PRODUCT HANDLING SYSTEM

Abstract

A product handling system for retrieving and storing products within storage containers includes a rotatable container carousel, a robotic picking device, and an access station. The rotatable container carousel includes a rotational device having a rotational carousel axis, and a storage container support connected to the rotational device at a radial carousel distance between the rotational axis of the rotational device and a horizontal center point of the storage container support, allowing rotation through at least a storage container loading position and a storage container accessing position. The robotic picking device includes a robotic base at a base center position, a first robotic segment connected to the robotic base, and a gripper connected at least indirectly to the first robotic segment. The gripper is spaced at an adjustable radial gripper distance between the base center position and the gripper such that the gripper is as least within reach of the storage container accessing position. The gripper is configured to releasably grab a product from within a storage container positioned in the storage container accessing position. The rotatable container carousel and the robotic picking device are configured to be in signal communication with a control system. The access station is arranged at least partly above the rotatable container carousel. The access station is configured to allow an operator access to content within a storage container supported on the storage container support.

Claims

1. A product handling system for retrieving and storing products within storage containers, wherein the product handling system comprises: a rotatable container carousel comprising: a rotational device having a rotational carousel axis, and a storage container support connected to the rotational device at a radial carousel distance between the rotational axis of the rotational device and a horizontal center point of the storage container support, allowing rotation through at least a storage container loading position and a storage container accessing position, a robotic picking device comprising: a robotic base at a base center position, a first robotic segment connected to the robotic base, and a gripper connected at least indirectly to the first robotic segment, the gripper being spaced at an adjustable radial gripper distance between the base center position and the gripper such that the gripper is as least within reach of the storage container accessing position, wherein the gripper is configured to releasably grab a product from within a storage container positioned in the storage container accessing position, and wherein the rotatable container carousel and the robotic picking device are configured to be in signal communication with a control system, and an access station arranged at least partly above the rotatable container carousel, wherein the access station is configured to allow an operator access to content within a storage container supported on the storage container support.

2. The product handling system in accordance with claim 1, wherein the first robotic segment is rotatably connected to the robotic base with a first rotational axis.

3. The product handling system in accordance with claim 2, wherein the robotic picking device further comprises: a second robotic segment rotatably connected to the first robotic segment, wherein a longitudinal orientation of the second robotic segment is adjustable relative to the first rotational axis.

4. The product handling system in accordance with claim 3 wherein the second robotic segment comprises: a first end rotatably connected to the first robotic segment, and wherein the robotic picking device further comprises: a third robotic segment comprising: a first end rotatably connected to a second end of the second robotic segment, and a second end at least indirectly connected to the gripper.

5. The product handling system in accordance with claim 1, wherein the rotatable container carousel further comprises: a carousel arm extending radially from a central portion of the rotational device, and a carousel motor configured to rotate the carousel arm around the vertical rotational axis, wherein the storage container support is arranged at an end of the carousel arm distal to the vertical rotational axis.

6. (canceled)

7. The product handling system in accordance with claim 1, wherein the product handling system comprises: a plurality of the rotatable container carousels distributed around the robotic picking device such that the storage container support of each of the rotatable container carousels may be rotated within a maximum radial extent of the robotic picking device.

8. The product handling system in accordance with claim 7, wherein each of the plurality of rotatable container carousels comprises a plurality of the storage container support distributed around the rotational device.

9. The product handling system in accordance with claim 8, wherein each of the horizontal storage container supports is connected to the rotational device at the radial carousel distance.

10. The product handling system in accordance with claim 7, wherein the product handling system comprises; an access station arranged at least partly above at least one of the rotatable container carousels, wherein the access station comprises an access opening configured to allow an operator access to contents within a storage container supported on the storage container support.

11. The product handling system in accordance with claim 1, wherein the system is configured such that a rotation of the storage container support around the rotational axis follows a circular trajectory with radius equal to the radial carousel distance, and where the maximum radial gripper distance is at least the distance from the base center position to the circular trajectory.

12. The product handling system in accordance with claim 1, wherein the product handling system further comprises: a camera system comprising: a camera configured to visually inspect contents within a storage container when the storage container support is oriented in, or approaching, a picking position, and a camera transmitter configured to transmit information from the visual inspection of the contents to the control system.

