HK40069405B - An automated storage and retrieval system, a floor element, and an accessing method - Google Patents

Description

Automated storage and retrieval systems, floor components, and access methods

This application is a divisional application of Chinese invention patent application No. 201880062404.X, entitled "An Automated Storage and Retrieval System", filed on August 27, 2018 (the corresponding PCT international application number is PCT/EP2018/072968).

Technical Field

This invention relates to the field of automated storage and retrieval systems. Specifically, this invention relates to an automated storage and retrieval system, a floor element, and a method for providing access to or being able to access equipment disposed at or from the top surface of the automated storage and retrieval system.

Background Technology

The applicant's known automated storage system is a storage system comprising a three-dimensional storage grid structure, wherein storage bins/containers are stacked on top of each other to a certain height. Such a prior art system is illustrated in Figure 1. This storage system is disclosed in detail, for example, in NO317366 and WO 2014/090684 A1.

Figure 1 illustrates the framework structure 1 of a typical prior art automated storage and retrieval system, and Figures 2a and 2b illustrate known container-handling vehicles for such systems.

The frame structure 1 includes multiple upright members 2 and multiple horizontal members 3 supported by the upright members 2. Members 2 and 3 are typically made of metal, such as extruded aluminum profiles.

The frame structure 1 defines a storage grid 4 comprising rows of storage columns 5, with storage containers 6 (also referred to as containers) stacked on top of each other to form a stack 7. Each storage container 6 (or simply, a container) typically holds multiple products (not shown), and depending on the application, the products in the storage containers 6 may be the same or different product types. The frame structure 1 prevents horizontal movement of the stack 7 of storage containers 6 and guides vertical movement of the containers 6, but typically does not otherwise support the storage containers 6 when stacked.

The upper horizontal member 3 includes a track system 8 arranged in a grid pattern across the top of the storage column 5, on which multiple container handling vehicles 9 are operated to raise and lower storage containers 6 from the storage column 5 and transport them above the storage column 5. The track system 8 includes a first set of parallel tracks 10 arranged to guide the container handling vehicles 9 across the top of the frame structure 1 in a first direction X, and a second set of parallel tracks 11 arranged perpendicular to the first set of tracks 10 to guide the container handling vehicles 9 in a second direction Y perpendicular to the first direction X, as shown in Figure 3. In this way, the track system 8 defines the upper end of the grid column 12 above which the container handling vehicles 9 can move laterally (i.e., in a plane parallel to the horizontal X-Y plane) above the storage column 5.

Each container handling vehicle 9 includes a vehicle body 13 and a first set of wheels and a second set of wheels 14, 15 that enable the container handling vehicle 9 to move laterally (i.e., move in the X and Y directions). Two wheels in each set are visible in Figure 2. The first set of wheels 14 is arranged to engage with two adjacent tracks of a first set of tracks 10, and the second set of wheels 15 is arranged to engage with two adjacent tracks of a second set of tracks 11. One of the sets of wheels 14, 15 can be raised and lowered so that the first set of wheels 14 and/or the second set of wheels 15 can engage with their respective sets of tracks 10, 11 at any time.

Each container handling carrier 9 also includes a lifting device 18 (not shown in Figures 1 and 2a) for vertically transporting the storage container 6, for example, raising the storage container 6 from the storage column 5 and lowering the storage container 6 into the storage column. The lifting device 18 includes a lifting frame (not shown in Figure 2a, but similar to the component labeled 17 shown in Figure 2b) adapted to engage the storage container 6. This lifting frame is lowerable from the carrier body 13 so that the position of the lifting frame relative to the carrier body 13 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y.

Traditionally, and for the purposes of this application, Z=1 represents the topmost layer of grid 4, that is, the layer directly below the orbital system 8 (in this application, the orbital system 8 is referred to as the top level of the grid), Z=2 is the second layer below the orbital system 8, Z=3 is the third layer, and so on. In the embodiment disclosed in FIG1, Z=8 represents the bottommost layer of grid 4. Therefore, as shown in the example in FIG1 and using the Cartesian coordinate system X, Y, Z, the storage container represented as 7' in FIG1 can be considered to occupy a grid position or grid cell X=10, Y=2, Z=3. The container processing vehicle 9 can be considered to travel in the layer of Z=0, and each grid column can be represented by its X and Y coordinates.

