EA044766B1 - TRACK STRUCTURE, AUTOMATED STORAGE AND RETRIEVAL SYSTEM AND METHOD FOR AUTOMATED STORAGE AND RETRIEVAL - Google Patents

Description

Field of technology to which the invention relates

This invention is directed to developing a track structure for self-propelled carts in a warehouse racking structure for automatic storage of and access to items, the warehouse racking structure comprising a plurality of storage locations located on at least two racks extending to storage levels, wherein the storage locations accessible along horizontal aisle paths at each storage level, the aisle paths extending in a direction of passage along the aisles between racks, the path structure connecting each storage location with at least one interaction point for automatic processing of stored items and/or automatic dispensing of items to be warehousing. The present invention also provides an automated storage and retrieval system and an automated storage and retrieval method.

State of the art

Track structures for self-propelled carts are known in the art. Such structures contain storage levels that can be connected by an elevator. The elevator is relatively complex and limits the capacity of the storage and retrieval system. The structure of elevator tracks in typical cases contains a number of moving and therefore structurally complex parts.

US 2017/0050803 A1 discloses an alternative track structure. To connect different storage levels to each other, a conveyor belt is proposed instead of an elevator. A conveyor belt transports items along inclined sections of the conveyor to interaction points at some level of storage, where carts that move along horizontal aisle paths can pick up the items.

Carts are locked to their storage level and cannot change storage level. The item to be transported changes its storage level via a conveyor belt. The item to be transported must be transferred, at least when the item is placed on a conveyor belt to move from one storage level to another storage level, when a cart located on the storage level to which the item is to be moved picks it up, and possibly when the item is transferred from the cart to the storage location. Transferring an item is time consuming and the cart or conveyor belt may be idle depending on the need to move the item to some specific storage level.

The effectiveness of a track structure with an elevator and/or a conveyor belt is limited by the idle phases of the carts, the conveyor belt, and/or the elevator during the transfer of objects located on the conveyor belt or in the elevator, respectively. Thus, the occupancy rate of the trolleys, conveyor belt and/or elevator is limited. The conveyor belt and elevator are structurally complex, and the economic efficiency of such a structure can be improved. Therefore, it is desirable to avoid the limitation caused by the complexity of the elevator or conveyor belt.

Document EP 3370194 A1 discloses a warehouse management system with ramps instead of an elevator. Multiple trolleys can cross the track structure at any storage level. Carts can change the storage level of a racking structure using ramps that connect adjacent storage levels. Walkways and ramps are arranged so that each cart can follow the perceived best route between its current position and, for example, an item and/or storage location. More than one cart may take a route in the opposite direction to that of another cart. Therefore, it becomes possible for the carts to collide with each other. To avoid such a collision, the cart can recalculate its route and change it. A reroute implies that the previously selected perceived best route may not have been optimal and that the cart has chosen a route that is longer than necessary. Due to the presence of multiple carts and the potential for real-time route planning by self-driving carts, it is unlikely that such a potential collision could be determined in advance. Due to a change in route, the time required to transport an item may increase in an unlikely to predictable manner. This can reduce the occupancy rate of the interaction area and the overall efficiency of the warehouse system.

Document WO/2016/196815 A1 discloses a system and method for storage and retrieval. Mobile robots are configured to move from one storage level to another storage level in a multi-level racking structure along inclined or vertical tracks without the need for a vertical elevator or vertical conveyor.

The essence of the invention

It is an object of the present invention to efficiently transport items in a warehouse racking structure for automatic storage and access of items, which is cost effective and avoids occupancy restrictions during transport, storage and retrieval of items.

This problem is solved due to the technical features of the independent claims.

In accordance with the first aspect of the present invention, the track structure comprises at least

- 1 044766 measure Z of track levels, where Z>k, the entry point at the m-th track level for each interaction place, and me {1, ... Z}, and the exit point at the n-th track level for each interaction place, where ne{1, ... Z}. From the entry point, the cart can reach the interaction point along the tracks of the track structure. From the exit point, the cart can leave the interaction site along the tracks of the track structure. The mth level of tracks is called the entry point level, and the nth level of tracks is called the exit point level. The entry point level is the path level in which some path leads from the entry point to the interaction point. The exit point level is a path level in which some path leads from the interaction point to the exit point. The track level at which the interaction point is located is called the interaction point level. All lane levels may, or at least a subset of them may correspond to the storage levels of a warehouse racking structure. However, in several embodiments, the lane structure may include auxiliary intermediate lane levels in addition to lane levels that correspond to storage levels.

In accordance with the first aspect of the present invention, the walkway structure further comprises, for each interaction point: Z-m first one-way ramps directed downward towards the entry point, m-1 second one-way ramps directed upward towards the entry point, Z-n third one-way ramps , pointing up from the exit point, and n-1 fourth one-way ramps pointing down from the exit point. Here the one-way ramp is an inclined path. The first one-way ramp is a one-way inclined walkway that extends from track level Z down to track level Z-1, from track level Z-1 to track level Z-2, ... and from track level Z-m+ 1 tracks per level Z-m tracks. The second one-way ramp is a one-way inclined walkway that extends upward from track level 1 to track level 2, from track level 2 to track level 3, ... and from track level m-1 to track level m. The third one-way ramp is a one-way ramp that extends upward from n-lane level to n+1-lane level, from n+1-lane level to n+2-lane level, and from Z-1-lane level to Z-lane level. The fourth one-way ramp is a one-way ramp that extends down from level n lanes to level n-1, from level n-1 lanes to level n-2 lanes, ... and from level 2 lanes to level 1 tracks.

One-way ramps ensure that the cart can effectively change track levels. A cart located at a certain track level can access any other track level by selecting a path along one or more one-way ramps that leads to the selected storage level. The trolley can transport an item on one or more storage levels from interaction point to storage point or from storage point to interaction point along one-way ramps, i.e. you can do without transferring items, which may take a lot of time. The carrying capacity of the track structure is determined by the tracks and carts, and it is not prohibited by other means of transportation, for example using an elevator or a conveyor belt and/or a cart that is empty, waiting for said other means of transportation. In this regard, the complexity of the track structure is reduced, and its design is relatively simple, so that the structure contains only one or a few trolleys as movable transport units, which makes the track structure cost-effective.

One-way ramps ensure that there is at least one first path, i.e. a path along which a cart can travel between a storage level and an interaction location such that an item can be moved from a storage location to an interaction location, and at least one second path between the interaction location and any storage level such that an item can be moved from interaction points to the storage location. This reduces the risk of a potential collision, which means recalculation and rerouting.

Optionally, for each interaction location, you can place the entry point and exit point at the same track level. In this embodiment, the interaction point can be reached at the same track level from which the interaction point can be left. This is effective in particular when the item is to be stored at the storage level and/or picked from the storage level on which the interaction point is located. In this embodiment, the entry point level and the exit point level are identical for each interaction location to improve the efficiency of the layout and design of the track structure. In an alternative embodiment, the level of the entry point may be different from the level of the interaction point. In particular, this may be effective in providing some path without the risk of collision, such as when the path structure contains exactly one route through one-way ramps between the entry point and the interaction point.

Optionally, one or more first ramps with one-way traffic, second ramps with

- 2 044766 one-way, third one-way ramps and/or fourth one-way ramps can be positioned so that they connect adjacent track levels to each other. This embodiment provides a track structure that allows a cart to move directly from one track level to an adjacent track level, i.e. from the track level ne {i, ... Z} to the higher track level n+1e {i, ... Z} and/or to the lower track level n-1e {i, ... Z}. This embodiment contains the shortest possible paths between adjacent storage levels.

Optionally, one or more of the first one-way ramps, the second one-way ramps, the third one-way ramps, and/or the fourth one-way ramps may be configured to connect successive levels of walkways to each other and/or at least at least two levels of tracks with each other, having two or more levels of tracks between said at least two levels of tracks being connected; those. such a one-way ramp extends across at least three levels of walkways, but does not necessarily connect adjacent levels of walkways. This embodiment provides a track structure that allows the cart to move directly from one track level to track level with at least one track level in between, i.e. from the track level ne{1, ... Z} to the higher storage level n+se{1, ... Z}, s>2, and/or to the lower storage level n-se{1, ... Z} , s>2. In particular, this embodiment may be effective in providing a path to avoid a possible collision, thereby improving transport efficiency.

Optionally, the first one-way ramps may comprise a first sequence of first ramps, the second one-way ramps may comprise a second sequence of second ramps, the third one-way ramps may comprise a third sequence of third ramps, and/or the fourth one-way ramps may comprise a fourth sequence of fourth ramps. ramps. Preferably, the sequence of ramps may comprise a plurality of one-way ramps, wherein the exit point of one one-way ramp is identical to or close to the entry point of a subsequent one-way ramp, i.e. the cart can move along a sequence of ramps, crossing said one-way ramps without crossing longer paths beyond said one-way ramps. In an advantageous embodiment, each subsequent pair of one-way ramps belonging to a sequence of ramps is connected to each other using one or two horizontal connection points. A sequence of ramps increases the efficiency of transporting an item from one level to another level by skipping one or more levels in between.