13. The product handling system in accordance with claim 1, wherein the product handling system further comprises: a rotatable camera system comprising a camera base arranged above the rotatable container carousel and a camera rotatably connected to the camera base, wherein the rotatable camera system is configured such that the camera may visually inspect contents within a storage container when the storage container support is oriented in, or approaching, a picking position.

14. The product handling system in accordance with claim 13, wherein the rotatable camera system further comprises: a camera arm rotationally coupled at one longitudinal position to the camera base, wherein the camera is coupled to the camera arm at another longitudinal position.

15. An automated storage and retrieval system comprising: a product handling system for retrieving and storing products within storage containers, wherein the product handling system comprises: a rotatable container carousel comprising: a rotational device having a rotational carousel axis, and a storage container support connected to the rotational device at a radial carousel distance between the rotational axis of the rotational device and a horizontal center point of the storage container support, allowing rotation through at least a storage container loading position and a storage container accessing position, a robotic picking device comprising: a robotic base at a base center position, a first robotic segment connected to the robotic base, and a gripper connected at least indirectly to the first robotic segment, the gripper being spaced at an adjustable radial gripper distance between the base center position and the gripper such that the gripper is as least within reach of the storage container accessing position, wherein the gripper is configured to releasably grab a product from within a storage container positioned in the storage container accessing position, and wherein the rotatable container carousel and the robotic picking device are configured to be in signal communication with a control system, and an access station arranged at least partly above the rotatable container carousel, wherein the access station is configured to allow an operator access to content within a storage container supported on the storage container support; a rail system comprising a first set of parallel rails arranged in a horizontal plane and extending in a first direction and a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each comprising a grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails; a plurality of stacks of storage containers arranged in storage columns located beneath a storage section of the rail system, wherein each storage column is located vertically below a grid opening; at least one port column located beneath a delivery section of the rail system and vertically aligned with at least one possible storage container loading position of the storage container support, the at least one port column being void of storage containers; and a container handling vehicle comprising a lifting device for lifting storage containers stacked in the stacks above the storage section and drive means configured to drive the vehicle along the rail system in at least one of the first direction and the second direction.

16. The automated storage and retrieval system according to claim 15, wherein the delivery section of the rail system extends above at least a region of the product handling system.

17. The automated storage and retrieval system according to claim 15, wherein the product handling system comprises: a plurality of the rotatable container carousels distributed around the robotic picking device such that the storage container support of each of the rotatable container carousels may be rotated within a maximum radial reach of the robotic picking device, and wherein the system comprises at least two port columns for each of the plurality of rotatable container carousels.

18. The automated storage and retrieval system according to claim 17, wherein the rail system extends on at least two opposite sides of the product handling system, and wherein the at least one port column is arranged at both sides.

19. A method of handling contents within storage containers stored in an automated storage and retrieval system comprising: a product handling system for retrieving and storing products within storage containers wherein the product handling system comprises: a rotatable container carousel comprising: a rotational device having a rotational carousel axis, and a storage container support connected to the rotational device at a radial carousel distance between the rotational axis of the rotational device and a horizontal center point of the storage container support, allowing rotation through at least a storage container loading position and a storage container accessing position, a robotic picking device comprising: a robotic base at a base center position, a first robotic segment connected to the robotic base, and a gripper connected at least indirectly to the first robotic segment, the gripper being spaced at an adjustable radial gripper distance between the base center position and the gripper such that the gripper is as least within reach of the storage container accessing position, wherein the gripper is configured to releasably grab a product from within a storage container positioned in the storage container accessing position, and wherein the rotatable container carousel and the robotic picking device are configured to be in signal communication with a control system, and an access station arranged at least partly above the rotatable container carousel, wherein the access station is configured to allow an operator access to content within a storage container supported on the storage container support; a rail system comprising a first set of parallel rails arranged in a horizontal plane and extending in a first direction and a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each comprising a grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails; a plurality of stacks of storage containers arranged in storage columns located beneath a storage section of the rail system, wherein each storage column is located vertically below a grid opening; at least one port column located beneath a delivery section of the rail system and vertically aligned with at least one possible storage container loading position of the storage container support, the at least one port column being void of storage containers; and a container handling vehicle comprising a lifting device for lifting storage containers stacked in the stacks above the storage section and drive means configured to drive the vehicle along the rail system in at least one of the first direction and the second direction, wherein the method comprises: A) rotating the rotational device of the rotatable container carousel to a rotational position where the storage container support is located vertically aligned below a target grid cell of the rail system, B) moving a container handling vehicle carrying a target storage container with a target content on the rail system to the target grid cell above the storage container support, C) placing the target storage container onto the storage container support by lowering the target storage container through the grid cell using the lifting device, D) if the target storage container is outside a maximum radial extent of the robotic picking device, rotating the rotational device such that the storage container support with the target storage container is within the maximum radial extent, and E) picking the target content from within the target storage container by use of the gripper, wherein the steps A)-E) are controlled by the control system.

