Storage unit, storage system and storage method

Abstract

Disclosed is a storage unit for storing a plurality of items. The storage unit comprises two or more guide structures which each extends along the packing dimension and are configured to hold the items individually anywhere along the packing dimension of the storage unit. The storage unit further comprises one or more carrier structures which each extends along the packing dimension and are configured to carry the items anywhere along the packing dimension. Optionally one or more of the carrier structures are comprised by one or more of the guide structures. Disclosed is also a storage system comprising a number of the storage units, and preferably configured for automated storage and retrieval by accommodating an automated gripper unit.

Description

STORAGE UNIT, STORAGE SYSTEM AND STORAGE METHODField of the invention

[0001] The present invention relates to storage units and storage systems for storing a plurality of items, particularly directed towards storage of flat or unstable items, and particularly directed towards automated random access individual item retrieval.Background of the invention

[0002] Storage systems using racks or shelves for storing boxes and other items are well-known, but are less efficient or require further complexity for accommodating substantially flat items, or unstable items that cannot stand by themselves. Letting the flat items lie down on the shelves is highly inefficient due to excessive shelf space requirement. Letting flat items or unstable items stand upright allows for packing them more densely on the shelves, but either requires them to stand directly adjacent to support each other, or using narrow compartments or shelf dividers like bookends. Besides inefficient storage of flat and unstable items, it is further a challenge to automate storage and retrieval of flat and unstable items, because a robot gripper or the like needs to be able to separate the adjacent items to grip an item individually, or grab a whole crate of items and requiring a subsequent step of separating one item from the crate.Summary of the invention

[0003] The inventors have identified the above-mentioned problems and challenges related to storage of items, particularly storage of flat or unstable items, particularly for automated storage and retrieval, and subsequently made the below-described invention, which may allow high-efficient, dense storage of flat or unstable items in a way that is suitable for automated storage and retrieval of the items.

[0004] In an aspect, the invention relates to a storage unit for storing a plurality of items along a packing dimension of the storage unit, the storage unit comprising twoor more guide structures, each guide structure extending along said packing dimension and being configured to hold said plurality of items individually anywhere along said packing dimension; and one or more carrier structures, each carrier structure extending along said packing dimension and being configured to carry said plurality of items anywhere along said packing dimension; optionally one or more of said carrier structures being comprised by one or more of said guide structures.

[0005] The present invention provides for improvements in the storing and handling of items. The invention may be particularly beneficial for items that cannot stand by themselves on a storage shelf, and / or be particularly beneficial for automated storage and retrieval of items.

[0006] By means of guide structures the storage unit of the invention can hold the stored items individually anywhere they are put. This means, for example, that an item can be put into the storage unit at any arbitrary location and be held in place there, without tipping over. It also means, for example, that the item can later be found and retrieved at the exact location where it was put. These properties are inherent for stable items such as boxes having flat bottom areas of adequate size compared to their heights. Such boxes can reasonably be expected to stand by themselves individually on a shelf and not move, without requiring additional guide structures etc. While the present invention also works with boxes and other self-supporting items, the guide structures of the invention are therefore particularly advantageous for flat or unstable items for which normal shelves are not optimal for storage, and by individually holding the items the guide structures of the invention are particularly useful in automated storage and retrieval as the items are thereby maintained at their individual locations and are individually retrievable.

[0007] Guide structures holding items individually anywhere along the packing dimension further allow storing and handling items of somewhat variable thickness, for example ranging from paperboard or cardboard with a thickness of less than a millimeter, to sleeves, envelopes, thin boxes or blister packs of several centimeters, without reserving the widest possible item width for all item locations, and withoutrequiring fixed positions. This is contrary to certain other solutions for flat item storage, for example solutions having fixed item positions that typically also requires fixed item widths, and / or solutions that cannot utilize the free space next to a narrow item because a certain width is reserved for each item.

[0008] Various embodiments of the present invention are particularly advantageous for relatively flat or otherwise unstable items that cannot stand on a simple shelf, as such items would otherwise require fixed position shelf dividers or narrow compartments for supporting the items to stand, or require the items to be placed directly adjacent to support each other, or require the items to lie down and consume extensive shelf space.

[0009] By allowing dense packing of items in the storage unit of the invention while still providing for holding the items individually and anywhere along the storage unit, the storage unit of the invention may be particularly advantageous for storage systems with relatively high replacement frequency, such as a web shop retrieving thousands of possibly unrelated items per day to fulfil individual customers’ orders.

[0010] Further, the individual holding anywhere along the storage unit of the invention may be particularly advantageous for storing many different items, such as a few copies of each of thousands of unique item numbers, using significantly less space than compared to requiring a compartment or divider for each unique item.

[0011] While increased efficiency is a well-known advantage of automated storage and retrieval systems, it is not straightforward to achieve for all kinds of items, such as flat or unstable items. The storage unit of the invention is, however, supporting automated storage and retrieval by providing individual holding of, for example, flat and unstable items, thereby reducing retrieval time significantly compared to manually seeking out the right compartment and manually plucking a specific item out from several densely packed items supporting each other to not fall, which has hitherto been necessary for these kinds of items.

[0012] Various embodiments of the present invention are particularly advantageous for automated random access individual item retrieval, such as an automated storage system, for example robotized storage or automated storage and retrieval systems ASRS, etc., as the feature of the storage unit to hold and carry the items individually anywhere along the packing dimensions allows an automated storage system to put an item anywhere with free space.

[0013] Typically, an automated storage system would require items to have shapes and dimensions to support themselves individually on a simple shelf, and / or require the shelves to have crates or trays or compartments to position unstable items in.

[0014] According to the present invention, on the other hand, an automated storage system can put and retrieve flat or otherwise unstable items at any location with an individual item distance suitable for an appropriate item gripper, with the guide structures holding the individual items anywhere they were put so they do not fall or otherwise move while being held in the storage unit. This facilitates that any stored item can be retrieved later by the automated storage system at the exact same location where it was put by the system.

[0015] With an automated storage system there is no need for sorting and categorizing items at specific positions and no need for reserving space on a specific shelf, etc., as the automated storage system keeps track of the location of each item and, contrary to human warehouse workers, is perfectly able to manage a seemingly chaotic location scheme. Combining these advantages with a storage unit of the present invention, flat or otherwise unstable items can now also be handled by automated storage systems without requiring crates or lying down, thereby for example allowing a very high density of individually retrievable flat item storage, e.g., storage of vinyl records or blister packs.

[0016] By storage unit is understood a structure for storing a plurality of items, i.e., a receptacle for holding a plurality of items, such as a shelf, rack, case or the like. The term storage unit does not imply housing or otherwise shielding items, as long they areheld in place. The storage unit may thus be any unit that by means of the guide structures and carrier structure of the invention can hold a plurality of items for later retrieval. The storage unit of the invention can thereby also be considered a particular kind of shelf arranged to hold the stored items individually at any location. The storage unit may be for short-term or long-term storage, may provide for open or enclosed storage, may be managed manually or be compatible with automated storage and retrieval, may be adapted for any environment suitable for the items to be stored, may be arranged for warehouse, shop, archive, office, industrial, workshop, home, transportation or any other storage needs, and may be arranged to hold only a few items, or to accommodate thousands of items or same or different properties. The storage unit of the invention may be stand-alone, or be placed in a rack or other structure alone or together with several similar or different storage units, such as organizing several storage units of the invention horizontally or vertically in a rack, or mixed with storage units designed with other advantages, e.g. simple shelves without guide structures or crates for holding small items.

[0017] In principle the plurality of items to be stored in the storage unit may comprise any kinds of items compatible with the dimensions of the storage unit. As elaborated above, the storage unit of the present invention may be particularly advantageous for storage of relatively flat items, or other items that cannot stand upright by themselves, herein referred to as unstable items. Examples of relatively flat items which may advantageously be stored in a storage unit of the invention may comprise vinyl records or other audio or video records usually packed in flat or relatively thin sleeves or boxes, narrow books, booklets, comic books, etc., pictures, paintings and / or frames, software packed in thin boxes, and other items usually packed in thin boxes. Besides relatively flat items, other unstable items, i.e. items that cannot stand upright by themselves, may comprise for example blister packs where small or irregular articles are attached to a flat piece of paperboard, cardboard, wood or plastic to facilitate distribution and storage and to provide an area for describing the article. Blister packs may for example typically be used for distribution and storage of pills and tablets, charging or data cables, small electronic devices and accessories, cosmetics, jewelry and fashionaccessories, toys and accessories for babies and children, small decorations and ornaments, pens and other stationery, disposable and / or sterilized tools and consumables for example for clinics, hospitals or home, bolts, nuts and other small hardware for workshops, chewing gum and other candy, etc.

[0018] The packing dimension of a storage unit is understood as the dimension in which the items are packed. For example, considering a normal, simple bookshelf, the packing dimension is considered the horizontal dimension along the length of the shelf, because this is the dimension in which several books are usually packed, contrary to the vertical dimension or the horizontal dimension towards the depth of the shelf, neither of which are typically intended for several books. In other words, the packing dimension is understood as a dimension of the storage unit along which a plurality of items can be stored, contrary to a non-packing dimension, which is intended for only a single item’s extent. The packing dimension may thus be of any length from being able to hold a few flat items up to holding thousands of items, whereas other dimensions than the packing dimension are typically designed with the largest intended single-item dimensions in mind. The packing dimension may also be referred to as packing direction, shelf length, etc.

[0019] A guide structure according to the invention is extending along the packing dimension, contrary to for example bookends or shelf dividers, whereby the guide structures are present at any location along the packing dimension of the storage unit. The length of the guide structure is thereby substantially the usable length of the storage unit for storing items. A guide structure may, for example, for practical reasons, for example, when the storage unit is relatively long, be formed by a number of shorter, partial guide structures, arranged one after another, together forming a guide structure extending along the packing dimension of the storage unit.

[0020] Further, the guide structures of the invention are configured to hold a plurality of items individually, i.e., not relying on items to support each other like a traditional bookshelf. The guide structures of the invention can hold a single item, or a plurality of single items individually.