Optionally, the track structure may contain multiple interaction points for dispensing and/or retrieving multiple items, preferably using multiple carts simultaneously. Interaction locations can be located on the same track level. Alternatively, at least two interaction points may be located at different lane levels, which may improve the performance of the automated put away and retrieval system, for example, when one interaction point is located near storage areas that are accessed more frequently than other storage areas , located further from the mentioned interaction site.

Optionally, the configuration of the first subset of first one-way ramps, the second subset of second one-way ramps, the third subset of third one-way ramps, and/or the fourth subset of fourth one-way ramps provides a connection of any of the storage locations to exactly one interaction location. The first subset of first one-way ramps may preferably comprise Z-m first one-way ramps directed downward toward an entry point of an interaction location that is connected thereto. It is possible that the path structure contains a plurality of first subsets of first one-way ramps, wherein the configuration of any two first subsets of first one-way ramps provides a connection at different interaction points. The second subset of second one-way ramps preferably comprises m-1 second one-way ramps directed upward toward an entry point. The third subset of third one-way ramps preferably comprises Z-n third one-way ramps directed upward from the exit point. The fourth subset of fourth one-way ramps preferably comprises n-1 fourth one-way ramps directed downward from the exit point. Likewise, as explained with respect to the first subset of first one-way ramps, the walkway structure comprises a plurality of second subsets of second one-way ramps, third subsets of third one-way ramps, and/or fourth subsets of fourth one-way ramps,

- 3 044766 wherein the configuration of any two of said subsets of one-way ramps provides connection to different interaction points. In particular, it is effective insofar as the risk of cart collisions on routes from the entry point to its interaction point can be significantly reduced.

Optionally, for each interaction location, the configuration of the first subset of the first one-way ramps, the second subset of the second one-way ramps, the third subset of the third one-way ramps, and/or the fourth subset of the fourth one-way ramps may connect any of the storage locations exactly to one place of interaction. This embodiment reduces the risk of cart collisions and allows for a modular arrangement of the track structure; those. subsets of one-way ramps and corresponding interaction locations may be periodically repeated across the direction of passage along the shelving structure, each periodic repetition comprising one or more said subsets of one-way ramps and one or more interaction locations.

Optionally, the lane structure may comprise at least one horizontal two-way lane connecting to all aisle lanes at each storage level. The horizontal two-way walkway may connect any walkway to connection points, wherein the connection point connects the horizontal two-way walkway to one or more one-way ramps, i.e. the cart may travel along a path between the storage location and the interaction location, crossing a horizontal aisle path, a horizontal two-way path, and one or more one-way ramps. A horizontal two-way walkway can connect one or more aisle paths to one or more one-way ramps, providing multiple possible paths for carts.

Optionally, the lane structure may comprise a first horizontal one-way lane connected to all aisle lanes at each storage level in the first direction of travel. The first horizontal one-way track can prevent a situation in which carts get into an accident by crossing the horizontal one-way track. Consequently, the cart will be able to choose some optimal route, for example, between the interaction point and the storage location. You can do without recalculating and changing the route of the cart, which increases the efficiency of transporting some item.

Optionally, the lane structure may comprise a second horizontal one-way lane connected to all aisle lanes at each storage level in a second direction of travel opposite the first direction. Both horizontal one-way lanes belonging to the lane structure allow the cart to move in any horizontal direction across the direction of the aisle to efficiently move to or from the aisle along the optimal route.

Optionally, at at least one storage level, the horizontal two-way walkway, the first horizontal one-way walkway, and/or the second horizontal one-way walkway may extend transversely to the direction of the aisle, improving the design of the walkway structure by providing a space-saving embodiment. which allows you to make the paths short. This embodiment leads in particular to saving space in the direction of the passage on the front side of the shelving structure, on which the track structure can be located.

Optionally, the horizontal two-way walkway, the first horizontal one-way walkway, and/or the second horizontal one-way walkway may be located in the direction of the aisle, between the aisle paths and any of the first, second, third, and/or fourth one-way ramps. This embodiment provides a minimum number of track cross-sections and therefore provides a track structure in which the chance of two cart paths simultaneously intersecting each other is minimal.

Optionally, the first one-way ramps, the second one-way ramps, the third one-way ramps and/or the fourth one-way ramps can have a direction of travel transverse to the direction of passage, thereby allowing an efficient structure of one-way ramps that saves space and provides shortcuts.

Optionally, the track structure may comprise at least one connecting track, wherein the connecting track extends in the direction of the passage. The connecting track may (connecting tracks may) be two-way or one-way. The connecting track may extend along the aisles, allowing the cart to travel to and from the storage area in the same direction in which the aisle track extends. In this embodiment, the track structure may be provided on one side, for example the front side, of the shelving structure. The connecting track extends beyond the aisle, allowing for efficient interchange between different tracks.

Optionally, said at least one connecting path may comprise at least one connection point, wherein the connection point connects to each other at least two of the following: one or more horizontal paths, one or more one-way ramps and/or place of interaction; those. a connection point is a section of a horizontal walkway that connects parts of a walkway structure, such as ramps and/or horizontal walkways, to each other. By aligning at least one connection point on the connecting track, it is possible to efficiently change different tracks. In a preferred embodiment, the connecting track contains multiple connection points, allowing efficient changes among many different tracks along some shortest path.

Optionally, successive first one-way ramps may be connected to each other by one or two horizontal connection points, and/or successive second one-way ramps may be connected to each other by one or two horizontal connection points, and /or successive third one-way ramps may be connected to each other by one or two horizontal connection points, and/or successive fourth one-way ramps may be connected to each other by one or two horizontal connection points. A pair of successive ramps may be connected via a connection point without any additional horizontal path between said ramps. In this embodiment, successive ramps are connected such that a certain path along successive ramps between multiple levels has a short length.

Optionally, any connection point can be located on a three-dimensional grid, i.e. each connection point can define a point belonging to the 3D mesh. This embodiment may improve the layout of the track structure and simplify the navigation and/or coordination of one or more carts. The grid provides clearly defined coordinates at grid points where connection points may be located. Not every grid point necessarily contains a connection point, i.e. a mesh can contain a mesh point without a connection point.

Optionally, the grid may contain Z levels of tracks, Y rows of tracks and X columns of tracks, with X, Y, Z e N, with each row of tracks extending horizontally and across the direction of passage, and each column of tracks extending vertically, providing alignment of the grid and structure tracks. Thus, a sequence of rows of paths extends horizontally along the direction of passage, while a sequence of columns of paths extends horizontally transverse to the direction of passage. Columns of tracks can be connected to each other by ramps. If the length of the ramps is equal to L, and the angle of inclination of the ramps is equal to α, then the distance D between the columns of the tracks can be D=L-sina.

Optionally, the number of track levels can be equal to the number of storage levels, i.e. Z-k; At each storage level there is possibly at least one connection point located. However, in several embodiments, the lane structure may include auxiliary intermediate lane levels in addition to lane levels that correspond to storage levels, i.e. Z>k. The number of rows of tracks is preferably three to five to provide a space saving embodiment. An embodiment with three rows of lanes may include at each level a horizontal two-way path in the first row of lanes closest to the warehouse racking structure, one-way ramps with a positive slope in the second row of lanes, and one-way ramps with a negative angle. in the third row of tracks. Alternatively, the second row of walkways may include one-way ramps with a negative angle, while the third row of walkways may include one-way ramps with a positive angle. An embodiment with four rows of lanes may comprise, at each level, a first horizontal one-way lane in a first horizontal direction of travel transverse to the direction of travel in the first row of lanes and a second horizontal one-way lane in a second horizontal direction of travel opposite the first horizontal direction of travel in the second row. a number of paths. The third row of paths may contain one-way ramps with a positive (negative) angle, while the fourth row of paths may contain one-way ramps with a negative (positive) angle. An embodiment with five rows of tracks may be similar to an embodiment with four rows of tracks, and an additional row of tracks may contain at each level a horizontal two-way track to adapt the spacing between track columns of the track structure (determined by the length of the ramp and the angle of the ramp) to the spacing between aisles of the warehouse rack structure. Preferably, the number of track columns is equal to the number of levels, so that

- 5 044766 reduce the number of direction changes by carts. If the number of track columns must be chosen to be less than the number of levels, for example due to lateral space constraints, some path along a sequence of ramps may include 180° turns through two adjacent connection points providing transfer to an adjacent row of tracks. In a preferred embodiment, the entry point and exit point of the interaction site are located in adjacent track columns at the same level. The term 180° turn on a one-way track would mean that the cart reverses its direction of travel by making two consecutive 90° turns at two adjacent connection points being passed to change direction to another, or two-way track. movement, ensuring said opposite direction of movement. This means that the cart must change lanes during a 180° turn on a one-way track.

By choice, between adjacent columns of tracks of each pair, you can place one or more (up to Y-1) one-way ramps with a positive angle of inclination in one row of tracks, and between adjacent columns of tracks of the same pair, you can place the same number ramps with a negative angle in the adjacent row of paths. The ramps of the same row of paths can advantageously be arranged substantially parallel to each other. Each of these embodiments provides a walkway structure with improved utilization of structural space in the passage direction.

