AUTOMATED STORAGE TOWER WITH CAROUSEL

Abstract

A storage tower for storing storage containers includes a vertically extending supporting structure having a vertical axis, and m horizontally oriented container supports arranged along the vertical axis of the supporting structure and supported by container supporting frameworks to provide different levels where storage containers can be stored. The container supports are distributed at vertical intervals and m is a positive integer of 2 or more. Each container support is rotationally connected to the support structure and configured to support at least one storage container. Each level of the l container supports that are arranged above the remaining levels of m−l container supports each displays at least one opening having a size being at least a maximum horizontal cross section of the storage containers to be stored, l being a positive integer of 1 to m−1. The l container supports can be rotated about the vertical axis independently such that at least one opening of each level of the l container supports is vertically alignable with at least one opening of the other levels of the l container supports by individual rotation of the container supports.

Claims

1. A storage tower for storing storage containers, wherein the storage tower comprises: a vertically extending supporting structure having a vertical axis, and m horizontally oriented container supports arranged along the vertical axis of the supporting structure and supported by container supporting frameworks, the container supports being distributed at vertical intervals and m being a positive integer of 2 or more, to provide different levels where storage containers can be stored, wherein each container support is rotationally connected to the support structure and configured to support at least one storage container, wherein each level of the l container supports that are arranged above the remaining levels of m−l container supports each displays at least one opening having a size being at least a maximum horizontal cross section of the storage containers to be stored, l being a positive integer of 1 to m−1, and wherein the l container supports can be rotated about the vertical axis independently such that at least one opening of each level of the l container supports is vertically alignable with at least one opening of the other levels of the l container supports by individual rotation of the container supports.

2. The storage tower according to claim 1, wherein the storage tower comprises: a drive mechanism configured to rotate the at least one container support relative to the vertical axis.

3. The storage tower according to claim 1, wherein each of the m container supports comprises a plurality of first container spaces distributed in an arc on the container support such that the plurality of first container spaces are circumferentially offset with an equal, or near equal, first radial distance from the vertical axis.

4. The storage tower according to claim 3, wherein each of the container supports further comprise a plurality of second container spaces distributed in an arc on the at least one horizontally oriented container support such that the plurality of second container spaces are circumferentially offset with an equal, or near equal, second radial distance from the vertical axis, the second radial distance being larger than the first radial distance.

5. The storage tower according to claim 1, wherein each container support has a toroid-shaped horizontal cross-section.

6. The storage tower according to claim 1, wherein the supporting structure is a central pole or a peripheral housing, or a combination of a central pole and a peripheral housing.

7. The storage tower according to claim 1, wherein each container supporting framework comprises a plurality of container supports, wherein the plurality of container supports are coaxially arranged and rotatable relative to each other.

8. The storage tower according to claim 3, wherein the plurality of first container spaces of at least one container supporting framework are distributed on a plurality of container supports.

9. The storage tower according to claim 1, wherein each of the container supporting frameworks further comprises: a static part connected in a non-rotating manner to the support structure, wherein the static part is provided with a rotational device, and wherein the at least one horizontally oriented container support is rotationally coupled to the static part.

10. The storage tower according to claim 9, wherein the rotational device constitutes part of the drive mechanism.

11. The storage tower according to claim 9, wherein the static part forms arms extending horizontally in a radial direction from the vertical axis of the supporting structure, wherein the rotational device is arranged at a distal end of the arms.

12. The storage tower according to claim 11, wherein each horizontally extending arm comprises a plurality of rotational devices configured to support individual container supports and to allow rotation of the individual container supports relative to each other.

13. The storage tower according to claim 11, wherein the horizontally extending arms are provided in sets of different lengths, wherein each set is configured for supporting individual coaxially arranged container supports.

14. The storage tower according to claim 1, wherein the container supports comprise guide posts for guiding the storage containers into position on the container space.

