioned perpendicular to the first set of rails 410 for guiding movement of the remotely operated vehicle 301 in a second direction Y that is perpendicular to the first direction X. Storage containers 106 stored within the storage grid 400 are accessed by the remotely operated vehicle 301 through grid openings 415 in the rail system 408. Each grid opening 415 of the rail system 408 is surrounded by a grid cell 422. The rail system 408 is configured to extend in a horizontal plane P rs It is extending in.

[0090] As best seen in FIG. 5, the storage container 106 is r1 (i.e., the offset between the lower edge of the rail system 408 and the lower edge for the first skeleton 401a directly below the rail system 408) and a vertical offset denoted by ΔdV (i.e., the average offset between the lower edges of adjacent deeper placed skeletons 401b-h).

[0091] Vertical Offset V r1and ΔdV may be selected to provide a height equal to or greater than the maximum height of one storage container 106 or a stack 107 of several storage containers 106. By way of example, a first skeleton 401 a may be adapted to store a stack 107 of storage containers 106, while the underlying skeletons 401 b-k may be adapted to store single (non-stacked) storage containers 106. By way of further example, some or all skeletons 401 of a grid 400 may be adapted to store a stack 107 of several storage containers 106. Different skeletons 401 of the same grid 400 may be configured to store unequal numbers of stacks 107 of storage containers 106. The vertical space (i.e., available height) required for one or several skeletons 401 of a grid 400 adapted to store a stack 107 of several storage containers 106 can be obtained by reducing the total number of skeletons 401 compared to a configuration of a grid 400 in which all skeletons 401 are adapted to store a single (non-stacked) storage container 106. Figures 5A-E show vertical cross sections of a storage system 400.

[0092] In 5A, the target storage container 106′ and the vacant storage space 106″ are located within different container support frameworks 401 e, 401 g. A remotely operated vehicle 301 approaching to load the target storage container 106′ typically brings another storage container 106 to be stored within the storage system 400. Before the remotely operated vehicle 301 can load the target storage container 106′, the storage container 106 held by the vehicle is advantageously placed within the vacant storage space 106″ within the storage grid 400 (a process typically referred to as an exchange process).

[0093] By having fewer storage containers 106 than there is available container space in the storage system 400, there will always be at least one free storage space 106''. Free storage space 106'' will also be dynamically generated when the remotely operated vehicle 301 loads a storage container 106 from within the storage grid 400. If there is no free storage space 106'' in the storage system 400, the remotely operated vehicle 400 must either refrain from bringing another storage container 106 (e.g., from the port columns 119, 120) or place a held storage container 106 on the storage grid 400. Both alternatives suffer from time-efficiency penalties.

[0094] FIG. 5B shows the storage system 1 with the storage space 106″ in a fixed position ready to receive the storage container 106 from the remotely operated vehicle 301. The vacant storage space 106″ (where the storage container 106 should be placed) and the target storage container 106′ are preferably horizontally closest to the same hole target 403b′. In this way, the remotely operated vehicle 301 does not need to move between two operations during the same exchange process. In addition to being available through the same target hole 403b′, even more preferably, the vacant storage space 106″ and the target storage container 106′ can be located on the same container support 402 (not shown in FIG. 5). In this way, the remotely operated vehicle 301 can have minimal movement of its lifting device 304 between the two operations of the exchange process. Therefore, the exchange process time will not be prolonged due to opposing displacements of the lifting device 304 and the container support 402 of the target storage container 106′.

[0095] FIG. 5C shows the storage system 1 in which a storage container 106 previously held by the vehicle 301 has been received into the previously empty storage space 106″. Additionally, the lifting device 304 has been vertically retracted above the container support skeleton 401e of the target storage container 106′. The lifting device 304 has thus been retracted sufficiently to allow displacement of the container support 402a of the target storage container 106′ to begin and continue until the target storage container 106′ is seated directly below the target hole 403b′. If the lifting device 304 were retracted higher than just above the container support skeleton 401e of the target storage container 106′, the exchange process would be less time-efficient.

