Patent Description:
The members <NUM>, <NUM> may typically be made of metal, e.g. extruded aluminium profiles.

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> are shown in <FIG> 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 are referred to as storage cells. 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 storage space may comprise a Each prior art container handling vehicle <NUM>,<NUM> comprises a storage compartment or space for receiving and stowing a storage container <NUM> when transporting the storage container <NUM> across the rail system <NUM>.

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 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.

If the target storage container <NUM> is located deep within a stack <NUM>, i.e. with one or a plurality of other storage containers <NUM> positioned above the target storage container <NUM>, the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container <NUM> from the storage Alternatively, or in addition, the automated storage and retrieval system <NUM> may have container handling vehicles specifically dedicated to the task of temporarily removing storage containers from a storage column <NUM>.

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.

<FIG> shows examples of product items <NUM> stored in a storage container <NUM>. The storage container <NUM> illustrated in <FIG> has a height Hf, a width Wf and a length Lf. The storage container <NUM> has a horizontal cross section Af.

In JPS57160803A, it is disclosed a frame provided with a plurality of support rails, guide bars and shelf stands which are guided by the rails to be pulled out. The shelf stand is provided with drawing castors engaged with the support rails and guide rollers for the end of vertical support fittings, the guide rollers being adapted to engage with the guide bars in such a manner as to support the shelf stand like a cantilever when it is drawn out, whereby even if heavy articles are placed on the stand, they are stably supported, and semi manufactured goods under processing can be stored with high space efficiency.

For systems containing a large number of bins in each stack, the above mentioned 'digging' may prove both time and space consuming when the target bin is located deep within the grid. For example, if the target bin has location Z=<NUM>, the vehicle(s) <CIT> discloses a storage tower according to the preamble of claim <NUM>.

For systems containing a large number of bins in each stack, the above mentioned 'digging' may prove both time and space consuming when the target bin is located deep within the grid. For example, if the target bin has location Z=<NUM>, the vehicle(s) must lift four non-target bins and place them in other positions, often on top of the grid (Z=<NUM>), before the target bin can be reached. Before being replaced back into the grid, the non-target bins may force other robots to choose non-optimized paths to execute their respective operations.

An objective of the present invention is therefore to provide a storage grid and a storage and retrieval system using such a storage grid which may provide a more time efficient storage and retrieval method compared to prior art systems.

The present invention is set forth in the independent claims and the dependent claims describe certain optional features of the invention.

In particular, the invention concerns a storage tower for storing storage containers. The storage tower comprises a plurality of horizontal container supporting frameworks distributed vertically with vertical offsets.

The plurality of horizontal container supporting frameworks comprises a first horizontal container supporting framework and at least one second container supporting framework arranged beneath and parallel to the first container supporting framework.

The first and the at least one second container supporting frameworks comprises a horizontally extending container support with principal directions in a first direction and an orthogonal second direction, each container support being configured as a matrix of container spaces with a plurality of columns of container spaces arranged in the first direction and a plurality of rows of container spaces arranged in the second direction,.

Further, each row of container spaces of at least the first container supporting framework is configured to receive a plurality of storage containers and displays at least one opening extending along the second direction, the at least one opening having an opening size being at least a maximum horizontal cross section of the storage containers to be stored.

The at least one opening, e.g., the total area of the at least one opening in each row, of the first container supporting framework and the at least one opening of the at least one second container supporting framework can be aligned vertically with respect to each other.

It is thus achieved a storage tower where remotely operated vehicles can pick storage containers without having to dig.

It is thus achieved a storage tower that can provide a more time efficient delivery of product items to a customer or other recipient of an item stored in a storage container.

It is thus achieved a storage tower that can provide a high throughput of product items, such as product items on sale or other products with a high demand.

The horizontal container supporting frameworks may have repeating geometry, particularly the second container supports.

The horizontal container supporting frameworks may be seen to provide a set of displaceable storage shelves for storage containers, the contents of which can be accessed easily through aligning openings in the container supporting frameworks above with a target storage container below.

The container supports may be a plate, e.g. one continuous plate or several plates connected to form the container support. In other words, the container support may provide a continuous surface on which to place the storage containers. Alternatively, the container support may have a frame structure, i.e. without inner structure or material between frame members of the frame structure. Furthermore, the container support may be a combination of the two. The container supports in the storage tower may also be a mixture of the two.

The matrix of container spaces could be an imaginary division primarily set by the size of the storage containers. The size of the matrix of container spaces is linked to the number of rows and columns of the matrix. A matrix comprising l rows and m columns may extend a distance along the first direction X substantially equal to l*Lf and extend a distance along the second direction Y substantially equal to m*Wf. Alternatively, a matrix comprising l rows and m columns may extend a distance along the first direction X substantially equal to l*Wf and extend a distance along the second direction Y substantially equal to m*Lf. The extend of the matrix thus substantially corresponds to the size and number of the storage containers. If a rail system is used, adjacent storage containers will be spaced apart at least corresponding to the width of each rail. The total width of the spacing will depend on the number of rows and columns of the matrix, i.e. the number of storage containers and thus the number of spacings. The total width of the rails may be calculated as (l-<NUM>)*Wr or (m-<NUM>)*Wr. Wr being the width of each rail. The spacing of the storage containers will add to the size of the matrix of container spaces in both the first direction X and the second direction Y. If a transport system (typically comprising a crane) is used, the storage containers may be stored closer together as compared to the system with rails. Any spacing of of the matrix of container spaces in both the first direction X and the second direction Y. If a transport system (typically comprising a crane) is used, the storage containers may be stored closer together as compared to the system with rails. Any spacing of the storage containers should be added to the size of the matrix also when a transport system is used.

The at least one second container supporting framework may comprise a plurality of container supports.

Each row of container spaces of the first container supporting framework and also the at least one second container supporting frameworks are configured to receive a plurality of storage containers and displays at least one opening extending along the second direction, the at least one opening having an opening size being at least a maximum horizontal cross section of the storage containers to be stored.

The vertical offset of each container supporting framework may vary within the same storage tower. Different container supporting frameworks of the same storage tower may be configured for storing of storage containers of different heights. In order to utilize the available space in the storage tower in an optimal way, container.

The support displacement device may comprise a linear actuator, a gearwheel drive (e.g. rack and pinion), chain drive, a belt drive or any combination thereof. This includes ball-screws and cam type rotary devices that cause linear movement. It should also be understood as including electric, hydraulic and pneumatic actuators. The support displacement device may be driven wheels arranged on the container support or on the container supporting framework.

