Delivery system with access point and method for accessing an access point of a delivery system - Patents.com

Abstract

To provide an automatic warehouse system including a storage grid, and a delivery system for delivering the storage container between itself and an access point of the delivery system.SOLUTION: An automatic warehouse system includes: a storage grid 104 for storing a storage container; and a delivery system for transporting the storage container between a delivery port of the storage grid and an access point 65 of the delivery system. The access point is adapted in such a manner that, by a robot operator or a human operator, an item held in the storage container is treated. The delivery system includes a delivery rail system, a remote control type delivery vehicle 200, and the access point. Two or more paths exist to the access point and / or from the access point for the remote control type delivery vehicle via a plurality of delivery grid cells.SELECTED DRAWING: Figure 6A

Description

[Technical Field]

[0001] The present invention relates to an automated storage and retrieval system including a storage grid for storage of storage containers and a distribution system for distribution of said storage containers between the storage grid and an access point of the distribution system, as well as a method for operating a distribution vehicle into and out of the access point.

[0002] The present invention also relates to an access point of a distribution system, the access point being arranged such that there are two or more routes to and / or from the access point for remotely operated delivery vehicles carrying storage containers. [Background technology]

[0003] 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.

[0004] The framework structure 100 includes a plurality of upright members 102 and, optionally, a plurality of horizontal members 103 that support the upright members 102. The members 102, 103 may typically be made from metal, for example, from extruded aluminum profiles.

[0005] The framework structure 100 defines a storage grid 104 that includes storage columns 105 arranged in rows within which storage containers 106 (also known as receptacles) are stacked one on top of the other to form stacks 107.

[0006] Each storage container 106 can typically hold multiple product items (not shown), and the product items in a storage container 106 can be the same or can be of different product types depending on the application.

[0007] The storage grid 104 prevents horizontal movement of the storage containers 106 in the stack 107 and guides vertical movement of the storage containers 106, but typically does not otherwise support the storage containers 106 when stacked.

[0008] The automated storage and warehousing system 1 includes a rail system 108 arranged in a grid pattern across the top of the storage 104, and a plurality of container handling vehicles 200, 300 (as illustrated in FIGS. 1B and 1D ) operate on the rail system 108 to raise and lower storage containers 106 from and into the storage columns 105, and to transport the storage containers 106 above the storage columns 105. The horizontal extent of one of the grid cells 122 that make up the grid pattern is marked by a bold line in FIGS. 1A and 1C .

[0009] Each grid cell 122 has a width typically in the interval of 30 cm to 150 cm and a length typically in the interval of 50 cm to 200 cm. Each grid opening 115 is spaced apart by the horizontal extent of the rails 110, 111. It has a width and length that is typically 2 cm to 10 cm smaller than the width and length of the lid cell 122 .

[0010] The rail system 108 includes a first set of parallel rails 110 and a second set of parallel rails 111, the 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 the second set of parallel rails 111 arranged perpendicular to the first set of rails 110 and 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 can move laterally above the storage columns 105, i.e., in a plane that is parallel to the horizontal XY plane.

[0011] Each prior art container handling vehicle 200, 300 includes a vehicle 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 the respective set of rails 110, 111 at any one time.

[0012] 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., for raising and lowering the storage containers 106 from and into the storage columns 105. The lifting device includes one or more gripping / engagement devices (not shown) adapted to engage with the storage containers 106, such that the gripping / engagement devices can be lowered from the vehicle 201, 301 and such that the position of the gripping / engagement devices relative to the vehicle 201, 301 can be adjusted in a third direction Z, the third direction Z being orthogonal to the first direction X and the second direction Y.

[0013] Conventionally, and for purposes of this application, Z=1 identifies the top layer of the grid 104, i.e., the layer immediately below the rail system 108, Z=2 identifies the second layer below the rail system 108, Z=3 identifies the third layer, and so on. In the exemplary prior art grid 104 disclosed in FIGS. 1A and 1C, Z=8 identifies the bottom layer at the bottom of the grid 104. Accordingly, by way of example and using the Cartesian coordinate system X, Y, Z shown in FIGS. 1A and 1D, 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.

[0014] Each container handling vehicle 200 includes a storage compartment or space (not shown) for receiving and storing the storage containers 106 as they are transported across the rail system 108. The storage space may include, for example, a cavity centrally located within the vehicle body, as described in WO 2014 / 090684 A1, the contents of which are incorporated herein by reference.

[0015] Alternatively, the container handling vehicle 300 may have a cantilevered structure as described in NO 317366, the contents of which are also incorporated herein by reference.

[0016] The container handling vehicle 200 may have a predetermined footprint, i.e., extent in the X and Y directions, that is generally equal to the lateral extent of a grid cell 122, i.e., generally equal to the extent of a grid cell 122 in the X and Y directions, 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."

[0017] Alternatively, the container handling vehicle 200 may have a footprint larger than the lateral extent of the grid column 105 (the lateral area defined by the grid column 105), as disclosed, for example, in WO2014 / 090684A1.

[0018] The rail system 108 can be a single-rail system, as shown in FIG. 2A. Alternatively, the rail system 108 can be a double-rail system, as shown in FIG. 2B, thereby allowing a container handling vehicle 201 having a footprint generally corresponding to the lateral area defined by the grid columns 112 to travel along a row of grid columns (even when another container handling vehicle 200 is positioned above a neighboring grid column of that row). Both the single-rail system and the double-rail system, or a combination including single-track and double-track configurations in the single-rail system 108, form a grid pattern in the horizontal plane P including a plurality of rectangular and uniform grid locations or grid cells 122, where each grid cell 122 includes a grid opening 115 bounded by a pair of rails 110 a, 110 b of the first set of rails 110 and a pair of rails 111 a, 111 b of the second set of rails 111. In FIG. 2B, grid cells 122 are indicated by dashed boxes.

[0019] Consequently, rails 110a and 110b form a pair of rails that define parallel rows of grid cells running in the X direction, and rails 111a and 111b form a pair of rails that define parallel rows of grid cells running in the Y direction.

[0020] As shown in FIG. 2C, each grid cell 122 has a width W , typically spaced 30 cm to 150 cm apart. c , and length L, typically in the interval between 50 cm and 200 cm. c Each grid opening 115 has a grid cell 122 width W c and length L c width W, typically 2 to 10 cm smaller than o and length L o It has the following characteristics.

[0021] In the X and Y directions, neighboring grid cells are placed in contact with each other so that there is no space between them.