15. The storage tower according to claim 11, wherein each container support comprises vertical guide plates arranged at least partly around the perimeter of each of the at least one opening, wherein the vertical guide plates are configured so that a storage container being lifted or lowered into the respective opening is aligned in the horizontal plane.

16. The storage tower according to claim 1, wherein the storage tower further comprises a transport mechanism arranged above the uppermost container supporting framework or the uppermost container support at a first vertical offset being at least a maximum height of the storage containers to be stored.

17. The storage tower according to claim 1, wherein the storage tower further comprises a rail system arranged above the uppermost container supporting framework or the upper container support.

18. The storage tower according to claim 17, wherein the rail system is arranged above the uppermost container supporting framework or the uppermost container support at a first vertical offset being at least a maximum height of the storage containers to be stored.

19. The storage tower according to claim 17, wherein the uppermost container supporting framework or the uppermost container support is arranged at a distance below a lower edge of the above adjacent rail system corresponding to a height that is equal or higher than a maximum height of a stack of several storage containers.

20. An automated storage and retrieval system configured to store a plurality of storage containers, comprising: one or more storage towers in accordance with claim 1, a plurality of storage containers supported on the plurality of container supports, a remotely operated vehicle configured to move laterally above at least a part of the plurality of container supports, wherein the remotely operated vehicle comprises a lifting device configured to grab and vertically lift a storage container, and a control system configured to monitor and control wirelessly movements of the remotely operated vehicle.

21. The automated storage and retrieval system according to claim 20, wherein the system further comprises, a storage grid comprising; a plurality of vertical storage columns for stacking storage containers on top of one another, and a rail system on which a plurality of container handling vehicles may be operated, the rail system being arranged above the plurality of storage columns, wherein storage containers stored in the storage columns are accessible by the container handling vehicles through grid openings in the rail system, the rail system comprising a cantilever part with a horizontal extent being equal to the difference between the horizontal extent of the rail system and the horizontal extent of the plurality of storage columns, wherein one or more of the storage towers are at least partly arranged below the cantilever part of the rail system and positioned such that the l container supports can be rotated about the vertical axis independently such that at least one opening of each of the l container supports is vertically alignable with at least one opening of other of the l container supports by rotation of the container support.

22. The automated storage and retrieval system according to claim 20, wherein the system further comprises: a storage grid (100) comprising: a plurality of vertical storage columns for stacking storing containers one on top of one another, and a transport mechanism wherein the remotely operated vehicle is a crane being moveable along a sliding bar arranged in parallel to the first direction, the sliding bar having two opposite ends being movable along two fixed bars arranged in parallel to the second direction, the transport mechanism being arranged above the plurality of storage columns, the transport mechanism comprises a cantilever part with a horizontal extent being equal the difference between the horizontal extent of the transport mechanism and the horizontal extent of the plurality of storage columns, wherein the one or more of the storage towers are at least partly arranged below the cantilever part of the traveling crane system.

23. The automated storage and retrieval system according to claim 20, wherein the storage tower further comprises a rail system arranged above the uppermost container supporting framework or the uppermost container support at a first vertical offset being at least a maximum height of the storage containers to be stored.

24. The automated storage and retrieval system according to claim 23, wherein at least one of the container supporting frameworks is arranged at a distance below a lower edge of the above adjacent rail system corresponding to a height that is equal to or higher than a maximum height of a stack of several storage containers.