Optionally, at least one of the first one-way ramps, the second one-way ramps, the third one-way ramps and/or the fourth one-way ramps may have an inclination angle of from 5 to 20°, preferably from 12 to 17°. For example, at least one of the ramps may have an inclination angle of 15°. This embodiment provides an angle of inclination such that the cart can effectively travel down each ramp and therefore requires some preferential amount of facility space in the horizontal direction to connect the different storage levels. In a preferred embodiment, the absolute magnitude of the inclination angle of all ramps is substantially the same. In a preferred embodiment, the sign of the inclination angle is substantially the same for all ramps of the same row of paths and differs between ramps of adjacent rows of paths. Preferably, all ramps are substantially the same length. Due to this, all ramps may be identical to each other, reducing the variety of parts that make up the walkway structure.

Optionally, said at least one interaction point may comprise a charging module for charging the cart battery during automatic processing of a stored item and/or automatic dispensing of an item to be stored. In this embodiment, the cart can be charged while an item is being transferred to and/or from the cart. In this regard, the time during processing of the stored item and/or issuance of the item to be stored is used more efficiently. Preferably, this time is sufficient to charge the battery until the charging module is next needed by the cart, so that the cart does not have to wait unnecessarily to charge its battery.

Optionally, the track structure may comprise a one-way interaction track for connecting the interaction point entry point to the at least one interaction point and the at least one interaction point to the interaction point exit point. This embodiment improves the connection of the interface to other tracks of the track structure. This one-way interaction path prevents potential collisions between carts traveling to or from the interaction area. In a preferred embodiment, the interaction path is a loop that leads from the entry point through the interaction location to the exit point. Preferably, the loop is completed by a first horizontal one-way track and/or a second horizontal one-way track. Optionally, said one-way interaction path comprises and/or is a horizontal path.

Optionally, the track structure can be arranged so that it can be distributed and expanded, if desired, across one or more levels and/or track columns of the track structure. Thus, a walkway structure may consist of a set of modular structures containing ramps, horizontal walkways, and connection points. The dimensions and layout of this track structure can be adjusted to accommodate the warehouse rack structure by selecting the most appropriate number of track columns and ramps per track column.

Optionally, the track structure may include an optical marker, an electrical tag, and/or lane markings so that the cart can detect its position and/or monitor or improve information about its position. Preferably, the cart may include a detection device that is adapted to detect a marker, tag and/or marking of any of the one-way lanes. For example, the cart may include a camera for detecting an optical marker and/or lane marking and/or a radio frequency identification (RFID) reader for reading an electrical tag. A marker, tag and/or marking may be located in and/or on a track layer belonging to a particular track and configured to control carts along said track.

In accordance with another aspect of the present invention, there is provided an automated storage and retrieval system comprising the aforementioned track structure and at least one self-propelled cart configured to move along a certain first path along one-way ramps belonging to the track structure for automatically transporting a stored item. from the storage location to the interaction location and/or movement along some specified second path along one-way ramps belonging to the track structure to automatically transport the item from the interaction location to the storage location. Said at least one cart may include a battery for powering the cart drive motor and is preferably charged by a charging module that may be located at the interaction site; a detection device that is adapted to detect the marker, tag and/or marking of any of the one-way lanes; and a driving structure for interacting with the tracks; for example, the driving structure may contain wheels with a certain lateral distance and a wheelbase that matches the tracks and ramps of the track structure.

Optionally, said at least one trolley may comprise a first set of wheels, consisting of four wheels, for moving forward and backward in the direction of the passage and a second set of wheels, consisting of four additional wheels, for moving forward and backward transverse to the direction of the passage and for driving along ramps up or down. The direction of movement of the first set of wheels differs from the direction of movement of the second set of wheels by 90°. At least one of the first set of wheels and the second set of wheels can be vertically lowered and raised relative to the other set of wheels, such that the lower set of wheels is a set of active wheels for movement, and the upper set of wheels is a set of idle wheels. The direction of movement can be changed at the connection points of the track structure by replacing the set of active wheels, i.e. lowering a set of idle wheels and/or raising a set of active wheels.

Optionally, the track structure is located at the front of the warehouse racking structure to provide a space-saving design for the automated storage and retrieval system.

In accordance with another aspect of the present invention, there is provided a method for automated storage and retrieval, including the steps of retrieving a stored item from a storage location using a self-propelled cart, the storage location being located in a warehouse rack structure comprising a plurality of storage locations located at least on at least two racks occupying multiple storage levels, the storage areas being accessible by horizontal aisle paths at each storage level, the aisle paths extending in the direction of the aisle along the aisles between the racks; transporting the item from the storage area using a self-propelled cart through the first one-way ramps and/or the second one-way ramps to an entry point of the interaction area for automatic processing of the stored item; and/or transporting the item from the interaction point exit point using a self-propelled cart through third one-way ramps and/or fourth one-way ramps to one of the storage locations for automated storage of the item.

Optionally, the route of the cart between the interaction location and the storage location and/or between the storage location and the interaction location can be determined by defining a sequence of connection points and/or tracks of the track structure that said cart must traverse. The sequence of connection points can be defined, enriched, processed and/or stored using a sequence of grid points on which the connection points may be located. The sequence of ramps may be determined, for example, by lane markings and/or the direction of a certain path, which may be a one-way path crossed in only one direction.

Optionally, the route of the cart between the interaction location and the storage location and/or between the storage location and the interaction location can be determined by defining a sequence of three-dimensional grid points that said cart must traverse. A sequence of grid points can be defined, enriched, processed and/or stored using a sequence of grid points on which connection points may be located. Optionally, the sequence of grid points may include one or more grid points such that the sequence of ramps may be determined, for example, by lane markings and/or the direction of a certain path, which may be a one-way path crossed in only one direction.

- 7 044766

Brief description of drawings

Embodiments of the present invention will now be described by way of example with reference to the following drawings, in which FIGS. 1 illustrates an automated storage and retrieval system in accordance with an embodiment of the present invention;

in fig. 2 is an enlarged view of a section of the storage and retrieval system of FIG. 1;

in fig. 3 is a perspective view of an embodiment in accordance with the present invention comprising one horizontal two-way walkway at each storage level;

in each of figs. 4-7 show a perspective view of an embodiment in accordance with the present invention comprising two horizontal one-way lanes at each storage level;

in fig. 8 is a perspective view of a section of a track structure in accordance with an embodiment of the present invention;

in fig. 9 shows the track structure according to FIG. 8 in a schematic top view;

in fig. 10 is a perspective view of a section of a track structure in accordance with an embodiment of the present invention;

in fig. 11 shows an embodiment according to FIG. 10 in a schematic top view;

in fig. 12 is a perspective view of a section of a track structure in accordance with an embodiment of the present invention;

in fig. 13 shows an embodiment according to FIG. 12 in a schematic top view;

in fig. 14 is a perspective view of a section of a track structure in accordance with an embodiment of the present invention;

in fig. 15 shows an embodiment according to FIG. 14 in a schematic top view;

in fig. 16 is a perspective view of a section of a track structure in accordance with an embodiment of the present invention;

in fig. 17 shows an embodiment according to FIG. 16 in a schematic top view;

in fig. 18 is a perspective view of a section of a track structure in accordance with an embodiment of the present invention;

in fig. 19 shows an embodiment according to FIG. 18 in a schematic top view;

in each of figs. 20, 21 is a perspective view of an embodiment in accordance with the present invention comprising three horizontal tracks at each storage level;

in fig. 22 is a perspective view of a section of a track structure in accordance with an embodiment of the present invention;

in fig. 23 shows an embodiment according to FIG. 22 in a schematic top view;

in fig. 24 is a perspective view of a section of a track structure in accordance with an embodiment of the present invention;

in fig. 25 shows an embodiment according to FIG. 24 in a schematic top view;

in fig. 26 is a perspective view of an embodiment in accordance with the present invention;

in fig. 27 is a perspective view of a section of the track structure according to FIG. 26;

in fig. 28 shows an embodiment according to FIG. 27 in a schematic top view;

in fig. 29a, 29b show two perspective views of an automated storage and retrieval system in accordance with an embodiment of the present invention;

in fig. 30 is a front view of an automated storage and retrieval system in accordance with an embodiment of the present invention;

in fig. 31-34 show a schematic front view of a track structure, each of which is configured in accordance with an embodiment of the present invention; and in fig. 35a, 35b, respectively, show a perspective view and a front view of another embodiment of a one-way ramp according to an embodiment of the present invention.

Information confirming the possibility of implementing the invention

In fig. 1 illustrates an automated storage and retrieval system 25 in accordance with an embodiment of the present invention. The automated storage and retrieval system 25 includes a track structure 1 located in and/or on the rack structure 3, particularly at the front side 32 of the rack structure 3, and a plurality of self-propelled carts 2. The configuration of the track structure 1 is such that the plurality of self-propelled carts 2 can move along the track structure 1, for example, by having tracks having a certain track width, which ensures efficient and stable movement of the carts 2.

