PICKING SYSTEM, STORAGE SYSTEM COMPRISING A PICKING SYSTEM AND METHOD OF PICKING

Abstract

A picking system is configured to pick items from, and put items into, storage containers. The picking system includes a picking station. The picking station includes: a picking system controller configured to receive product orders from a warehouse management system; at least one container contents handling position; a camera configured to produce an image of contents of a storage container; an image processing system in communication with the camera for processing the image produced by the camera in order to identify a position of a specific item in the storage container, and a robotic picking device. The image processing system is further in communication with a picking system controller and is adapted to inform the picking system controller of the position of the specific item. The robotic picking device is in communication with the picking system controller and is configured to, under guidance from the picking system controller, to pick said specific item from said position in the storage container. The camera and the robotic picking device are arranged to operate, at any one instance, on different containers such that the camera is producing an image and the image processing system is processing the produced image of the contents of a storage container in a first product order while the robotic picking device is handling a second storage container on the basis of an earlier image that has been produced by the camera and processed by the image processing system.

Claims

1. Picking system configured to pick items from, and put items into, storage containers, wherein the picking system comprises a picking station, and wherein the picking station comprises: a picking system controller configured to receive product orders from a warehouse management system; at least one container contents handling position; a camera configured to produce an image of contents of a storage container; an image processing system in communication with the camera for processing the image produced by the camera in order to identify a position of a specific item in the storage container, the image processing system further being in communication with a picking system controller and is adapted to inform the picking system controller of the position of the specific item; a robotic picking device, wherein the robotic picking device is in communication with the picking system controller and is configured to, under guidance from the picking system controller, to pick said specific item from said position in the storage container; wherein the camera and the robotic picking device are arranged to operate, at any one instance, on different containers such that the camera is producing an image and the image processing system is processing the produced image of the contents of a storage container in a first product order while the robotic picking device is handling a second storage container on the basis of an earlier image that has been produced by the camera and processed by the image processing system.

2. The picking system according to claim 1, wherein the picking system controller is configured to perform routing calculations for the robotic picking device and to incorporate the work flow sequence from those routing calculations into the picking device's operational sequence.

3. The picking system according to claim 1, wherein the picking station comprises at least two container contents handling positions and wherein the robotic picking device is configured to move to different picking positions where it is able to pick one specific item from a first storage container positioned at a first container contents handling position and another specific item from a second storage container positioned at a second container contents handling position different from the first.

4. The picking system according to claim 1, wherein the picking station comprises at least two container contents handling positions and wherein the robotic picking device is configured to move to different picking positions where it is able to pick one specific item from a first storage container arranged at a first container contents handling position, the first storage container being a picking container, and the second storage container arranged at a second container contents handling position, the second storage container being a product order consolidation container.

5. The picking system according to claim 3, wherein the camera is arranged to produce an image of the first storage container positioned at the first container contents handling position and an image of the second storage container positioned at the second container contents handling position.

6. The picking system according to claim 5, wherein the camera is mounted for movement above the storage containers.

7. The picking system according to claim 1, wherein the camera is stationary and arranged to produce an image of the contents of at least one storage container when it is positioned at a container contents handling position.

8. The picking system according to claim 1, wherein the picking system comprises a section of a rail-based delivery system with perpendicular tracks in X and Y direction for supporting delivery vehicles carrying containers accessible from above.

9. The picking system according to claim 1, wherein the robotic picking device is a gantry-mounted robot or an industrial robot.

10. The picking system according to claim 1, wherein the image processing system comprises means for ID recognition of a storage container's ID.

11. The picking system according to claim 1, wherein the picking system is arranged on a mezzanine.

12. An automated storage and retrieval system comprising: a rail system with perpendicular tracks in X and Y direction, wherein the automated storage and retrieval system comprises a plurality of remotely operated vehicles configured to move laterally on the rail system; a picking system controller configured to receive product orders from a warehouse management system; at least one container contents handling position; a camera configured to produce an image of contents of a storage container; an image processing system in communication with the camera for processing the image produced by the camera in order to identify a position of a specific item in the storage container, the image processing system further being in communication with the picking system controller and is adapted to inform the picking system controller of the position of the specific item; a robotic picking device, wherein the robotic picking device is in communication with the picking system controller and is configured to, under guidance from the picking system controller, to pick said specific item from said position in the storage container; wherein the camera and the robotic picking device are arranged to operate, at any one instance, on different containers such that the camera is producing an image and the image processing system is processing the produced image of the contents of a storage container in a first product order while the robotic picking device is handling a second storage container on the basis of an earlier image that has been produced by the camera and processed by the image processing system.