Each container handling vehicle 9 includes a storage chamber or space for receiving and storing the storage container 6 when transporting it across the grid 4. The storage space may include a cavity centrally located within the vehicle body 13, such as that described in WO2014/090684A1, the contents of which are incorporated herein by reference.

Alternatively, the container handling vehicle may have a cantilever construction, as described in NO317366, the contents of which are also incorporated herein by reference.

The container handling vehicle 9 may have a certain floor area, i.e., a range in the X and Y directions, which is generally equal to the lateral or horizontal range of the grid posts 12, i.e., the range of the grid posts 12 in the X and Y directions, for example, as described in WO2015/193278A1, the contents of which are incorporated herein by reference. Alternatively, the container handling vehicle 9 may have a floor area greater than the lateral range of the grid posts 12, for example, as disclosed in WO2014/090684A1.

The track system 8 may be a single-track system, as shown in Figure 3. Alternatively, the track system 8 may be a dual-track system, as shown in Figure 4, thus allowing a container handling vehicle 9 with a footprint 44 that typically corresponds to the lateral extent of the grid post 12 to travel along a row of grid posts in the X or Y direction, even if another container handling vehicle 9 is positioned above a grid post adjacent to that row.

In a storage grid, most grid pillars 12 are storage pillars 5, i.e., where storage containers are stored in a stacked manner. However, a grid typically has at least one grid pillar that is not used to store these storage containers, but rather includes a location where a container handling vehicle can drop off and/or pick up storage containers so that they can be transported to an access station (i.e., a container handling station) where the storage containers can be accessed from outside the grid, transported to or from outside the grid, or transported to or from within the grid. In the art, such a location is often referred to as a "port," and a grid pillar with a port may be called a port pillar.

Grid 4 in Figure 1 includes two port posts 19 and 20. The first port post 19 may be, for example, a dedicated unloading port post in which the container handling vehicle 9 can unload storage containers to be transported to an access station or transport station (not shown), and the second port post 20 may be a dedicated pick-up port post in which the container handling vehicle 9 can pick up storage containers that have been transported from the access station or transport station to Grid 4.

When access is required for the storage container 6 stored in the grid 4 disclosed in Figure 1, one of the container handling vehicles 9 is instructed to retrieve the target storage container from its position in the grid 4 and transport it to the unloading port 19. This operation involves moving the container handling vehicle 9 above the storage column to the grid position where the target storage container is located, removing the storage container from the storage column using a lifting device of the container handling vehicle (not shown, internally arranged in the central cavity of the vehicle, but similar to the lifting device 18 of the second prior art vehicle of Figure 2b), and transporting the storage container to the unloading port 19. The second prior art vehicle 9 is shown in Figure 2b to better illustrate the general design of the lifting device. The second vehicle 9 is described in detail in Norwegian Patent No. 317366. The lifting device 18 of both prior art vehicles 9 includes a set of lifting straps 16 connected near a corner for releasable attachment to the storage container to a lifting frame 17 (also referred to as a gripping device). To raise or lower the lifting frame 17 (and optionally, the attached storage container), a lifting belt 16 is wound around/unwound from at least one rotary lifting shaft (not shown), which is arranged in a container handling vehicle. Various designs of the at least one rotary lifting shaft are described, for example, in WO2015/193278A1 and PCT/EP2017/050195. The lifting frame has a container connection element 24 for releasable attachment to the storage container, and a guide pin 30. If the target storage container is located deep within the stack 7 (i.e., with one or more other storage containers positioned above the target storage container), the operation also involves temporarily moving the storage containers positioned above before lifting the target storage container from the storage column. This step, sometimes referred to in the art as “digging,” can be performed using the same container handling vehicle subsequently used to transport the target storage container to the unloading port 19, or using one or more other cooperating container handling vehicles. Alternatively or additionally, automated storage and retrieval systems may have container handling vehicles specifically designed for the task of temporarily removing storage containers from storage columns. Once the target storage container has been removed from the storage column, the temporarily removed storage container can be placed back into the original storage column. However, the removed storage container can alternatively be relocated to another storage column.