25. A method for storing and retrieving storage containers from an automated storage and retrieval system the automated storage and retrieval configured to store a plurality of storage containers comprising: one or more storage towers in accordance with claim 1, a plurality of storage containers supported on the plurality of container supports, a remotely operated vehicle configured to move laterally above at least a part of the plurality of container supports, wherein the remotely operated vehicle comprises a lifting device configured to grab and vertically lift a storage container, and a control system configured to monitor and control wirelessly movements of the remotely operated vehicle, wherein each of the container supports comprise a plurality of first container spaces distributed on the at least one horizontally oriented container support such that the plurality of first container spaces are circumferentially offset with an equal, or near equal, first radial distance from the vertical axis, wherein the method comprises: moving the remotely operated vehicle or the crane to a position where its lifting device can be aligned vertically with a target storage container positioned on one of the first container spaces or to a position where its lifting device can be aligned vertically with one or more aligned openings of the container supports, where necessary, rotating the container support on which the target storage container is supported to position the target storage container in vertical alignment below the position of the remotely operated vehicle or the crane, where necessary, and if the container support on which the target storage container is supported is not the uppermost container support, rotating the above container support, or each of the above container supports, to a circumferential position in which the lifting device has direct vertical access to the target storage container through the at least one opening, grabbing and lifting the target storage container by use of the lifting device, and moving the remotely operated vehicle with the target storage container to a horizontally different location.

26. The method according to claim 25, wherein the remotely operated vehicle or the crane is carrying a storage container to be stored in the automated storage and retrieval system either before or after retrieval of the target storage container, wherein the method comprises: moving the remotely operated vehicle or the crane to a position where its lifting device can be aligned vertically with a vacant container space or to a position where its lifting device can be aligned vertically with one or more aligned openings of the container supports, where necessary, rotating the container support of the vacant container space to position the vacant container space in vertical alignment below the position of the remotely operated vehicle or the crane, if the container support of the vacant container space is not the uppermost container support, rotating the above container support, or each of the above container supports, to a circumferential position in which the lifting device has direct vertical access to the vacant container space through the at least one opening, lowering the carried storage container into position on the vacant container space by use of the lifting device.

27. The method according to claim 26, wherein the automated storage and retrieval system comprises a storage grid containing a target storage container, wherein the method comprises: picking the target storage container from the storage grid, storing the target storage container in the storage tower according to claim 26, and retrieving the storage container from the storage tower according to claim 25.

28. Use of an automated storage and retrieval system for delivering items arranged within storage containers stored in storage towers directly to end users, the automated storage and retrieval configured to store a plurality of storage containers comprising: one or more storage towers in accordance with claim 1, a plurality of storage containers supported on the plurality of container supports, a remotely operated vehicle configured to move laterally above at least a part of the plurality of container supports, wherein the remotely operated vehicle comprises a lifting device configured to grab and vertically lift a storage container, and a control system configured to monitor and control wirelessly movements of the remotely operated vehicle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0151] 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:

[0152] FIG. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system;

[0153] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein;

[0154] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath:

[0155] FIG. 4 is a perspective view of a storage container and product items stored in the storage container;

[0156] FIG. 5a is a top view of a storage system where a rail system is arranged above a storage tower and openings of each container support are vertically aligned below a grid opening in the rail system;

[0157] FIG. 5b is a top view of the storage system of FIG. 5a, where one container support is being rotated relative to the other container supports;

[0158] FIG. 5c is a top view of the storage system of FIGS. 5a-b, where one of the container supports is rotated relative to the other container supports such that a storage container is vertically aligned with the grid opening and the openings of the above arranged container supports;

[0159] FIG. 6 is a perspective view of the storage system of FIGS. 5a-c, where a remotely operated vehicle having a lifting device and being movable on the rail system is positioned with the lifting device in vertical alignment above the grid opening;

[0160] FIG. 7 is a top view of a storage system where the container supports are configured with container spaces and/or openings being alignable below two different grid openings;

[0161] FIG. 8 is a top view of a storage system where the container supports are configured with container spaces and/or openings being alignable below three different grid openings;

[0162] FIG. 9 is a side view of a storage system in accordance with an embodiment of the invention, where a storage grid and a storage tower are positioned side by side and below a rail system;

[0163] FIG. 10 is a side view of the storage system of FIG. 9 where all container supports apart from the lowermost and uppermost are removed from the storage tower;