13. The automated storage and retrieval system according to claim 12, wherein the camera is arranged within a picking station where the robotic picking device is arranged such that the position of the item(s) to be picked in each storage container is determined before the storage container enters the picking station.

14. The automated storage and retrieval system according to claim 12, further comprising a delivery vehicle arranged to receive storage containers from above and transport storage containers to the picking station, and wherein the robotic picking device is separate from the delivery vehicle carrying the storage container and operates independently.

15. A method of picking items from, and putting items into, containers at a picking station under the control of a picking system controller, wherein the method comprises: the picking system controller receiving product orders from a warehouse management system; the picking station receiving delivery of a storage container to be picked; producing an image of a contents of the storage container using a camera; processing the image produced by the camera using an image processing system that is in communication with the camera to identify a position of a specific item in the storage container, the specific item being included in a product order which is to be completed, and the image processing system informing the picking system controller of the position of the specific item in the storage container; the picking system controller determining a sequence of picking movements for a robotic picking device to execute in order to pick the specific item from the storage container based on the position determined by the image processing system; conveying the storage container to a picking location of the picking station where it can be picked by the robotic picking device; the picking system controller instructing the robotic picking device to execute the sequence of picking movements to pick the specific item from the storage container during handling of the product order, wherein the camera and the robotic picking device are arranged to operate, at any one instance, on different storage containers such that the camera produces an image of the contents of a first storage container for a first product order, the image processing system processes the image and the picking system controller determines a sequence of picking movements for the robotic picking device for that first product order while the robotic picking device is handling a second storage container on the basis of an earlier image that has been produced by the camera and processed by the image processing system.

16. The method according to claim 15, wherein the image is processed by the image processing system before the storage container arrives at a picking position and the picking system controller has determined a set of picking movements before the storage container arrives to be picked.

17. The method according to claim 15, wherein the determination of the picking movements of the robotic picking device is independent of the delivery of the storage containers to the picking position(s).

18. The method according to claim 16, wherein the picking system controller optimizes the picking movements of the robotic picking device between specific item(s) in different storage containers at different container contents handling positions.

19. The method according to claim 16, wherein the image processing system comprises an object database and wherein the image processing system compares the produced image with images in the object database in order to determine the position of the specific item in the storage container.

20. The method according to claim 16, comprising moving the camera to a position where a storage container is present such as to produce an image of the contents of a storage container.

21. The method according to claim 16, wherein the image processing system comprises means for ID recognition of the storage container(s).

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0097] Following drawings are appended to facilitate the understanding of the invention. The drawings show embodiments of the invention, which will now be described by way of example only, where:

[0098] FIG. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system;

[0099] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein;

[0100] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath;

[0101] FIG. 4A is an illustration of possible communication channels between a picking system controller and selected components forming part of a picking system;

[0102] FIG. 4B, shows an example of sequence steps carried out by a picking system controller;

[0103] FIG. 5A shows an example of a picking system with a picking station arranged on a ground floor, i.e. at the lower part of a connected storage and retrieval system, with a camera movable on a gantry above a gantry arrangement where the robotic picking device is mounted, and where the picking station comprises a double deck conveyor for bringing storage containers to and from container contents handling positions in the picking station;

[0104] FIG. 5B shows an example of a picking system with a picking station arranged on a mezzanine, i.e. the picking station is arranged at a level close to the top level of the rail system of a connected storage and retrieval system, with a camera movable on a gantry above a gantry arrangement where the robotic picking device is mounted, and where the picking station comprises a double deck conveyor for bringing storage containers to and from container contents handling positions in the picking station ;

[0105] FIG. 6A shows an example of a picking system with a picking station arranged on a mezzanine in a side view, i.e. the picking station is arranged at a level close to the top level of the rail system of a connected storage and retrieval system, with a camera movable on the same gantry arrangement as the robotic picking device is mounted, and where the picking station comprises a double deck conveyor for bringing storage containers to and from container contents handling positions in the picking station ;

[0106] FIG. 6B shows the picking system of FIG. 6A from another side, i.e. seen directly into the picking station in the longitudinal direction of the conveyors;