[0022] Within 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 in stacks 107. However, the grid 104 typically has at least one grid column that is not used to store storage containers 106, that at least one grid column includes a location where a container handling vehicle 200, 300 can drop off and / or collect a storage container 106 so that the storage container 106 can be transported to a second location (not shown) where the storage container 106 may be accessed from outside the grid 104 or may be transported out of or into the grid 104. In the art, such locations are commonly referred to as "ports," and the grid columns in which the ports are located may be referred to as "distribution columns" 119, 120. The drop-off and collection ports for container handling vehicles are referred to as the "upper ports of the distribution column" 119, 120, while the opposite ends of the distribution columns are referred to as the "lower ports of the distribution column."

[0023] 1A and 1C includes two distribution columns 119 and 120. The first distribution column 119 may, for example, include a dedicated drop port where container handling vehicles 200, 300 can drop storage containers 106 for transport through the distribution column 119 and onward to an access or transfer station, and the second distribution column 120 may include a dedicated collection port where container handling vehicles 200, 300 can collect storage containers 106 that have been transported through the distribution column 120 from the access or transfer station. Each of the ports of the first and second distribution columns may include a port suitable for both collecting and dropping storage containers.

[0024] The second location may typically be a picking or stocking station where product items are removed from or placed into storage containers 106. At the picking or stocking station, the storage containers 106 are typically never removed from the automated storage system 1, but rather are accessed and placed back into the storage grid 104. There are also lower ports provided in the delivery column for the transfer of storage containers out of or into the storage grid 104, such as for transferring the storage containers 106 to another storage facility (e.g., to another storage grid), directly to a transport vehicle (e.g., a train or lorry), or to a production facility.

[0025] To monitor and control the automated warehouse system 1 (e.g., to monitor and control the location of each storage container 106 within the storage grid 104; the contents of each storage container 106; and the movements of the container handling vehicles 200, 300 so that the desired storage containers 106 can be delivered to the desired locations at the desired times without the container handling vehicles 200, 300 colliding with each other), the automated warehouse system 1 includes a control system (not shown), which is typically computerized and which typically includes a database for tracking the storage containers 106.

[0026] A conveyor system including a conveyor may be used to transport storage containers between the lower port of the delivery column and the access station.

[0027] If the lower port and access station of the delivery column are located at different levels, the conveyor system may include a lift device for transporting storage containers vertically between the port and the access station.

[0028] The conveyor system may be arranged to transport storage containers between different grids, for example as described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0029] Furthermore, WO2016 / 198467A1 (the contents of which are incorporated herein by reference) describes a conveyor belt for transporting storage containers between a delivery column and a workstation where an operator can access the storage containers. Examples of prior art access systems are disclosed that have a yerbelt (Figures 5a and 5b in WO2016 / 198467A1) and a frame-mounted rail (Figures 6a and 6b in WO2016 / 198467A1).

[0030] 1A is to be accessed, one of the container handling vehicles 200, 300 is directed to retrieve the target storage container 106 from its location in the grid 104 and transport the target storage container 106 to or through a delivery column 119. This action involves moving the container handling vehicle 200, 300 to a location on the grid above the storage column 105 in which the target storage container 106 is positioned, using a lifting device (not shown) on the container handling vehicle to retrieve the storage container 106 from the storage column 105, and transporting the storage container 106 to the delivery column 119. If the target storage container 106 is positioned deep within the stack 107, i.e., if one or more other storage containers are positioned above the target storage container 106, the operation also involves temporarily moving the storage container positioned above before lifting the target storage container 106 from the storage column 105. This step (which may be referred to in the art as “digging”) may be performed by the same container handling vehicle 200, 300 subsequently used to transport the target storage container 106 to the delivery column, or may be performed by one or more other cooperating container handling vehicles 200, 300. Alternatively or additionally, the automated warehouse system 1 may have container handling vehicles 200, 300 specifically specialized for the task of temporarily removing storage containers 106 from the storage columns 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container may be repositioned back into the original storage column 105. However, the removed storage container may alternatively be repositioned in another storage column 105.

[0031] When a storage container 106 is to be stored in a grid 104, one of the container handling vehicles 200, 300 is directed to collect the storage container 106 from the delivery column 120 and transport the storage container 106 to a location on the grid above the storage column 105 where it will be stored. After any storage containers positioned at or above the desired location in the storage column stack 107 are removed, the container handling vehicle 200, 300 positions the storage container 106 in the desired location. The removed storage container can then be lowered back into the storage column 105 or repositioned in another storage column 105.

[0032] A problem associated with known automated storage systems 1 is that the areas surrounding the collection and drop ports can become congested with container handling vehicles 200, 300 directed to drop off or collect storage containers 106. This can seriously hinder the operation of the automated storage system 1. In smaller systems, this situation can sometimes be alleviated by adding delivery columns to the grid, because this allows the container handling vehicles 200, 300 to be distributed among a greater number of delivery column ports to avoid congestion. However, when ports and columns are added, the conveyor system infrastructure must typically be increased. This requires space, which may not always be available. Also, adding conveyor system infrastructure is costly.

[0033] Another problem with the prior art automated storage system 1 is that the separate drop-off and collection ports of the delivery columns 119, 120 are required for the container handling vehicles 200, 300 to access new storage containers. The problem with this approach is that the delivery columns 119, 120 require the container handling vehicles 200, 300 to move to the storage columns 105 after dropping off the storage containers 106 to retrieve them. Similarly, the container handling vehicles 200, 300 must be free of the storage containers 106 when they are sent to the collection port 120 to collect the storage containers. This results in inefficiencies and increased congestion around the port because the container handling vehicles 200, 300 are moving around on the grid without their payloads of storage containers 106. In addition, the delivery columns 119, 120 may occupy space above the grid 104 that could be used for other purposes, such as the movement of container handling vehicles 200, 300.

[0034] In view of the above, it would be desirable to provide an automated warehousing system, and a method for operating such a system, that overcomes or at least mitigates one or more of the above-mentioned problems associated with the use of prior art warehousing systems. Summary of the Invention [Problem to be solved by the invention]

[0035] It is an object of the present invention to provide an automated warehouse system that is more efficient than prior art systems by avoiding or at least reducing congestion of storage containers around delivery columns.

[0036] Another object is to provide an automated warehouse system that improves the availability of delivery columns for container handling vehicles operating on a rail system.

[0037] Another object is to provide a highly efficient automated warehouse system that is easy to install and whose delivery capacity can be easily increased after installation is complete.

