Patent Description:
<FIG> and <FIG> disclose a typical prior art automated storage and retrieval system <NUM> with a framework structure <NUM>. <FIG> and <FIG> disclose a prior art container handling vehicle <NUM> operating the system <NUM> disclosed in <FIG> and <FIG>, respectively.

The framework structure <NUM> comprises a plurality of upright members <NUM> and optionally a plurality of horizontal members <NUM> supporting the upright members <NUM>.

The framework structure <NUM> defines a storage grid <NUM> comprising storage columns <NUM> arranged in rows, in which storage containers <NUM>, also known as bins, are stacked one on top of another to form stacks <NUM>.

Each storage container <NUM> may typically hold a plurality of product items (not shown), and the product items within a storage container <NUM> may be identical, or may be of different product types depending on the application.

The storage grid <NUM> guards against horizontal movement of the storage containers <NUM> in the stacks <NUM>, and guides vertical movement of the storage containers <NUM>, but does normally not otherwise support the storage containers <NUM> when stacked.

The automated storage and retrieval system <NUM> comprises a container handling vehicle rail system <NUM> arranged in a grid pattern across the top of the storage <NUM>, on which rail system <NUM> a plurality of container handling vehicles <NUM>,<NUM> (as exemplified in <FIG> and <FIG>) are 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 horizontal extent of one of the grid cells <NUM> constituting the grid pattern is in <FIG> and <FIG> marked by thick lines.

Each grid cell <NUM> has a width which is typically within the interval of <NUM> to <NUM>, and a length which is typically within the interval of <NUM> to <NUM>. Each grid opening <NUM> has a width and a length which is typically <NUM> to <NUM> less than the width and the length of the grid cell <NUM> due to the horizontal extent of the rails <NUM>,<NUM>.

In this way, the rail system <NUM> defines grid columns above which the container handling vehicles <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> comprises a vehicle body and a wheel arrangement of eight wheels <NUM>,<NUM> where a first set of four wheels enable the lateral movement of the container handling vehicles <NUM>,<NUM> in the X direction and a second set of the remaining four wheels enable the lateral movement in the Y direction. One or both sets of wheels in the wheel arrangement can be lifted and lowered, so that the first set of wheels and/or the second set of wheels can be engaged with the respective set of rails <NUM>, <NUM> at any one time.

Each prior art container handling vehicle <NUM>,<NUM> also comprises a lifting device (not shown) for vertical transportation of storage containers <NUM>, e.g. raising a storage container <NUM> from, and lowering a storage container <NUM> into, a storage column <NUM>. The lifting device comprises one or more gripping / engaging devices (not shown) 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.

Conventionally, and also for the purpose of this application, Z=<NUM> identifies the uppermost layer of the grid <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 grid <NUM> disclosed in <FIG> and <FIG>, Z=<NUM> identifies the lowermost, bottom layer of the grid <NUM>. Consequently, as an example, and using the Cartesian coordinate system X, Y, Z indicated in <FIG> and <FIG>, the storage container identified as <NUM>' in <FIG> can be said to occupy grid location or cell X=<NUM>, Y=<NUM>, Z=<NUM>. The container handling vehicles <NUM> can be said to travel in layer Z=<NUM> and each grid column can be identified by its X and Y coordinates.

Each container handling vehicle <NUM> comprises a storage compartment or space (not shown) 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 centrally within the vehicle body, e.g. as is described in <CIT>.

Alternatively, the container handling vehicles <NUM> may have a cantilever construction, as is described in <CIT>.

The container handling vehicles <NUM> may have a footprint, i.e. an extent in the X and Y directions, which is generally equal to the lateral extent of a grid cell <NUM>, i.e. the extent of a grid cell <NUM> in the X and Y directions, e.g. as is described in <CIT>.

The term "lateral" used herein may mean "horizontal".

Alternatively, the container handling vehicles <NUM> may have a footprint which is larger than the lateral extent of (lateral area defined by) a grid column <NUM>, e.g. as is disclosed in <CIT>.

The rail system <NUM> may be a single track system, as is shown in <FIG>.

Alternatively, the rail system <NUM> may be a double track system, as is shown in <FIG>, thus allowing a container handling vehicle <NUM> having a footprint <NUM>,<NUM>' generally corresponding to the lateral area defined by a grid column <NUM> to travel along a row of grid columns even if another container handling vehicle <NUM> is positioned above a grid column neighboring that row. Both the single and double track system, or a combination comprising a single and double track arrangement in a single rail system <NUM>, forms a grid pattern in the horizontal plane P comprising a plurality of rectangular and uniform grid locations or grid cells <NUM>, where each grid cell <NUM> comprises a grid opening <NUM> being delimited by a pair of rails 110a,110b of the first rails <NUM> and a pair of rails 111a,111b of the second set of rails <NUM>. In <FIG> the grid cell <NUM> is indicated by a dashed box.