[0021] Furthermore, the guide structures of the invention are configured to hold items anywhere along the packing dimension, i.e. along the guide structures, i.e. at arbitrary locations rather than fixed positions along the guide structures. In other words, the guide structures are configured to receive an item at any location along the storage unit, and hold it at that location until later retrieval; and receive further items at any different individual locations and hold them in those locations until later retrieval.

[0022] Having two or more guide structures, for example two, three or four guide structures, all being configured to hold items individually, means that each item will be held by at least two guide structures, and thereby at different points on the item, for example at the top and bottom, at two different sides, at a top and a side, at two different points on the same side, at two points at the item bottom and one point at the item top, at the bottom, top and one side, etc.

[0023] As an example, considering relatively flat items like for example vinyl records, the guide structures of the invention enable inserting a vinyl record upright into the storage unit at any desired location without the record tipping over or moving until it is retrieved; and allowing to do this individually for several vinyl records, with any desired space between them for allowing handling, e.g. gripping, of the individual records.

[0024] Several types and configurations of guide structures accomplishing the described properties of extending along the packing dimension and enabling holding items individually anywhere along the packing dimension are possible. A number of such possible guide structures are described herein, and further types of guide structures accomplishing the required properties within the invention as defined by the claims can be envisaged. Some of the examples comprise various types of brushes, bendable or soft lamella or strip systems, soft rubber lips or similar, non-skid material, a system of retractable rods, etc.

[0025] A carrier structure according to the invention is carrying the plurality of items stored in the storage unit. By the term carrying is understood supporting against the force of gravity. This may in an embodiment simply be achieved by arranging one or more carrier structures, such as shelves, so that items can be put on top of them, but other carrying solutions may also be envisaged for the carrier structure within the scope of the invention as defined by the claims.

[0026] Further, the carrier structure according to the invention is extending along the packing dimension like the guide structure, whereby the carrier structure is present at any location along the packing dimension of the storage unit, and thereby able to carry, i.e. support against gravity, items at any location along the length. The length of the carrier structure is thereby substantially the usable length of the storage unit for storing items, but may, like the guide structure, for example for practical reasons, for example when the storage unit is relatively long, be formed by a number of shorter, partial carrier structures, arranged one after another, together forming a carrier structure extending along the packing dimension of the storage unit.

[0027] Furthermore, the carrier structures of the invention are configured to carry items anywhere along the packing dimension, i.e. along the carrier structures, i.e. at arbitrary locations rather than fixed positions along the guide structures.

[0028] In various embodiments, some or all carrier structures may be constituted by the guide structures. In other words, the same structure may function as both a guide structure and a carrier structure in some embodiments, whereas other embodiments have individual guide structures and carrier structure, respectively. Thereby, some embodiments have guide structures to hold items individually in place anywhere on the carrier structures, whereas other embodiments have guide structures that both carry and hold items, and other embodiments may have a combination.

[0029] In an embodiment, said guide structures are configured to hold said plurality of items with individual item distance for automated random access individual item retrieval.

[0030] As the guide structures of the invention are configured to hold the items at individual locations, it also follows that an individual item distance, i.e. keeping a distance between individual items, can be observed if desired. This is not possible in known flat item storage where items lean against each other for support. Individual item distance may be advantageous for inserting and retrieving items from the storage unit, for example by gripping the sides of the item. This may be particularly advantageous for random access individual item retrieval, i.e. systems that require or allow insertion and retrieval of any individual item in any order. This is contrary to, for example, a shelf with flat items leaning on each other, making it difficult to retrieve an individual item from the stack, at least by automated means, or from a crate holding a mix of different items, where the crate can easily be retrieved by known automation systems, but a specific, individual item is less trivial to retrieve from the crate.

[0031] As the guide structures do not define fixed positions, they also do not define fixed item distance, but they may advantageously support any item distance. With the support for any item distance, the actual item distance between individual items is defined when the items are put into the storage unit, such as by a human operator or by a controller of an automated storage and retrieval system. The individual item distance to at least observe when inserting items may be determined according to the working space required by grippers, such as fingers, gripping plates, suction devices, etc. The distance may be similar for all items, or be different, e.g. depending on the properties of the items, e.g. their thickness and whether they are flat or bulky, in particular in consideration of the way the items are to be gripped or otherwise handled.

[0032] In an embodiment, at least two of said two or more guide structures are mounted radially differently with respect to said packing dimension.

[0033] The at least two guide structures are all extending along the packing dimension of the storage unit, and obviously cannot be coincident. In other words, the two or more guide structures are arranged at individual distance from each other seen in directions perpendicular to the packing dimension. Thereby the different guide structures also hold the items at different points of the items, as explained above, forexample two guide structures arranged close to each other and both holding the top of the items but at two different points of the top, or two guide structures arranged at different edges of the items with holding points at the different edges.

[0034] In an embodiment, at least two of said guide structures are configured to hold said items from different holding directions.

[0035] Furthermore, at least two of the guide structure may advantageously be arranged to hold the items from different holding directions, in order to hold the items more stably and impede movement of the items in more directions. For example, a storage unit may have one guide structure holding the items in a holding direction from the item tops, and another guide structure holding the items in a holding direction from the item bottoms, in a storage unit embodiment of the invention arranged with horizontal packing dimension, thereby avoiding the item tops from tipping over, and avoiding the item bottoms from skidding. Other embodiments may have a guide structure arranged to hold the items in a holding direction from the back of items to avoid them from turning, possibly in combination with a guide structure having a holding direction from the top and / or a guide structure having a holding direction from the bottom. The terminology used to describe these examples, with top, bottom, etc., is considered in the context of an embodiment with a generally horizontal packing dimension. For embodiments with a generally vertical packing dimension, the same principles apply, although with different directional terminology, mutatis mutandis.

[0036] In an embodiment, said two or more guide structures are arranged with a distance between them selected in accordance with dimensions of a specific kind of items to be stored.

[0037] Advantageously, the guide structures that are holding the items at different holding points, are arranged with an appropriate distance for that purpose, i.e. a distance based on the item dimensions.

[0038] In an embodiment, said two or more guide structures are arranged with an adjustable distance between them.

[0039] Advantageously, the storage unit may be configured so that the positioning of the guide structures can be adjusted, for example to adjust e.g. the height or depth to match a different kind of items, e.g. adjusting one storage unit to accommodate 12- inch vinyl records, and another for 7-inch vinyl records, etc.

[0040] In an embodiment, said plurality of items comprises substantially flat items.

[0041] Substantially flat items are understood, when considered in a three- dimensional reference frame, as items being significantly smaller in one dimension compared to the other two dimensions, like a vinyl record or a thin book having a thickness significantly smaller than their height and width, or items being significantly smaller in two dimensions compared to the third dimension, like a ruler or a pen having a thickness and width considerably smaller than their length. Commonly, such items take up significantly less storage if stored with their smallest dimensions along the packing dimension, but will normally not be able to stand stably on their smallest dimension without support, such as a vinyl record or a ruler not being able to stand stably upright by themselves. Examples of substantially flat items according to the invention are vinyl records or other audio or video records usually packed in flat or relatively thin sleeves or boxes, narrow books, booklets, comic books, etc., pictures, paintings and / or frames, software packed in thin boxes, and other items usually packed in thin boxes, etc.

[0042] The smallest dimension of substantially flat items as particularly considered herein may be ranging from paperboard with a thickness of less than a millimeter, over envelopes, cardboard, sleeves, covers, jackets, discs, plates, slabs, booklets, books or boxes of several centimeters as their smallest dimension.

[0043] In an embodiment, said plurality of items comprises items that are unable to stand upright by themselves such as one or more of substantially flat items, items with substantially flat edges, such as blister pack items, or unstable items.

[0044] Items that are unable to stand upright by themselves, also referred to herein as unstable items, are understood as items with a relatively small or uneven base compared to their height or to the height of their center of gravity, or with offset center of gravity, so that they cannot stand upright by themselves. One option is to store them lying on a traditional shelf or in a crate, both of which are inefficient solutions with respect to storage space and retrieval options. Another, more advantageous option, is the solution of the present invention allowing such items to be held in place upright standing by the guide structures at any location along the packing dimension, thereby allowing denser packing of such items and individual item retrieval.

[0045] Items with substantially flat edges, such as blister pack items, are understood the same way as the substantially flat items, described above, with respect to their edges, but may have a bulky or protruding center. In other words, although the center part of such an item may not be considered flat, such items may, because of substantially flat edges, still not be able to stand stably upright by themselves, even amplified by the typical more unstable weight of the bulky center. Examples of such items with substantially flat edges comprise blister pack items and similarly packed items, where small or irregular articles are attached to a flat piece of paperboard, cardboard, wood or plastic to facilitate distribution and storage and to provide an area for describing the article. The attachment may comprise cords, rubber bands, paper clips, glue, or wrapping in foil, plastic film, thermoplastics, cardboard or paperboard, etc., such as known from, for example, blister packs for distribution and storage of pills and tablets, charging or data cables, small electronic devices and accessories, cosmetics, jewelry and fashion accessories, toys and accessories for babies and children, small decorations and ornaments, pens and other stationery, disposable and / or sterilized tools and consumables for example for clinics, hospitals or home,bolts, nuts and other small hardware for workshops, chewing gum and other candy, etc.

[0046] In an embodiment, said plurality of items comprises packaged audio or video records, such as one or more of vinyl records, compact discs CD or digital video discs DVD.

[0047] The invention may be particularly advantageous for vinyl records because their narrow thickness compared to relatively large height and width makes them completely unfit for standing upright stably by themselves and are therefore traditionally stored on a shelf leaning against each or in a pile, both of which makes them difficult to handle by automated storage and retrieval. Any vinyl record dimensions, and vinyl record packaging, such as record jackets or covers, double albums, box sets, etc., may beneficially be stored by a storage unit of the invention. Audio and video records, such as CDs or DVDs, although typically packaged in relatively sturdy plastic boxes, may advantageously be stored in a storage unit of the present invention due to the thin base of such boxes making them somewhat unstably standing upright by themselves.