The support displacement device may comprise a motor for driving the linear actuator, gearwheel drive, chain drive, belt drive or any combination thereof, the motor being arranged outside a horizontal extent of the respective container supporting framework containing at least one displaceable container support to be displaced.

The displacement device may comprise a centrally aligned actuator that is positioned to push and pull the container support. Alternatively, the displacement device may be arranged at an edge of the container supporting framework, preferably opposite edges.

The displacement devices of adjacent container supporting frameworks may be arranged at opposite edges.

The displacement device may be a direct drive mechanism arranged on the container support. The direct drive may e.g. be connected to rollers arranged on the container support.

Each container support may further comprise a plurality of horizontal movement shelf rollers rotationally arranged on at least one side of the container support extending along the second direction, the horizontal movement shelf rollers having a horizontal axis of rotation along the first direction.

Furthermore, each of the plurality of container supporting frameworks may further comprise a set of guiding tracks arranged on each side of the container supporting frameworks along the second direction, the set of guiding tracks being oriented with their longitudinal direction parallel to the second direction.

Furthermore, each guiding track may comprise a horizontal part for supporting and guiding the plurality of horizontal movement shelf rollers.

The horizontal movement shelf rollers may e.g. be a number of wheels or linear guide rails.

Each container support may further comprise a plurality of shelf guides, the plurality of shelf guides being arranged on at least the side of the container support comprising the plurality of horizontal movement shelf rollers.

Furthermore, each guiding track may comprise a vertical part for guiding of the plurality of shelf guides.

The shelf guide may e.g. be a number of wheels, linear guide rails or sliding surfaces (i.e. surfaces with low friction against contacting surfaces typically of the guiding track).

Each row may comprise vertical guide plates arranged at least partly around the perimeter of each of the at least one opening.

The vertical guide plates may be configured so that a storage container being lifted or lowered into the respective opening is aligned in the horizontal plane.

The at least one opening displayed by each row of container spaces may be a separate opening.

The at least one opening of each parallel arranged row of container spaces within the at least one container support may be horizontally aligned along the first direction.

The at least one opening displayed by each row of container spaces of at least one of the container supports may be merged together to form a continuous opening extending along the first direction to define an area substantially equal to one column of container spaces.

The container supports may also comprise a mixture of separate openings and merged openings.

At least one of the plurality of horizontal container supporting frameworks may comprise at least one container support having a horizontal extent smaller than the horizontal extent of the container supporting framework.

The extent of the container supporting frameworks in the second direction may exceed the extent of the container supports with a length substantially equal to Wf*i, where i is an integer, preferably i=<NUM> or i=<NUM>.

The at least one displaceable container support may be displaceable a distance along the second direction substantially equal to Wf*i, where i is an integer, preferably i=<NUM> or i=<NUM>.

Each row of container spaces may be configured to receive an equal number of storage containers on either side of the at least one opening. Such a row would not have an opening positioned at the end.

Each row of container spaces may display one opening and be configured to receive two or more storage containers on each side of the opening.

Each row may display a plurality of openings distributed with an offset corresponding to d+<NUM> grid cells in the second direction, where d is an integer of <NUM> or more.

The matrix of container spaces of each container support may have an equal number of rows and columns.

The horizontal area of the at least one second container support may be the same as the horizontal area of any further second container supports.

The rows of container spaces of the first and the at least one second container support may have equal distributions of the at least one opening.

The lowermost container support may have at least one row of container spaces without an opening.

At least one of the container supports may comprise a plurality of sensor devices for sensing the presence of a storage container. The sensor devices may be distributed across the matrix of container spaces.

The sensors arranged on the storage container support or the container supporting framework may communicate with the control system.

The sensor device may be selected from a group comprising piezoelectric sensors, weight sensors, magnetic sensors (would require the storage container to be made of a magnetic material or to be provided with a magnet device), vision sensors, light sensors, motion sensors.

At least one of the container supports may comprise a sensor device for sensing the displacement of the container support relative to the container supporting framework.

The storage containers may be supported by at least one support plate and/or a plurality of support beams oriented in the first direction and/or the second direction.

The storage tower may further comprise a transport mechanism arranged above the uppermost container supporting framework at a first vertical offset. The offset providing a vertical gap between a lowermost point of the transport mechanism and an uppermost surface of the container space of the first container support being at least a maximum height of the storage containers to be stored.

Instead of a vehicle with wheels moving on a rail system, the transport system may comprise a crane moveable in X and Y-directions over the storage tower. For example, the crane may be moveable in the first direction on a sliding bar extending across the width of the storage tower. Movement in the second direction may be achieved by sliding the sliding bar along two fixed bars extending in the second direction on both sides of the storage tower. The crane may be a container handling vehicle with a cantilever construction supported on two parallel sliding bars.

It is thus achieved a storage tower that may operate despite not being level. The transport mechanism is less prone to derailing than the vehicle moving on wheels. The storage tower may thus be suitable for operations at sea, e.g. onboard a vessel. The storage tower may further comprise a rail system arranged above the first container supporting framework at a first vertical offset. The offset providing a vertical gap between a lowermost point of the rail system and a uppermost surface of the container space of the first container support being at least a maximum height of the storage containers to be stored.

At least one of the container supporting frameworks may be arranged at a distance below a lower edge of the above adjacent rail system and/or a lower edge of an above adjacent container supporting framework, corresponding to a height that is equal or higher than a maximum height of a stack of several storage containers.

The rail system may provide access to the target openings of the storage tower and to adjacent storage towers and/or storage grids without having to cover the entire horizontal extent of the storage tower.

The invention also concerns an automated storage and retrieval system configured to store a plurality of storage containers.

The rail aligning the storage tower with the rail system such that each of the container spaces of the first container support can be vertically aligned below a grid opening of the cantilever part.

According to another aspect of the invention, a automated storage and retrieval system comprises an above-described storage tower.

Furthermore, the automated storage and retrieval system comprises a plurality of storage containers supported on the plurality of horizontally arranged container supporting frameworks.

Furthermore, the automated storage and retrieval system comprises a remotely operated vehicle configured to move laterally above the plurality of container supporting frameworks, wherein the remotely operated vehicle comprises a lifting device configured to grab and vertically lift a storage container.

Furthermore, the automated storage and retrieval system comprises a control system configured to monitor and control wirelessly movements of the remotely operated vehicle.

It is thus achieved an automated storage and retrieval system where remotely operated vehicles can pick storage containers without having to dig.