[0164] FIG. 11 is a perspective view of a detail of the storage system of FIG. 9 where all container supports apart from the two lowermost are removed from the storage tower;

[0165] FIG. 12 is a side view of a detail of the storage system of FIG. 9 showing a container supporting framework and a drive mechanism of the storage tower;

[0166] FIG. 13 is a perspective view of another embodiment of the storage system according to the invention, where a storage grid and a plurality of storage towers are positioned side by side and below a rail system;

[0167] FIG. 14 is a side view of the storage system of FIG. 9 where the storage tower has two vacant container spaces; and

[0168] FIG. 15 is a side view of the storage system of FIG. 14.

DETAILED DESCRIPTION OF THE INVENTION

[0169] 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.

[0170] 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.

[0171] 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.

[0172] 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.

[0173] Embodiments of the automated storage and retrieval system according to the invention will now be discussed in more detail with reference to FIGS. 5a to 15.

[0174] 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.

[0175] With particular reference to FIG. 5-6 and FIG. 9-15, the inventive storage and retrieval system 1 comprises remotely operated vehicles 301 operating on a rail system 408 comprising a first set of parallel rails 410 arranged to guide movements of the remotely operated vehicles 301 in a first direction X across a storage grid 400 and a second set of parallel rails 411 arranged perpendicular to the first set of rails 410 to guide movement of the remotely operated vehicles 301 in a second direction Y which is perpendicular to the first direction X. The storage containers 106 stored within the storage tower 400 are accessed by the remotely operated vehicles 301 through grid openings 415 in the rail system 408. Each grid opening 415 of the rail system 408 is enclosed by a grid cell 422. The rail system 408 extends in a horizontal plane P.sub.rs (see FIG. 7).

[0176] As best seen in FIG. 9, the storage containers 106 are stored on a plurality of container supports 402 distributed in a Z direction below the rail system 408 with a vertical offset indicated by V.sub.rl (i.e. the offset between the lower edge of the rail system 408 and the lower edge for the first container support 402a directly beneath the rail system 408) and a vertical offset indicated by ΔdV (i.e. the average offset between the lower edges of the adjacent deeper laying container supports 402b-m).

[0177] While “m”, the thirteenth letter of the alphabet, has been used to identify the lowest container support, and in the embodiment of FIG. 9 represents the thirteen level of container supports, there may be other numbers of levels of container supports in the storage and retrieval system. Accordingly, m is not restricted to the number thirteen but can equal any integer equal to two or more.

[0178] The vertical offsets V.sub.rl and ΔdV may be selected to provide a height that is equal to or higher than a maximum height of one storage container 106 or a stack 107 of several storage containers 106. As an example, the first container support 402a may be adapted to store stacks 107 of storage containers 106 while the below situated container supports 402b-m (or some of them) may be adapted to store single (unstacked) storage containers 106. As a further example, several or all container supports 402 of the tower 400 may be adapted to store stacks 107 of several storage containers 106. The different container supports 402 of the same storage tower 400 may be configured to store stacks 107 of unequal numbers of storage containers 106. The vertical space (i.e. the available height) required for one or several container supports 402 of the storage tower 400 to be adapted to store a stack 107 of several storage containers 106 may be obtained by reducing the total number of container supports 402 as compared to a configuration of the storage tower 400 where all container supports 402 are adapted to store single (unstacked) storage containers 106.

[0179] FIGS. 5a-c show top views of a storage tower 400 comprising a vertically extending support structure 450 having a vertical axis A.sub.v. A plurality of horizontally oriented container supports 402a-m are arranged along the vertical axis of the supporting structure 450 and distributed at vertical intervals ΔdV, as described above. Each container support 420 is rotationally connected to the support structure 450 and configured to support at least one storage container 106.

[0180] The l container supports 402a-1 arranged above the remaining m−l container supports 402 each displays at least one opening 403 having a size being at least a maximum horizontal cross section A.sub.f of the storage containers 106 to be stored.

