WO2024237782A1 - An automated storage system and device thereof - Google Patents

Abstract

The present invention discloses a grid storage structure (10) comprises a plurality of vertical support members (11); a plurality of container storage columns (13), each defined by a volume space bounded by four adjacent vertical support members (11), for a plurality of first and/or second containers (21-23) to be stored in vertical stacks; and a horizontal rail system (30), located at a top section of the vertical support members (11), includes a plurality of tracks (31, 32) arranged in a grid pattern that comprises a plurality of grid spaces (33); wherein at least one of the container storage columns (13) is configured to store two or more stacks of the first containers (21, 22) in such a way that the two or more stacks of first containers (21, 22) substantially occupy a footprint of a single grid space (33), and at least one of the remaining container storage columns (13) is configured to store a single stack of the second containers (23) in such a way that the single stack of the second containers (23) substantially occupy a footprint of a single grid space (33).

Description

AN AUTOMATED STORAGE SYSTEM AND DEVICE THEREOF

FIELD OF INVENTION

The invention relates to a storage system. More particularly, the invention relates to an automated storage and retrieval system for storage and retrieval of containers into or from a grid storage structure.

BACKGROUND OF THE INVENTION

For decades, warehouse storage has played an important role in various industries. In order for businesses to thrive, it is essential to maintain a seamless operation within their storage system. As the scale of operations grows, the need for more sophisticated and innovative storage solutions has become increasingly apparent. To address this need, some industries have adopted systems that allow for the storage and retrieval of a large number of different products. One known system involves arranging storage containers on rows of shelves arranged in aisles, where each container holds a plurality of products of either identical product type or different product types. However, this system has a relatively low storage density due to the need to provide aisle space to access the products.

In recent years, automated storage and retrieval systems have emerged as a promising solution to the issue of efficient and effective storage. An example of such systems is disclosed in Patent document WO98/049075A and illustrated in Fig. 1. This patent document describes a storage system that allows containers 4 to be stored in a high- density manner within a grid storage structure 1, where the containers 4 are stacked vertically on top of one another. The system also features a plurality of automated container handling devices 9 that operate on top of the grid storage structure 1 to lift and lower the containers 4 as required. As shown in Fig- 1, the grid storage structure 1 comprises a plurality of vertical support members 2 arranged in such a way that form a plurality of container storage columns 3. Each container storage column 3 is defined by a volume space bounded by at least two of the adjacent vertical support members 2. The volume space of each container storage column 3 is sized only sufficient for receiving a single stack of containers 4 and the vertical support members 2 can prevent the containers 4 from horizontal movement, guide the containers 4 in vertical movement, and support the containers 4 when stacked.

Located at the upper section of the grid storage structure 1, there is provided a horizontal rail system 5 comprises a plurality of tracks 6, 7 arranged in a grid pattern. This grid pattern comprises a plurality of rectangular grid spaces 8, each of which is aligned with a container storage column 3 beneath the corresponding grid space 8. As previously stated, each container storage column 3 can contain only one stack of containers, meaning that a stack of containers 4 occupies a single grid space 8.

The plurality of tracks 6, 7 includes a first set of parallel tracks members 6 for guiding movements of the container handling devices 9 laterally in a first direction, a second set of parallel track members 7 for guiding movements of the container handling devices 9 laterally in a second direction, and the first set of parallel track members 6 is arranged at a right angle to the second set of parallel track members 7 to form the grid pattern. This enables the container handling devices 9 to move horizontally across the grid storage structure 1 while remaining above it.

The main drawback of existing grid storage structure 1 is that the vertical support members 2 take up a considerable amount of space within the grid storage structure 1, and thereby reducing the overall storage capacity of the system. In today’s economy, where land is becoming more scarce and expensive, it is crucial to optimize the available space to ensure the storage system remains cost effective. On the other hand, reducing the number of vertical support members 2 may introduce another problem where the containers 4 lack proper support and guidance for movements.

The limitations of the existing grid storage structure 1 emphasize the necessity for an improved design that can increase storage capacity while minimizing the space occupied by the vertical support members 2. The present invention addresses this need by providing an improved grid storage structure and system thereof that solve the aforementioned problems.