[0107] FIGS. 7A and 7B show an embodiment of FIG. 5B with the camera arranged on a gantry or linear guide above the robotic picking device in two different views, where FIG. 7A is a view seen directly into the picking station in the longitudinal direction of the conveyors, whereas FIG. 7B is a side view of the same;

[0108] FIGS. 8A-8D are different views of an exemplary picking system arranged on a mezzanine, where the picking station comprises a rail system which is flush with the top rail system where the container handling vehicles operate, such that the container handling vehicles can transport the storage containers from the automated storage and retrieval system directly to stationary container contents handling positions arranged at a level below the rail system of the picking station;

[0109] FIG. 9 shows an example of a picking system with a stationary camera arranged at a boundary between a volume below the top rail system and container contents handling positions on a delivery rail system;

[0110] FIG. 10A is a side view of a remotely operated delivery vehicle;

[0111] FIG. 10B is a perspective view of a remotely operated delivery vehicle having a container carrier with a compartment for holding a storage container;

[0112] FIG. 10C is a perspective view of a remotely operated delivery vehicle having a container carrier provided with conveyors;

[0113] FIG. 11 is a principle sketch of a possible setup with a picking system arranged on a mezzanine and where an external conveyor run through the picking station(s) on the mezzanine;

[0114] FIGS. 12A-12C show different examples of camera and gantry-mounted robotic picking device; and

[0115] FIG. 13 shows another example of possible setup of camera and robotic picking device.

DETAILED DESCRIPTION OF THE INVENTION

[0116] In the following, embodiments of the invention 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 invention to the subject-matter depicted in the drawings.

[0117] The framework structure 100 of the automated storage and retrieval system 1 is constructed in accordance with the prior art framework structure 100 described above in connection with FIGS. 1-3, i.e. a number of upright members 102 and a number of horizontal members 103, which are supported by the upright members 102, and further that the framework structure 100 comprises a first, upper rail system 108 in the X direction and Y direction.

[0118] The framework structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102, 103, where storage containers 106 are stackable in stacks 107 within the storage columns 105.

[0119] The framework structure 100 can be of any size. In particular it is understood that the framework structure can be considerably wider and/or longer and/or deeper than disclosed in FIG. 1. For example, the framework structure 100 may have a horizontal extent of more than 700×700 columns and a storage depth of more than twelve containers.

[0120] FIG. 4A is an illustration of possible communication channels in a picking system 400 between a picking system controller 401 and selected components forming part of a picking system as indicated by the arrows between the picking system controller 401 and the respective components. The picking system controller 401 is in communication with a warehouse management system 402 or an inventory management system (not shown), an ASRS control system 403, an arrangement for camera movement 404 for moving a camera connected thereto, a robotic picking device 405, and an image processing system 406.

[0121] FIG. 4B, shows an example of sequence steps carried out by a picking system controller 401. The steps may be as follows:

[0122] 450: Receive picking jobs.

[0123] 451: Receive storage container delivery status.

[0124] 452: Plan and execute camera and image processing system operations.

[0125] 453: Plan and execute robotic picking device operations.

[0126] 454: Confirm picking jobs.

[0127] 455: Confirm storage container completed.

[0128] FIG. 5A shows an example of a picking system 400 with a picking station 410 arranged on a ground floor, i.e. at the lower part of a connected storage and retrieval system 1, with a camera 407 movable on a gantry 414 above a gantry arrangement 413 where the robotic picking device 405 is mounted, and where the picking station 410 comprises a double deck conveyor 411,412 for bringing storage containers 106 into and out of the picking station 410. It is a total of eight container contents handling positions 408 on the conveyors 411,412 of the picking station 410 in the example of FIG. 5A. Storage containers 106 occupy three of the container contents handling positions 408, whereas the remaining five container contents handling positions 408 on the conveyors 411,412 are unoccupied. In the disclosed embodiment, the picking station 410 comprises double deck conveyors 411,412 for bringing storage containers 106 between storage positions within the automated storage and retrieval system 1 and the container handling positions 408. The double deck conveyors 411,412 are disclosed as an upper and lower conveyor 411,412. The lower conveyors 412 are displaced equal to the size of one storage container 106 relative the upper conveyors 411. Similar, although not shown on the figure, in order to be able to put storage containers 106 onto, and retrieve storage containers 106 from, the conveyors 411, 412, the lower conveyors 412 are displaced equal to the size of one storage container 106 relative the upper conveyors 411 on the opposite ends of the conveyors 411,412. In the disclosed example the robotic picking device 405 is arranged on a gantry arrangement 413 and the camera 407 is movably arranged on a separate gantry 414 above the gantry 413 for the robotic picking device 405. In operation, the container contents handling positions 408 on the upper conveyors 411 may be for picking, whereas the container contents handling positions 408 on the lower conveyors 412 may be for consolidating picking orders. However, the setup of which of the container contents handling positions 408 used for picking and consolidation, respectively, may vary dependent on different demands. For example, if it is required to use more of the container contents handling positions 408 for picking or consolidation, this may easily be changed.