It is thus achieved an automated storage and retrieval system that can provide a more time efficient delivery of product items to a customer or other recipient of an item stored in a storage container.

It is thus achieved an automated storage and retrieval system that can provide a high throughput of product items, such as product items on sale or other products with a high demand.

The automated storage and retrieval system may further comprise a storage grid comprising:.

One or more of the storage towers may be at least party arranged below the cantilever part of the rail system and positioned such that each of the container spaces of the first container support can be vertically aligned below a grid opening of the cantilever part.

Alternatively, the automated storage and retrieval system may further comprise a storage grid comprising:.

One or more of the storage towers may be at least partly arranged below the cantilever part of the traveling crane system.

It is thus achieved a storage and retrieval system combining the prior art grid and the inventive grid, i.e. a combination of a high runner grid and a low runner grid in which product items can be arranged according to their turnover.

It is thus achieved a storage and retrieval system combining storage capacity with time efficient delivery of product items to a customer or other recipient of an item stored in a storage container, e.g. where orders can be picked from the low runner grid, with high storage capacity, before intermediately stored (buffered) in the high runner grid, with time efficient delivery of product items to the customer, and subsequently efficiently delivered to the customers on their arrival.

A high runner storage tower is configured for high frequency of storage containers entering and leaving the storage tower. The storage containers will typically be stored for a shorter period in the high runner storage tower when compared to a low runner storage grid. The high runner storage tower is particularly suited for high demand products. The high runner storage tower provides quick access and is therefore suited for time critical storages. The high runner storage tower is less space efficient than a low runner storage grid.

A low runner storage grid is more space efficient when compared to the high runner storage tower. The storage containers will typically be stored for a longer period in the lower runner grid when compared to a high runner storage tower. The low runner storage grid has slower access compared to the high runner storage tower and is therefore better suited for a less time critical storage.

Hence, the high runner storage tower and the low runner storage grid complement each other.

The automated storage and retrieval system may further comprise a rail system arranged above the uppermost container supporting framework at a first vertical offset. The offset providing a vertical gap between a lowermost point of the rail system and a uppermost surface of the container space of the first container support being at least a maximum height of the storage containers to be stored.

Another aspect of the invention also concerns a method for storing and retrieving storage containers from an automated storage and retrieval system. The automated storage and retrieval system being one as described above.

The plurality of horizontal container supporting frameworks comprises a number of j parallel container supporting frameworks, where j is an integer of <NUM> or more.

The at least one container support of the at least one second container supporting framework are displaceable along a second direction orthogonal to the first direction.

In the method for storing and retrieving storage containers from an automated storage and retrieval system, step B may be performed prior to or simultaneously with step A. c) is performed after step A, it may be required to reposition the remotely operated vehicle to a position where its lifting device is positioned in vertical alignment above a target opening of the first container supporting framework being vertically alignable with the target storage container.

It is thus achieved a method for picking storage container with remotely operated vehicles without having to dig.

It is thus achieved a method providing a more time efficient delivery of product items to a customer or other recipient of an item stored in a storage container.

It is thus achieved a method providing a high throughput of product items, such as product items on sale or other products with a high demand.

If the remotely operated vehicle or the crane is carrying a storage container to be stored in the automated storage and retrieval system, either before or after retrieval of the target storage container, the method may comprise the steps of:.

In the method for storing and retrieving storage containers from an automated storage and retrieval system, step F may be performed prior to step E. c) is performed after step E, it may be required to reposition the remotely operated vehicle to a position where its lifting device is positioned in vertical alignment above a target opening of the first container supporting framework being vertically alignable with the target storage container.

If the automated storage and retrieval system comprises a storage grid containing a target storage container, the method may comprise the steps of:.

If two target storage containers are situated on one of the j-<NUM> parallel container supporting frameworks and horizontally aligned in the first direction, and.

When a storage container is being positioned in a vacant container space or a target storage container is being retrieved from the storage tower, the other container spaces of the same row of container spaces are not available for other remotely operated vehicles to pick from. The same applies for the other rows of the same matrix of container spaces. To avoid a queuing, the above-described storage and retrieval system could therefore preferably have specific remotely operated vehicles covering the container spaces of the storage towers.

The control system may be configured to coordinate simultaneous picking by multiple remotely operated vehicles covering the same container spaces of one or several storage towers, as described in the method above, further efficiencies may be achieved.

The control system may be configured to coordinate that two remotely operated vehicles simultaneously pick target storage containers from the same container support. Alternatively, two remotely operated vehicles simultaneously store two storage containers in the same container support. As a further alternative, one remotely operated vehicle retrieving a target storage container from the same container support as another remotely operated vehicle simultaneously is storing a storage container.

A method for installing a storage tower in an automated storage and retrieval system, wherein the storage tower and the automated storage and retrieval system may be one in accordance with the above dsecription, may comprise:.

It is thus achieved a storage tower that can be retrofitted to existing storage and retrieval systems.

The vehicle movement system may comprise a rail system, and
the method may then further comprise the step of:.

The above-described automated storage and retrieval system may be used for delivering items arranged within the storage containers stored in the storage grid directly to end users.

The cantilever part of a rail system does not need to extend the entire horizontal extent of the storage tower. The cantilever part of the rail system may e.g. only extend enough to reach the target openings of the storage tower.

Due to the configuration of the container supports, i.e. the matrix of container spaces, vertical pillars cannot be positioned between the rows of container spaces or between the columns of container spaces of the same container support. This means that there will be a larger span between the vertical pillars of the storage tower, and thus higher loads on each vertical pillar as compared to the upright members of the prior art storage grid.

The rail system, when it is present, must extend over and support the weight of the remotely operated vehicles over a larger area than with a conventional storage grid where each grid space is being supported at the corners by upright members.

To withstand the increasing loads, the vertical pillars and/or the rail system may need to be reinforced as compared to the prior art upright members and rail system.

A remotely operated vehicle approaching the storage tower to pick a target storage container typically brings another storage container that is to be stored in the storage and retrieval system. Before the remotely operated vehicle can pick the target storage container, the vehicle held storage container is advantageously placed in a vacant container space within the same storage tower. This is a process typically referred to as an exchange process. Such an exchange process can take place in the storage tower and the automated storage and retrieval system as described above.