SUMMARY OF INVENTION

In one aspect of the invention, there is provided a grid storage structure comprises a plurality of vertical support members; a plurality of container storage columns, each defined by a volume space bounded by four adjacent vertical support members, for a plurality of first and/or second containers to be stored in vertical stacks; and a horizontal rail system, located at a top section of the vertical support members, includes a plurality of tracks arranged in a grid pattern that comprises a plurality of grid spaces; wherein each grid space is aligned with a container storage column that is positioned beneath the corresponding grid space; wherein at least one of the container storage columns is configured to store two or more stacks of the first containers in such a way that the two or more stacks of first containers substantially occupy a footprint of a single grid space, and at least one of the remaining container storage columns is configured to store a single stack of the second containers in such a way that the single stack of the second containers substantially occupy a footprint of a single grid space; wherein each second container has a footprint larger than a first container; wherein each container storage column includes one or more vertical guide members arranged between two adjacent vertical support members to guide vertical movements and positioning of the containers; and wherein at least one wall of the second containers includes one or more grooves to accommodate the vertical guide members in such a way that the vertical guide members do not obstruct the placement of the second containers into their respective container storage column from the corresponding grid space.

In this aspect of the invention, each vertical guide member can be positioned between two stacks of the first containers such that it separates the two stacks of the first containers.

In this aspect of the invention, at least one wall of the first containers may include one or more grooves to accommodate the vertical guide members in such a way that the vertical guide members do not obstruct the placement of the first containers into their respective container storage column from the corresponding grid space.

In this aspect of the invention, the one or more vertical guide members may be substantially extended in an upright manner from a top to a bottom of their corresponding container storage columns.

In this aspect of the invention, the grid storage structure may further comprise a plurality of horizontal support members interconnected with a bottom section of the plurality of vertical support members to strengthen the overall structure integrity of the grid storage structure.

In this aspect of the invention, each vertical guide members may include a first end attached to the horizontal rail system and a second end attached to the horizontal support members.

One skilled in the art will readily appreciate that the invention is well adapted to carry out the objects and obtain the ends and advantages mentioned, as well as those inherent therein. The embodiments described herein are not intended as limitations on the scope of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

For the purpose of facilitating an understanding of the invention, there is illustrated in the accompanying drawing the preferred embodiments from an inspection of which when considered in connection with the following description, the invention, its construction and operation and many of its advantages would be readily understood and appreciated.

Fig- 1 is a schematic perspective diagram illustrating a prior art storage system.

Fig- 2 is a top plan view diagram illustrating a part of a prior art grid storage structure.

Fig- 3 is a schematic perspective diagram illustrating a storage system of the invention.

Fig. 4 is a side view diagram illustrating a grid structure of the storage system.

Fig. 5 is a top plan view of a part of the grid structure.

Fig. 6 is a schematic perspective diagram illustrating a second embodiment of the storage system.

Fig. 7 is an enlarged top plan view taken from section A of Fig. 9. Fig. 8 is a top plan view of a second container.

Fig. 9 is a top perspective view of the second container.

Fig. 10 is a bottom perspective view of the second container.

Fig. 11 is a schematic perspective diagram illustrating a container handling device of the storage system operating in a first mode.

Fig. 12 is a see-through view of container handling device.

Fig. 13 is a schematic perspective diagram illustrating the container handling device of the storage system operating in a second mode.

Fig. 14 is a top plan view diagram of the storage system.

Fig. 15 is block diagram illustrating an exemplary process flow for operating the container handling device in the first mode.

Fig. 16 is block diagram illustrating an exemplary process flow for operating the container handling device in the second mode.

DETAILED DESCRIPTION OF THE INVENTION

The invention will now be described in greater detail, by way of example, with reference to the drawings.