[0129] Protective panels 415 may be employed to provide a physical barrier to the storage and retrieval system 1 such that an operator may safely perform manual repair or maintenance in the picking station 410.

[0130] FIG. 5B shows an example of a picking system with a picking station 410 arranged on a mezzanine 425, i.e. the picking station 410 is arranged at a level close to the top level of the rail system 108 of a connected automated storage and retrieval system 1, with a camera 407 movable on a gantry 414 above a gantry arrangement 143 where the robotic picking device 405 is mounted. The picking station 410 comprises a double deck conveyor 411,412 for bringing storage containers 106 to and from container contents handling positions 408 in the picking station 410. The double deck conveyor 411,412 comprising upper and lower conveyors 411, 412, respectively. As can be seen in FIG. 5B, the top of the rail system 108 is visible behind the protective panel 415. The components of the picking system 400 are similar to the example of FIG. 5A and will not be repeated herein.

[0131] FIG. 6A shows an example of a picking system 400 with a picking station 410 arranged on a mezzanine 425 in a side view, i.e. the picking station 410 is arranged at a level close to the top level of the rail system of a connected automated storage and retrieval system 1, with a camera 407 movable on the same gantry arrangement 413 as the robotic picking device 405 is mounted, and where storage containers 106 are transported to the container contents handling positions 408 of the picking station 410 on a double deck conveyor 411,412. FIG. 6B shows the picking system 400 of FIG. 6A from another side, i.e. seen directly into the picking station 410 in the longitudinal direction of the conveyors 411, 412. The remaining components of the example in FIGS. 6A and 6B are the same as in FIGS. 5A and 5B and will not be repeated herein.

[0132] FIGS. 7A and 7B show an embodiment of FIG. 5B with the camera arranged or mounted on a gantry or linear guide above the robotic picking device 405 in two different views, where FIG. 7A is a view seen directly into the picking station 410 in the longitudinal direction of the conveyors 411,412, whereas FIG. 7B is a side view of the same.

[0133] FIGS. 8A-8D are different views of an exemplary picking system 400 arranged on a mezzanine 425, where the picking station 410 comprises a rail system 108 which is flush with the top rail system 108 of an automated storage and retrieval system 1 where the container handling vehicles 201, 301 operate, such that the container handling vehicles 201, 301 can transport the storage containers 106 from the automated storage and retrieval system 1 directly to stationary container contents handling positions 408 arranged at a level below the rail system 108 of the picking system 410.

[0134] Referring to FIG. 8A which is a perspective view from above, one prior art container handling vehicle 201 is disclosed within the picking station 410 delivering and/or picking up a storage container 108 from the container contents handling position 408 below the rail system 108, such that the robotic picking device 405 can access the contents of the storage container 106. The camera 407 and robotic picking device 405 are disclosed as being mounted on a gantry 414, 413, respectively. The camera 407 is movable and can produce an image of the content of storage containers 106 placed at any of the container contents handling positions 408 in the picking station 410. In order to increase safety for any operator, picking station protective covers 419 can be arranged around the exterior of the picking station 410.

[0135] Referring to FIG. 8B, which is a side view from the top of the rail system 108 of the automated storage and retrieval system and into the picking station 410, two different of the prior art container handling vehicles 201, 301 are disclosed within the picking station 410 delivering and/or picking up a storage container 108 from the container contents handling position 408 below the rail system 108.

[0136] Referring to FIG. 8C, which is a top view of the picking station 410 in FIGS. 8A and 8B, a container handling vehicle 201 is about to enter or exit the picking station 410, i.e. the container handling vehicle 201 is about to cross the boundary formed by the protective cover 415 separating the picking station 410 and the top level of the rail system of a connected storage and retrieval system. Storage container(s) 106 placed in storage contents handling positions 408 in the picking station 410 is seen from directly above. An optional external conveyor 420, for transporting containers 106, boxes or bins with finished or completed product orders, is disclosed as running through the picking station 410.