[0181] As with the integer “m”, the integer “l” is not restricted to any particular integer but may comprise any integer less than “m”.

[0182] The l container supports 402a-1 can be rotated about the vertical axis A.sub.v independently such that at least one opening 403 of each of the m container supports 402a-m is vertically alignable with at least one opening of the other m container supports 402a-m by individual rotation of the container supports 402a-m.

[0183] The storage tower 400 may comprise a plurality of container supporting frameworks 410a-m configured to support at least one container support 402 each.

[0184] Each container support 402 may comprise a plurality of first container spaces 104a distributed in an arc on the container support 402 such that the plurality of first container spaces 104a are circumferentially offset with an equal, or near equal, first radial distance r.sub.l from the vertical axis A.sub.v of the supporting structure 450. In the example of FIG. 11, the container support 402 comprises six first container spaces 104a and one opening 403.

[0185] The container spaces 104 of the container support 402 may be configured for storing storage containers 106 arranged with their transverse direction (width) extending radially to the vertical axis Ay of the supporting structure 450. In this way the storage containers 106 to be stored or retrieved may be vertically aligned with one or more grid openings 415 of a rail system 408 arranged above the storage tower 400 (the length and width of the grid opening 415 being aligned with the length and width of the storage container 106). If one of the first container spaces 104a is vertically aligned with a grid opening 415, the other first container spaces 104a can be vertically aligned with the same grid opening 415 by rotation of the container support 402.

[0186] FIG. 7 shows that a container support 402 may comprise a plurality of first container spaces 104a distributed in an arc on the container support 402 such that the plurality of first container spaces 104a are circumferentially offset with an equal, or near equal, first radial distance r.sub.l from the vertical axis A.sub.v of the supporting structure 450. The container support 402 of this example comprises five first container spaces 104a and one first opening 403a.

[0187] FIG. 7 also shows that the container support 402 may comprise a plurality of second container spaces 104b distributed in an arc such that the plurality of second container spaces 104b are circumferentially offset with an equal, or near equal, second radial distance r.sub.2 from the vertical axis A.sub.v, the second radial distance r.sub.2 being larger than the first radial distance r.sub.1. The second radial distance r.sub.2 is larger than the first radial distance r.sub.1 by at least the width of the storage container 106 to be stored. The container support 402 of this example comprises seven second container spaces 104b and a second opening 403b.

[0188] FIG. 8 shows that the container support 402 of FIG. 7 may further comprises a plurality of third container spaces 104c distributed in an arc on the at least one horizontally oriented container support 402 such that the plurality of third container spaces 104c are circumferentially offset with an equal, or near equal, third radial distance r.sub.3 from the vertical axis A.sub.v, the third radial distance r.sub.3 being larger than the first and second radial distances r.sub.1,r.sub.2. The third radial distance r.sub.3 is larger than the second radial distance r.sub.2 with at least the length of the storage container 106 to be stored. The container support 402 of this example comprises eleven third container spaces 104c and a third opening 403c.

[0189] The number of first, second and third container spaces 104c may vary e.g. depending on the size of the container support 402 and the storage containers 106.

[0190] As illustrated, the container supports 402 may preferably have a toroid-shaped horizontal cross-section. All container supports 402 will typically have the same geometry. The lowermost container support 402 will typically differ from the others in that it does not have an opening 403, as there are no storage containers 106 or container spaces 104 to be reached below this container support 402.

[0191] In the exemplifying drawings the supporting structure 450 is a central pole. However, other arrangements are envisaged where the container supports are mounted on circumferential bearings provided in a cylindrical framework encircling the container supports.

