Autonomous storage and transport control system

Abstract

A system comprises one or more transport apparatuses configured to operate inside and / or outside a multi-level storage structure having at least one storage space. Each transport apparatus is configured to lift a load and transport it to and from storage. Each transport apparatus is configured to move into and through a cavity of the load. The system further comprises One or more lifting devices configured to lift at least one transport apparatus and / or a load, and a control system configured to control the operation of the one or more transport apparatuses and the operation of the one or more lifting devices.

Description

[0001] AUTONOMOUS STORAGE AND TRANSPORT CONTROL SYSTEM

[0002] THE AREA OF THE INVENTION

[0003] An autonomous storage and transport control system for pallets or loads, featuring a multi-level storage structure having dedicated space for load carriers, designed to optimize space utilization and reduce the rehandling of goods throughout the facility

[0004] BACKGROUND FOR THE INVENTION

[0005] In warehouses, there is an increasing need for efficient use of storage space and cost-effective methods for loading and retrieving goods.

[0006] SUMMARY OF THE INVENTION

[0007] The present disclosure relates to autonomous, or automated, storage and retrieval systems that include a multi-level storage structure where parts (e.g. loads and / or goods and / or load carriers) are stored. Autonomous vehicles are configured to move inside this system. Some transport devices that bring cargo from one place to another may be limited to the same floor. If these systems are to be acting together, a reloading of the goods will be necessary, either manually or automatically between two systems. The present disclosure aims to solve this problem.

[0008] According to a first example of this disclosure there is provided a system (for example an autonomous system, for example an autonomous transport and control system) comprising one or more transport apparatuses configured to operate inside and / or outside a multi-level storage structure having at least one storage space, wherein each transport apparatus is configured to lift a load and transport it to and from storage, wherein each transport apparatus is configured to move into and through a cavity of the load. The system further comprises one or more lifting devices configured to lift at least one transport apparatus and / or a load, and a control system configured to control the operation of the one or more transport apparatuses and the operation of the one or more lifting devices.

[0009] The system may further comprise horizontal support beams, vertical support columns and modular plates configured to fit over the horizontal support beams to form floors on which a transport apparatus can move.

[0010] The lifting device may comprise an elevator.

[0011] At at least one lifting device may be configured to transport a plurality of transport apparatus and a plurality of loads.

[0012] According to second example of this disclosure there is provided a control system for a multi-level storage structure having at least one storage space, the control system being configured to control one or more transport apparatuses configured to operate inside and / or outside the multi-level storage structure, wherein each transport apparatus is configured to lift a load and transport it to and from storage, and one or more lifting devices configured to lift the transport apparatus and / or a load.

[0013] The control system of the first or second example may be configured to communicate via wireless or / and wired communication and / or the control system may be configured to connect to a terminal, ERP and / or a WMS system.

[0014] The control system of the first or second example may be configured to control two transport apparatuses to move in pairs to a load, to work in pairs to lift a load, and / or to move in pairs to move a load to another location.

[0015] The control system of the first or second example may be configured to control a first pair of transport apparatuses to move inside the multi-level storage structure, a second pair of transport apparatuses to transport goods from inside the multi-level storage structure to outside the multi-level storage structure, and / or a third pair of transport apparatuses to transport goods from a storage area to a production area of the multi-level storage structure or to a loading zone of the multi-level storage structure.

[0016] Each transport apparatus may comprise a chassis having a length and a width, at least one lifting plate having a top face for abutting against a load, and at least two wheel assemblies at a mutual distance along the length of the chassis, wherein at least one of the at least two wheel assemblies is operatively connected to a drive motor, and at least one of the wheel assemblies comprises a steering mechanism for allowing steering of the transport apparatus. The chassis may comprise a first motion mechanism operatively connected to the lifting plate, and configured for moving the lifting plate relative to the chassis between a lowered position and an elevated position, a second motion mechanism operatively connected to the wheel assemblies, and configured for moving the at least two wheel assemblies relative to the chassis between a retracted first position and an advanced second position, and a control unit for controlling the drive motor and the motion mechanism, wherein the transport apparatus may be configured to be movable into and through a cavity in the load when at least one of: the lifting plate is in the lowered position; and the wheel assemblies are in the retracted first position.

[0017] Each transport apparatus may comprise a chassis and a lifting plate, the chassis having a length and a width, and the chassis may comprise at least one lifting mechanism configured for moving the lifting plate between a lowered position and an elevated position in operational use, and a steering mechanism comprising at least two wheel assemblies at a mutual distance along the length of the chassis, wherein at least one of the at least two wheel assemblies is operatively connected to a drive motor for allowing steering of the transport apparatus, and a control unit for controlling the drive motor and the lifting mechanism, wherein the transport apparatus is configured to be movable into and through a cavity in the load when the lifting plate is in the lowered position, and wherein the lifting plate is movable relative to the chassis, wherein the at least one lifting mechanism is connected to the lifting plate and to the chassis, and wherein the lifting plate covers a top side of the chassis and encloses a portion of the chassis.

[0018] The control system of the first or second example may be configured to control one or more transport apparatuses to move into and through a cavity in a load.

[0019] The multi-level storage structure may comprise a plurality of storage locations each having a respective coordinate in a three-dimensional coordinate system, wherein the control system is configured to receive an indication of a location of a load in the multi-level storage structure and to retrieve its respective coordinates in the three-dimensional coordinate system and to control the one or more transport apparatuses and one or more lifting devices based on the three-dimensional coordinates of the location of the load.

[0020] According to a third example of this disclosure there is provided a method for controlling a plurality of transport apparatuses configured to operate inside and / or outside a multi-level storage structure having at least one storage space, wherein each transport apparatus is configured to lift a load and transport it for storage and / or retrieval, each transport apparatus being configured to move into and through a cavity of the load, the method comprising: controlling a first pair of transport apparatuses to transport a first load to or from storage; and controlling a lifting device of the multi-level storage structure.

[0021] The method may further comprise controlling a second pair of transport apparatuses to transport a second load.

[0022] The method may further comprise controlling a third pair of transport apparatus to move a third load from a location so that the first or second load has free passage through that location. The method may further comprise controlling multiple pairs of transport apparatuses to store loads side by side, in the x, y and z positions of a coordinate system.

[0023] The method may further comprise causing the first pair of transport apparatuses to move the first load to an edge of a floor so that a manual or other automatic picking system can access the first load.

[0024] The method may further comprise determining whether an obstruction is present along a first path of the first pair of transport apparatuses, and, if it is determined that an obstruction is present, controlling a first pair of wheels of the transport apparatuses to transition to a retracted configuration in which the first pair of wheels are closer to a top surface of the transport apparatus configured to support a load, controlling the first pair of transport apparatuses to travel along the first path and over the obstruction with the first pair of wheels in the retracted configuration.

[0025] The method may further comprise determining whether the first pair of transport apparatuses is to enter a cavity along a second path; and, if it is determined that the transport apparatus is to enter a cavity, controlling a first pair of wheels of the transport apparatuses to transition to a retracted configuration in which the first pair of wheels are closer to a top surface of the transport apparatus configured to support a load, controlling the first pair of transport apparatuses to travel along the second path through the cavity with the first pair of wheels in the retracted configuration. The first pair of wheels may be the same pair of wheels that may transition to the retracted configuration as described above or may be a different pair of wheels entirely. In some examples at least one pair of wheels (e.g. each pair of wheels) of a transport apparatus are configured to a retracted configuration. The pair may be a front pair of wheels or a rear pair of wheels or a different pair entirely (e.g. a side pair). It will be appreciated that when one pair transition to a retracted configuration this may mean that another pair are in an elevated configuration however this may be the result of the other pair being in the retracted configuration (rather than this second pair being actively caused to transition to an elevated configuration).

[0026] The method may further comprise controlling a lifting device to move to a floor where the first pair of transport apparatuses are located.

[0027] The method may further comprise controlling the lifting device with the first pair of transport apparatuses therein to move to a first floor on which the first pair of transport apparatuses are to retrieve and / or store a load.

[0028] The method may further comprise receiving, from the lifting device, an indication that the lifting device is at the first floor; and, upon receiving the indication, controlling the first pair of transport apparatuses to leave the lifting device. The method may further comprise receiving an assignment, the assignment comprising an indication that a plurality of loads are to be transported to and / or from storage, dividing the assignment into several suborders, each suborder comprising an order for a load to be transported to storage orto be retrieved from storage; and, if two pairs of transport apparatuses are not engaged in a storage or retrieval operation, assigning a first pair of transport apparatuses to execute a first suborder and assigning a second pair of transport apparatuses to execute a second suborder, wherein the first and second pairs of transport apparatuses are to execute the first and second suborders simultaneously.

[0029] According to a fourth example of this disclosure there is provided a method for use in a multi-level storage structure, the multi-level storage structure comprising at least two floors on which goods may be stored and at least one lifting device configured to move between the floors. The method comprises obtaining an indication that a first load is to be retrieved from a first location and transported to a second location, determining whether the lifting device is located on the same floor as a first transport apparatus configured to move into and through a cavity of a load; and, if the lifting device is not located on the same floor as the first transport apparatus, causing the lifting device to move to the same floor as the first transport apparatus.

[0030] The method may further comprise controlling the first transport apparatus to move from an initial location into the lifting device, controlling the lifting device to move to the floor on which the first location is located, and controlling the first transport apparatus to exit the lifting device.

[0031] The method may further comprise controlling a second transport apparatus configured to move into and through a cavity of a load to move from an initial location into proximity with the first transport apparatus to form a first pair of transport apparatuses configured to retrieve the first load from the first location.

[0032] The method may further comprise determining whether the lifting device is located on the same floor as a first pair of transport apparatuses comprising the first transport apparatus and a second transport apparatus each configured to move into and through a cavity of a load, the first pair of transport apparatuses being to retrieve the first load from the first location; and, if the lifting device is not located on the same floor as the first pair of transport apparatuses, causing the lifting device to move to the same floor as the first pair of transport apparatuses.

[0033] The method may further comprise controlling the first pair of transport apparatuses to move from an initial location into the lifting device; controlling the lifting device to move to the floor on which the first location is located; and controlling the first pair of transport apparatus to exit the lifting device. The method may further comprise controlling the first pair of transport apparatuses to move to the first location; controlling each transport apparatuses to move into a respective cavity of the first load; controlling each transport apparatus to raise the first load to an elevated position so that the pair of transport apparatuses can transport the first load; and controlling the first pair of transport apparatuses to move with the first load in the elevated position from the first location into a lifting device.

[0034] If the lifting device is not on the floor on which the first location is located, the method may further compromise causing the lifting device to move to the floor on which the first location is located so that the first pair of transport apparatuses with the first load in the elevated position can enter the lifting device.

[0035] The method may further comprise controlling the lifting device to move to the floor on which the second location is located; and controlling the first pair of transport apparatuses with the first load in the elevated position to exit the lifting device and to move onto the floor on which the second location is located to the second location.

[0036] The method may further comprise controlling the first pair of transport apparatuses to lower the first load such that the first load is supported by the floor of the lifting device; controlling each transport apparatus in the first pair to move out of the respective cavities of the first load and out of the lifting device; controlling the lifting device to move to the floor on which the second location is located; controlling a second pair of transport apparatuses to move into the lifting device; controlling each transport apparatus in the second pair to move into a respective cavity of the first load; controlling each transport apparatus to raise the first load to an elevated position so that the pair of transport apparatuses can transport the first load; controlling the second pair of transport apparatuses with the first load in the elevated position to exit the lifting device and to move onto the floor on which the second location is located to the second location.

[0037] According to a fifth example there is provided a method for use in a multi-level storage structure, the multi-level storage structure comprising: at least two floors on which goods may be stored, the method comprises obtaining an indication that a first load is to be retrieved from a first location on a first floor of the two floors and transported to a second location on a second floor of the two floors; controlling a first pair of transport apparatuses, each transport apparatus in the first pair being configured to move into and through a cavity in a load, to move from an initial location to the first location; controlling each transport apparatuses to move into a respective cavity of the first load; controlling each transport apparatus to raise the first load to an elevated position so that the pair of transport apparatuses can transport the first load; and controlling the first pair of transport apparatuses to move with the first load in the elevated position from the first location on the first floor to the second location on the second floor to move the first load from the first location on the first floor to the second location on the second floor.

[0038] The multi-level storage structure may comprise at least one lifting device configured to move between the floors of the multi-level storage structure, and the method may further comprise controlling the first pair of transport apparatuses to move from the initial location into the lifting device; controlling the lifting device to move to the floor on which the first location is located; and controlling the first pair of transport apparatuses to exit the lifting device and to move onto the first floor to the first location.

