Patent Description:
At least one of set wheels 201b,301b,201c,301c can be lifted and lowered, so that the first set of wheels 201b,301b and/or the second set of wheels 201c,301c can be engaged with the respective set of rails <NUM>, <NUM> at any one time.

Each prior art container handling vehicle <NUM>,<NUM> also comprises a lifting device (not shown) for vertical transportation of storage containers <NUM>, e.g. raising a storage container <NUM> from, and lowering a storage container <NUM> into, a storage column <NUM>. The lifting device comprises one or more gripping / engaging devices which are adapted to engage a storage container <NUM>, and which gripping / engaging devices can be lowered from the vehicle <NUM>,<NUM> so that the position of the gripping / engaging devices with respect to the vehicle <NUM>,<NUM> can be adjusted in a third direction Z which is orthogonal the first direction X and the second direction Y. Parts of the gripping device of the container handling vehicle <NUM> is shown in in <FIG> and is indicated with reference number <NUM>. The gripping device of the container handling device <NUM> is located within the vehicle body 301a in <FIG>.

The storage volume of the framework structure <NUM> has often been referred to as a grid <NUM>, where the possible storage positions within this grid is referred to as a storage cell. Each storage column may be identified by a position in an X- and Y-direction, while each storage cell may be identified by a container number in the X-, Y and Z-direction.

The central cavity container handling vehicles <NUM> shown in <FIG> may have a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a storage column <NUM>, e.g. as is described in <CIT>. The term 'lateral' used herein may mean 'horizontal'.

The rail system <NUM> typically comprises rails with grooves into which the wheels of the vehicles are inserted.

In <FIG>, columns <NUM> and <NUM> are such special-purpose columns used by the container handling vehicles <NUM>,<NUM> to drop off and/or pick up storage containers <NUM> so that they can be transported to an access station (not shown) where the storage containers <NUM> can be accessed from outside of the framework structure <NUM> or transferred out of or into the framework structure <NUM> Within the art, such a location is normally referred to as a 'port' and the column in which the port is located may be referred to as a 'port column' <NUM>,<NUM>.

The access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers <NUM>. In a picking or a stocking station, the storage containers <NUM> are normally not removed from the automated storage and retrieval system <NUM> but are returned into the framework structure <NUM> again once accessed. A port can also be used for transferring storage containers to another storage facility (e.g. to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.

When a storage container <NUM> is to be stored in one of the columns <NUM>, one of the container handling vehicles <NUM>,<NUM> is instructed to pick up the storage container <NUM> from the pick-up port column <NUM> and transport it to a location above the storage column <NUM> where it is to be stored. After any storage containers positioned at or above the target position within the storage column stack <NUM> have been removed, the container handling vehicle <NUM>,<NUM> positions the storage container <NUM> at the desired position. The removed storage containers may then be lowered back into the storage column <NUM> or relocated to other storage columns.

It is an object of the present invention to provide an effective storage and retrieval system that takes up less space on a consumer-accessible level or a human environment where a human operator can access the items in the storage container.

It is also an object of the present invention provide an automated storage and retrieval system where elements of the automated storage and retrieval system can be hidden and/or secure from the consumer-accessible level.

In some cases, there might be a desire to separate the storage grid/delivery rail environment wherein the remotely operated vehicles are operated and the human environment where a human operator can access the storage containers being a public place or consumer-accessible place, due to safety and/or space considerations, such as in a supermarket or a department store.

In other cases, there might be a desire to separate the storage grid/delivery rail environment wherein the remotely operated vehicles are operated and the human environment where a human operator can access the storage containers by e.g. providing the underground delivery rail system. The two separated environments can provide a storage grid/delivery rail environment being thermally regulated for e.g. chilled products, and/or provide a storage grid/delivery rail environment being fire containment reducing the risk of a potential fire spreading to the human environment and/or for providing noise reduction in the human environment.

