Storage system

Abstract

The present disclosure relates to a storage system for storing storage containers, wherein the storage system comprises: a plurality of vertical storage columns, each vertical storage column configured to accommodate a plurality of storage containers in a vertical stack; a horizontal rail system arranged above the vertical storage columns and configured to support a vehicle moving on a rail system to insert and remove storage containers from the vertical storage columns; and an inspection cell located within the vertical storage columns and configured to obtain inspection data from a storage container located within the inspection cell.

Description

Technology Field

[0001] The present disclosure relates to a storage system. More specifically, the present disclosure relates to a storage system for storing storage containers and a method for inspecting storage containers. Background Technology

[0002] Traditional storage solutions generally involve the arrangement of goods in rows on shelves within a warehouse. The shelf location for each item is recorded in the inventory, and goods are retrieved from the shelves by a stock picker. As goods are received and shipped from the warehouse, shelves are replenished and the inventory is updated as needed.

[0003] Warehouse workers can be assisted by robotic pickers and automated inventory management systems. Automated transport systems can also be implemented in a traditional warehouse setup to move goods from the inventory location to a picking and / or packing station.

[0004] An alternative to traditional warehouse setups is an automated storage and retrieval system in which robots retrieve items from their designated locations within the warehouse and deliver them to packing stations or ports. Such systems can reduce or eliminate the space required to pass between rows of shelves to access inventory, thereby eliminating the need for wide aisles within the warehouse. An example of such a system involves placing goods in bins or containers configured to be stacked side-by-side within a three-dimensional grid. A rail system is arranged at the top of the grid, and a robotic container handling vehicle configured to lift containers from the grid can move along it. The container handling vehicle is configured to transport containers from the grid so that the goods within them can be picked and packed, and to deliver these containers to ports or stations at the periphery of the grid.

[0005] Storage containers may need to be inspected from time to time. This may involve determining the condition of the container, checking or determining which goods are stored within a given container, inspecting the container's condition, or inspecting the container in other ways.

[0006] Unlike traditional systems where containers are accessed from shelves by workers, workers cannot access the containers for the inspection itself. Therefore, container handling vehicles are used to transport containers to ports where they can be removed from the system by workers for inspection. It is desirable to provide a rapid and simple container inspection.

[0007] One or more aspects of the present invention of this application are described in the claims. Brief explanation of the drawing

[0008] The present disclosure will now be described in more detail in connection with a number of exemplary embodiments illustrated in the accompanying drawings. FIG. 1 illustrates a perspective view of a storage system comprising a grid and a plurality of robotic container handling vehicles configured to retrieve and / or rearrange goods stored within the grid. Figure 2 shows a plan view of the system of Figure 1. FIG. 3a shows a side view of a first robotic container handling vehicle suitable for use in the system of FIG. 1. FIG. 3b shows a side view of a second robotic container handling vehicle suitable for use in the system of FIG. 1. Fig. 3c is a side perspective view of the robot of Fig. 3b. FIG. 4 illustrates a computing device for implementing the operation described in the present specification. FIG. 5 illustrates a side view of a storage system of the present disclosure in which an inspection cell is located within a vertical storage column. FIG. 6a illustrates a side view of the system of FIG. 5 having a robotic container handling vehicle accessing a vertical storage column having an inspection cell. FIG. 6b shows a side view of the system of FIG. 5 with the robotic container handling vehicle lowering the container into the inspection cell. FIG. 6c shows a side view of the system of FIG. 5 with the robotic container handling vehicle releasing the container into the inspection cell. FIG. 6d shows a side view of the system of FIG. 5 with the robotic container handling vehicle having removed the container from the inspection cell. Figure 7 illustrates a flowchart of a method for inspecting a container within an inspection cell. Specific details for implementing the invention

[0009] In summary, the present disclosure relates to providing an inspection cell within a grid of a container storage and retrieval system. The grid comprises a plurality of vertical stacking columns for stacking containers. An inspection cell is located within a vertical stacking column. A storage container or container is moved to the inspection cell by a container handling vehicle. Once inside the inspection cell, the container is inspected. The inspection cell has built-in means for inspecting the container. In this manner, the container can be inspected without the container needing to leave the grid.