[0048] In an embodiment, said storage unit comprises three or more guide structures, such as three or four or five guide structures.

[0049] Advantageously, three or more guide structures may increase structural support to items stored in the storage unit. For example, three guide structures can hold items at three holding points, and thereby provide robust support against, for example, tipping, skidding and turning of items. The arrangement of three or more guide structures may be decided based on the kind and dimensions of items to be stored.

[0050] In an embodiment, said storage unit comprises two or more carrier structures, such as two or three or four carrier structures.

[0051] Advantageously, two or more carrier structures may increase carrying capacity and / or allow carrier designs aiming to be more flexible, cost-efficient, robust,lighter, stronger, or other aims. For example, instead of a traditional shelf for carrier structure, a number of parallel pipes, rods or beams each forming a carrier structure may be arranged in a system to achieve carrying of items in a lighter, stronger or more ventilated way. For example, two pipes arranged in parallel may advantageously form two carrier structures according to an embodiment of the invention.

[0052] In an embodiment, said storage unit comprises two or more guide structures, and one or more carrier structures that are not comprised by said guide structures.

[0053] Advantageously, the guide structures and carrier structures may be separate elements of the storage unit, for allowing optimized main functionality for the guide structures and carrier structures, respectively. Thereby carrying properties such as load capacity, etc., may be disregarded for guide structures, and, conversely, holding properties such as non-skid may be disregarded for carrier structures. This may typically allow for simplification of both guide structures and carrier structures.

[0054] In an embodiment, one or more of said carrier structures are comprised by one or more of said guide structures.

[0055] Advantageously, a guide structure may also function as a carrier structure, thereby requiring less elements, overall, for the storage unit. For example, a carrier structure such as a shelf or pipe, may comprise a non-skid coating to avoid item skidding, and thereby also form one of the at least two guide structures.

[0056] In an embodiment, said guide structures do not comprise fixed item positions.

[0057] Advantageously, the present invention may allow for inserting items anywhere along the packing dimension, with guide structures that do not comprise any fixed item positions, but rather provide for arbitrary item locations while still being able to hold items at those arbitrary locations.

[0058] In an embodiment, said guide structures do not comprise mechanically predetermined item positions.

[0059] Advantageously, the guide structures may not have mechanically, also referred to as physically, predetermined item positions. This is contrary to, for example, shelves with regularly spaced slots for receiving items, e.g. audio CDs, i.e. mechanically and physically predetermined item positions. It is noted that a storage unit according to the present invention may comprise logically or virtually predetermined item positions in the memory of a controller or inventory in order to keep track of item locations, but this does not amount to a mechanically predetermined item position.

[0060] In an embodiment, at least one of said guide structures, such as one or two or all guide structures, comprises a brush.

[0061] A brush, such as a strip brush or a brush-like element, is understood as an elongated base, e.g. a metal or plastic profile, to which numerous filaments, such as threads, bristles or fibers of natural or synthetic material, are attached, such as by clamping, gluing or bonding. The filaments may preferably be arranged to extend generally perpendicularly or radially from the elongated base, preferably all extending in generally the same direction, i.e. arranged relatively parallel. The filaments are preferably flexible, with a stiffness, length and density depending on the kind and thickness of items to be held by the guide structures. The stiffness may generally be proportional to the item thickness and / or weight, with softer filaments for example being advantageous for holding light and thin materials like cardboard, whereas somewhat stiffer filaments being advantageous for thicker and heavier items, such as thin boxes. The density of filaments may be higher for thin items, and lower for thicker items, but may also be balanced with the stiffness of filaments, with softer filaments allowing for higher density as a soft filament at an item location is more prone to bend, and with stiffer filaments for lower density to receive items between filaments, not causing tight bends of filaments.

[0062] Advantageously, a brush for guide structure along the packing dimensions, allows for insertion of items between brush filaments, thereby supporting the item softly on both sides to prevent tipping or skidding or other sideways movement.Arranging brushes for several guide structures may provide holding in several directions and at several holding points of the item, thereby increasing stability of the holding. Stiffer filaments may provide for better support but may also increase insertion resistance and reduce arbitrary location resolution, and vice versa for softer filaments.

[0063] Advantageously, brushes may typically be a cost-efficient element as they are relatively easy to install in the storage unit, do not break easily during normal use, have a long service life, and are cheap to replace with new brushes when worn out. A brush being worn out is in this context understood as no longer providing an acceptable degree of its original item holding properties when used for its purpose in the storage unit.

[0064] Advantageously, the length of the brush filaments allows for accommodating slightly varying item sizes, such as items having different dimensions by a few centimeters. For example, depending on brush filament length and stiffness, both 12- inch vinyl records and 10-inch vinyl records may in an embodiment be stored in the same storage unit of the invention. Similarly, booklets of A4 format may be stored in the same storage unit as booklets of Letter format, although their height differs by approx. 1.8 cm, and their width differs by approx. 0.6 cm, because such differences can be accommodated by the brush filament lengths.

[0065] In an embodiment, at least one of said guide structures comprises a brush with a brush base and numerous brush filaments, wherein the base comprises one of said carrier structures.

[0066] In an embodiment with one or more combined guide and carrier structure, the combined structure may be formed by a brush, with the brush base arranged to carry the items, and the brush filaments arranged to hold the items.

[0067] In an embodiment, at least one of said guide structures, such as one or two or all guide structures, comprises a strip of soft lip.

[0068] A strip of soft lip is understood as a as an elongated base, e.g. a metal or plastic profile, to which a rubber lib, such as a natural rubber lip, a silicone rubber lip or another soft lip, is attached, such as by clamping or gluing, along the length of the base. The soft lip may preferably be arranged to extend generally perpendicularly from the elongated base. The soft lip may preferably have a stiffness and width depending on the kind and thickness of items to be held by the guide structures.

[0069] Advantageously, a soft lip for guide structure along the packing dimensions, allows for insertion of items anywhere with the soft lip deforming at the item location but retaining its original shape shortly to each side of the item, thereby supporting the item softly on both sides to prevent tipping or skidding or other sideways movement. Stiffer lips may provide for better support but may also increase insertion resistance and increase the minimum distance between items for ensuring sufficient holding force, and vice versa for softer lips.

[0070] In an embodiment, at least one of said guide structures, such as one or two or all guide structures, comprises a non-skid material or non-skid coating.

[0071] A non-skid material or non-skid coating is understood as an either rough or soft material or coating arranged to prevent items standing on it from easily skidding, i.e. moving, on the material or coating. The non-skid material or coating may e.g. be rubber-based, such as silicone rubber based, and / or may have non-skid surface features or texture

[0072] Advantageously, a non-skid material or non-skid coating, particularly for a combined guide and carrier structure, may provide for a simple way to prevent skidding of the bottom of items placed on it.

[0073] In an embodiment, at least one of said guide structures, such as one or two or all guide structures, comprises one or more of a system of bendable or soft lamellas or strips or a system of retractable pins.

[0074] Any system of soft, bendable or retractable lamella, filaments, threads, strips, pins, etc., may be arranged as guide structures of the storage unit of the invention, with particularly the materials and softness or flexibility configured in consideration of the thickness and weight of the items to be stored, similar to the comments above regarding brushes. Various such systems may be advantageous for specific use cases, such as increased durability, hygiene, cleaning, costs, high load, hazardous or sterile environment, etc.

[0075] In an embodiment, the two or more guide structures are of the same type, such as brushes.

[0076] Advantageously, using same type of guide structures may simplify manufacture and maintenance of the storage unit, and require less consideration with respect to compatibility with item types, dimensions, etc.

[0077] In an embodiment, the two or more guide structures are of different types, such as at least one brush and at least one non-skid material or non-skid coating.

[0078] Advantageously, various combinations of guide structure types may improve compatibility for a specific type of items, improve flexibility for different types of items, and / or provide for using some guide structures also as carrier structures.

[0079] In an embodiment, at least one of said carrier structures, such as one or two or all carrier structures, comprises a pipe.

[0080] A pipe is herein understood as an elongated hollow object of any cross- sectional shape, such as circular, rectangular or triangular. In other words, the pipe may be a cylinder, a square pipe or any other pipe. The pipe may be of metal, for example iron or aluminum, of plastic, for example polyvinylchloride PVC or acrylonitrile butadiene styrene ABS, or any other suitable material depending on the kind of items to be carried, especially the weight of the items.

[0081] Advantageously, using pipe for carrier structure is a relatively cost-efficient solution, readily available at reasonable price if using standard dimensions, easy to install and maintain, highly durable and strong compared to its dimensions and weight, and with little surface area to allow for ventilation, visual inspection and easy cleaning.

[0082] In an embodiment, at least one of said carrier structures, such as one or two or all carrier structures, is a beam with a circular, square, triangular, L-, U-, V-, or T- shaped profile.

[0083] Such a beam may e.g. be an extruded aluminum profiles or a forged steel profile, be made of synthetic or natural material such as plastic or wood, etc.

[0084] In an embodiment, at least one of said carrier structures, such as one or two or all carrier structures, is a shelf, such as a metal, wood or plastic shelf, for example of solid, mesh, lattice or other shelf configuration.

[0085] Advantageously, a shelf is a very common and simple solution for carrier structure, and may provide better support for uneven or irregular item bases than the pipe solution above.

[0086] In an embodiment, said storage unit comprises three guide structures, and two carrier structures that are not comprised by said guide structures.

[0087] Two carrier structures, such as pipes, rods or beams, arranged horizontally for carrying upright standing items, and three guide structures, arranged with a guide structure with a holding direction from the bottom of items, for example at the front or center of the bottom edge of items, and a guide structure with a holding direction from the top of items, for example at the front or center of the top edge of items, and a guide structure with a holding direction from the bottom, back to top of items, for example at the back or center of the top or bottom edge of items, or the top, center or bottom of the back edge of items, may provide for an advantageous embodiment of a storage unit of the invention, particularly suited for substantially flat items, like vinyl records.