20. The method according to claim 19, wherein the product handling system further comprises: a plurality of the rotatable container carousel, and an access station arranged at least partly above at least one of the rotatable container carousels, wherein the access station comprises an access opening configured to allow an operator access to contents within a storage container supported on the storage container support, wherein the method further comprises: F) placing the target content into an accessed storage container supported on the storage container support of one or more rotatable container carousels arranged nearest the access station.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0085] The following drawings depict alternatives of the present invention and are appended to facilitate the understanding of the invention. However, the features disclosed in the drawings are for illustrative purposes only and shall not be interpreted in a limiting sense.

[0086] FIG. 1 is a perspective view of a prior art automated storage and retrieval system.

[0087] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein.

[0088] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.

[0089] FIG. 4 is a perspective view of a storage container and product items stored in the storage container.

[0090] FIG. 5 is a perspective side view of an automated storage and retrieval system according to a first embodiment of the invention.

[0091] FIG. 6 is a perspective top view of a product handling system according to the invention comprising four container carousels and one rotational robotic picker.

[0092] FIG. 7 is a perspective view of a container carousel comprising three storage container supports.

[0093] FIGS. 8 A and B are perspective side views of two types of robotic pickers suitable for use in a product handling system according to the invention, wherein

[0094] FIGS. 9 A and B show an example of a single arm robotic picker and a multi-joint robotic picker, respectively.

[0095] FIG. 9 is a top view of a product handling system illustrating movements of the container carousels and the rotational picker.

[0096] FIG. 10 is a perspective view of part of an automated storage and retrieval system according to a second embodiment of the invention.

[0097] FIG. 11 is a perspective view of a larger part of the automated storage and retrieval system shown in FIG. 10.

[0098] FIG. 12 is a perspective view of part of a product handling system according to an embodiment of the invention, including a multi-joint robotic picker and a camera system.

[0099] FIG. 13 is a perspective view of a product handling system according to another embodiment of the invention, including a multi-joint robotic picker and an access station.

DETAILED DESCRIPTION OF THE INVENTION

[0100] In the following, different alternatives will be discussed in more detail with reference to the appended drawings. It should be understood, however, that the drawings are not intended to limit the scope of the invention to the subject-matter depicted in the drawings. Furthermore, even if some of the features are described in relation to the systems only, it is apparent that they are valid for the methods as well, and vice versa.

[0101] FIGS. 1-4 show a known automated storage and retrieval system and is described in detailed above in respect of the chapter ‘background and prior art’. Such a prior art automated storage and retrieval system can be used in conjunction with the product handling system which will now be described with reference to the remaining figures and their related description

[0102] FIGS. 5 and 6 show perspective views of a product handling system 400 seen from the side and from above, respectively. This exemplary system 400 comprising four container carousels 410 distributed mirror symmetrically in X and Y directions around a robotic picking device or robotic picker 420.

[0103] As best shown in FIG. 7, each container carousel 410 comprises [0104] a carousel support 410f, [0105] a circular carousel base 410b connected to the carousel support 410f, [0106] a rotary disc 410e fixed at a center point of the circular carousel base 410b, [0107] three carousel arms 410d extending between the rotary disc 410e and a structure at the radial boundary/circumference of the circular carousel base 410b, [0108] one or more carousel motors 410b causing rotation of the carousel arms 410d around the rotary disc 410e and [0109] three storage container supports/holders 410a into or onto which storage containers 106 may be supported.