[0010] In some examples, the inspection cell includes a load cell configured to weigh the container located within the inspection cell. In some examples, the inspection cell has a scanner for scanning barcodes on the container. In some examples, the inspection cell has a camera for capturing images of the contents of the container. The inspection cell is located at the top or near the upper end of a vertical column adjacent to the grid. This means that the container only needs to be lowered a short distance from the grid to the inspection grid by a container handling vehicle.

[0011] By providing inspection cells within the grid, the container can be inspected without needing to be removed from the grid. In a known system, the container is inspected outside the storage system. To this end, the container must be moved to a port, removed from the grid, and inspected by an operator. In the present disclosure, the container can be inspected while it is within the grid and without the need for an operator to perform the inspection.

[0012] Overview of Automated Storage and Retrieval System

[0013] Referring to the embodiment illustrated in FIG. 1, the grid (100) comprises a frame formed by a plurality of generally straight adjacent vertical columns (102) that are formed between vertical frame members (104) and extend in the X and Y directions (108, 110). The grid elements may be manufactured from any suitable material; for example, the frame members may be formed from extruded aluminum. Storage containers or tubs (112) are stacked on top of each other in the Z direction (114) of the columns (102), preferably in a freestanding manner, to form a storage volume of storage cells for each tub (112) extending in the X, Y, and Z directions (108, 110, 114).

[0014] A rail system or network (116) is formed on the top of the grid (100) and includes pairs of vehicle rails or tracks (118a, 118b and 120a, 120b) extending in the X and Y directions (108, 110), respectively. A robotic container handling vehicle, or robot (122), which may have various sizes, shapes and functions, is provided and configured to travel on the rails (118, 120) and transport containers (112) in both the X and Y directions (108, 110). The robot (122) is additionally configured to lift and lower containers (112) from / into the column (102) in the Z direction (114), and the containers (112) are optionally guided by a vertical frame member (104). The robot (122) is on the column (102) and accesses the container (112) through an access opening (124) formed between the rails (118, 120).

[0015] Some columns (102) may be used for purposes other than container storage. For example, port columns (126, 128) include port or access columns that allow the transfer of containers (112) into and / or out of the grid (100). Port columns (126, 128) provide a vertical channel for lifting containers (112) from ports or ports (130, 132) or for lowering containers (112) to ports or ports (130, 132). Although ports (130, 132) are shown at the lowest level of the grid in FIG. 1, ports may be located at any vertical position along the columns. Each port column (126, 128) may be assigned to remove ('drop-off') containers (112) from / to the grid (100) and / or return or transfer ('pick-up'). Accordingly, the port (130, 132) is configured to allow the tube (112) to be removed and reintroduced (horizontally) into the associated port column. As such, the port (130, 132) may include a conveyor (not shown in FIG. 1) over which the tube (112) can be lowered and transported horizontally to the outside of the port column. The port column (126, 128) includes an opening or access point through which the tube (112) can enter and exit the column.

[0016] The container (112) may be transported by a robot (122) along the top of the grid (100) to a port column (126, 128) and / or from the port column and from the port (130, 132) to an access station (not shown) for processing the container (112) or its contents, for example, a picking station for adding contents to the container (112) or removing contents from the container. In an alternative example (not shown), the container (112) may be transported to a port on another grid on the same or different level or to an external facility. The transport of the container (112) to and from the port (130, 132) may be carried out by any suitable means (not shown), including a conveyor, a transport vehicle, a lift, or a robot.

[0017] Referring to the embodiment illustrated in FIG. 2, the XY configuration (200) of the rail system (116) can be seen in more detail with different types of robots (202, 204). The rail system includes a rail (206) that forms a vertical column access opening (124) between them for access to the tube (112). The rail (206) may be any suitable type to allow movement of the robot (202, 204) in the X and Y directions (108, 110), including a grooved rail for receiving a vehicle wheel or a protruding rail for engaging with a wheel recess (not illustrated). Each rail (206) may include a single track or multiple parallel tracks in each of the X and Y directions (108, 110).