Referring to Figs. 3 to 5, a storage system as illustrated therein generally comprises a grid storage structure 10, a horizontal rail system 30 and at least one container handling device 40. The grid storage structure 10 comprises a plurality of vertical support members 11 arranged in such a way that form a plurality of container storage columns 13. The vertical support members 11 are preferably made of metal such as steel, aluminium or titanium, but it should be noted that the vertical support members 11 can also be constructed using any other type of material that provides suitable strength, durability, and versatility for the grid storage structure 10. Each container storage column 13 is preferably defined by a volume space bounded by at least two, preferably four, of the adjacent vertical support members 11. The volume space of each container storage column 13 is sized to contain or store two or more stacks of first containers 21, 22.

One or more vertical guide members 14 are provided in each container storage column 13, configured to prevent the first containers 21, 22 from horizontal movement, to guide the first containers 21, 22 in vertical movement, and to support the first containers 21, 22 when stacked. The vertical guide members 14 are arranged between two adjacent stacks of first containers 21, 22 within a corresponding container storage column 13 to also separate the stacks of first containers 21, 22 apart. Since the vertical guide members 14 are not intended for improving the structure integrity of the grid storage structure 10, the width of the vertical guide members 14 can be much thinner than the vertical support members 11. As a result, more space is available within the grid storage structure 10, allowing a single container storage column 13 to have sufficient space for storing two or more stacks of first containers 21, 22. The vertical guide members 14 may be made of a variety of materials, such as plastic, metal, or wood, depending on the requirements of the storage system. The vertical guide members 14 can be substantially extended in an upright manner from the top to the bottom of the corresponding container storage column 13.

Preferably, the grid storage structure 10 may further comprise a plurality of horizontal support members 12 that are interconnected with the plurality of vertical support members 11. The horizontal support members 12 can be made of the same or similar materials as the vertical support members 11. This configuration provides added stability and support to the grid storage structure 10, allowing for increased load capacity and improved safety. As shown in Fig. 1, the horizontal support members 12 are typically located at the top section and/or the bottom section of the grid storage structure 10. Nevertheless, it should be noted that the specific location of the horizontal support members 12 may vary depending on the intended usage of the grid storage structure 10. As the volume of each container storage column 13 increases, a corresponding increase in the number of the horizontal support members 12 may be necessary to ensure the structural stability and load-bearing capacity of the grid storage structure 10. In this embodiment, the vertical guide members 14 are attached to the horizontal support members 12 at respective predetermined positions. Another option is to have the vertical guide members 14 be part of the horizontal support members 12 and protruded from the horizontal support members 12 towards the space within the container storage column 13.

The horizontal rail system 30 can be a dual rail system positioned at the top section of the grid storage structure 10, having a plurality of tracks 31, 32 arranged in a grid pattern. The grid pattern includes a plurality of grid spaces 33, preferably of a rectangular shape, each of which is aligned with a container storage column 13 beneath or directly beneath the corresponding grid space 33. Preferably, the plurality of tracks 31, 32 includes a first set of parallel track members 31 for guiding movements of the container handling devices 40 laterally in a first direction, and a second set of parallel track members 32 for guiding movements of the container handling devices 40 laterally in a second direction. Additionally, the first set of parallel track members 31 is arranged at a right angle to the second set of parallel track members 32, thereby forming the grid pattern. This arrangement enables the container handling devices 40 to move horizontally across the grid storage structure 10 while remaining above it. Since each container storage column 13 can contain two or more stacks of containers 21, 22, the two or more stacks of first containers 21, 22 collectively occupy a substantial footprint of a single grid space 33 as shown in Fig. 5. In certain conditions, the stacked first containers 21, 22 may reach above the height of the horizontal rail system 30, resulting some of the first containers 21, 22 to be stacked or stored above the grid space 33. Alternatively, the tracks 31, 32 can be an integrated part of or as an additional components that are fixed on top of the horizontal support members 12 that are located at the top section of the grid storage structure 10.

In the invention, achieving precise accuracy in the dimension of the grid space 33 presents a significant challenge. The accuracy diminishes as the dimension of the grid space 33 increases, mainly due to cumulative errors. To address this challenge, the invention incorporates the use of the horizontal support member 12 positioned at the bottom of the grid storage structure 10. These bottom horizontal support members 12 serve as guides for the placement of the vertical support members 11 and the horizontal support members 12 at the top of the grid storage structure 10. By utilizing the bottom horizontal support member 12 as pivot points during the assembly of the grid storage structure 10, it becomes possible to ensure precision and accuracy in the dimension of the grid space 33. Furthermore, the first containers 21, 22 are placed on top of the bottom horizontal support members 12, in contrast to the existing grid storage system where bins are placed directly on the floor. This arrangement guarantees that the placement of first containers 21, 22 are precise and accurate for facilitating smooth container moving operation to be carried out.