[0137] Referring to FIG. 8D which is a perspective side view from above of the picking system 400 of FIGS. 8A-8C, an exemplary embodiment is disclosed where protective sliding doors in the protective cover 415 have been actuated such that the picking station 410 has been separated from the automated storage and retrieval system 1, forming a barrier between the picking station 410 and the top level of the rail system of a connected storage and retrieval system. This option may be advantageous in situations where maintenance or repair is required on one of the components of the picking system 400 or picking station 410 without necessitate shutdown of the operation of the container handling vehicles 201, 301 operating on the top rail system 108 in the connected automated storage and retrieval system.

[0138] FIG. 9 shows an example of a picking system 410 with a stationary camera 407 arranged at a boundary between a volume below the top rail system 108 and container contents handling positions 408. The robotic picking device is in the form of two industrial robots 405. The storage containers 106 are transferred between the volume below the top rail system 108 and the container contents handling positions 408 of the picking station 410 by means of delivery vehicles 30 operating on a delivery rail system 308. The delivery rail system 308 extends into the volume immediately below the top rail system 108 (at horizontal plane P in FIG. 9) where container handling vehicles (not shown in FIG. 9) operate such that storage containers 106 can be transferred directly between the container handling vehicles and the delivery vehicles 30. The delivery vehicles 30 are further described in FIGS. 10A-10C. In the example of FIG. 9, due to the arrangement of two industrial robots 405 positioned spaced apart covering different parts of the delivery rail system 308, all positions on the part of the delivery rail system 308 outside the volume immediately below the top rail system 108. may serve as container contents handling positions 408. The industrial robots 405 are disclosed with a base 417 mounted on a floor where a robotic arm extends from the base and to a picker 418 in an opposite end thereof.

[0139] Each of the robotic picking devices 405 is disclosed as having one robot arm and are configured for picking and placing product items or goods into the storage containers 106 in the container contents handling positions 408 and possibly place the picked goods or product items into transport container(s) (not shown in FIG. 9) arranged at a location outside the delivery rail system 308 and picking station 410 for further transport. Although the robotic picking devices 405 are disclosed with one robot arm, it is clear that one robotic picking device 405 may have more than one robot arm, for example, two, three, four, five, . . . , nine, ten arms and so on.

[0140] The robotic picking devices 405 can be operated to move in the XYZ directions thereby allowing access to storage containers 106 at different container contents handling positions 408 within the delivery rail system 308, and transfer the at least one product item between the storage container 106 and a location outside the delivery rail system 308. The length of the robot arm(s) of the robotic operator(s) 405 as well as other features of the robot arm(s) can be adjusted dependent on the demands in the specific projects such as number of delivery vehicles 30, size of the delivery rail system 308, number of robotic operators 405 etc.

[0141] FIG. 10A shows a remotely operated delivery vehicle 30, hereinafter referred to as a delivery vehicle 30.

[0142] The delivery vehicle 30 is configured for transport of one or more storage containers 106 on a delivery rail system 308.

[0143] The delivery vehicle 30 may be configured for transport of only one storage container 106, or may be configured for transport of more than one storage container 106.

[0144] With reference to FIGS. 10A-10C, said delivery vehicle 30 comprises; a vehicle body 31, rolling devices 32 connected to the vehicle body 31, rolling device motors (not shown) for driving the rolling devices 32 in a horizontal plane P1 (see FIG. 9), and a power source 43 connected to the rolling device motor(s). The power source 43 should provide sufficient power to the rolling device motor to propel the rolling device 32 over a set route from inside the storage and retrieval system 1 and to the picking station 410.

[0145] If used on a delivery rail system 308 one of both sets of wheels 32a, 32b of the rolling device 32 should be lifted and lowered so that the first set of wheels 32a and/or the second set of wheels 32b can be engaged with the respective set of rails provided on the delivery rail system 308 any one time.

[0146] The delivery vehicle 30 may further comprise a container carrier 35 mounted above the vehicle body 31. The container carrier 35 should be configured to receive the storage container 106 onto or within the container carrier 35 such that the storage container 106 is hindered to move relative to the container carrier in the horizontal direction.

[0147] The container carrier 35 may comprise a container supporting device supporting the storage container 106 from below.