[0088] In an embodiment, the three guide structures comprise brushes, and the two carrier structures comprise pipes.

[0089] Using brushes at three holding points for holding items, and having the items standing on two pipes, is an advantageous embodiment for substantially flat items like vinyl records, booklets, etc.

[0090] In an embodiment, said storage unit comprises a rack structure to which said two or more guide structures and one or more carrier structure are mounted.

[0091] Advantageously, the storage unit has a rack structure, such as one or more of frames, girders, beams, braces, uprights, legs, etc., to hold the guide structures and carrier structures in place, and to strengthen and supporting the storage unit. The rack structure should be designed in consideration of the kind of items and amount of items that are intended to store in the storage unit, for example regarding load capacity, unhindered item access, etc., as well as the intended way of inserting and retrieving items from the storage unit.

[0092] In an embodiment, said rack structure is configured to be shared between said storage unit and a number of additional storage units.

[0093] Advantageously, several storage units may be mounted in the same rack structure for space and material optimization. The additional storage units may be embodiments of the storage unit of the present invention, or be different types of storage units, such as regular shelves, pallet beams, drawers or crates, etc. The additional storage units may be mounted in the rack structure below or above or behind or besides the storage unit of the invention. For example, a high-rack storage may be achieved by stacking as many storage units as the floor-to-ceiling height permits above each other in a single rack structure.

[0094] In an embodiment, said storage unit is configured for automated storage and retrieval.

[0095] As described above, the storage unit of the invention may be particularly advantageous for automated storage and retrieval, as the storage unit may be configured to hold individual items at the location where they were inserted, which facilitates automated inventory and item retrieval, and may be configured to hold items with a distance between individual items, thereby facilitating automated gripping or handling of items.

[0096] In an embodiment, said storage unit comprises at least one automated gripper unit.

[0097] Advantageously, the storage unit of the invention comprises an automated gripper unit to automatically insert and retrieve items from the storage unit. The gripper unit may comprise any gripping device suitable for the items handled, such as gripping plates configured to clamp the sides of a flat item, robot fingers configured to grab partially around irregular items, vacuum grippers configured to suck item at a relatively flat surface area, or any other suitable automated gripping device.

[0098] In an embodiment, said rack structure and said automated gripper unit are configured to enable said automated gripper unit to travel along said packing dimension for random access individual item retrieval.

[0099] Advantageously, the rack structure is configured with a frame system and rails, wires or similar features, to partly support the automated gripper unit and partly allow the automated gripper unit to move around over the front of the storage unit. Thereby the automated gripper unit can, by means of motors and appropriate transmission, and a controller and appropriate programming, be moved to any item location and insert or retrieve an item at that location. The retrieved item can either be inserted at a different location in the storage unit for tidying up or preparing for expected future item handling, or be delivered outside of the storage unit, for example to a human operator or to a connecting transfer conveyor. The rack structure and automated gripper unit may for example be configured with a single axis gantry robot to move the gripper unit back and forth in front of the storage unit and items, and whenthe desired item location is reached, the gripper unit may be moved into the storage unit along a linear axis perpendicular to the packing dimension, i.e. along the item storage and retrieval direction.

[0100] In an aspect, the invention relates to a storage system comprising one or more storage units according to any of the above.

[0101] Advantageous embodiments of the invention comprise several of the abovedescribed storage units arranged in a storage system. Thereby the advantages of the individual storage units of the invention can with minimum effort and adaptation be scaled for any amount of items, for any warehouse layout and for any subsequent handling process, like sorting, packing, mailing, etc. Any of the above-described embodiments of storage units and features thereof can be implemented with the same advantages in the storage system with several storage units. The storage system may, together with one or more storage unit of the invention, further comprise alternative storage solutions such as regular shelves, pallet beams, drawers or crates, etc.

[0102] In an embodiment, said storage system comprises at least one automated gripper unit.

[0103] Advantageously, the storage system of the invention comprises a number of automated gripper units to automatically insert and retrieve items from the storage units of the storage system. The one or more gripper units may comprise any gripping device suitable for the items handled, such as gripping plates configured to clamp the sides of a flat item, robot fingers configured to grab partially around irregular items, vacuum grippers configured to suck item at a relatively flat surface area, or any other suitable automated gripping device. In an embodiment, different automated gripper units comprise different gripper types to accommodate handling different types of items in the same storage system. In an embodiment, the automated gripper units have the same gripper type, e.g. a flat plate gripper unit, to handle the same type of items, e.g. vinyl records, in the whole storage system. In an embodiment with two or more automated gripper units, the storage system is arranged to facilitate simultaneousmovement of two or more gripper units, by mechanically or control -wise ensuring that gripper units do not collide or obstruct each other.

[0104] The automated gripper unit may preferably be mounted on a two-axis gantry robot to move the gripper unit back and forth and up and down in front of the storage unit and items to be able to reach any item location. When the desired item location is reached, the gripper unit may be moved into the storage unit along a linear axis perpendicular to the packing dimension, i.e. along the item storage and retrieval direction.

[0105] In an embodiment, said storage system comprises an automated gripper unit for each of said one or more storage units, or comprises one or more automated gripper units configured to each serve two or more of the storage units.

[0106] Advantageously, embodiments of the storage system with an automated gripper unit for each storage unit simplifies configuration and control of the gripper units as they each have a limited area to serve, and simplifies the planning of scaling the storage system with further storage units and associated gripper units. Advantageously, embodiments of the storage system may save costs in systems not requiring maximum throughput, by sharing automated gripper units between several storage units, whereby the number of, typically expensive, automated gripper units and controller systems can be reduced.

[0107] In an embodiment, said storage system comprises a controller system configured to manage an inventory database of said plurality of items including location information of each of said items in said one or more storage unit.

[0108] Advantageously, the storage system is configured to store or have access to an externally stored, such as network or cloud stored, inventory of the items stored in the storage system. The inventory may for example, for each vinyl record or other item, include the location information of items by storing a distance in millimeters measured from a reference position, e.g. a first end of the guide structure, a number ofmotor revolutions or steps of a stepper motor from a calibration position, etc. The inventory may further advantageously store other information about the item located at the stored location, such as an item serial number or other identification, a title and / or description of the item, properties of the item such as dimensions and weight facilitating proper handling by the automated gripper unit, etc. The inventory and or controller system may in some embodiments also comprise information about free space in the storage units, rules for inserting new items, such as a minimum distance to neighbor items, e.g. given in millimeters or motor steps, algorithms for assigning of free space to new items or for re-ordering items during idle time, etc.

[0109] In an embodiment, said storage system comprises a transfer conveyor configured to cooperate with said at least one automated gripper unit.

[0110] Arranging one or more transfer conveyors in cooperation with the automated gripper units may be advantageous for transferring the items to and from for example packaging or unpacking facilities, or between different storage units requiring different automated gripper units. The transfer conveyor may be a simple conveyor system where the flat or unstable items may simply be laid down onto the conveyor band, e.g. using suction grippers for removing and placing items from and on the conveyor band.

[0111] In an embodiment, said storage system comprises a rack structure to support said one or more storage units, such as for mounting said two or more guide structures and one or more carrier structure for each storage unit.

[0112] Advantageously, the storage system has a rack structure, such as one or more of frames, girders, beams, braces, uprights, legs, etc., to hold the storage units, and thereby guide structures and carrier structures, in place, and to strengthen and supporting the storage system. The rack structure should be designed in consideration of the number of storage units to mount, for example regarding required space and weight and stability, the kind and number of items that are intended to store, for example regarding load capacity, unhindered item access, etc., as well as the intended way of inserting and retrieving items from the storage unit.

[0113] In an embodiment, said storage system comprises several storage units arranged above each other in the same plane.

[0114] Advantageously, a high-rack storage may be achieved by stacking as many storage units as the floor-to-ceiling height permits above each other in a single rack structure of the storage system of the invention. Likewise, a storage system embodiment of the invention may comprise several storage units stacked next to each other in any direction in the same plane, e.g. to achieve a horizontally extending storage system instead of a vertically extending storage system. Several storage units arranged in the same plane allows for simplified rack structure configuration, and particularly when configured for use with automated gripper unit, thereby simplifying for example the rail, wire, motor and controller configurations for moving automated gripper units around over the storage units.

[0115] In an embodiment, said storage system comprises a rack structure having one or more storage units mounted on both sides.

[0116] Advantageously, the storage system may be accessible from two sides by mounting storage units on both sides of a rack structure. This doubles the capacity for the same floor-to-ceiling height, and simplifies the controlling of automated gripper units to not collide or obstruct each other, as gripper units can operate independently on each side of the rack.The drawings

[0117] Various embodiments of the invention will in the following be described with reference to the drawings where: figs, la-lc illustrate a storage unit according to an embodiment of the invention from different viewpoints, figs. 2-9 illustrate various embodiments of the invention, having different configurations of guide structures, carrier structures and packing dimension, fig. 10 illustrates schematically a range of different items which may be stored in embodiments of storage units of the invention, figs. 11-15 illustrate some embodiments of guide structures and carrier structures according to the invention, and figs. 16-18 illustrate embodiments of storage systems, including automated storage and retrieval systems, of embodiments of the invention.Detailed description

[0118] The following description comprises nonlimiting examples of embodiments of the invention. Details such as a specific structures, arrangements and methods are provided to give an understanding of embodiments of the invention. Note that detailed descriptions of well-known methods, systems, apparatuses, circuits, components including, e.g., bolts, materials, control leads, etc. have been omitted to not obscure the description of the invention with unnecessary details. Notice that the invention is not limited to the specific examples described below, and a person skilled in the art may choose to implement the invention in other embodiments without these specific details. Furthermore, a skilled person in the field of the invention may choose to combine features of the described embodiments and of the illustrated embodiments of the invention. As such, the invention may be designed and altered into a multitude of varieties within the scope of the invention, as specified in the claims.

[0119] The following section comprises a description of various embodiments of the invention with references to figures. In some figures, the spatial orientation of the storage unit, items and other components etc. are illustrated with respect to a coordinate system representing three spatial dimensions, x, y, z, wherein the x and y dimensions together represents a horizontal plane, while the z dimension represents a vertical dimension.