[0096] 5A-B, the target storage container 106' is located higher in the storage system 400 than the empty storage space 106". In the opposite case, the container support 402 of the previously empty storage space 106" must retract to its initial position after completing its displacement of the target storage container 106' relative to the target hole 403' in order to gain access to the container support skeleton 401 with the lifting device 304 mounted underneath.

[0097] FIG. 5D shows storage system 1 with remotely operated vehicle 301 ready to lift target storage container 106′ after placing a previously held storage container 106 into vacant storage space 106″, i.e., with its lifting device 304 directly above framework 401e supporting target storage container 106′. Container support 402a of previously empty storage space 106″, now occupied by storage container 106, has been displaced back to its initial position. Displacement of container support 402a of target storage container 106′ can now begin to place target storage container 106′ directly below target hole 403b′.

[0098] FIG. 5E shows the storage system 1 with the target storage container 106′ provided directly beneath the target hole 403b′, i.e., in a position ready to be lifted by the lifting device 304 of the vehicle 301.

[0099] After the target storage container 106' is lifted above the container support skeleton 401e, the container support 402a can be displaced back to its initial position.

[0100] 5 and 6, each of the skeletons 401a-k comprises several elongated container supports 402a-d, which have their longitudinal orientation in the Y direction and are arranged parallel to one another in the X direction. The container supports 402a-d in each skeleton 401a-k exhibit holes 403a-f distributed along the Y direction, each hole 403a-c having a cross section that is at least the cross-sectional area of ​​a storage container 106, i.e., at least Wf × Lf (see FIG. 4). The storage containers 106 are placed on the support plate 404 between these holes 403a-c. Each storage container 106 is supported on the horizontal plane P by a first stabilizing rib 405 along the X direction and a second stabilizing rib 406 along the Y direction. rs The storage containers 106 are stabilized within the container support 402b. A first stabilizing rib 405 protrudes upward from both sides of each support plate 404 oriented in the X direction, thereby preventing each storage container 106 from moving along the Y direction relative to the container support 402b. Additionally, a second stabilizing rib 406 having an upwardly protruding portion of the support plate 404 extends along the entire length of the container support 402b in the Y direction, thereby preventing each storage container 106 from moving in the X direction relative to the container support 402b.

[0101] One example of such a container support design is shown in Figure 10. The container support 402b has an elongated shape extending in the Y direction and a width in the X direction, such that one storage container 106 has a width W fEach storage container 106 is restrained in the X and Y directions by the stabilizing frames 405, 406 described above. The container support 402b exhibits holes 403a-f along the Y direction after every third container space, each of which extends approximately the width (W) of the storage container 106 in the X and Y directions, respectively. f ) and length (L f ) In this particular implementation of container support 402b, storage container guidance structures 409 in the form of boxes without bottoms are fixed along the periphery of each hole 403a-f to help guide the storage containers accurately through the holes 403a-f during lifting / lowering by the respective vehicle 301.

[0102] The support plate 404 is fastened on both sides by brackets 407 onto second stabilizing ribs 406 . To store and retrieve a target storage container 106' using the embodiment described above, the following operations are performed, with particular reference to Figures 5D and E.

[0103] The control system 500 provides a command to the vehicle 301 to load a target storage container 106' with coordinates X, Y, and Z. This position corresponds to a storage container 106 supported on the support plate 404 of the container support 402a, which forms part of the horizontal container support skeleton 401e, at a depth of 3×ΔdV+Vr1 below the rail system 408. The target storage container 106 is separated in the Y direction from the nearest hole 403b' (i.e., the target hole) by one non-target storage container 106. Because all of the holes in the storage grid 400 are initially aligned (with the same XY coordinates), the XY position of the target hole 403b' in the container support skeleton 401a adjacent to the rail system 408 is equal to the XY position of the target hole 403b' in the underlying container support skeletons 401b-h.

[0104] - The vehicle 301 moves in the X and Y directions with the aid of its drive means 301b,c until its lifting device 304 is positioned directly above the target hole 403b' that is located horizontally closest to the target storage container 106'.