Consequently, rails 110a and 110b form pairs of neighboring rails defining parallel rows of grid cells running in the X direction, and rails 111a and 111b form pairs of neighboring rails defining parallel rows of grid cells running in the Y direction.

As shown in <FIG>, each grid cell <NUM> has a width Wc which is typically within the interval of <NUM> to <NUM>, and a length Lc which is typically within the interval of <NUM> to <NUM>. Each grid opening <NUM> has a width Wo and a length Lo which is typically <NUM> to <NUM> less than the width Wc and the length Lc of the grid cell <NUM>.

In the X and Y directions, neighboring grid cells <NUM> are arranged in contact with each other such that there is no space there-between.

In a storage grid <NUM>, a majority of the grid columns are storage columns <NUM>, i.e. grid columns <NUM> where storage containers <NUM> are stored in stacks <NUM>. However, a grid <NUM> normally has at least one grid column which is used not for storing storage containers <NUM>, but which comprises a location where the container handling vehicles <NUM>,<NUM> can drop off and/or pick up storage containers <NUM> so that they can be transported to a second location (not shown) where the storage containers <NUM> can be accessed from outside of the grid <NUM> or transferred out of or into the grid <NUM>. Within the art, such a location is normally referred to as a "port" and the grid column in which the port is located may be referred to as a "delivery column" <NUM>,<NUM>. The drop-off and pick-up ports of the container handling vehicles are referred to as the "upper ports of a delivery column" <NUM>,<NUM>. While the opposite end of the delivery column is referred to as the "lower ports of a delivery column".

The storage grids <NUM> in <FIG> and <FIG> comprise two delivery columns <NUM> and <NUM>. The first delivery column <NUM> may for example comprise a dedicated drop-off port where the container handling vehicles <NUM>,<NUM> can drop off storage containers <NUM> to be transported through the delivery column <NUM> and further to an access or a transfer station (not shown), and the second delivery column <NUM> may comprise a dedicated pick-up port where the container handling vehicles <NUM>,<NUM> can pick up storage containers <NUM> that have been transported through the delivery column <NUM> from an access or a transfer station (not shown). Each of the ports of the first and second delivery column <NUM>,<NUM> may comprise a port suitable for both pick up and drop of storage containers <NUM>.

The second location 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 never removed from the automated storage and retrieval system <NUM>, but are returned into the storage grid <NUM> once accessed. For transfer of storage containers out or into the storage grid <NUM>, there are also lower ports provided in a delivery column, such lower ports are e.g. for transferring storage containers <NUM> to another storage facility (e.g. to another storage grid), directly to a transport vehicle (e.g. a train or a lorry), or to a production facility.

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 storage grid <NUM>; the content of each storage container <NUM>; and the movement of the container handling vehicles <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> colliding with each other), the automated storage and retrieval system <NUM> comprises a control system (not shown) which typically is computerized and which typically comprises a database for keeping track of the storage containers <NUM>.

A conveyor system comprising conveyors may be employed to transport the storage containers between the lower port of the delivery column <NUM>,<NUM> and the access station.

If the lower port of the delivery column <NUM>,<NUM> and the access station are located at different levels, the conveyor system may comprise a lift device for transporting the storage containers <NUM> vertically between the port and the access station.

The conveyor system may be arranged to transfer storage containers between different grids, e.g. as is described in <CIT>.

Further, <CIT> discloses an example of a prior art access system having conveyor belts (Figs. 5a and 5b in <CIT>) and a frame mounted rail (<FIG> in <CIT>) for transporting storage containers between delivery columns and work stations where operators can access the storage containers.

When a storage container <NUM> stored in the grid <NUM> disclosed in <FIG> is to be accessed, one of the container handling vehicles <NUM>,<NUM> is instructed to retrieve the target storage container <NUM> from its position in the grid <NUM> and to transport it to or through the delivery column <NUM>. This operation involves moving the container handling vehicle <NUM>,<NUM> to a grid 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 lifting device (not shown), and transporting the storage container <NUM> to the delivery column <NUM>. If the target storage container <NUM> is located deep within a stack <NUM>, i.e. with one or a plurality of other storage containers 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 column <NUM>. This step, which is sometimes referred to as "digging" within the art, may be performed with the same container handling vehicle <NUM>,<NUM> that is subsequently used for transporting the target storage container <NUM> to the delivery column, or with one or a plurality of other cooperating container handling vehicles <NUM>,<NUM>. Alternatively, or in addition, the automated storage and retrieval system <NUM> may have container handling vehicles <NUM>,<NUM> specifically dedicated to the task of temporarily removing storage containers <NUM> from a storage column <NUM>. However, the removed storage containers may alternatively be relocated to other storage columns <NUM>.