[0120] Fig. la-lc illustrates schematical representations of a storage unit 1 storing a plurality of items 2 according to an embodiment of the invention. In particular, fig. la illustrates a three-dimensional representation of the storage unit 1, fig. lb illustrates a front view representation of the storage unit 1, while fig. 1c illustrates a side view representation of the storage unit 1. Items 2 may be inserted into the storage unit 1 and retrieved from the storage unit along an item storage and retrieval dimension 12. In this embodiment, the items are inserted and retrieved in a horizontal depth dimension z.

[0121] The storage unit 1 comprises two guide structures 20 arranged opposite to one another. The two guide structures 20 extends along a packing dimension 10 and are configured to hold items individually anywhere along the packing dimension 10. In other words, the packing dimension is the dimension in which the plurality of items are packed, whereas the storage unit typically only extends to one item in the other two dimensions. In this embodiment, the packing dimension extends along a horizontal length dimension x. The two guide structures 20 being mounted opposite each other, also means they are mounted radially differently with respect to said packing dimension. Thereby they are also configured to hold the item 2 from different holding directions and at different holding points of the item, thereby increasing stability.

[0122] The guide structures 20 illustrated in this embodiment and the embodiments of figs. 2-10 and 16-17 are simplified as elongated box shapes into which the items 2 can be inserted. Actual examples and considerations of guide structures are given above and elsewhere herein, for example with reference to figs. 11-15 and 18. Any of such guide structures or other guide structures suitable for achieving the described functionalities may be employed for the guide structures 20 in figs, la-lc, as well as figs. 2-10 and 16-17, and may be combined and interchanged in those embodiments as well.

[0123] An example of a number of items being stored in the storage unit 1 is given by means of the illustrated item 2 and dashed item 2 being held by the two guide structures 20. In this exemplified embodiment, one guide structure 20 is arranged to hold items, e.g., the item 2, at one place of the item, while the other guide structure 20 is arranged to hold items, e.g., the item 2, at an opposite place of the item. The two guide structures 20 thus act in concert to ensure that the items are held in place in the storage unit without tilting (sometimes also referred to as tipping over) or skidding. One of the guide structures 20 is arranged below the item 2 and is configured to further act as a carrier structure 30 that carries items stored in the storage unit 1, e.g., carrying the items 2. Hence, in this embodiment, the carrier structure 30 is comprised by the guide structure 20 arranged below the item. This guide structure is thus arranged as alower guide structure, while the other guide structure is arranged as an upper guide structure. In this example, the term lower and higher refers to position in the vertical dimension y.

[0124] Arranging the guide structures 20 opposite to one another may have the effect that the individual structural support required from each of the two guide structures 20 to hold an item and prevent the item from skidding and / or tilting, e.g., tilting along the packing dimension, is less, compared to some other arrangements of guide structures, for example, arrangements of guide structures only comprising one guide structure or to a storage unit comprising two guide structures arranged to hold items from the same side, e.g., from the bottom side.

[0125] As the guide structures 20 are arranged to hold the items 2 individually anywhere along the packing dimension 10, this also enable providing individual item distance 11 between the individual items, for example to allow automated gripping the sides of an item 2 without conflicting with neighboring items. As can be understood from the description and drawings, the individual item distance 11 can be selected independently for each two items, and is not dictated or influenced by, for example, item width or fixed item positions. In figures la and lb, the individual item distance 11 is deliberately exaggerated for intelligibility of the drawings but can evidently be any desired distance. In one example, a fixed individual item distance is enforced, regardless of item thickness, thereby making the item positions arbitrary. In one example, a fixed distance between item centers is enforced, thereby making the individual item distances depending on the item thicknesses. In one example, the individual item positions are selected randomly with the limitation that the individual item distance cannot go below a predefined minimum distance. Further examples can be envisaged.

[0126] The items 2 are flat items, nevertheless, the storage unit 1 may also store wider items and items of irregular thicknesses and items having other shapes than the illustrated square or rectangular shape. E.g. round shapes, and other irregular shapes may also be stored in the storage unit.

[0127] The two illustrated guide structures are identical in this embodiment; however, the guide structures may also be different. For example may different types of guide structures with different properties and advantages at different positions, such as below and item, at the side of an item or above an item, be beneficial in some embodiments. Various types of guide structures may be utilized for the storage unit 1. Non-limiting examples of suitable guide structures are described with reference to figs. 11-15. Hence, as an example, both guide structures 20 may be strip brushes for example as illustrates in figs. 1 la-11c, or one of the two guide structures may be a strip brush of figs. 1 la-11c and the other a strip of silicone lip for example as illustrated in fig. 14. This applies to all the embodiments described herein.

[0128] Further, regarding all the simplified schematically embodiments illustrated in figs. 1-15, it is noted that the guide structures and carrier structures may of course be mounted on some kind of support, such as a rack, frame, on stands, hanging on a wall or suspended between two walls, etc. Such features are not shown, because any kind of suspension of the guide structures and carrier structures may be employed, and the skilled person is able to employ such support and any reinforcement, bracing, fixation, etc., to not let the storage unit collapse. A few simplified examples are further considered above, and with reference to figs. 16-18, and fig. 7.

[0129] Fig. 2 illustrates a schematical representation of a storage unit 1 with a separate carrier structure 30 and storing multiple items 2 of different sizes along a packing dimension 10, according to an embodiment of the invention. Similar to the storage unit illustrated in fig. 1, the storage unit illustrated in fig. 2 further comprises two guide structures 20. The carrier structure 30 and the two guide structures 20 are arranged to extend along a packing dimension 10, and in this embodiment the packing dimension extends in the horizontal plane defined by the dimensions x and z. One of the guide structures 20 is arranged parallel to the carrier structure and such that this guide structure and the carrier structure constitutes a bottom of the storage unit 1. This guide structure of the bottom of the storage unit may also be referred to as a bottom guide structure. The other guide structure 20 is arranged at the top opposite to thebottom guide structure 20, and thereby constitutes a top of the storage unit 1. The two guide structures 20 being mounted opposite each other, also means they are mounted radially differently with respect to said packing dimension. Thereby they are also configured to hold the item 2 from different holding directions and at different holding points of the item, thereby increasing stability.

[0130] In this exemplified embodiment, the carrier structure 30 supports the bottom of items 2 stored in the storage unit and thereby carries the items, while on the other hand providing less or substantially no support of the items 2 in the packing dimension 10. Similar to the guide structures illustrated in fig. 1, the guide structures 20 illustrated in fig. 2 provides structural support in the packing dimension 10 to hold the stored items 20 and to prevent them from tilting or skidding in the packing dimension. In this embodiment, the carrier structure 30 and the bottom guide structure 20 are arranged at a distance to one another along the z-dimension, and so that the carrier structure 30 supports stored items 20 close to one end of the stored items 20, while the bottom guide structure 20 provides carrying support near the other end of the stored items 2. This may, advantageously, prevent the items from tilting or falling over in the x- dimension. Hence, as in the embodiment illustrated in fig. 1, the bottom guide structure 20, is configured as a further carrier structure 30, and is arranged such that it provides structural support in at least the y-dimension and thereby carries stored items 2.

[0131] The guide structures 20 are configured to store items anywhere along the packing dimension 10, and as illustrated in fig. 2, items 20 can be stored with different individual item distances 11 (not shown because of the small scale; cf. fig. la) to one another along the packing dimension. Furthermore, as illustrated, the guide structures 20 may provide support for items of different thickness and of different height and / or depth.

[0132] In this exemplified embodiment of the invention, the separate carrier structure 30 is hollow and has a tubular shape, such as a pipe. However, the carrier structure 30 may have a different shape and size according to other embodiments of the invention. Non-limiting examples of different carrier structures according to the invention areillustrated in fig. 2-3, 7-9, 12 and 15. The carrier structure may further be made of different materials suitable for carrying items. Non-limiting examples of materials for carrier structures of the invention includes, e.g., various types of metal, plastic, wood, plywood, rubber, brick, tile etc. The possibility of using various carrier structures, and replacing and combining carrier structures according to desired properties and advantages, applies to all the embodiments described herein.

[0133] Fig. 3 illustrates a three-dimensional representation of a storage unit 1 with two asymmetrically arranged guide structures 20 storing an item 2, according to an embodiment of the invention. Similar to the storage unit illustrated in, e.g., figure 1, the storage unit comprises two guide structures 20 extending along a packing dimension 10 in the horizontal plane defined by the x and z dimensions. Contrary to the embodiment illustrated in figure 1, the two guide structures are not arranged opposite to one another with respect it the items. Instead, one guide structure is arranged to provide structural support to a bottom of items 2, while the other guide structure provides support to an adjacent side of items 2 when the items are stored in the storage unit 1. Hence, the guide structures are arranged such that they are rotated substantially 90 degrees with respect to one another around the x dimension. In other words, the two guide structures 20 are mounted radially differently with respect to said packing dimension. Thereby they are also configured to hold the item from different holding directions and at different holding points of the item, thereby increasing stability. This arrangement of guide structures 20 enable items to be inserted or retrieved from the storage unit along any of the y and the z dimension, while still providing sufficient structural support to stored items to keep them suitably stable in the storage unit, e.g., without tilting or skidding or falling off the storage unit.

[0134] The embodiment further comprises two separate carrier structure 30 that are not comprised by guide structures. The carrier structures 30 are configured for carrying items 2. In this example, the carrier structures 30 have rectangular cross-sections, such as square pipe, square rod, beam, wooden lath, etc. They can be of any shape, forexample the shape of the carrier structure 30 shown in fig. 2, or other carrier structure configurations described or referenced to in relation to fig. 2.

[0135] The carrier structures 30 together with the bottom guide structure 20 constitutes a bottom of the storage unit 1, in this particular illustrated orientation of the storage unit. Notice, that the storage unit may be spatially oriented in different ways, depending on the implementation of the storage unit. E.g., the storage unit may be rotated.