Yet another object of the invention is to provide a dedicated area where storage containers and items held in the storage containers are steady when being accessed by the human operator such that there is no risk for the human operator being injured through e.g. getting an arm trapped. It is also desirable to minimise any potential damage to any picking robots that may be present to pick the items from the storage container.

Yet another object of the invention is to provide human environment for accessing storage containers which is separated from the container handling vehicles and delivery vehicles thereby providing less danger to the human operator being hit by a container handling vehicle or a delivery vehicle.

<CIT> describes a packing station for, preferably manually, stacking piece goods on a shipping load carrier, the piece goods being manually placed by an operator into a piece goods stack on the load carrier are packed, with: a load carrier lifting device, which is set up to move the load carrier vertically between a first height level and a second height level, the load carrier at the first height level is interchangeable with a load carrier conveyor technology and wherein the load carrier is at the second height level in a packing position from which the load carrier is during can be lowered step by step when loading from above in layers; a stack formation funnel which has a plurality of walls, the arrangement of which is adapted to an outer contour of the load carrier; and a platform on which the operator stands and on which the funnel is arranged, the platform having an opening which rests on the outer contour of the load carrier is adapted, wherein the walls of the funnel enclose the opening and wherein the walls of the funnel are oriented substantially perpendicular to the stage; wherein a strapping device is further provided, wherein the strapping device is set up to attach a closure band circumferentially to a packed layer of piece goods in a substantially horizontal direction, while the load carrier is in the packing position.

<CIT> describes a workstation for transferring objects between containers such as product and order totes in an order fulfillment system. The workstation may include an object pick system, for example including a measuring array or a machine vision system, which directs and monitors the transfer of objects between the containers.

The present invention is set forth and characterized in the independent claims, while the dependent claims describe preferred embodiments of the invention.

In one aspect, the invention is related to a container accessing station according to claim <NUM> for accessing a storage container of an automated storage and retrieval system.

The container accessing station comprises a housing which includes:.

and wherein the container accessing station further comprises:.

Thus, the storage container is presented for access at the container accessing station while the storage container is still being carried by the delivery vehicle.

In order for the storage container to pass through the base opening of the container accessing station, the perimeter of the storage container is smaller than the base opening. The same is true for the delivery vehicle allowing the delivery vehicle to pass through base opening. Further, the height of the storage container and the delivery vehicle may be close to equal the height of the housing of the container accessing station.

The vehicle lift may in an embodiment of the invention extend below the base opening a height greater than that of the delivery vehicle carrying the storage container.

The pickup level where the delivery vehicle is picked up by the vehicle lift is preferably arranged at the base of the vehicle lift.

The vehicle lift may have a lifting arrangement arranged to support the delivery vehicle and a lift mechanism for moving the lifting arrangement between the pickup level and the accessing level.

In a preferred embodiment, the vehicle lift is configured to lift the delivery vehicle carrying the storage container in a purely vertical direction between a pickup position at the pickup level and an accessing position at the accessing level. The pickup position is then arranged directly below the base opening of the container accessing station.

However, if the pickup position is spaced so far away from the base opening in the horizontal direction that a substantially vertical displacement of the lifting arrangement is not possible, the vehicle lift may have an inclined orientation i.e. have a substantial horizontal component, depending on the horizontal gap between the pickup position and the base opening of the container accessing station. The lifting arrangement would then make an inclined moving path covering the vertical and horizontal gap between the pickup position and base opening of the container accessing station. The moving path within the housing of the container accessing station, i.e. from the base opening to the access opening is however usually substantially vertical or purely vertical.

The delivery vehicle is adapted to carry the storage container above/at the upper surface of its vehicle body and may comprise a storage container carrier for receiving and supporting the storage container. The delivery vehicle may comprise at least one set of wheels enabling lateral movement of the delivery vehicle the X direction and/or Y direction, wherein the X-direction is orthogonal to the Y-direction.

In a preferred embodiment the delivery vehicle is adapted to move on a two-dimensional delivery rail system having parallel sets of rails extending in the X- and Y-direction, thus being similar to the rail system <NUM> discussed in the background and prior art section.