[0110] The container supports 410a are connected to or near the end of the respective carousel arms distal to the rotary disc.

[0111] The one or more carousel motor 410b may comprise sensors to detect position of the carousel arms 410d relative to the carousel support 410f and/or the carousel base 410b.

[0112] Further, the carousel support 410f and the carousel base 410b may be one integrated unit.

[0113] The container carousel 410 is preferably configured such that all the carousel arms 410d may rotate individually (with separate motors). However, as an alternative or additional configuration, they may rotate as one unit.

[0114] Alternatively, the circular carousel base 410b may be rotationally connected to the fixed carousel support 401f via carousel motors 410c and the carousel arms 410d may be rotationally coupled at one end to the rotary disc 410e and non-rotationally fixed to the carousel base 410b.

[0115] In order to allow the storage containers 106 to keep their orientation during rotation, or to choose a desired orientation other than the initial, one or more belts may be arranged around an axle fixing the rotary disc 410e to the carousel base 410b and around the coupling point of each of the storage container supports 410a. The latter configuration requires that the coupling between the support 410a and the respective carousel arm 410e is rotatable. Note however that rotation of the storage containers 106 as exemplified in FIG. 7 represents an exemplary configuration only.

[0116] As will be further described below, the container carousel 410 also includes a carousel framework 410g to integrate part of the carousel 410 to the framework structure 100.

[0117] A suitable container carousel 410 is described in patent publication WO 2012/026824 which is hereby incorporated by reference.

[0118] FIG. 8 shows two different types of robotic pickers 420 suitable for the inventive product handling system 400, where FIG. 8A shows a single arm robotic picker and FIG. 8B shows a multi-joint robotic picker. For both types, the robotic pickers 420 is fixed to a low base. However, other types of robotic picker are envisaged such as robotic pickers fixed at a height above the container carousel 410.

[0119] The general design criteria for such robotic pickers 420 are best illustrated in FIG. 9 showing a top view of an exemplary product handling system 400 with four container carousels 410, each comprising three storage container supports 410a, and one robotic picker 420 arranged in the middle between the four container carousels 410.

[0120] The robotic picker 420 is designed to allow one or more grippers or picking tools 420c to move in the X-Y-Z direction relative to a center location of the robotic picker 420, for example relative to the center position of a robotic base 420a fixed on the floor, and to pick up or put down items 80 stored in storage containers 106 of each container carousels 410. Hence, a robotic picker area A.sub.R covering possible locations of the gripper 420c should be sufficiently large to at least partly overlap a container carousel area πR.sub.C.sup.2 set up by the circular movements of the storage container supports 410 with radius R.sub.C. As illustrated in FIG. 9, the robotic picker area A.sub.R is preferably a circular disc with a radius of R.sub.G,max, where R.sub.G,max is long enough to ensure access for the robotic picker 420 to the entire inner volume of the storage container 106 when placed in a storage container accessing position.

[0121] For the single arm robotic picker 420 (FIG. 8A), this general function is achieved by a vertical section 420b rotationally mounted on a robotic base 420a, alternatively directly to the floor, a radial section 420d movably mounted to the vertical section 420b, a radial section motor 420g enabling controlled vertical movement of the radial section 420d along the vertical section 420b, the gripper/picking tool 420c movable mounted to the radial section 420d and a gripper motor 420f enabling controlled radial movements of the gripper 420c along the radial section 420d. A vertical rotational axis C.sub.RV of the vertical section 420b is indicated in FIG. 8A. Further, the double arrow in FIG. 8A indicates the possible movements of the gripper 420d along the radial section 420d by a radial gripper distance R.sub.G. The height of the robotic base 420a and the maximum height of the radial section 420d relative to the robotic base 420a is made such that gripper 420c may have access to the inside volume of a storage container 106 supported on the storage container support 410a of the relevant container carousel 410.