[0105] During and / or after the vehicle 301 has moved to a position above the target hole 403b', the control system 500 sends a command to the support displacement device 700 (see Figure 11) to displace the container support 402a of the container skeleton 401e a sufficient distance in the Y direction so that the target storage container 106' is vertically aligned with the target hole 403b' of the container support skeleton 401a-d placed above it.

[0106] During and / or after the displacement of the container support 402a, the lifting device 304 of the vehicle 301 is activated and lowered downward through the gripping opening 415 and the aligned target hole 403b' until the gripping portion of the lifting device 304 reaches a position for gripping the target storage container 106.

[0107] After the target storage container 106' is grasped by the lifting device 304 and lifted above the upper-mounted container skeleton 401d, the support displacement device 700 is activated again to move the container support 402a back to its initial Y position.

[0108] Once the target storage container 106' is lifted above the rail system 408, the vehicle 301 is moved to another location on the rail system 408, for example, a dedicated port column / chute 436 for delivery to the access station 436.

[0109] The process has the advantage that the need to perform the excavation performed for prior art storage and retrieval systems is no longer necessary.

[0110] 7 and 8 show another embodiment of the inventive system 1 in which a storage grid 400 of the present invention is installed adjacent to a prior art storage grid 100. The second prior art storage grid 100 is constructed according to the storage grid 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 comprises a rail system 108 in the X and Y directions. The prior art storage grid 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102 and 103, in which storage containers 106 are stackable in stacks 107 within the storage columns 105.

[0111] Both the storage grid of the present invention and the prior art storage grid 100 can be of any size. In particular, it should be understood that one or both of the storage grids 100, 400 can be significantly wider and / or longer and / or deeper than those disclosed in the accompanying figures. For example, the storage grid 100, 400 can have a horizontal extent with space for more than 700 x 700 storage containers 106 and a storage depth of more than 12 storage containers 106.

[0112] 7, a storage grid 400 of the present invention (sized to correspond to four times the 15 grid cells 422 of its respective rail system 408) is installed with one vertical side extending in the Y direction along a vertical side of a prior art storage grid 100 (sized to correspond to five times the 17 grid cells 122 of its respective rail system 108). The rail systems 408 of the storage grid 400 of the present invention and the rail systems 108 of the prior art storage grid 100 have a common orientation and design so that the same type of vehicle 301 can operate on both rail systems 108, 408.

[0113] Referring again to Figure 14, a possible coupling of two rail systems 108, 408 that allows vehicles 301 of the same type to move between two storage grids 100, 400 is shown. In the particular configuration of Figure 14, the desired coupling is achieved by an intermediate coupling rail system 408' extending in the X direction. Due to the different structures of the container skeleton 401 for the storage grid 400 of the present invention and the stack 107 of storage containers 106 of the prior art storage grid 100, the upper rails 410, 411 of the container skeleton 401 can advantageously be made wider in at least one of the X and Y directions compared to the upper rails 110, 111 of the stack 107.

[0114] As shown in FIG. 7, different container supports 402a-d can be moved in the Y direction by the use of a displacement device 700 a distance corresponding to two grid cells.

[0115] An example of a displacement device 700 is shown in Figures 11 and 12. Displacement of each container support 402a-d is achieved by a mechanical linear actuator (ball screw) that converts rotational motion into linear motion. A threaded shaft 702 provides a helical track for ball bearings that act as a precision screw. The required rotation of the shaft is achieved by an electric motor 701 connected to one of the ends of the shaft. A stopper 705 is fixed to the opposite end of the shaft 702. Additionally, a slider 703 is coupled to the rotating shaft so that it moves along the shaft 702 during rotation. By attaching the slider 703 to the end of the container support 402a-d, the desired displacement in the Y direction is achieved. The illustrated linear actuator 700 is fastened to a framework comprising multiple towers 430, each having a height corresponding to the height of the storage grid excluding the rail system 408, and a horizontal extent corresponding to n x m storage container spaces (n and m are integers equal to or greater than 1). Figure 13 shows an example of such a tower 430 with a horizontal size of 1x1. The tower 430 comprises a horizontal framework for each vertical level of the container framework 401, assembled by two rods 432 in the X direction for structural rigidity and two vertical plates 433 in the Y direction. Container support wheels 434 are rotationally fastened to the inward-facing surfaces of both vertical plates 433. The two rods 432 and two vertical plates 433 are fastened to four or more vertical pillars 431 in a rectangular configuration. The tower 430 itself is supported on the floor 440 by tower supports 435.