[0018] A first 'cantilever' type robot (202) is illustrated in more detail in FIG. 3a and includes a body (300), a set of wheels (302), and a lifting device (304). The body (300) includes motion equipment (not illustrated) for the robot (202) including a drive, power, and control system. The wheels (302) allow movement of the robot (202) in one of the X and Y directions, and an additional set of wheels (not visible in this figure) allow movement in the other of the X and Y directions, in both cases, movement along each rail or track (206). One or both sets of wheels may be raised or lowered to allow selective engagement of the rail for movement in the desired direction. The lifting device (304) includes a cantilever element (306) extending in the XY plane from the top of the main body (300), and a gripping device (308) capable of rising and falling from the cantilever element (306). The gripping device (308) is configured to grip or engage the container (112), for example, by gripping a portion of the container (112), or by passively or actively engaging a suitably configured portion of the container (112).

[0019] A second, ‘internal cavity’ type robot (204) is illustrated in more detail in FIG. 3b and, as an alternative to a cantilevered lifting system, includes an internal cavity (310) within the main body (300), and a lifting device (312) including a gripping device (not illustrated) is positioned within the internal cavity. In this case, the main body (300) includes the robot’s operating equipment and storage space for one or more containers (112) for use during transport, for example, of containers (112).

[0020] FIG. 3c illustrates a side perspective view of the robot of FIG. 3b in which the first set of wheels (302) of FIG. 3b is visible. An additional set of wheels, mentioned above but not shown in FIG. 3b, is shown in FIG. 3c as wheels (303). The additional set of wheels (303) is arranged perpendicular to the first set of wheels (302) to allow the robot (204) to roll in the X and Y directions, respectively, on the first and second sets of wheels (302, 303). The first and second sets of wheels (302, 303) shown in FIG. 3c may be configured to descend independently to engage with the rails (and conversely to ascend away from engagement with the rails) so as to allow the robot (202) to move in the X and Y directions across the arrangement of rails shown in FIG. 2. The perspective view shown in FIG. 3c is of the robot (204) of FIG. 3b, but it will be understood that a similar vertical wheel arrangement can be applied to the robot (202) of FIG. 3a.

[0021] Control and monitoring system

[0022] Control and monitoring of an automated storage and retrieval system, including monitoring and storage of barrel locations and control of barrel delivery, retrieval and transport, and robot routing and collision avoidance, is performed by a control system illustrated in FIG. 4 that communicates with robots and / or other controllable system components. Control may be performed locally or remotely and may be implemented, for example, by a processing system in the form of a computing device. Accordingly, the method described herein may form a computer-implemented method or all or part of a system configured to perform the method described herein.

[0023] With reference to FIG. 4, a processing system (400) suitable for performing the method described herein will now be described. FIG. 4 illustrates a block diagram of one embodiment of a processing system (400) in the form of a computing device, in which a set of instructions for causing the computing device to perform any one or more of the methods described herein may be executed therein. In some embodiments, the computing device may be connected (e.g., networked) to another machine in a local area network (LAN), intranet, extranet, or the Internet. The computing device may operate as a server or client machine in a client-server network environment or as a peer machine in a peer-to-peer (or distributed) network environment. The computing device may be a personal computer (PC), tablet computer, set-top box (STB), personal information terminal (PDA), mobile phone, web device, server, network router, switch or bridge, or any machine capable of executing a set of instructions (sequential or otherwise) that specify the action to be taken by the machine. Additionally, although only a single computing device is exemplified, the term “computing device” should also be considered to include any set of machines (e.g., computers) that execute a set (or a number of sets) of instructions individually or jointly to perform any one or more of the methods described herein.

[0024] An exemplary processing system (400) includes a processor (402) communicating with each other via a bus (430), a main memory (404) (e.g., dynamic random access memory (DRAM) such as read-only memory (ROM), flash memory, synchronous DRAM (SDRAM) or Rambus DRAM (RDRAM)), a static memory (406) (e.g., flash memory, static random access memory (SRAM)), and an auxiliary memory (e.g., a data storage device (418)).