Structure of 3 warehouse racks for automatic storage and access of 4 items

- 8 044766 contains a plurality of storage places 5, located on a plurality of racks 6, occupying a plurality of storage levels 7, the number of which is equal to k. The storage areas 5 are accessible via horizontal aisle tracks 8 on each storage level 7, with the aisle tracks 8 extending in aisle direction I along the aisles 9 between the racks 6. The racks 6, aisles 9 and aisle tracks 8 extend parallel to each other, so that the aisle directions I any pair of adjacent passages 9 are parallel to each other. In a preferred embodiment, the storage locations 5 are arranged on a three-dimensional grid. All drawings assume a right-handed Cartesian coordinate system with a vertical z-axis, a forward y-axis, and a transverse x-axis. Therefore, the direction of the first pass is directed along the y-axis.

A track structure 1 connects each storage location 5 with an interaction location 10 for automatic processing of stored items 4 and/or automatic dispensing of items 4 to be stored. In this embodiment, the lane structure contains as many lane levels as storage levels, i.e. Y=k, and the track levels correspond to the storage levels. The interaction point 10 is located at the track level, which can be called the level of interaction points and is described in more detail by referring to FIG. 2. In an alternative embodiment, the track structure 1 may contain a plurality of interaction locations 10 and/or may connect each storage location 5 to a plurality of interaction locations 10. This may increase the throughput of the automated storage and retrieval system 25 and provide shorter paths between the interaction location 10 and any of the storage locations 5 .

As shown in FIG. 1, the walkway structure 1 includes first one-way ramps 14, second one-way ramps 16, third one-way ramps 20, and fourth one-way ramps 22 such that any pair of adjacent storage levels 7 are connected to each other. In an advantageous embodiment, first, second, third and fourth one-way ramps 14, 16, 20, 22 connect all Y levels of tracks of the 3 rack structure. In this regard, the trolley 2 will be able to reach any storage level 7 from an adjacent storage level 7. The track structure 1 is discussed in detail with reference to FIG. 2.

In fig. 2 is an enlarged view of a section of the storage and retrieval system 25 of FIG. 1. The track structure 1 comprises a first one-way horizontal track 11 connected to all aisle tracks 8 on each storage level 7 in the first movement direction II (negative x-axis direction), and a second one-way horizontal track 12 connected to all tracks 8 passes on each storage level 7 in a second movement direction III (positive x-axis direction) opposite to the first direction II (negative x-axis direction). The 8-pass lanes are two-way lanes extending along the y-axis. In an alternative embodiment, the lane structure 1 may comprise one-way aisle lanes 8.

The track structure 1 includes a plurality of connecting tracks 31 extending along the y-axis, wherein the connecting tracks 31 provide connections between the aisle tracks 8 and the first horizontal one-way track 11 and/or the second horizontal one-way track 12. The connecting track 31 serves as a fork in the tracks at one or more connection points 24 and is configured to allow the cart 2 to cross, the cart 2 being able to maintain and/or change its direction of travel, preferably by 90, 180 and/or 270° in any of the 24 connection points. The connecting tracks 31 in this embodiment are designed with one-way traffic, and in other embodiments, one or more connecting tracks 31 can be configured with two-way traffic. The connecting tracks 31 may consist of a plurality of connection points 24 .

The connecting tracks 31 extend in the direction of passage I (along the y-axis) and are parallel to each other. Each of the connecting tracks 31 includes a plurality of connection points 24 for connecting the horizontal tracks 11, 12 and/or one-way ramps 14, 16, 20, 22 to each other. One of the connecting tracks 31 extends from the first horizontal track 11 through the second horizontal track 12 and the exit point 28 to the entry point 27. In this regard, the connecting track 31 connects the first horizontal track 11, the second horizontal track 12, the exit point 28 and the entry point 27, so that the cart 2 can move from one of the mentioned tracks 11, 12 to another and/or from one of the mentioned There are 14, 16, 20, 22 ramps with one-way traffic on the other.

All of the first one-way ramps 14 and the second one-way ramps 16 lead to an entry point level 17 (not designated in FIG. 2) of the at least one interaction location 10. All third one-way ramps 20 and fourth one-way ramps 22 lead from exit point level 18 (not indicated in FIG. 2) of said at least one interaction location 10. Access to the interaction place 10 is possible from level 17 of the entry point, and you can leave the said place from level 18 of the exit point. Entry point level 17 is the track level at which cart 2 will be able to reach interaction point 10. In this embodiment, cart 2 will be able to reach interaction point 10 from entry point level 17 without changing

- 9 044766 the level of the tracks on which it moves, i.e. Entry point level 17 is the interaction point level. Level 17 of the entry point and level 18 of the exit point are identical here for interaction point 10, i.e. the entry point 27 and the exit point 28 are located at the same track level, namely at the track level on which the interaction point 10 is located, i.e. at the level of the place of interaction.

In this embodiment, the exit point level 18 is a lane level from which one can exit the lane level on which the interaction location 10 is located via a third one-way ramp 22 and a fourth one-way ramp 22. The first one-way ramp 14 and the second one-way ramp 16, which lead to the entry point level 17, connect some adjacent track level to the entry point level 17 at the entry point 27 of the interaction location 10 from which the cart 2 can reach the interaction location 10. Entry point 27 is located at entry point 17. The exit point level 18 is connected at the exit point 28 of the interaction location 10 via a third one-way ramp 20 and a fourth one-way ramp 22 to the adjacent lane level 7, with the exit point 28 located at the exit point level 18.

As also shown in Fig. 1, the first one-way ramps 14 comprise a first sequence of first ramps 13, the second one-way ramps 16 comprise a second sequence of second ramps 15, the third one-way ramps 20 comprise a third sequence of third ramps 19, and/or the fourth one-way ramps 22 comprise a fourth sequence of fourth ramps 21. The one-way one-way ramps 14, 16, 20, 22 of the first, second, third or fourth sequence of ramps 13, 15, 19, 21 are respectively connected to each other by one or two horizontal connection points 24. In this embodiment, the first, second, third or fourth sequence of ramps 13, 15, 19, 21 are positioned such that the cart 2 will be able to cross any of said sequences of ramps 13, 15, 19, 21 without turning 180° between the ramps. If the available lateral space does not provide such a wide path structure, the sequences of ramps 13, 15, 19, 21 may include one or more 180° turns through two connection points.

As shown in FIG. 2, the track structure 1 includes a one-way interaction track 26 for connecting the entry point 27 of the interaction location 10 to the interaction location 10, and the interaction location 10 to the exit point 28 of the interaction location 10. Entry point 27 and exit point 28 coincide with connection points 24 that connect to first, second, third and fourth one-way ramps 14, 16, 20, 22. In this embodiment, when the entry point 27 and exit point 28 are located at the level of the interaction point, said one-way interaction track 26 is horizontal and part of a one-way loop, the loop being closed by a second horizontal track 12. In other embodiments, said one-way interaction path 26 may comprise first, second, third, fourth one-way ramps 14, 16, 20, 22.

In this embodiment, the first one-way ramps 14 with a horizontal travel direction component transverse to the passage direction I to the entry point 27 and the second one-way ramps 16 with the opposite horizontal travel direction component transverse to the passage direction I to the entry point 27 have substantially the same distance direction I of the passage to the front side 32 of the structure of 3 warehouse racks. The third one-way ramps 20 with a horizontal component of the direction of travel transverse to the direction of the I passage from the exit point 28 and the fourth one-way ramps 22 with the opposite horizontal component of the direction of movement transverse to the direction of the I passage from the exit point 28 have substantially the same distance in the direction of the I passage to front side 32 structures 3 warehouse racks. The first one-way ramps 14 and the second one-way ramps 16 have a distance in aisle direction I to the first horizontal one-way walkway 11 that is different from the distance in aisle direction I of the third one-way ramps 20 and the fourth one-way ramps 22 one-way to the first horizontal track 11 one-way. This means that the first one-way ramps 14 and the second one-way ramps 16 are located on one row of paths, while the third one-way ramps 20 and the fourth one-way ramps 22 are located on another row of paths. The rows of tracks of the track structure 1 can be counted in the forward direction of the y-axis, so that the first horizontal one-way track 11 is in this case in the first row of tracks, the second horizontal one-way track 12 is in the second row of tracks, the third and/or fourth ramps The one-way ramps 20, 22 are in the third row of lanes, and the first and/or second one-way ramps 14, 16 are in the fourth row of lanes.

The first horizontal one-way track 11 and the second horizontal one-way track 12 extend substantially parallel to each other and transverse to the direction of the I passage. The first horizontal one-way track 11 and the second horizontal one-way track 12 are located in the aisle direction I between the aisle tracks 8 and the inclined one-way tracks 14, 16, 20, 22.

The configuration of the self-propelled carts 2 provides movement along a specific first path along one-way tracks 11, 12, 26 and first and second one-way ramps 14, 16 of the track structure 1 for automatically transporting the stored item 4 from the storage location 5 to the interaction location 10. The configuration of the self-propelled carts 2 provides movement along a specific second path along the one-way tracks 11, 12, 26 and the third and fourth one-way ramps 20, 22 of the track structure 1 for automatically transporting the item 4 from the interaction place 10 to the storage place 5. Here, the first path and the second path may contain common tracks 11, 12, 26, but not common ramps. In a preferred embodiment, the automated storage and retrieval system 25 includes one or a plurality of carts 2.