[0116] As shown in most detail in FIG. 12 , each container support 402 is disposed inside a row of towers 430 arranged in the Y direction. Due to the container support wheels 434, the container supports 402 can be easily displaced. The linear actuator 700 is connected to the skeleton structure of the towers 430 by fixing the linear actuator support 704 between the rod 432 of the outermost tower 430 and the rod 432 of the adjacent tower 430. Furthermore, a stopper 705 at the end distal from the electric motor 701 is fixed to the rod 432 further into the skeleton structure (e.g., a length corresponding to three adjacent storage container spaces as depicted in FIG. 12 ). The end of the container support 402 is connected to a slider 703 movable along a shaft 702, thereby enabling the desired displacement in the Y direction. Note that the container support 402 has been removed from the lowest portion of the skeleton structure to more clearly illustrate the details.

[0117] FIG. 8 shows another configuration of a storage and retrieval system 1 including one prior art storage grid 100 and three inventive storage grids 400 arranged on the sides of the prior art storage grid 100 along the Y direction. The container supports 402, 402a-d of each inventive storage grid 400 can be displaced in the Y direction (in both directions) by a length corresponding to two adjacent storage container spaces. The holes 403a-c are distributed along the Y direction with a distance corresponding to four adjacent storage container spaces. As described above with respect to the configurations shown in FIGS. 6 and 7, the rail system 408 of the inventive storage grid 400 and the rail system 108 of the prior art storage grid 100 are commonly configured so that vehicles 301 of the same type can move between all storage grids 100, 400 without human intervention.

[0118] FIG. 9 shows a perspective view of a configuration of a storage and retrieval system 1 similar to that shown in FIG. 8, but with one storage grid 400 of the present invention and several prior art storage grids 100. The above-mentioned linear actuators 700, which serve as displacement devices, are shown positioned at the end of each container support 402. This particular configuration includes eleven container support frameworks 401a-k, each positioned beneath a rail system 408 with three container supports 402a-c displaceable in the Y direction. A coupling rail system 408' can be seen interconnecting the rail system 108 of the prior art storage grid 100 and the rail system 408 of the storage grid 400 of the present invention to allow movement between the different storage grids 100, 400. See also FIG. 14.

[0119] One way to install a storage grid 400 as described above may be to remove all stacks of storage containers directly below the rail system of a portion of a prior art storage and retrieval system 1, as shown in FIG. 1, and insert one or more storage grids 400 of the present invention into the empty volume.

[0120] In the foregoing description, various aspects of an automated storage and retrieval system and associated method for loading product items using a vehicle have been described with reference to illustrative embodiments. For purposes of explanation, specific numbers, systems, and configurations have been set forth to provide a thorough understanding of the system and its operation. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments, 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. [Table 1-1] [Table 1-2]

Claims

1. A storage grid (400) for storing storage containers (106), said storage grid (400) comprising a plurality of horizontal container support skeletons (401) vertically distributed with a vertical offset (ΔdV), said plurality of horizontal container support skeletons (401) comprising: a first container support skeleton (401a); at least one second container support skeleton (401b-k) arranged directly below and parallel to said first container support skeleton (401a); Equipped with each of the first and at least one second container support skeleton (401a-k) comprises a plurality of container supports (402, 402a-d) arranged in parallel along a first direction (X); each container support (402a-d) of said first container support skeleton exhibits at least one first hole (403a-f) with an opening size that is at least the largest horizontal cross section of said storage container (106) to be stored; each container support (402a-d) of said at least one second container support skeleton exhibits at least one second hole (403a-f) with an opening size that is at least the largest horizontal cross section of said storage container (106) to be stored; the at least one first hole (403a-f) of the first container supporting skeleton (401a) is configured to be vertically aligned with at least one of the at least one second hole (403a-f) of the at least one second container supporting skeleton (401b-k); A storage grid (400), wherein at least two of the plurality of container supports (402a-d) of the at least one second container support skeleton (401b) are displaceable along a second direction (Y) perpendicular to the first direction (X).