When storage container 6 is stored in grid 4, one of the container handling vehicles 9 is instructed to pick up the storage container from pick-up port 20 and transport it to the grid location above the storage column where the storage container is to be stored. Once any storage container positioned at or above the target location within the storage column stack has been removed, the container handling vehicle 9 positions the storage container at the intended location. The removed storage container can then be lowered back into the storage column or repositioned to another storage column.

In order to monitor and control the automated storage and retrieval system (e.g., monitor and control the position of the corresponding storage containers within grid 4, the contents of each storage container 6, and the movement of the container handling vehicles 9) so that the required storage containers can be delivered to the required locations when needed without collisions between the container handling vehicles 9, the automated storage and retrieval system includes a control system, which is typically computerized, and includes a database for tracking the storage containers.

As mentioned above, a problem with automated storage and retrieval systems is the difficulty in manually accessing equipment arranged on the grid when maintenance is required. This equipment includes container handling vehicles, charging stations for those vehicles, etc. For example, if a container handling vehicle stops operating outside the grid, maintenance personnel cannot easily reach it. One option is to use maintenance vehicle units with manually driven personal vehicles. However, these vehicles are cumbersome to use and do not allow operators to transport any required equipment outside the grid. Furthermore, the area surrounding the equipment requiring maintenance often includes storage columns with open ends, making it difficult to perform maintenance work, at least in a safe manner.

The present invention provides an automated storage and retrieval system in which equipment arranged on a grid and equipment requiring maintenance can be easily accessed.

Summary of the Invention

In a first aspect, the invention provides an automated storage and retrieval system comprising a three-dimensional mesh and multiple container handling vehicles, wherein...

The three-dimensional mesh comprises multiple storage pillars, where containers can be stacked vertically on top of each other; and

Each container handling vehicle includes a container lifting device with a lifting frame for releasable connection to a container, and each container handling vehicle operates on a track at the top surface of the grid to remove and store containers in storage columns, and to transport containers horizontally across the grid; wherein the automated storage system includes multiple floor elements, each floor element being disposed at the top of a storage column on top of a vertical stack of containers (i.e., each floor element is supported by the stack of containers), such that an operator can stand on top of the storage column, and wherein the floor elements can be stored vertically stacked on top of each other in storage columns arranged in the grid. Alternatively, each floor element may be defined as being disposed at the top of a storage column such that an operator can stand on top of the floor element, or such that an operator can stand on a floor element on top of a storage column. In other words, the floor element allows an operator to stand at the top surface of the grid on top of the storage column.

In one embodiment of the automated storage and retrieval system, each floor element can be transported and positioned at the top of a storage column using a carrier arranged at the top surface of the grid. The carrier may be a dedicated floor element handling carrier (i.e., a carrier that handles only floor elements and not containers), or preferably a container handling carrier. Preferably, the floor element includes an upper surface and is arranged such that the layer of the upper surface is at or (slightly) below the upper surface of the track.

In one embodiment of the automated storage and retrieval system, each floor element is releasably connected to the lifting frame of the container handling vehicle.

In one embodiment of the automated storage and retrieval system, each floor element has a horizontal perimeter that substantially corresponds to the horizontal perimeter of the container. This horizontal perimeter allows the floor element to be accommodated between tracks arranged at the top of the storage column. In a further embodiment, the maximum horizontal dimension of each floor element is substantially equal to the maximum horizontal dimension of the container.

In one embodiment of the automated storage and retrieval system, the floor element includes a sidewall having a height adapted to position the upper surface of the floor element at a height equal to or slightly lower than the upper level of the track.

In one embodiment of the automated storage and retrieval system, the lifting frame includes a container connecting element for releasable connection to a corresponding lifting frame connecting element located on either a peripheral top section of the container or a peripheral top section of the floor element. The peripheral top section is intended to refer to a section of the top surface extending inward from the peripheral edge.