In fig. 3 is a perspective view of an embodiment of an automated storage and retrieval system 25 and lane structure 1 in accordance with the present invention, comprising exactly one horizontal two-way lane 30 connected to all aisle lanes 8 at each storage level 7 . The automated storage and retrieval system 25 is described with reference to the embodiment shown in FIG. 1 and 2, with the differences described in detail.

At any storage level 7, a horizontal two-way track 30 allows the trolley 2 to move, at the same storage level 7, from any aisle track 8 to another aisle track 8. The horizontal two-way walkway 30 extends transversely to the direction I of the passage. A horizontal two-way walkway 30 is located in aisle direction I between the aisle tracks 8 and the first, second, third and/or fourth one-way ramps 14, 16, 20, 22. The track structure 1 extends in the direction of the passage I with a certain depth in the y direction by three track widths, i.e. There are 24 connections for the width of three points.

The horizontal two-way walkway 30 is configured to allow two-way traffic to provide short paths between the interaction location 10 and any of the storage locations 5. In an alternative embodiment, the track structure 1 includes first and second horizontal one-way tracks 11, 12, as shown in FIG. 1 and 2, instead of a single horizontal two-way track 30, to prevent any potential collision of the carts 2 while moving along said track and/or to provide some unique first path and/or second path.

The track structure 1 includes a plurality of first sequences 13 of first one-way ramps 14, a plurality of second sequences 15 of second one-way ramps 16, a plurality of third sequences 19 of third one-way ramps 20, and a plurality of fourth sequences 21 of fourth one-way ramps 22. In this regard, the track structure 1 contains a plurality of first paths from any of the storage locations 5 to the interaction locations 10 and a plurality of second paths from the interaction location 10 to any of the storage locations 5. This may increase the possible throughput of the automated storage and retrieval system 25.

In fig. 3 shows that the interaction level is the third level with an entry point 27 and an exit point 28 at the third level. The track structure 1 contains a plurality of first, second, third and fourth one-way ramp sequences 13, 15, 19, 21, each sequence comprising two one-way ramps 14, 16, 20, 22 to reach all five levels of the track structure. The second sequence 15 contains two second one-way ramps 16 directed upward to the right and located in the same row of paths below and to the left of the entry point 27. The third sequence 19 contains two one-way third ramps 20 directed upward to the right and located in the same row of paths above and to the right of the exit point 28. The fourth sequence 21 includes two one-way fourth ramps 22 directed downward to the left and located in the same row of paths below and to the right of the exit point 28. The first sequence 13 differs from the other sequences 15, 19, 21 in that there is not enough lateral space to the right of the entry point to lower the cart from the fifth, upper level. Consequently, one first one-way ramp 14 of the first sequence 13 between the fourth and third levels is directed downward to the left and is located above and to the right of the entry point 27 in the same row of paths of the entry point 27. The other first one-way ramp 14 of the first sequence 13 between the fifth and fourth levels is directed downward to the right and is located in a row of paths different from where the entry point 27 is located. Therefore, the path of the cart along the first sequence 13 involves a 180° turn between the first two one-way ramps 14. The available lateral space and the position of the entry point 27 and/or exit point 28 in the track structure 1 determine whether such

- 11 044766 180° turns and how many of them are needed in what sequence. The layout of the track structure 1 can be chosen to minimize, as far as possible, the number of 180° turns.

However, if necessary, the first, second, third and/or fourth sequences 13, 15, 19 may contain multiple 180° rotations and thus may define a zigzag path.

In all embodiments shown, the track structure 28 is located on a three-dimensional grid, with connection points 24, entry point 27, and/or exit point 28 defining the grid points. The grid contains Z levels of tracks, Y rows of tracks, and X columns of tracks. The rows of tracks extend transversely to the passage direction I (along the x-axis), so that the sequence of rows of tracks extends in the direction of the passage (along the y-axis). The track columns are defined by a sequence of connection points 24 vertically stacked on top of each other (along the z-axis) such that the sequence of track columns extends transversely to the direction of passage (along the x-axis). One-way ramps 14, 16, 20, 22 connect adjacent columns and track levels to each other. The number Z of track levels in this case is equal to the number k of storage levels 7, i.e. k=5 in Fig. 3. The number Y of rows of tracks is equal to the maximum number of connection points 24 of the connecting track 31 in the direction of pass I, i.e. Y=3 in Fig. 3. It is possible to provide some space in the passage direction I to accommodate the interaction track 26 and the interaction location 10. In fig. 3 shows that the number X of track columns is equal to the number Z of track levels. This is advantageous in particular to reduce the number of 180° turns required. At the same time, the carts 2 can only be made with the ability to safely ascend and/or descend along ramps with an inclination angle of less than _amax , so that for lifting to a height H of one level, a certain minimum distance D _muh between the columns of the tracks may be required, and ^D^iax ™min =........................

If the available lateral space does not allow a track structure to be arranged with at least X track columns, the number of X track columns can be reduced to a minimum number of X of 2 by using more 180° rotations. In a preferred embodiment, the direction of movement on ramps of the same row of paths connecting the same columns of paths changes between adjacent levels. In a preferred embodiment, the direction of travel on ramps between the same levels connecting the same columns of walkways differs between rows of walkways. In a preferred embodiment, the direction of movement of ramps connecting the same levels in the same row of paths changes between adjacent columns of paths.

The number Y of rows of tracks is counted from the front side 32 of the rack structure 3 forward in the x direction, so that the horizontal two-way track 30 in FIG. 3 is located in row number one of tracks. The number Z of lane levels is equal to the number k of storage levels 7, with the lower storage level having level number one and the upper level having level number five in FIG. 3. In FIG. 3 shows that the number of track columns X is five, with the first track column from the right being the number one track column, the entry point 27 being in the number two track column, and the exit point 28 being in the center third track column. In a preferred embodiment, the entry point 27 and exit point 28 are located in adjacent track columns. In a preferred embodiment, the entry point 27 and exit point 28 are located at the same track level.

In the illustrated embodiments, the ramps of the same row of paths are located substantially parallel to each other, i.e. each is made extending from bottom left to top right or vice versa, or each is made leading from top left to bottom right or vice versa. In fig. Figure 3 shows that all ramps of the second row of tracks lead from top left to bottom right between adjacent levels and columns of tracks. Likewise, all ramps in the third row of tracks lead from bottom left to top right between adjacent levels and columns of tracks. In fig. 3 shows that a total of at least only 8 one-way ramps 14, 16, 20, 22 must be required to connect entry point 27 and exit point 28 to any level of walkways. Seven of these one-way ramps 14, 16, 20, 22 are located in the third lane row, and one first one-way ramp 14 is located between the fifth and fourth lane levels and the first and second lane columns. If there was enough lateral space for another column of tracks to the right of the first column of tracks, all 8 one-way ramps 14, 16, 20, 22 could be located in the same row of tracks, so that the second row of tracks could end up completely unnecessary. In fig. 3 shows a total of 32 ramps, of which 16 ramps are located in the second row of tracks and 16 ramps are located in the third row of tracks. Therefore, the embodiment according to FIG. 3 has redundancy of 24 additional ramps, which provide alternative path options to entry point 27 or exit point 28. This can reduce the risk of congestion and allow for more traffic, i.e. using more than 2 trolleys at the same time. Moreover, the track structure 1 according to FIG. 3 could allow parallel servicing of up to three additional interaction locations 10. For example, another interaction point could

- 12 044766 would be located on the third track level between the fourth and fifth track columns and/or on the first and/or fifth track levels between the second and third track columns and/or between the fourth and fifth track columns.

In each of FIG. 4-7 show a perspective view of an embodiment of an automated storage and retrieval system 25 and lane structure 1 in accordance with the present invention, comprising two horizontal one-way lanes 11, 12 at each storage level 7. In fig. 4 shows an embodiment with three interaction locations, each of which has entry points 27 and exit points on a third level of tracks. Track structure 1 according to FIG. 4 has a total of 8 lane levels and 8 lane columns with 98 ramps, with 49 ramps arranged in a top left to bottom right 7x7 configuration in the third row of lanes and 49 ramps arranged in a complementary bottom left to top right 7x7 configuration in the fourth row tracks. Ramp redundancy could provide concurrent service to up to four additional interaction points and/or useability to accommodate more traffic. In both embodiments according to FIG. The connecting paths 3 and 4 in the passage direction are provided with one-way traffic.

The embodiment shown in FIG. 5 has nine levels of tracks, four rows of tracks, nine columns of tracks, and three interaction locations 10 with entry points 27 and exit points 28 on the third level. The density of the ramps is significantly lower than the density of the ramps in the embodiments shown in FIGS. 3 and 4. The total number of ramps in Fig. 5 is equal to 58. Moreover, the same row of tracks contains four ramps between identical columns of tracks, connecting the levels (1-2, 3-4, 5-6, 7-8) of every second pair with each other, and at the same time the adjacent a row of tracks contains four ramps between identical columns of tracks, connecting complementary pairs of levels (2-3, 4-5, 6-7, 8-9) to each other. The connecting paths 31 in the direction of the passage in this case provide for two-way traffic. The redundancy of the ramps in this case could allow parallel servicing of only one additional interaction point 10.