The support of lifting arrangement of the vehicle lift arranged to support the delivery vehicle may be cantilevered off the guiding structure and support the delivery vehicle from below.

The support is in the form of rails configured to receive a set of driving wheels of the delivery vehicle so that the delivery vehicle can drive onto the vehicle lift at the pickup level in order to be lifted up to the accessing level. The rails may be provided as two parallel horizontally protruding arms (e.g., cantilevered) which protrude from the guiding structure of the vehicle lift to extend under one set of driving wheels of the delivery vehicle. Further, the protruding arms can be seen as an extension of the corresponding set of parallel rails of the delivery rail system when the support is positioned at the pickup level. The wheels of the delivery vehicle may engage with the rails on the support of the vehicle lift when being transported between the pickup level and the accessing level thereof.

Instead of rails, the support of a lifting arrangement not part of the present invention may comprise a platform that extends under the base of the delivery vehicle. In an embodiment the platform may have a footprint being equal to or smaller than the footprint of the delivery vehicle.

The platform may in preferred embodiment not part of the present invention occupy an area being less than the footprint of the delivery vehicle such that at least one set of driving wheels are arranged outside the horizontal extent of the platform when the delivery vehicle is arranged on thereon. In other words, the cross-sectional area of the platform may be less than the cross-sectional area of the footprint of the delivery vehicle, therefore, during lifting, the platform is not supporting the at least one set of driving wheels. thereby preventing the delivery vehicle from moving while it is being lifted and/or accessed.

In a more preferred embodiment of the platform, not part of the present invention, the driving wheels arranged on or within at least three of the four sides of the vehicle body are not supported by the platform thereby further preventing the delivery vehicle from moving while it is being lifted and/or accessed.

In an even more preferred embodiment of the platform, not part of the present invention, the platform is arranged on two parallel horizontally protruding arms arranged as cantilevers extending below the vehicle body such that the platform occupies an area being smaller than the footprint of the vehicle body and such that the driving wheels arranged on or within the four sides of the vehicle body are not supported by the platform.

The housing of the container accessing station may comprise a cabinet body arranged about the access opening and the base opening such that a delivery vehicle lifted into the cabinet body by the vehicle lift is shielded from the human and/or robot and only the storage container that is being carried by the delivery vehicle is accessible through the access opening. The cabinet body may provide walls between the access opening and the base opening.

The base opening may correspond to a hole in a floor that the container accessing station is positioned on.

In an embodiment of the invention, the container accessing station may comprise a cover for restricting access through the access opening when a delivery vehicle carrying a storage container is not present within the cabinet body. The cover may be a retractable cover arranged to open only when the storage container is presented at the access opening carried by the delivery vehicle.

The cover may in another embodiment restrict access when a storage container is present in the cabinet body and be provided with a lock that can only be unlocked by an authorized user for accessing the storage container. The lock may be operated by a key, or the cabinet may be provided with an ID-control e.g. passcode, finger print recognition, eye recognition, voice recognition etc. to unlock the lock by the identified authorized user.

In another example, if the container accessing station according to the invention is employed in a facility with multiple users, the users may only have access to own dedicated storage containers. The container accessing station may then be provided with an identification system both for verifying that the user requesting a specific storage container shall have access to this and that the user has access to the storage container inside the container accessing station. If the storage containers are RFID (Radio Frequency Identification) labelled, the identification system may include any means for performing identification of the storage containers such as a RFID reader arranged in connection with the container accessing station, alternatively or in addition, a reader may be arranged in connection with the container handling vehicle, for example on the vehicle lift or inside the vehicle body. This may improve security if multiple users are using the same storage and retrieval system but where each user only has access to their own storage containers.

The RFID reader can read an RFID labelled storage container, however other readers and labels are possible for identifying a storage container. As an alternative to RFID, other electromagnetic field systems (NFC), optical systems (barcode, QR code, camera reading written or engraved labels) may be used to improve security in relation to identification of storage containers.