In one embodiment of the automated storage and retrieval system, the floor element has the same lifting frame connection interface as the container. Specifically, both the floor element and the container include lifting frame connection elements for releasable connection to the lifting frame.

In one embodiment of the automated storage and retrieval system, each floor element may be arranged on top of a vertical stack of containers, i.e., such that the floor element is supported on top of the stack.

In one embodiment of the automated storage and retrieval system, each floor element includes a track connection element located at its horizontal periphery, which connects to a track at the top of a storage column, such that the floor element is held at the desired level relative to the top surface of the grid. By design, the track connection element may require the floor element to be stored in a dedicated column with a cross-section that can accommodate floor elements with a cross-section larger than that of the container.

In one embodiment of the automated storage and retrieval system, the floor element may be arranged such that when each adjacent storage column has a floor element at its top, a container handling vehicle can traverse a section of an adjacent storage column. In other words, the floor element may be arranged at a horizontal level that allows the container handling vehicle to pass above and beside it.

In one embodiment of the automated storage and retrieval system, the containers and floor elements have different and contrasting colors, making the resulting aisles easily distinguishable by color for the operator. Preferably, the containers are gray, while the floor elements have a color that contrasts sharply with gray, such as red, orange, blue, or green.

In a second aspect, the invention provides a floor element for an automated storage and retrieval system according to the first aspect, wherein the floor element has an upper surface having a generally rectangular horizontal periphery adapted for reception in a storage column, and includes lifting frame connecting elements for releasable connection to a lifting frame, the lifting frame connecting elements being disposed on a top section of the periphery of the upper surface, and cutouts or notches located at each corner of the horizontal periphery for interacting with guide pins disposed on the lifting frame. Preferably, the floor element includes two lifting frame connecting elements at each of two parallel and/or opposite sides of the upper surface. The floor element has a lower surface (e.g., a bottom surface) adapted for support on the top of a container.

The upper surface is preferably textured to provide improved grip.

In one embodiment of the floor element, the lifting frame connecting element includes a rectangular hole located in the upper surface.

In one embodiment, the floor element includes sidewalls interconnected by a grid of multiple ribs.

In a preferred embodiment, the upper surface is supported from below by a mesh of multiple ribs that interconnect the sidewalls.

In one embodiment of the floor element, the sidewall includes horizontal ribs and a plurality of vertical ribs arranged on the outward-facing side of the sidewall. Preferably, the rectangular holes included in the horizontal ribs are aligned with rectangular holes in the upper surface that form part of the lifting frame connecting element.

In one embodiment, the floor element has a color selected from the group consisting of red, orange, yellow, green, and blue, preferably red, orange, and yellow.

In a third aspect, the present invention relates to a method of providing access, namely, a method by which an operator manually accesses, or accesses, equipment arranged on, the top surface of an automated storage and retrieval system comprising a three-dimensional grid and multiple container handling vehicles, wherein...

The three-dimensional mesh comprises multiple storage pillars, where containers can be stacked vertically on top of each other; and

Each container handling vehicle includes a container lifting device with a lifting frame for releasable connection to a container, and each container handling vehicle operates on a track at the top surface of the grid to remove containers from and store containers in the storage column, and to transport containers horizontally across the grid; wherein the automated storage system includes multiple floor elements, each floor element being arranged at the top of the storage column so that an operator can stand on top of the storage column, and the method includes the following steps:

- Identify a group of adjacent storage columns that form a continuous segment between operator-accessible sections and equipment on the top surface of the grid; and

- Floor elements are arranged at the top of each storage column in a set of adjacent storage columns, so that walkways are formed between operator-accessible parts and equipment on the top surface of the grid.

Equipment may include, but is not limited to, container handling vehicles, charging stations for container handling vehicles, storage containers stuck in storage columns, etc.

The operator-accessible portion of a grid is the portion that an operator can easily reach, for example, via a platform located at the periphery of the top surface of the grid or as part of the top surface.