[0038] Yet another object is to provide a dedicated area where storage containers and items held therein can be easily handled effectively and where the storage containers can be handled in the correct order. [Means for solving the problem]

[0039] The invention is set out in the independent claims, while the dependent claims describe alternatives to the invention.

[0040] In the following, the term "remotely operated delivery vehicle" will be referred to as "delivery vehicle", the term "automated warehouse grid" will be referred to as "storage grid", the term "storage container" will also be known in the prior art as "bin", and the term "picking and stocking station" will also be referred to as "access station" or "accessing station".

[0041] The present invention relates to an automated warehousing system comprising a storage grid for storage of storage containers and a distribution system for transporting said storage containers between a distribution port of the storage grid and an access point of the distribution system, the access point being adapted for handling of items held in the storage containers by a robotic or human operator.

[0042] The delivery system is - a distribution rail system comprising at least a first set of parallel rails and at least a second set of parallel rails, the first set of parallel rails being arranged in a horizontal plane (P1) and extending in a first direction (X), and the second set of parallel rails being arranged in the horizontal plane (P1) and extending in a second direction perpendicular to the first direction (X). a delivery rail system extending in a direction (Y), the first and second sets of rails together defining a delivery grid of delivery grid cells; A remote-operated delivery vehicle, the remote-operated delivery vehicle including a motorized vehicle body and a container carrier, the container carrier being provided on the motorized vehicle body for carrying a storage container, the delivery vehicle being movable on a delivery grid of a delivery rail system. Includes.

[0043] The delivery grid provides one or more delivery grid cells for a remotely operated delivery vehicle at an access point and a plurality of delivery grid cells adjacent to the one or more delivery grid cells at the access point, such that there are two or more routes to and / or from the access point for the remotely operated delivery vehicle via the plurality of delivery grid cells, and the remotely operated delivery vehicle is arranged to transport storage containers from a delivery port of the storage grid across the delivery grid to the access point and to return the storage containers to the delivery port for storage within the storage grid.

[0044] A storage grid for storing storage containers includes a storage grid rail system arranged in a grid pattern across the top of the storage grid, and a plurality of container handling vehicles are operable on the rail system to raise and lower storage containers from and into the storage columns, and to transport storage containers up the storage columns.

[0045] The storage grid has at least one grid column, where the at least one grid column is not used to store storage containers, but rather the at least one grid column includes a location where a container handling vehicle can drop off and / or collect the storage container so that the storage container can be transported to an access station of the distribution system, where the storage container can be accessed.

[0046] The drop-off and collection ports for container handling vehicles are referred to as the "upper ports" of the distribution column. The port on the opposite end of the distribution column, towards the distribution system, is referred to as the shipping port. A shipping port is therefore defined as a port (grid cell) where a storage container enters or exits the storage grid.

[0047] The delivery rail system extends between a location vertically below the delivery port of the storage grid and an access point where items held in the storage containers are adapted to be handled by a robotic or human operator. Remotely operated delivery vehicles are positioned for transporting the storage containers between the delivery port and the access point.

[0048] To maximize storage space for storage containers within a warehouse grid, it may be advantageous to arrange the distribution rail system so that it extends as little as possible into the storage grid, which means that the warehouse grid can include multiple storage columns extending from an upper level to the base of the storage grid, thus allowing for the maximum possible storage capacity, since the entire storage column can be used for storage.

[0049] To maintain the maximum possible storage capacity, the portion of the delivery rail system that extends into the storage grid can be kept as small (to a small extent) as possible. The delivery system and delivery vehicles can occupy as little space as possible on the warehouse grid, and the space can be used for storing storage containers.

[0050] Moreover, at least one (preferably each) of the plurality of delivery vehicle grid cells of the delivery rail system may be disposed directly below a container handling vehicle grid cell of the container handling vehicle rail system. The delivery rail system may extend into the framework structure of the storage grid. Thus, the second location is located inside the framework structure of the storage grid.

[0051] The delivery rail system may extend outside the framework structure of the storage grid, preferably to the access points. When the access points are located outside the storage grid, they do not occupy the storage capacity of the grid.

[0052] The delivery rail system may include a first rail system positioned within the framework structure of the storage grid and a second rail system positioned outside the framework structure of the storage grid, the first and second rail systems connected such that delivery vehicles can operate between the rail systems.

[0053] The access point may be connected to a second rail system.

[0054] An access point can include one single grid cell of the distribution grid system, or an access point can include two or more distribution grid cells. When the delivery vehicle is positioned at the access point, it is operated such that it allows a human operator and / or a robotic operator to access the contents of the storage container.

[0055] In accordance with the present invention, a delivery vehicle has two or more routes to and / or from an access point through multiple delivery grid cells, which allows an operator to coordinate the order in which delivery vehicles can enter or exit access points.

[0056] In an embodiment, a delivery vehicle may enter the access point at a first end and exit the access point at a second end, allowing storage containers to enter the access point one after the other in succession.

[0057] The access point includes one or more delivery grid cells for delivery vehicles at the access point. The delivery grid further provides a plurality of delivery grid cells adjacent to the one or more delivery grid cells of the access point, such that there are two or more routes to and / or from the access point. For example, each grid cell of the access point may include four entrances or exits for delivery vehicles, two in the X direction and two in the Y direction. Because a human or robotic operator needs to stand next to the access point on one side to have easy access to stored items, it may be preferable for the access point to include three entrances or exits (e.g., two in the X direction and one in the Y direction). Thus, in this embodiment, delivery vehicles can enter or exit the access point from above in the Y direction and from two ends in the X direction. This allows delivery vehicles to have at least three routes to and from the access point, thus allowing one delivery vehicle to pass another in the order of arrival at the access station. This means that.

[0058] An access point may be defined as a predetermined location where a storage container can be accessed and / or handled. The term "handling a storage container" may include stocking or picking items into or from a container, and introducing or removing a container from a storage grid. An access point may be any predetermined location that allows a storage container to be accessed from a location outside of the storage grid.

[0059] The access points may be located in container accessing stations that are positioned to separate human operators from the delivery rail system and delivery vehicles.

[0060] The distribution grid can extend to or into the container accessing station. The distribution grid provides one or more distribution grid cells for the remotely operated delivery vehicle at the access point and a plurality of distribution grid cells adjacent the access point distribution grid cell such that there are two or more routes to and / or from the access point for the remotely operated delivery vehicle via the plurality of distribution grid cells. The remotely operated delivery vehicle is positioned to transport storage containers from the storage grid distribution port across the distribution grid to the access point of the container access station and return the storage container to the distribution port for storage in the storage grid.