In an embodiment of the invention, to prevent the delivery vehicle from moving off the support during transportation, the delivery vehicle may comprise a brake mechanism or locking device which can prevent the wheels from moving during transportation on the vehicle lift. The brake mechanism may comprise the wheel motor mechanism which is braked through maintaining a charge on specific stators, such that movement of the wheel(s) from the braked position is resisted by electromagnetic forces. In an embodiment, when the delivery vehicle is arranged at the pickup level, the delivery vehicle may be instructed to activate/unlock the wheels thereby allowing the delivery vehicle to exit from the vehicle lift.

In another embodiment, the lifting arrangement may comprise a securing/locking device which secures or releasably locks the delivery vehicle to the support.

In one embodiment the vehicle lift may for comprise at least one wall to protect the delivery vehicle from moving off the support during transportation. For example, the vehicle lift may comprise at least two walls which may clamp onto the sides of the delivery vehicle.

The lifting mechanism may be connected to a guiding structure of the lift device. The guiding structure may be arranged vertically between the pickup position at the pickup level and the accessing position at the accessing level thereby guiding the support in the vertical direction.

In a further embodiment the lifting mechanism may be mounted on the opposite side of the guiding structure as the support. In this way the delivery vehicle will not collide with the lifting mechanism during transportation between the pickup level and the accessing level.

In another embodiment the vehicle lift mechanism involves a rack and pinion mechanisms. The support may in this case comprise a self-climbing support.

In a second aspect, the invention concerns an automated storage and retrieval system according to claim <NUM> comprising a container accessing station.

The automated storage and retrieval system comprises:.

In an embodiment of the automated storage and retrieval system, the container accessing station is disposed on a floor above the rail system.

The delivery vehicle may advantageously have a foot print/outer perimeter equal to the size of a grid cell.

In another embodiment, the automated storage and retrieval system may comprise a plurality of container accessing stations for e.g. accessing a plurality of storage containers simultaneously or for accessing different storage containers by different users.

In a further embodiment, the automated storage and retrieval system may comprise an automated storage and retrieval framework structure comprising vertical members defining multiple storage columns for storing storage containers on top of each other in vertical stacks. The vertical members may be interconnected at their upper ends by a container handling vehicle rail system arranged to guide at least one container handling vehicle above the storage columns, the at least one container handling vehicle being configured to raise storage containers from, and lower storage containers into, the storage columns, and to transport the storage containers above the storage columns. The container handling vehicle rail system may comprise a first set of parallel rails arranged in a first horizontal plane P1 and extending in a first direction X, and a second set of parallel rails arranged in the first horizontal plane P1 and extending in a second direction Y which is orthogonal to the first direction X, which first and second sets of rails form a grid pattern in the first horizontal plane P1 comprising a plurality of adjacent container handling vehicle grid cells. Each container handling vehicle grid cell comprises a container handling vehicle grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails. A transfer port column may be adapted for transport of a storage container between the container handling vehicle and a delivery space situated at a lower end of the transfer port column. Further the automated storage and retrieval system comprises the delivery rail system comprising the first delivery rail system having at least one set of parallel rails arranged in the second horizontal plane P2 guiding at least one delivery vehicle thereon. The delivery vehicle is in this embodiment adapted to receive and/or deliver a storage container at a storage container delivery location arranged on the delivery rail system below the delivery space of the transfer port column and to move from the storage container delivery location to the vehicle lift of the container accessing station.

The level of the horizontal plane P2 of delivery rail system is arranged below the base opening of the container accessing station. In one embodiment the base opening of the container accessing station may be arranged at the same level as the container handling vehicle rail system arranged in the horizontal plane P1.

In a third aspect the invention is directed to a method according to claim <NUM> of presenting a storage container for allowing access to contents of the storage container through an access opening of a container accessing station by a human and/or robot,.

The method involves using the vehicle lift to lift the delivery vehicle carrying the storage container from a pickup level up to an accessing level and presenting the storage container on the delivery vehicle adjacent the access opening for the human and/or robot to access its contents.