[0122] The multi-joint robotic picker 420 shown in FIG. 8B comprises a robotic base 420a in the form of a vertical column extending a distance from the floor, a vertical section or first robotic segment 420b rotationally mounted on an upper end of the robotic base 420a with a vertical rotational axis C.sub.RV, a second robotic segment 420d rotationally connected to the first robotic segment 420b with a radial rotational axis C.sub.RR perpendicular to C.sub.RV, a third robotic segment 420e rotationally connected to an end of the second robotic segment 420d with the radial rotational axis C.sub.RR and the gripper 420c rotationally connected the opposite end of the third robotic segment 420e. As for the robotic picker 420 shown in FIG. 8A, this robotic picker 420 is configured such that the gripper 420c may have access to the inside volume of the relevant storage container 106. This may for example be achieved by ensuring that the height of the robotic base 420a is at least the height of the storage container support(s) 410a of the container carousel 410.

[0123] Note that the number of robotic segments 420a,d,e constituting the robotic arm and the direction of rotational axes C.sub.RV, C.sub.RR may be varied according to the need of accuracy and/or flexibility and/or reach.

[0124] A product handling system 400 in which the robotic picker 420 does not have an adjustable radial gripper distance R.sub.G may be envisaged. Further, the robotic picker 420 does not need to be rotatable in all configurations. For example, the entire robotic picker 420, or parts of the robotic picker 420 including the gripper 420c, may be suspended from overhead rails, thereby allowing movements to the relevant storage container 106 to be handled by translation and/or rotation.

[0125] With particular reference to FIGS. 5, 10 and 11, the product handling system 400 is located at least partly inside a compartment/space of a storage and retrieval system 1, wherein each container carousel 410 is arranged partly inside and partly outside the compartment, The part outside the compartment is within a carousel space below port columns 119,120 for receiving/delivering storage containers 106 from/to the container handling vehicles 301. The carousel space can be set up by a dedicated carousel framework 410g (FIG. 7). The compartment hence forms a volume within the framework structure 100 which does not include columns for storing and/or guiding storage containers.

[0126] FIG. 5 shows a first embodiment of the system 1 wherein a rail system 108 (onto which container handling vehicles 301 may move as described in the above section entitled ‘background and prior art’), extends across the compartment, i.e. above the product handling system 400.

[0127] In contrast, a second embodiment of the system 1 is shown in FIGS. 10 and 11 where the rail system 108 terminates at the borders of said compartment, hence preventing the container handling vehicles 301 to move directly above the product handling system 400.

[0128] For both embodiments, several port columns 119,120 (as described in respect to the prior art system in FIG. 1) are arranged along the lateral/horizontal borders of the compartment such that at least one of the storage container supports 410a of each container carousel 410 may be rotated into vertical alignment with a port column 119,120. See e.g. FIGS. 5-7 and 9.

[0129] The area of the rail system 108 arranged directly above the port columns 119,120 and the area of the rail system 108 arranged directly above the stacks 107 are herein referred to as delivery section and storage section, respectively.

[0130] In FIG. 6, showing four container carousels 410 and one robotic picker 420, two adjacent port columns 119,120 are arranged above each of the container carousels 410. The first of three storage containers 106 for each container carousel 410 is shown vertically aligned with a receiving port column 119 after having been lowered down from the rail system 108 by the container handling vehicle 301, the second storage container 106 has been rotated into a horizontal position within reach of the depicted robotic picker 420 and the third storage container 106 is in position to be rotated into vertical alignment with a delivery port column 120 for being raised up to the rail system 108 by the container handling vehicle 301. The third storage container 106 may alternatively, or in addition, be within reach of another robotic picker 420 and/or within reach of an operator at an access station 430 (see description below) for further handling.

[0131] Having a configuration with four or more container carousels 410 surrounding a common robotic picker 420 increases not only handling efficiency of storage containers 106 (e.g. preventing conglomeration at the port columns 119,120 on the rail system, increasing speed of picking items 80 from the containers 106), but also decreases the necessary components and reduces overall complexity.

