Patent Description:
The framework structure <NUM> comprises upright members <NUM> and a storage volume comprising storage columns <NUM> arranged in rows between the upright members <NUM>. The members <NUM> may typically be made of metal, e.g. extruded aluminum profiles.

The framework structure <NUM> of the automated storage and retrieval system <NUM> comprises a rail system <NUM> arranged across the top of framework structure <NUM>, on which rail system <NUM> a plurality of container handling vehicles <NUM>,<NUM>,<NUM> may be operated to raise storage containers <NUM> from, and lower storage containers <NUM> into, the storage columns <NUM>, and also to transport the storage containers <NUM> above the storage columns <NUM>. The rail system <NUM> comprises a first set of parallel rails <NUM> arranged to guide movement of the container handling vehicle <NUM>,<NUM>,<NUM> in a first direction X across the top of the frame structure <NUM>, and a second set of parallel rails <NUM> arranged perpendicular to the first set of rails <NUM> to guide movement of the container handling vehicles <NUM>,<NUM>,<NUM> in a second direction Y which is perpendicular to the first direction X. Containers <NUM> stored in the columns <NUM> are accessed by the container handling vehicles <NUM>,<NUM>,<NUM> through access openings <NUM> in the rail system <NUM>. The container handling vehicles <NUM>,<NUM>,<NUM> can move laterally above the storage columns <NUM>, i.e. in a plane which is parallel to the horizontal X-Y plane.

Each prior art container handling vehicle <NUM>,<NUM>,<NUM> comprises a vehicle body 201a,301a,401a and first and second sets of wheels 201b, 201c, 301b, 301c,401b,401c which enable the lateral movement of the container handling vehicles <NUM>,<NUM>,<NUM> in the X direction and in the Y direction, respectively. In <FIG> and <FIG> two wheels in each set are fully visible. The first set of wheels 201b,301b,401b is arranged to engage with two adjacent rails of the first set <NUM> of rails, and the second set of wheels 201c,301c,401c is arranged to engage with two adjacent rails of the second set <NUM> of rails. At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be lifted and lowered, so that the first set of wheels 201b, 301b, 401b and/or the second set of wheels 201c, 301c, 401c can be engaged with the respective set of rails <NUM>, <NUM> at any one time.

Each prior art container handling vehicle <NUM>,<NUM>,<NUM> also comprises a lifting device 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>,<NUM> so that the position of the gripping / engaging devices with respect to the vehicle <NUM>,<NUM>,<NUM> can be adjusted in a third direction Z which is orthogonal the first direction X and the second direction <NUM>. Parts of the gripping device of the container handling vehicles <NUM>,<NUM> are shown in <FIG> and <FIG> indicated with reference number <NUM>,<NUM>. The gripping device of the container handling device <NUM> is located within the vehicle body 201a in <FIG>.

Conventionally, and also for the purpose of this application, Z=<NUM> identifies the uppermost layer available for storage containers below the rails <NUM>,<NUM>, i.e. the layer immediately below the rail system <NUM>, Z=<NUM> the second layer below the rail system <NUM>, Z=<NUM> the third layer etc. In the exemplary prior art disclosed in <FIG>, Z=<NUM> identifies the lowermost, bottom layer of storage containers. Similarly, X=\. Consequently, as an example, and using the Cartesian coordinate system X, Y, Z indicated in <FIG>, the storage container identified as <NUM>' in <FIG> can be said to occupy storage position X=\l, <NUM>=<NUM>, Z=<NUM>. The container handling vehicles <NUM>,<NUM>,<NUM> can be said to travel in layer Z=<NUM>, and each storage column <NUM> can be identified by its X and <NUM> coordinates. Thus, the storage containers shown in <FIG> extending above the rail system <NUM> are also said to be arranged in layer Z= <NUM>.

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 <NUM>- direction, while each storage cell may be identified by a container number in the X-, Y- and Z-direction.

Each prior art container handling vehicle <NUM>,<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 storage space may comprise a cavity arranged internally within the vehicle body 201a as shown in <FIG> and <FIG> and as described in e.g. <CIT> and <CIT>.

Such a vehicle is described in detail in e.g. N0317366.

The 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'.

Alternatively, the cavity container handling vehicles <NUM> may have a footprint which is larger than the lateral area defined by a storage column <NUM> as shown in <FIG> and <FIG>, e.g. as is disclosed in <CIT> or <CIT>.

Each rail may comprise one track, or each rail <NUM>,<NUM> may comprise two parallel tracks. In other rail systems <NUM>, each rail in one direction may comprise one track and each rail in the other perpendicular direction may comprise two tracks. Each rail <NUM>,<NUM> may also comprise two track members that are fastened together, each track member providing one of a pair of tracks provided by each rail.

In <FIG>, columns <NUM> and <NUM> are such special-purpose columns used by the container handling vehicles <NUM>,<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 transportation from the port to the access station may require movement along various different directions, by means such as delivery vehicles, trolleys or other transportation lines.

In <FIG>, the first port column <NUM> may for example be a dedicated drop-off port column where the container handling vehicles <NUM>,<NUM> can drop off storage containers <NUM> to be transported to an access or a transfer station, and the second port column <NUM> may be a dedicated pick-up port column where the container handling vehicles <NUM>,<NUM>,<NUM> can pick up storage containers <NUM> that have been transported from an access or a transfer station.