The method may further comprise the step of lowering the delivery vehicle to the pickup level and optionally the step of driving the delivery vehicle off the vehicle lift and onto the delivery rail system to return the storage container to e.g. a transfer port column by moving the delivery vehicle to a storage container delivery location.

The framework structure <NUM> of the prior art automated storage and retrieval system <NUM> is constructed in accordance with the prior art framework structure <NUM> described above in connection with <FIG>, i.e. a number of upright members <NUM> and a number of horizontal members <NUM>, which are supported by the upright members <NUM>, and further that the framework structure <NUM> comprises a first, upper rail system <NUM> in the X direction and Y direction.

The prior art storage containers <NUM>,<NUM> are shown in <FIG> and are described in detail in the background section of the description.

<FIG> shows an example of a remotely operated delivery vehicle <NUM> to be lifted into a container accessing station shown in <FIG>. The delivery vehicle <NUM> comprises a vehicle body 601a, and first and second sets of wheels 601b,c which enable the lateral movement of the delivery vehicles <NUM> in the X direction and in the Y direction, respectively. Thus, each of the first and second set of driving wheels 601b,c comprises four driving wheels distributed on or within opposite sides of the vehicle body such that the delivery vehicle has two driving wheels on or within each side of the vehicle body.

The delivery vehicle <NUM> has a storage container carrier <NUM> on top of its vehicle body/chassis 601a. The storage container carrier <NUM> can receive the storage container <NUM> from the storage container handling vehicle <NUM>,<NUM> and the delivery vehicle is configured to deliver the storage container <NUM> into the container accessing station as shown in <FIG>.

One embodiment of the automated storage and retrieval system according to the invention will now be discussed in more detail with reference to <FIG>.

<FIG> discloses a delivery rail system <NUM> arranged in a horizontal level, P2. The delivery rail system <NUM> has a first set <NUM> of parallel rails 610a arranged in the horizontal plane P2 and extending in a first direction X, and at least a second set <NUM> of parallel rails 611b arranged in the horizontal plane P2 and extending in a second direction Y which is orthogonal to the first direction X, the first and second sets of rails <NUM>,<NUM> together defining a grid <NUM> of grid cells <NUM> (see <FIG>).

A plurality of delivery vehicles <NUM> having a periphery equal to the size of a grid cell are operating on the rail system <NUM> wherein each underlying rail may be a so-called double track rail comprising a pair of tracks, the rails allowing the delivery vehicles <NUM> to pass on all sides of an occupied grid cell.

The delivery rail system <NUM> is arranged so that the delivery vehicle <NUM> with the storage container <NUM> can access the vehicle lift <NUM> arranged at the periphery of the rail system. The vehicle lift <NUM> could however be arranged anywhere on the rail system <NUM> as long as it can be accessed by the delivery vehicle <NUM>. The delivery vehicle <NUM> is picked up by the vehicle lift <NUM> at the pickup level <NUM> this being at the same level as the delivery rail system <NUM>. The vehicle lift <NUM> then transports the delivery vehicle <NUM> from the pickup level <NUM> to the accessing level where the storage container <NUM> on the delivery vehicle can be presented to be accessed through the access opening by the human and/or robot.

<FIG> shows one delivery vehicle <NUM> at a position between the pickup level <NUM> and accessing level <NUM> and one delivery vehicle arranged on the delivery rail system <NUM>.

The wheel assembly of the delivery vehicle, as shown in <FIG>, comprises a first set of driving wheels 601b arranged to engage with two adjacent rails of the first set of rails <NUM>, and the second set of driving wheels 601c arranged to engage with two adjacent rails of the second set of rails <NUM>. At least one set of driving wheels 601b, 601c can be lifted and lowered, so that the first set of driving wheels 601b and/or the second set of driving wheels 601c can be engaged with the respective set of rails <NUM>, <NUM> at any one time.

The delivery vehicle <NUM> may however comprise only one set of driving wheels if the delivery rail system only comprises one set of rails (not shown).