[0039] The method may further comprise determining whether the lifting device is located on the same floor as the first pair of transport apparatuses; and, if the lifting device is not located on the same floor as the first pair of transport apparatuses, causing the lifting device to move to the same floor as the first pair of transport apparatuses.

[0040] The method may further comprise controlling the first pair of transport apparatuses to move with the first load in the elevated position from the first location into a lifting device.

[0041] If the lifting device is not on first floor, then the method may further comprises causing the lifting device to move to the first floor so that the first pair of transport apparatuses with the first load in the elevated position can enter the lifting device.

[0042] The method may further comprise controlling the lifting device to move to the second floor on which the second location is located; and controlling the first pair of transport apparatuses with the first load in the elevated position to exit the lifting device and to move onto the second floor to the second location.

[0043] The indication may be an indication that the first load is to be retrieved from storage at the first location, and wherein the first location is adjacent to a third location in which a second load is stored, the method may further comprise controlling each transport apparatus in the first pair of transport apparatuses to move into and through respective cavities of the second load to access the first location. The method may further comprise controlling a second pair of transport apparatuses to move to the third location; controlling each transport apparatus in the second pair to move into a respective cavity of the second load; controlling each transport apparatus in the second pair to raise the second load to an elevated position; and controlling the second pair of transport apparatuses to move away from the third location with the second load in the elevated position to thereby move the second load away from the third location.

[0044] The method may further comprise determining whether the first pair of transport apparatuses needs to pass through the third location to get to the first location.

[0045] The indication may be an indication that the first load is to be stored at the second location, and wherein the second location is adjacent to a fourth location in which a third load is stored, and the method may further comprise: controlling a third pair of transport apparatuses to move to the fourth location; controlling each transport apparatus in the third pair to move into a respective cavity of the third load; controlling each transport apparatus in the third pair to raise the third load to an elevated position; and controlling the third pair of transport apparatuses to move away from the fourth location with the third load in the elevated position to thereby move the third load away from the fourth location so that the first pair of transport apparatuses can move through the fourth location with the first load to the second location to store the first load at the second location.

[0046] The method may further comprise determining whether the first pair of transport apparatuses needs to pass through the fourth location to get to the second location.

[0047] The indication may be an indication that the first load is to be retrieved from storage at the first location, and wherein the first location is behind multiple rows of stored goods, the method may further comprise controlling each transport apparatus in the first pair of transport apparatuses to move into and through respective cavities in any loads in the multiple rows of stored goods so that the first pair of transport apparatuses can access the first location; and controlling respective further pluralities of pairs of transport apparatuses to move to any loads in the rows that are preventing the first pair of transport apparatuses from leaving the first location with the first load; controlling each transport apparatus in each further plurality of pairs to move into a respective cavity of a respective load that is preventing the first pair of transport apparatuses from leaving the first location with the first load; controlling each transport apparatus in each further plurality to raise their respective loads to an elevated position; and controlling each pair of transport apparatuses in the further plurality to move to a location remote from the rows with their respective loads in the elevated position to thereby remove the respective loads away from the rows so that a passage is cleared through the rows to the first location into which the first pair of transport apparatuses can move so that the first pair of transport apparatuses can leave the first location with the first load.

[0048] The method may further comprise determining whether the first location is behind multiple rows of stored goods.

[0049] The indication may be an indication that the first load is to be stored at the second location, and wherein the second location is behind multiple rows of stored goods, the method may further comprise controlling respective further pluralities of pairs of transport apparatuses to move to any loads in the rows that are preventing the first pair of transport apparatuses with the first load from accessing the second location; controlling each transport apparatus in each further plurality of pairs to move into a respective cavity of a respective load that is preventing the first pair of transport apparatuses with the first load from accessing the second location; controlling each transport apparatus in each further plurality to raise their respective loads to an elevated position; and controlling each pair of transport apparatuses in the further plurality to move to a location remote from the rows with their respective loads in the elevated position to thereby move the respective loads away from the rows so that a passage is cleared through the rows to the second location into which the first pair of transport apparatuses can move so that the first pair of transport apparatuses can access the second location with the first load.

[0050] The method may further comprise determining whether the second location is behind multiple rows of stored goods.

[0051] The indication may be an indication that the first load, or part of the first load, is to be retrieved from storage at the first location, the method may further comprise controlling a picking system at the second location to pick up the first load, or part of the first load.

[0052] The second location may be at an edge of one of the floors of the multi-level storage structure.

[0053] The method may further comprise controlling multiple pluralities of pairs of transport apparatuses to store respective loads side by side in rows in an arrangement comprising at least three loads stored side by side and at least three rows.

[0054] According to a sixth example of this disclosure there is provided a method for use in a storage structure, the method comprising, on receipt of an indication that a first load is to be retrieved from storage at a first location and moved to a second location or is to be retrieved from a first location and stored at a second location, if the first location from which the first load is to be retrieved from storage or the second location at which the first load is to be stored is adjacent a third location in which a second load is stored: controlling a first pair of transport apparatuses to move to the third location; controlling each transport apparatus in the first pair to move into a respective cavity of the second load; controlling each transport apparatus in the first pair to raise the second load to an elevated position; and controlling the first pair of transport apparatuses to move away from the third location with the second load in the elevated position to thereby move the second load away from the third location so that a pair of transport apparatuses can leave the first location with the first load through the third location to retrieve the first load from storage at the first location or so that a pair of transport apparatuses can move through the third location with the first load to the second location to store the first load at the second location. To retrieve the load from storage at the first location, the method may further comprise controlling each transport apparatus in the pair of transport apparatuses to move into and through respective cavities of the second load to access the first location. The method may further comprise determining whether the first location from which the first load is to be retrieved from storage or the second location at which the first load is to be stored is adjacent the third location in which a second load is stored.

[0055] The method may further comprise determining whether a pair of transport apparatuses needs to pass through the third location to get to the first location from which the first load is to be retrieved from storage or the second location at which the first load is to be stored.

[0056] The method may further comprise if the first location from which the first load is to be retrieved from storage or the second location at which the first load is to be stored is behind multiple rows of stored goods, the method further comprising: controlling respective further pluralities of pairs of transport apparatuses to move to any loads in the rows that are preventing a pair of transport apparatuses from leaving the first location with the first load or from accessing the second location with the first load; controlling each transport apparatus in each further plurality of pairs to move into a respective cavity of a respective load that is preventing a pair of transport apparatuses from leaving the first location with the first load or from accessing the second location with the first load; controlling each transport apparatus in each further plurality to raise their respective loads to an elevated position; and controlling each pair of transport apparatuses in the further plurality to move to a location remote from the rows with their respective loads in the elevated position to thereby remove the respective loads away from the rows so that a passage is cleared through the rows to the first location from which the first load is to be retrieved from storage or the second location at which the first load is to be stored into which a pair of transport apparatuses can move so that a pair of transport apparatuses can leave the first location with the first load through the third location to retrieve the first load from storage at the first location or so that a pair of transport apparatuses can move through the third location with the first load to the second location to store the first load at the second location.

[0057] The method may further comprise determining whether the first location from which the first load is to be retrieved from storage or the second location at which the first load is to be stored is behind multiple rows of stored goods.

[0058] The method may further comprise controlling multiple pluralities of pairs of transport apparatuses to store respective loads side by side in rows in an arrangement comprising at least three loads stored side by side and at least three rows.

[0059] In any of the methods of the third to sixth examples above, each transport apparatus may comprise a chassis having a length and a width; at least one lifting plate having a top face for abutting against a load; and at least two wheel assemblies at a mutual distance along the length of the chassis, wherein at least one of the at least two wheel assemblies is operatively connected to a drive motor, and at least one of the wheel assemblies comprises a steering mechanism for allowing steering of the transport apparatus. The chassis may comprise a first motion mechanism operatively connected to the lifting plate, and configured for moving the lifting plate relative to the chassis between a lowered position and an elevated position; a second motion mechanism operatively connected to the wheel assemblies, and configured for moving the at least two wheel assemblies relative to the chassis between a retracted first position and an advanced second position; and a control unit for controlling the drive motor and the motion mechanism, wherein the transport apparatus is configured to be movable into and through a cavity in the load when at least one of: the lifting plate is in the lowered position; and the wheel assemblies are in the retracted first position, wherein, to control the first pair of transport apparatuses, the method may comprise transmitting a control signal to the control unit of each transport apparatus.

[0060] In any of the methods of the third to sixth examples above, each transport apparatus may comprise a chassis and a lifting plate, the chassis having a length and a width, and wherein the chassis comprises: at least one lifting mechanism configured for moving the lifting plate between a lowered position and an elevated position in operational use; a steering mechanism comprising at least two wheel assemblies at a mutual distance along the length of the chassis, wherein at least one of the at least two wheel assemblies is operatively connected to a drive motor for allowing steering of the transport apparatus; and a control unit for controlling the drive motor and the lifting mechanism, wherein the transport apparatus is configured to be movable into and through a cavity in the load when the lifting plate is in the lowered position, and wherein the lifting plate is movable relative to the chassis, wherein the at least one lifting mechanism is connected to the lifting plate and to the chassis, and wherein the lifting plate covers a top side of the chassis and encloses a portion of the chassis, wherein, to control the first pair of transport apparatuses, the method may comprise transmitting a control signal to the control unit of each transport apparatus.

[0061] According to a seventh example of this disclosure there is provided processing circuitry configured to execute the method of any of the above examples.

[0062] According to an eight example of this disclosure there is provided a non-transitory machine-readable medium comprising instructions which, when executed by a processor, cause the method of any of the above examples to be performed

[0063] According to a ninth example of this disclosure there is provided a multi-level storage structure comprising: at least two floors on which goods may be stored, at least one lifting device configured to move between the floors; and an apparatus configured to execute the method of the above examples The multi-level storage structure may comprise the first pair of transport apparatuses.

[0064] The invention aims to remedy or reduce at least one of the disadvantages of the known technology, or at least to provide a useful alternative to known technology where loads can be stored and moved about a storage facility in three dimensions, e.g. across multiple floors of a multi-level storage structure. The object is obtained through functions, which are specified in the description below and in the statements that follow. The invention is defined by the independent patent claims. The dependent requirements define advantageous embodiments of the invention.

[0065] The invention is a storage and transport control system that combines a multi-level or a multi-story storage structure with storage space together with several transport units, for the purpose of reducing reloading of goods. The storage and transport control system uses one or more automatic transport apparatuses that can pick up and drop off the goods themselves, which are not limited to operate inside a compact storage system, production area, room, or building. The work area may be digitalised and added an X, Y and Z pattern, where the positions used for storage and transport locations are defined by coordinates in three dimensions, e.g. are assigned an (x,y,z) coordinate. The size of each storage and transport space can be individually adapted, if necessary.

[0066] The storage and transport control system combines one or more transport apparatus and one or more elevators that can bring the transport apparatus from one floor to another floor in a modular system comprising vertical and horizontal load-bearing structures, where modulars plates form horizontal surfaces. This allows the transport apparatus to navigate to each storage position in x, y, and z directions.

[0067] Further, the invention relates to control methods for such systems.

[0068] The system includes a method for efficient storage of goods and an efficient method for retrieving the goods, using multiple transport apparatus where each transport apparatus is given its specific task. Some will pick up the desired goods, while some will move away goods that stand in the way.

[0069] BRIEF DESCRIPTION OF THE FIGURES

[0070] In the following, examples of a preferred design of the transport apparatus according to this invention are illustrated in the accompanying drawings, where:

[0071] Fig 1 . illustrates an example multi-level storage system, for example a storage- and transport control system; Fig. 2 illustrates a flowchart of an example process for handling an order;

[0072] Figs. 3a-3f illustrate operations within a multi-level storage structure;

[0073] Figs 4a - 4c illustrate schematic diagrams of operations within a multi-level storage structure;

[0074] Fig. 5 illustrates an example operation of transport apparatuses;

[0075] Fig. 6a shows an example of a transport apparatuses in an “extract” or raised position;

[0076] Fig. 6b shows the transport apparatus of Fig 6a in a lowered or retracted position; and

[0077] Fig 7 shows the transport of Fig 6a of a transport apparatus where a lifting plate encloses a portion of the chassis.