The bottom horizontal support members 12 also offer distinct advantages over the conventional grid storage system, where the vertical support members 11 are directly placed on the floor. It is widely recognized that the floor surface in a storage system can be uneven, requiring time-consuming and costly efforts to level it. When the vertical support members 11 are positioned on uneven floor, there is no clear reference for determining the necessary height adjustments. In contrast, the bottom horizontal support members 12 provide clear reference points, facilitating the introduction of height-adjusting components into the gaps created when laying the bottom horizontal support members 12 on uneven flooring. This allows for precise height adjustments, ensuring stability and alignment in the grid storage structure. By utilizing the bottom horizontal support members 12, the need for extensive floor leveling procedures is eliminated, leading to improved efficiency and reduced costs.

Figs. 6 & 7 illustrate a second embodiment of the storage system, in which certain container storage columns 13 within the grid storage structure 10 contain two or more stacks of first containers 21, 22, while at least one of the remaining container storage columns 13 contains a single stack of second containers 23. Preferably, each second container 23 substantially occupies a single grid space 33. The second containers 23 are typically larger than the first containers 21, 22. By way of example, if each container storage column 13 houses two stacks of first containers 21, 22, each second container 23 is then sized to be approximately twice as large as a first container 21, 22. Similarly, if each container storage column 13 accommodates three stacks of first containers 21, 22, each second container 23 then possesses a size approximately three times that of a first container 21, 22.

In a preferred embodiment, grooves may be provided on the second containers 23 to accommodate the vertical guide members 14 in such a way that the second containers 23 can be guided by the vertical guide members 14. Alternatively, at least one of the container storage columns 13 can contain both the first and second containers 21-23 in stacks. In the second embodiment of the storage system, the container handling device 40 may utilise two or more lifting devices to perform a lifting operation on a second container 23. The second embodiment of the storage system, which features a mixture of the first and second containers 21-23, provides flexible storage options, enabling accommodation of different items sizes. Such configuration optimizes space usage and enhances the efficiency of retrieving and managing the containers 21-23. The present of the larger second containers 23 ensures easy access to frequently used item, eliminating the need to navigate through multiple stacks and thus saving time and effort. Additionally, this versatile storage solution offers customization possibilities to cater to a variety of needs, effectively accommodating both smaller and bulkier items.

In one specific embodiment, the grid storage structure 10 is formed by a plurality of vertical support members 11, a plurality of container storage columns 13, and a horizontal rail system 30. Preferably, each container storage columns 13 is defined by a volume space bounded by four adjacent vertical support members 11, and being configured to store a plurality of first and/or second containers 21-23 in vertical stacks. Additionally, each container storage column 13 includes one or more vertical guide members 14 arranged between two adjacent vertical support members 11 to guide vertical movements and positioning of the containers 21-23. Alternatively, the grid storage structure 10 can be provided with a plurality of horizontal support members 13 to interconnect with a bottom section of the plurality of vertical support members 11 to strengthen the overall structure integrity of the grid storage structure 10. In this embodiment, the one or more vertical guide members 14 may substantially extended in an upright manner from a top to a bottom of their corresponding container storage columns 13. Each vertical guide members 14 includes a first end attached to the horizontal rail system 30 and a second end attached to the horizontal support members 13

Preferably, the horizontal rail system 30 is supported at a top level of the grid storage structure 10 by the vertical support member 11. The horizontal trail system includes a plurality of tracks 31, 32 arranged in a grid pattern that comprises a plurality of grid spaces 33. Each grid space 33 is aligned with a container storage column 13 that is positioned directly beneath the corresponding grid space 33. The grid space 33 serves as an opening for the containers 21-23 to be retrieved from or deposited into the container storage column 13. At least one of the container storage columns 13 is configured to store two or more stacks of the first containers 21, 22 in such a way that the two or more stacks of first containers 21, 22 substantially occupy a footprint of a single grid space 33, and at least one of the remaining container storage columns 13 is configured to store a single stack of the second containers 23 in such a way that the single stack of the second containers 23 substantially occupy a footprint of a single grid space 33.