[0025] The processor (402) represents one or more general-purpose processors, such as a microprocessor, a central processing unit, etc. More specifically, the processor (402) may be a complex instruction set computing (CISC) microprocessor, a reduced instruction set computing (RISC) microprocessor, a very long instruction word (VLIW) microprocessor, a processor implementing other instruction sets, or a processor implementing a combination of instruction sets. The processor (402) may also be one or more special-purpose processors, such as an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a digital signal processor (DSP), a network processor, etc. The processor (402) is configured to execute processing logic (instructions (422)) for performing the operations and steps described herein.

[0026] The processing system (400) may further include a network interface device (408). The processing system (400) may also include any of a video display unit (410) (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)), an alphanumeric input device (412) (e.g., a keyboard or a touchscreen), a cursor control device (414) (e.g., a mouse or a touchscreen), and an audio device (416) (e.g., a speaker).

[0027] It will be apparent that some features of the processing system (400) illustrated in FIG. 4 may be absent. For example, the processing system (400) may not have a need for a display device (410) (or any associated adapter). This may be, for example, the case of a specific server-side computer device that is used solely for its processing capabilities and does not need to display information to the user. Similarly, a user input device (412) may not be required. In its simplest form, the processing system (400) includes a processor (402) and a main memory (404).

[0028] The data storage device (418) may include one or more machine-readable storage media (or more specifically one or more non-transient computer-readable storage media) (428) in which a set of one or more instructions (422) embodying any one or more of the methods or functions described herein are stored. The instructions (422) may also reside in the main memory (404) and / or in the processor (402) during execution by the processing system (400), the main memory (404), and the computer-readable storage media (428).

[0029] The various methods described herein may be implemented by a computer program. A computer program may include computer code arranged to instruct a computer to perform one or more of the functions of the various methods described herein. A computer program and / or code for performing such methods may be provided on a device such as a computer on one or more computer-readable media or, more generally, on a computer program product. The computer-readable media may be transient or non-transient. One or more computer-readable media may be, for example, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, or propagation media for data transmission for downloading code, for example, over the Internet. Alternatively, one or more computer-readable media may take the form of one or more physical computer-readable media, such as semiconductor or solid-state memory, magnetic tape, removable computer diskette, random access memory (RAM), read-only memory (ROM), rigid magnetic disk, or optical disks such as CD-ROM, CD-R / W, or DVD.

[0030] A computer program can be executed by a processor (402) to perform the functions of the system and method described in this specification.

[0031] In an embodiment, the modules, components, and other features described herein may be implemented as discrete components or integrated into the functions of hardware components such as ASICs, FPGAs, DSPs, or similar devices.

[0032] A 'hardware component' is a tangible (e.g., non-transient) physical component (e.g., a set of one or more processors) capable of performing a specific operation and may be configured or arranged in a specific physical manner. A hardware component may include dedicated circuits or logic permanently configured to perform a specific operation. A hardware component may be or include a special-purpose processor, such as a Field Programmable Gate Array (FPGA) or an ASIC. A hardware component may also include programmable logic or circuits that are temporarily configured by software to perform a specific operation.

[0033] Accordingly, the phrase 'hardware component' should be understood to include a type entity that can be physically configured to operate in a specific manner or to perform a specific operation described herein, permanently configured (e.g., wired), or temporarily configured (e.g., programmed).

[0034] Furthermore, modules and components may be implemented as firmware or functional circuits within a hardware device. Additionally, modules and components may be implemented as any combination of hardware devices and software components, or solely as software (e.g., code stored in a machine-readable medium or transmission medium, or embodied in other ways).

[0035] Operation of the automated storage and retrieval system

[0036] During operation, each container (112) is provided with a unique identifier that can be marked on the container (112) using a computer-readable identifier (e.g., a barcode, a rapid response code, or a radio frequency identification tag) to facilitate identification of the container (112). The database of the processing system (400) stores the location and optionally the contents of each container (112) in association with the unique identifier. When the container (112) is moved (e.g., when it is retrieved from the grid (100)), the database is updated to record the change in location.