[0078] DETAILED DESCRIPTION

[0079] The invention relates to storage and transport control systems that can be used to control one or more transport apparatus, one or more lifting equipment and other 3rd party equipment. Multiple transport apparatuses can be used to move multiple loads (for example pallets) at the same time, and the lifting equipment can serve multiple transport apparatus and multiple loads at the same time. Herein, where the term “load” is used this may be understood to comprise goods (e.g. goods to be stored and / or retrieved) or indeed a load carrier itself, for example a load may be a pallet or a pallet having multiple elements stored thereon or above. A pallet having elements stored thereon (or not) may equally be referred to as goods, but alternatively the elements stored on a pallet may be referred to as goods, depending on the example. In certain examples “load” and “goods” may be used interchangeably and both may comprise a package, a pallet, or a pallet storing packages etc. The storage and transport control system is configured for wireless communication through any known wireless communication protocol, but also has the possibility to control and communicate with wired connected equipment. By moving a transport apparatus in the Z-direction with the help of a lifting device, the functionality of the transport apparatus may be used over several floors, for an efficient space-saving storage system. The transport apparatus can be used in the storage system, and then the same type of transport apparatus can transport the goods to for example a production area or a loading zone.

[0080] The storage and transport control system has defined storage positions with dimensions in x, y, and z. It is then possible to use the transport apparatus over several floors. The transport apparatus can be used inside an automated storage and retrieval system as well as used to transporting goods out of the automated storage and retrieval system and even out of the building.

[0081] Input of tasks can be done manually, via terminal or via API towards an ERP or WMS system.

[0082] In a second aspect, the invention revolves around an efficient way of storing goods. The system includes a construction that includes horizontal and vertical support columns, foundation plates, adapters to the existing shelving system and module plates that form floors on which the transport apparatus can move on. The module plates, held up by the horizontal support rails, form a floor suitable for the transport apparatus to move on. The storage and transport control system uses an elevator to elevate transport apparatus in the z-direction. The size of the load is not limited to occupying only 2 positions (the size of a type of Euro pallet) but can easily be smaller or larger, both in width and length.

[0083] The location system contains address information in x, y, and z directions. For example, X00009Y00002Z0003. The storage- and transport control system is not limited to only using devices that uses the entire address string. An elevator e.g. only needs the last part of address Z0003, and a transport apparatus can be fully integrated even if it independently only can handle addresses in X and Y-planes. The transport apparatus can be autonomous or automatic. In every way the storage and transport control system will make sure that the transport apparatus is operating well.

[0084] The storage and transport control system can also contain a section number in the location system, this can e.g. be useful in a large building and several buildings.

[0085] The number of possible storage spaces in each direction isn't locked to a data word or string of data. When the storage system receives a request to pick up goods, the control system will first analyse the position of the goods, and then calculate what transport apparatus that has the best starting point for picking up the item.

[0086] Example of a transport apparatus, to be moved from one floor to another floor. In front of the elevator in each floor, an area is defined as a waiting zone. When a transport apparatus enters Field 1 in this waiting zone, it will behave in the same way as if you were manually operating the call button on a traditional elevator. The elevator can prioritize requests according to the priority category and the time when the request was received. When there is an additional need for many transport devices to be moved to a specific floor, it is possible that several transport devices are transported in the lift at the same time.

[0087] Both the transport apparatus and the elevator equipment are kept informed of the order being executed, this is an additional safety key that allows the elevator and the transport apparatus to interact, when elevators arrive where the transport apparatus is located, the elevator will provide the necessary access, and the transport apparatus will enter the elevator. Since both are familiar with the order, both units are also familiar with the floor to take the transport apparatus. Once the elevator has brought the transport apparatus to the desired floor, the transport apparatus can leave the elevator and proceed towards the designated location. The transport apparatus will then first find the correct row, then go under and through other pallets into the correct column, where the desired goods to be picked up are located. Beforehand, or at the same time, other transport devices will follow a similar procedure to seek out similar pallets that may be in the way for being able to pick up the desired pallet.

[0088] The transport apparatus tasked for moving goods away making free space, will receive a specific location for the goods to be moved to, and then place the goods back to its previous position, or any other position.

[0089] From time to time, there will be a desire to bring in more goods than the available number of transport apparatus. The order will then be stored, analysed and placed in a queue system.

[0090] The order can be placed with multiple priority levels. The example referred to has normal priority, and should only be seen as an example:

[0091] The order is received, from a terminal, processed in the control system and queued.

[0092] The orderwill consist of suborders, which will be given to the first transport apparatus available for assignments. It may be that the first two transport apparatuses will be available before any other transport apparatuses, they will then continue with next suborder.

[0093] It is preferred that there is transport apparatus available immediately, then all suborders will be executed at approximately the same time by different transport apparatus.

[0094] When transport apparatus is needed in another floor, the transport apparatus will receive instructions to move to the elevator queue, positioning themselves as close to the elevator as possible. When the transport apparatus arrives, the system will check if there are multiple transport apparatus that should take part of the same elevator movement. When the elevator arrives at the desired floor, it will provide feedback to the control system giving the go-ahead to the transport apparatus to leave the elevator.

[0095] Figure 1 shows a multi-level storage structure or a warehouse or a storage facility. Figure 1 shows a system comprising one or more transport apparatuses (e.g. at least one pair of transport apparatuses) that are configured to operate inside and / or outside the multilevel storage structure which has at least one storage space for storing a load. As above, by load it is meant any suitable load configured to be stored and / or transported such as for example a single package, a pallet having no goods, a pallet having goods thereon, or even a carrier for a load that is itself configured to transport a load and the term “load” may be used interchangeably with “goods”. Each transport apparatus is configured to lift a load and transport it to and from storage and each transport apparatus is configured to move into and through a cavity of the load, for example into and through a cavity of a pallet (either having goods therein or not having goods thereon). The storage structure further comprises one or more lifting devices (for example an elevator) that is configured to lift at least one transport apparatus and / or a load. In this way the lifting device may be sized to receive a number of transport apparatuses and at least one load (for example two pallets either having goods thereon or not having goods thereon, for example side-by-side or one in front of the other, possibly having transport apparatuses received in the cavities of the pallets etc). The storage structure may also comprise a control system that may be implemented in any suitable combination of hardware and / or software and may comprise a computing system or device. The control system is configured to control the operation of the one or more transport apparatuses and the operation of the one or more lifting devices and is configured to perform the methods described herein. The control system is configured to communicate via any suitable communication protocol such as wireless or / and wired communication; and wherein the control system is configured to connect to a terminal, ERP and / or a WMS system.

[0096] As shown in Figure 1 the storage structure has a plurality of horizontal support beams, vertical support columns and modular plates that are configured to fit over the horizontal support beams to form floors on which a transport apparatus can move. The control system can control the lifting device to move in the vertical (Z) direction to travel (and transport a load) between floors.

[0097] Examples of a transport apparatuses are shown in Figures 6a, 6b and 7. A transport apparatus may be any suitable apparatus to transport a load, or goods, that is sized to be received in a cavity of the load, or goods. The transport apparatuses will be described below.

[0098] It will be appreciated that to move a load, a pair of transport apparatuses may be controlled to move into respective cavities of the load. The pair of transport apparatuses may be in a lowered position when they move into the cavities and may be controlled to transition to a raised configuration. In the raised configuration the pair of transport apparatuses are to lift the load and to transport the load (e.g. when they move the load is moved on top of the transport apparatuses). The transport apparatuses may therefore work in pairs and may therefore be controlled to move in pairs to a load, to work in pairs to lift a load, and / or to move in pairs to move a load to another location. Control of the transport apparatuses may be by the control system. The control system may therefore be configured to control a first pair of transport apparatuses to move inside the multi-level storage structure, a second pair of transport apparatuses to transport goods from inside the multilevel storage structure to outside the multi-level storage structure, and / or a third pair of transport apparatuses to transport goods from a storage area to a production area of the multi-level storage structure orto a loading zone ofthe multi-level storage structure. Indeed, the control system may be configured to control any number of transport apparatuses, e.g. any number of pairs of transport apparatuses, to move in the storage structure to fulfil an order or a sub-order. Such an order may comprise any number of goods to be moved from one location to another location to be stored and / or any number of goods to be moved from storage (e.g. retrieved). The control system may therefore be configured to control any suitable number of pairs of transport apparatuses to move concurrently or simultaneously. To fulfil an order the control system may be further configured to control one or more transport apparatuses to move into and through a cavity in a load.

[0099] As Figure 1 shows, the multi-level storage structure comprises a plurality of storage locations each having a respective coordinate in a three-dimensional coordinate system. To fulfil an order the control system is configured to receive an indication of a location of a load in the multi-level storage structure and to retrieve its respective coordinates in the three-dimensional coordinate system, e.g. from a database. An (X,Y,Z) coordinate system may be used although other coordinate systems may be used. The control system may control the one or more transport apparatuses and one or more lifting devices based on the three-dimensional coordinates of the location of the load (e.g. based on the vertical, Z, ordinate specifically for the lifting device).

[0100] Example of bringing out goods from a multi-level storage structure with storage space, [fig 3a-f] The example shows a multi-level storage structure with storage space with 4 floors. Goods is stored in 24 positions in x direction (A Euro pallet will use 2 positions) and Y-direction consists of 13 positions. The goods we want to retrieve is stored om X0019- 20Y0004Z0004, the system then locate available transport apparatus, generate driving routes and sending sub-orders to the transport apparatuses. The transport apparatus goes to work area where the transport apparatus first moves away goods standing in the way for the goods to be retrieved, although it will be appreciated that one pair of transport apparatuses may proceed to the work area and a different pair of transport apparatus may move any goods that stand in the way of the goods to be retrieved (this may be done first or simultaneously since multiple pairs of transport apparatuses may be controlled to move at the same time). The transport apparatus moves the desired goods to the elevator and use the elevator from 4. Floor to 1 . Floor. The transport apparatus then brings the desired goods out of the multi-level storage structure with storage space, to the picking area.

[0101] Figures 3b-3f illustrate one example of how to fulfil an example order. The order is to retrieve a load from storage at the position X00020Y0004Z0004.

[0102] The pair of transport apparatuses is initially at the position X00020Y0010Z0004, although this is just an example of course the transport apparatuses may initially be at a different position in the Y direction. Further, the transport apparatuses are on the same floor (fourth floor) in these figures but equally they may be on a different floor initially in which example a lifting device may be controlled to move to the floor on which the transport apparatuses are located (e.g. the floor denoted by the Z ordinate 0, 1 , 2, or 3) and the transport apparatuses may be controlled to move into the lifting device and then the lifting device may be controlled to move (with the transport apparatuses therein) to the floor (Z=4) on which the goods are stored or are to be stored.

[0103] Figure 3b also illustrates that the desired goods are adjacent to another load, or goods, at the position X00020Y0005Z0004 (with respect to one transport apparatus, this will be understood with reference to the below discussion).

[0104] In Figure 3b the lifting device is on the ground floor (Z=0) to illustrate some of the principles of this disclosure.

[0105] As part of this process the pair of transport apparatuses may be controlled to move from their initial locations X00020Y00010Z0004 and X0019Y0010Z0004 to the location of the goods (at X00020Y0005Z0004 and X0019Y0005Z0004) which are preventing a pair of transport apparatuses (e.g. the same pair or a different pair) from retrieving and leaving with the stored goods (at X00020Y0004Z0004 and X0019Y0004Z0004), which may also be referred to as the “target goods”.

[0106] The pair of transport apparatuses are controlled to move to the location of the goods that are blocking the movement of the goods to another location.

[0107] This is shown in Figure 3c.

[0108] Figure 3c shows that the transport apparatuses have moved to the location of the goods (X00020Y0005Z0004) blocking the target goods (X00020Y0004Z0004) and have moved the goods blocking the target goods to another location, in the Figure 3c example these goods have been moved to the location X00018Y0006Z0004.

[0109] This creates a free passage to the target goods at X00020Y0004Z0004.

[0110] Then, the pair of transport apparatuses (although it could be a different pair of transport apparatuses) is controlled to move to the location of the target goods and is controlled to lift the target goods to move the goods. This is shown in Figure 3d.

[0111] At any stage in this process the lifting device may be controlled to move from its initial position on the ground floor (Z=0) to the fourth floor (Z=4).

[0112] Figure 3e illustrates the transport apparatuses moving the goods into the lifting device and moving the lifting device, with the transport apparatuses and goods therein, to the ground floor.

[0113] Figure 3f illustrates the transport apparatuses moving the retrieved goods to another location which may be another location in the storage facility or may be out of the storage facility. For example, the goods may be transported to a picking zone where a picking apparatus may collect the goods for a subsequent operation.