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> stored in one of the columns <NUM> disclosed in <FIG> is to be accessed, one of the container handling vehicles <NUM>,<NUM>,<NUM> is instructed to retrieve the target storage container <NUM> from its position and transport it to the drop-off port column <NUM>. This operation involves moving the container handling vehicle <NUM>,<NUM> to a location above the storage column <NUM> in which the target storage container <NUM> is positioned, retrieving the storage container <NUM> from the storage column <NUM> using the container handling vehicle's <NUM> ,<NUM>,<NUM> lifting device (not shown), and transporting the storage container <NUM> to the drop -off port column <NUM>. This step, which is sometimes referred to as "digging" within the art, may be performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop -off port column <NUM>, or with one or a plurality of other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system <NUM> may have container handling vehicles <NUM>,<NUM>,<NUM> specifically dedicated to the task of temporarily removing storage containers <NUM> from a storage column <NUM>. Once the target storage container <NUM> has been removed from the storage column <NUM>, the temporarily removed storage containers <NUM> can be repositioned into the original storage column <NUM>. However, the removed storage containers <NUM> may alternatively be relocated to other storage columns <NUM>.

When a storage container <NUM> is to be stored in one of the columns <NUM>, one of the container handling vehicles <NUM>,<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 <NUM> positioned at or above the target position within the stack <NUM> have been removed, the container handling vehicle <NUM>,<NUM>,<NUM> positions the storage container <NUM> at the desired position. The removed storage containers <NUM> may then be lowered back into the storage column <NUM>, or relocated to other storage columns <NUM>.

For monitoring and controlling the automated storage and retrieval system <NUM>, e.g. monitoring and controlling the location of respective storage containers <NUM> within the framework structure <NUM>, the content of each storage container <NUM>; and the movement of the container handling vehicles <NUM>,<NUM>,<NUM> so that a desired storage container <NUM> can be delivered to the desired location at the desired time without the container handling vehicles <NUM>,<NUM>,<NUM> colliding with each other, the automated storage and retrieval system <NUM> comprises a control system <NUM> which typically is computerized and which typically comprises a database for keeping track of the storage containers <NUM>.

When travelling up and down transfer columns, the lifting devices of the container handling vehicles operating on the rail system require guiding in order to travel firmly and avoid getting stuck or jammed in between the upright members of the framework structure. Possible problems relating to uneven lifting of the lifting devices increase by distance between the container handling vehicle and the lifting device.

A desire for the possibility of transferring storage containers horizontally through a side opening of a transfer column has developed. It is therefore an objective of the invention to provide a solution solving the above stated problem. In particular, it is an objective of the invention to provide a system and method which both allows horizontal movement of a storage container through a side opening of the transfer column and also provides the possibility of guiding lifting devices travelling over the side opening.

<CIT>, which the EPO identified in the examination procedure as the 'closest prior art' discloses systems, methods, and machine-executable coded instruction sets for the fully- and/or partly automated handling of goods. In an example, there is provided a system for managing shipment containers. The system includes a storage-and-retrieval system and at least one processor. The storage-and-retrieval system includes: a structural framework defining a grid of storage locations configured for receiving a plurality of containers; a plurality of robotic load handlers for retrieving containers from any one of the storage locations; and at least one rail arranged about the grid to enable access to each of the storage locations by at least one of the plurality of robotic load handlers. The least one processor is configured to: generate signals for instructing or controlling at least one of the plurality of robotic load handlers to store, in the storage and retrieval system, storage containers containing stored items; generate signals for instructing or controlling at least one of the plurality of robotic load handlers to retrieve from the storage and retrieval system at least one container containing stored items for delivering the retrieved at least one container to an order picking station; and generate signals for instructing or controlling at least one of the plurality of robotic load handlers to store at least one delivery container containing at least one picked item in the storage and retrieval system.

Goods holders, such as e.g. storage containers or other goods supporting elements, can be stored on independent storage positions such as shelves. This different method compared to the prior art solutions has a technical advantage of avoiding digging e.g. for storage containers that require high frequency access and/or for part- consolidated orders. However, in order to achieve this, a goods holder can be fed into a storage position from the side, i.e. horizontally, compared to only being fed from top as in the prior art solutions. The invention relates to an automated storage and retrieval system comprising a two-dimensional rail system comprising a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across the top of a framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicles in a second direction across the top of the framework structure which is perpendicular to the first direction, wherein a number of container handling vehicles operate on the rail system for storing and retrieving goods holders in the automated storage and retrieval system, and wherein the framework structure comprises:.

The framework structure at the position of the side opening may need to be re configured if it is to provide a side opening with sufficient size for transferring a goods holder therethrough. A result of increasing the height of the side opening is that the lifting device of a container handling vehicle may be no longer guided by the framework structure because the size of the lifting device is smaller than the distance between the material of the upright members. The system solves the problem by allowing horizontal movement of a goods holder through a side opening of the transfer column or guiding of the lifting device as it travels vertically past the side opening.

In other words, the adjustable blocker may be configured such that:.

The blocker may be motorized, such as a motorized actuator or alternatively spring- loaded or otherwise configured to return to the first position after being forced into the second position.

The lifting device may be larger in all directions in the horizontal plane than the goods holders and the lifting device may be guided by the upright members of the framework structure at those parts of the transfer column not having a side opening. The goods holder may also be guided if carried by the lifting device.

The side opening may open towards an adjacent column.

The framework structure comprises upright members delimiting the horizontal extent of the transfer column. In a preferred embodiment, the transfer column is delimited by four upright members, where one upright member is arranged in each corner forming a rectangular or square shaped cross section for the transfer column. , the maximum horizontal extent of the transfer column is defined by the upright members.