[0148] In FIG. 10A the container carrier 35 is disclosed in the form of a storage container receiving compartment having a bottom/base and side walls. The volume of the compartment is in this exemplary configuration such that it may receive and contain the entire horizontal extent of the storage container and at least a part of the vertical extent of the storage container. FIG. 10A show an example of container carriers 35 containing an entire storage container 106 and FIG. 10B shows an alternative container carrier 35 containing a part of the storage container 106, whereas FIG. 10C shows another alternative where the delivery vehicle 30 has a container carrier 35 provided with conveyors 36.

[0149] The particular configuration of the container carrier 35 disclosed in FIG. 10A allows the delivery vehicle 30 to transport a storage container 106 having different heights.

[0150] Note that the size of the compartment within the container carrier 35 may easily be adapted for receiving and supporting a multiple number of storage containers 106 in one operation.

[0151] FIG. 10B shows another alternative of a remotely operated delivery vehicle 30. Similar to the container carrier 35 described above, the container carrier 35 of this configuration is a container supporting device for supporting the storage container 106 from below.

[0152] The container supporting device hence comprises a base plate provided with side walls along the outer circumference or periphery of the base plate, thereby defining a compartment. The horizontal extent of the compartment is adapted to be large enough to receive one or more storage containers 106 and small enough to substantially hinder movements of the one or more storage containers 106 when inserted. However, in contrast to the exemplary configuration of the delivery vehicle 30 shown in FIG. 10A, the one or more side wall(s) of the container supporting device in FIG. 10B has a vertical height less than the vertical height of each storage container 106. In fact, in order to achieve the purpose of the side walls of the container carrier 35 (to substantially prevent horizontal movement when inserted) it is sufficient with only a small vertical protrusion upwards from the base plate, for example less than 5% of the height of the side walls of the storage container 106.

[0153] FIG. 10C shows yet another exemplary configuration of the remotely operated delivery vehicle 30. In this configuration the container carrier 35 comprises a base plate, a conveyor 36 with rollers arranged on the base plate and two parallel side walls protruding upwards from the base plate. The rolling device 32 and the vehicle body 31 are the same as or similar to the rolling device 32 and the vehicle body 31 described above in connection with FIGS. 10A and 10B.

[0154] The conveyor 36 may be set up by a plurality of parallel oriented rollers having a common longitudinal direction perpendicular to the two side walls. In this way the rollers allow one or more storage containers 106 to be shifted into or off the container carrier 35 while being guided by the side walls. The conveyor may be connected to a conveyor motor (not shown) driving rotation of one or more of the rollers.

[0155] FIG. 11 is a principle sketch of a possible setup with a picking system 400 arranged on a mezzanine 425 and where an external conveyor 420 run through the picking stations 410 on the mezzanine 425 for transporting containers 106, bins or boxes containing completed/finished product orders to shipment.

[0156] FIGS. 12A-12C show different examples of camera 407 and gantry-mounted robotic picking device 405, where FIG. 12A shows a combination of a camera module 421 with a camera 407 and a robotic picking device module 422 with a robotic picking device 405 when connected in the same structure, FIG. 12B shows the camera module 421 of FIG. 12A separated from the robotic picking device module 422, and FIG. 12C shows the robotic picking device module 422 of FIG. 12A separated from the camera module 421. Both the camera module 421 and the robotic picking device module 422 comprises a base 423, 424, respectively. The respective bases 423, 424 may be connectable to a gantry arrangement (not shown) and may comprise any necessary driving means, guiding means, motor(s), control system etc. for operating the camera 407 and robotic picking device 405. The bases 423, 423 may comprise means for movable connection relative one or more beams in the respective gantry arrangements 413, 414 (see e.g. FIGS. 5-7).

[0157] FIG. 13 shows another example of possible setups of camera 407 and robotic picking devices 405. Compared to the example of FIG. 12A, the camera module 423 with camera 407 is arranged in the same vertical plane and in a larger distance from the robotic picking device module 423 with robotic picking device 405. The robotic picking device module 422 is mounted on a gantry arrangement 413 while the camera module 421 is mounted on a gantry 414.

[0158] Motor(s), control system and other equipment and components necessary forming part of the system in order to be able to move and operate the robotic picking device 405 and camera 407, will be known to the skilled person and are not described in more detail herein.