[0037] When it is desired to retrieve a container (112) from the grid (100), under the control of the processing system (400), a robot (202, 204) is routed through a rail system (116) to a vertical column (102) containing a storage cell, in which, according to a database, the container (112) is located, and a lifting device (304, 312) is positioned above a corresponding access opening (124) adjacent to or below the robot (202, 204) (depending on the robot type). The robot (202, 204) engages with the container (112), grasps it, and lowers a grasping device (308) that is lifted by the robot (202, 204). The robot (202, 204) then transports the barrel (112) to, for example, a drop-off port column (126, 128) for delivery to the port (130, 132) and subsequent processing outside the grid (100). If the target or designated barrel (112) is located under another barrel in the stack, the robot (202, 204) or a plurality of robots that may be dedicated to the task are then controlled in a 'digging' motion to sequentially lift and reposition the barrels, either temporarily or permanently, over the target barrel (112) so that the barrels can be recovered. It will be understood that other actions involving the barrel (112) may be performed in a similar manner. For example, a container (112) is transferred from the port (130, 132) of the pickup port column (126, 128) to be stored within the grid (100), is grasped and lifted by a robot (202, 204), and can be transferred to a desired storage cell, and the container above the desired position is repositioned if necessary as described above.

[0038] Explanation of specific improvements

[0039] FIG. 5 illustrates a side view of the grid (100) of the present disclosure. A rail (206) is positioned on a plurality of columns (504) forming a plurality of vertical storage columns (502). Each vertical storage column (502) can store a plurality of containers (not shown) in a stacked configuration.

[0040] The robot (204) is positioned on a rail (206) and configured to remove a container from a vertical storage column, move a container (not shown) across the top of a grid, and lower a container into a vertical storage column. The robot (202) shown in FIGS. 5 through 10 is a cantilever type robot, but the present disclosure also relates to an internal cavity type robot.

[0041] The grid of FIG. 5 has an inspection cell (508). The inspection cell (508) is located within a vertical storage column (510). The vertical storage column (510) containing the inspection cell (508) is not used for stacking and storing containers.

[0042] The inspection cell (508) includes a shelf (512). The shelf (512) is configured to support the weight of the container. The shelf is positioned toward the top of the vertical storage column (510). It is located within the upper half of the storage column, in some embodiments, within the upper quarter or upper ten of the storage column.

[0043] In the case of a system configured to store and remove containers of a specific height, the shelves are positioned below the rail system at a distance no more than twice the height of the container. By providing inspection cells in the upper part of the vertical storage columns, the cells are relatively close to the rail system, and thus, the containers only need to be lowered by a small distance from the robot to the cells. This will be explained in more detail below.

[0044] The inspection cell (508) has means for inspecting a container located within the cell. Different means for inspecting the container may be used to obtain different information about the container. The inspection means obtains inspection data from the container. The information data includes information about the container. The information is transmitted from the inspection cell to a central server.

[0045] In the embodiment of FIG. 5, the inspection cell includes a load cell for weighing a container. The load cell includes a weighing scale having a plate (514) on a shelf (512) and a display (516) for displaying the weight of an object placed on the plate (514). In other embodiments, there is no display.

[0046] The load cell calculates the weight of the container located within the load cell. In some embodiments, the weighing scale is an electronic weighing scale. In an embodiment having a display, the weight of the container is displayed on the display. The inspection cell is located at the edge of the grid and is visible to an operator on the outer side of the grid who can note the weight displayed on the display (516).

[0047] In another embodiment, the load cell determines the weight of the container and transmits the weight of the container to a central controller, such as a processing system (400). This transmits data containing the weight of the container to the processing system (400) via a wired or wireless connection. The wireless connection may be, for example, Bluetooth™ or WiFi™.

[0048] The central controller or processing system (400) may store the weight in memory. The weight may be stored, for example, in a database along with the identification of the container. In this way, the known weight of the container can be tracked. When the container is moved around the system by a robot, the weight is known. This information can be used to determine where the container is stored within a vertical storage column. For example, the system may determine that containers exceeding a certain threshold weight are not stacked at the top of the vertical storage column.

