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EP-4741315-A1 - A STORAGE GRID

EP4741315A1EP 4741315 A1EP4741315 A1EP 4741315A1EP-4741315-A1

Abstract

The disclosure relates to a storage grid of an automated storage and retrieval system. The storage grid includes a vertical column for stacking stackable modules, and the vertical column has a vertical frame member comprising an interlocking element. The interlocking element may couple with a complementary interlocking element on a stackable module, in order to secure the stackable module to the vertical frame member when the stackable module is stored in the vertical column.

Inventors

  • Heggebø, Jørgen

Assignees

  • AutoStore Technology AS

Dates

Publication Date
20260513
Application Date
20241108

Claims (16)

  1. A storage grid for an automated storage and retrieval system, the storage grid comprising: a vertical column for stacking stackable modules, the vertical column comprising a vertical frame member, wherein the vertical frame member comprises an interlocking element, and wherein the interlocking element is configured to couple with a complementary interlocking element on a stackable module in order to secure the stackable module to the vertical frame member when the stackable module is stored in the vertical column.
  2. The storage grid of claim 1, wherein: a.) the interlocking element comprises a protrusion, and wherein the interlocking element is configured to couple with a recess of the complementary interlocking element; and/or b.) the interlocking element comprises a recess, and wherein the interlocking element is configured to couple with a protrusion of the complementary interlocking element.
  3. The storage grid of claim 2, wherein the protrusion and recess are shaped to resist movement in a horizontal plane when the vertical frame member and the stackable module are coupled.
  4. The storage grid of any preceding claim, wherein the vertical column comprises one vertical frame member.
  5. The storage grid of any of claims 1 to 3, wherein the vertical column comprises two or more vertical frame members, optionally spaced along a perimeter of the vertical column.
  6. The storage grid of any preceding claim, the storage grid comprising a first vertical column and a second vertical column, wherein the vertical frame member comprises two interlocking elements, and wherein the first interlocking element is provided in the first vertical column, and the second interlocking element is provided in the second vertical column.
  7. A stackable module for stacking in a vertical column of an automated storage and retrieval system, the stackable module comprising: an interlocking element on an exterior wall of the stackable module, wherein the interlocking element is configured to couple with a complementary interlocking element of a vertical frame member to secure the stackable module to the vertical frame member when the stackable module is stored in the vertical column.
  8. The stackable module of claim 7, wherein either: a.) the interlocking element comprises a protrusion extending out from the exterior wall of the stackable module; and/or b.) the interlocking element comprises a recess extending into the stackable module.
  9. The stackable module of any of claims 7 to 8, wherein the stackable module is a vertical farming module, such as a growth board, a light source, a heat source, or a fluid source.
  10. The stackable module of any of claims 7 to 9, wherein the stackable module is a multi-container frame, comprising: a second interlocking element on an interior wall of the multi-container frame, wherein the second interlocking element is configured to couple with a complementary interlocking element of a second stackable module to secure the second stackable module inside the multi-container frame when the second stackable module and the multi-container frame are stored in the vertical column.
  11. A multi-container frame for stacking in a vertical column of an automated storage and retrieval system, the multi-container frame comprising: a vertical frame member on an interior wall of the multi-container frame, the vertical frame member comprising an interlocking element, wherein the interlocking element is configured to couple with a complementary interlocking element of a stackable module to secure the stackable module to the multi-container frame when the stackable module is stored in the multi-container frame.
  12. An automated storage and retrieval system comprising a storage grid according to any of claims 1-6 and a stackable module according to any of claims claim 7-10.
  13. The system according to claim 12, wherein a horizontal surface area of the stackable module is less than a horizontal surface area of the vertical column.
  14. The system according to claim 13, wherein two or more stackable modules are stackable horizontally adjacent in the same vertical column.
  15. A method of stacking stackable modules in a storage grid, wherein the stackable module is according to any of claims 7 to 10, the method comprising: vertically aligning an interlocking element of the stackable module with a complementary interlocking element of a vertical frame member; and lowering the stackable module in order to couple the interlocking element with the complementary interlocking element and secure the stackable module in the vertical column.
  16. The method of claim 15, further comprising coupling an interlocking element of a second stackable module with a complementary interlocking element of a second vertical frame member, and securing the second stackable module horizontally adjacent to the first stackable module in the same vertical column.