The framework structure may further comprise horizontal members, and the upright members and horizontal members may form a rectangular frame defining a cross sectional area of the side opening. The adjacent column may comprise a plurality of vertically spaced storage positions comprising supports for supporting goods holders. Preferably the goods holders are supported from below in the storage positions. However, it is also possible that the goods holders are hung off e.g. on a frame or support at each storage position.

The storage positions may be adjustable through movement of the support(s) between a position where they are configured to support a goods holder and a position where a goods holder is allowed to pass vertically through the storage position.

The storage position may be configured with similar additional side openings as the side opening towards the transfer column. There may be arranged additional side openings on one, two or three of the other four sides. This render possible that a goods holder can be retrieved and inserted horizontally or sideways into the storage position. This possibility may further be advantageous if the storage position is at the edge of the automated storage and retrieval system such that a robotic operator or human operator can retrieve or insert the goods holder from a position outside the automated storage and retrieval system.

The blocker may comprise a pair of first and second obstruction members arranged at opposite edges of the side opening, where a pivot axis of each of the first and second obstruction members may extend vertically, and where the obstruction members may be rotatable about the axis for movement between the first and second positions, respectively. The obstruction members may be motorized or motor-driven by e.g. an actuator or be configured to be operable between the first position and the second position by an external device, which will be further described below.

The first and second obstruction members may comprise a support portion extending into one of the storage positions when the blocker is in the second position such that the support portions can support a goods holder from below. As such, the support portions of the obstruction members form part of an underlying support for the goods holders. A third (and possible additional support portion(s)) may be arranged at opposite ends of the storage position compared to the obstruction members. These third, and possible additional support portions, does not form part of the blocker but are preferably rotatable such that when the blocker is in the first position, these third, and possible additional support portions are also in a position where they do not limit a cross sectional area of the storage position. As such, when in this position, a goods holder may pass through the storage position in the vertical direction.

The blocker may comprise an obstruction member arranged at a lower part of the side opening, a pivot axis of the obstruction member may extend horizontally and the obstruction member may be rotatable about the horizontal axis for movement between the first position and the second positions, respectively.

The obstruction member may be a plate, and in the first position the plate may extend in a vertical plane and in the second position the plate may extend in a horizontal plane.

The plate may comprise guiding surfaces on both sides thereof. the plate may comprise guiding surfaces both in the direction oriented towards the transfer column in the first position of the blocker and on the opposite side of the plate.

In an example the plate may extend into the adjacent column in the horizontal position. In another example the plate may extend into the transfer column in the horizontal position.

The plate may, when in the horizontal position, form part of a support platform for a goods holder. In other words: when in the first position, the blocker is configured to support a goods holder from below by blocking a cross-sectional area of a lower- part of the storage position.

The supports of the storage positions may be connected to the blocker, such that when the blocker is in the second position, the supports are in the position where they are configured to support a goods holder
The container handling vehicles may comprise a lifting device, and the lifting device may comprise a main part (i.e. a lifting frame) connected with lifting bands to a body of the container handling vehicle and a horizontally telescopic part comprising a gripper, and the horizontal telescopic part may be configured to move between a retracted position below the main part and an extended position outside a vertical projection of the main part. The main part may comprise stabilizing means for securing the main part in the transfer column. This may prevent jamming of lifting device within transfer column when subjected to torque from a goods holder carried by the telescopic part. The stabilizing means can be arranged directly in each of the comers of the main part. Alternatively, as disclosed in <CIT> (applicant: AutoStore Technology AS) the system can comprise a guide shuttle arranged to guide the main part of the lifting device and any accompanying storage container as the main part is raised and lowered within the transfer column. The guide shuttle may be arranged above the lifting device and may comprise stabilizing elements or guide elements which are each arranged to interact with one of the four column profiles of upright members of the framework structure to stabilize and maintain horizontal alignment of the main part and any accompanying goods holder during the raising and/or lowering of the main part.

The upright members of the framework structure feature internal guide surfaces arranged to interact with the stabilizing means of the lifting device or guide elements of the guide shuttle.

The stabilizing means may comprise fixed rollers or extendable rollers for engagement with the upright members.

The obstruction member may comprise friction-reducing means. The friction reducing means may be in the form of rollers, balls, or surface comprising a low coefficient of friction material or a slick surface.

The storage position may comprise a shifter or ball screw device for moving the blocker between the first position and the second position by moving the supports of the storage position between the storage position in the adjacent column and the transfer column through the side opening. Instead of a shifter or ball screw device, a moving belt may be used.

wherein the side opening opens towards the additional rail system.

The delivery vehicle with support surface may be configured to move from the additional rail system and into the transfer column through the side opening for transferring a goods holder to, or receiving a goods holder from, a lifting device of a container handling vehicle operating on the rail system on top of the framework structure.

It is further described a method of transferring a goods holder through a side opening in a transfer column in an automated storage and retrieval system as defined in claim <NUM>, the automated storage and retrieval system comprising a two-dimensional rail system comprising a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across the top of a framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicles in a second direction across the top of the framework structure which is perpendicular to the first direction, wherein a number of container handling vehicles operate on the rail system for storing and retrieving goods holders in the automated storage and retrieval system, and wherein the framework structure comprises a transfer column comprising a side opening and an adjustable blocker for obstructing the side opening, the blocker comprising a guiding surface for guiding a lifting device of the container handling vehicle vertically past the side opening; and wherein the method comprises the steps of:.