<FIG> shows a support <NUM> in the form of a platform supporting the vehicle body 601a of the delivery vehicle <NUM>. The platform is arranged on two parallel horizontally protruding arms 772a, 772b which protrude from the guiding structure <NUM>. The protruding arms 772a,b are arranged as cantilevers extending below the vehicle body 601a such that the platform occupies an area being smaller than the footprint of the vehicle body 772a and such that the driving wheels 601b,c which are arranged on or within the four sides of the vehicle body 601a are not supported by the platform.

The platform therefor occupies an area being less than the footprint of the delivery vehicle <NUM> such that the first and second set the driving wheels 601b,c are outside the horizontal extent of the platform when the delivery vehicle <NUM> is arranged on the platform and being lifted by the vehicle lift <NUM>.

In this embodiment, which is not part of the present invention, the driving wheels of the first and second set of driving wheels 601b,c of the delivery vehicle <NUM> are not supported by the underlying platform after the delivery vehicle <NUM> has been lifted from the pickup position <NUM>' thereby preventing the delivery vehicle <NUM> from suddenly moving while it is being lifted, since the platform is holding the delivery vehicle <NUM> steady even if the driving wheels were to be activated by accident. Also, the only movement of the delivery vehicle <NUM> and therefore also the storage container <NUM> is in a vertical direction which poses less risk for the human getting an arm trapped when picking items from the storage container.

<FIG> further shows a support <NUM> according to the invention comprising a pair of rails. The rails can be seen as two parallel horizontally protruding arms arranged as cantilevers which protrude from the guiding structure <NUM>. The guiding structure <NUM> is arranged vertically between the pickup position <NUM>' at the pickup level <NUM> and the accessing position at the accessing level thereby being able to guide the support <NUM> in the vertical direction. One set of wheels 601b,601c of the delivery vehicle <NUM> engages with the rails when the delivery vehicle <NUM> is moved between the pickup level <NUM> and the accessing level by the vehicle lift <NUM>. The set of driving wheels may lock themselves to the rails by a locking device (not shown).

The locking device may be adapted to be mounted externally from the delivery vehicle, i.e. on the support <NUM>. The locking device may be a magnet, a spring-loaded device, a gripper, a barrier or an interacting device for interacting with the delivery vehicle <NUM>.

For example, the locking device may comprise pins that may project from the support to interfere with the wheels to lock the delivery vehicle <NUM> in position. Retractable barriers such as walls may be raised or lowered keeping the delivery vehicle <NUM> in position or a magnetic clamp may be used.

The locking device may further be connected to an actuator for moving the locking device. The actuator may comprise an electronic, a pneumatic or a hydraulic actuator, and may produce rotational, linear or a combination of rotational and linear displacement in the locking element.

In an embodiment the locking device may be a locking bolt arranged on the support being in the form of a rail, wherein the locking bolt is interacting with delivery vehicle <NUM> such that the delivery vehicle <NUM> is locked to the rail.

The actuator and the locking bolt may be mounted on an underside support extending below the delivery vehicle <NUM> wherein the locking bolt, when activated, may protrude from a top surface support and into an opening provided in the delivery vehicle <NUM>. The locking bolt of the locking device may be arranged such that the locking bolt extends into the delivery vehicle <NUM> opening for holding the delivery vehicle <NUM> in a locked position on the support.

The actuator for moving the locking bolt may comprise a moveable arm. The moveable arm when activated may lift the locking bolt from an open position (not lifted) to a locked position (lifted) such that it extends into the opening provided in the delivery vehicle <NUM>.

The two parallel horizontally protruding arms forming the rails of the support <NUM> are compatible with and co-operate with one set of parallel rails <NUM> of the delivery rail system <NUM> such that the protruding arms can be seen as an extension of the corresponding set of parallel rails <NUM> of the delivery rail system <NUM> when the support <NUM> is positioned in the pickup position <NUM>'.