In one embodiment of the method, the step of arranging floor elements at the top of each of a set of adjacent storage columns is performed by at least one vehicle arranged on the top surface of the grid, preferably at least one vehicle being a container handling vehicle.

In one embodiment, the method includes the step of guiding at least one container handling vehicle to transport at least one container to one of adjacent storage columns, such that the storage column is filled with containers before the floor element is placed at the top. Preferably, the step of guiding at least one container handling vehicle to transport at least one container to one of adjacent storage columns is repeated until all adjacent storage columns are filled with containers.

In one embodiment of the method, a floor element disposed at the top of the storage column supports the top of the uppermost container contained in the storage column, that is, the floor element supports the top of the stack of containers contained in the storage column.

In one embodiment of the method, the storage system may include any features of the embodiments of the first aspect.

In one embodiment of the invention, consecutive segments of adjacent storage columns extend to at least partially surround the equipment to be accessed. In this way, the method not only provides access to the equipment but also provides a working surface that allows the operator to move at least partially around the equipment.

Attached Figure Description

Some embodiments of the present invention, given only by way of example, will now be described in detail with reference to the following accompanying drawings:

Figure 1 is a perspective side view of a prior art storage and retrieval system.

Figures 2a and 2b show two different prior art container handling vehicles.

Figure 3 is a perspective side view of an exemplary storage and retrieval system according to the present invention.

Figure 4a is a top side perspective view of an exemplary floor element according to the present invention.

Figure 4b is a bottom perspective view of the floor element in Figure 4a.

Figure 5a is a top side view of the storage and retrieval system in Figure 3, with multiple floor elements in place.

Figure 5b is an enlarged top side view of section A of the system in Figure 5a.

Figure 6 is a side view of the storage and retrieval system in Figure 3.

Figure 7a is a side view of segment B of the system in Figure 5a.

Figure 7b is an enlarged top side view of section B of the system in Figure 5a.

Figure 8 is a cross-sectional view of segment B along C-C of Figure 7b.

Figure 9 is a perspective side view of an exemplary storage and retrieval system according to the present invention, wherein the stack of floor elements is shown as stored in storage columns.

In the accompanying drawings, the same reference numerals have been used to refer to the same parts, elements or features unless otherwise expressly stated or clearly understood from the context.

Detailed Implementation

Embodiments of the invention, given by way of example only, will be discussed in more detail below with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the invention to the subject matter depicted therein.

As described above, a disadvantage of existing automated storage and retrieval systems (see Figure 1) is that it is difficult to manually access various devices located on or accessible from the top surface of the system for maintenance or repair purposes. Such devices include, for example, container handling vehicles 9, charging stations (not shown) for the container handling vehicles and other vehicles, storage containers 6 held in storage columns 5, etc. For example, if the container handling vehicle 9 stops operating outside grid 4, maintenance personnel (i.e., operators) cannot easily reach the vehicle to perform the necessary repairs or maintenance.

Figures 3 and 5 through 8 illustrate one embodiment of an automated storage and retrieval system (hereinafter referred to as the storage system) according to the present invention. For illustrative purposes, only the upper layer of the storage container 6 (or, alternatively, the upper portion of the storage grid 4) is shown in Figure 3. In most respects, the storage system of the present invention is similar to the prior art system shown in Figure 1, i.e., having a three-dimensional grid 4 and a plurality of container handling carriers 9', 9"', 9"'. The three-dimensional grid 4 includes a plurality of storage pillars 5, wherein the storage containers 6 can be vertically stacked 7 on top of each other, as shown in Figure 7a.

Further details of the prior art storage systems and container processing vehicles are disclosed in, for example, NO317366 and WO 2014/090684 A1, and are incorporated herein by reference.

In this embodiment, the container handling vehicles 9', 9"', 9"' are similar to the prior art vehicles shown in FIG. 2b. Each container handling vehicle 9', 9"', 9"' includes a container lifting device 18 having a lifting frame 17 for releasably connecting either the container 6 or the floor element 21, and each container handling vehicle operates on tracks 10, 11 arranged at the top surface of the grid 4. During normal operation, the container handling vehicles are used to remove the container 6 from the storage column 5 and store the container 6 in the storage column, and are capable of transporting the container 6 horizontally across the grid 4.