[0192] When arranged in a container supporting framework 401, the container supports 402 of FIG. 7 and FIG. 8 may be divided into a plurality of container supports 402 coaxially arranged in the same container supporting framework 401. The container supports 402 of the same container supporting framework 401 may then be rotatable relative to each other. In this case the first, second and third container spaces 104c of the same container supporting framework 401 may be distributed across a first, second and third container support 402 respectively.

[0193] Alternatively, the container supports 402 may be divided into segments such that the plurality of first container spaces 104a are distributed on a plurality of container supports 402. A gap between a pair of segments may provide the opening for a storage container 106 to pass through.

[0194] FIG. 11 shows that the storage tower 400 may comprise a drive mechanism 700 configured to rotate the at least one container support 402 relative to the vertical axis A.sub.v of the supporting structure 450.

[0195] In FIG. 11 some of the container supports 402 are removed for illustrative purposes. The drive mechanism 700 may be connected to the support structure 450, the container supporting framework 401 or the container support 402. In FIG. 1 the drive mechanism 700 is connected to a part of the container supporting framework 401 forming arms 405 extending horizontally in a radial direction from the vertical axis A.sub.v of the supporting structure 450.

[0196] The drive mechanism 700 may e.g. be a swivel drive, gear drive, belt drive, chain drive, electromagnetic drive such as a stepper motor.

[0197] Typically, all container supports 402 of the storage tower 400 will be rotatable. However, the lowermost container support 402 may be stationary if all the above container supports 402 are rotatable and the remotely operated vehicle can be vertically aligned above all potential target storage containers 106′ supported on the lowermost container support 402.

[0198] The container support 402 is at least indirectly rotationally connected to the supporting structure 450, e.g. via the container supporting framework 401, where the container supporting framework 401 may be connected to the supporting structure 450 in a non-rotating manner. In that case the container supporting framework 401 can be considered a static part of the storage tower 400.

[0199] FIG. 11 shows that the drive mechanism 700 may be connected to a static part (e.g. the container supporting framework) and configured to rotate the container supports 402 by means of a gear drive. The container support 402 may have a gear arranged close to its centre as in FIG. 11 or the gear may be arranged closer to or on its perimeter.

[0200] FIG. 12 shows that the framework 401 may be used to support one container support 402. To allow rotation of the container support 402 relative to the container supporting framework 401, the container supporting framework 401 may be provided with one or more rotational devices 406. The rotational device 406 may be wheels, bearings, swivels, rollers. The container support 402 may then be considered rotationally coupled to the static part, in this case the container supporting framework 401. In an alternative configuration, the container supports 402 may be provided with such rotational devices and arranged to run over a surface or track provided by the container supporting framework.

[0201] The rotational device 406 may be power to rotate and thus constitute the drive mechanism 700.

[0202] In FIG. 12, rotational devices 406 are arranged in a distal portion of the arms 405.

[0203] If one container supporting framework 401 comprises a plurality of coaxially arranged container supports 402, as described above, each arm 405 may need a corresponding number of rotational devices 406. The rotational devices 406 should then be arranged at radial distances from the vertical axis A.sub.v of the supporting structure 450 corresponding to the horizontal extension of the container supports 402 (e.g., the radially inner and outer extents of the container supports).

[0204] Alternatively, each of the plurality of container supports 402 may have dedicated arms 405, e.g. of different lengths according to the horizontal extent of the container support 402 or having the same lengths but rotational devices 406 arranged at different positions according to the horizontal extent of the container support 402 to be rotationally connected.

[0205] The container supports 402 may comprise guide posts 407 for guiding the storage containers 106 into position on the container space 104. The storage containers 106 may preferably comprise guide recesses configured to cooperate with the guide posts 407.

[0206] The container supports 402 may have cut-outs, e.g. in the container spaces 104. These cut-outs will reduce the weight and may reduce the cost of the container support 402.