[0061] The container accessing station may include means for protecting a human operator from components of the delivery system (rails and delivery vehicles) and for allowing easy handling of the storage container and its contents, which may be any one of a wall or a cabinet.

[0062] The container accessing station may include a wall portion, and the access point may be an area corresponding to one or more delivery grid cells of the delivery grid located on the delivery grid side of the wall at a location where items in a storage container being transported by the remotely operated delivery vehicle can be reached by a robotic operator or a human operator reaching above the wall.

[0063] In one aspect, the container access station can be a cabinet having sidewalls and a top plate arranged such that it defines an interior volume of the cabinet, the interior volume including an open end such that the distribution rail system extends into said interior volume of the cabinet. More specifically, at least one distribution grid cell of the distribution grid system extends into the interior volume of the cabinet.

[0064] In one embodiment, the container accessing station includes a cabinet including an opening provided above an access point through which items held in the storage container are accessible at the access point. The opening may be provided in a top plate of the cabinet such that items held in the storage container are accessible from above.

[0065] The delivery vehicle, while positioned at the access point, can be operated so that its container carrier and storage container are in a tilted position. The tilted position of the storage container allows for easier access to the contents and better visibility for the human operator. In addition to providing a working position, it also provides improved visibility of the contents of the storage container. A better working position is geared towards reducing strain on the back and knees of the human operator.

[0066] In an embodiment, the distribution rail system provides a distribution grid including three or more adjacent rows of distribution grid cells extending to or into a container accessing station.

[0067] For example, a container accessing station can include a cabinet covering at least three grid cells (one left grid cell, one middle grid cell, and one right grid cell). An access point can be located in the middle grid cell, and the delivery vehicle can be operated such that it enters the cabinet at the left grid cell, moves to the middle grid cell, where it is stopped and its storage containers can be accessed by at least one of a robotic operator or a human operator, and then moves further to the right grid cell before it exits the cabinet.

[0068] The container accessing station may be provided with an activation device, such as a switch, push button, or lever, to restart the delivery vehicle after the storage container is accessed at the intermediate grid cell location. In operation, at least one of the robotic operator or human operator can access the contents of the storage container while positioned at the access point. After the storage container is accessed, at least one of the robotic operator or human operator can press the activation device, causing the delivery vehicle to move forward and allowing another delivery vehicle to enter the access point.

[0069] In embodiments, a container accessing station may be provided adjacent to a storage grid or may be detached from the storage grid, with a delivery rail system disposed between a delivery port of the storage grid and the container accessing station, such that storage containers may be transported across the delivery rail system between said delivery port and the container accessing station.

[0070] The remotely operated delivery vehicle is adapted to be movable on a delivery rail system, which may be a single rail system or a double rail system, and which defines a grid pattern over which the delivery vehicle is capable of moving laterally.

[0071] In embodiments, the distribution system can benefit from many of the considerations provided for the rail system of storage grids and container handling vehicles. To expedite production and ensure low costs, it is preferable to use components that have already been designed and tested. It is therefore considered advantageous for each grid cell of the distribution rail system to have a size that is equal to or similar to the size of a grid cell of the rail system for the container handling vehicles.

[0072] More specifically, each grid cell of the delivery rail system may have a width that is typically in intervals of 30 cm to 150 cm and a length that is typically in intervals of 50 cm to 200 cm. Each grid opening of the delivery rail system may have a width and length that are typically 2 cm to 10 cm smaller than the width and length of the grid cell.

[0073] The horizontal plane P1 of the delivery rail system is arranged below the horizontal plane P of the rail system of the storage grid.

[0074] The container accessing station may be positioned above ground floor level, such that the storage containers are accessible to human and / or robotic operators without a platform, etc. The delivery rail system may therefore be arranged on vertical support elements, such that the horizontal plane (P1) of the delivery rail system may be positioned at any suitable vertical level above ground floor level.

[0075] Generally, the delivery rail system is located at any level below the upper level of the storage grid. Preferably, the delivery rail system is located at a level below the delivery ports of the storage grid.

[0076] A delivery port may be located above the mezzanine level of the storage grid, allowing delivery vehicles to operate on delivery rails provided below the mezzanine level to deliver storage containers to or receive storage containers from the delivery port. The mezzanine level is actually an elevated base or floor of the storage grid that provides a "roof" over the area serviced by the delivery vehicles. The mezzanine level is therefore adapted to the overall height of the storage containers when positioned on the delivery vehicle and the height of the delivery rail system. This means that the upright members of the storage grid framework must be shortened so that they are suspended above the mezzanine level. The mezzanine may be supported by upright support posts that extend out from the delivery columns for support of the mezzanine. The height of the upright support posts defines the height of the mezzanine level (the rails of the delivery rail system may themselves be suspended above the floor of the warehouse building).

[0077] Furthermore, the extent of the mezzanine in the horizontal plane depends, at least in part, on the total number of distribution columns arranged in the storage grid. Therefore, the number of distribution columns and the size (extent) of the mezzanine in the X and Y directions can be customized according to the overall size of the storage system and the desired efficiency of the system. Consequently, the adoption of distribution columns implies a loss of storage space in the storage grid. However, the benefit is an improved distribution efficiency of storage containers in the automated warehouse system, since congestion of storage containers in the distribution columns is avoided or at least reduced by the distribution system according to the present invention.

[0078] The present invention also relates to a distribution system for transporting storage containers between a collection port / drop port of the distribution system and an access point adapted to allow items held in the storage containers to be handled by a robotic or human operator.

[0079] The delivery system is - a distribution rail system comprising at least a first set of parallel rails and at least a second set of parallel rails, the first set of parallel rails being arranged in a horizontal plane (P1) and extending in a first direction (X), and the second set of parallel rails being arranged in the horizontal plane (P1) and extending in a second direction (Y) perpendicular to the first direction (X), the first and second sets of rails together defining a distribution grid of distribution grid cells; - A remote-controlled delivery vehicle, the remote-controlled delivery vehicle including a motorized vehicle body and a container carrier, the container carrier being configured to carry a storage container among storage containers. a remote-controlled delivery vehicle provided on a motorized vehicle body for carrying the container, the delivery vehicle being movable on a delivery grid of a delivery rail system; Includes.

[0080] The delivery grid provides one or more delivery grid cells for a remotely operated delivery vehicle at an access point and a plurality of delivery grid cells adjacent to the one or more delivery grid cells at the access point, such that there are two or more routes to and / or from the access point for the remotely operated delivery vehicle via the plurality of delivery grid cells, and the remotely operated delivery vehicle is arranged to transport storage containers from a collection port / drop port of the delivery system across the delivery grid to the access point and is arranged to return the storage containers to the collection port / drop port of the delivery system.