[0136] Optionally, the illustrated embodiment may comprise further carrier structures extending along the packing dimension. These carrier structures could be positioned next to the guide structure comprising a carrier structure. This may be advantageous for storing heavy items in the storage unit.

[0137] Fig. 4 illustrates a three-dimensional representation of a storage unit 1 with three guide structures 20, according to an embodiment of the invention. The storage unit 1 is configured to carry items 2. The guide structures 20 of the storage unit 1 extends along a packing dimension 10, which in this embodiment is along a horizontal dimension. Two of the guide structures 20 further act as carrier structures 30 and thereby carries items 2 stored in the storage unit 1. These guide structures are arranged in parallel and with a distance to one another along the horizontal z dimension and constitutes a bottom of the storage unit 1. By arranging these two parallel guide structures at a distance to one another, one guide structure provides structural support at one end of a stored item 2, while the other guide structure provides structural support at another end of the stored item 2. This arrangement of guide structures ensures that stored items remain stable at both ends of each individual item 2, when the item is placed on top of these two guide structures.

[0138] A further guide structure is arranged opposite with respect to the two guide structures 20 constituting the bottom of the storage unit 1 and so this further guide structure 20 constitute a top of the storage unit 1. This additional guide structure provides structural support to the opposite side of stored items 2, to ensure that thestored items does not tilt, rotate, skid, slide or fall off the storage unit. The arrangement of the three guide structures 20 enable items 2 to be retrieved from the storage unit and to be inserted into the storage unit along a storage and retrieval dimension 12.

[0139] Optionally, the embodied storage unit 1 may comprise carrier structures arranged to carry the stored items. These carrier structures may advantageously provide a stable surface for the stored items to rest on. This may put less stress on the guide structures. In addition, this may also ensure that the items are stored substantially at the same vertical location, which is advantageous. Having a base of the items substantially vertically aligned along a packing dimension may be advantageous when the storage unit is utilized with an automated picking robot that may retrieve items from the storage unit and / or insert items into the storage unit 1, because the picking robot may provide faster and more reliable item retrieval or item storing using the storage unit, when items are accurately stored in the storage unit.

[0140] Notice that the storage unit may be used in different ways to store items, and that the storage unit may, e.g., be rotated or tilted.

[0141] Optionally, a further guide structure may be arranged at the top of the storage unit, or at the back like in fig. 3. This may advantageously provide further structural support to stored items.

[0142] Fig. 5 illustrates a three-dimensional representation of a storage unit 1 with a vertically oriented packing dimension 10, according to an embodiment of the invention. The storage unit 1 comprises three guide structures extending along a vertically oriented packing dimension 10. Two of the guide structures are arranged in parallel to provide support to items 2 stored in the storage unit 1 from one side, while another guide structure 20 is arranged to provide structural support to the stored items 2 from the opposite side. Because of the vertical packing dimension 10, all of the three guide structures further act as carrier structures 30 to carry the stored items 2. The stored items may be retrieved or put into the storage unit 1 along a storage and retrieval dimension 12, which in this embodiment is a horizontal dimension in the x-dimension.

[0143] Fig. 6 illustrates a three-dimensional representation of a storage unit 1 with two parallelly arranged guide structures 20. The guide structures extend along a packing dimension 10, which in this embodiment is in the horizontal plane represented in fig. 6 by the x and z dimensions. The guide structures 20 are configured to provide support to items 2 stored in the storage unit, to prevent such items from tilting, skidding and falling over. Compared to embodiments illustrated in fig. 1-5, the illustrated guide structures are extending longer in the y dimension, and thereby each individual guide structure may provide more lateral support compared to shorter guide structures. Thereby, even if the embodied storage unit 1 only has guide structures arranged at one side of the storage unit, here the bottom, the extended length along the y dimension provide sufficient support to prevent the stored items from skidding, tilting, rotating or falling over. The additional length in the y dimension should be decided based on the kind, thickness and weight of items to be stored, as well as based on the holding capacity, for example stiffness of filaments, of the guide structures.

[0144] Fig. 7 illustrates a three-dimensional representation of a storage unit 1 with a vertically oriented item retrieval dimension 12, according to an embodiment of the invention. The storage unit 1 comprises two guide structures extending along a horizontally oriented packing dimension 10. In this specific example, two guide structures 20 are arranged opposite each other with respect to the items 2 to be stored.

[0145] A carrier structure 30 is arranged below the items 2 to support them against the force of gravity. The carrier structure 30 avoids that items fall down, while the guide structures 20 avoid that items move or tilt during storage. Additional guide structures 20 may be provided to further stabilize items during storage. The carrier structure 30 is here illustrated as a flat board, such as a wooden board, or the bottom of a plastic crate. Alternative guide structures 30, such as mesh, lattice, pipes, etc. may be employed to achieve various advantages, such as improved ventilation or cleaning, reduced weight, etc.

[0146] Gable boards, or end boards, here functioning as a rack 40, are illustrated in simple form in dashed lines, to illustrate one of the possible ways to mount the guidestructures 20 relative to the carrier structure 30. Further, the gable boards make the storage unit 1 work similar to a box or crate. Handles suitable for human operators or automated systems may be provided, whereby the storage unit 1 may be used as a crate to transport a number of items to and from, for example, automated high-rack warehouses, and still allow automated retrieval of items 2 from the crate-like storage unit 1.

[0147] Fig. 8a and 8b illustrates a representation of a storage unit 1 with two carrier structures 30 and three guide structures 20, according to an embodiment of the invention. Specifically, fig. 8a illustrates a side view of the storage unit 1, while figure 8b illustrates a front view of the storage unit 1. In the front view fig. 8b, as indicated by an arrow 30, the carrier structures 30 are hidden behind the front guide structure 20. The storage unit is configured for storing items 2 and for enabling retrieval of items from the storage unit 1 and for enabling insertion of items 2 into the storage unit 1 along a storage and retrieval dimension 12. The two carrier structures 30 and the three guide structures 20 all extend longitudinally along a packing dimension 10, corresponding to a horizontal dimension, the x-dimension. Two of the guide structures 20 and both of the two carrier structures 30 are arranged substantially in the same horizontal plane defined by the x and the z dimensions and constitutes the bottom of the storage unit 1, while one guide structure is arranged oppositely, at top of the items 2, and thereby constitutes a top of the storage unit 1.

[0148] In the bottom of the storage unit 1, a first guide structure 20 of the two guide structures of the bottom of the storage unit 1 are arranged so that it constitutes a front of the bottom of the storage unit 1, while the other guide structure constitutes a back of bottom of the storage unit 1. The two carrier structures 30 are arranged in-between the two guide structures 20, with one carrier structure being arranged near one of the guide structures and the other carrier structure arranged near the other guide structure. Thereby, a guide structure and a carrier structure carry and guides stored items at a front end of the storage unit, while the other guide structure and the other carrier structure guides and carry stored items 2 at the back end of the storage unit.

[0149] The guide structure 20 constituting the top of the storage unit 1 is arranged off center and closer to the front of the storage unit 1. Having this guide structure located near the front end, but still a bit pulled back towards the center is advantageous, in that it ensures that structural support is provided to the top of an item relatively fast during placement of an item into the storage unit 1 from the front end, while still providing enough support to the item when the item 2 is fully inserted into the storage unit, to ensure that the item is not rotating, tilting or falling over when stored in the storage unit.

[0150] Advantageously, the carrier structures 30 may provide a stable surface for the stored items 2 to rest on. This may put less stress on the guide structures 20 and thereby improve the lifetime of the guide structures. In addition, the utilization of the carrier structures 30 may also ensure that the items are stored substantially at the same vertical location, independent of item weight and dimensions, because the carrier structures 30 may provide a somewhat fixed surface or well-defined base for the stored items to rest on. Having a base of the items substantially vertically aligned along a packing dimension may be advantageous when the storage unit is utilized with an automated picking robot that may retrieve items from the storage unit and / or insert items into the storage unit 1, because the picking robot may provide faster and more reliable item retrieval or item storing using the storage unit, when items are accurately stored in the storage unit.

[0151] Optionally, an additional guide structure may be arranged at the top of the storage unit and closer to the back end of the storage unit; or be arranged at the back of the items. This may advantageously improve the lateral support of stored items and particularly at the back end of the stored items.

[0152] Fig 9a and 9b illustrates a representation of a storage unit 1 with one carrier structure 30 and three guide structures 20. The storage unit is configured for storing items 20, and for enabling retrieval of items 2 from the storage unit 1 and for enabling insertion of items 2 into the storage unit 1 along a storage and retrieval dimension 12. The storage unit 1 is similar to, e.g., the storage unit 1 illustrated in fig. 8a and 8b, withthe exception that instead of having two separate carrier structures at the bottom, this storage unit 1 comprises one larger carrier structure 30 spanning between the two guide structures of the bottom of the storage unit 1. The guide structure 20 is partly covering the carrier structure 30 in the front view fig. 9b, whereby schematically drawn fasteners and a dashed outline of the hidden part of the carrier structure 30 are indicated in fig. 9b to illustrate this. Of course, the relative positioning between guide structures and the carrier structure may be achieved in a multitude of ways.

[0153] The carrier structure 30 may, e.g., be a shelf extending along the packing dimension 10 in-between the two carrier structures at the bottom of the storage unit. This embodiment has similar advantages as the embodiment illustrated in fig. 8a and 8b. Nevertheless, the shelf-like carrier structure 30 of this embodiment may with its wider base exert less force against stored items resting on it, because the force is spread across the larger area of this carrier structure. Thereby, stored items 2 may be less prone to getting scratches or marks when stored in a storage unit 1 comprising this type of carrier structure 30. This may be particularly useful for heavier items and items that are heavy relative to the area of the item that may rest on the carrier structure.

[0154] In this embodiment, the carrier structure 30 spans substantially the full area in-between the two bottom guide structures 20. However, the guide structure could optionally be made narrower.

[0155] Optionally, the guide structures 20 of the bottom of the storage unit may be included as part of the carrier structure. E.g., the guide structures may be arranged into a grove in the carrier structure 30.