[0207] In order to store and retrieve a target storage container 106′ using the storage tower 400, the following operations are performed (with reference to FIG. 6 and FIGS. 5a-c). [0208] The control system 500 gives instructions to the vehicle 301 to pick up a target storage container 106′ with coordinates X,Y,Z. This position corresponds to a storage container 106 positioned in a container space 104 of a container support 402g at a depth of 5×ΔdV+Vrl below the rail system 408. Since all the openings 403 in the storage tower 400 are initially aligned (with same X-Y coordinates), the X-Y position of the target opening 403′ of the container support 402a adjacent the rail system 408 is equal to the X-Y positions of the target openings 403′ of the underlying container support frameworks 401b-m. [0209] The vehicle 301 moves by aid of its drive means 301b,c in the X and Y directions until its lifting device 304 is located directly above the target opening 403′. [0210] During and/or after movement of the vehicle 301 to the position above the target opening 403′, the control system 500 sends an instruction to the drive mechanism 700 to rotate the container support 402g such that the target storage container 106′ is vertically aligned with the target openings 403′ of the above situated container supports 402a-f. [0211] During and/or after the displacement of the container support 402g, the lifting device 304 of the vehicle 301 is activated and lowered down through the grid opening 415 and the aligned target openings 403′ until the gripping part of the lifting device 304 is in position to grip the target storage container 106′. [0212] After the target storage container 106′ has been gripped by the lifting device 304 and lifted above the above situated container support 402f, the drive mechanism 700 is again activated in order to move the container support 402g back to its initial position. [0213] When the target storage container 106′ has been lifted above the rail system 408, the vehicle 301 is moved to another location on the rail system 408, for example to a dedicated port column l chute for delivery to an access station.

[0214] The process has the advantage that the need for digging performed for prior art storage and retrieval system is no longer necessary.

[0215] FIGS. 5a-c show a grid opening 415 through which the lifting device 304 can access storage containers 106. Storage containers 106, openings 403 and containers spaces 104 of the container supports 402 can be vertically aligned with this grid opening 415. Due to the rotational movement of the container support 402 and the rectangular shape of the grid opening 415, the storage containers 106, openings 403 and container spaces 104, not all grid openings 415 are suitable access points. In some cases, only one grid opening 415 is a suitable access point for the entire 360 degrees rotation of the container support 402. By adjustment of the size of the storage containers 106, openings 403, container spaces 104 and/or the grid openings 415, two suitable access points can be provided with 180 degrees offset. By further making the storage containers 106, openings 403, container spaces 104 and grid openings 415 square, four suitable access points can be provided with 90 degrees offset. This is based on container supports 402 only having a plurality of first container spaces 104a. Container supports 402 having also a plurality of second storage spaces 104b may have twice as many access points. Container supports 402 having also a plurality of third storage spaces 104c may have three times as many access points, etc.

[0216] FIG. 9 shows a side view of a storage and retrieval system 1 with one inventive storage tower 400 and one prior art storage grid 100. The above-mentioned drive mechanism 700 are arranged close to the centre of each container support 402. This particular configuration comprises thirteen container supports 402a-m arranged beneath a rail system 408. The container supports 402a-m are arranged in corresponding number of container supporting frameworks 401a-m. All container supports 402 being rotatable relative to each other. Other numbers of container supports 402 could be present as appropriate. Preferably there are more than five container supports 402, more preferably more than ten.

[0217] In order to enable movement between the storage grid 100 and the storage tower 400, a coupling rail system 408′ is seen e.g. in FIG. 15 interconnecting the rail system 108 of the prior art storage grid 100 and the rail system 408 of the inventive storage tower 400. The rail system 408 of the inventive storage tower 400 and the rail system 108 of the prior art storage grid 100 have a mutual orientation and design such that the same type of vehicles 301 may operate on both rail systems 108,408. Due to the different construction of the container supports 402 of the inventive storage tower 400 and the stacks 107 of storage containers 106 of the prior art storage grid 100, the rails 410,411 above the container supports 402 may be made wider compared to the rails 110,111 above the stacks 107, at least in one of the X-Y directions. To ensure a grid opening 415 that the storage containers 106 can pass through, the rails 410,411 above the container support 402 may be made deeper, i.e. in the Z direction.