[0114] The Figure 3a-3f process is therefore a process of retrieving goods from a stored location. The process may be considered an order and may be broken up into the following sub-orders which will be understood as pertaining to the control of individual transport apparatuses in a pair:

[0115] Fig. 3b SUB-ORDER1 : X0020Y0010Z0004 - X0020Y0005Z0004.

[0116] This relates to the instruction to a first transport apparatus in the pair to move from its initial location to a first location (e.g. the location of the goods that are to be moved to create a free passage for the goods to be retrieved).

[0117] SUB-ORDER2: X0019Y0010Z0004 - X0019Y0005Z0004.

[0118] This relates to the instruction to a second transport apparatus in the pair to move from its initial location to a first location (e.g. the location of the goods that are to be moved to create a free passage for the goods to be retrieved).

[0119] Fig. 3c SUB-ORDER3: SYNCH - LIFT UP - X0020Y0006Z0004 - X0018Y0006Z0004 - LIFT DOWN.

[0120] SUB-ORDER4: SYNCH - LIFT UP - X0019Y0006Z0004 - X0017Y0006Z0004 - LIFT DOWN.

[0121] Sub-orders 3 and 4 relate to controlling each respective transport apparatus in the pair to raise (lift up) the load in a synchronised manner, travel (from X=20 for the first transport apparatus and X=19 for the second transport apparatus to X=18 for the first transport apparatus and X=17 for the second transport apparatus) and then lower (lift down) the load in a synchronised manner. The way the transport apparatuses may raise and lower a load is discussed below. This is to move the goods in front of the goods to be retrieved to create a free passage for the goods to be retrieved. SUB-ORDER5: X0018Y0007Z0004 - X0020Y0007Z0004 - X0020Y0004Z0004

[0122] SUB-ORDER6: X0017Y0007Z0004 - X0019Y0007Z0004 - X0019Y0004Z0004 Sub-orders 5 and 6 relate to, respectively, the movement of the transport apparatuses from X=18, Y=7 to X=20, Y=4 and from Z=17, Y=7 to X=19, Y=4 on the fourth floor to the position where the goods to be retrieved are located. It will be appreciated that the location of goods may be charactersied by a plurality of locations and coordinates, for instance the goods may cover both the locations X0020Y0004Z0004 and X0019Y0004Z0004, each location corresponding to the cavity through which the first and second transport apparatus drives into to lift the load.

[0123] Fig. 3d SUB-ORDER7: SYNCH - LIFT GOODS - X0020Y0004Z0004 - X0020Y0007Z0004 - ELVATOR REQUEST.

[0124] SUB-ORDER8: SYNCH - LIFT GOODS - X0019Y004Z0004 - X0019Y0007Z0004 - ELEVATOR REQUEST.

[0125] Sub-orders 7 and 8 relate to the synchronised lifting of the goods to be retrieved and the movement of the transport apparatuses to transport to the goods to the elevator (the position X0020Y0007Z0004 and X0019Y0007Z0004 being proximate the elevator). Then, the control system issues a request for the elevator. This may be a request for the elevator to travel up to the fourth floor or for the elevator door to open or both.

[0126] Fig. 3e SUB-ORDER9: X0020Y0007Z0004 - X0024Y0007Z0004 - ELEVATOR REQUEST.

[0127] SUB-QRDER10: X0019Y0007Z0004 - X0023Y0007Z0004 - ELEVATOR REQUEST.

[0128] Sub-orders 9 and 10 relate to the synchorinised movement of the transport apparatus while in the raised position (e.g. while lifting the goods) proximate the elevator. Then, the control system issues request for the elevator. This may be a request for the elevator door to open. SUB-ORDER11 : ELEVATOR OPEN - X0026Y0007Z0004 - X0026Y0007Z0001 -HEIS OPEN.

[0129] SUB-ORDER12: ELEVATOR OPEN - X0025Y0007Z0004 - X0025Y0007Z0001 -HEIS OPEN.

[0130] Sub-orders 11 and 12 relate to the movement of the elevator from the fourth floor (Z=4) to the first, or ground floor (Z=1) and to the subsequent synchronised movement of the transport apparatuses out of the elevator, in the raised position, transporting the goods.

[0131] Fig. 3f SUB-ORDER13: X0026Y0007Z0001 - X0028Y0007Z0001 - X0028Y0001Z0001 - LIFT DOWN SUB-ORDER14: X0025Y0007Z0001 - X0027Y0007Z0001 - X0027Y0001Z0001 - LIFT DOWN

[0132] Sub-orders relate to the transport apparatus while in the raised position to transport the load, moving to the final position of the load (at X0028Y0001 Z0001 and X0027Y0001Z0001). Thereafter, the transport apparatuses are controlled to transition to their lowered configurations (lift down) to thereby lower to the load to be supported by the ground.

[0133] Thereafter, further suborders may instruct the transport apparatuses to drive out of the cavities of the loads and to a remote location (for example to fulfil another order).

[0134] It should be appreciated from the above sub-orders that an instruction to control a first pair of transport apparatuses to move from one location to another comprises two subinstructions to control each transport apparatuses that form the pair. Said another way, controlling a first pair of transport apparatuses to move comprises controlling each transport apparatus in the pairto move (e.g. from a respective first location for each apparatus defined by a respective coordinates to another location for each apparatus defined by another set of respective coordinates).

[0135] It should also be appreciated how the process illustrated in Figure 3b-3f may be performed (all or in part) in reverse when the order does not comprise an order to retrieve goods from storage but rather comprises an order to transport goods to storage. In this example the transport apparatuses may be controlled to travel to an initial location (possibly on the same floor or a different floor to the goods to be retrieved and, in the latter case, the process comprises controlling the lifting device to move to the floor on which the transport apparatuses are initially located) to the location of the goods to be stored and then to lift the goods to be stored and transport the goods to be stored to a location designated for storing the goods. In the Figure 3b-3f example one load was “in the way” of the load to be retrieved.

[0136] Figures 4a-4c illustrate a more complicated example where multiple loads or goods are preventing the free passage to the target location.

[0137] Figure 5 illustrates how a pair of transport apparatuses may be configured to transport a load to the front of a storage structure so that a picking apparatus may collect the load so that the load can be transferred from the storage structure to the picking apparatus.

[0138] With reference to Figures 3a-5 the control system for at least one transport apparatus and at least one lifting device, e.g. a control system for the storage structure shown in Figures 1 and 3a, may be configured to perform the following methods.

[0139] For example, the control system may comprise controlling a first pair of transport apparatuses to transport a first load to or from storage and controlling a lifting device of the multi-level storage structure. The control system may control a second pair of transport apparatuses to transport a second load. The control system may control a third pair of transport apparatus to move a third load from a location so that the first or second load has free passage through that location.

[0140] Indeed this may be understood with reference to Figures 3b-4c which depict moving loads out of the way to clear a free passage to a goods to be retrieved (or to a location where goods are to be stored). In these examples multiple pairs may be controlled to perform operations regarding respective loads or goods but, as discussed above with reference to Figure 3c the same pair of transport apparatuses could enter a load, raise the load, move that load out of a passage toward goods to be retrieved, then the same pair of transport apparatuses may do the same regarding any subsequent loads in the passage and then retrieve the goods. Therefore, such an operation may be handled by a single pair of transport apparatuses or multiple pairs of transport apparatuses.

[0141] The control system may be configured to control multiple pairs of transport apparatuses to store loads side by side, in the x, y and z positions of a coordinate system, or control a single pair of transport apparatuses to store loads side by side in the x, y, and z positions of a coordinate system, this is shown in at least Figure 3a. Therefore, an advantage of the present disclosure is that loads can be stored side-by-side and vertically in a cuboid arrangement. For example, respective loads may stored side-by-side in rows in an arrangement comprising at least three loads stored side by side and at least three rows. This cannot be achieved with conventional transport apparatuses (e.g. pallet movers) because such transport apparatuses need to leave space / aisles for them to move through. Said anotherway, a 3x3 arrangement would effectively “trap” the middle load if conventional transport apparatuses were used. In contrast, the transport apparatuses of the present disclosure, having the ability to move through cavities of loads, can store loads in a much denser configuration as these aisles are no longer necessary because transport apparatuses can move through load cavities. In turn, the present invention allows more loads and goods to be stored in a given space.

[0142] The control system may be configured to cause the first pair of transport apparatuses to move the first load to an edge of a floor so that a manual or other automatic picking system can access the first load, as depicted in Figure 5.

[0143] The control device can control a lifting device as described above.

[0144] The control device can control a lifting device to move to a floor where the first pair of transport apparatuses are located (e.g. if the lifting device is not on then same floor as the transport apparatuses). The lifting device can further control the lifting device with the first pair of transport apparatuses therein to move to a first floor on which the first pair of transport apparatuses are to retrieve and / or store a load (e.g. as described with respect to Figure 3e). The control system may receive, from the lifting device, an indication that the lifting device is at the first floor; and, upon receiving the indication, the control system may control the first pair of transport apparatuses to leave the lifting device (e.g. as described with respect to Figure 3f).

[0145] As stated above, an order may be received to store a load or to retrieve a load from storage and this may be broken up into sub-orders, or sub-operations, to execute the order. The control system may receive an assignment (or an order), the assignment comprising an indication that a plurality of loads are to be transported to and / or from storage, and may divide the assignment into several suborders, each suborder comprising an order for a load to be transported to storage or to be retrieved from storage and, if two pairs of transport apparatuses are not engaged in a storage or retrieval operation, assign a first pair of transport apparatuses to execute a first suborder and assign a second pair of transport apparatuses to execute a second suborder, wherein the first and second pairs of transport apparatuses are to execute the first and second suborders simultaneously. In this way, multiple transport apparatuses may be controlled to fulfil multiple orders or sub-orders.

[0146] If the control system obtains an indication that a first load is to be retrieved from a first location and transported to a second location the control system may determine whether the lifting device is located on the same floor as a first transport apparatus configured to move into and through a cavity of a load; and, if the lifting device is not located on the same floor as the first transport apparatus, causing the lifting device to move to the same floor as the first transport apparatus (as discussed above with respect to Figure 3c). The control system may then control the first transport apparatus to move from an initial location into the lifting device; control the lifting device to move to the floor on which the first location is located and controlling the first transport apparatus to exit the lifting device. For example, although the transport apparatuses are on the same floor (the 4th floor) as the load in Figure 3b, if this is not the case the transport apparatuses may be moved to that floor by entering the lifting device and controlling the lifting device. At this stage there may not be a pair of transport apparatuses so it should be appreciated that the control system may control the transport apparatuses individually as well as in pairs, and that the lifting device may move a single transport apparatuses, e.g. transport apparatuses one at a time,

[0147] In this way the control system may be configured to control two individual transport apparatuses to form a pair. Specifically, the control system may be configured to control a second transport apparatus configured to move into and through a cavity of a load to move from an initial location into proximity with a first transport apparatus to form a first pair of transport apparatuses that are configured to retrieve the first load from the first location. Once in proximity the control system may be configured to control the apparatuses together, as a pair. Control of the pair may comprise controlling the two transport apparatuses to move such that a fixed distance is maintained between them, this distance may be approximately equal to the distance between the midpoints of respective cavities of loads (e.g. pallets) through which the transport apparatuses are configured to move through.

[0148] Once a pair is formed if a lifting device is not on the same floor as the pair, the control system may cause the lifting device to move to the same floor as the first pair of transport apparatuses. Once the lifting device is on the same floor, the control system may control the first pair of transport apparatuses to move from an initial location into the lifting device, control the lifting device to move to the floor on which the first location is located and then control the first pair of transport apparatus to exit the lifting device.

[0149] As discussed above regarding the retrieval of goods depicted in Figure 3c and 3d, the control system may control the first pair of transport apparatuses to move to a first location, control each transport apparatuses to move into a respective cavity of the first load, and control each transport apparatus to raise the first load to an elevated position so that the pair of transport apparatuses can transport the first load. The first pair may move the first load out of the way (e.g. to clear a free passage as in Figure 3c) so that it or a different pair of transport apparatuses may retrieve a load from storage or store a load. Alternatively the first pair may be controlled to retrieve the goods. In the latter example, the first pair of transport apparatuses may be controlled to move with the first load in the elevated position from the first location into a lifting device (as described with reference to Figure 3e).

[0150] If the lifting device is not on the floor on which the first location is located, the lifting device may be caused to move to the floor on which the first location is located so that the first pair of transport apparatuses with the first load in the elevated position can enter the lifting device.