[0081] The collection ports / drop ports of the distribution system constitute distribution grid cells that are located below the distribution columns of the storage grid and are arranged so that when a delivery vehicle is positioned at the collection port / drop port, the delivery vehicle can receive a storage container from the storage grid, through the distribution columns, and onto the delivery vehicle.

[0082] The delivery rail system may include at least one transfer zone for temporarily storing storage containers on delivery vehicles during transit between a delivery port of the storage grid and a container access station. This may be an area where delivery vehicles may line up on their route to an access point. The transfer zone may constitute one or more delivery grid cells for the delivery vehicles in the transfer zone. The transfer zone may be located inside or outside the container access station.

[0083] The present invention also relates to a method for operating a remotely operated delivery vehicle into and out of an access point of a delivery rail system, the access point being a location on the delivery rail system from which a robotic or human operator can access items held in storage containers that have been delivered to the access point.

[0084] The delivery system is - a distribution rail system comprising at least a first set of parallel rails and at least a second set of parallel rails, the first set of parallel rails being arranged in a horizontal plane (P1) and extending in a first direction (X), and the second set of parallel rails being arranged in the horizontal plane (P1) and extending in a second direction (Y) perpendicular to the first direction (X), the first and second sets of rails together defining a distribution grid of distribution grid cells; - a remotely operated delivery vehicle, the remotely operated delivery vehicle including a motorized vehicle body and a container carrier, the container carrier being provided on the motorized vehicle body and adapted to carry a storage container, the delivery vehicle being movable on a delivery grid of a delivery rail system; Including, The delivery grid provides one or more delivery grid cells for the remotely operated delivery vehicle at the access point and a plurality of delivery grid cells adjacent to the delivery grid cell at the access point such that there are two or more routes to and / or from the access point for the remotely operated delivery vehicle via the plurality of delivery grid cells.

[0085] The method is: a) operating a delivery vehicle to direct the delivery vehicle to one of a plurality of delivery grid cells adjacent to one or more delivery grid cells of the access point; b) operating the delivery vehicle from one of a plurality of delivery grid cells adjacent to the one or more delivery grid cells of the access point to enter a delivery grid cell of the one or more grid cells at the access point; c) enabling a robotic or human operator to access items held in storage containers at access points; d) operating the delivery vehicle to exit the one or more delivery grid cells of the access point toward one of a plurality of delivery grid cells adjacent to the one or more delivery grid cells of the access point; Includes.

[0086] The access points may be provided in container accessing stations that are positioned to separate the robotic or human operators from the delivery rail system and remotely operated delivery vehicles, such that the delivery grid extends to or into the container accessing stations.

[0087] The following drawings are included to facilitate understanding of the present invention. [Brief explanation of the drawings]

[0088] [Figure 1A] FIG. 1 is a perspective view of a prior art automated storage system showing the complete system. [Figure 1B] FIG. 1 is a perspective view of a prior art automated warehouse system, showing an example of a prior art container handling vehicle capable of operating with the system. [Figure 1C] FIG. 1 is a perspective view of a prior art automated warehouse system. [Figure 1D] FIG. 1 is a perspective view of a prior art automated warehouse system. [Figure 2A] FIG. 1 is a perspective view of a prior art automated storage system showing the complete system. [Figure 2B] FIG. 1 is a perspective view of a prior art automated warehouse system, showing an example of a prior art container handling vehicle capable of operating with the system. [Figure 2C] FIG. 1 is a perspective view of a prior art automated warehouse system. [Figure 3A] FIG. 1 is a side view of a remotely operated delivery vehicle in accordance with an embodiment of the present invention. [Figure 3B]FIG. 1 is a side view of a remotely operated delivery vehicle in accordance with an embodiment of the present invention. [Figure 3C] FIG. 1 is a side view of a remotely operated delivery vehicle in accordance with an embodiment of the present invention. [Figure 4A] FIG. 1 is a perspective view of a remotely operated delivery vehicle according to an embodiment of the present invention. [Figure 4B] FIG. 1 is a perspective view of a remotely operated delivery vehicle according to an embodiment of the present invention. [Figure 4C] FIG. 1 is a perspective view of a remotely operated delivery vehicle according to an embodiment of the present invention. [Figure 5A] FIG. 4B is a perspective view of the remotely operated delivery vehicle of FIG. 4A from underneath. [Figure 5B] FIG. 4B is a perspective view of the remotely operated delivery vehicle of FIG. 4A from underneath. [Figure 6A] FIG. 1 is a perspective view of another automated warehouse grid and distribution system according to an embodiment of the present invention. [Figure 6B] FIG. 1 is a perspective view of another automated warehouse grid and distribution system according to an embodiment of the present invention. [Figure 7A] FIG. 1 is a perspective view of a set of exemplary container accessing stations. [Figure 7B] FIG. 1 is a perspective view of a set of exemplary container accessing stations. [Figure 8A] FIG. 1 is a perspective view of another exemplary automated warehouse grid and distribution system including a container accessing station. [Figure 8B] FIG. 1 is a perspective view of another exemplary automated warehouse grid and distribution system including a container accessing station. [Figure 9A] FIG. 1 is a perspective view of another exemplary automated warehouse grid and distribution system including a container accessing station. [Figure 9B] FIG. 1 is a perspective view of another exemplary automated warehouse grid and distribution system including a container accessing station. [Figure 10] FIG. 1 is a top view of another exemplary automated warehouse grid and distribution system in accordance with the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0089] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter shown therein. Moreover, even if some of the features are described in relation to the system only, it will be apparent that they are equally valid with respect to the delivery vehicle and the related method, and vice versa. Thus, any feature described in relation to the delivery vehicle only and / or the related method is also valid with respect to the system.

[0090] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter shown therein. Moreover, even if some of the features are described in relation to the system only, it will be apparent that they are equally valid with respect to the delivery vehicle and the related method, and vice versa. Thus, any feature described in relation to the delivery vehicle only and / or the related method is also valid with respect to the system.

[0091] 1A-1D, the storage grids 104 of each storage structure 1 form a framework 100 of a total of 143 grid columns 112, with the width and length of the framework corresponding to the width and length of 13 and 11 grid columns 112, respectively. The upper layer of the framework 100 is a rail system 108 upon which a plurality of container handling vehicles 200, 300 operate.