Referring to Figure 9, to facilitate operator 23's access to equipment located at or accessible from the top surface of the grid, the system of the present invention includes a plurality of floor elements 21. Each floor element 21 may be located at the top end 22 of a storage column and is designed such that operator 23 can safely stand on the floor element 21 on top of the storage column 5.

Referring to Figures 4a and 4b, each floor element has an upper surface 31 (i.e., a floor or walking surface) with a generally rectangular horizontal perimeter adapted to be received at the top end 22 of a storage column 5. In this embodiment, the horizontal perimeter is generally equal to the perimeter of the container, thus allowing the floor elements to be stacked and stored within a storage column 5. Four lifting frame connecting elements 25, 25' for releasable connection via corresponding container connecting elements 24 to the lifting frame 17 of the container handling carrier 9”’ are arranged on the top perimeter section 27 of the upper surface 31, i.e., the floor element 21 has the same lifting frame connecting interface as the container 6. In this specific embodiment, the lifting frame connecting elements 25, 25' are rectangular holes for interacting with releasable hooks 24 on the lifting frame 17. However, various similar technical means for such releasable connections will be readily apparent to those skilled in the art. Furthermore, the floor element 21 has cutouts 29 at each corner of the horizontal perimeter for interacting with guide pins 30 arranged on the lifting frame 17.

To obtain a lightweight floor element 21 with the desired stiffness/strength, the floor element includes vertical sidewalls 34 interconnected by a grid of multiple ribs 35. The sidewalls are further reinforced by horizontally extending ribs 37 and multiple vertical ribs 38. The horizontal ribs 37 include rectangular holes 25' forming part of the lifting frame connecting elements. The lower surface 36 of the sidewalls 34 is designed to support the container 6 such that the weight of an operator standing on the floor element is supported by the stack 7 of the containers 6 on which the floor elements 21 are arranged. The floor element 21 is preferably molded from a suitable plastic material. The height of the floor element 21 (or sidewalls 34) is preferably in the range of 50-100 mm to obtain a floor element with the desired strength while minimizing the space occupied when stacked in the storage columns 5.

In this embodiment, as shown in Figure 9, the equipment requiring repair/maintenance is represented by a container handling vehicle 9' that is stuck on grid 4 and therefore requires repair/maintenance. To make vehicle 9' easily accessible to operator 23, the following steps are performed:

- Identify a group of adjacent storage columns 5 forming a continuous segment 28 between the operator-accessible portion of the top face of grid 4 and the stagnant container handling vehicle 9'. Identification of suitable groups of storage columns 5 can be performed automatically by a computerized control system or manually by an operator;

- If one or more storage columns 5 forming a continuous segment are not completely filled with container 6; guide at least one container handling vehicle 9” to transport container 6 into one or more storage columns 5 such that any storage column 5 in the segment is filled with container 6 before the floor element 21 is placed at the top; and

- A floor element 21 is arranged at the top of each of the storage columns (5) in a set of adjacent storage columns by means of at least one container handling vehicle 9”’, such that a walkway 33 is formed between the operator 23 accessible portion 32 on the top surface of the grid 4 and the stationary container handling vehicle 9’.

The operator-accessible portion 23 is the part of the top surface of the grid that is easily accessible to the operator. In the system shown in Figures 3 and 5 through 8, the operator-accessible portion 23 is the portion of the grid adjacent to platform 32 (see Figure 5a), which is located at the periphery of the top surface of grid 4. Platform 32 can be accessed by any suitable means, such as stairs. Various other means for enabling operator access to the operator-accessible portion 23 are readily conceived and/or known to a technician.

Floor element 21 is arranged at a level that allows container handling vehicles 9 to pass over floor element 21 and aisle 33. Therefore, during the formation of aisle 33 (i.e., during the execution of the above-described method), any container handling vehicle 9 not involved in the aisle arrangement can continue to perform its designated storage/retrieval operation uninterrupted. This feature is highly advantageous in automated storage systems designed for continuous 24/7 operation.