[0132] In case of the first embodiment of the system (FIG. 5), the container handling vehicles 301 may also deliver storage containers 106 to the container carousels 410 to all of the storage container supports 410a without necessitating rotation of the container carousel 410. For example, the container handling vehicle 301 may lower a storage container 106 through one or two of the port columns 119,120 to the respective two supports 410a being vertically aligned below the port columns 119,120 as well as through a grid cell directly above the remaining one or two supports 410a located within the compartment.

[0133] Alternatively, or in addition, the container handling vehicles 301 may lower a storage container 106 with its content 80, directly within the robotic picker area A.sub.R such that the gripper 420c gets access to the product item 80 without going via an adjacent container carousel 410. Hence, the gripper 420c may pick (or place) the item 80 when the storage container 106 is suspended in the lifting device 304. In this case, the gripper 420c may, after having picked the item 80, transfer it to another storage container 106 supported on a container carousel 410.

[0134] In FIG. 9, each of the four container carousels 410 has positioned two of their storage container supports 410a such that the first and second storage containers 106 are vertically aligned with adjacent first and second port columns 119,120. For three of the four container carousels 410, the third storage container 106 is within the robotic picker area A.sub.R, i.e. within reach of the gripper 420c.

[0135] The adjacent first and second port columns 119,120 may be directional columns, where one is dedicated for transporting storage containers 106 from the container carousel 410 to the rail system 108, and the other is for the opposite direction. This particular configuration will increase storage and retrieval efficiency, as well as to decrease risk of congestion of container handling vehicles 301 and/or storage containers 106 on the rail system 108.

[0136] As mentioned above, and again with reference to FIG. 5, the lateral borders of the compartment may be defined by a compartment framework 415,415′,415″ including vertical members 415′ and horizontal members 415″. For the first embodiment of the system 1, the upright members 102 constituting the framework structure 100 may be fixed between the horizontal members 415″ and the rail system 108 above the compartment.

[0137] Further, the compartment may comprise compartment walls 413 as depicted in FIGS. 10 and 11, separating the framework structure 100 with the port columns 119,120 from the robotic picker 420. Each container carousel 410 will thus be located on both sides of such compartment walls 413.

[0138] To inter alia prevent the container handling vehicles 301 of moving beyond the delivery section, a fence 412,412a,412b may be installed on or at the rail system 108, as depicted in FIG. 5. The fence 412,412a,412b can also simply constitute a continuation of the compartment walls 413 as depicted in FIGS. 10 and 11.

[0139] A camera system 450 may be installed for visual monitoring of the product items 80 within storage containers 106 supported on container carousels 410. For the particular exemplary configuration shown in FIGS. 10-12, the camera system 450 comprises a camera base 450b, a camera arm 450c rotatably mounted on the camera base 450b and a camera displaceably mounted on or at an end of the camera arm 450c. The camera base 450b is in FIG. 10 depicted as a disc fixed to two transverse beams extending across the compartment in height of the rail system 108. However, any camera system 450 may be envisaged that allows the desired visual monitoring of the product items 80. For example, a camera may be connected to the gripper 420c in addition to, or as an alternative to, the above described camera system 450.

[0140] Moreover, the camera system 450 may further comprise a camera transmitter in order to allow transmittal of content information via the control system 500 to for example an operator. This visual information may also be transmitted directly from the control system 500 to the robotic picker 420, or via the operator, in order for the robotic picker 420 to perform desired action steps such as locating and picking correct item 80 in correct storage container 106. Transmittal of such information directly or indirectly to the container carousel(s) 410 may also be envisaged, for example to optimize rotations of the carousel arms 410d and/or optimize positioning of the container supports 410a (rotation and/or tilt).

[0141] With reference to FIG. 13, the product handling system 400 preferably also includes an access station 430 for receiving and delivering storage containers 106. Such access station 430 may be operated by a human and/or robotic operator.

[0142] In the particular configuration shown in FIG. 13, the access station 430 comprises access station bench 430a displaying one or more access openings 430b. The access bench 430a is arranged relative to one or more container carousels 410 such that the access opening(s) 430b create(s) an access to the product items 80 for the operator when the relevant storage container 106 is placed vertically below the opening 430b by rotation of the storage container support 410a. Vertical side panels 430c are shown arranged on both sides of the access station bench 430a. The presence of the access station 430 in the above described product handling system 400 provides for a further ease of the retrieval and storage process of items 80 from/to the automated storage and retrieval system 1, in particular at the human operator interface.