[0049] The weight can also be used to determine the contents of the container, for example, the goods located inside the container. The processing system (400) can compare the weight of the container received from the load cell with the expected weight of the container based on a combination of the weight of the goods recorded inside the container and the weight of the goods stored in the database on the processing system. If the received weight is within the threshold range of the expected weight, the system determines that the container is loaded as expected. If the received weight is outside the threshold range of the expected weight, the system determines that the container is not loaded as expected. In some examples, this triggers a command message to have a robot remove the container from the inspection cell and transfer the container to a port. The container is then removed from the grid through the port. The contents of the container can be determined and recorded by an operator once the container is removed from the grid. In other examples, if it is determined that the container is not loaded as expected, a command message can be sent to the inspection container to capture an image of the contents of the container. An inspection cell configured to capture an image of the container is described below.

[0050] The inspection cell may include other means for inspecting a container located within the cell, either in addition to or instead of the load cell, to weigh the container. In one embodiment, the inspection cell has an image capture device, such as a camera. In some embodiments, the camera is positioned to capture an image from above the container located within the inspection cell. The container has an open top. This means that the camera positioned above the container can capture an image of the container from above. The image includes the interior of the container, including the contents of the container when the container is loaded.

[0051] In some embodiments, the camera is a digital camera and is configured to transmit captured image data to a central controller, such as a processing system (400). The processing system (400) then processes the image data as described further below. In some embodiments, the camera is configured to capture any of a color image, a black and white image, or an infrared image. The image may be a still photograph or a video image. In some embodiments, the video image may be transmitted to the controller to allow the user to view a live feed from the camera.

[0052] Image data captured by the camera is transmitted to the central controller via a wired or wireless connection. When the image data is received by the central controller, it is processed using any of the following methods.

[0053] In some embodiments, images captured by a camera are displayed to the user on a display. The user can visually inspect the contents of the container. The user can visually identify the inventory and manually record the contents / products within the container. Thus, the user can maintain an accurate inventory. If the user needs to locate an object within the storage system, they can move the container to an inspection cell. They can then view an image of the container provided by a camera within the inspection cell to determine whether the object they are locating is inside the container. This is more efficient than requiring the removal of the container from the grid and the physical / manual inspection of its contents. It also provides a more efficient system because less energy is used to remove the container from the system to determine the required information, and energy is not wasted when removing the container from the system that does not contain the required product.

[0054] Optionally, the user can record inventory / products within the container by inputting information into the central controller. The controller can store records of the inventory in memory. In some implementations, the controller is also configured to store images of the container.

[0055] The user can also inspect the image on the display for debris. In this way, the user can determine whether the container is clean. If the user determines that the container is not clean or contains debris, such as dirt or broken objects, the container can be removed from the grid. This is accomplished by moving the container to a port (using a container handling vehicle). The container can then be cleaned, and any debris can be removed. Once the container is deemed suitable for use, it can be returned to the grid. By observing the interior of the container within the inspection cell, the container's condition can be determined without the need to remove it from the grid, providing a more efficient system. This also supports better system maintenance, as the container can be removed if it is not clean or contains debris. This prevents scenarios where the container is found to be unclean or unsuitable for use only while it is in use, such as when loading goods into a port. If dirt or debris is found when the container is being filled with goods, an alternative container must be identified. This increases the length of the loading process and results in an inefficient system. By having an inspection call within the grid, the state of the container can be evaluated when it is a video image. The camera is capable of capturing camera and image captures (identifying content and checking whether they are clean).

[0056] Scanner and barcode on each container. Link with weighing and image capture.

[0057] Method: Input, Data Capture, Removal.

[0058] Attempt to stick to the structure, and then perform the behavioral approach.

[0059] Use headings freely - use the 'Heading 2' style to obtain formatting rights and to display headings in the word's navigation pane.

[0060] There is a classification of terms, and this is used where possible.

[0061] Second-to-last comment

[0062] The present disclosure also includes the following claims:

[0063] 1. It is a storage system for storing storage containers, and

[0064] A plurality of vertical storage columns, each vertical storage column configured to accommodate a plurality of storage containers in a vertical stack;

[0065] A horizontal rail system arranged above a vertical storage column and configured to support a vehicle moving on the rail system to insert and remove a storage container from the vertical storage column; and

[0066] A storage system comprising an inspection cell configured to obtain inspection data from a storage container located within a vertical storage column and within an inspection cell.

[0067] 2. The storage system according to claim 1, wherein the inspection cell includes a shelf for supporting the weight of the storage container.