[0151] Thereafter, either the lifting device can move the transport apparatuses and load together or the first pair of transport apparatuses can lower the load to the floor of the lifting device and exit the lifting device, then at another floor a second pair can retrieve the load from the lifting device and continue the operation. Specifically, in the first example the control system may control the lifting device to move to the floor on which the second location is located and control the first pair of transport apparatuses with the first load in the elevated position to exit the lifting device and to move onto the floor on which the second location is located to the second location. In this way, the first pair has control over the load while in the lifting device and exits the lifting device with the load. In the second example the control system may control the first pair of transport apparatuses to lower the first load such that the first load is supported by the floor of the lifting device, control each transport apparatus in the first pair to move out of the respective cavities of the first load and out of the lifting device, control the lifting device to move to the floor on which the second location is located, control a second pair of transport apparatuses to move into the lifting device, control each transport apparatus in the second pair to move into a respective cavity of the first load, control each transport apparatus to raise the first load to an elevated position so that the pair of transport apparatuses can transport the first load, control the second pair of transport apparatuses with the first load in the elevated position to exit the lifting device and to move onto the floor on which the second location is located to the second location.

[0152] It should be appreciated that the multi-level storage structure may comprise a lifting device but may nevertheless comprise multiple floors that are connected by a lifting device and may instead be connected by a ramp. The methods and control systems are equally applicable to such storage structures. Specifically, upon obtaining an indication that a first load is to be retrieved from a first location on a first floor of the two floors and transported to a second location on a second floor of the two floors, the control system may control a first pair of transport apparatuses, each transport apparatus in the first pair being configured to move into and through a cavity in a load, to move from an initial location to the first location, and control each transport apparatuses to move into a respective cavity of the first load, control each transport apparatus to raise the first load to an elevated position so that the pair of transport apparatuses can transport the first load and control the first pair of transport apparatuses to move with the first load in the elevated position from the first location on the first floor to the second location on the second floor to move the first load from the first location on the first floor to the second location on the second floor. In this way the transport apparatuses may still transport loads across multiple floors of a storage structure without necessarily using a lifting device.

[0153] With reference again to Figure 3c, 3d and Figures 4a-4c, as discussed above, multiple pairs of transport apparatuses can be controlled to move loads that are in the way of a particular storage or retrieval operation.

[0154] Specifically, an order comprising an indication that a first load is to be retrieved from storage at a first location may be received, the first location being adjacent to a third location in which a second load is stored and the control system control each transport apparatus in the first pair of transport apparatuses to move into and through respective cavities of the second load to access the first location. The control system may control a second pair of transport apparatuses to move to the third location, control each transport apparatus in the second pair to move into a respective cavity of the second load, control each transport apparatus in the second pair to raise the second load to an elevated position, and control the second pair of transport apparatuses to move away from the third location with the second load in the elevated position to thereby move the second load away from the third location. Of course, the first pair of transport apparatuses may controlled to move the second load away from the third location instead of the first pair depending on how the disclosure is implemented.

[0155] An indication that a first load is to be stored at the second location may be received, and the second location being adjacent to a fourth location in which a third load is stored. This indication may be part of an order and may be part of the same order as above. Put another way, an indication may be received indicating that multiple loads are to be retrieved and / or stored at respective locations that are adjacent other locations in which goods are stored and at least one pair transport apparatuses may be controlled to clear free passage. The control system in this example may control a third pair of transport apparatuses to move to the fourth location, control each transport apparatus in the third pair to move into a respective cavity of the third load, control each transport apparatus in the third pair to raise the third load to an elevated position, and control the third pair of transport apparatuses to move away from the fourth location with the third load in the elevated position to thereby move the third load away from the fourth location so that the first pair of transport apparatuses can move through the fourth location with the first load to the second location to store the first load at the second location.

[0156] With reference to Figures 4a-c specifically, a location to be accessed may be behind multiple rows of stored goods and these are to be moved to clear a passage.

[0157] If an indication is received that the first load is to be retrieved from storage at a first location behind multiple rows of stored goods, the control system may control the first pair of transport apparatuses to move into and through cavities in any loads in the multiple rows of stored goods so that the first pair of transport apparatuses can access the first location, control respective further pluralities of pairs of transport apparatuses to move to any loads in the rows that are preventing the first pair of transport apparatuses from leaving the first location with the first load, control each transport apparatus in each further plurality of pairs to move into a respective cavity of a respective load that is preventing the first pair of transport apparatuses from leaving the first location with the first load, control each transport apparatus in each further plurality to raise their respective loads to an elevated position, and control each pair of transport apparatuses in the further plurality to move to a location remote from the rows with their respective loads in the elevated position to thereby remove the respective loads away from the rows so that a passage is cleared through the rows to the first location into which the first pair of transport apparatuses can move so that the first pair of transport apparatuses can leave the first location with the first load. Similarly if an indication is received that the first load is to be stored at a second location behind multiple rows of stored goods (this may be the same indication as the one described above, indeed an order may comprise multiple such indications or a single indication may relate to multiple loads etc.), the control system may control respective further pluralities of pairs of transport apparatuses to move to any loads in the rows that are preventing the first pair of transport apparatuses with the first load from accessing the second location, control each transport apparatus in each further plurality of pairs to move into a respective cavity of a respective load that is preventing the first pair of transport apparatuses with the first load from accessing the second location, control each transport apparatus in each further plurality to raise their respective loads to an elevated position and control each pair of transport apparatuses in the further plurality to move to a location remote from the rows with their respective loads in the elevated position to thereby move the respective loads away from the rows so that a passage is cleared through the rows to the second location into which the first pair of transport apparatuses can move so that the first pair of transport apparatuses can access the second location with the first load.

[0158] The control system may have access to the stored goods and their respective locations such that the control system can determine whether a given load to be stored or retrieved is to be stored or retrieved at or from a location that is next to one, or multiple, stored goods.

[0159] The second location may be at an edge of one of the floors of the multi-level storage structure (as shown in Figure 5).

[0160] If a load or goods is to be transported to a picking system the control system may also have control over the picking system. For example, the control system may control a picking system to pick up a first load, or part of the first load (e.g. if a load comprises multiple items).

[0161] Example transport apparatuses will now be described.

[0162] The invention also concerns a transport apparatus (e.g. one or more, e.g. a pair of transport apparatuses) configured for wireless communication with an external control system through any known wireless communication protocol. The transport apparatus may be configured to automatically load and unload the load, and it may be configured to move into and through a cavity in the load. An advantage of the transport apparatus, being able to move through a cavity in the load is that loads can be stored in a more compact way. But still be accessible by using transport apparatuses for the purpose of moving goods away, providing space and free passage to the desired goods. There is no need for a large area around a load to lift it, and several loads are movable at the same time. This is an advantage in storages where goods is stored on pallets. A preferred transport apparatus, comprises: a chassis having a length and a width; at least one lifting plate having a top face for abutting against a load; and at least two wheel assemblies at a mutual distance along the length of the chassis, wherein at least one of the at least two wheel assemblies is operatively connected to a drive motor, and at least one of the wheel assemblies comprising a steering mechanism for allowing steering of the transport apparatus.

[0163] The chassis comprises a first motion mechanism operatively connected to the lifting plate, and configured for moving the lifting plate relative to the chassis between a lowered position and an elevated position; a second motion mechanism operatively connected to the wheel assemblies, and configured for moving the at least two wheel assemblies relative to the chassis between a retracted first position and an advanced second position; and a control unit for controlling the drive motor and the motion mechanism, wherein the transport apparatus is configured to be movable into and through a cavity in the load when at least one of: the lifting plate is in the lowered position; and the wheel assemblies are in the retracted first position.

[0164] It should be understood that the transport apparatus allows for moving the lifting plate relative to the chassis both directions, i.e. to and from the elevated position, and for moving the at least two wheel assemblies relative to the chassis, i.e. to and from the advanced second position. Allowing movement of both the lifting plate and the chassis, has the effect that the transport apparatus has an improved flexibility. This is particularly advantageous when the transport apparatus is moved on an uneven floor, when there is a break in the plane for example between a substantially horizontal first surface portion to a second surface portion being inclined with respect to the first surface portion, and when the transport apparatus passes a raised obstruction.

[0165] In one embodiment, the first motion mechanism is configured for moving the lifting plate relative to the chassis simultaneously with the second motion mechanism moving the at least two wheel assemblies relative to the chassis.

[0166] In an alternative embodiment the second motion mechanism is configured for activating movement of the wheel assemblies towards the advanced second position before the lifting plate is activated towards the elevated position by means of the first motion mechanism. An advantage of this alternative embodiment is that the transport apparatus can pass into a cavity of a load wherein an entrance of the cavity comprises an obstruction. Some types of pallets comprises a board or plank abutting against a supporting plane. Such a board or plank may represent an obstruction with respect to a free space to a lowermost portion of the chassis of the apparatus. By moving the wheel assembly at least towards the advanced second position by means of the second motion mechanism and keeping the lifting plate in the lowered or substantially lowered position, the transport apparatus may pass into the cavity.

[0167] Therefore, the control system and transport apparatuses of this disclosure can also deal with obstructions. Specifically, the control system can determine whether an obstruction is present along a first path of the first pair of transport apparatuses and, if it is determined that an obstruction is present, control a first pair of wheels of the transport apparatuses to transition to a retracted configuration in which the first pair of wheels are closer to a top surface of the transport apparatus configured to support a load, control the first pair of transport apparatuses to travel along the first path and over the obstruction with the first pair of wheels in the retracted configuration. Similarly, the control system can determine whether the first pair of transport apparatuses is to enter a cavity along a second path and, if it is determined that the transport apparatus is to enter a cavity, control a first pair of wheels of the transport apparatuses to transition to a retracted configuration in which the first pair of wheels are closer to a top surface of the transport apparatus configured to support a load, and control the first pair of transport apparatuses to travel along the second path through the cavity with the first pair of wheels in the retracted configuration.

[0168] In still another embodiment the first motion mechanism is configured for activating the lifting plate towards the elevated position before the wheel assemblies are activated towards the advanced second position by means of the second motion mechanism.

[0169] Any order of activation of the lifting plate and the wheel assemblies may be mechanically controlled. The transport apparatus may comprise a mechanical delay mechanism to control an order of activation of the lifting plate and the wheel assemblies. A mechanical delay mechanism allows simultaneous activation of the first motion mechanism and the second motion mechanism, while at the same time a movement of the lifting plate and the wheel assembly with respect to the chassis, is commenced differently, i.e. one before the other.

[0170] In one embodiment the first motion mechanism is configured for being operated independently of the second motion mechanism.

[0171] The lifting plate may cover a top side of the chassis. This leads to more stability when lifting and lowering a load as the load will be evenly distributed on the area of the lifting plate. In one embodiment, the lifting plate comprises side portions that enclose and slidingly abuts side portions of the chassis. This has the effect of providing a very stable transport apparatus. In one embodiment, at least side portions of the chassis are fully covered by side portions of the lifting plate when the lifting plate is the lowered position.

[0172] In one embodiment, the transport apparatus comprises a cleaning device configured for removing loose debris being on a base in front of the wheel assemblies. The cleaning device may comprise at least one of a broom and a plough. Preferably the cleaning device is secured to a portion of the wheel assembly. Securing the cleaning device to a portion of the wheel assembly is advantageous in that the cleaning can be in contact with a plane supporting the transport apparatus independently of a position of the chassis and the lifting plate.

[0173] The effects of the features of the transport apparatus in accordance with the invention are as follows. First of all, the transport apparatus can be easily used to transport loads or cargos having a suitable cavity. The load may typically be a load carrier such as a pallet, with or without an added load. The transport apparatus may first be driven into a cavity in the load while at least one of the lifting plate and the wheel assembly is in the lowered position and retracted first position, respectively. When the transport apparatus is within the cavity, one or both of the first motion mechanism and the second motion mechanism may then move the lifting plate towards the elevated position. It should be noted that the elevation of the lifting plate depends also on an elevation of the chassis with respect to the plane which is controlled by the second motion mechanism that controls the position of the wheel assembly. When the lifting plate is sufficiently elevated, the load is lifted from the plane. Depending on the configuration of the transport apparatus, the second motion mechanism can be activated to bring the wheel assemblies to their advanced second position to lift the load from the plane. While the load is lifted from the plane, the transport apparatus may move the load to a desired location where at least the first motion mechanism may lower at least the lifting plate to the lowered position to lower the load at least towards the plane. Depending on the configuration of the transport apparatus, the second motion mechanism can be activated to bring the wheel assemblies to the retracted first position to put the load on the plane when the transport apparatus has arrived the desired location.