The side opening may open towards an adjacent column, and the container handling vehicle may comprise a lifting device, wherein the lifting device may comprise a main part connected with lifting bands to a body of the container handling vehicle and a horizontally telescopic part comprising a gripper, and wherein the horizontal telescopic part may be configured to move between a retracted position below the main part and an extended position outside a vertical projection of the main part, and wherein the method may comprise the steps of:.

When the telescopic part returns to transfer column, the blocker may return to the first position. This may be done using a motorized actuator or a spring or spring-biased actuator which ensures that the blocker returns to the first position.

The system may further comprise an additional rail system at a lower elevation than the top of the framework structure; a delivery vehicle with support surface operating on the additional rail system, and the delivery vehicle with support surface may be configured to support a goods holder from below; and the side opening may open towards the additional rail system, and the method may comprise the steps of:.

The system may further comprise an additional rail system at a lower elevation than the top of the framework structure; a container handling vehicle with lifting device operating on the additional rail system; and the side opening may open towards the additional rail system, and the method may comprise the steps of:.

When the delivery vehicle with support surface returns to the additional rail system, the blocker may advantageously return to the first position. This may be done using a motorized actuator or a spring or spring-biased actuator which ensures that the blocker returns to the first position.

The adjacent column may comprise a plurality of vertically spaced storage positions with supports for supporting goods holders, the storage positions may comprise a shifter, and the method may comprise a step of:.

The blocker may advantageously return to the first position once the goods holder has been transferred through the side opening. This may be done using a motorized actuator or a spring or spring-biased actuator which ensures that the blocker returns to the first position.

It is further described an automated storage and retrieval system comprising a two-dimensional rail system comprising a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across the top of a framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicles in a second direction across the top of the framework structure which is perpendicular to the first direction, wherein a number of container handling vehicles operate on the rail system for storing and retrieving goods holders in the automated storage and retrieval system, and wherein the framework structure comprises:.

The subsystem may be a second subsystem and the automated storage and retrieval system may further comprise a first subsystem comprising a plurality of upright members forming storage columns where goods holders are stacked on top of each other.

The two-dimensional rail system may be shared by the first subsystem and the second subsystem in that it may extend over the first subsystem and the second subsystem. In other words, goods holders may be transferred between the first and second subsystem utilizing the same container handling vehicle operating on a rail system above the first and second subsystems.

The storage positions in the second subsystem preferably comprises supports on which the goods holders can be stored. the storage positions can be vertically spaced such that only one goods holder is supported in each storage position (i.e. the goods holders are not physically stored on top of each other as in the first subsystem). This setup eliminates the need for digging because the storage positions can be accessed through a side, a top and / or a bottom of the storage column.

The second subsystem can be used for goods holders with temporary (e.g. during consolidation of orders) or high frequency access items whereas the first subsystem is for goods holders with regular items.

The invention can be used in concepts relating to goods holder system, as well as in vertical farming and e-grocery applications.

The relative terms "upper", "lower", "below", "above", "higher" etc. shall be understood in their normal sense and as seen in a cartesian coordinate system. When mentioned in relation to a rail system, "upper" or "above" shall be understood as a position closer to the surface rail system (relative to another component), contrary to the terms "lower" or "below" which shall be understood as a position further away from the rail system (relative another component).

For example, in the drawings, the goods holder is shown by way of storage containers. However, it is clear that other types of goods holders than storage can be used, such as bin, a tote, a pallet, a tray or similar.

The framework structure <NUM> of the 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 further that the framework structure <NUM> comprises a first, upper rail system <NUM> in the X direction and Y direction.

The framework structure <NUM> further comprises storage compartments in the form of storage columns <NUM> provided between the members <NUM>, where storage containers <NUM> are stackable in stacks <NUM> within the storage columns <NUM>.

<FIG> is a perspective view of a prior art container handling vehicle having a storage space comprising a cavity arranged internally with the vehicle body 401a.

<FIG> is an example of an automated storage and retrieval system <NUM> according to the invention. The automated storage and retrieval system <NUM> is divided into two subsystems, where the first subsystem <NUM>' is a relatively larger conventional storage system where the storage containers <NUM> are stacked on top of each other, while the second subsystem <NUM>" illustrates a relatively smaller system.

<FIG> show an overview of a possible subsystem <NUM>" of <FIG> where a storage container <NUM> is moveable from a transfer column <NUM> and sideways through a side opening <NUM> in the transfer column <NUM>. In <FIG> a storage container is arranged on supports <NUM> of a storage position <NUM> in an adjacent column <NUM>. In <FIG> the storage container <NUM> of <FIG> is arranged in the side opening <NUM> and is in an intermediate position between the storage position <NUM> in the adjacent column <NUM> and the transfer column <NUM>. In <FIG> the storage container <NUM> has moved all the way through the side opening <NUM> and is in the transfer column <NUM>.

Further referring to <FIG>, the side opening <NUM> opens towards an adjacent column <NUM> in the form of a storage column with a plurality of vertically spaced storage positions <NUM> with supports <NUM> for supporting storage containers <NUM> from below. The framework structure <NUM> comprises upright members <NUM> delimiting the horizontal extent of the transfer column <NUM> and a number of horizontal members <NUM> which are supported by the upright members <NUM>.