By having fewer storage containers than there are available container spaces within the storage system, there will always be at least one vacant container space. Vacant container spaces will also be dynamically generated as remotely operated vehicles pick storage containers from within the storage tower. If there are no vacant container spaces in the storage system, the remotely operated vehicle must either refrain from bringing another storage container from for example the port column or place the held storage container on top of the storage tower. Both alternatives suffer disadvantages in respect of time efficiency.

The vacant container space (into which the storage container is to be placed) and the target storage container are preferably horizontally closest to the same target opening. In this way the remotely operated vehicle does not need to move between the two operations during the same exchange process. Even more preferred, in addition to being available through the same target opening, the vacant container space and the target storage container can be located on the same container support. In this way the remotely operated vehicle can have a minimum movement of its lifting device between the two operations of the exchange process. Thus, the exchange process time will not be prolonged due to conflicting displacements of the lifting device and the container support of the target storage container.

When the openings are merged the guide structure and the rail system or transport system, if used, may be configured to allowing sideways movement of the lifting device while the lifting device is still lowered into the storage tower. This will save time in an exchange process where a carried storage container is positioned in a row next to the target storage container. The remotely operated vehicle may then move sideways without having to raise and lower the lifting device.

After positioning the previously held storage container in the vacant container space, the lifting device is retracted to allow displacement of the container supports, i.e. return of the container support of the previously vacant container and deployment of the container support of the target storage container such that the target storage container is situated beneath the target opening. If the lifting device is retracted higher than just above the container supporting framework of the target storage container, the exchange process would become less time efficient.

If the target storage container is positioned deeper than the vacant container space, the container support of the target storage container can be deployed prior to the retraction of the lifting device and the displacement back to the initial position of the container support of the previously vacant container space.

After the target storage container has been lifted above the container supporting framework, the container support can be displaced back to its initial position.

The following drawings depict alternatives of the present invention and are appended to facilitate the understanding of the invention.

In the following, different alternatives will be discussed in more detail with reference to the appended drawings. It should be understood, however, that the drawings are not intended to limit the scope of the invention to the subject-matter depicted in the drawings. Furthermore, even if some of the features are described in relation to the system only, it is apparent that they are valid for the methods as well, and vice versa. In the preceding description, various aspects of the delivery vehicle and the automated storage and retrieval system according to the invention have been described with reference to the illustrative embodiment. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiment, as well as other embodiments of the system, which are apparent to persons skilled in the art to which the disclosed subject matter pertains, are deemed to lie within the scope of the present invention, which is defined by the appended claims.

With particular reference to <FIG> and <FIG>, the inventive storage and retrieval system <NUM> comprises remotely operated vehicles <NUM> operating on a rail system <NUM> comprising a first set of parallel rails <NUM> arranged to guide movements of the remotely operated vehicles <NUM> in a first direction X across a storage tower <NUM> and a second set of parallel rails <NUM> arranged perpendicular to the first set of rails <NUM> to guide movement of the remotely operated vehicles <NUM> in a second direction Y which is perpendicular to the first direction X. The storage containers <NUM> stored within the storage tower <NUM> are accessed by the remotely operated vehicles <NUM> through grid openings <NUM> in the rail system <NUM>. Each grid opening <NUM> of the rail system <NUM> is enclosed by a grid cell <NUM>. The rail system <NUM> extends in a horizontal plane Prs.

As best seen in <FIG>, the storage containers <NUM> are stored on a plurality of container supporting frameworks <NUM> distributed in a Z direction below the rail system <NUM> with a vertical offset indicated by Vr1 (i.e. the offset between the lower edge of the rail system <NUM> and the lower edge for the first container supporting framework 401a directly beneath the rail system <NUM>) and a vertical offset indicated by ΔdVb-n (i.e. the offset between the lower edges of two adjacent container supporting frameworks 401a-n).

The vertical offsets Vr1 and ΔdVb-n may be selected to provide a height that is equal to or higher than a maximum height of one storage container <NUM> or a stack <NUM> of several storage containers <NUM> or equal to or higher than a maximum height of different storage containers <NUM> stored in respective container supporting frameworks <NUM>. As an example, the first container supporting framework 401a may be adapted to store stacks <NUM> of storage containers <NUM> while the below situated container supporting frameworks 401b-n may be adapted to store single (unstacked) storage containers <NUM>. As a further example, several or all container supporting frameworks <NUM> of the tower <NUM> may be adapted to store stacks <NUM> of several storage containers <NUM>. The different container supporting frameworks <NUM> of the same tower <NUM> may be configured to store stacks <NUM> of unequal numbers of storage containers <NUM>. The vertical space (i.e. the available height) required for one or several container supporting frameworks <NUM> of the tower <NUM> to be adapted to store a stack <NUM> of several storage containers <NUM> may be obtained by reducing the total number of container supporting frameworks <NUM> as compared to a configuration of the tower <NUM> where all container supporting frameworks <NUM> are adapted to store single (unstacked) storage containers <NUM>.

<FIG> shows a storage tower <NUM> where each container supporting framework 401an comprises one horizontally extending container support <NUM>.

<FIG> show an example of such a container support design. <FIG> shows a container support <NUM> without storage containers <NUM> and <FIG> shows the same container support <NUM> where storage containers <NUM> are positioned in the container spaces.

The container support <NUM> has principal directions in a first direction X and an orthogonal second direction Y. The container support <NUM> is configured as a horizontal matrix of container spaces with a plurality of columns of container spaces arranged in the first horizontal direction X and a plurality of rows of container spaces arranged in the second horizontal direction Y. Each row of container spaces is configured to receive a plurality of storage containers <NUM> and typically further displays at least one opening <NUM> extending along the second direction Y. The opening <NUM> may have a horizontal extent along the first direction X substantially equal to the horizontal extent of the row along the first direction X. The container support <NUM> of the lowermost container supporting framework 401n typically does not display an opening <NUM>. The at least one opening <NUM> of each row of container spaces typically has an opening size being at least a maximum horizontal cross section Af (Wf * Lf) of the storage containers <NUM> to be stored.

The container support <NUM> of <FIG> comprises a plurality of guide structures <NUM> for the openings <NUM>. The guide structure <NUM> is fixed along the peripherals of each opening 403a-d in order to aid the storage container <NUM> to be guiding correctly through the opening 403a-d during lifting / lowering by the respective remotely operated vehicles <NUM>;<NUM>;<NUM>.