2. The storage grid (400) comprises: The storage grid (400) of claim 1, further comprising a support displacement device (700) configured to displace at least one of the plurality of container supports (402a-d).

3. The storage grid (400) further comprises a control system (500), the control system (500) comprising:

3. The storage grid (400) of claim 2, wherein the support displacement device (700) is configured to remotely operate such that each of the plurality of container supports (402 a) can be remotely and independently moved relative to the other container supports (402 b-d) within their respective container support skeletons (401 b-k).

4. 4. The storage grid (400) of claim 1, wherein each of said plurality of container supports (402a-d) exhibits a plurality of holes (403a-f) uniformly distributed along said second direction (Y).

5. A storage grid (400) according to any one of claims 1 to 4, wherein the first container support skeleton (401a) and the at least one second container support skeleton (401b-k) have equal or approximately equal horizontal extents.

6. The storage grid (400) further comprises a rail system (408), the rail system (408) having a first vertical offset (V) that is at least the maximum height of the storage containers (106) to be stored. ｒ１ 6. The storage grid (400) of any one of claims 1 to 5, wherein the storage grid (400) is arranged above and adjacent to the first container support skeleton (401a) in the storage grid (400).

7. The rail system (408) - Horizontal rail system plane (P ｒｓ a first set (410) of parallel rails arranged within the first direction (X) and extending in the first direction (X); The horizontal rail system plane (P ｒｓ a second set of parallel rails (411) arranged within the first set of parallel rails (411) and extending in the second direction (Y); Equipped with The first set of parallel rails (410) and the second set of parallel rails (411) are arranged in the horizontal rail system plane (P) comprising a plurality of adjacent grid cells (422). ｒｓ 7. The storage grid (400) of claim 6, wherein the grid cells (422) form a grid pattern in a grid of parallel rails, each of the grid cells (422) comprising a grid opening (415) defined by a pair of adjacent rails of the first set (410) of parallel rails and a pair of adjacent rails of the second set (411) of parallel rails.

8. 8. The storage grid (400) of claim 6 or 7, wherein each of the container supports (402a-d) has a length corresponding to a length of a plurality of grid cells (422) in the second direction (Y).

9. 9. The storage grid (400) of claim 6, wherein the rail system (408), the first container support skeleton (401a), and the at least one second container support skeleton (401b-k) have equal or approximately equal horizontal extents.

10. said plurality of horizontal container support skeletons (401) comprises i parallel container support skeletons (401a-k), where i is an integer greater than or equal to 2; The storage grid (400) according to any one of claims 6 to 9, wherein the i parallel container support skeletons (401a-k) are arranged below the lower edge of the rail system (408) at a distance dV = i * ΔdV, where ΔdV is a constant set equal to or greater than the maximum height of the storage containers (106) to be stored.

11. 11. The storage grid (400) of claim 6, wherein each of the plurality of container supports (402a-d) presents a plurality of holes (403a) distributed with an offset corresponding to 2n+1 grid cells (422) in the second direction (Y), where n is an integer greater than or equal to 1.

12. 11. The storage grid (400) of claim 6, wherein each of the plurality of container supports (402a-d) exhibits a plurality of holes (403a) distributed with an offset corresponding to n+1 grid cells (422) in the second direction (Y), where n is an integer greater than or equal to 1.

13. 12. The storage grid (400) of claim 10 or 11, wherein the plurality of container supports (402a-d) are individually displaceable at least a distance corresponding to a distance of n grid cells (422) in the second direction (Y), where n is an integer greater than or equal to 1.