As seen in <FIG>, it is shown a two-dimensional rail system <NUM> comprising a first set of parallel rails <NUM> arranged to guide movement of container handling vehicles <NUM> in a first direction X across the top of a framework structure <NUM>, and a second set of parallel rails 111a,b arranged perpendicular to the first set of rails 110a,b to guide movement of the container handling vehicles <NUM> in a second direction Y across the top of the framework structure <NUM> which is perpendicular to the first direction X, wherein a container handling vehicle <NUM> operates on the rail system <NUM> for storing and retrieving storage containers <NUM> in the automated storage and retrieval system <NUM>. The framework structure <NUM> is disclosed with a transfer column <NUM> comprising a side opening <NUM>. An adjustable blocker <NUM> (shown in more detail below) is provided for obstructing the side opening <NUM>. The blocker <NUM> comprising a guiding surface for guiding a lifting device <NUM> of the container handling vehicle <NUM> vertically past the side opening <NUM>.

<FIG> show a first embodiment of a blocker <NUM> according to the invention comprising a pair of first and second obstruction members <NUM> rotatable about a vertical axis. The obstruction members <NUM> are arranged at opposite edges of the side opening <NUM> and comprises a support portion <NUM>. In <FIG> the obstruction member <NUM> is in the first position where it may guide a lifting device <NUM> (not shown in <FIG>) in the transfer column <NUM> and the support portion <NUM> is not extending into the storage position <NUM>. In <FIG> the distance D1 between the pair of obstruction members <NUM> is shown by arrow D1.

In <FIG> the obstruction members <NUM> of the blocker <NUM> are in the second position where it allows a storage container <NUM> (not shown) to pass through the side opening <NUM>. The support portion <NUM> extend into the storage position <NUM> such that the support portion <NUM> can support a storage container <NUM> from below (as illustrated when comparing the orientation of the support portion <NUM> in <FIG>). In <FIG> the distance D2 between the pair of obstruction members <NUM> is shown by arrow D2. When comparing the distance between the obstruction members <NUM> in <FIG>, it can be seen that the distance D2 is larger than distance D1, meaning that in <FIG> the side opening <NUM> has a larger horizontal extent for a storage container <NUM> to pass therethrough, while in <FIG> the obstruction members are too close and rather functions as guides for vertical guiding of lifting devices passing past the side opening <NUM>.

<FIG> show a second embodiment of a blocker <NUM> according to the invention comprising a pair of first and second obstruction members <NUM> arranged at opposite edges of the side opening <NUM>. The side opening <NUM> being on a long side of the transfer column <NUM>. The obstruction members <NUM> are rotatable about a pivot axis for movement between the first and second positions.

<FIG> is a detailed view of section A in <FIG> show the obstruction member <NUM> in the first position where it is configured to guide a lifting device <NUM> in the transfer column <NUM> and the support portion <NUM> is not extending into the storage position <NUM>. As seen in <FIG>, in this configuration, the obstruction member <NUM> allows a storage container <NUM> to pass through the storage position <NUM> vertically.

<FIG> shows the obstruction member <NUM> in the second position where it allows a storage container <NUM> to pass through the side opening <NUM> and the support portion <NUM> extends into the storage position <NUM> such that the support portion <NUM> can support a storage container <NUM> from below.

<FIG> is an alternative to the embodiment in <FIG>, where the side opening <NUM> is on a short side of the transfer column <NUM>.

<FIG> shows an example of a mechanism for moving the obstruction members <NUM> of the blocker <NUM> between the first position and the second position. The mechanism comprising an angled gear comprising a first part <NUM> and a second part <NUM>. The first part <NUM> is rotatably connected to a motor <NUM>. The second part <NUM> is rotatably connected to a pivot axis of the obstruction member <NUM> in a worm gear arrangement. When the motor <NUM> rotates the first part <NUM>, the angled gear transfers the movement to the second part <NUM> and thus the obstruction member <NUM>. As such, the blocker <NUM> can be operated between the first position and the second position upon rotation of the obstruction member <NUM>.

<FIG> shows a third embodiment of the blocker <NUM>. The blocker <NUM> comprises an obstruction member <NUM> hinged at a lower part of the side opening <NUM> and wherein the side opening <NUM> is at a long side of the transfer column <NUM>. A pivot axis of the obstruction member <NUM> extends horizontally along the long side and the obstruction member is rotatable about the horizontal axis for movement between the first position and the second position.

In <FIG> shows the blocker <NUM> in the first position where the obstruction member <NUM> covers the side opening <NUM>. The obstruction member <NUM> is illustrated as a pivoted plate which pivots about a horizontal axis. When in the upright position the obstruction member <NUM> guides storage containers <NUM> moving vertically in the transfer column <NUM> and blocks the side opening <NUM> of the transfer column <NUM>, whereas in the second position the plate extends horizontally allowing throughput of a storage container <NUM> through the side opening <NUM>. A plurality of vertically spaced storage positions <NUM> with supports <NUM> for supporting storage containers <NUM> are arranged in the adjacent column <NUM>.

<FIG> shows the obstruction member <NUM> of the blocker <NUM> in the second position extending into the storage position <NUM>. In order for the guiding surface of the blocker <NUM> to reduce friction and improve guiding of the lifting device <NUM> of the container handling vehicle <NUM> (see <FIG>), friction reducing means <NUM> in the form of rollers <NUM> may be provided on the guiding surface.

<FIG> shows a storage container <NUM> supported on the obstruction member <NUM> of the blocker <NUM> which is in the second position (under the storage container <NUM> in <FIG>).