Each second container 23 has a footprint larger than a first container 21, 22. As shown in Figs. 8 to 10, each second container 23 includes one or more grooves 25 on at least one wall 25 to accommodate the vertical guide members 14 in such a way that the vertical guide members 14 do not obstruct the placement of the second containers 23 into their respective container storage column 13 from the corresponding grid space 33. Preferably, each vertical guide member 14 is positioned between two stacks of the first containers 21, 22 in such a way that that it separates the two stacks of first containers 21, 22. By way of example, each vertical guide member 14 is positioned at the centre of two adjacent vertical support members 11 so that the corresponding container storage column 13 is adaptable to receive both types of the containers 21-23. If the grooves 25 of the second container 23 and/or the vertical guide members 14 are structurally reinforced, then the corresponding container storage column 13 can simultaneously store both the first and second containers 21-23 in vertical stackfs]. Alternatively, at least one wall of the first containers 21, 22 may also include the one or more grooves to accommodate the vertical guide members 14 in such a way that the vertical guide members 14 do not obstruct the placement of the first containers 21, 22 into their respective container storage column 13 from the corresponding grid space 33. Additionally, it prevents one stack of the first containers 21 from coming into contact or colliding with the other stack of the first container 22.

Referring to Figs. 11 to 12, an example of a container handling device 40 as illustrated therein comprises a wheel assembly 41, 42 that engages with the tracks 31, 32 of the horizontal rail system 30 for lateral movement, a container receiving cavity, and two or more lifting devices located within the container receiving cavity to carry out a lifting operation. Preferably, the wheel assembly 41, 42 includes a first set of wheels 41 that engage with the first set of parallel track members 31 to move in the first direction and a second set of wheels 42 that engage with the second set of parallel tracks members 32 to move in the second direction. Each of the wheels 41, 42 can be independently coupled with a gear and drive mechanism for driving the container handling device 40 in the first and/or second directions. The first set of wheels 41, the second set of wheels 42 or both can be displaced by at least one wheel lifting mechanism to engage and disengage the tracks 31, 32. In one specific embodiment, the second set of wheels 42 can be elevated above the rails or lowered onto the rails using the wheel lifting mechanism, as depicted in Fig. 12. The wheel lifting mechanism may comprise a generally T-shaped linkage 52 that connects the second set of wheels 42 and a linkage arm 51 that connects the T-shaped linkage 52 to a wheel lifting motor 50, which can be controlled or operated electrically by a processor (not shown) of the container handling device 40. Preferably, the container handling device 40 can have two independently controlled wheel lifting motors 50, each controls one side of the second set of wheels 42.

Each of the lifting devices includes a gripper device 43, 44 that is connected to at least one winch mechanism via a plurality of strips 45, 46. The gripper device 43, 44 can include a plurality of grippers 47 arranged around an edge of the gripper device 43, 44 for releasably holding one of the containers 21, 22 from its upper side. Preferably, the at least one winch mechanism includes a spool with rotatable inner side walls to reduce friction between the spool and the plurality of strips 45, 46 during the winding or unwinding processes to lift or unload the first or second containers 21-23. The gist of the invention lies in the two or more lifting devices being configured to perform the container lifting operations in two modes. In the first mode as shown in Fig. 11, the lifting devices operate independently to lift or unload one or more of the first containers 21, 22. In the second mode as shown in Fig. 13, the lifting devices operate in a synchronized manner to lift or unload one of the second containers. Preferably, the two or more lifting devices in the second mode are coordinated to move uniformly in both direction and speed while lifting or unloading the second container 23. The lifting operation may include the step of raising one or more containers 21-23 from the container storage column 13 into the container receiving cavity, or lowering the one or more containers 21-23 from container receiving cavity into the container storage column 13. Once the containers 21, 23 are lifted into the container receiving cavity, they are transported horizontally across the grid storage structure 10 to a designed container storage column 13 for deposition.