In fig. Figure 5 shows a specific case where uneven heights of storage levels have to be dealt with. The warehouse rack structure 3 may, for example, due to fire regulations or other restrictions, contain one or more storage levels with a height that is different from the other storage levels. In fig. 5 shows that the warehouse rack structure 3 contains 8 storage levels 7, i.e. one level less than the nine track levels of the 1 track structure. The height of the fourth storage level is greater than the heights of other storage levels. In order to be able to ascend to the higher fourth storage level, each of the fourth and fifth track levels of the track structure 1 has a height equal to half the height of the fourth storage level. Therefore, the lowest four lane levels belonging to lane structure 1 correspond to storage levels 1-4, while the top four lane levels belonging to lane structure 1 correspond to storage levels 58. The fifth track level of track structure 1 is an auxiliary track level between the fourth and fifth storage levels, so that a large storage level height can be overcome without exceeding the maximum angle _amax . Therefore, lane structure 1 comprises six longer one-way ramps extending between next-to-most adjacent columns (2-4, 5-6, 7-8) lanes and between next-to-most adjacent levels (4-6) lanes. These longer ramps have a slightly lower slope than regular ramps and intersect the grid without connecting points at the (auxiliary) fifth level of tracks. Since the lateral space at the side end columns of the tracks, i.e. between the first and second track columns, and the eighth and ninth track columns, respectively, is insufficient to accommodate longer ramps, the track structure 1 contains at each side end two conventional ramps with a smaller angle of inclination, connected in a zigzag configuration by two connecting points on the (auxiliary) fifth level of the tracks and each implying a 180° turn. The connecting points in the first and ninth track columns are the only connecting points in the (auxiliary) fifth track level.

In fig. 6 shows an embodiment similar to that shown in FIG. 5 and does not require dealing with uneven heights of storage levels. All eight storage heights in Fig. 6 are the same, so track structure 1 contains only eight corresponding track levels and eight track columns. The density of the ramps is half the density of the ramps according to Fig. 4, i.e. 49 ramps to serve three locations 10 interactions. The same row of lanes contains alternating four or three ramps between identical columns of lanes, connecting the levels (1-2, 3-4, 5-6, 7-8 or 2-3, 4-5, 6-7) of lanes of each second pair with each other, while the adjacent row of tracks contains three or four ramps between identical columns of tracks connecting levels (2-3, 4-5, 6-7 or 1-2, 3-4, 5-6, 7- 8) tracks of complementary pairs with each other. In this case, the connecting paths 31 in the direction of the passage provide two-way traffic. The redundancy of the ramps in this case would allow parallel servicing of only one additional interaction point 13 044766.

In fig. 4-7 show that at any storage level, the first horizontal one-way track 11 and the second horizontal one-way track 12 allow the cart 2 to move on the same storage level 7 from any aisle track 8 to another aisle track 8. In aisle direction I, the track structure 1 extends the width of four (FIGS. 4-6) or three (FIG. 7) tracks and/or connection points 24 from the front side 32 of the rack structure 3. The first horizontal one-way track 11 and the second horizontal one-way track 12 provide short paths between the interaction location 10 and any of the storage locations 5.

The track structure 1 contains a plurality of interaction locations 10. Any of the mentioned interaction places 10 is connected by one-way paths 11, 12 and/or ramps 14, 16, 20, 22 with any of the storage places 5. In an alternative embodiment, the track structure 1 may comprise a plurality of complementary track structure sections, wherein any complementary structure track section connects exactly one interaction location 10 with tracks 11, 12 and/or ramps 14, 16, 20, 22 to the one-way traffic of said complementary track structure section with some specific group of places 5 storage structures 3 racks. The complementary sections of the track structure are arranged so that any storage location 5 is connected to any of the interaction locations 10.

The track structure 1 includes a plurality of first sequences 13 of first one-way ramps 14, a plurality of second sequences 15 of second one-way ramps 16, a plurality of third sequences 19 of third one-way ramps 20, and a plurality of fourth sequences 21 of fourth one-way ramps 22. In this regard, there are a plurality of first paths from any of the storage locations 5 to any interaction locations 10 and a plurality of second paths from any interaction location 10 to any of the storage locations 5.

Connection points 24, entry points 27, and exit points 28 are located on the three-dimensional grid, as explained in connection with FIG. 3, wherein the number Y of rows of tracks is equal to the maximum number of connection points 24 in the direction of the I passage; therefore Y=4 (Fig. 4-6) or Y=3 (Fig. 7).

In the embodiment according to FIG. 7, the track structure 1 contains only three rows of tracks, with the first horizontal one-way track 11 located in the first row of tracks, the second horizontal one-way track 12 located in the second row of tracks, and all the ramps are located in the third row of tracks. This can save construction space in the direction of the I passage. Any of the first, second, third and/or fourth one-way ramps 14, 16, 20, 22 are located substantially parallel to each other in a bottom left to top right configuration. In the absence of another row of tracks with a complementary top left to bottom right configuration, some tracks will require the carts to necessarily make two or more 180° turns from a section of horizontal tracks in between along the first or second one-way horizontal tracks 11, 12 to achieve some a certain level of tracks. If there are multiple options for selecting a certain path, the optimal path can be selected based on the number of required 180° turns, the required total length of horizontal track sections, and/or the current traffic situation. In a preferred embodiment, the direction of movement of ramps connecting the same columns of paths alternates between adjacent levels of paths. In a preferred embodiment, the direction of travel on ramps connecting the same track levels alternates between adjacent track columns.

In fig. 8 is a perspective view of a section of a track structure 1 in accordance with an embodiment of the present invention. The track structure section 1 according to FIG. 8 is explained with reference to the embodiment according to FIG. 1 and 2, with differences between the embodiments explained in detail. Such a section of the track structure 1 may include an embodiment as shown in FIG. 1-6.

In the track structure section 1, which is shown in FIG. 8, the track structure 1 includes a first one-way ramp 14 and a second one-way ramp 16, each leading to an entry point 27 in the same fourth row of tracks, i.e. to connection point 24, which is located at the level of entry point 17. The track structure 1 includes a third one-way ramp 20 and a fourth one-way ramp 22, each leading from an exit point 28 in the same third row of tracks, i.e. from connection point 24, which is located at the level of exit point 18. In this embodiment, the entry point level 17 is the track level on which the interaction point 10 is located. The third one-way ramp 20 and the fourth one-way ramp 22 are located in the third row of paths, i.e. closer to the first horizontal one-way track 11 in a direction transverse to the aisle direction I than the first one-way ramp 14 and the second one-way ramp 16 in the fourth row of tracks.

- 14 044766

In this embodiment, the cart 2 at some level 7 above or below the entry point level 17 can reach the entry point level 17 through the first and second one-way ramps 14, 16. The first one-way ramp 14 leads down to the entry point 27, and the second one-way ramp 16 leads up to the entry point 27.

The trolley 2 at the track level on which the interaction point 10 is located can, from the exit point level 18, reach the storage level 7 located above or below through the third and fourth one-way ramps 20, 22. A third one-way ramp 20 leads up from the exit point 28, and a fourth one-way ramp 22 leads down from the exit point 28.

In fig. 9 shows the track structure 1 according to FIG. 8 in a schematic top view. The three triangles on the ramps indicate the direction of incline by pointing upward with the tips of their triangles, while the open arrows indicate the direction of travel. In the direction of aisle I, four rows of lanes, lanes 11, 12, 14, 16, 20, 22, are arranged in the following order, starting from the front side 32 of the warehouse rack structure 3: the first horizontal lane 11 with one-way traffic in the first row of lanes, the second horizontal track 12 with one-way traffic in the second row of tracks, third and fourth ramps 20, 22 with one-way traffic in the third row of tracks and first and second ramps 14, 16 with one-way traffic in the fourth row of tracks. Said four rows of tracks, tracks 11, 12, 14, 16, 20, 22, are connected to each other by connection points 24 defining a connecting track 31 extending in the direction of the I passage. At each connection point 24, the carts 2 will be able to effectively change from one row of tracks to another, as well as change between tracks 11, 12, 14, 16, 20, 22. As can be seen in FIG. 8 and 9, the connecting track 31 is preferably aligned with the passage 9 to reduce as much as possible the number of direction changes as well as the length of the horizontal path.

In fig. 10 is a perspective view of a section of a track structure in accordance with an embodiment of the present invention. Track structure 1 according to FIG. 10 is explained with reference to the embodiment according to FIG. 8 and 9, with differences in the embodiments described in detail. Such a section of the track structure 1 may include an embodiment as shown in FIG. 7.

All ramps 14, 16, 20, 22, as well as both entry points 27 and exit 28, are in this case located in the same third row of tracks.