<FIG> shows the obstruction member <NUM> of the blocker <NUM> in a tilting position for sliding off of a storage container <NUM> supported thereon between the storage position <NUM> in the adjacent column <NUM> and the transfer column <NUM>. Tilting the obstruction member <NUM> (i.e. the guiding surface) with rollers <NUM> provides possibility that the obstruction member <NUM> forces the storage container <NUM> into the transfer column <NUM> by means of gravity. The blocker <NUM> may be motor-driven such that upon actuation of a motor, the blocker <NUM> can move between the first position and the second position, and vice versa, thereby possibly slide off any storage container <NUM> supported thereon. Alternatively, the blocker <NUM> can be spring-loaded such that it returns to the first or second position after being forced into the other of said positions.

A storage container is allowed to move horizontally through the side opening.

<FIG> show another example of the third embodiment of the blocker <NUM>, where the blocker <NUM> is arranged on the short side of the transfer column <NUM>.

<FIG> shows the obstruction member <NUM> of the blocker <NUM> in the first position.

<FIG> show the blocker <NUM> in the first position and a storage container <NUM> is about to pass vertically through the storage position <NUM>.

<FIG> shows the blocker <NUM> in a tilted intermediate position about to enter the second position where it extends horizontally. In <FIG> the blocker <NUM> is in the second position.

In <FIG> the blocker <NUM> supports a storage container <NUM> which has entered from above thereon.

In <FIG> the storage container <NUM> is about to move through the side opening <NUM> on the short side.

In <FIG> the storage container <NUM> has moved all the way through the side opening <NUM> on the short side.

Referring to <FIG>, regardless of how the storage position <NUM> looks like, the storage position <NUM> may be configured with similar additional side openings <NUM> as the side opening <NUM> towards the transfer column <NUM>. There may be arranged additional side openings <NUM> on one, two or three of the other four sides. This render possible that a storage container <NUM> can be retrieved and inserted horizontally or sideways into the storage position <NUM>. This possibility may further be advantageous if the storage position <NUM> is at the edge of the automated storage and retrieval system <NUM> such that a robotic operator or human operator can retrieve or insert the storage container <NUM> from a position outside the automated storage and retrieval system <NUM>.

<FIG> show different possibilities to <FIG>, where the side opening <NUM> is arranged on the long side, and where <FIG> shows that a storage container <NUM> is about to move through the side opening <NUM> on the long side, while <FIG> shows that a storage container <NUM> has moved through the side opening <NUM> on the long side.

<FIG> is an alternative to <FIG> and <FIG> wherein a pivot axis of the obstruction member <NUM> of the blocker <NUM> extends horizontally along the long side and the obstruction member <NUM> is rotatable about the horizontal axis for movement between the first position and the second position.

<FIG> show a fourth embodiment of the blocker <NUM>. The blocker <NUM> comprises an obstruction member <NUM> arranged at a lower part of the side opening <NUM> and the side opening <NUM> is at a short side of the transfer column <NUM>. A pivot axis of the obstruction member <NUM> extends horizontally along the short side and the obstruction member <NUM> is rotatable about the horizontal axis for movement of the blocker <NUM> between the first position and the second position.

Both in <FIG> the blocker <NUM> is in the first position. In <FIG>, the supports <NUM> of the storage position <NUM> supports a storage container <NUM> and the obstruction member <NUM> of the blocker <NUM> guides a lifting device <NUM> of a container handling vehicle carrying a storage container <NUM> which is being lifted or lowered in the transfer column <NUM>. In <FIG>, the storage container <NUM> in the transfer column <NUM> has been removed to better illustrate the obstruction member <NUM>. The blocker <NUM> may be motor-driven such that upon actuation of a motor, the blocker <NUM> can move between the first position and the second position, and vice versa, thereby blocking the side opening <NUM> and allowing a storage container <NUM> to pass through the side opening <NUM>. Alternatively, the blocker <NUM> can be spring-loaded such that it returns to the first or second position after being forced into the other of said positions.

<FIG> show a fifth embodiment of the blocker <NUM>. In this embodiment, the blocker <NUM> comprises an obstruction member <NUM> and a pivot axis of the obstruction member <NUM> extends horizontally along the short side and the obstruction member <NUM> is rotatable about the horizontal axis for movement of the blocker <NUM> between the first position and the second position. The obstruction member <NUM> of the blocker <NUM> is connected to a horizontally movable support <NUM> of the storage position <NUM>, and the storage position <NUM> comprises a shifter (not shown) for moving the support <NUM>, and thus the blocker <NUM> between its first position and the second position, by moving the support <NUM> between the adjacent column <NUM> and the transfer column <NUM> through the side opening <NUM>.

In <FIG>, the support <NUM> of the storage position <NUM> with storage container <NUM> thereon has started to move from the adjacent column <NUM> towards the transfer column <NUM> resulting in that the blocker <NUM> is about to enter the second position.

In <FIG>, the support <NUM> of the storage position <NUM> and storage container <NUM> have moved further towards the transfer column <NUM> and the blocker <NUM> is in the second position.

In <FIG> the support <NUM> and storage container <NUM> have moved to the transfer column <NUM>.

The storage position <NUM> may comprise a shifter or ball screw device for moving the blocker <NUM> linearly between the first position and the second position by moving the support <NUM> between the adjacent column <NUM> and the transfer column <NUM> through the side opening <NUM>.

<FIG> is a view from the opposite side compared to <FIG>.