Preferably, the container receiving cavity is configured to receive two or more first containers 21, 22 in a side by side manner where at least one of their respective longitudinal sides are adjacent to the another. The winch mechanism are also oriented in such a way that one edge of each strips 45, 46 faces towards the longitudinal side of the first container 21, 22. Such arrangement ensures that the gripper devices 43, 44, the first containers 21, 22 or both, can move smoothly within the container receiving cavity with minimal horizontal displacement, thus preventing interference between two or more gripper devices 43, 44, the lifted first containers 21, 22 or both. While the gripper devices 43, 44 travels within the container storage columns 13, the vertical guide members 14 can also guide and restrict their horizontal movements. Such arrangement eliminates the need for internal guiding members within the container receiving cavity.

Preferably, the sensor unit 49 disposed at the center of the container handling device 40 to detect the presence of the tracks 31, 32. The position of the sensor unit 49 is crucial as it positioned at the boundary of each container receiving spaces, thereby allowing the processor to analyze and determine the alignments between at least one of the container receiving spaces and the vertical stacks of the containers 21, 22 within a single grid space 33 or even the single grid space 33 itself.

The arrangement can be best illustrated in Fig. 14 where the container handling device 40 is situated in a manner that occupies only a portion of a designated single grid space 33 such that at least one of the lifting devices is aligned with a stack of containers 21, 22 within the designated single grid space 33 to perform the first mode of the lifting operation at the designated single grid space 33. More specifically, the sensor unit 49 is configured to detect the presence of an edge of the tracks 31, 32, subsequently initiating a signal to the processing unit of the container handling device 40. This enables the processing unit to analyze and determine whether one or more of the container receiving spaces are aligned with either the single grid space 33 or one of the container stacks within the single grid space 33. The sensor unit 49 is but not limited to a proximity sensor, a photoelectric sensor, an ultrasonic sensor, a laser sensor, a hall effect sensor, a magnetic sensor, a vision sensor or any combination thereof.

Preferably, the container handling device 40 is positioned to occupy about half of the footprint of the single grid space 33. This arrangement enables the simultaneous operation of multiple container handling devices 40 within a single grid space 33. Each container handling device 40 is also sized to substantially occupy the footprint of a single grid space 33 so that one container handling device 40 can move through another container handling device 40 that occupies an adjacent grid space 33 without any obstruction. Nevertheless, it is important to note that the dimensions of the container handling device 40 can vary, and in some cases, it may exceed the size of a single grid space 33, depending on the specific application requirements. Referring to Fig. 15, an example of operating the container handling device 40 in the first mode is illustrated. In this example, the container handling device 40 includes a first sensor unit (not shown) disposed at one side of the container handling device 40, a second sensor unit (not shown) disposed at an opposing side of the container handling device 40, and the sensor unit 49 disposed at the divider 48. In step 101, the container handling device 40 receives a coordinate commands. In step 102, the container handling device 40 determines whether an instruction from the coordinate command relates to performing the lifting operation at a half grid space position or full grid space position. If it is a half grid space position, then proceed to step 103, else proceed to step 108.

In steps 103 & 104, the load handling device 40 moves to the instructed position. In step 105, during the movement of the load handling device 40 to the instruction position, the load handling device 40 utilise the pair of the first sensor unit and the sensor unit 49 or the pair of the second sensor unit and the sensor unit 49 to detect the present of the tracks 31, 32, thereby enabling the load handling device 40 to determine precisely when to stop. In step 106, the load handling device 40 lower down just the first set of wheels 41 or the second set of wheels 42. In step 107, the container handling device 40 then performs the lifting operation via just one of the lifting devices.

In steps 108 & 109, the load handling device 40 moves to the instructed position. In step 110, during the movement of the load handling device 40 to the instruction position, the load handling device 40 utilise the pair of the first sensor unit and the second sensor unit to detect the present of the tracks 31, 32, thereby enabling the load handling device 40 to determine precisely when to stop. In step 111, the load handling device 40 lower down both the first and second sets of wheels 41, 42. In step 112, the container handling device 40 then performs the lifting operation via one or more of the lifting devices.