When a storage container <NUM> is to be stored in the grid <NUM>, one of the container handling vehicles <NUM>,<NUM> is instructed to pick up the storage container <NUM> from the delivery column <NUM> and to transport it to a grid 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 <NUM>.

A problem associated with known automated storage and retrieval systems <NUM> is that the area surrounding the pick-up and drop-off ports may become congested with container handling vehicles <NUM>,<NUM> instructed to drop off or pick up storage containers <NUM>. This may seriously impede the operation of the automated storage and retrieval system <NUM>. In small systems this situation may possibly be alleviated by adding delivery columns to the grid, as this will allow the container handling vehicles <NUM>,<NUM> to be distributed among a larger number of ports of delivery columns in order to avoid congestion. However, if ports and columns are added, the conveyor system infrastructure must normally be increased. This requires space, which may not necessarily be available. Also, adding conveyor system infrastructure is costly.

Another problem with prior art automated storage and retrieval systems <NUM> is that the separate drop-off ports and pick-up ports of the delivery columns <NUM>,<NUM> require the container handling vehicles <NUM>,<NUM> to move to a storage column <NUM> after drop-off to retrieve a new storage container <NUM>. Likewise, the container handling vehicles <NUM>,<NUM> have to be empty of a storage container <NUM> when they are sent to a pick-up port <NUM> to pick up a storage container. This results in an inefficiency and causes increased congestion around the ports, as container handling vehicles <NUM>,<NUM> are moving around on the grid without a storage container <NUM> as payload. In addition, the delivery columns <NUM>,<NUM> may take up space on the grid <NUM> which could be used for other purposes such as the movement of container handling vehicles <NUM>,<NUM>.

It is known from <CIT> an order picking system includes a storage system for storing containers arranged in multiple rows at various horizontal levels with respect to ground. The containers are including source containers with goods stored in the storage system and reception containers to be filled with the ordered goods. At least one mobile picking unit may be moved in a horizontal direction along an upper level of the storage system, the picking unit is configured for taking ordered goods from the source containers arranged at the upper level and placing the ordered goods into the reception containers for delivery to the customers. At least one transportation unit may be moved along a lower level of the storage system arranged lower than the upper level. The transportation unit is configured for taking the containers from levels of the storage system lower than the upper level, and delivering the containers to the upper level.

It is known, for example from <CIT>, to provide the above automated storage and retrieval system with a robot device comprising a movable arm with a picking mechanism in one end thereof, for moving product items between storage containers <NUM>. The robot device can be fixed to the grid or it can be fixed to the ceiling of the building in which the grid is located. The robot device in this prior art is used to move product items between storage containers <NUM> located on the top level of the grid and storage containers <NUM> located on a conveyor belt of a conveyor system.

Also here, the area surrounding the robot device may become congested with container handling vehicles <NUM>,<NUM> instructed to drop off or pick up storage containers <NUM>. Moreover, adding conveyor system infrastructure is costly.

<CIT> discloses an automated storage and retrieval system with a robot device for picking product items where the robot device is fixed to a robot vehicle, thereby forming a picking vehicle. Container handling vehicles are moved adjacent to this picking vehicle and the picking vehicle moves product items between the containers held by the container handling vehicles.

There are several disadvantages with the above picking vehicle. First, at least three vehicles are used during the picking operation - the picking vehicle itself, and two container handling vehicles. In practice, it is assumed that the picking vehicle will be relatively stationary, while the container handling vehicles will be used to move desired containers to and from the picking vehicle.

In view of the above, it is desirable to provide an automated storage and retrieval system, and a method for operating such a system, that solve or at least mitigate one or more of the aforementioned problem related to use of prior art storage and retrieval systems.

An objective of the invention is to provide an automated storage and retrieval system which is more effective than prior art systems by avoiding or at least reducing congestion at specific locations of the grid.

The present invention relates to a remotely operated vehicle for an automated storage and retrieval system for moving a product item between a storage container stored in an automated storage and retrieval grid, and a further container, wherein the automated storage and retrieval grid is configured to store a plurality of stacks of storage containers; where the remotely operated vehicle comprises:.

characterized in that:
the container lifting device is arranged as a cantilever structure fixed to the vehicle body, where the container lifting device comprises a container lifting frame with a connection interface (CI) for connection to and disconnection from the further container provided below the cantilever structure.