[0092] The framework 100 of the storage system 1 is constructed in accordance with the prior art framework 100 described above, i.e., constructed with a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102, and further constructed in accordance with the fact that the horizontal members 103 include a rail system 108 of parallel rails 110, 111 in the X and Y directions, respectively, disposed across the top of the storage columns 105. The horizontal area of ​​a single grid cell 122, i.e., the area along the X and Y directions, can be defined by the distance between adjacent rails 110 and 111, respectively (see also FIGS. 3 and 4). In FIGS. 1A and 1C, such a grid cell 122 is marked above the rail system 108 by a bold line.

[0093] The rail system 108 allows the container handling vehicles 200 , 300 to move horizontally between different grid locations, each of which is associated with a grid cell 122 .

[0094] In Figures 1A and 1C, the storage grid 104 is shown with a height of eight cells. 1A and 1C. For example, the grid 104 may have a horizontal extent of more than 700x700 grid cells 122. The grid 104 may 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.

[0095] 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 / 090684A1, NO317366 or WO2015 / 193278A1.

[0096] The rail system 108 can be a single rail system, as shown in Figure 2A. Alternatively, the rail system 108 can be a double rail system, as shown in Figure 2B. Details of single and double rail systems are disclosed herein under the Background section.

[0097] 3A-3C show an embodiment of a remotely controlled delivery vehicle 30 (hereinafter referred to as delivery vehicle 30) according to the present invention.

[0098] The delivery vehicle 30 is configured for transporting storage containers 106 (not shown) between an automated warehouse grid 104 (see Figures 7A and 7B) configured to store multiple stacks 107 of storage containers 106 (hereinafter referred to as storage grid 104) and an access point 161 provided in a container accessing station 160 for handling of the storage containers 106 by at least one of a robotic operator and a human operator.

[0099] The delivery vehicle 30 includes a vehicle body 31, rolling devices 32a, 32b connected to the vehicle body 31, rolling device motors for driving the rolling devices 32a, 32b in a horizontal plane (P), and a power source 43 connected to the rolling device motor 33. The power source 43 should provide sufficient power to the rolling device motors (not shown) to propel the rolling devices 32a, 32b along a set route from the storage grid 104 to, for example, an access point 65.

[0100] 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 on or within the container carrier 35 such that the storage container 106 is prevented from sliding along the horizontal plane (P1).

[0101] The container carrier 35 may include a container support device that supports the storage container 106 from below.

[0102] 3A-3B, container carrier 35 is disclosed in the form of a storage container-receiving compartment having a bottom / base and sidewalls. The compartment volume, in this exemplary configuration, is adapted to receive and contain the horizontal extent of the storage container and at least a portion of the vertical extent of the storage container. 3A-3C show an example of a container carrier 35 containing an entire storage container 106, while FIGS. 4A-4B show an alternative container carrier 35 containing a portion of a storage container 106.

[0103] The particular configuration of the container carrier 35 disclosed in Figures 3A-3C allows the delivery vehicle 30 to transport storage containers 106 having different heights.

[0104] It should be noted that the size of the compartments within the container carrier 35 can be easily adapted to receive and support multiple storage containers 106 in one operation.

[0105] 3B and 3C show a particular configuration of the delivery vehicle 30, in which the container carrier 35 can be set in a tilted position relative to the vehicle body 31 and the horizontal plane (P1). The container carrier 35 can be tilted by a dedicated displacement device. The tilting can be performed around a pivot axis oriented in the main directions of movement of the delivery vehicle 30. If the delivery vehicle 30 moves on vertical rails (see below), these main directions will be in either the X or Y direction.

[0106] Tilting of the displacement device can be obtained, for example, by a lifting arm 45 connected to the vehicle body 31 and the container carrier 35. Furthermore, the lifting arm 45 can be driven by a dedicated tilt motor 42 or a rolling device motor, or both.

[0107] The displacement device is shown in Figures 3B and 3C with an L-shaped lifting arm 45 connected on one side to the vehicle body 31 and on the other side to a structure fixed to the container carrier 35. Alternatively, the latter end of the arm 45 may be directly connected to the container carrier 35.

[0108] The tilt motor 42 is seen to be located entirely inside the vehicle body 31 and is connected, directly or indirectly, to the lifting arms 45 for moving the lifting arms 45 between a lower position in which the container carrier 35 is not tilted relative to a horizontal plane (P) and an upper position in which the container carrier 35 is tilted relative to the horizontal plane (P). It is noted that the horizontal plane (P) may be defined as the plane established by the particular configuration of the wheels 32a, 32b of the rolling device 32.

[0109] 3A-3C and 4A-4C show perspective views of a delivery vehicle 30. The rolling device 32, in this exemplary configuration, - a first set of wheels 32a arranged on both sides of a vertical central plane passing through the vehicle body 31 for moving the delivery vehicle 30 along a first direction (e.g., along the X direction) on the delivery rail system; a second set of wheels 32b arranged on both sides of a vertical center plane passing through the vehicle body 31 for moving the delivery vehicle 30 on the delivery rail system along a second direction perpendicular to the first direction X (for example, along the Y direction); Includes.

[0110] 4C illustrates yet another exemplary configuration of a remotely operated delivery vehicle 30. In this configuration, a container carrier 35 includes a base plate, a conveyor disposed on the base plate, and two sidewalls projecting upward from the base plate. The rolling device 32 and vehicle body 31 are similar to those described above in connection with FIGS. 3-5. The rolling device 32 and the vehicle body 31 are the same or similar.

[0111] The conveyor may be configured, inter alia, by a plurality of parallel-oriented rolls 36 having a common longitudinal direction perpendicular to the two side walls. In this way, the rolls 36 allow one or more storage containers 106 to be shifted into or out of 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.

[0112] 5A and 5B show the delivery vehicle 30 from below. As can be clearly seen in FIG. 5A, the vehicle body 31 of the delivery vehicle 30 includes internal component-receiving recesses or compartments for containing components such as, for example, one or more dedicated tilt motors 42, one or more track shift motors 41, one or more power storage sources such as batteries 43, and one or more control cards such as a CPU and / or Power PCB 44. The above-mentioned components are thus positioned within the vehicle body 31 below the container carrier 35.

[0113] The storage container receiving compartment of the container carrier 35, in this particular configuration, has a rectangular bottom or base plate with vertical side walls that can be of any height, so long as they ensure that the storage containers 106 are constrained to move along the base plate of the container carrier.

[0114] For example, the size of the compartment 35 corresponds to the size of the storage container 106 so that it can completely contain the storage container 106 .