When the delivery vehicle <NUM> is moving on the delivery rail system <NUM>, the one set of wheels 601c of the delivery vehicle <NUM> engage with the one set of rails <NUM> of the delivery rail system <NUM>, and when the delivery vehicle <NUM> enters the pickup position <NUM>', the delivery vehicle <NUM> easily moves on to the rails of the support <NUM> of vehicle lift <NUM> and the one set of wheels 601c of the delivery vehicle <NUM> then engages with the rails of the support of the vehicle lift <NUM> as shown in <FIG> <FIG> is a detailed view of <FIG> without showing the container accessing station <NUM>. The difference between <FIG> is the arrangement of lifting position of the delivery vehicle <NUM> being arranged on the vehicle lift <NUM>.

As mentioned above, <FIG> shows a delivery vehicle <NUM> arranged at the pickup position <NUM>' arranged on the pickup level. The container accessing station <NUM> is arranged above the pickup level.

In <FIG> the delivery vehicle has been lifted to a position between the pickup level and the accessing level.

As shown in <FIG> the base opening <NUM> of the container accessing station corresponds to a hole in a floor <NUM> that the container accessing station is placed on.

The delivery vehicle <NUM> is lifted through the base opening <NUM> of the container accessing station <NUM> thereby entering the housing <NUM> and thereafter entering the accessing level of the accessing station.

Further a human operator <NUM> is shown being able to access the contents of the storage container <NUM> on the delivery vehicle <NUM> through the access opening <NUM> of the container accessing station <NUM>.

<FIG> show the housing <NUM> of the container accessing station where the delivery vehicle is arranged at the accessing level <NUM> for the storage container <NUM> to be presented to the human operator <NUM>. The access opening <NUM> of the housing <NUM> has a cover <NUM> for restricting access through the access opening <NUM>. The cover <NUM> is retractable and arranged to open only if predetermined conditions are satisfied (e.g. if access to a container is authorised) and may thereby permit access to a container <NUM> through the access opening <NUM> when the container <NUM> is at the accessing level <NUM>. The cover <NUM> shown in the embodiment of <FIG> is transparent allowing the contents of a storage container <NUM> to be viewed from outside the access opening <NUM>. This may help speed up the picking process once the cover <NUM> is withdrawn from the access opening <NUM>.

<FIG> shows the access opening being closed/fully covered by the cover <NUM>.

<FIG> shows a partly retracted cover <NUM> such that the storage container can be partly accessed through the access opening <NUM>.

<FIG> shows the fully opened access opening <NUM> where the cover has been completely retracted.

<FIG> is a more detailed view of the vehicle lift <NUM>. The lift mechanism <NUM> is arranged at the lower end of the guiding structure <NUM>, where it is supported by the remainder of the delivery rail system <NUM>, and a control box <NUM> is arranged on the guiding structure <NUM> such that it does not block the path of the support when moved along the guiding structure <NUM> between the pickup level and the accessing level. The control box <NUM> may help also to counterbalance the weight of the delivery vehicle <NUM> which is carrying the storage container as they are lifted up by the vehicle lift <NUM>. In <FIG> the lift mechanism <NUM> and control box <NUM> are arranged on the opposite side of the guiding structure <NUM> as the support. The lift mechanism <NUM> comprises a motor for moving the support <NUM> in the vertical direction. The control box <NUM> can comprise e.g. a main switch, an emergency shutdown switch, a frequency converter and terminal blocks.

<FIG> shows an automated storage and retrieval frame structure <NUM> having container handling vehicles <NUM>,<NUM> moving on top of the frame structure <NUM> on top of the container handling vehicle rail system <NUM>. The framework structure has vertical members <NUM> forming a plurality of storage columns <NUM>. The storage columns <NUM> may store a plurality of storage containers stacked on top of each other, however these are not shown for simplicity reasons.

The container handling vehicle rail system <NUM> has a first set of parallel rails <NUM> arranged in a first horizontal plane P1 and extending in a first direction X, and a second set of parallel rails <NUM> arranged in the first horizontal plane P1 and extending in a second direction Y which is orthogonal to the first direction X. The first and second sets of rails <NUM>, <NUM> form a grid pattern in the first horizontal plane P1 forming a plurality of adjacent grid cells <NUM>. Each container handling vehicle grid cell <NUM> has a container handling vehicle grid opening <NUM> defined by a pair of neighboring rails of the first set of rails <NUM> and a pair of neighboring rails of the second set of rails <NUM>.