In one aspect, the further container may be a target container, where the picking system is configured to move the product item from the storage container to the target container. Alternatively, the further container may be a replenishing container, where the picking system is configured to move the product item from the replenishing container to the storage container.

The target container and the storage container may be of the same type. However, the target container and the storage container may also be of different types. The target container may be larger than or smaller than the storage container, it may have a different connection interface than the storage container etc..

In one aspect, the first end of the picking arm is connected to a top surface of the vehicle body.

Alternately, the picking arm may be provided on a side surface or on a rear surface of the vehicle body <NUM>.

In one aspect, the container lifting device is an open-top container lifting device.

The term "open-top" here refers to a container lifting device where access to the container from above is possible through an access opening in the container lifting device.

In one aspect, the container lifting device is configured to lift the further container to a height above the top level of the grid.

The height may be sufficient for the vehicle to carry the further container during its horizontal movement on the grid.

In one aspect, the container lifting device is configured to lower the further container into a grid column of the grid.

In one aspect, the cantilever structure comprises an access opening to the further container being carried by the container lifting device, where the picking system is configured to move the product item through the access opening to and from the further container.

In one aspect, the cantilever structure is provided as a cantilever section protruding from a front side of the vehicle body.

The cantilever structure may be integrated as part of the vehicle body itself.

In one aspect, the cantilever structure is provided as a frame section connected to the vehicle body via a housing section.

The cantilever structure may be a separate body being connected to the vehicle body.

In one aspect, the remotely operated vehicle comprises two container lifting devices.

The two container lifting devices may be provided on opposite sides of the vehicle body to counterbalance each other and hence provide stability.

In one aspect, the wheel arrangement has a width equal to a width of a grid cell of the automated storage and retrieval grid and a length equal to a length of the grid cell of the automated storage and retrieval grid.

Hence, the wheel arrangement only covers one single grid cell, thereby allowing other vehicles to move along adjacent grid cells.

In one aspect, the picking system comprises a picking arm and a holding mechanism, where the picking arm has a first end connected to the vehicle body and a second end connected to the holding mechanism.

The first end may be pivotably connected to the vehicle body. Alternatively, the first end may be axially displaceably connected to the vehicle body. The second end may be pivotably connected to the holding mechanism. Alternatively, the second end may be axially displaceably connected to the holding mechanism. The picking arm may comprise arm sections, which may be pivotably connected to each other or they may be axially displaceably connected to each other. The picking arm may comprise one, two or three arm sections. The above pivotable connections may be pivotable around a horizontal axis, a vertical axis or an inclined axis.

Alternatively, two or more arm sections may be provided as telescopic sections. In yet an alternative, two or more arm sections may be slidably connected to each other, where a linear actuator is used to extend or retract the arm sections with respect to each other.

The present invention also relates to a method for moving a product item between a storage container stored in an automated storage and retrieval grid of an automated storage and retrieval system, and a further container, where the grid is configured to store a plurality of stacks of storage containers, and where the method comprises the steps of:.

As described above, the further container may be a target container or a replenishing container.

The term "container position" may be the position of a storage container stored in the grid or it may be the position of the further container carried by the vehicle. The "container position" may also be a predetermined location within the container, for example a predetermined compartment within the container, a predetermined shipping package located within the container etc. One of the initial container and target container is the further container. The initial grid position may be a position where both the initial container position and the target container position is within reach of the picking system.

In one aspect, the step of controlling the picking system to move the product item to a target container comprises controlling the picking system to move the product item through an access opening of the cantilever structure provided above the target container.

The present invention also relates to a automated storage and retrieval system comprising:.

In the above aspects, the access opening is always open. However, in some embodiments, it may be possible to temporarily open and close the access opening by means of a lid or cover.

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

Furthermore, even if some of the features are described in relation to the system only, it is apparent that they are valid for the delivery vehicles and related methods as well, and vice versa. Hence, any features described in relation to the delivery vehicle only, and/or related methods, are also valid for the system.

With reference to <FIG> the storage grid <NUM> of each storage structure <NUM> constitutes a framework <NUM> of in total <NUM> grid columns <NUM>, where the width and length of the framework corresponds to the width and length of <NUM> and <NUM> grid columns <NUM>, respectively. The top layer of the framework <NUM> is a rail system <NUM> onto which a plurality of container handling vehicles <NUM>,<NUM> are operated.