[0115] In cases where the container carrier 35 is configured to support multiple storage containers 106, the size of the vertical wall may, in one example, be the height of each storage container 106, and the size of the base plate may be the aggregate cross-sectional area of ​​all storage containers 106 measured relative to the outer lateral edges of the storage containers 106.

[0116] Figure 5B shows a delivery vehicle 30 as described above, with a vehicle body 31 and a rolling device 32 of eight wheels 32a, 32b. With respect to the delivery vehicle shown in Figures 3-5, a first set of four wheels 32a allows lateral or horizontal movement of the delivery vehicle 30 in a first direction, and a second set of four wheels 32b allows lateral or horizontal movement in a second direction, which may be perpendicular to the first direction.

[0117] When used on a delivery rail system 50, one or both sets of wheels 32a, 32b of the rolling device 32 should be raised and lowered so that the first set of wheels 32a and / or the second set of wheels 32b can always be engaged with the respective sets of rails provided on the delivery rail system 50.

[0118] Perspective views of the automated warehouse system are shown in Figures 6 to 9. The system includes a storage grid 104 and a distribution system 140, which includes a distribution rail system 50, a plurality of delivery vehicles 30, and access points 65 provided within container accessing stations 60.

[0119] The storage grid 104 is equal to or similar to the prior art storage grid 104 described above, i.e., a storage grid 104 including a rail system 108, a plurality of stacks 107 of storage containers 106, a plurality of container handling vehicles 300 for lifting 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.

[0120] The rail system 108 includes a first set of parallel tracks 110 and a second set of parallel tracks 111, where the first set of parallel tracks 110 are disposed in a horizontal plane (P) and extend in a first direction (X), and the second set of parallel tracks 111 are disposed in the horizontal plane (P) and extend in a second direction (Y) orthogonal to the first direction (X). The first and second sets of tracks 110, 111 form a grid pattern in the horizontal plane (P) that includes a plurality of adjacent grid cells 122. Each grid cell 122 represents a grid opening, which is defined by a pair of neighboring rails of the first set of rails 110 and a pair of neighboring rails of the second set of rails 111.

[0121] A plurality of stacks 107 are arranged in storage columns 105 positioned below a rail system 108, with each storage column 105 positioned vertically below a grid cell 122.

[0122] Each container handling vehicle 200 , 300 is configured to travel on a rail system 108 above the storage columns 105 .

[0123] The distribution system 140 includes one or more of the 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 distribution columns 119, 120 and one or more container handling stations 160 positioned outside the storage grid 104. The container handling stations 160 may be positioned at any predetermined location suitable for handling containers.

[0124] The delivery system 140 may further include a delivery rail system 50 located below delivery ports 150 of one or more delivery columns 119, 120.

[0125] As shown in Figures 6A-6B, the delivery rail system 50 may be constructed in the same or similar manner as the rail system 108 for the container handling vehicles 200, 300. The delivery rails 50 extend from the delivery ports 150 of at least one or more delivery columns 119, 120 into at least one container access station 60 and to an access point 65 so that each delivery vehicle 30 can move into the at least one container access station 60 and toward the access point 65 of the container access station 60, where items held in the storage containers 106 may be accessed.

[0126] The container accessing station may include a cabinet 60 having walls and a top cover supported thereon. Items held in storage containers 106 being carried by delivery vehicles 30 at access points 65 are accessible through openings 63 in the top cover.

[0127] The cabinet 60 is positioned adjacent to the storage grid 104 and the delivery rail system 50 extends from below the delivery port 150 into or within the interior volume of the cabinet 60 .

[0128] The delivery rail system can be a single rail system or a double rail system, or a combination of the two.

[0129] The delivery rail system 50 may include at least a first set of parallel rails and at least a second set of parallel tracks, the first set of parallel rails being arranged in a horizontal plane (P1) and extending in a first direction (X), and the second set of parallel tracks being arranged in the horizontal plane (P1) and extending in a second direction (Y) perpendicular to the first direction (X), the first and second sets of rails together defining a delivery grid 51 of delivery grid cells 52.

[0130] The delivery rail system 50 may be fully or partially integrated into the storage grid 104. FIGS. 6A and 6B show a delivery rail system 50 that is partially integrated into the storage grid, with a portion of the delivery rail system 50 positioned outside the storage grid being covered by a cabinet 61. The cabinet 61 may be provided with six grid cells positioned within its interior volume. The delivery grid 51 provides one or more delivery grid cells 52 for the remotely operated delivery vehicle 30 at an access point 65 and a plurality of delivery grid cells 52 adjacent to the one or more delivery grid cells 52 at the access point 65, such that there are two or more routes to and / or from the access point 65 for the remotely operated delivery vehicle 30 via the plurality of delivery grid cells 52.

[0131] The access points 65 are associated with dedicated locations within the container accessing stations 60 where product items are removed from or placed into the storage containers 106 .

[0132] The cabinet may include walls and a top cover supported thereon, with items held in storage containers 106 being transported by delivery vehicles 30 at access points 65 accessible through openings 63 in the top cover.

[0133] The delivery rail system 50 extends from a location vertically below the delivery port 150 to or into the container accessing station 60, and the remotely operated delivery vehicle 30 is positioned for transporting storage containers between the delivery port 150 and an access point 65 of the container handling station 60.

[0134] FIG. 6B shows the delivery system of FIG. 6A without the storage grid 104.

[0135] The container accessing station 60 may be positioned above ground floor level as shown in Figures 6A and 6B, such that the storage containers 106 are accessible to human and / or robotic operators at access points 65.

[0136] The delivery port 150 may be located above a mezzanine level 151 of the storage grid 104, with delivery rails provided below the mezzanine level 151 for delivering or receiving storage containers 106 to or from the delivery port 150. 50, above which the delivery vehicle can operate. Thus, the mezzanine 155 is adapted to the overall height of the storage containers 106 and delivery rail system 50 when positioned above the delivery vehicle 30.

[0137] Additionally, the extent of the mezzanine 155 in the horizontal plane depends on the total number of distribution columns arranged in the storage grid. Thus, the number of distribution columns 119, 120 and the extent of the mezzanine 155 in the X and Y directions can be customized according to the size of the storage system and the desired efficiency of the system.

[0138] The container accessing station 160 may be further defined as any means for protecting a human operator from the components of the delivery system (rails and delivery vehicles) and for allowing easy handling of the storage container 106 and its contents. In other words, it provides a barrier between the human operator and the components of the delivery system.