The container support <NUM> may be a plate or a frame without inner structure. The container spaces typically have a horizontal extent being at least a maximum horizontal cross section Af (Wf * Lf) of the storage containers <NUM> to be stored. The matrix of container spaces could be an imaginary division primarily set by the size of the storage containers <NUM>. The size of the matrix of container spaces is linked to the number of rows and columns of the matrix. A matrix comprising l rows and m columns may extend a distance along the first direction X substantially equal to l*Lf and extend a distance along the second direction Y substantially equal to m*Wf. Alternatively, a matrix comprising l rows and m columns may extend a distance along the first direction X substantially equal to l*Wf and extend a distance along the second direction Y substantially equal to m*Lf. If a rail system <NUM> is used, the storage containers <NUM> will be spaced apart at least corresponding to the width of the rail Wr. The spacing of the storage containers <NUM> will add to the size of the matrix of container spaces. The total contribution from this spacing depends on the number of containers <NUM> and thus the number of spacings. The total spacing width may be calculated as (l-<NUM>)*Wr or (m-<NUM>)*Wr. If a transport system <NUM> (typically comprising a crane <NUM>) is used, the storage containers <NUM> may be stored closer together as compared to the system with rails <NUM>. Any spacing of the storage containers <NUM> should be added to the size of the matrix also when a transport system <NUM> is used.

In the example of <FIG>, the container support <NUM> has a matrix of container spaces comprising four rows and five columns. The horizontal extent of this matrix is a distance substantially equal to <NUM>*Lf along the first direction X and a distance substantially equal to <NUM>*Wf along the second direction Y. Any spacing of the storage containers <NUM> should be added to the size of the matrix of container spaces, as described above. The container support may have a central line of openings <NUM>, e.g. four openings <NUM> along a column. Alternatively, one single opening <NUM> extending through all four rows. Alternatively, a combination of openings <NUM> extend through one, two or three rows. On both sides of the central opening <NUM> or line of openings <NUM>, container spaces are provided in a 4x2 configuration. This may be construed as two columns each of four container spaces on either side of the opening(s) <NUM>. Alternatively, this may be construed as four rows each of five container spaces wherein the central container space being the opening <NUM>. Alternatively, this may be construed as four rows each of four container spaces with two container spaces on either side of the opening <NUM>.

The opening <NUM>, i.e. the perimeter of the at least one opening 403a-d in each row, of the first container supporting framework 401a and the at least one opening <NUM> of the at least one second container supporting framework 40b-n can be aligned vertically with respect to each other. This can be achieved by the at least one container support <NUM> of the at least one second container supporting framework 401b-n being displaceable along the second direction Y. The displacement may be achieved by the at least one second container supporting framework 401b-n comprising a support displacement device <NUM> configured to displace the displaceable container support <NUM> of the at least one second container supporting framework 401b-n. An example of such a support displacement device <NUM> is illustrated in <FIG> and further described below. Since all container spaces of the first container support 402a, i.e. the uppermost container support <NUM>, are accessible through grid openings <NUM>. The first container supporting framework 401a, i.e. the uppermost container supporting framework <NUM>, does not need to be provided with a support displacing device <NUM>, though efficiencies can be improved where it is provided with one.

The container support <NUM> of <FIG> comprise support plates <NUM> providing container spaces. In <FIG>, storage containers <NUM> are placed on top of the support plates <NUM>. One support plate <NUM> may provide four container spaces distributed along the first horizontal direction X forming a complete column. Alternatively, each column may comprise a plurality of support plates <NUM>, e.g. one support plate <NUM> per container space. As a further alternative, one support plate <NUM> may provide two or more container spaces distributed along the second horizontal direction Y forming at least a part of a row. One support plate <NUM> may also provide a plurality of container spaces distributed along both the first direction X and the second direction Y.

Each container support <NUM> comprises a first container support beam <NUM> extending in the first horizontal direction X and a second container support beam <NUM> extending in the second horizontal direction Y. The first and second support beams <NUM>,<NUM> may be used to provide stiffness and stabilize the container support <NUM> in the horizontal plane Prs. The first support beams <NUM> may extend the full length of a column. The second support beams <NUM> may extend the full length of a row.

In <FIG>, a first support beam <NUM> is arranged between each column of container spaces, in total four first beams <NUM>. The first support beams <NUM> may be used for attachment of the guide structures <NUM>. The first support beams <NUM> may also be used for attachment of the support plates <NUM>. The first support beams <NUM> may protrude upwards relative to the support plates <NUM>, thereby preventing storage containers <NUM> from moving along the second horizontal direction Y relative to the container support <NUM>. The first support beams <NUM> may also be used to support storage containers <NUM> and thus provide container spaces, i.e. a container space without a support plate <NUM>.

In <FIG>, two second support beams <NUM> are arranged in parallel with the rows. In this example the second support beams <NUM> are arranged not to divide the rows, i.e. on the edges of the container support <NUM>. Second support beams <NUM> may additionally be arranged to divide the rows. The second support beams <NUM> may be used for attachment of the guide structures <NUM>. The second support beams <NUM> may also be used for attachment of the support plates <NUM>. The second support beams <NUM> may protrude upwards relative to the support plates <NUM>, thereby preventing storage containers <NUM> from moving in the first direction X relative to the container support <NUM>. The second support beams <NUM> may also be used to support storage containers <NUM> and thus provide container spaces, i.e. a container space without a support plate <NUM>. Alternatively, the first and second support beams <NUM>,<NUM> may together provide container spaces. The second support beams <NUM> may also be used for attachment of shelf guides <NUM>. The second support beams <NUM> may also be used for attachment of horizontal movement shelf rollers <NUM>'. The shelf rollers <NUM>,<NUM>' are further described below with reference to <FIG>. The second support beams <NUM> may also be used for attachment of vertical pillars <NUM>. These are inter alia illustrated in <FIG>.

Each container support <NUM> may comprise a stabilization rib <NUM> arranged in the first direction X. In <FIG>, two stabilization ribs <NUM> are arranged not to divide the columns, i.e. on the edges of the container support <NUM>. The stabilization ribs <NUM> may additionally be arranged to divide the columns. The stabilization ribs <NUM> may be used for attachment of the guide structures <NUM>. The stabilization ribs <NUM> may also be used for attachment of the support plates <NUM>. The stabilization ribs <NUM> may have a vertical extent higher than the support plate <NUM>. The stabilization ribs <NUM> may be used for stabilizing storage containers <NUM>. The stabilization ribs <NUM> may also stabilize the container support by stiffening the structure to prevent twisting, e.g., under uneven loading. Stabilization ribs <NUM> may also be arranged in the second direction Y. The stabilization rib <NUM> may replace one or more first support beams <NUM>, and vice versa. The stabilization rib <NUM> may replace one or more second support beams <NUM>, and vice versa.