[0174] Furthermore, the transport apparatus is configured to be movable into and through a cavity in the load. This feature has several advantages. Firstly, the transport apparatus can be positioned completely underneath the load before lifting and transporting it. This means that the transport apparatus according to the invention does not need an area around the load in order to lift it and manoeuvre it. A second advantage of the transport apparatus being movable through a cavity in the load, is that several transport apparatuses can be used to move a load each, at the same time. A row of transport apparatuses can be moved underneath a row of loads so that each transport apparatus is underneath a respective load. The loads can be simultaneously lifted and transported, in a trainlike manner, to a desired location. More than one row of loads can also be moved simultaneously.

[0175] This is an advantage for example when unloading a truck where the cargo is stored on pallets. A row, or several rows of transport apparatuses can be driven into a cargo space of the truck, lift the pallets and move the pallets to a desired location inside or outside of the cargo space. The truck is in this way unloaded in a single operation. This also applies to loading a truck with pallets. A plane of a truck may be at an elevation that typically is at a higher elevation than a plane or ground onto which the load is to be transported. Therefore, the load is moved via a ramp to the ground having a different inclination than that of plane of the truck. By lowering the wheel assembly with respect to the chassis of the transport apparatus, a clearance between a lowermost portion of the chassis and the plane is increased. An increased clearance will facilitate passing of a “convex” break between the plane of the truck and the ramp, and also passing of the transport apparatus past the “concave” bordering between the ramp and the ground onto which the transport apparatus is moved.

[0176] Due to the transport apparatus being movable into and through a cavity in a load, loads can be stored in a more compact manner. There is no need for an area around a load for lifting it, and several loads are movable at the same time, as explained above. This is an advantage in warehouses where cargos or loads are stored on pallets. Typically, the pallets are stored in rows with spaces between them, so that a pallet transporter, for example a forklift, may move between the rows, lift a pallet, and move it. When using the transport apparatus according to the first aspect of the invention, there is no need for space between rows of pallets for the transport apparatus to be moved around. The transport apparatus can be driven underneath and through pallets to the next desired pallet in the row, instead of beside them. This enables construction of a space saving storage system, where the pallets may be stored more tightly.

[0177] Throughout the description and claims, the wording “lowered position” may be the lowest possible position of the lifting plate with respect to the chassis, or it may be higher than the lowest possible position of the lifting plate with respect to the chassis.

[0178] Throughout the description and claims, the wording “elevated position” may be the highest possible position of the lifting plate with respect to the chassis, or it may be lower than the highest possible position of the lifting plate with respect to the chassis.

[0179] Throughout the description and claims, the term “between a retracted first position and an advanced second position” means any position of wheel assemblies between and including the extreme positions of the wheel assemblies relative to the chassis.

[0180] Throughout the description and claims, the word “load” must be interpreted as any type of load with a suitable cavity for the transport apparatus to be moved into and through. The load may be a load carrier, such as a pallet or a skid or a skid pallet, for example a so- called Euro-pallet. The load carrier will hereinafter be denoted pallet for simplicity. The load may also be a storage unit such as a crate. The load carrier or the storage unit may carry a cargo or a load, or it may be empty. The pallet may have bottom decks.

[0181] Throughout the description and the claims, position indications such as «upper» and «lower», «top» and «bottom», or «horizontal» and «vertical», etc., denotes the position the apparatus has in the subsequent figures, which is also a natural or practical functional position of the apparatus.

[0182] In embodiments where the chassis comprises several first motion mechanisms, each motion mechanism may lift one lifting plate each, preferably in a substantially paralell movement. The several first motion mechanisms may also be connected to the same lifting plate.

[0183] According to the invention, at least one of the at least two wheel assemblies is operatively connected to a drive motor. In an embodiment of the invention, the at least one wheel assembly being operatively connected to the drive motor may be pivotably connected to the chassis for allowing steering of the transport apparatus.

[0184] The at least one of the at least two wheel assemblies may comprise one wheel operatively connected to a drive motor and being pivotably connected to the chassis.

[0185] By the term pivotably is meant that the wheel assembly or a wheel comprised within the wheel assembly is turnable around an axis being perpendicular to the axis of rotation of the wheel.

[0186] In an embodiment according to the invention the at least two wheel assemblies are operatively connected to a drive motor and are pivotably connected to the chassis for enhancing steering of the transport apparatus.

[0187] The at least two wheel assemblies may each comprise one wheel operatively connected to a respective drive motor and being pivotably connected to the chassis.

[0188] In an embodiment according to the invention the at least two wheel assemblies are pivotable over at least 90 degrees to obtain movability and rotatability in a two-dimensional plane supporting the transport apparatus. The advantage of this feature is that the transport apparatus can be moved and rotated in any x- or y-direction relative to a two-dimensional plane supporting the transport apparatus, for example the floor of a warehouse or storage facility. In such an embodiment, the apparatus is movable in a direction parallel to the length of the apparatus, in a direction perpendicular to the length of the apparatus, and in any direction therebetween.

[0189] At least one of the at least two wheel assemblies may comprise a pair of mutually spaced, parallel wheels. The advantage of the pair of mutually spaced wheels is that the steering of the direction of the wheels may be done with two drive motors connected to a respective wheel in the pair. In one embodiment, both or all of the at least two wheels may comprise a pair of mutually spaced, parallel wheels.

[0190] In another embodiment of the invention, the steering mechanism comprises at least one first wheel assembly and a second wheel assembly arranged distant from the first wheel assembly along the length of the chassis. The first wheel assembly may comprise two wheels, wherein each wheel being operatively connected to a respective drive motor, wherein an axis of rotation of one of the wheels in the first wheel assembly is perpendicular to an axis of rotation of the other wheel in the first wheel assembly, and wherein the wheels in the first wheel assembly are liftable and lowerable independently of each other.

[0191] The two wheels in the first wheel assembly may be lowered so that they are in contact with the plane. They may also be lifted so that they are not in contact with the plane. When one of the wheels in the first wheel assembly is lowered to the plane, the other wheel in the first wheel assembly may be lifted from the plane, so that the transport apparatus may be driven in the direction in which the lowered wheel is rotating. To change the direction of the transport apparatus, the wheel is lifted from the plane and the other wheel is lowered to the plane.

[0192] Each wheel in the first wheel assembly may comprise a pair of mutually spaced, parallel wheels, wherein at least one wheel in each pair of wheels is operatively connected to a respective drive motor, and wherein the pairs of wheels are liftable and lowerable independently of each other.

[0193] The axis of rotation of one of the wheels in the first wheel assembly may be parallel to the length of the chassis. The other wheel in the first wheel assembly may be parallel to the width of the chassis.

[0194] In an embodiment of the invention, the second wheel assembly is identical to the first wheel assembly. The advantage of this feature is that the transport apparatus can be moved and rotated in any x- or y-direction relative to a two-dimensional plane supporting the transport apparatus, for example the floor of a warehouse or storage facility. The apparatus is movable in a direction parallel to the length of the apparatus, in a direction perpendicular to the length of the apparatus, and in any direction therebetween.

[0195] In an embodiment according to the invention, the length of the chassis is longerthan the width of the chassis. This is advantageous for example if the load to be transported comprises an oblong cavity. A pallet, such as a Euro-pallet, is provided with oblong cavities. The transport apparatus may be configured to fit within one of the cavities in for example a Euro-pallet. Two transport apparatuses can be used to easily transport a Euro-pallet by being moved into a respective cavity, and then activating at least the first motion mechanism to move the lifting plates into the elevated position to lift the pallet. The first motion mechanism operatively connected to the lifting plate may comprise two or more first motion mechanisms. The two or more first motion mechanisms may be mutually spaced along the length of the chassis. Two or more first motion mechanisms may facilitate the lifting of the load as the load will be lifted from several points. The lifting and lowering of the load may be more stable. Two or more first motion mechanisms may also lift a heavier load, or the lifting capacity of each first motion mechanism may be reduced.

[0196] In an embodiment according to the invention, the transport apparatus comprises at least one biasing means extending between a portion of the chassis and the lifting plate. The biasing means may be a spring. The biasing means may facilitate the lifting of the lifting plate to the elevated position by the first motion mechanism, especially at the start of the lifting process. Additionally or alternatively, the transport apparatus may comprise at least one biasing means arranged between a portion of the wheel assembly and the lifting plate such that the biasing means may exert a force therebetween. Such an additional or alternative biasing means may facilitate the lifting of the lifting plate to the elevated position by the first motion mechanism, and facilitate bringing the wheel assemblies towards their advanced second position, especially at the start of the motion process.

[0197] The transport apparatus may further comprise at least one sensor. The at least one sensor may comprise a distance detector, which is advantageous for preventing collisions. The at least one sensor may comprise a sensor for detecting visual id tags or RFID (Radio Frequency Identification) tags. It is advantageous for the transport apparatus to read visual id tags, such as QR codes or barcodes, or RFID tags to recognise loads marked with such tags. Furthermore, the at least one sensor may comprise sensors for detecting external guiding means, for example a coloured line or electromagnetic fields. It is advantageous for the transport apparatus to detect external guiding means, so that the transport apparatus can be moved along such external guiding means. Furthermore, the at least one sensor may comprise a sensor for detection RFID tags to detect external guiding positions. The at least one sensor may also comprise a camera, a microphone, and a thermometer. The transport apparatus may also comprise a local position system.

[0198] The transport apparatus may also be provided with an output system for information to an operator. The output system may comprise a screen for information, a speaker, or lights.

[0199] As stated above, the transport apparatus according to the invention comprises a control unit for controlling the steering mechanism and the first and the second motion mechanisms of the transport apparatus.

[0200] In addition to the steering mechanism, the control unit may control the drive motor of the apparatus and thereby the speed and movement direction of transport apparatus. The control unit is configured to control the activation of the first and second motion mechanisms and thereby a position of the lifting plate and the wheel assemblies with respect to the chassis of the transport apparatus. The control unit may receive data from the at least one sensor.

[0201] The invention concerns a method of storing goods. The method includes the possibility of storing loads or load carriers’ side by side, where several transport apparatuses’ work together to retrieve goods that are wanted in the same operation. Some transport apparatus will be assigned the task of moving goods away so that the goods desired have free passage. In the case of an order, the storage and transport control system will divide the assignment into several suborders that are queued. Vacant transport apparatus will be assigned their task on an ongoing basis. The method has the property that we can retrieve goods without any of the other goods having to be moved outside the defined storage area. The pallets that stand in the way of the goods to be picked up will only be shifted so that a temporary passage is created for the desired goods. The size of the load is not limited to occupying only 2 positions (the size of Euro pallet) but can easily be both 2 and 3 times larger, both in width and length. Metode can be used in x, y and z- planes.

[0202] The invention also includes a space-saving method of storing a cargo but use the same picking method as before. The method allows the storage to increase its storage capacity without significant changes in the operation of the storage. If we start with a traditional storage with pallet racking, where forklifts are used, there is often more than one aisle, where forklifts can drive, load and pick up the pallets. With this method, only one aisle will be needed to pick up goods. Gods can be stored in depth, where the transport apparatuses bring the desired object to the first row from the aisle. The method can be used on one level but can also be used on several levels.

[0203] Any position indications refer to the position shown in the figures.

[0204] In the figures, the same or similar elements are indicated by the same reference figure. For clarity, some elements in some of the figures may have no reference figures.

[0205] A person proficient in the art will understand that the figures are just main drawings. The relative proportions of individual elements can also be distorted.The processes, systems, and instructions described herein may be implemented according to any suitable hardware and / or software combination sufficient to cause the processes described herein to be executed. For instance the processing circuitry may be implemented on, or on any suitable combination of, a digital signal processor, field programmable gate array, and / or application specific integrated circuit (ASIC). The processing circuitry may be configured to execute instructions, such as processor control code, that, cause a controller to operate according to the processes described herein. Such instructions may be stored on a non- transitory machine-readable medium. Such instructions may be stored in a memory. Such instructions may be stored on any suitable memory medium, e.g. on a volatile or non-volatile medium, programmed memory (e.g. read-only memory such as firmware), or a data carrier. The processing circuitry may comprise such a memory storing the instructions. A non- transitory machine-readable medium may store instructions that, when executed by processing circuitry, cause the processes herein to be performed. The instructions may comprise code or microcode. The instructions, when executed, may be in any suitable programming language to allow the controller to be dynamically configured and / or reconfigured. The controller and / or processing circuitry may equally comprise, and may therefore be referred to as, a processor, microcontroller or microprocessor.