[0139] To ensure effective operation, it may be considered advantageous for the delivery rail system 50 to have a horizontal extent that covers the delivery port 150 below at least one of the delivery columns 119, 120 and extends outside the storage grid 104. The configuration of the present invention shown in Figures 7A and 7B allows multiple delivery vehicles 30 to operate on the delivery rail system 50 while avoiding congestion of storage containers around the delivery columns 150.

[0140] 7 and 8 show three container accessing stations 60, each including a cabinet 60 having walls and a top cover supported thereon, through which items held in storage containers 106 being transported by remotely operated delivery vehicles 30 at access points 65 are accessible by openings 63 in the top cover.

[0141] An opening 63 in the top cover is positioned directly above a distribution grid cell 52 that defines an access point 65 .

[0142] An access point 65 may include one single grid cell of the delivery grid 50, or an access point 65 may include two or more delivery grid cells 52. When the delivery vehicle 30 is positioned at the access point 65, it is operated to allow a human operator and / or a robotic operator to access the contents of the storage container 106.

[0143] 8A-8B, a delivery vehicle 30 has two or more routes to and / or from an access point 65 through multiple delivery grid cells 52. This allows an operator to adjust the order in which delivery vehicles 30 can enter or exit access points 65.

[0144] The delivery vehicle 30 of Figures 8A and 8B can enter the access point 65 at a first end and exit the access point 65 at a second end, allowing the storage containers 106 to enter and exit the access point 65 sequentially, one after the other.

[0145] To enhance visibility, easy access, and a better working position for a human operator accessing the storage container 106 at the access point 65, the delivery vehicle 30 is operated with the container in an angled position toward the human operator. 8A and 8B show the container in the delivery vehicle 30 in a tilted position at the access point 65.

[0146] 9A shows a perspective view of an automated storage system in combination with a secondary distribution system including a conveyor. The conveyor is arranged for transport of goods between the automated storage system and another storage facility, production facility, etc. Goods can be handled in storage containers 106 at container accessing stations 60 for further transport to storage grids 104, or they can be collected from storage containers 106 onto the conveyor for transport to other facilities.

[0147] The container accessing station 60 in Figures 9A and 9B includes a wall 62 to separate the delivery grid 51 and delivery vehicle 30 from the human operator.

[0148] The access point 65 is an area corresponding to one or more delivery grid cells 52 of the delivery grid 51 located on the delivery grid 51 side of the wall 62 at a location where items held in a storage container 106 being transported by the remotely operated delivery vehicle 30 can be reached by a robotic operator or a human operator leaning against the wall 62.

[0149] In Figures 9A and 9B, the access point may include multiple separate delivery grid cells 52, thus allowing a human operator to access six different storage containers at the access point.

[0150] The delivery vehicles 30 can be operated so that they tilt the container carriers 35 and storage containers 106 in a suitable location at the access station 65 .

[0151] Figure 10 shows a top view of the embodiment of Figure 9A on a larger scale. The storage system includes two storage grids 104, and the delivery rail system 50 of the delivery system 140 is arranged such that it connects the two separated storage grids 104. In this manner, storage containers 106 can be transported between the two separated storage grids 104 and between the two storage grids 104 and the container accessing station 60. [Explanation of symbols]

[0152] 30 Delivery Vehicles 31 Vehicle body 32 Rolling Device 32a First set of wheels 32b Second set of wheels 35 Container Carrier 36 Conveyor Rolls 41 Displacement Device 42 Tilt motor 43 Power supply 44 Controller 45 Lifting Arm 50 Delivery Rail System 51 Delivery Grid 52 Delivery Grid Cells 60 Container Access Station 61 Cabinet 62 Wall 63 Cabinet opening top cover 65 access points P1 Horizontal plane of the delivery rail system 100 Framework Structure 102 Framework structure upright members 103 Horizontal members of framework structures 104 Storage Grid / 3D Grid 105 Storage Column 106 Storage Container 107 stacks 108 Rail System 110 First set of parallel rails in the first direction (X) 111 A second set of parallel rails in the second direction (Y) 115 Grid Opening 119 Shipping Column 120 Shipping Column 122 grid cells 140 Delivery System 150 shipping ports 151 Mezzanine Level 155 Mezzanine 200 First container handling vehicle 201 Wheel structure 300 Second container handling vehicle 301 Wheel structure X first direction Y Second direction P Horizontal plane of the rail system

Claims

1. A distribution system (140) for transporting storage containers (106) between a delivery port (150) of a storage grid (104) of an automated warehouse system and an access point (65) of the distribution system (140), comprising: the access points (65) are adapted for handling items held in the storage containers (106) by a robotic or human operator, and the delivery ports (150) are ports where the storage containers enter or exit the storage grid (104); The delivery system (140) comprises: a distribution rail system (50) comprising at least a first set of parallel rails and at least a second set of parallel rails, said first set of parallel rails being arranged in a horizontal plane (P1) and extending in a first direction (X), and said second set of parallel rails being arranged in said horizontal plane (P1) and extending in a second direction (Y) perpendicular to said first direction (X), said first and second sets of rails together defining a distribution grid (51) of distribution grid cells (52); said access point (65), Including, the delivery grid (51) of the delivery rail system (50) is configured to guide a remotely operated delivery vehicle (30) movable on the delivery grid (51); the delivery grid (51) provides one or more delivery grid cells (52) for the remotely operated delivery vehicle (30) at the access point (65) and a plurality of delivery grid cells (52) adjacent to the one or more delivery grid cells (52) at the access point (65), such that there are two or more routes to and / or from the access point (65) for the remotely operated delivery vehicle (30) via the plurality of delivery grid cells (52); the access point (65) is provided in a container accessing station (160), the station (60) being positioned to separate the robotic or human operator from the delivery rail system (50) and the remotely operated delivery vehicle (30); The container access station (60) includes a cabinet (61), the cabinet (61) including a wall portion and a top cover supported on the wall portion, and the items held in the storage container (106) being transported by the remotely operated delivery vehicle (30) at the access point (65) are reachable through an opening (63) in the top cover.

2. 2. The automated warehouse system according to claim 1, wherein the distribution grid (51) extends into the container accessing station (60).

3. 3. The automated warehouse system of claim 1, wherein the distribution rail system provides a distribution grid including three or more adjacent rows of distribution grid cells extending into the container accessing station.

4. 4. The automated warehouse system according to claim 1, wherein the delivery rail system includes at least one transfer zone for temporarily storing storage containers on delivery vehicles during transportation between the delivery port of the storage grid and the container access station.

Images