When aisle 33 has been formed, the system is temporarily shut down when an operator appears on grid 4 to perform the required repairs/maintenances.

In this embodiment, the floor element 21 is arranged at the top of each of a set of adjacent storage columns 28 using at least one container handling carrier 9”’. However, even less advantageously, the floor element can be arranged manually starting from the operator-accessible portion 32 in a stepwise manner, or alternatively, the floor element can be arranged using a carrier (not shown) dedicated to that particular purpose.

In this embodiment, the floor element 21 is supported on top of the uppermost container 6 in the storage column, i.e., on top of the full stack 7 of containers, as shown in FIG. 8. In an alternative embodiment, each floor element may, for example, have a periphery (or a track-interacting element located at the periphery that interacts with the tracks 10, 11 surrounding the top end 22 of the storage column 5) such that the floor element 21 is supported/supported on the tracks 10, 11 rather than by the stack 7 of containers 6. Preferably, the track interaction does not prevent the container handling carrier 9 from moving on the tracks 10, 11 that interact with the floor elements, as this could potentially interrupt storage/retrieval operations during the formation of the aisle 33. In such an embodiment, the floor element 21 may, for example, be stored in a dedicated floor element column having a cross-section larger than that of the storage column.

To provide increased safety for operators appearing in aisle 33, the floor element is preferably made in a different color from the container, preferably providing a high visibility contrast between the floor element and the container. The container is typically made in various shades of gray, and the floor element is red, orange, yellow, green, or blue, preferably red, orange, or yellow.

Figure 9 illustrates a second embodiment of the storage system according to the present invention. The main difference between the first and second embodiments lies in the type of container processing vehicle. The storage system in Figure 9 has a container processing vehicle similar to that shown in Figure 2a, while the storage systems in Figures 3 and 5 through 8 have a container processing vehicle as shown in Figure 2b.

The three-dimensional grid 4 of the storage system according to the invention is shown in FIG. 3 as comprising 64 storage columns 5, and in FIG. 9 as comprising 144 storage columns 5. However, the invention is not limited to any specific size of the grid 4.

Reference number

1. Structural Framework

2. Upright components/vertical profiles

3. Horizontal components/horizontal profiles

4. Storage Grid

5 storage columns

6. Storage Container

7. (Storage container) stacking

8. Orbital System

9. Container handling vehicles

10 First set of parallel orbits

11 Second group of parallel orbits

12 Grid Columns

13. Vehicle Body

14 First set of wheels

15 Second set of wheels

16. Lifting Belt

17. Lift the frame

18. Lifting device

19 First port post, unload port post

20. Second port post, pick port post

21 Floor Components

22. Top of the storage column

23 Operators

24 Container connecting elements

25. Lifting frame connecting elements

26. Top perimeter section of the storage container

27. Peripheral top section of floor element

28. Sections/groups of adjacent storage columns

29. Resected area

30 Guide pin

31. Upper surface

32 Platform

33. Corridor

34. Vertical sidewalls

35 ribs

36. (Lower surface of the sidewall)

37 Horizontal extension ribs

38 Vertical Ribs

Claims (11)