In fig. 11 shows an embodiment according to FIG. 10 in a schematic top view. The three triangles on the ramps indicate the direction of inclination by indicating the direction of inclination with the tips of their triangles, while the unfilled arrows indicate the direction of movement. In the direction of aisle I, three rows of lanes, lanes 11, 12, 14, 16, 20, 22, are arranged in the following order from the structure of 3 warehouse racks: the first horizontal lane 11 with one-way traffic in the first row of lanes, the second horizontal lane 12 with one-way traffic in the second row of tracks, and all ramps 14, 16, 20, 22 are in the third row of tracks. The track structure 1 according to this embodiment saves construction space in the passage direction I.

In fig. 12 is a perspective view of a section of a track structure in accordance with an embodiment of the present invention. Track structure 1 according to FIG. 12 is explained with reference to the embodiment according to FIG. 8 and 9, with differences in the embodiments described in detail.

In the track structure section 1 shown in FIG. 12, the track structure 1 includes a first pair of first and second ramps 14, 16 leading to a first entry point 27 in the third row of tracks, and a second pair of first and second ramps 14, 16 leading to a second entry point 27 in the fourth row of tracks. In this regard, traffic to the interaction point 10 can be increased because the carts have two choices to reach the entry point level 17 from the storage level above through the first ramps 14 or from the storage level below through the second ramps 14.

The trolley 2 at the interaction point 10 can reach another storage level from an exit point not shown in FIG. 12. An exit point 28 and/or third and/or fourth one-way ramps 20, 22 may be located elsewhere in the track structure 1. The third and/or fourth one-way ramps 20, 22 may be located similarly to the first and second one-way ramps 14, 16 (see FIGS. 18 and 19).

In fig. 13 shows an embodiment according to FIG. 12 in a schematic top view. The tracks 11, 12, 14, 16 are arranged in four rows of tracks in the following order from the warehouse rack structure 3: the first one-way horizontal track 11 in the first row of tracks, the second horizontal one-way track 12 in the second row of tracks, the first pair of ramps 14 , 16 in the third row of tracks and a second pair of one-way ramps 14, 16 in the fourth row of tracks. The entry points 27 are located on the connecting track 31 in the third and fourth rows of tracks, respectively.

In fig. 14 is a perspective view of a section of a track structure in accordance with an embodiment of the present invention. Track structure 1 according to FIG. 14 is explained with reference to the embodiment of FIG. 8 and 9, with differences in the embodiments described in detail.

In the track structure section 1, which is shown in FIG. 14, the track structure 1 includes a first pair of second and third ramps 16, 20 in the third row of tracks and a second pair of first and second ramps 14, 16 in the fourth row of tracks, with a connection point 24 in the third row of tracks and an entry point 27 in the fourth row of tracks. are located on the same connecting path 31. The connecting point 24 can serve as an entry point 27 when approached from the second ramp 16, and as an exit point 28 when departing from it to a third ramp 20. As already discussed with reference to FIGS. 2, this means that the carts 2 leaving the interaction point 10 to the storage level above must move along a short path along the horizontal track 12 in direction III, reaching the exit point 28. To exit from the interaction location 10 to the storage level below via the fourth ramp 22, the exit point 28 and the fourth ramp 22 can be located elsewhere (not shown in FIG. 14) so that they can be reached along the horizontal walkways 11. 12. In an alternative embodiment, the first pair of ramps may be a pair of first and fourth ramps 16, 20 in the third row of paths, so that the exit point 28 and the third ramp 20 can be located elsewhere (not shown in FIG. 14) so that the was to leave interaction site 10 by going up one storage level.

In fig. 15 shows an embodiment according to FIG. 14 in a schematic top view. Lanes 11, 12, 14, 16, 20 are arranged in four rows of lanes in the following order from the structure of 3 warehouse racks: first horizontal one-way lane 11 in the first row of lanes, second horizontal one-way lane 12 in the second row of lanes, first pair second and third ramps 16, 20 in the third row of tracks and a second pair of first and second ramps 14, 16 in the fourth row of tracks. The connection point 24 serving as the entry point 27 and the exit point 28 together with the entry point 27 are located in the third and fourth row of tracks, respectively, along the same connecting track 31.

In fig. 16 is a perspective view of a section of a track structure in accordance with an embodiment of the present invention. Track structure 1 according to FIG. 16 is explained with reference to the embodiment according to FIG. 14 and 15, with differences in the embodiments described in detail.

In the track structure section 1, which is shown in FIG. 16, the track structure 1 includes a first pair of third and fourth ramps 20, 22 in the third row of tracks and a second pair of first and second ramps 14, 16 in the fourth row of tracks, with an exit point 28 in the third row of tracks and an entry point 27 in the fourth row of tracks. located on the same connecting track 31. As already discussed with reference to FIGS. 2, this means that the carts 2 leaving the interaction point 10, passing to a level located above or below, must move along a short path along the horizontal track 12 in direction III, reaching the exit point 28.

In fig. 17 shows an embodiment according to FIG. 16 in a schematic top view. Lanes 11, 12, 14, 16, 20 are arranged in four rows of lanes in the following order from the structure of 3 warehouse racks: first horizontal one-way lane 11 in the first row of lanes, second horizontal one-way lane 12 in the second row of lanes, first pair third and fourth ramps 20, 22 in the third row of tracks and a second pair of first and second ramps 14, 16. An entry point 27 and an exit point 28 are located in the third and fourth rows of tracks, respectively, along the same connecting track 31.

In fig. 18 is a perspective view of a section of a track structure in accordance with an embodiment of the present invention. Track structure 1 according to FIG. 18 is explained with reference to the embodiment according to FIG. 12 and 13, with differences in the embodiments described in detail.

The track structure 1 shown in FIG. 18 and 19 provides double the capacity and double the ramp density compared to FIGS. 8. The track structure 1 includes two entry points in the third and fourth track rows, respectively, located on the same connecting track 31. In addition, the track structure 1 includes two exit points 28 in the third and fourth track rows, respectively, located on another one connecting track 31 in the adjacent column of tracks. The entry point 27 in the third row of tracks is connected to the first and second tracks 14, 16 in a bottom-left-up-right configuration, while the entry point 27 in the fourth row of tracks is connected to the first and second tracks 14, 16 in a complementary top-left-down-right configuration. Likewise, the exit point 28 in the third row of tracks is connected to the third and fourth tracks 20, 22 in a bottom-left-up-right configuration, while the exit point 28 in the fourth row of tracks is connected to the third and fourth tracks 14, 16 in a complementary top-left-down-right configuration. .

In each of FIG. 20 and 21 show a perspective view of an embodiment of an automated storage and retrieval system 25 and lane structure 1 in accordance with the present invention, comprising three horizontal lanes 11, 12, 30 at each storage level 7. The automated storage and retrieval system 25 is described with reference to the embodiment shown in FIG. 3, with the differences described in detail.

At any storage level 7, the track structure 1 contains, in the first row of tracks, a first horizontal one-way track 11 connected to all aisle tracks 8 at each storage level 7 in the first movement direction II transverse to the aisle direction I. In addition, the track structure 1 comprises, in the second row of tracks, a second horizontal one-way track 12 connected to all aisle tracks 8 on each storage level 7 in a second movement direction III opposite to the first direction II. In the third row of lanes, an additional horizontal one-way or two-way lane 30 may be provided, connected to all aisle lanes 8 at each storage level 7 . The horizontal tracks 11, 12, 30 allow the trolley 2 to move at the same level of the storage tracks 7, from any aisle track 8 to another aisle track 8. The horizontal tracks 11, 12, 30 extend transversely to the direction of the first passage and parallel to each other. One-way ramps 14, 16, 20, 22 are located in the fourth and fifth rows of tracks. In aisle direction I, the track structure 1 extends to a width equal to five track widths and/or the widths of the connection points 24 from the front side 32 of the rack structure 3.

The number Z of track levels is equal to the number k of storage levels Z=k=8. The number Y of rows of tracks is equal to the maximum number of connection points 24 in the direction of the I pass; therefore, in this embodiment, Y=5. The number X of track columns in this case is the same as the number of track levels, i.e. X=8.

Similar to that shown in FIG. 6, the track structure according to FIG. 20 contains 49 ramps 14, 16, 20, 22, with 24 ramps configured in a top-left-to-bottom-right configuration in the fourth row of lanes and 25 ramps configured in a complementary bottom-left-to-top-right configuration in the fifth row of paths to serve three interaction locations 10 on the third level.

In fig. 21 shows that the track structure 1 includes a plurality of sludge tracks 33 in an additional sixth row of tracks. The layaway track 33 is a section of the track structure 1 that can be used to support the cart 2 when empty and/or to park the cart, preferably temporarily. This may be useful for fire protection. The layover lane 33 may be a one-way lane or a two-way lane. The sludge track 33 is preferably horizontal. In the preferred embodiment, sludge track 33 and horizontal track 11, 12, 30 define a closed loop of tracks as shown in FIG. 21. The storage lanes 33 may also serve as a bypass route to provide an additional path to ramps 14, 16, 20, 22. Normal entry to or exit from the ramps in the fourth row of lanes at each storage level is from the horizontal lane 30 in the third. row of paths or on it. The parking lanes 33 provide additional entry or exit in the opposite direction to or from the ramps in the fifth row of lanes to the parking lanes 33 in the third row of lanes. Therefore, the risk of congestion can be reduced because the carts 2 have additional choices for entering or exiting ramps 14, 16, 20, 22 at each storage level.