14. An automated storage and retrieval system (1) configured to store a plurality of storage containers (106), said automated storage and retrieval system (1) comprising: a storage grid (400) according to any one of claims 1 to 13, a plurality of storage containers (106) supported on said plurality of horizontal container support frameworks (401); a remotely operated vehicle (201, 301) configured to move laterally in the first direction (X) and the second direction (Y) above the plurality of horizontal container support frameworks (401), the remotely operated vehicle (201, 301) comprising a lifting device (304) configured to grasp and lift a storage container (106); a control system (500) configured to wirelessly monitor and control the movement of said remotely operated vehicle (201, 301); An automated storage and retrieval system (1) comprising:

15. An automated storage and retrieval system (1) configured to store a plurality of storage containers (106), the automated storage and retrieval system (1) comprising: a storage grid (400) according to any one of claims 6 to 13, a plurality of storage containers (106) supported on said plurality of horizontal container support frameworks (401); a remotely operated vehicle (201, 301) configured to move laterally in the first direction (X) and the second direction (Y) above the plurality of horizontal container support frameworks (401), the remotely operated vehicle (201, 301) comprising a lifting device (304) configured to grasp and lift a storage container (106); a control system (500) configured to wirelessly monitor and control the movement of said remotely operated vehicle (201, 301); Equipped with the plurality of storage containers (106) are supported on the plurality of horizontal container support frameworks (401) such that each storage container (106) is positioned directly below a grid opening (415) of the rail system (408); The automated storage and retrieval system (1), wherein the remotely operated vehicles (201, 301) are configured to move laterally in the first direction (X) and the second direction (Y) on the rail system (408) and to lift the storage containers (106) through the grid openings (415) by use of the lifting devices (304).

16. The automated storage and retrieval system (1) comprises: Second storage grid (100) Furthermore, The second storage grid (100) comprises: o Horizontal rail system plane (P ｒｓ a first set (110) of parallel rails arranged in a horizontal rail system plane (P ｒｓ and a second set of parallel rails (111) arranged in the horizontal rail system plane (P) and extending in a second direction (Y) perpendicular to the first direction (X), wherein the first set of parallel rails (110) of the second rail system and the second set of parallel rails (111) of the second rail system are arranged in the horizontal rail system plane (P) and include a plurality of adjacent grid cells (122). ｒｓ a second rail system (108) forming a grid pattern in a grid cell (122) of the first set (110) of parallel rails, each of the grid cells (122) comprising a grid opening (115) defined by a pair of adjacent rails of the first set (110) of parallel rails and a pair of adjacent rails of the second set (111) of parallel rails; a plurality of stacks (107) of storage containers (106) arranged in storage columns (105) located directly below the second rail system (408); Equipped with Each storage column (105) is positioned vertically below a grid opening (115); 16. The automated storage and retrieval system (1) of claim 15, wherein the remotely operated vehicle (201, 301) is also configured to move laterally on the second rail system (108).

17. 17. The automated storage and retrieval system (1) of claim 16, further comprising a connecting rail system (408') having rails extending in at least one of the first direction (X) and the second direction (Y), the connecting rail system (408') being configured such that the remotely operated vehicle (201, 301) is movable between the rail system (408) of the storage grid (400) and the second rail system (108) of the second storage grid (100).