The framework <NUM> of the storage system <NUM> is constructed in accordance with the above mentioned prior art framework <NUM> described above, i.e. a plurality of upright members <NUM> and a plurality of horizontal members <NUM> which are supported by the upright members <NUM>, and further that the horizontal members <NUM> includes a container handling vehicle rail system <NUM> of parallel rails <NUM>,<NUM> in the X direction and the Y direction, respectively, arranged across the top of storage columns <NUM>. The horizontal area of a single grid cell <NUM>, i.e. along the X and Y directions, may be defined by the distance between adjacent rails <NUM> and <NUM>, respectively (see also <FIG>). In <FIG> and <FIG>, such a grid cell <NUM> is marked on the rail system <NUM> by thick lines.

The container handling vehicle rail system <NUM> allows the container handling vehicles <NUM>,<NUM> to move horizontally between different grid locations, where each grid location is associated with a grid cell <NUM>.

In <FIG> and <FIG> the storage grid <NUM> is shown with a height of eight cells. It is understood, however, that the storage grid <NUM> can in principle be of any size. In particular it is understood that storage grid <NUM> can be considerably wider and/or longer than disclosed in <FIG> and <FIG>. For example, the grid <NUM> may have a horizontal extent of more than 700x700 grid cells <NUM>. Also, the grid <NUM> can be considerably deeper than disclosed in <FIG> and <FIG>. For example, the storage grid <NUM> may be more than twelve grid cells deep.

The storage container vehicles <NUM>,<NUM> may be of any type known in the art, e.g. any one of the automated container handling vehicles disclosed in <CIT>, in <CIT> or in <CIT>.

The rail system <NUM> may be a single track system, as is shown in <FIG>. Alternatively, the rail system <NUM> may be a double track system, as is shown in <FIG>. Details of the single and double track system are disclosed this specification under the section of background and prior art. In yet an alternative, the rail system <NUM> may be a combination of a double track system and a single track system.

In <FIG>, a control system of the automated storage and retrieval system <NUM> is shown as a box <NUM> provided in communication with the vehicles <NUM>, <NUM>.

It is now referred to <FIG> and <FIG>. Here, a remotely operated vehicle <NUM> for the above automated storage and retrieval system <NUM> is disclosed. The main purpose of the remotely operated vehicle <NUM> is to perform a picking operation, i.e. to move one or several of the same type of product item, or to move several types of product items, from one or several storage containers <NUM> stored in the grid <NUM> to a further container. In the description below, this further container is referred to as a target container <NUM>. Hence, this vehicle <NUM> may be referred to as a picking vehicle. This picking operation is typically performed based on a picking order, where one or several product items is picked, packaged into a shipping package and then sent to the address of the receiver who typically placed the picking order. It should be noted that the picking operation may be performed by picking product items directly into the target container, or by picking product items into one or more shipping packages arranged in the target container.

It should be noted that the vehicle <NUM> may be used to move one or several product items from the further container <NUM> to one or several storage containers <NUM>. In this case, the vehicle <NUM> may be used to perform a replenishing operation.

It should be noted that in the present embodiment, the storage containers <NUM> and the target container <NUM> are of the same type.

The remotely operated vehicle <NUM> comprises a vehicle body <NUM> and a wheel arrangement <NUM> connected to the vehicle body <NUM>. The wheel arrangement is configured to move the remotely operated vehicle <NUM> along the rail system <NUM> of the automated storage and retrieval system <NUM>. The present embodiment of the vehicle <NUM> is based on the prior art container handling vehicle <NUM> shown in <FIG>, having a cantilever section 33a protruding from the vehicle body <NUM>. The wheel arrangement <NUM> is considered to be prior art and will not be described further in detail herein. As the vehicle <NUM> is based on the container handling vehicle <NUM>, costs may be saved as many of the same spare parts may be used for these vehicles <NUM>, <NUM>.

The vehicle <NUM> further comprises a container lifting device <NUM> configured to carry the target container <NUM>. The container lifting device <NUM> comprises a container lifting frame <NUM> with a connection interface CI (<FIG>) for connection to and disconnection from the target container <NUM>. In the present embodiment, the container lifting device <NUM> is of the same type of as the container lifting device <NUM> of the prior art container handling vehicle <NUM>, where the container lifting device <NUM> is provided below the cantilever section 33a of the vehicle body <NUM>. This container lifting device <NUM> is configured to lift the target container <NUM> to a height H1 above the top level of the grid <NUM> (see <FIG>) in order to carry the target container <NUM> during horizontal movement of the vehicle <NUM>.

In <FIG>, this height H1 is indicated as the vertical distance between the wheels which are in contact with the grid <NUM> and the lowermost part of the container <NUM>. The container lifting device <NUM> is also configured to lower its connection interface into a grid column <NUM> of the grid <NUM> for connection to the target container <NUM> or for releasing the target container <NUM>.