<FIG> show a lifting device <NUM> of a container handling vehicle <NUM>, wherein the lifting device <NUM> comprises a main part <NUM> connected with lifting bands <NUM> to a body of the container handling vehicle <NUM> and a horizontally telescopic part <NUM> comprising a gripper <NUM>. The main part <NUM> may comprise stabilizing means (not shown) for keeping the lifting device <NUM> stable in the transfer column <NUM> during extension of the telescopic part <NUM>. The stabilizing means are described in greater detail when referring to <FIG> below.

The lifting bands <NUM> may have means for signal and communication transmission between the container handling vehicle and the lifting device <NUM>.

The horizontal telescopic part <NUM> may be configured to move between a retracted position below the main part <NUM> and an extended position outside a vertical projection of the main part <NUM>. In the embodiments described herein, the telescopic part <NUM> is typically extendable into an adjacent column <NUM> for retrieving or positioning a storage container <NUM> on supports <NUM> of a storage position <NUM> in the adjacent column <NUM>.

In <FIG> the horizontally telescopic part <NUM> is in the retracted position.

In <FIG> the horizontally telescopic part <NUM> is in the extended position.

In <FIG> a storage container <NUM> at a storage position <NUM> is shown and the transfer column <NUM> is empty.

In <FIG> the lifting device <NUM> has entered the transfer column <NUM> and the telescopic part <NUM> is in the extended position above the storage container <NUM>.

In <FIG> the lifting device <NUM> has been lowered such that the grippers <NUM> of the telescopic part <NUM> have engaged gripping holes <NUM> on the storage container <NUM> positioned at the storage position <NUM> and the telescopic part <NUM> can now retract to the retracted position under the main part <NUM> while carrying the storage container <NUM>.

Referring to <FIG>, a sequence of positioning a storage container <NUM> at a storage position <NUM> in an adjacent column <NUM> could then comprise the steps of:.

Optional: retrieve a storage container <NUM> stored in another storage position <NUM> using the sequence above or retrieve the lifting device <NUM> to the body of the container handling vehicle <NUM>.

<FIG> are perspective views of an example moving mechanism for moving the telescopic part <NUM> between the retracted position and the extended position. In addition, the figures show stabilizing means on the main part <NUM> for securing the main part <NUM> in the transfer column <NUM> during extension of the telescopic part <NUM> to prevent tilting of the lifting device <NUM>.

In <FIG> the telescopic part <NUM> is in a fully extended position, and in <FIG> the telescopic part <NUM> is partly extended.

<FIG> show an example of the blocker <NUM> with an obstruction member <NUM> having a vertical rotational axis, where the blocker <NUM> can be moved between the first position and the second position upon movement of the telescopic part <NUM> of the lifting device <NUM> in <FIG> and <FIG>.

In <FIG> the blocker <NUM> is in the first position in that an inner surface <NUM> of obstruction member <NUM> aligned with a recess <NUM> in the upright member <NUM>. The telescopic part <NUM> is in the retracted position under the main part <NUM> of the lifting device <NUM>.

In <FIG> the blocker <NUM> is in the second position in that the inner surface <NUM> of the obstruction member <NUM> is out of alignment with the recess <NUM> in the upright member <NUM>. In this position, the telescopic part <NUM> of the lifting device is in the extended position and extends into the storage position <NUM> of an adjacent column.

<FIG> shows details of the main part <NUM> of the lifting device <NUM> with stabilizing means <NUM> in the corners for securing the main part <NUM> in the transfer column <NUM> during extension of the telescopic part <NUM> to prevent tilting of the lifting device <NUM>.

<FIG> is a copy of <FIG> in <CIT> (Applicant: AutoStore Technology AS, reference numbers amended compared to <CIT>) included to illustrate an alternative way of stabilizing the main part <NUM> in the transfer column, where a guide shuttle <NUM> comprising stabilizing wheels for interaction with the upright members <NUM> are mounted above the main part <NUM>.

<FIG> show an example of an automated storage system and retrieval system <NUM> further comprising an additional rail system <NUM> at a lower elevation than the top of the framework structure <NUM> where a delivery vehicle <NUM> with a support surface for supporting a storage container <NUM> from below operates on the additional rail system <NUM>. The additional rail system <NUM> may be configured in the same way as the rail system <NUM> on top of the framework structure <NUM>. i.e. the additional rail system <NUM> may comprise a first set of parallel rails <NUM> arranged to guide movement of the delivery vehicle(s) <NUM> in a first direction X, and a second set of parallel rails <NUM> arranged perpendicular to the first set of rails <NUM> to guide movement of the delivery vehicle(s) <NUM> in a second direction Y which is perpendicular to the first direction X. The position and spacing of the rails of the additional rail system may correspond to the rail system <NUM> of the framework structure <NUM>. The delivery vehicle(s) <NUM> can move laterally in a plane which is parallel to the horizontal X-Y plane.

The delivery vehicle <NUM> is disclosed with a vehicle body 501a and first and second sets of wheels 501b,501cc which enable the lateral movement of the delivery vehicles <NUM> in the X direction and in the Y direction, respectively. The first set of wheels 201b,301b,401b is arranged to engage with two adjacent rails of the first set <NUM> of rails, and the second set of wheels 501c is arranged to engage with two adjacent rails of the second set <NUM> of rails. At least one of the sets of wheels <NUM>,501c can be lifted and lowered, so that the first set of wheels 501b and/or the second set of wheels 501c can be engaged with the respective set of rails <NUM>, <NUM> at any one time.