[0143] Having an automated storage and retrieval system which combines the use of the prior art storage system 1 as shown in FIGS. 1-4 with the inventive product handling system 400 increases the potential throughput of storage containers 106 from/to the storage columns 105 significantly. This advantageous consolidating effect between the product handling system 400 and the storage system 1 is further increased when the product handling system 400 comprises several container carousels 410 per robotic picker 420 and one or more port columns 119,120 operationally coupled to each container carousel 410. For example, the duty times between the drop off/pick up of storage containers 106 by the container handling vehicles 301 and the picking operations of items 80 by the operator at the access station 430 are likely to decrease since, normally an operator may handle items 80 considerably faster than the container handling vehicles 301 can service the port columns 119,120, for example more than four times faster.

[0144] Furthermore, the use of product handling system 400 comprising a container carousel 410 with several storage container supports 410a, and in particular a product handling system 400 comprises a plurality of such container carousels 410, may reduce the risk of conglomeration by container handling vehicles 301 at the port columns 119,120 considerably.

[0145] The container carousel 410 and the robotic picker 420 are in signal communication via the control system 500, thereby allowing continuous optimization of the handling of the items 80, both in respect of time and storing/retrieval. When the number of intercommunicating parts increases, such as the containers carousels 410, the container supports 410a, the robotic pickers 420, the access station 430 and the camera system 540, this signal communication, which preferably is wireless, further increases the potential of obtaining a more efficient and reliable storage system 1 when all information is acquired, processed and optimized by a computer program executed by a computer.

TABLE-US-00001 REFERENCE NUMERALS:  1 Storage and retrieval system  80 Product items/content (of storage container) 100 Framework structure/prior art storage grid/second storage grid 102 Upright members of framework structure 103 Horizontal members of framework structure 105 Storage column 106 Storage container 106’ Particular position of a storage container/ target storage container 107 Stack 108 Prior art rail system 110 Parallel rails in first direction (X) 110a First rail in first direction (X) 110b Second rail in first direction (X) 111 Parallel rail in second direction (Y) 111a First rail of second direction (Y) 111b Second rail of second direction (Y) 115 Grid opening 119 First port column 120 Second port column 201 Single cell container handling vehicle 201a Vehicle body of the single cell container handling vehicle 101 201b Drive means/wheel arrangement, first direction (X) 201c Drive means/wheel arrangement, second direction (Y) 301 Cantilever container handling vehicle 301a Vehicle body of the cantilever container handling vehicle 301 301b Drive means in first direction (X) 301c Drive means in second direction (Y) 304 Lifting device 400 Product handling system 410 Container carousel 410a Storage container holder/storage container support 410b Carousel base 410c Carousel motor 410d Carousel arms 410e Rotary disc 410f Fixed carousel support/floor 410g Carousel framework 412 Fence 412a Upright members of fence 412b Transverse member of fence 413 Compartment wall 415 Compartment framework 415’ Upright member of compartment framework 415” Transverse member of compartment framework 420 Robotic picking device/robotic picker 420a Robotic base 420b First robotic segment (with rotational axis C.sub.RV)/ vertical segment/vertical section 420c Gripper/picking tool 420d Second robotic segment (with rotational axis C.sub.RR perpendicular to C.sub.G)/radial section 420e Third robotic segment (with rotational axis perpendicular to C.sub.G)/outer radial segment 420f Gripper motor (for displacement of gripper) 420g Radial section motor 430 Access station 430a Access station bench 430b Access opening 430c Side panel 450 Rotatable camera system 450a Camera 450b Camera base 450c Camera arm 500 Control system X First direction Y Second direction Z Third direction C.sub.C Rotational carousel axis R.sub.C Radial carousel distance C.sub.RV Vertical rotational axis of first robotic segment/ vertical section C.sub.RR Radial rotational axis of the second robotic segment R.sub.G Radial gripper distance A.sub.R Robotic picker area W.sub.f Width of storage container L.sub.f Length of storage container H.sub.f Height of storage container