It is now referred to <FIG> and <FIG>, where it is shown that the vehicle <NUM> further comprises a picking system <NUM> for moving the product item <NUM> between the storage container <NUM> and the target container <NUM>. The picking system <NUM> comprises a picking arm <NUM> having a first end 41a connected to the vehicle body <NUM> and a second end 41b connected to a holding mechanism <NUM> of the picking system <NUM>.

The picking arm <NUM> comprises several arm sections pivotably connected to each other. In <FIG> and <FIG>, it is shown that the picking arm <NUM> comprises a first arm section 42a pivotably connected to the top surface TS of the vehicle body <NUM>, a second arm section 42b pivotably connected to the first arm section 42a and a third arm section 42c axially displaceable with respect to the second arm section 42b, where the holding mechanism <NUM> is located in the end of the third arm section 42c. In the present embodiment, the first arm section 42a is pivotable with respect to the vehicle body <NUM> around a first vertical axis I42a, the second arm section 42b is pivotable with respect to the first arm section 42a around a second vertical axis I42b and the third arm section 42c is axially displaceable with respect to the second arm section 42b along a third vertical axis I42c.

It should be noted that the vehicle <NUM> with its wheel arrangement <NUM>, its container lifting device <NUM> and its picking system <NUM> is controlled by a control system. This control system will typically be the same control system being used for monitoring and controlling the automated storage and retrieval system <NUM>, as mentioned in the introduction above. It should be noted that picking arms with holding mechanisms are commercially available - and are considered prior art. Hence, the control of such picking arms with holding mechanism will not be described in detail herein.

The holding mechanism <NUM> is configured to releasably hold the product item <NUM>, and can use one of many known holding principles, such as by using a suction force provided by an air pump, a magnetic force provided by an electromagnet, a clamping force by using a claw operated by electric servo motors etc. It may even comprise a combination of two or more of these holding principles. In addition, the picking system <NUM> may comprise object recognition equipment <NUM> (shown in <FIG>) for recognizing the product item <NUM> in order to control the positioning of the picking arm and the holding mechanism <NUM> in relation to the product item <NUM> in order to hold it. The object recognition equipment <NUM> may also be used during release of the product item <NUM>, for example in cases where the product items <NUM> are released into a shipping package (not shown) provided inside the target container <NUM>. This shipping package may be a cardboard box, a rigid or semi-rigid bag, an envelope etc. The shipping package may be individually marked, in order for the picking system <NUM> to release the product item <NUM> into one specific shipping package of a plurality of shipping packages provided in the target container <NUM>.

It should be noted that the object recognition equipment <NUM> and the holding mechanism <NUM> should be selected based on the properties of the product items stored in the automated storage and retrieval system <NUM>, such as size, weight, shape, color, packaging material etc..

It should also be noted that this embodiment only shows one of a range of available picking arms and holding mechanisms.

In <FIG>, the term "front surface" FS is indicated as one side surface of the vehicle body <NUM> located on the same side as the cantilever structure 33a, where the term "rear surface" RS is used for the one side surface located on the opposite side as the front surface FS. First and second side surfaces SS1, SS2, being perpendicular to the front and rear surfaces FS, RS are also indicated in <FIG>.

It is now referred to <FIG>, where it is shown that the third arm section 42c and the holding mechanism <NUM> are provided in a recess 31b provided in the vehicle body <NUM>. Here, the picking system <NUM> is in an inactive state or in a resting position. Here, the picking system <NUM> is provided within the limits of the vehicle length VL and vehicle width VW shown in <FIG>. Hence, the picking system <NUM> only increases the height of the vehicle <NUM>. This is also shown in <FIG>. Here, also the range of the picking system <NUM> is illustrated by a dashed circle RC.

In <FIG>, it is shown that the wheel arrangement <NUM> has a width W32 and a length L32. In <FIG>, it is shown that the width W32 is equal to a width Wc of a grid cell <NUM> of the automated storage and retrieval grid <NUM> and that the length L32 is equal to a length Lc of the grid cell <NUM> of the automated storage and retrieval grid <NUM>. Hence, the wheel arrangement <NUM> only covers one single grid cell <NUM>, thereby allowing other vehicles to move along adjacent grid cells.

The picking operation will now be described. First, it should be noted that the storage containers <NUM> from which product items <NUM> is to be picked from, must be positioned at a height in the grid <NUM> which is within reach of the picking system <NUM> of the vehicle <NUM>. This is typically performed by using container handling vehicles <NUM>, <NUM> to stack storage containers <NUM> above each other to the desired height and then position the storage container <NUM> from which product items <NUM> is to be picked from, on top of the stack. Product items <NUM> located in storage containers <NUM> provided at the first and second levels, indicated in <FIG> as levels z0 and z1, are typically within reach of the picking system <NUM>.