A blocker <NUM> comprising a pair of obstruction members <NUM> is arranged in the side opening <NUM>. The side opening <NUM> is arranged between the transfer column <NUM> and the additional rail system <NUM>. <FIG> shows the delivery vehicle <NUM> on the additional rail system <NUM> outside of the transfer column <NUM>, <FIG> shows the delivery vehicle <NUM> about to enter the transfer column <NUM> through the side opening <NUM>. The delivery vehicle <NUM> may be configured to move the blocker <NUM> between the first and second position when entering through the side opening <NUM>. In <FIG> the delivery vehicle <NUM> is within the transfer column <NUM> ready for transferring a storage container <NUM> to, or receiving a storage container <NUM> from, a lifting device <NUM> of a container handling vehicle <NUM> operating on the rail system (not shown in <FIG>) on top of the framework structure <NUM>.

<FIG> shows another example of an automated storage system and retrieval system <NUM> comprising an additional rail system <NUM> at a lower elevation than the top of the framework structure <NUM> where a container handling vehicle <NUM> with a lifting device operates on the additional rail system <NUM> outside of the transfer column <NUM>. The side opening <NUM> comprises a blocker <NUM> which opens towards the additional rail system <NUM>. The additional rail system <NUM> may be similar as described above in relation to <FIG> and will not be repeated herein. Similarly, the blocker <NUM> may comprise a pair of obstruction members <NUM> on opposite edges of the side opening <NUM> or it may comprise an obstruction member <NUM> which is rotatable about horizontal axis. Further, the blocker <NUM> may be arranged to be moved between the first position by means of a motor arrangement. Alternatively, the blocker may be configured to be moved between the first and second position upon interaction with the container handling vehicle <NUM> passing into the side opening <NUM>. Typically, the blocker <NUM> may be in the first position and, when the container handling vehicle <NUM> enters the side opening <NUM>, the blocker <NUM> may be in the second position. When the container handling vehicle <NUM> has delivered or retrieved a storage container to a position further down in the transfer column <NUM>, such as e.g. a port P, it exits the side opening <NUM> and the blocker <NUM> returns to the first position. The blocker <NUM> may return to the first position by means of e.g. a motor or a spring force.

<FIG> show an example of the blocker in <FIG>, comprising two obstruction members <NUM> arranged at a lower part of the side opening <NUM> and wherein the side opening <NUM> is at a long side of the transfer column <NUM>. A pivot axes of the obstruction members <NUM> extend horizontally and the obstruction members <NUM> are rotatable about one of the horizontal axes for movement of the blocker <NUM> between the first position and the second position. The blocker <NUM> is arranged such that one of the obstruction members <NUM> extends into the storage position <NUM> when in the second position and the other of the obstruction members <NUM> extend into the transfer column <NUM> when in the second position.

<FIG> shows the blocker <NUM> in the second position where the obstruction members <NUM> extend into the storage position <NUM> and the transfer column <NUM>, respectively.

<FIG> shows the blocker <NUM> in the first position where both obstruction members <NUM> extend vertically and block the side opening <NUM>.

<FIG> shows that a storage container <NUM> is supported on the obstruction members <NUM> and where the obstruction members <NUM> are tilted such that the storage container <NUM> can move between the storage position <NUM> and the transfer column <NUM> by means of gravity. The blocker <NUM> may comprise a motor and/or movement mechanism (not shown) for tilting of one or both of the obstruction members <NUM>.

In the preceding description, various aspects of the automated storage and retrieval system and method according to the invention have been described with reference to the illustrative embodiment. For example, as indicated above, in the Figures a storage container has been shown, however other kinds of goods holders such as a bin, a tote, a pallet, a tray or similar may be used instead.

Claim 1:
An automated storage and retrieval system (<NUM>) comprising a two-dimensional rail system (<NUM>) comprising a first set of parallel rails (110a,b) arranged to guide movement of container handling vehicles (<NUM>, <NUM>, <NUM>) in a first direction (X) across the top of a framework structure (<NUM>), and a second set of parallel rails (111a,b) arranged perpendicular to the first set of rails (110a,b) to guide movement of the container handling vehicles (<NUM>, <NUM>, <NUM>) in a second direction (Y) across the top of the framework structure (<NUM>) which is perpendicular to the first direction (X), wherein a number of container handling vehicles (<NUM>, <NUM>, <NUM>) operate on the rail system (<NUM>) for storing and retrieving goods holders in the automated storage and retrieval system (<NUM>), wherein the framework structure (<NUM>) comprises a transfer column (<NUM>) comprising a side opening (<NUM>) for a goods holder to pass through,
characterised in that said system (<NUM>) comprises:
- an adjustable blocker (<NUM>) for obstructing the side opening (<NUM>), the adjustable blocker (<NUM>) comprising a guiding surface for guiding a lifting device (<NUM>) of a container handling vehicle (<NUM>, <NUM>, <NUM>) vertically in the transfer column (<NUM>) past the side opening (<NUM>), wherein the adjustable blocker (<NUM>) is movable between:
a first position, where the guiding surface is positioned to guide the lifting device (<NUM>) vertically and obstruct horizontal movement of a goods holder through the side opening (<NUM>), and
a second position, where the guiding surface is positioned not to guide the lifting device (<NUM>) and where the adjustable blocker (<NUM>) is positioned to allow horizontal movement of a goods holder through the side opening (<NUM>).