[0159] Common to all of the disclosed embodiments, typically, once a product order from a storage container 106 at a container inventory handling position 408 serving as a picking position is finished, the storage container 106 is returned to a storage position within the storage and retrieval system and a new storage container 106 with items for the same, or another, product order, is transported from a storage position in the storage and retrieval system 1 to the container contents handling position 408. Once a product order in a storage container 106 (or box or bin) used for consolidation is finished, or at least partly finished with product items that can be picked by the robotic picking device 405, it is typically either removed from the container contents inventory position 408 to a conveyor (see FIG. 11) or similar external of the storage and retrieval system 1 or returned to the storage and retrieval system 1 by a conveyor (see e.g. FIGS. 5-7) or by a delivery vehicle 30 (see e.g. FIG. 9) for finishing at a manual (i.e. operator operated) picking station for product items not suitable for picking by the robotic picking device 405.

[0160] Furthermore, also common to all of the different robotic picking devices 405 described above, they may be provided with suitable gripping device(s), as well as any necessary auxiliary equipment such as camera, light, distance sensors etc., dependent on demands in the specific project and size and shape of the product items. Such equipment will be known to the skilled person and is not further specified herein. Furthermore, the means needed for mounting the robotic picking device(s) 405 to the gantry arrangement 413 may be any means providing the desired function of movement in the XYZ-directions relative the underlying delivery rail system 50, which means are known to the skilled person and will not be further described herein. Similarly, any fastening necessary for the floor base mounted robotic picking device 405, or base on delivery rail 308, will be known to the skilled person, i.e. any means providing necessary stability and or facilitates the possibility of rotational movement of the robotic operator 405 relative the floor base or delivery rail base (not shown).

[0161] In the preceding description, various aspects of the delivery vehicle and the automated storage and retrieval system according to the invention have been described with reference to the illustrative embodiment. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiment, as well as other embodiments of the system, which are apparent to persons skilled in the art to which the disclosed subject matter pertains, are deemed to lie within the scope of the present invention.

LIST OF REFERENCE NUMBERS

[0162] 30 Prior art automated storage and retrieval system [0163] 30 Delivery vehicle [0164] 31 Vehicle body [0165] 32 Rolling device [0166] 32a First set of wheels [0167] 32b Second set of wheels [0168] 35 Container carrier [0169] 36 Conveyor [0170] 100 Framework structure [0171] 102 Upright members of framework structure [0172] 103 Horizontal members of framework structure [0173] 104 Storage grid [0174] 105 Storage column [0175] 106 Storage container [0176] 106′ Particular position of storage container [0177] 107 Stack [0178] 108 Top Rail system [0179] 110 Parallel rails in first direction (X) [0180] 110a First rail in first direction (X) [0181] 110b Second rail in first direction (X) [0182] 111 Parallel rail in second direction (Y) [0183] 111a First rail of second direction (Y) [0184] 111b Second rail of second direction (Y) [0185] 112 Access opening [0186] 119 First port column [0187] 120 Second port column [0188] 201 Prior art storage container vehicle [0189] 201a Vehicle body of the storage container vehicle 201 [0190] 201b Drive means/wheel arrangement, first direction (X) [0191] 201c Drive means/wheel arrangement, second direction (Y) [0192] 301 Prior art cantilever storage container vehicle [0193] 301a Vehicle body of the storage container vehicle 301 [0194] 301b Drive means in first direction (X) [0195] 301c Drive means in second direction (Y) [0196] 304 Gripping device [0197] 308 Delivery rail system [0198] 400 Picking system [0199] 401 Picking system controller (PSC) [0200] 402 Warehouse management system (WMS) [0201] 403 ASRS (automated storage and retrieval system) control system [0202] 404 Camera movement [0203] 405 Robotic picking device [0204] 406 Image processing system [0205] 407 Camera [0206] 408 Container contents handling position [0207] 410 Picking station [0208] 411 Upper conveyor [0209] 412 Lower conveyor [0210] 413 Gantry for robotic picking device [0211] 414 Gantry for camera [0212] 415 Protective cover [0213] 416 Human/manual operator [0214] 417 Robot base [0215] 418 picker [0216] 419 Picking station protective cover [0217] 420 External conveyor [0218] 421 Camera module [0219] 422 Robotic picking device module [0220] 423 Base camera module [0221] 424 Base robotic picking device module [0222] 425 Mezzanine [0223] 500 Control system [0224] P Horizontal plane where container handling vehicles operate [0225] P1 Horizontal plane where delivery vehicles operate [0226] X First direction [0227] Y Second direction [0228] Z Third direction