[0206] Examples of the following disclosure may be provided according to any of the following numbered statements:

[0207] 1 . An autonomous storage and transport control system that controls:

[0208] - one or more transport apparatus who can operate inside and outside a multi-level storage structure with storage space, where the transport apparatus is able to lift a load and / or a load carrier from the floor, transport and store it,

[0209] - one or more lifting devices, for example an elevator, that can lift the transport apparatus, load and / or the load carrier, either individually or in any combination. where the storage and transport control system is characterised by

[0210] -wireless or / and wired communication through any known communication protocol to equipment in the system

[0211] - storage positions, within dimensions in x, y, and z

[0212] - connected to a terminal, ERP- and I or WMS system.

[0213] 2. An autonomous storage and transport control system in accordance with statement 1 including an elevator, horizontal and vertical support columns and module plates designed to fit over the horizontal support bars, that form floors on which a transport apparatus can move on.

[0214] 3. An autonomous storage and transport control system in accordance with statement 1 or 2, characterized by transport apparatuses ability to work in pairs.

[0215] 4. An autonomous storage and transport control systemin accordance with any preceding statement controlling transport apparatuses that moves into and through a cavity in the load when it is in the lowered position.

[0216] 5. An autonomous storage and transport control system in accordance with any preceding statement controlling transport apparatus for load, comprising: - a chassis having a length and a width;

[0217] - at least one lifting plate having a top face for abutting against a load; and

[0218] - at least two wheel assemblies at a mutual distance along the length of the chassis, wherein at least one of the at least two wheel assemblies is operatively connected to a drive motor, and at least one of the wheel assemblies comprising a steering mechanism for allowing steering of the transport apparatus; wherein the chassis comprises: a first motion mechanism operatively connected to the lifting plate, and configured for moving the lifting plate relative to the chassis between a lowered position and an elevated position; a second motion mechanism operatively connected to the wheel assemblies, and configured for moving the at least two wheel assemblies relative to the chassis between a retracted first position and an advanced second position; and a control unit for controlling the drive motor and the motion mechanism, wherein the transport apparatus is configured to be movable into and through a cavity in the load when at least one of: the lifting plate is in the lowered position; and the wheel assemblies are in the retracted first position.

[0219] 6. An autonomous storage and transport control system in accordance with any preceding statement, controlling transport apparatuses for a load, comprising a chassis and a lifting plate, the chassis having a length and a width, and wherein the chassis comprises:

[0220] - at least one lifting mechanism configured for moving the lifting plate between a lowered position and an elevated position in operational use; and

[0221] - a steering mechanism comprising at least two wheel assemblies at a mutual distance along the length of the chassis, wherein at least one of the at least two wheel assemblies is operatively connected to a drive motor for allowing steering of the transport apparatus; and

[0222] - a control unit for controlling the drive motor and the lifting mechanism, wherein the transport apparatus is configured to be movable into and through a cavity in the load when the lifting plate is in the lowered position, and wherein the lifting plate is movable relative to the chassis, wherein the at least one lifting mechanism is connected to the lifting plate and to the chassis, and wherein the lifting plate covers a top side of the chassis and encloses a portion of the chassis.

[0223] 7. A method for operating an autonomous storage and transport control system in accordance with any preceding statement, for storing loads or load carriers’ side by side, where several transport apparatuses work together to retrieve goods in the same operation. Some transport apparatus will be assigned the task of moving goods away so that the goods desired have free passage.

[0224] 8. A method for operating an autonomous storage and transport control system in accordance with any preceding statement, the method comprising storing loads or load carriers’ side by side, in x, y and z positions.

[0225] 9. A method for operating an autonomous storage and transport control system according to any preceding statement, the method comprising storing loads or load carriers’ in depth where the transport apparatus brings the desired load to the front, so that manual or other automatic picking systems easily can access the load in the first row. It should be noted that the above embodiments illustrate rather than limit the invention, and that those who are skilled in the art will be able to design many alternative embodiments without deviating from the scope of the enclosed requirements. In the claims, any reference characters placed between parentheses should not be interpreted as limiting the claim. The use of the verb "include," and its conjugations do not preclude the presence of elements or steps other than those specified in a claim. The article "a" or "an" in front of an element does not exclude the presence of a plurality of such elements.

Claims

1. CLAIMS1. A system comprising: one or more transport apparatuses configured to operate inside and / or outside a multi-level storage structure having at least one storage space, wherein each transport apparatus is configured to lift a load and transport it to and from storage, wherein each transport apparatus is configured to move into and through a cavity of the load; one or more lifting devices configured to lift at least one transport apparatus and / or a load ; and a control system configured to control the operation of the one or more transport apparatuses and the operation of the one or more lifting devices.

2. The system of claim 1 , further comprising horizontal support beams, vertical support columns and modular plates configured to fit over the horizontal support beams to form floors on which a transport apparatus can move.

3. The system of claim 1 or 2, wherein at least one lifting device is configured to transport a plurality of transport apparatus and a plurality of loads.

4. A control system for a multi-level storage structure having at least one storage space, the control system being configured to control:- one or more transport apparatuses configured to operate inside and / or outside the multilevel storage structure , wherein each transport apparatus is configured to lift a load and transport it to and from storage; and- one or more lifting devices configured to lift the transport apparatus and / or a load.

5. The system or control system of any preceding claim, wherein the control system is configured to communicate via wireless or / and wired communication; and wherein the control system is configured to connect to a terminal, ERP and / or a WMS system.

6. The system or control system of any preceding claim , wherein the control system is configured to control two transport apparatuses to move in pairs to a load, to work in pairs to lift a load, and / or to move in pairs to move a load to another location.

7. The system or control system of any preceding claim, wherein the control system is configured to control a first pair of transport apparatuses to move inside the multi-level storage structure, a second pair of transport apparatuses to transport goods from inside the multi-level storage structure to outside the multi-level storage structure, and / or a third pair of transport apparatuses to transport goods from a storage area to a production area of the multi-level storage structure or to a loading zone of the multi-level storage structure.

8. The system or control system of any preceding claim wherein each transport apparatus comprises:- a chassis having a length and a width;- at least one lifting plate having a top face for abutting against a load; and- at least two wheel assemblies at a mutual distance along the length of the chassis, wherein at least one of the at least two wheel assemblies is operatively connected to a drive motor, and at least one of the wheel assemblies comprises a steering mechanism for allowing steering of the transport apparatus; wherein the chassis comprises: a first motion mechanism operatively connected to the lifting plate, and configured for moving the lifting plate relative to the chassis between a lowered position and an elevated position; a second motion mechanism operatively connected to the wheel assemblies, and configured for moving the at least two wheel assemblies relative to the chassis between a retracted first position and an advanced second position; and a control unit for controlling the drive motor and the motion mechanism, wherein the transport apparatus is configured to be movable into and through a cavity in the load when at least one of: the lifting plate is in the lowered position; and the wheel assemblies are in the retracted first position.

9. The system or control system of any of claims 1-7 wherein each transport apparatus comprises a chassis and a lifting plate, the chassis having a length and a width, and wherein the chassis comprises:- at least one lifting mechanism configured for moving the lifting plate between a lowered position and an elevated position in operational use; and- a steering mechanism comprising at least two wheel assemblies at a mutual distance along the length of the chassis, wherein at least one of the at least two wheel assembliesis operatively connected to a drive motor for allowing steering of the transport apparatus; and a control unit for controlling the drive motor and the lifting mechanism, wherein the transport apparatus is configured to be movable into and through a cavity in the load when the lifting plate is in the lowered position, and wherein the lifting plate is movable relative to the chassis, wherein the at least one lifting mechanism is connected to the lifting plate and to the chassis, and wherein the lifting plate covers a top side of the chassis and encloses a portion of the chassis.

10. The system or control system of any preceding claim , the control system being configured to control one or more transport apparatuses to move into and through a cavity in a load.1 1. The system or control system of any preceding claim, wherein the multi-level storage structure comprises a plurality of storage locations each having a respective coordinate in a three-dimensional coordinate system, wherein the control system is configured to receive an indication of a location of a load in the multi-level storage structure and to retrieve its respective coordinates in the three-dimensional coordinate system and to control the one or more transport apparatuses and one or more lifting devices based on the three- dimensional coordinates of the location of the load.

12. A method for controlling a plurality of transport apparatuses configured to operate inside and / or outside a multi-level storage structure having at least one storage space, wherein each transport apparatus is configured to lift a load and transport it for storage and / or retrieval, each transport apparatus being configured to move into and through a cavity of the load, the method comprising: controlling a first pair of transport apparatuses to transport a first load to or from storage; and controlling a lifting device of the multi-level storage structure.

13. The method of claim 12 further comprising: controlling a second pair of transport apparatuses to transport a second load.

14. A method according to claim 12 or 13 further comprising: controlling a third pair of transport apparatus to move a third load from a location so that the first or second load has free passage through that location.

15. A method according to any of claims 12-14 , the method comprising: controlling multiple pairs of transport apparatuses to store loads side by side, in the x, y and z positions of a coordinate system.

16. A method according to any of claims 12-15, the method comprising: causing the first pair of transport apparatuses to move the first load to an edge of a floor so that a manual or other automatic picking system can access the first load.

17. A method according to any of claims 12-16, further comprising: determining whether an obstruction is present along a first path of the first pair of transport apparatuses; and, if it is determined that an obstruction is present, controlling a first pair of wheels of the transport apparatuses to transition to a retracted configuration in which the first pair of wheels are closer to a top surface of the transport apparatus configured to support a load; controlling the first pair of transport apparatuses to travel along the first path and over the obstruction with the first pair of wheels in the retracted configuration.

18. A method according to any of claims 12-17, further comprising: determining whether the first pair of transport apparatuses is to enter a cavity along a second path; and, if it is determined that the transport apparatus is to enter a cavity, controlling a first pair of wheels of the transport apparatuses to transition to a retracted configuration in which the first pair of wheels are closer to a top surface of the transport apparatus configured to support a load; controlling the first pair of transport apparatuses to travel along the second path through the cavity with the first pair of wheels in the retracted configuration.

19. A method of any of claims 12-18, further comprising: controlling a lifting device to move to a floor where the first pair of transport apparatuses are located.

20. A method of any of claims 12-19 further comprising: controlling the lifting device with the first pair of transport apparatuses therein to move to a first floor on which the first pair of transport apparatuses are to retrieve and / or store a load.

21. A method of any of claims 12-20further comprising receiving, from the lifting device, an indication that the lifting device is at the first floor; and, upon receiving the indication, controlling the first pair of transport apparatuses to leave the lifting device.

22. A method of any of claims 12-21 , further comprising: receiving an assignment, the assignment comprising an indication that a plurality of loads are to be transported to and / or from storage; dividing the assignment into several suborders, each suborder comprising an order for a load to be transported to storage or to be retrieved from storage; and, if two pairs of transport apparatuses are not engaged in a storage or retrieval operation, assigning a first pair of transport apparatuses to execute a first suborder and assigning a second pair of transport apparatuses to execute a second suborder, wherein the first and second pairs of transport apparatuses are to execute the first and second suborders simultaneously.

23. A method for use in a multi-level storage structure, the multi-level storage structure comprising: at least two floors on which goods may be stored; and at least one lifting device configured to move between the floors, the method comprising: obtaining an indication that a first load is to be retrieved from a first location and transported to a second location; determining whetherthe lifting device is located on the same floor as a first transport apparatus configured to move into and through a cavity of a load; and, if the lifting device is not located on the same floor as the first transport apparatus, causing the lifting device to move to the same floor as the first transport apparatus.

24. The method of claim 23, further comprising: controlling the first transport apparatus to move from an initial location into the lifting device; controlling the lifting device to move to the floor on which the first location is located; and controlling the first transport apparatus to exit the lifting device.

25. The method of claim 24, further comprising:controlling a second transport apparatus configured to move into and through a cavity of a load to move from an initial location into proximity with the first transport apparatus to form a first pair of transport apparatuses configured to retrieve the first load from the first location.

26. The method of claim 23, further comprising: determining whether the lifting device is located on the same floor as a first pair of transport apparatuses comprising the first transport apparatus and a second transport apparatus each configured to move into and through a cavity of a load, the first pair of transport apparatuses being to retrieve the first load from the first location; and, if the lifting device is not located on the same floor as the first pair of transport apparatuses, causing the lifting device to move to the same floor as the first pair of transport apparatuses.

27. The method of claim 26, further comprising: controlling the first pair of transport apparatuses to move from an initial location into the lifting device; controlling the lifting device to move to the floor on which the first location is located; and controlling the first pair of transport apparatus to exit the lifting device.