[0156] Fig. 10 illustrates schematically a range of examples of different items which may be stored in embodiments of storage units 1 of the invention. They are illustrated in the drawing as inserted in the same storage unit 1 for illustration only, as in practice such items may be of incompatible sizes for storing in the same storage unit.

[0157] From the left, are first illustrated three flat items, of three different thicknesses. They are all considered flat because their thickness is significantly smaller than at least one of their other dimensions, here at least their height, and would not be able to stand upright by themselves. They may for example illustrate vinyl records, booklets, pictures or paintings, cardboard, boards, plates, slabs, thin boxes, etc.

[0158] Next are illustrated two different blister pack items, one with packaged toys, and the other with packaged pills or tablets. They are characterized by being substantially flat at their top and bottom, like the first three items, but have a bulky or thicker center part. As with the three flat items, the blister pack items are also unstable when standing and unable to stand by themselves.

[0159] The last illustrated item is an elongated item with a small base when standing on the end, and with an offset center of gravity, making it unable to stand upright by itself.

[0160] The items 2 illustrated in fig. 10 are only for illustration. Any other substantially flat items, items with flat edges, or unstable items that are relatively thin in at least one dimension, may be stored in storage units 1 as illustrated or described herein.

[0161] Figs. 11-15 illustrate some embodiments of guide structures 20 and carrier structures 30 that may be employed in the schematically illustrated embodiments of figs. 1-10 or 16-17, or otherwise described herein. Figs. 11-15 only show a few examples, and other embodiments of guide structures and carrier structures, and any combination of different kinds thereof, may be suitable for various embodiments of the storage unit.

[0162] Fig. l la-l lc illustrate a brush configuration of a guide structure 20. Fig. 11 is a front view, fig. 1 lb is an end view, and fig. 11c illustrates the guide structure 20 in use.

[0163] A strip brush may be utilized for guide structures 20, and may as illustrated comprise a metal strip that has been clamped around numerous filaments, such as threads, bristles or fibers of natural or synthetic material. Alternatively, the filaments may, for example, be glued onto a wood or plastic strip, or any other way of providing a brush, such as a strip brush or brush-like structure.

[0164] As shown in fig. 11c, items 2 can be inserted between the filaments of the brush, as the soft filaments will bend slightly or retract from the item, while still holding the item at the same location and supports it against tipping over or skidding.

[0165] The brush filaments may be selected based on the type, dimensions and weight of the items to be stored, by considering filament stiffness, material, shape memory, etc. When selecting an appropriate brush type for the items, it will have a long duration and is easy and cheap to replace. The filaments will typically return to their original position hundreds or even thousands of times, before getting worn. The brush may further endure longer when used in combination with separate carrier structures 30 to easy the load on the guide structure. As the invention provides for holding the items anywhere along the packing dimension, the brush life may also be extended by intelligently inserting new items at slightly different locations than used previously, to distribute the wear over all brush filaments.

[0166] Fig. 12 illustrates a brush embodiment of a guide structure 20, as described above with reference to figs. 1 la-11c. Further, the embodiment of fig. 12 is combined with a carrier structure 30, here shown as encapsulating the strip or clamp part of the brush. In alternative embodiments, the carrier structure may instead extend on only one side of the strip brush. In any way, the illustrated carrier structure 30 may support the weight of items placed on it, thereby reducing load on the brush filaments. The brush is still employed to hold the items from skidding or tilting.

[0167] Fig. 13 illustrates a brush-based guide structure 20 as described above with reference to figs. 1 la-11c, however here selected with longer filaments, thereby being able to support certain light and think items without requiring a guide structure at thetop or back of the items. The long-filament brush embodiment of fig. 13 may advantageously be combined with the combined guide structure and carrier structure described above with reference to fig. 12, to reduce load on the brush filaments.

[0168] Fig. 14 illustrates using a strip of soft lip, such as a rubber lip, for example a silicone lip, for guide structure 20. The strip of soft lip is fastened to a strip of sturdy material like plastic, metal, e.g. aluminum, or wood. The soft lip retracts by deforming in a bending way when an item 2 is inserted, but only in a small area around the item 2. Thereby the soft lift applies a holding function to the item 2, for example preventing the bottom from skidding or the top from tilting. Further, the deformation only being local, means that another item can be stored at a short to each side of the item. Maintaining distance between items is further an advantage according to the invention, to facilitate automated insertion and retrieval of items.

[0169] The strip of soft lip may be replaced with several similarly functioning materials, such as a strip or array of soft foam spikes, a soft elongated bulge, an array of short flexible strip or lamella, etc.

[0170] Instead of using the same soft lip configuration for several guide structures as shown in this embodiment, it may also be combined with other types, for example a brush-based guide structure at the bottom and a soft lip guide structure at the top; or a brush-based guide structure at the back, and a soft lip guide structure at the bottom; or any other combination.

[0171] Figs. 15a-15b illustrate a non-skid coating or non-skid material used for a guide structure 20. Fig. 15a is an end view and fig. 15b is a front view.

[0172] This particular embodiment comprises two carrier structures 30 arranged at the bottom in order to place items 2 on for storage. The carrier structures 30 comprises a non-skid coating or material on their upper surface, i.e. the surface on which the items 2 are standing. The non-skid surface thereby functions as a guide structure 20 asit prevents or impedes the items 2 from skidding on the carrier structure 30, and thereby contributes to hold the items 2 in place.

[0173] A brush-type guide structure 20 as described above, is provided at the top of the storage unit 1 to prevent the items from tilting, and to illustrate an embodiment comprising a combination of different types of guide structures 20, which can also be applied in any other embodiment herein.

[0174] In this embodiment the non-skid coating or non-skid material is applied to both carrier structures 30 but could also just be applied to one of them. In this embodiment, the non-skid coating or non-skid material is applied only on a top surface of the carrier structure 30, but may also be applied on a bigger area, such as on the entire surface of the carrier structure 30. In this embodiment, the carrier structures 30 are shown as pipes or rods, but they can be any of the described carrier structures. For example, a shelf-like carrier structure as in figs. 9a-9b may also be applied with a nonskid-type guide structure 20 as described here, instead of, or in combination with, one or two other guide structures, such as for example brushes or soft lips.

[0175] Fig. 16 illustrates a storage system 3 of an embodiment of the invention. The storage system is formed by stacking, or otherwise arranging adjacently, several storage units 1. In this example, three storage units 1 are stacked on top of each other to form a storage system 3, here shown in a front view with several items of different thicknesses inserted in the storage system 3.

[0176] The storage units 1 and stacking of them are supported by a rack 40, or any other supporting frame, boards, wall-mounting, etc. The rack 40 may for example provide legs for the storage system 3 to stand on a warehouse floor.

[0177] Each storage unit 1 may be any of the storage units 1 described herein. Her are shown all three storage units to be the same type, but a storage system 3 may in other embodiments comprise a combination of different types of storage units 1. The storage system 3 may further comprise additional storage options (not shown), likeregular shelves, crates, pallet beams, etc., for example included above or below or between the storage units of the invention.

[0178] The storage units 1 may be of different dimensions to accommodate items of different sizes. In the example of fig. 16, the heights in the y-dimension of each storage unit 1 is different, best noticeable from the bottom storage unit 1 also being the lowest of the three storage units.

[0179] Any number of storage units 1 may be combined in a storage system 3. Here is shown only three storage units, but the number only depends on practical consideration, for example regarding floor-to-ceiling height in the building or the rack reinforcement necessary for huge systems, etc. Besides stacking vertically, storage units may also be placed in extension of each other.

[0180] Here is shown a stacking of storage units with horizontal packing dimension as well as horizontal item retrieval dimension, making it advantageous to stack vertically. Storage units of other embodiments may also be multiplied into storage system by considering their packing dimension and retrieval dimension, and stack storage units in an appropriate dimension allowing access to the items of each storage unit.

[0181] Fig. 17 illustrates a storage system 3 of an embodiment of the invention. The storage system 3 of this embodiment is an automated storage and retrieval system, facilitating computer-controlled inserting and retrieval of items from the storage units 1, as well as computer-based inventory management.

[0182] The storage system 3 comprises six storage units 1, in a 2-by-3 configuration, i.e. stacking three storage units 1 as described with reference to fig. 16, and then mirroring this configuration to achieve two stacks back-to-back. In other words, two storage systems of fig. 16 may be arranged back-to-back to form the core of the storage system of fig. 17. The storage system 3 is here shown in an end view, and storing examples of items 2.

[0183] In addition to similar parts described with reference to fig. 16, the storage system 3 of fig. 17 further comprises an automated gripper unit 50 for each stack of storage units 1. For illustration, the two automated gripper units 50 are shown in different positions. At the bottom right of the drawing, is shown an automated gripper unit 50 being in the process of inserting or retrieving an item 2, which is shown halfway into the storage unit 1. At the top left of the drawing, is shown an automated gripper unit 50 which has just clamped an item 2, ready to begin retrieving it.

[0184] An automated gripper unit 50 is in this embodiment based on a 2-axis gantry robot which is mounted on the rack 40 to travel to any location in the x-y plane. On the gantry robot is mounted a linear actuator to move a gripping tool in the z-direction into or out from the storage units 1. The gripping tool is here a plate gripper useful for grasping the sides of flat items, and includes a force-sensing actuator to make the plates clamp or release the items. The gripping tool should be selected in accordance with the kind of items to be stored. For non-flat items, other gripping tools would be preferably, for example a robot hand to grasp around an item, or a suction tool to get hold of a small flat area. The gantry robots may also be replaced with any suitable automated transfer system, such as robot arms, etc. The automated gripper unit 50 may further comprise a number of sensors to facilitate its control or to detect errors, for example force sensors, location sensors, accelerometers, proximity sensors, light beam sensors, cameras, etc.

[0185] A controller system 60 is illustrated at the top of the rack in fig. 17. The controller system 60 is controlling the automated gripper units 50, i.e. the location and movement of the gantry robots by x-y coordinates, the movement of the tool into and out of the storage units, the gripping action of the gripping tool, etc.