[0068] 3. A storage system in which, in any preceding paragraph, the inspection cell is positioned toward the upper end of a vertical storage column.

[0069] 4. In claim 3, the inspection cell is located at the top of a vertical storage column, in a storage system.

[0070] 5. In any preceding paragraph, the storage system is configured to store storage containers having a given height, and the inspection cell comprises a shelf located below a horizontal rail system at a distance less than twice the height of the storage container.

[0071] 6. In any preceding paragraph, a storage system comprising a load cell configured to register the weight of a storage container located within the inspection cell.

[0072] 7. In claim 6, the load cell comprises an electronic weighing scale, in a storage system.

[0073] 8. In any preceding paragraph, a storage system comprising a camera configured to image a storage container located within the inspection cell.

[0074] 9. In any preceding paragraph, a storage system comprising a scanner configured to scan the barcode of a storage container within the inspection cell.

[0075] 10. A storage system further comprising, in any preceding paragraph, a vehicle configured to move on a rail system and to insert and remove storage containers from a vertical storage column.

[0076] 11. In Clause 10, the vehicle is:

[0077] Insert the storage container into the inspection cell;

[0078] Release the storage container;

[0079] Waiting for the inspection cell to obtain inspection data from the storage container;

[0080] A storage system configured to remove a storage container from an inspection cell.

[0081] 12. In Clause 11, the vehicle also:

[0082] Receive a notification from the central server that the container has been checked;

[0083] A storage system configured to remove a storage container from an inspection cell after a signal is received.

[0084] 13. A storage system in which, in any preceding paragraph, the inspection cell is configured to transmit the obtained inspection data to a central controller.

[0085] 14. A storage system according to claim 13, wherein the inspection cell is configured to transmit the obtained inspection data to a central controller via a wired or wireless connection.

[0086] 15. A storage system further comprising, in any preceding paragraph, a central controller configured to receive information from an inspection cell.

[0087] 16. In paragraph 15, a storage system configured such that the central controller stores the received information in a database.

[0088] 17. In claim 15 or 16, the inspection cell is configured to capture an image of the storage container, and the central controller:

[0089] Determine the loading status of the storage container;

[0090] Identify the contents of the storage container;

[0091] A storage system configured to perform at least one of determining the cleanliness of a storage container by analyzing images of fragments.

[0092] 18. A storage system according to any one of claims 15 to 17, wherein the inspection cell is configured to scan a barcode on a storage container, and the central controller is also configured to identify the storage container using the scanned barcode.

[0093] 19. A storage system in any one of claims 15 to 18, wherein the central controller is also configured to move on a rail system and to remotely operate one or more vehicles to insert and remove storage containers from a vertical storage column.

[0094] 20. A storage system comprising one or more additional storage containers, wherein, in any preceding paragraph.

[0095] 21. A method for inspecting storage containers in any previous storage system, and

[0096] A step of inserting a storage container into an inspection cell located within a vertical storage column by means of a vehicle;

[0097] Step of releasing the storage container by a vehicle;

[0098] Step of inspecting the storage container by the inspection cell; and

[0099] A method comprising the step of removing a storage container from an inspection cell by means of a vehicle.

[0100] 22. The method of claim 21, wherein the step of inserting a storage container into an inspection cell includes the step of vertically lowering the storage container into the inspection cell, and the step of removing the storage container from the inspection cell includes the step of vertically raising the storage container from the inspection cell.

[0101] 23. The method of claim 21 or claim 22, wherein the step of inspecting the storage container includes the step of weighing the storage container.

[0102] 24. A method in any one of claims 21 to 23, wherein the step of inspecting the storage container includes the step of capturing an image of the storage container.

[0103] 25. The method of claim 24, further comprising the step of analyzing a captured image to determine the loading status of a storage container.

[0104] 26. The method of claim 24 or claim 25, further comprising the step of determining the contents of a storage container from an image.

[0105] 27. A method comprising, in any one of claims 24 to 26, further a step of analyzing an image of a fragment.

[0106] 28. A method according to any one of claims 21 to 27, wherein the step of inspecting the storage container includes the step of scanning the barcode of the storage container.