28. The method of claim 25 or 27, further comprising: controlling the first pair of transport apparatuses to move to the first location; controlling each transport apparatuses to move into a respective cavity of the first load; controlling each transport apparatus to raise the first load to an elevated position so that the pair of transport apparatuses can transport the first load; and controlling the first pair of transport apparatuses to move with the first load in the elevated position from the first location into a lifting device.

29. The method of claim 28 wherein, if the lifting device is not on the floor on which the first location is located, the method further comprises: causing the lifting device to move to the floor on which the first location is located so that the first pair of transport apparatuses with the first load in the elevated position can enter the lifting device.

30. The method of claim 28 or 29, further comprising:controlling the lifting device to move to the floor on which the second location is located; and controlling the first pair of transport apparatuses with the first load in the elevated position to exit the lifting device and to move onto the floor on which the second location is located to the second location.31 . The method of claim 28 or 29, further comprising: controlling the first pair of transport apparatuses to lower the first load such that the first load is supported by the floor of the lifting device; controlling each transport apparatus in the first pair to move out of the respective cavities of the first load and out of the lifting device; controlling the lifting device to move to the floor on which the second location is located; controlling a second pair of transport apparatuses to move into the lifting device; controlling each transport apparatus in the second pair to move into a respective cavity of the first load; controlling each transport apparatus to raise the first load to an elevated position so that the pair of transport apparatuses can transport the first load; controlling the second pair of transport apparatuses with the first load in the elevated position to exit the lifting device and to move onto the floor on which the second location is located to the second location.

32. A method for use in a multi-level storage structure, the multi-level storage structure comprising: at least two floors on which goods may be stored, the method comprising: obtaining an indication that a first load is to be retrieved from a first location on a first floor of the two floors and transported to a second location on a second floor of the two floors; controlling a first pair of transport apparatuses, each transport apparatus in the first pair being configured to move into and through a cavity in a load, to move from an initial location to the first location; controlling each transport apparatuses to move into a respective cavity of the first load; controlling each transport apparatus to raise the first load to an elevated position so that the pair of transport apparatuses can transport the first load; and controlling the first pair of transport apparatuses to move with the first load in the elevated position from the first location on the first floor to the second location on the secondfloor to move the first load from the first location on the first floor to the second location on the second floor.

33. The method of claim 32, wherein the multi-level storage structure comprises: at least one lifting device configured to move between the floors of the multilevel storage structure, and wherein the method further comprises: controlling the first pair of transport apparatuses to move from the initial location into the lifting device; controlling the lifting device to move to the floor on which the first location is located; and controlling the first pair of transport apparatuses to exit the lifting device and to move onto the first floor to the first location.

34. The method of claim 33, further comprising: determining whether the lifting device is located on the same floor as the first pair of transport apparatuses; and, if the lifting device is not located on the same floor as the first pair of transport apparatuses, causing the lifting device to move to the same floor as the first pair of transport apparatuses.

35. The method of any of claims 32 to 34, further comprising: controlling the first pair of transport apparatuses to move with the first load in the elevated position from the first location into a lifting device.

36. The method of claim 35 wherein, if the lifting device is not on first floor, the method further comprises: causing the lifting device to move to the first floor so that the first pair of transport apparatuses with the first load in the elevated position can enter the lifting device.

37. The method of claim 35 or 36, further comprising: controlling the lifting device to move to the second floor on which the second location is located; and controlling the first pair of transport apparatuses with the first load in the elevated position to exit the lifting device and to move onto the second floor to the second location.

38. The method of any of claims 23-37 wherein the indication is an indication that the first load is to be retrieved from storage at the first location, and wherein the first location is adjacent to a third location in which a second load is stored, the method further comprising: controlling a second pair of transport apparatuses to move to the third location; controlling each transport apparatus in the second pair to move into a respective cavity of the second load; controlling each transport apparatus in the second pair to raise the second load to an elevated position; and controlling the second pair of transport apparatuses to move away from the third location with the second load in the elevated position to thereby move the second load away from the third location, the method optionally comprises controlling each transport apparatus in the first pair of transport apparatuses to move into and through respective cavities of the second load to access the first location.

39. The method of claim 38 further comprising; determining whether the first pair of transport apparatuses needs to pass through the third location to get to the first location.

40. The method of any of claims 23-37 wherein the indication is an indication that the first load is to be stored at the second location, and wherein the second location is adjacent to a fourth location in which a third load is stored, the method further comprising: controlling a third pair of transport apparatuses to move to the fourth location; controlling each transport apparatus in the third pair to move into a respective cavity of the third load; controlling each transport apparatus in the third pair to raise the third load to an elevated position; and controlling the third pair of transport apparatuses to move away from the fourth location with the third load in the elevated position to thereby move the third load away from the fourth location so that the first pair of transport apparatuses can move through the fourth location with the first load to the second location to store the first load at the second location.41 . The method of claim 40 further comprising: determining whetherthe first pair of transport apparatuses needs to pass through the fourth location to get to the second location.

42. The method of any of claims 23-41 wherein the indication is an indication that the first load is to be retrieved from storage at the first location, and wherein the first location is behind multiple rows of stored goods, the method further comprising: controlling each transport apparatus in the first pair of transport apparatuses to move into and through respective cavities in any loads in the multiple rows of stored goods so that the first pair of transport apparatuses can access the first location; and controlling respective further pluralities of pairs of transport apparatuses to move to any loads in the rows that are preventing the first pair of transport apparatuses from leaving the first location with the first load; controlling each transport apparatus in each further plurality of pairs to move into a respective cavity of a respective load that is preventing the first pair of transport apparatuses from leaving the first location with the first load; controlling each transport apparatus in each further plurality to raise their respective loads to an elevated position; and controlling each pair of transport apparatuses in the further plurality to move to a location remote from the rows with their respective loads in the elevated position to thereby remove the respective loads away from the rows so that a passage is cleared through the rows to the first location into which the first pair of transport apparatuses can move so that the first pair of transport apparatuses can leave the first location with the first load.

43. The method of claim 42 further comprising: determining whether the first location is behind multiple rows of stored goods.

44. The method of any of claims 23-43 wherein the indication is an indication that the first load is to be stored at the second location, and wherein the second location is behind multiple rows of stored goods, the method further comprising: controlling respective further pluralities of pairs of transport apparatuses to move to any loads in the rows that are preventing the first pair of transport apparatuses with the first load from accessing the second location; controlling each transport apparatus in each further plurality of pairs to move into a respective cavity of a respective load that is preventing the first pair of transport apparatuses with the first load from accessing the second location; controlling each transport apparatus in each further plurality to raise their respective loads to an elevated position; and controlling each pair of transport apparatuses in the further plurality to move to a location remote from the rows with their respective loads in the elevated position to thereby movethe respective loads away from the rows so that a passage is cleared through the rows to the second location into which the first pair of transport apparatuses can move so that the first pair of transport apparatuses can access the second location with the first load.

45. The method of claim 44 further comprising: determining whether the second location is behind multiple rows of stored goods.

46. The method of any of claims 23-39 or 42-45, wherein the indication is an indication that the first load, or part of the first load, is to be retrieved from storage at the first location, the method comprising: controlling a picking system at the second location to pick up the first load, or part of the first load.

47. The method of claim 46, wherein the second location is at an edge of one of the floors of the multi-level storage structure.

48. The method of any of claims 23-47, further comprising: controlling multiple pluralities of pairs of transport apparatuses to store respective loads side by side in rows in an arrangement comprising at least three loads stored side by side and at least three rows.

49. A method for use in a storage structure, the method comprising, on receipt of an indication that a first load is to be retrieved from storage at a first location and moved to a second location or is to be retrieved from a first location and stored at a second location, if the first location from which the first load is to be retrieved from storage or the second location at which the first load is to be stored is adjacent a third location in which a second load is stored: controlling a first pair of transport apparatuses to move to the third location; controlling each transport apparatus in the first pair to move into a respective cavity of the second load; controlling each transport apparatus in the first pair to raise the second load to an elevated position; and controlling the first pair of transport apparatuses to move away from the third location with the second load in the elevated position to thereby move the second load away from the third location so that a pair of transport apparatuses can leave the first location with the first load through the third location to retrieve the first load from storage at the first location orso that a pair of transport apparatuses can move through the third location with the first load to the second location to store the first load at the second location, wherein to retrieve the load from storage at the first location, the method may optionally further comprise controlling each transport apparatus in the pair of transport apparatuses to move into and through respective cavities of the second load to access the first location.

50. The method of claim 49, further comprising: determining whetherthe first location from which the first load is to be retrieved from storage or the second location at which the first load is to be stored is adjacent the third location in which a second load is stored.51 . The method of claim 49 or 50 further comprising; determining whether a pair of transport apparatuses needs to pass through the third location to get to the first location from which the first load is to be retrieved from storage or the second location at which the first load is to be stored.

52. The method of any of claims 49-51 , further comprising, if the first location from which the first load is to be retrieved from storage or the second location at which the first load is to be stored is behind multiple rows of stored goods, the method further comprising: controlling respective further pluralities of pairs of transport apparatuses to move to any loads in the rows that are preventing a pair of transport apparatuses from leaving the first location with the first load or from accessing the second location with the first load; controlling each transport apparatus in each further plurality of pairs to move into a respective cavity of a respective load that is preventing a pair of transport apparatuses having a load thereon from leaving the first location with the first load or from accessing the second location with the first load; controlling each transport apparatus in each further plurality to raise their respective loads to an elevated position; and controlling each pair of transport apparatuses in the further plurality to move to a location remote from the rows with their respective loads in the elevated position to thereby remove the respective loads away from the rows so that a passage is cleared through the rows to the first location from which the first load is to be retrieved from storage or the second location at which the first load is to be stored into which a pair of transport apparatuses can move so that a pair of transport apparatuses can leave the first location with the first load through the third location to retrieve the first load from storage at the first location or so thata pair of transport apparatuses can move through the third location with the first load to the second location to store the first load at the second location.

53. The method of claim 52 further comprising: determining whether the first location from which the first load is to be retrieved from storage or the second location at which the first load is to be stored is behind multiple rows of stored goods.

54. The method of any of claims 49-53, further comprising: controlling multiple pluralities of pairs of transport apparatuses to store respective loads side by side in rows in an arrangement comprising at least three loads stored side by side and at least three rows.

55. The method of any of claims 23-54 wherein each transport apparatus comprises: a chassis having a length and a width; at least one lifting plate having a top face for abutting against a load; and at least two wheel assemblies at a mutual distance along the length of the chassis, wherein at least one of the at least two wheel assemblies is operatively connected to a drive motor, and at least one of the wheel assemblies comprises a steering mechanism for allowing steering of the transport apparatus; wherein the chassis comprises: a first motion mechanism operatively connected to the lifting plate, and configured for moving the lifting plate relative to the chassis between a lowered position and an elevated position; a second motion mechanism operatively connected to the wheel assemblies, and configured for moving the at least two wheel assemblies relative to the chassis between a retracted first position and an advanced second position; and a control unit for controlling the drive motor and the motion mechanism, wherein the transport apparatus is configured to be movable into and through a cavity in the load when at least one of: the lifting plate is in the lowered position; and the wheel assemblies are in the retracted first position, wherein, to control the first pair of transport apparatuses, the method comprises: transmitting a control signal to the control unit of each transport apparatus.

56. The method of any of claims 23-54 wherein each transport apparatus comprises: a chassis and a lifting plate, the chassis having a length and a width, andwherein the chassis comprises: at least one lifting mechanism configured for moving the lifting plate between a lowered position and an elevated position in operational use; a steering mechanism comprising at least two wheel assemblies at a mutual distance along the length of the chassis, wherein at least one of the at least two wheel assemblies is operatively connected to a drive motor for allowing steering of the transport apparatus; and a control unit for controlling the drive motor and the lifting mechanism, wherein the transport apparatus is configured to be movable into and through a cavity in the load when the lifting plate is in the lowered position, and wherein the lifting plate is movable relative to the chassis, wherein the at least one lifting mechanism is connected to the lifting plate and to the chassis, and wherein the lifting plate covers a top side of the chassis and encloses a portion of the chassis, wherein, to control the first pair of transport apparatuses, the method comprises: transmitting a control signal to the control unit of each transport apparatus.

57. Processing circuitry configured to execute the method of any of claims 12-56.

58. A non-transitory machine-readable medium comprising instructions which, when executed by a processor, cause the method of any of claims 12-56 to be performed.

59. A multi-level storage structure comprising: at least two floors on which goods may be stored, at least one lifting device configured to move between the floors; and an apparatus configured to execute the method of any of claims 12-56.

60. The multi-level storage structure of claim 59 further comprising the first pair of transport apparatuses.

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