The first support beam <NUM>, the second support beam <NUM> the stabilization rib <NUM>, the support plate <NUM>, the guide structure <NUM> and any other components associated with the container support <NUM> may be connected to each other by means of fasteners, welding, snap lock systems, tongue and groove system or other known methods know to those skilled in the art.

<FIG> shows that a container support <NUM> of one or more container supporting frameworks <NUM> may be made displaceable along the second horizontal direction Y relative to the container supporting framework <NUM>. To displace the displaceable container support <NUM> along the second horizontal direction Y, the container supporting framework <NUM> of <FIG> comprises a support displacement device <NUM>. Alternatively, the container support <NUM> may comprise the support displacement device <NUM>. The support displacement device <NUM> is configured to displace the displaceable container support <NUM> relative to the container supporting framework <NUM>.

To be displaceable along the second horizontal direction Y, the container support <NUM> and the corresponding container supporting framework <NUM> comprises a guide track <NUM> and a plurality of shelf rollers <NUM>,<NUM>'. The shelf rollers <NUM>,<NUM>' are configured to travel along the guide track <NUM>. The guide track <NUM> may be provided on the container supporting framework <NUM> and the shelf rollers <NUM>,<NUM>' may be provided on the container support <NUM> as illustrated in <FIG>, or vice versa.

The guide track <NUM> of <FIG> is an extruded profile. This guide track <NUM> comprises a horizontal part <NUM>" and a vertical part <NUM>'. When the guide track <NUM> is arranged with a longitudinal direction extending along the second horizontal direction Y, the horizontal part <NUM>'' is horizontally extending and the vertical part <NUM>' is vertically extending.

The rollers <NUM>,<NUM>' of <FIG> are provided in pairs comprising a shelf guide <NUM> and a horizontal movement shelf roller <NUM>'. The shelf guide <NUM> has a vertically oriented axis of rotation. The horizontal movement shelf roller <NUM>' has an axis of rotation oriented along the first horizontal direction X. As illustrated in <FIG>, three pairs of rollers <NUM>,<NUM>' can be arranged along the side of the container support <NUM> to cooperate with the corresponding guide track <NUM>. The pairs of rollers <NUM>,<NUM>' are distributed with one pair in the centre and one pair at each distal end of the edge of the container support <NUM>. One container support <NUM> will typically have rollers <NUM>,<NUM>' arranged at two opposing edges.

<FIG> shows how the horizontal movement shelf rollers <NUM>' cooperate with the guide track horizontal part <NUM>'', in that the horizontal movement shelf rollers <NUM>' can roll along the guide track horizontal part <NUM>''. The cooperation of the guiding track horizontal part <NUM>" and the horizontal movement shelf rollers <NUM>' allow the relative displacement between the container support <NUM> and the container supporting framework <NUM>.

<FIG> shows how the shelf guides <NUM> cooperate with the guide track horizontal part <NUM>, in that the vertical movement shelf rollers <NUM>' can roll along the guide track vertical part <NUM>". The cooperation of the guiding track vertical part <NUM>' and the shelf guides <NUM> control the direction of the relative movement between the container support <NUM> and the container supporting framework <NUM>.

<FIG> shows an example of a support displacement device <NUM>. This support displacement device <NUM> comprises an electric motor <NUM>. The electric motor <NUM> is arranged on the container supporting framework <NUM> by means of a bracket <NUM>. The bracket can e.g. be connected to a vertical pillar <NUM>. For maintenance purposes, the components of the support displacement device <NUM> are preferably arranged in positions easily accessible for technicians. In particular the electric motors <NUM> or alternative drive devices should preferably be arranged on the edge of the container supporting framework <NUM> and extending on the outside of the container supporting framework <NUM>. Preferably also close to a corner of the container supporting framework <NUM>. By arranging the electric motors <NUM> of adjoining container supporting frameworks <NUM> on opposite sides of the container supporting frameworks <NUM>, more space is made available for the technicians to install or perform maintenance on the electric motor <NUM> and/or the support displacement device <NUM>.

The support displacement device <NUM> comprises a drive shaft <NUM> configured to be driven by the electric motor <NUM>. The drive shaft <NUM> is also configured to drive, i.e. displace, the displaceable container support <NUM>.

<FIG> and <FIG> show how the drive shaft <NUM> can be arranged on the container supporting framework <NUM>. The drive shaft <NUM> is arranged on the container supporting framework <NUM> by means of brackets <NUM>. These brackets <NUM> can be arranged on the vertical pillars <NUM>. These brackets <NUM> are typically arranged at the distal ends of the drive shaft <NUM>. The brackets <NUM> must allow rotation of the drive shaft <NUM>. The drive shaft <NUM> is arranged substantially level and extends along the first direction X.

In <FIG> and <FIG>, rotation of the electric motor <NUM> causes rotation of the drive shaft <NUM> by means of a belt wheel <NUM> arranged on the electric motor <NUM>, a belt wheel <NUM> arranged on the drive shaft <NUM>, and a first belt <NUM> connecting these belt wheels <NUM>. The belt wheel <NUM> arranged on the drive shaft <NUM> is arranged on the distal end of the drive shaft <NUM> to align with the belt wheel <NUM> arranged on the electric motor <NUM>. In <FIG> and <FIG>, each drive shaft <NUM> is driven by one electric motor <NUM>. This is advantageous since it requires fewer parts and the movements along each side are synchronised by the drive shaft <NUM> which is common to both sides. Alternatively, two electric motors <NUM> can be provided for each drive shaft <NUM>, connected to opposite ends of the drive shaft <NUM> or drive shaft portions.

In <FIG> and <FIG>, rotation of the drive shaft <NUM> causes displacement of the displaceable container support <NUM> by means of two belt wheels <NUM> arranged on the drive shaft <NUM>, two belt wheels <NUM> arranged on the container supporting framework <NUM>, two brackets <NUM> arranged on the container support <NUM>, and two second belt <NUM>.

The two belt wheels <NUM> arranged on the drive shaft <NUM> and configured to drive the container support <NUM> are concentric with each other and concentric with the belt wheel <NUM> arranged on the drive shaft and configured to cooperate with the electric motor <NUM>.

The two belt wheels <NUM> arranged on the container supporting framework <NUM> are provided on opposite sides of the container supporting framework <NUM> and connected e.g. to the guiding tracks <NUM> or the vertical pillars <NUM>. The belt wheels <NUM> arranged on the container supporting framework <NUM> are aligned with the belt wheels <NUM> arranged on the drive shaft <NUM>.