Referring to Fig. 16, an example of operating the container handling device 40 in the second mode is illustrated. In steps 201 to 203, when the container handling device 40 receives computer-implemented instructions from a server to retrieve a second container 23 located at a designated grid and level, the container handling device 40 will move to the designated grid. Subsequently, it will instruct the lifting devices to lower their respective gripper devices 43, 44 until they reach the designated level. In steps 204 & 205, once the gripper devices 43, 44 have reached the second container 23 at the designated level, the grippers 47 on the gripper devices 43, 44 will be activated to securely engage with the second container 23. In step 206 & 207, the gripper devices 43, 44, through the strips 45, 46, transmit the status of the grippers 47 to the processor of the container handling device 40. Upon receiving the status of the grippers 47, the processor of the container handling device 40 will then instruct the lifting devices to lift up the gripper devices 43, 44 together with the engaged second container 23. In steps 208 to 210, the processor of the container handling device 40 receives position information from the gripper devices 43, 44, encoder values from an external encoder, and motor drivers of the lifting devices. In step 211, the container handling device 40 ensures that the movements of the gripper devices 43, 44 are controlled to synchronously move the gripper devices 43, 44 in the same direction and at the same speed. In step 212, the processor of the container handling device 40 determines if the second container 23 has reached the designated location.

The present disclosure includes as contained in the appended claims, as well as that of the foregoing description. Although this invention has been described in its preferred form with a degree of particularity, it is understood that the present disclosure of the preferred form has been made only by way of example and that numerous changes in the details of construction and the combination and arrangements of parts may be resorted to without departing from the scope of the invention.

Claims

1. A grid storage structure (10) comprising: a plurality of vertical support members (11); a plurality of container storage columns (13), each defined by a volume space bounded by four adjacent vertical support members (11), for a plurality of first and/or second containers (21-23) to be stored in vertical stacks; and a horizontal rail system (30), located at a top section of the vertical support members (11), includes a plurality of tracks (31, 32) arranged in a grid pattern that comprises a plurality of grid spaces (33); wherein each grid space (33) is aligned with a container storage column (13) that is positioned beneath the corresponding grid space (33); wherein at least one of the container storage columns (13) is configured to store two or more stacks of the first containers (21, 22) in such a way that the two or more stacks of first containers (21, 22) substantially occupy a footprint of a single grid space (33), and at least one of the remaining container storage columns (13) is configured to store a single stack of the second containers (23) in such a way that the single stack of the second containers (23) substantially occupy a footprint of a single grid space (33); wherein each second container (23) has a footprint larger than a first container (21, 22); wherein each container storage column (13) includes one or more vertical guide members (14) arranged between two adjacent vertical support members (11) to guide vertical movements and positioning of the containers (21-23); and wherein at least one wall of the second containers (23) includes one or more grooves to accommodate the vertical guide members (14) in such a way that the vertical guide members (14) do not obstruct the placement of the second containers (23) into their respective container storage column (13) from the corresponding grid space (33).

2. The grid storage structure (10) according to claim 1, wherein each vertical guide member (14) is positioned between two stacks of the first containers (21, 22) such that it separates the two stacks of the first containers (21, 22).

3. The grid storage structure (10) according to claim 1, wherein at least one wall of the first containers (21-22) includes one or more grooves to accommodate the vertical guide members (14) in such a way that the vertical guide members (14) do not obstruct the placement of the first containers (23) into their respective container storage column (13) from the corresponding grid space (33).

4. The grid storage structure (10) according to any one of claims 1 to 3, wherein the one or more vertical guide members (14) are substantially extended in an upright manner from a top to a bottom of their corresponding container storage columns.

5. The grid storage structure (10) according to any one of claims 1 to 4, further comprising a plurality of horizontal support members (13) interconnected with a bottom section of the plurality of vertical support members (11) to strengthen the overall structure integrity of the grid storage structure (10).

6. The grid storage structure (10) according to clam 5, wherein each vertical guide members (14) includes a first end attached to the horizontal rail system (30) and a second end attached to the horizontal support members (13).