18. 18. A method for storing and retrieving storage containers (106) from an automated storage and retrieval system (1) according to any one of claims 14 to 17, wherein the plurality of horizontal container support skeletons (401) comprises i parallel container support skeletons (401a-k), where i is an integer greater than or equal to 2; at least one of the plurality of container supports (402a-d) of the at least one second container support skeleton (401b) is displaceable along a second direction (Y) perpendicular to the first direction (X); The method comprises: A. moving a remotely operated vehicle (201, 301) to a position where its lifting device (304) is positioned vertically aligned above a target storage container (106') supported on the first container support skeleton (401a), or vertically aligned above a target hole (403a') in the first container support skeleton (401a) that is horizontally closest to the target storage container (106') if the target storage container (106') is mounted on one of the i-1 parallel container support skeletons (401b-k) vertically aligned directly below the first container support skeleton (401a); B. If the target storage container (106') is not positioned vertically aligned below the target hole (403a'), a) displacing a container support (402a) of a horizontal container support skeleton (401k) on which the target storage container (106') is supported in the second direction (Y) to position the target storage container (106') vertically aligned below a target hole (403a') in the first container support skeleton (401a); or b) when at least one of the plurality of container supports (402a-d) of the first container support skeleton (401a) is displaceable along the second direction (Y), displacing one or more container supports (402a) of the one or more container support skeletons (401a-k) placed above the container support supporting the target storage container by a distance in the second direction (Y) opposite to the direction in a) to position the target storage container (106′) vertically aligned below the target hole (403a′) of the first container support skeleton (401a), wherein one of the container supports of each of the upper placed container support skeletons has the same position in the first direction (X) as the container support supporting the target storage container; or c) if at least one of the plurality of container supports (402a-d) of the first container support skeleton (401a) is displaceable along the second direction (Y), displacing both the container support supporting the target storage container as described in step a) and the one or more upper container supports as described in step b) to position the target storage container (106') vertically aligned below the target hole (403a'); C. Lowering, grasping, and lifting the target storage container (106') by use of the lifting device (304); D. moving said remotely operated vehicle (201, 301) with said target storage container (106') to another level location; A method comprising:

19. A method for storing and retrieving storage containers (106) from an automated storage and retrieval system (1) according to any one of claims 15 to 17, wherein the plurality of horizontal container support skeletons (401) comprises i parallel container support skeletons (401a-k), where i is an integer greater than or equal to 2; at least one of the plurality of container supports (402a-d) of the at least one second container support skeleton (401b) is displaceable along a second direction (Y) perpendicular to the first direction (X); The method comprises: A. moving a remotely operated vehicle (201, 301) to a position where its lifting device (304) is positioned vertically aligned above a target storage container (106') supported on the first container support skeleton (401a), or vertically aligned above a target hole (403a') in the first container support skeleton (401a) that is horizontally closest to the target storage container (106') if the target storage container (106') is mounted on one of the i-1 parallel container support skeletons (401b-k) vertically aligned directly below the first container support skeleton (401a); B. If the target storage container (106') is not positioned vertically aligned below the target hole (403a'), a) displacing a container support (402a) of a horizontal container support skeleton (401k) on which the target storage container (106') is supported in the second direction (Y) to position the target storage container (106') vertically aligned below a target hole (403a') in the first container support skeleton (401a); or b) when at least one of the plurality of container supports (402a-d) of the first container support skeleton (401a) is displaceable along the second direction (Y), displacing one or more container supports (402a) of the one or more container support skeletons (401a-k) placed above the container support supporting the target storage container by a distance in the second direction (Y) opposite to the direction in a) to position the target storage container (106′) vertically aligned below the target hole (403a′) of the first container support skeleton (401a), wherein one of the container supports of each of the upper placed container support skeletons has the same position in the first direction (X) as the container support supporting the target storage container; or c) if at least one of the plurality of container supports (402a-d) of the first container support skeleton (401a) is displaceable along the second direction (Y), displacing both the container support supporting the target storage container as described in step a) and the one or more upper container supports as described in step b) to position the target storage container (106') vertically aligned below the target hole (403a'); C. Lowering, grasping, and lifting the target storage container (106') by use of the lifting device (304); D. moving said remotely operated vehicle (201, 301) with said target storage container (106') to another level location; Including, the plurality of storage containers (106) are supported on the plurality of horizontally arranged container support frameworks (401) such that each storage container (106) is positioned directly below a grid opening (415) of the rail system (408); The remotely operated vehicle (201, 301) is configured to move laterally in the first direction (X) and the second direction (Y) on the rail system (408) and lift the storage container (106) through the grid opening (415) by use of the lifting device (304).

20. Use of the automated storage and retrieval system (1) according to any one of claims 14-17 for delivering items placed in said storage containers stored in said storage grid (400) to an end user.

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