[0186] The controller system 60 is also tasked with managing the inventory of the storage system 3, i.e. maintaining an inventory database 61 with the items 2 currently stored in the storage system 3 together with their item locations in the storage units 1 in order to be able to direct the gantry robots to the right locations. The inventory database 61 is here shown to be located in a network, such as a LAN, internet or acloud system, but may be stored anywhere as long as it can be accessed by the controller system 60, including locally in the controller system 60. The inventory database 61 may preferably be accessible or even integrated with other items managing systems, such as a warehouse system or a web shop system.

[0187] The controller system 60 may further comprise a range of reporting, safety and security functionalities, for reporting status, reporting errors, for requesting maintenance, for the safety of human operators in the vicinity, for the safety of the items, or for the security of the storage system to not be abused, etc.

[0188] The controller system 60 may alternatively be located anywhere, for example in the cloud system with the inventory database 61, with network connection or other communication access to the automated gripping unit 50.

[0189] The storage system 3 may further comprise or be cooperating with a transfer conveyor 55 or other means for transporting items 2 to and from the storage system automatically. The automated gripper units 50 may be arranged to deliver or take items from the transfer conveyor 55 directly, or the system may comprise or cooperate with a further robot arm or similar to transfer items between the automated gripper unit 50 and the transfer conveyor 55.

[0190] An automated gripper unit or other automated storage and retrieval system as described with reference to fig. 17 may be applied to any of the other embodiments of storage units 1 or storage systems 3, such as to the storage system of fig. 16.

[0191] Fig. 18a-18c illustrate an embodiment of a storage system 3. Fig. 18a is a three-dimensional representation, fig. 18b is a front view, and fig. 18c is an end view.

[0192] The embodiment of fig. 18a-18c is similar to the embodiments of figs. 16-17, whereby reference is made to the description of those embodiments for details not explained here.

[0193] This embodiment comprises a vertical stacking of seven storage units on each side of the storage system 3, i.e. containing 14 storage units 1 in total. On each side is also mounted an automated gripping unit 50 based on a gantry robot as described above although illustrated here in more detail, for example with regard to the gantry robot beams, etc. In this example, one is idling at the bottom of the rack, and the other is raised to the middle position. For simplicity, Fig. 18b does not include the gripping unit 50 behind the rack 40.

[0194] A controller system 60 is here shown located at the end wall of the rack 40, but can as well be located anywhere else, including remote. The inventory database 61 (cf. fig. 17) may also be located with the controller system 60, or remote, such as in a cloud storage system.

[0195] Most of the illustrated guide structures are parallelly arranged. However, notice that guide structures may be arranged in various ways and that embodiments of the invention may utilize guide structures that are not necessarily parallelly arranged.

[0196] Notice that the illustrated storage units according to embodiments of the invention may comprise more or less guide structures than the illustrated number of guide structures. Additional guide structures may advantageously be added to embodied storage units to provide additional support to stored items.

[0197] Optionally, the embodied guide structures may extend longer along the y dimension to increase the structural support and / or to accommodate structural support of taller or heavier items stored in the storage unit 1 according to the invention.

[0198] The guide structures and carrier structures may be made of different materials suitable for providing their function. Such materials may be selected based on the items to be stored, for example in consideration of their dimensions, weight, fragility, any sharp edges, material compatibility, special needs for hazardous environments, sterile environments, cold or hot environments, etc.

[0199] List of reference signs:1 storage unit2 items3 storage system10 packing dimension11 individual item distance12 item storing and retrieval dimension13 holding direction14 item location20 guide structure30 carrier structure40 rack structure50 automated gripper unit55 transfer conveyor60 controller system61 inventory database x horizontal length dimension y vertical dimension z horizontal depth dimension

Claims

Claims1. Storage unit (1) for storing a plurality of items (2) along a packing dimension (10) of the storage unit (1), the storage unit (1) comprising two or more guide structures (20), each guide structure (20) extending along said packing dimension (10) and being configured to hold said plurality of items (2) individually anywhere along said packing dimension (10); and one or more carrier structures (30), each carrier structure (30) extending along said packing dimension (10) and being configured to carry said plurality of items (2) anywhere along said packing dimension (10); optionally one or more of said carrier structures (30) being comprised by one or more of said guide structures (20).

2. The storage unit of claim 1, wherein said guide structures (20) are configured to hold said plurality of items (2) with individual item distance (11) for automated random access individual item retrieval.

3. The storage unit of claim 1 or 2, wherein at least two of said two or more guide structures (20) are mounted radially differently with respect to said packing dimension (10).

4. The storage unit of any of the preceding claims, wherein at least two of said guide structures (20) are configured to hold said items (2) from different holding directions (13).

5. The storage unit of any of the preceding claims, wherein said two or more guide structures (20) are arranged with a distance between them selected in accordance with dimensions of a specific kind of items (2) to be stored.

6. The storage unit of any of the preceding claims, wherein said two or more guide structures (20) are arranged with an adjustable distance between them.

7. The storage unit of any of the preceding claims, wherein said plurality of items (2) comprises substantially flat items.

8. The storage unit of any of the preceding claims, wherein said plurality of items (2) comprises items that are unable to stand upright by themselves such as one or more of substantially flat items, items with substantially flat edges, such as blister pack items, or unstable items.

9. The storage unit of any of the preceding claims, wherein said plurality of items (2) comprises packaged audio or video records, such as one or more of vinyl records, compact discs CD or digital video discs DVD.

10. The storage unit of any of the preceding claims, wherein said storage unit (1) comprises three or more guide structures (20), such as three or four or five guide structures (20).

11. The storage unit of any of the preceding claims, wherein said storage unit (1) comprises two or more carrier structures (30), such as two or three or four carrier structures (30).

12. The storage unit of any of the preceding claims, wherein said storage unit (1) comprises two or more guide structures (20), and one or more carrier structures (30) that are not comprised by said guide structures (20).

13. The storage unit of any of the preceding claims, wherein one or more of said carrier structures (30) are comprised by one or more of said guide structures (20).

14. The storage unit of any of the preceding claims, wherein said guide structures (20) do not comprise fixed item positions.

15. The storage unit of any of the preceding claims, wherein said guide structures (20) do not comprise mechanically predetermined item positions.

16. The storage unit of any of the preceding claims, wherein at least one of said guide structures (20), such as one or two or all guide structures (20), comprises a brush.

17. The storage unit of any of the preceding claims, wherein at least one of said guide structures (20) comprises a brush with a brush base and numerous brush filaments, wherein the base comprises one of said carrier structures (30).

18. The storage unit of any of the preceding claims, wherein at least one of said guide structures (20), such as one or two or all guide structures (20), comprises a strip of soft lip.

19. The storage unit of any of the preceding claims, wherein at least one of said guide structures (20), such as one or two or all guide structures (20), comprises a non-skid material or non-skid coating.

20. The storage unit of any of the preceding claims, wherein at least one of said guide structures (20), such as one or two or all guide structures (20), comprises one or more of a system of bendable or soft lamellas or strips or a system of retractable pins.

21. The storage unit of any of the preceding claims, wherein the two or more guide structures (20) are of the same type, such as brushes.

22. The storage unit of any of the preceding claims, wherein the two or more guide structures (20) are of different types, such as at least one brush and at least one nonskid material or non-skid coating.

23. The storage unit of any of the preceding claims, wherein at least one of said carrier structures (30), such as one or two or all carrier structures (30), comprises a pipe.

24. The storage unit of any of the preceding claims, wherein at least one of said carrier structures (30), such as one or two or all carrier structures (30), is a beam with a circular, square, triangular, L-, U-, V-, or T-shaped profile.

25. The storage unit of any of the preceding claims, wherein at least one of said carrier structures (30), such as one or two or all carrier structures (30), is a shelf, such as a metal, wood or plastic shelf, for example of solid, mesh, lattice or other shelf configuration.

26. The storage unit of any of the preceding claims, wherein said storage unit (1) comprises three guide structures (20), and two carrier structures (30) that are not comprised by said guide structures (20).

27. The storage unit of any of the preceding claims, wherein the three guide structures (20) comprise brushes, and the two carrier structures (30) comprise pipes.

28. The storage unit of any of the preceding claims, wherein said storage unit (1) comprises a rack structure (40) to which said two or more guide structures (20) and one or more carrier structure (30) are mounted.

29. The storage unit of any of the preceding claims, wherein said rack structure (40) is configured to be shared between said storage unit (1) and a number of additional storage units.

30. The storage unit of any of the preceding claims, wherein said storage unit (1) is configured for automated storage and retrieval.

31. The storage unit of any of the preceding claims, wherein said storage unit (1) comprises at least one automated gripper unit (50).

32. The storage unit of any of the preceding claims, wherein said rack structure (40) and said automated gripper unit (50) are configured to enable said automated gripper unit (50) to travel along said packing dimension (10) for random access individual item retrieval.

33. Storage system (3) comprising one or more storage units (1) according to any of the claims 1 to 32.

34. The storage system of claim 33, comprising at least one automated gripper unit (50).

35. The storage system of claim 33 or 34, comprising an automated gripper unit (50) for each of said one or more storage units (1), or comprises one or more automated gripper units (50) configured to each serve two or more of the storage units (1).

36. The storage system of any of the claims 33 to 35, comprising a controller system (60) configured to manage an inventory database (61) of said plurality of items (2) including location information of each of said items (2) in said one or more storage unit (1).

37. The storage system of any of the claims 33 to 36, comprising a transfer conveyor (55) configured to cooperate with said at least one automated gripper unit (50).

38. The storage system of any of the claims 33 to 37, comprising a rack structure (40) to support said one or more storage units (1), such as for mounting said two or more guide structures (20) and one or more carrier structure (30) for each storage unit (1).

39. The storage system of any of the claims 33 to 38, comprising several storage units (1) arranged above each other in the same plane.

40. The storage system of any of the claims 33 to 39, comprising a rack structure (40) having one or more storage units (1) mounted on both sides.

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