The position of the product item <NUM> that is to be picked may be referred to as an initial container position P0, which in <FIG> is indicated to be the position of the storage container <NUM>. The target container position P1 is the position of the target container <NUM> carried by the vehicle <NUM>.

Initially, the vehicle is carrying the further container <NUM> by means of a container lifting device <NUM> to a predetermined grid position GP1. In this example, the initial grid position GP1 is a position where the storage container <NUM> is within reach of the picking system <NUM>, as shown in <FIG>.

Then, the holding mechanism <NUM> is positioned in relation to the product item <NUM> in the storage container <NUM> by means of the picking arm <NUM> based on data from the object recognition equipment <NUM> and the holding mechanism <NUM> is subsequently activated to hold the product item <NUM>. The picking arm <NUM> is then actuated to lift the product item <NUM> up from the storage container <NUM> and into the target container <NUM>, where the holding mechanism <NUM> is deactivated to release the product item <NUM>.

In the present embodiment, the vehicle <NUM> cannot carry the target container <NUM> while moving product items <NUM> into the target container <NUM>, as the cantilever section 33a prevents access to the target container <NUM>. Here, the target container <NUM> must lower the target container <NUM> into the grid <NUM>, preferably at a location where other storage containers <NUM> are stacked, in order to provide that the height of the target container <NUM> is within reach of the picking system <NUM>. Then, the vehicle <NUM> must move its cantilever section 33a away from the target container <NUM> to get access to the target container <NUM>.

It is now referred to <FIG>. The embodiment of <FIG> is similar to the first embodiment described in detail above, and those similarities will not be described again here.

In <FIG>, it is shown that the cantilever section 33a comprises an access opening AO to the target container <NUM> when the target container <NUM> is being carried by the container lifting device <NUM>. This access opening AO is indicated in <FIG> as a dashed box. Hence, the container lifting device <NUM> is considered to be an open-top container lifting device <NUM>.

In <FIG>, it is also shown that the third arm section 42c is pivotably connected to the second arm section 42b around a fourth axis I42d corresponding to the longitudinal axis of the second arm section 42b. It should be noted that axial displacement of the third arm section 42c in relation to the second arm section 42b is still possible. In this way, the picking system <NUM> is configured to move the product item <NUM> to a position above the access opening AO and hence release the product item <NUM> into the target container <NUM> through the access opening AO.

In this way, the vehicle <NUM> can carry the target container <NUM> during use of the picking system <NUM> and during horizontal movement of the vehicle.

Minor modifications to the container lifting device <NUM> may also be required. Motors and other parts of the container lifting device <NUM> are typically located inside the cantilever section 33a. These parts of the container lifting device <NUM> may be re-arranged internally towards the side of the cantilever section 33a or even moved into other parts of the vehicle body <NUM> to ensure that the access opening AO can be of desired size.

It is now referred to <FIG>. Again, there are many similarities with the above embodiments, and only the differences will be described in detail below.

Also here, the container lifting device <NUM> is an open-top container lifting device <NUM>.

While the above embodiments of the vehicle <NUM> was described to comprise a container lifting device <NUM> provided in a cantilever section 33a integrated in the vehicle body <NUM>, the container lifting device <NUM> in <FIG> comprises a frame section <NUM> and a housing section <NUM> connected to each other. The access opening OA to the target container <NUM> is defined through the frame section <NUM>. The housing section <NUM> is connected to the top surface TS of the vehicle body <NUM>. As shown, the frame section <NUM> also here forms a cantilever type of structure, where the container lifting frame <NUM> is suspended below the frame section <NUM>. Motors and other parts of the container lifting device <NUM> are located inside the frame section <NUM> and/or housing section <NUM>. This enables the cross sectional area of the access opening AO in the frame section <NUM> to be larger than the cross sectional area of the access opening AO in the cantilever section 33a of <FIG>. Preferably, the cross sectional area of the access opening AO in the frame section <NUM> is substantially equal to a cross sectional area of the access opening of the lifting frame <NUM> and/or the target container <NUM>.

Also here, the picking system <NUM> is connected to the top surface TS of the vehicle body <NUM>. Here, the picking system <NUM> comprises a picking arm <NUM> with a first end 41a pivotably connected to the top surface TS and a second end 41b connected to the holding device <NUM>.