The figure further shows the delivery rail system <NUM> constructed in a similar way as the container handling vehicle rail system <NUM> for the container handling vehicles <NUM>,<NUM>.

The delivery rail system <NUM> has a first set of parallel rails <NUM> arranged in the second horizontal plane P2 and extending in a first direction X, and a second set of parallel rails <NUM> arranged in the second horizontal plane P2 and extending in a second direction Y which is orthogonal to the first direction X. The first and second sets of rails <NUM>, <NUM> form a grid pattern in the second horizontal plane P2 forming a plurality of adjacent grid cells <NUM>.

The first horizontal plane P1 is arranged at a higher vertical level than the second horizontal plane P2.

The delivery vehicle <NUM> moving on the delivery rail system <NUM> is adapted to receive and/or deliver storage containers <NUM> at a storage container delivery location <NUM> arranged on the delivery rail system <NUM> below the delivery space <NUM> of the transfer columns <NUM>,<NUM>.

The delivery vehicle is further configured to move from the storage container delivery location to a pickup position at the pickup level, such that delivery vehicle <NUM> can be lifted into the container accessing station where items held in the storage container <NUM> may be accessed from a different level than that of the delivery rail system <NUM> (see <FIG>).

<FIG> shows an automated storage and retrieval framework structure similar to the one shown in <FIG>. The figure further shows the container accessing station <NUM> having a housing <NUM> of surrounding vertically arranged walls and a top cover supported thereon. The items held in the storage containers <NUM> carried by the delivery vehicle <NUM> and lifted to the container accessing station <NUM> is reachable through an access opening <NUM> in the top cover of the housing <NUM>.

The container accessing station <NUM> is arranged adjoining the container handling vehicle rail system <NUM> of the automated storage and retrieval framework structure <NUM>, where the delivery rail system <NUM> extends from below the delivery space <NUM> and to a pickup position <NUM>' located on a pickup level <NUM> below a container accessing station <NUM>.

The container accessing station may be arranged at a different vertical level P3 than the first vertical level P1 of the container handling vehicle rail system <NUM> (not shown).

The container accessing station <NUM> has an access opening through which a human <NUM> and/or robot may access contents of the container <NUM>. The container accessing station <NUM> has a base opening provided at a lower part of the housing <NUM>, and a vehicle lift <NUM> arranged to retrieve a delivery vehicle <NUM> with the container <NUM> from the pickup level <NUM>, which is beneath the base opening, and lift it up through the base opening to the accessing level so that the container <NUM> may be accessed through the access opening.

Claim 1:
A container accessing station (<NUM>) for accessing a storage container (<NUM>) of an automated storage and retrieval system (<NUM>), the container accessing station (<NUM>) comprising a housing (<NUM>) comprising:
- an access opening (<NUM>) through which a human and/or robot may access contents of the storage container (<NUM>); and
- a base opening (<NUM>) through which the storage container can enter the container accessing station to be presented at the access opening,
characterised in that
the container accessing station further comprises:
- a vehicle lift (<NUM>) arranged to lift a delivery vehicle (<NUM>) carrying the storage container (<NUM>) on an upper surface of the delivery vehicle (<NUM>) from a pickup level (<NUM>) below the base opening (<NUM>) up to an accessing level (<NUM>) where the storage container (<NUM>) is presented to be accessed through the access opening (<NUM>) by the human and/or robot while the storage container (<NUM>) is still being carried by the delivery vehicle (<NUM>),
wherein the vehicle lift (<NUM>) comprises a support (<NUM>) of two rails wherein each rail is configured to receive one set of wheels (601b,c) of the delivery vehicle (<NUM>) so that the delivery vehicle (<NUM>) can drive onto the vehicle lift (<NUM>) in order to be lifted up to the accessing level (<NUM>).