[0218] Both the inventive storage tower 400 and the prior art storage grid 100 can be of any size. In particular it is understood that the storage tower 400 and/or the storage grid 100 can be considerably wider and/or longer and/or deeper than disclosed in the accompanied figures. For example, storage tower 400 and/or the storage grid 100 may have a horizontal extent having space for more than 700×700 storage containers 106 and a storage depth of more than fourteen storage containers 106.

[0219] One way of installing the storage tower 400 as described above can be to remove all stacks 107 of storage containers 106 and most of the vertical pillars 431 beneath a rail system 108 part of a prior art storage and retrieval system 1 as shown in FIG. 1, leaving a cantilever part CP of the rail system 108 and some vertical pillars 431 as shown in FIG. 10. Then inserting one or more inventive storage towers 400 within the empty volume below the cantilever part CP of the rail system 108. In FIG. 10 some of the container supports 402 are removed to illustrated how the container supporting frameworks 401 can be placed on top of each other with no space between them.

[0220] FIG. 13 shows an embodiment of a storage and retrieval system 1 where a plurality of storage towers 400 are arranged side by side and adjacent to a storage grid 100. In the example of FIG. 13, three storage towers 400 and one storage grid are arranged below the same rail system 108. In the example of FIG. 14, one storage towers 400 and one storage grid are arranged below the same rail system 108.

[0221] FIG. 14 shows a storage tower 400 with a plurality of container supports 402a-m. This example shows thirteen container supports 402. The fourth container support 402d when counting from above has a vacant container space 106″. Also, the sixth container support 402f when counting from above has a vacant container space 106″.

[0222] In the preceding description, various aspects of the automated storage and retrieval system and associated method of picking product items using vehicles 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

[0223]

TABLE-US-00001  1 Storage and retrieval system  80 Product items 100 Framework structure/prior art storage grid/second storage grid 102 Upright members of framework structure 103 Horizontal members of framework structure 104, 104a-c Container space, first-third container space 105 Storage column 106 Storage container 106′ Particular position of a storage container/target storage container 106″ Vacant container space for a 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 Prior art storage container vehicle 201a Vehicle body of the storage container vehicle 101 201b Drive means/wheel arrangement, first direction (X) 201c Drive means/wheel arrangement, second direction (Y) 301 Prior art cantilever storage container vehicle/remotely operated vehicle 301a Vehicle body of the vehicle 301 301b Drive means in first direction (X) 301c Drive means in second direction (F) 304 Lifting device 400 Storage tower 401 Horizontally extending container supporting framework 401a First container supporting framework 401b-m Second/underlying container supporting framework(s) 402, 402a-m Container support 403, 403a-c Opening (in container support 402) 403′ Target opening 404 Support plate for storage container 405 Arm 406 Rotational device of the static part/container supporting framework 407 Guide post 408 Rail system 408′ Coupling rail system 409 Guiding structure (for opening) 410 A first set of parallel rails 411 A second set of parallel rails 415 Grid opening 422 Grid cell 431 Vertical pillar 440 Floor 450 Supporting structure (with vertical axis) 500 Control system 700 Drive mechanism X First direction Y Second direction Z Third direction P.sub.rs Horizontal plane W.sub.f Width of storage container L.sub.f Length of storage container H.sub.f Height of storage container A.sub.f Areal of storage container v.sub.r1 Offset between lower edge of rail system and lower edge of first container supporting framework ΔdV Offsets between lower edge of container supporting framework below the first container supporting framework CP Cantilever part of the rail system (108) or traveling crane system A.sub.v Vertical axis (of the supporting structure 450) r.sub.1 First radial distance r.sub.2 Second radial distance r.sub.3 Third radial distance