1. An automated storage and retrieval system comprising a three-dimensional mesh (4) and multiple container handling vehicles (9), wherein, The three-dimensional grid (4) includes multiple storage columns (5), in which containers (6) can be stored on top of each other in a vertically stacked (7) manner; and Each of the container handling vehicles (9) includes a container lifting device (18) with a lifting frame (17) for releasable connection to a container (6), and each of the container handling vehicles operates on tracks (10, 11) at the top surface of the three-dimensional grid (4) to remove the container (6) from the storage column (5) and store the container (6) in the storage column, and to transport the container (6) horizontally across the three-dimensional grid (4); wherein the automated storage and retrieval system includes a plurality of floor elements (21), each of the floor elements being arranged at the top end (22) of the storage column (5) such that an operator (23) can stand on the top of the storage column; wherein each of the floor elements (21) includes a track connecting element located at a horizontal periphery, the track connecting element being capable of connecting to the tracks (10, 11) at the top end of the storage column (5) such that the floor element is held at a desired level relative to the top surface of the three-dimensional grid; Furthermore, the floor elements (21) can be arranged in storage columns (5) of the three-dimensional grid (4) in a vertical stack (7) stored on top of each other, or the floor elements can be arranged in dedicated columns with a cross-section that can accommodate floor elements with a cross-section larger than that of the container (6). 2. The automated storage and retrieval system according to claim 1, wherein each of the floor elements (21) can be transported and placed at the top end (22) of the storage column (5) by means of a carrier arranged at the top surface of the three-dimensional grid (4). 3. The automated storage and retrieval system according to claim 2, wherein the carrier is a dedicated floor element handling carrier or the container handling carrier (9). 4. The automated storage and retrieval system according to any one of claims 1 to 3, wherein each of the floor elements (21) is releasably connected to the lifting frame (17) of the container handling vehicle (9). 5. The automated storage and retrieval system according to any one of claims 1 to 3, wherein each of the floor elements (21) has a horizontal perimeter that substantially corresponds to the horizontal perimeter of the container (6). 6. The automated storage and retrieval system according to any one of claims 1 to 3, wherein the lifting frame (17) includes a container connecting element (24) for releasable connection to a corresponding lifting frame connecting element (25) located on either the peripheral top section (26) of the container (6) or the peripheral top section (27) of the floor element (21). 7. The automated storage and retrieval system according to any one of claims 1 to 3, wherein the floor element (21) is arranged such that when each of the storage columns (5) has the floor element (21) at the top end (22), the container handling vehicle (9) is able to cross the section (28) of the adjacent storage column (5). 8. A floor element for use in an automated storage and retrieval system according to any one of claims 1 to 7, wherein the floor element has an upper surface having a generally rectangular horizontal periphery adapted to be received in a storage column, and the floor element includes: a lifting frame connecting element (25) for releasable connection to a lifting frame located on a top periphery section (27) of the upper surface; and cutouts (29) located at each corner of the horizontal periphery for interacting with guide pins (30) arranged on the lifting frame (17), the floor element (21) including a track connecting element located at the horizontal periphery. 9. The floor element of claim 8, wherein the floor element has a color different from that of the container to provide a high visibility contrast between the floor element and the container, the color being selected from the group consisting of red, orange, yellow, green, and blue. 10. A method for providing access to equipment disposed at the top surface of an automated storage and retrieval system, the automated storage and retrieval system comprising a three-dimensional mesh (4) and a plurality of container handling vehicles (9), wherein The three-dimensional grid (4) includes multiple storage pillars (5), wherein containers (6) can be stored on top of each other in a vertically stacked (7) configuration; and Each of the container handling vehicles (9) includes a container lifting device (18) with a lifting frame (17) for releasable connection to a container (6), and each of the container handling vehicles operates on tracks (10, 11) at the top surface of the three-dimensional grid (4) to remove the container (6) from the storage column (5) and store the container (6) in the storage column, and to transport the container (6) horizontally across the three-dimensional grid (4); wherein the automated storage and retrieval system includes a plurality of floor elements (21), each of the floor elements being arable at the top end (22) of the storage column (5) such that an operator (23) can stand on the top of the storage column, wherein each of the floor elements (21) includes a track connecting element located at a horizontal periphery, the track connecting element being arable to the tracks (10, 11) at the top end of the storage column (5) such that the floor element is held at a desired level relative to the top surface of the three-dimensional grid; the method includes the following steps: Identify a set of adjacent storage columns (5) that form a continuous segment (28) between the portion accessible to the operator (23) of the top surface of the three-dimensional grid (4) and the equipment; and Floor elements (21) are arranged at the top (22) of each of the adjacent storage columns (5) in the group, such that a walkway is formed between the part accessible to the operator (23) on the top surface of the grid and the equipment. 11. The method according to claim 10, wherein the step of arranging a floor element (21) at the top of each of the adjacent storage columns (5) is performed by at least one vehicle arranged at the top surface of the grid, the at least one vehicle being a container handling vehicle (9).