[0107] 29. A method comprising, in any one of claims 21 to 28, further the step of transmitting captured inspection data regarding a storage container to a central controller by an inspection cell.

[0108] The foregoing description should be understood as illustrative and not intended to be limiting. Many other embodiments will be apparent to a person skilled in the art upon reading and understanding the foregoing description. Although the present disclosure has been described with reference to specific exemplary embodiments, it will be recognized that the present disclosure is not limited to the described embodiments and may be practiced with modifications and changes within the spirit and scope of the appended claims. Accordingly, the specification and drawings should be regarded as illustrative rather than limiting. Therefore, the scope of the present disclosure should be determined by reference to the appended claims, together with the entire scope of equivalents to which these claims qualify.

Claims

Claim 1 A storage system for storing storage containers, comprising: a plurality of vertical storage columns, each vertical storage column configured to accommodate a plurality of storage containers in a vertical stack; a horizontal rail system arranged above the vertical storage columns and configured to support a vehicle moving on a rail system to insert and remove storage containers from the vertical storage columns; and an inspection cell located within the vertical storage columns and configured to obtain inspection data from a storage container located within the inspection cell. Claim 2 A storage system according to claim 1, wherein the inspection cell is positioned toward the upper end of a vertical storage column. Claim 3 A storage system according to claim 1 or 2, further comprising at least one storage container, wherein the inspection cell comprises a shelf located below a horizontal rail system at a distance less than twice the height of the storage container. Claim 4 A storage system according to any one of paragraphs 1 to 3, wherein the inspection cell comprises a load cell configured to register the weight of a storage container located within the inspection cell. Claim 5 In paragraph 4, the load cell is a storage system comprising an electronic weighing scale. Claim 6 A storage system according to any one of claims 1 to 5, wherein the inspection cell comprises: a camera configured to image a storage container located within the inspection cell; and at least one scanner configured to scan a barcode of a storage container within the inspection cell. Claim 7 A storage system according to any one of claims 1 to 6, further comprising a vehicle configured to move on a rail system and to insert and remove a storage container from a vertical storage column, wherein the vehicle is configured to: insert the storage container into an inspection cell; release the storage container; wait for the inspection cell to obtain inspection data from the storage container; and remove the storage container from the inspection cell. Claim 8 In paragraph 7, the vehicle also: receives from a central server an indication that the container has been inspected; and, after the indication is received, a storage system configured to remove the storage container from the inspection cell. Claim 9 A storage system according to any one of claims 1 to 8, wherein the inspection cell is configured to transmit the obtained inspection data to a central controller via a wired or wireless connection. Claim 10 A storage system comprising, in any one of paragraphs 1 to 9, a central controller configured to receive information from an inspection cell and store the received information. Claim 11 In paragraph 10, the inspection cell is configured to capture an image of the storage container, and the central controller is configured to perform at least one of: determining the loading status of the storage container; identifying the contents of the storage container; and determining the cleanliness status of the storage container by analyzing the image for debris; or the inspection cell is configured to scan a barcode on the storage container, and the central controller is also configured to identify the storage container using the scanned barcode, a storage system. Claim 12 A method for inspecting a storage container in a storage system according to any one of claims 1 to 11, comprising the steps of: inserting the storage container into an inspection cell located within a vertical storage column by means of a vehicle; releasing the storage container by means of a vehicle; inspecting the storage container by means of an inspection cell; and removing the storage container from the inspection cell by means of a vehicle. Claim 13 A method according to claim 12, wherein the step of inserting a storage container into an inspection cell includes the step of vertically lowering the storage container into the inspection cell, and the step of removing the storage container from the inspection cell includes the step of vertically raising the storage container from the inspection cell. Claim 14 A method according to claim 12 or 13, wherein the step of inspecting the storage container comprises at least one of the step of weighing the storage container and the step of scanning the barcode of the storage container. Claim 15 In any one of claims 12 to 14, the step of inspecting the storage container includes the step of capturing an image of the storage container, and the method further includes at least one of: the step of analyzing the captured image to determine the loading state of the storage container; the step of determining the contents of the storage container from the image; and the step of analyzing the image for fragments.

Images