The picking arm <NUM> comprises several arm sections pivotably connected to each other. In 6a it is shown that the picking arm <NUM> comprises a first arm section 42a pivotably connected to the top surface TS of the vehicle body <NUM>, a second arm section 42b pivotably connected to the first arm section 42a, a third arm section 42c pivotably connected to the second arm section 42b and a fourth arm section 42d pivotably connected to the third arm section 42c, where the holding mechanism <NUM> is located in the end of the fourth arm section 42d. In the present embodiment, the first arm section 42a is pivotable with respect to the vehicle body <NUM> around a first vertical axis I42a, the second arm section 42b is pivotable with respect to the first arm section 42a around a second horizontal axis I42b, the third arm section 42c is pivotable with respect to the second arm section 42b along a third horizontal axis I42c and the fourth arm section 42d is pivotable with respect to the third arm section 42c along a fourth horizontal axis I42d. Again, this type of picking system <NUM> including its control system, is commercially available, and will not be described herein in detail.

Also in this embodiment, the vehicle <NUM> can carry the target container <NUM> during use of the picking system <NUM> and during horizontal movement of the vehicle <NUM>.

It is now referred to <FIG>. Here, the vehicle <NUM> has the same type of container lifting device <NUM> as in <FIG>. Here, the picking arm <NUM> comprises a first arm section 42a and a second arm section 42b, each of a balanced-arm type, where each arm section comprises two parallel arm elements and where these arm elements in their respective ends are pivotably connected to first, second and third connection brackets 43a, 43b, 43c. The first connection bracket 43a is pivotably connected to the top surface TS of the vehicle <NUM>. A third arm section 42c is axially displaceably in relation to the third connection bracket 43c, where the holding device <NUM> (not shown in <FIG>) are provided in the end of the third arm section 42c. Linear actuators (not shown) may be used to move the picking arm <NUM>.

This type of picking system <NUM> is considered to have a lower weight than the picking system <NUM> of <FIG>.

It is now referred to <FIG>. Here, the vehicle <NUM> comprises one picking system <NUM> of the same type as in <FIG>. The vehicle <NUM> comprises two container lifting devices <NUM>, each holding a target container <NUM>.

In this embodiment, the picking system <NUM> may pick product items <NUM> to both of the target containers <NUM>, where target container positions are indicated as P1a and P1b.

According to the embodiments described above, a picking operation may be performed by one single vehicle. When the picking operation into one target container is finished, the vehicle may leave the target container in the grid and start a new picking operation with a new target container. Other container handling vehicles will transport the target container to its final destination and may also supply the picking vehicle with new target containers when needed.

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.

As an example, it should be noted that the vehicle <NUM> may be used to move product items from the container <NUM> carried by the container lift <NUM> to other containers <NUM> stored in the grid. It should also be noted that the vehicle <NUM> may be used as a container handling vehicle <NUM>, <NUM>, i.e. for transporting containers <NUM> between different locations in the grid <NUM>, for example to and from the so-called "ports". In this last alternative, the picking system <NUM> is not used.

Claim 1:
A remotely operated vehicle (<NUM>) for an automated storage and retrieval system (<NUM>), the remotely operated vehicle (<NUM>) for moving a product item (<NUM>) between a storage container (<NUM>) stored in an automated storage and retrieval grid (<NUM>), and a further container (<NUM>), wherein the automated storage and retrieval grid (<NUM>) is configured to store a plurality of stacks (<NUM>) of storage containers (<NUM>); and where the remotely operated vehicle (<NUM>) comprises:
- a vehicle body (<NUM>);
- a wheel arrangement (<NUM>) connected to the vehicle body (<NUM>), the wheel arrangement (<NUM>) configured to move the remotely operated vehicle (<NUM>) along a rail system (<NUM>) of the automated storage and retrieval system (<NUM>);
- a picking system (<NUM>) for moving the product item (<NUM>) between the storage container (<NUM>) and the further container (<NUM>);
wherein:
- the vehicle (<NUM>) comprises a container lifting device (<NUM>) configured to carry the further container (<NUM>);
- the picking system (<NUM>) comprises a picking arm (<NUM>) having a first end (41a) connected to the vehicle body (<NUM>) and a second end (41b);
- the picking system (<NUM>) comprises a holding mechanism (<NUM>) for releasably holding of the product item (<NUM>), the holding mechanism (<NUM>) being provided in the second end (41b) of the picking arm (<NUM>);
characterized in that:
the container lifting device (<NUM>) is arranged as a cantilever structure (33a; <NUM>) fixed to the vehicle body (<NUM>), where the container lifting device (<NUM>) comprises a container lifting frame (<NUM>) with a connection interface (CI) for connection to and disconnection from the further container (<NUM>) provided below the cantilever structure (33a; <NUM>).