The two second belts <NUM> each connect one belt wheel <NUM> arranged on the drive shaft <NUM> with one belt wheel <NUM> arranged on the container supporting framework <NUM>. When connected, the second belts <NUM> extend along the second horizontal direction Y. The second belts <NUM> then extend in the same direction as the intended displacement of the container support <NUM>. The extension of the second belts <NUM> along the second horizontal direction Y should substantially corresponding to or exceed the predetermined distance of displacement of the container support <NUM>.

The two second belts <NUM> are arranged with a distance between them in the first direction X exceeding the horizontal extension of the container support <NUM> along the first direction X.

The two brackets <NUM> are arranged on opposite sides of the container support <NUM> and facing respective second belts <NUM>. Each bracket <NUM> is aligned with and connected to respective second belts <NUM>. The bracket <NUM> and the second belt <NUM> can be clamped by means of a plate bolted to the bracket <NUM> and the second belt being arranged between them. In this way the bracket can be connected to any given part of the second belt <NUM>.

The direction of displacement of the container support <NUM> depends on the direction of rotation of the drive shaft <NUM> and thus the direction of rotation of the electric motor <NUM>. By providing a clockwise rotation from the electric motor <NUM>, the container support <NUM> will be displaced in an opposite direction as compared to when a counter-clockwise rotation is provided from the electric motor <NUM>. The displacement-rotation ration between the container support <NUM> and the drive shaft <NUM> or the electric motor <NUM> can be configured by selecting the size of the belt wheels <NUM>.

<FIG> is a perspective view of a lowermost part of the storage tower <NUM>. The lowermost container support 402n, i.e. one of the second container supports 402b-n, are displaced relative to the above container supports <NUM>. The displaced container support <NUM> is displaced a distance in the second direction Y corresponding to one grid cell <NUM>.

In <FIG> it is shown that the storage tower <NUM> comprises a plurality of vertical pillars <NUM>. These vertical pillars <NUM> are typically supported by a floor <NUM>, and possibly also connected to the floor <NUM> by means of pillar brackets <NUM>. The plurality of vertical pillars <NUM> are configured to support a plurality of guide tracks <NUM>. If the storage tower <NUM> comprises a rail system <NUM>, the plurality of vertical pillars <NUM> can be configured to support the rail system <NUM>. The vertical pillars <NUM> are distributed with distances along the first direction X and/or the second direction Y that are larger than the distances between the upright members <NUM> of the prior art framework structure <NUM>. This is because the container supports <NUM> have a larger span than the storage columns <NUM> of the prior art framework structure <NUM>. Therefore, each vertical pillar <NUM><NUM> should be configured to withstand greater loads than the upright members <NUM> since there are fewer of them. If the storage tower <NUM> comprises a transport system <NUM>, the plurality of vertical pillars <NUM> can be configured to support the transport system <NUM>. This is illustrated in <FIG>.

<FIG> shows a side view of a storage and retrieval system <NUM> with one inventive storage tower <NUM> and one prior art storage grid <NUM>. The above-mentioned support displacement devices <NUM> are shown arranged at the end of each container support <NUM>. This particular configuration comprises fourteen container supporting frameworks 401a-n arranged beneath a rail system <NUM>, each with one container support <NUM> displaceable in the Y direction. Other numbers of container supporting frameworks could be present as appropriate. Preferably there are more than five container supporting frameworks, more preferably more than ten. In order to enable movement between the storage grid <NUM> and the storage tower <NUM>, a coupling rail system <NUM>' is seen interconnecting the rail system <NUM> of the prior art storage grid <NUM> and the rail system <NUM> of the inventive storage tower <NUM>. The rail system <NUM> of the inventive storage tower <NUM> and the rail system <NUM> of the prior art storage grid <NUM> have a mutual orientation and design such that the same type of vehicles <NUM> may operate on both rail systems <NUM>,<NUM>. Due to the different construction of the container supporting frameworks <NUM> for the inventive storage tower <NUM> and the stacks <NUM> of storage containers <NUM> for the prior art storage grid <NUM>, the rails <NUM>,<NUM> above the container supporting frameworks <NUM> can with advantage be made wider compared to the rails <NUM>,<NUM> above the stacks <NUM>, at least in one of the X-Y directions.

<FIG> shows a perspective view of the same storage and retrieval system <NUM> as <FIG>.

Both the inventive storage tower <NUM> and the prior art storage grid <NUM> can be of any size. In particular it is understood that the storage tower <NUM> and/or the storage grid <NUM> can be considerably wider and/or longer and/or deeper than disclosed in the accompanied figures. For example, storage tower <NUM> and/or the storage grid <NUM> may have a horizontal extent having space for more than 700x700 storage containers <NUM> and a storage depth of more than fourteen storage containers <NUM>.

One way of installing the storage tower <NUM> as described above can be to remove all stacks <NUM> of storage containers <NUM> beneath a rail system <NUM> part of a prior art storage and retrieval system <NUM> as shown in <FIG>, leaving a cantilever part CP of the rail system <NUM>. Then inserting one or more inventive storage towers <NUM> within the empty volume below the cantilever part CP of the rail system <NUM>.

<FIG> are perspective views of a storage system <NUM> comprising the storage tower <NUM> during operation. <FIG> shows a vertical cross-section of the storage system <NUM> of <FIG>.

In order to store and retrieve a target storage container <NUM>' using the storage tower <NUM>, the following operations are performed (with reference to <FIG>):.

The process has the advantage that the need for digging performed for prior art storage and retrieval system is no longer necessary.

In the operational example of <FIG> the target storage container <NUM>' is positioned next to the opening <NUM> of the same row of container spaces. Some rows of container spaces may comprise more than one container space on either side of the opening <NUM>. If a target storage container <NUM>' is not positioned next to the opening <NUM>, i.e. there is a container space between the target storage container <NUM>' and the opening <NUM>, the container support <NUM> must be displaced a distance along the second horizontal direction Y corresponding to two grid cells <NUM> to position the target storage container <NUM>' in vertically aligned with the target openings <NUM>' of the above situated container supporting frameworks 401a-f. From the initial position of the container support <NUM>, there may not be sufficient space in the storage tower <NUM> for the container support <NUM> to be displaced a distance corresponding to two grid cells <NUM> both directions along the second direction Y. In that case the target storage container <NUM>' can be retrieved as illustrated in <FIG> by displacing all of the container supports above a distance of one grid cell in the other direction.