Description

TECHNICAL FIELD The disclosure relates to a storage grid for an automated storage and retrieval system. BACKGROUND Traditional storage solutions usually involve the arrangement of goods on rows of shelves within a warehouse. The shelf location for each item is recorded in an inventory, and goods are retrieved from the shelves by a stock picker. The shelves are restocked and the inventory updated, as needed, as goods enter and leave the warehouse. Warehouse workers may be assisted by robotic pickers and by automated inventory management systems. Automated transit systems may also be implemented in traditional warehouse set-ups to move goods from their inventory location to a picking and/or packing station. An alternative to a traditional warehouse set-up is an automated storage and retrieval system in which robots retrieve items from their logged location within the warehouse and deliver the items to a packing station or port. Such systems can reduce or eliminate the space needed to pass between rows of shelves to access stock, thereby removing the need for broad aisles within the warehouse. One example of such a system involves placing goods in bins or containers that are configured to be stacked, side by side, within a three-dimensional grid. A rail system is arranged on top of the grid, along which robotic container-handling vehicles configured to lift containers from the grid can travel. The container-handling vehicles are configured to transport containers from the grid and to deliver them to ports or stations at the periphery of the grid so that the goods within the container can be picked and packed. Another example use of an automated storage and retrieval system is vertical farming in which storage containers within the system can be used to grow and/or store organisms (e.g., crops, plants, or other biological matter). One known vertical farming system uses frames which serve as stackable modules to be stored one on top of another in a vertical stack. The storage containers or stackable modules are usually stacked in a self-supporting manner in vertical columns of the storage grid, and are sized to fit securely within the framework of each vertical column. In use, the containers are individually retrieved or relocated, as required, between vertical columns and/or an access point of the storage grid. For example, when an accessed container is returned to the grid, it is stored at the top layer of the grid. As a result, over time, 'slow moving' containers descend to the bottom of the stack whilst more frequently accessed containers naturally remain at a more accessible layer near the top of the grid. To facilitate rearrangement within the grid, containers and stackable modules are usually uniform or have standard dimensions so that any module may stack with any other module in the grid, and so that each module may be positioned in any vertical column in the grid. SUMMARY The present disclosure identifies that problems with existing automated storage and retrieval systems may include a high material cost in constructing a suitable storage grid, a limited flexibility in storage configurations, and limitations due to standardisation requirements on storage containers (e.g., to adhere to the grid specification). The present disclosure relates to systems and methods for securing and/or storing stackable modules in a storage grid which address these problems. One or more aspects of the presently claimed invention are set out in the independent claims. Additional aspects and features of the presently claimed invention are set out in the dependent claims and in the description below. BRIEF DESCRIPTION OF THE DRAWINGS The disclosure will now be described in more detail below and in connection with a number of exemplary embodiments shown in the accompanying drawings, in which: Fig. 1 shows a perspective view of a storage system comprising a grid and a plurality of robotic container-handling vehicles configured to retrieve and/or rearrange goods stored within the grid;Fig. 2 shows a top view of the system of Fig. 1;Fig. 3A shows a side view of a first robotic container-handling vehicle suitable for use in the system of Fig. 1;Fig. 3B shows a side view of a second robotic container-handling vehicle suitable for use in the system of Fig. 1;Fig. 3C is a perspective side view of the robot of Fig. 3B;Fig. 4 shows a computing device for implementing the operations described herein;Fig. 5 shows a portion of the grid of Fig. 1 containing multi-container frames;Fig. 6A and 6B each show a storage grid containing interlocking elements for securing storage containers;Fig. 7A shows a perspective view of a vertical column in the storage grid of Fig. 6B;Fig. 7B shows a top view of a storage container for the storage grid of Fig. 6BFigs. 8A and 8B show top views of alternative complementary interlocking elements for the vertical column of Fig. 7;Figs. 9A shows a storage container having an interlocking element;Figs. 9B to 9D sh