The retrieval operation of <FIG> is similar to the operation described with reference to <FIG>. However, an additional step is performed.

<FIG> shows a cross-section of the storage system <NUM> in accordance with <FIG>. Here two vehicles <NUM> are simultaneously retrieving respective target containers <NUM>' positioned on the same container support <NUM>. If the control system <NUM> detects two target storage containers <NUM>' positioned on the same container support <NUM>, and in particular when positioned in the same column of container spaces, the control system <NUM> may give instructions to two vehicles <NUM> to pick up these target storage containers <NUM>' simultaneously.

<FIG>, <FIG> and <FIG> show storage and retrieval system <NUM> comprising one storage tower <NUM>. Instead of a vehicle <NUM>,<NUM> with wheels moving on a rail system <NUM>, the storage and retrieval system <NUM> comprises a transport system <NUM>. The transport system <NUM> comprises a crane <NUM> moveable in the first direction X on a sliding bar <NUM> extending across the width of the storage tower <NUM>. Movements in the second direction Y is achieved by sliding the sliding bar <NUM> along two fixed bars <NUM> extending in the second direction Y on both sides of the storage tower <NUM>. In <FIG>, the crane <NUM> is shown as a container handling vehicle with a cantilever construction supported on two parallel sliding bars <NUM>.

When the transport system <NUM> receives an instruction from the control system <NUM> to retrieve a target storage container <NUM>' stored in for example the sixth container supporting framework 401f counted from above (as shown in <FIG>), the support displacement device <NUM> displaces the container support <NUM> in the Y direction until the target storage container <NUM>' is vertically aligned with the target opening <NUM>' vertically aligned within the above situated five container supporting frameworks 401a-e. Before, during or after the displacement of the container support <NUM>, the crane <NUM> of the transport system <NUM> is moved by use of the sliding bar <NUM> and the fixed bar <NUM> to a location in which the lifting device <NUM> is vertically aligned above the target opening <NUM>' of the first container supporting framework 401a (and due to the initial alignment, also the corresponding openings <NUM> of the container supporting frameworks 401b-e down to at least to the container supporting framework 401f with the target storage container <NUM>').

The storage tower <NUM> shown in <FIG> also comprise a dedicated port column or chute <NUM> into which the target storage container <NUM>' can be lowered / raised by use of the lifting device <NUM> of the crane <NUM>. In <FIG> and <FIG>, an access station <NUM> is shown arranged below the lower end of the chute <NUM> to receive and to provide storage containers <NUM> to be retrieved and stored, respectively.

The operations described with reference to <FIG> and <FIG> applies mutatis mutandis to a storage tower <NUM> comprising a transport system <NUM>.

<FIG> show that the storage tower <NUM> can comprise horizontal beams <NUM> for connection to the top of the vertical pillars <NUM>.

In the preceding description, various aspects of the automated storage and retrieval system and associated method of picking product items using vehicles have been described with reference to the illustrative embodiment. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiment, as well as other embodiments of the system, which are apparent to persons skilled in the art to which the disclosed subject matter pertains, are deemed to lie within the scope of the present invention, which is defined by the appended claims.

<FIG> shows three different storage towers <NUM>.

The storage tower <NUM> in <FIG> has container supports <NUM> with a matrix of container spaces comprising four rows and five columns, i.e. a 4x5 matrix. The four rows of container spaces are symmetric. Each row is configured to receiving four storage containers <NUM> and comprises one opening <NUM>.

The storage tower <NUM> in <FIG> has container supports <NUM> with a matrix of container spaces comprising four rows and ten columns, i.e. a 4x10 matrix. The four rows of container spaces are symmetric. Each row is configured to receiving eight storage containers <NUM> and comprises two openings <NUM>. One container support <NUM> of the storage tower <NUM> of <FIG> is equal to two container supports <NUM> of the storage tower <NUM> of <FIG> placed side by side along the second direction Y.

The storage tower <NUM> in <FIG> has container supports <NUM> with a matrix of container spaces comprising four rows and fifteen columns, i.e. a 4x15 matrix. The four rows of container spaces are symmetric. Each row is configured to receiving twelve storage containers <NUM> and comprises three openings <NUM>. One container support <NUM> of the storage tower <NUM> in <FIG> is equal to three container supports <NUM> of the storage tower <NUM> of <FIG> placed side by side along the second direction Y.

In <FIG> each row of container spaces displays a plurality of openings <NUM> distributed with an offset corresponding to d+<NUM> grid cells <NUM> in the second direction Y, where d is an integer of <NUM> or more. In these particular examples d=<NUM>.

Claim 1:
A storage tower (<NUM>) for storing storage containers (<NUM>), comprising a plurality of horizontally extending container supporting frameworks (<NUM>) distributed with vertical offsets (ΔdVb-n),
• wherein the plurality of horizontal container supporting frameworks (<NUM>) comprises
- a first container supporting framework (401a) and
- at least one second container supporting framework (401b-n) arranged beneath and extending parallel to the first container supporting framework (401a),
• wherein each of the first and the at least one second container supporting frameworks (401b-n) comprises
- a horizontally extending container support (<NUM>) with principal directions in a first direction (X) and an orthogonal second direction (Y), each container support (<NUM>) being configured as a matrix of container spaces with a plurality of columns of container spaces arranged in the first direction (X) and a plurality of rows of container spaces arranged in the second direction (Y),
• wherein each row of container spaces of the container supports (<NUM>) of the first and at least second container supporting frameworks (401a-n)
- is configured to receive a plurality of storage containers (<NUM>)
• wherein the container support of the first container supporting framework and the at least one second container supporting framework are displaceable along the second direction (Y), and
• wherein the first container supporting framework and the at least one second container supporting framework comprises each a support displacement device (<NUM>) configured to displace the corresponding displaceable container support (<NUM>); characterised in that:
• each row of container spaces of the container supports (<NUM>) of the first and at least second container supporting frameworks (401a-n) displays at least one opening (<NUM>) extending along the second direction (Y), the at least one opening (<NUM>) having an opening size being at least a maximum horizontal cross section (Af) of the storage containers (<NUM>) to be stored, and wherein the at least one opening (<NUM>) of each row of the container support of the first container supporting framework (401a) can be aligned vertically with respect to the at least one opening (<NUM>) of a corresponding row of the container support of the at least one second container supporting framework (401b-n).