In fig. 22 is a perspective view of a section of a track structure in accordance with an embodiment of the present invention. Track structure 1 according to FIG. 22 is explained with reference to the embodiment according to FIG. 12 and 13, with differences in the embodiments described in detail.

In the track structure section 1, which is shown in FIG. 22 and 23, the track structure 1 includes a first horizontal track 11 in the first row of tracks, a second horizontal track 12 in the second row of tracks, a horizontal two-way track 30 in the third row of tracks, a first pair of third and fourth ramps 20, 22 in the fourth row of tracks. and a second pair of third and fourth ramps 20, 22 in the fifth row of tracks.

The trolley 2 at the interaction point level 7 will be able, from the exit point 28, to reach another storage level 7 via the third and/or fourth one-way ramps 20, 22. In this regard, and depending on the occupancy of the third one-way ramps 20 and the fourth one-way ramps 22, the cart 2 will preferably be able to choose between at least two different paths from the interaction point 10.

In this embodiment, the cart 2, located at some level 7 above or below the interaction point 10, will be able to reach the entry point 27 through the first one-way ramp 14 or the second one-way ramp 16, which is not shown in the track structure section 1 of FIG. 22. The entry point 27 and/or the first and/or second one-way ramps 14, 16 may be located elsewhere in the track structure 1. The first and/or second one-way ramp 14, 16 may be located similarly to the third and fourth one-way ramp 20, 22 as shown in FIG. 22.

As shown in FIG. 22 and 23, the aisle space of the warehouse rack structure 3 may not exactly correspond to the track column space of the track structure 1, which is limited

- 17 044766 the maximum angle a is _{the maximum} inclination under which the trolleys 2 can rise and fall safely. The horizontal track 30 can then serve as a two-way adapter track. This is useful in particular if the difference between the aisle space and the track column space is some fraction of the width of some track. Alternatively, the horizontal two-way track 30 may be located in the first row of tracks, so that track 30 may be the only track that needs to be designed to meet the requirements of the warehouse rack structure 3, while the other components of the track structure 1 may be standard.

In fig. 24 is a perspective view of a section of some track structure in accordance with an embodiment of the present invention. Track structure 1 according to FIG. 24 is explained with reference to the embodiment according to FIG. 22 and 23, with differences in the embodiments described in detail.

In the track structure section 1, which is shown in FIG. 24, the track structure 1 includes a first horizontal track 11 in the first row of tracks, a second horizontal track 12 in the second row of tracks, a horizontal two-way track 30 in the third row of tracks, a first pair of third and fourth ramps 20, 22 in the fourth row of tracks, and a second a pair of first and second ramps 14, 16 in the fifth row of tracks. In fig. 25 shows an embodiment according to FIG. 24 in a schematic top view. In the embodiment according to FIG. 24 and 25, the horizontal tracks 11, 12, 30 are arranged as explained in relation to FIGS. 22 and 23, and the one-way ramps 14, 16, 20, 22 are located as explained in relation to FIGS. 16 and 17.

In fig. 26 is a perspective view of an embodiment of an automated storage and retrieval system 25 and lane structure 1 in accordance with the present invention. The automated storage and retrieval system 25 is described with reference to the embodiment shown in FIG. 1 and 2, with the differences described in detail.

As shown in FIG. 26, the track structure 1 has nine track levels, three track columns, and two rows of tracks for serving one interaction location 10 on a second track level via the interaction track 26. The 1 track structure is useful in particular for narrow 3 warehouse rack structures with limited side space. The 3 warehouse rack structure has only 5 storage levels, while the 1 lane structure contains 4 additional auxiliary lane levels between the 1-2, 3-4, 5-6 and 7-8 lane levels. Thus, the track structure 1 contains 16 relatively short one-way ramps 14, 16, 20, 22, each of which provides a rise of only half the storage level in order to maintain an inclination angle less than the maximum inclination angle _amax inclination, i.e. . the track level distance of track structure 1 in this case is half the height of the storage level. The first five ramps 14 connect lane levels 8-3 leading down, the second three ramps 16 connect lane levels 1-3 leading upward, the third five ramps 20 connect lane levels 3-8 leading upward, and the third three ramps 22 connect levels 3 -1, leading down. The path along the sequence of ramps 14, 16, 20, 22 may include a zigzag sequence with one or more 180° turns at the side ends, i.e. in the first and third columns. The central connecting track 31 in the second column of tracks leads to the tracks 8 of the central passage. The first and third track columns are auxiliary track columns with connection points 24 at auxiliary intermediate track levels where the carts 2 can make a 180° turn to rise or fall to an up or down track level. In this embodiment, it is possible to dispense with horizontal tracks 11, 12 with the direction of movement transverse to the direction of aisle I, because the structure of the warehouse racks has only one aisle 9. At any storage level 7, the aisle tracks 8 are connected via ramps 14, 16, 20, 22 with one-way traffic with track 26 interaction. In the aisle direction I, the track structure 1 extends the width of two connection points 24 from the front side 32 of the rack structure 3.

In fig. 27 is a perspective view of a section of the track structure 1 shown in FIG. 26.

In the track structure section 1, which is shown in FIG. 27, the path structure 1 includes a first one-way ramp 14 and a second one-way ramp 16, each leading to an entry point 27, i.e. to connection point 24, which is located at the level of entry point 17. The path structure 1 includes a third one-way ramp 20 and a fourth one-way ramp 22, each leading from an exit point 28, i.e. to connection point 24, which is located at the level of exit point 18. In this embodiment, both the entry point level 17 and the exit point level 18 are on the fourth track level, i.e. auxiliary intermediate level of paths between the second and third storage levels.

In fig. 29a, 29b show, from different angles, another embodiment of a narrow warehouse rack structure 3 with a track structure 1 mounted on its front side 32. In contrast to that shown in FIG. 26, the warehouse rack structure 3 contains not only one single central aisle 9, but two parallel aisles 9. The ramps 14, 16, 20, 22 of the track structure 1 have

- 18 044766 the same configuration as shown in FIGS. 26. However, to connect two tracks, 8 passages at each storage level 7, horizontal tracks 11, 12 with one-way traffic and horizontal track 30 with two-way traffic are located in rows 1-3 of tracks at each storage level 7 to connect connecting tracks 31 with paths 8 passages. Ramps 14, 16, 20, 22 are located in the fourth and fifth rows of tracks. The interaction track 26 has a different shape and includes a stop track 33 in the form of a stopping strip. The sludge track 33 allows the order of the carts 2 in the queue of carts 2 on the interaction track 26 to be changed prior to processing at the interaction location 10.

In fig. 30 is a front view of the device shown in FIG. 5 an automated storage and retrieval system according to an embodiment. The front view shows the distribution of storage locations 4 and aisles 9 along the racks of the rack structure 1.

In fig. 31-34 show a diagram of paths along the track structure 1 depending on the position of the entry point 27 and exit point 28. In each embodiment, depending on how busy the system is, a path with a minimum number of 180° turns may be selected. In each embodiment, the 180° turns of each path are preferably, as needed, only at the lateral ends of the track structure 1, i.e. in columns No. 1 and No. X tracks. The shown track structure 1 has 9 track levels, 5 track columns, with the ramps distributed as described above in two rows of tracks.

Each of the track structures 1 according to FIG. 31-34 comprises a first sequence of first ramps, a track 13 with a plurality of first one-way ramps 14, a second sequence of second ramps 15 with a plurality of second one-way ramps 16, a third sequence of third ramps 19 with a plurality of third one-way ramps 20, and a fourth sequence There are 21 fourth ramps with many 22 one-way fourth ramps. Ramps 14, 16, 20, 22 with one-way traffic and the directions of their movement are indicated by arrows facing the interaction point 10 or away from it.

According to the embodiment shown in FIG. 31-34, the up path and down path may include one or more 180° turns, preferably at the lateral end columns of the tracks.

In any embodiment, it is possible to transport an item 4 by a trolley 2 from one storage location 5 to another storage location 5 of the track structure 1 without passing through the interaction location 10.

Any of the described track structures 1 is arranged such that the track structure 1 can extend arbitrarily by periodically reproducing the shown track structure 1 and/or a section thereof across the pass direction I, i.e. in the first direction of movement II. This makes the 1 track structure modular and adaptable to the dimensions of the 3 rack structure.

In fig. 35a, 35b show another embodiment of a one-way ramp 14, 16, 20, 22. The ramp 14, 16, 20, 22 shown in FIG. 35a, 35b, has a maximum angle of inclination of approximately 15°. The ramps 14, 16, 20, 22 comprise a lowered concave portion 104 with a gradually decreasing slope and an elevated convex portion 106 with an upward slope. There is also a straight section 108 with a certain constant maximum angle of inclination located between the lowered concave section 104 and the elevated convex section 106. The side end points of the ramps 14, 16, 20, 22 have a substantially zero inclination angle where they connect with the connection points 24 . This shape allows the level of the tracks to be smoothly changed and reduces the risk of the trolley 2 carrying the object 4 in the form of a container overturning.

The ramps 14, 16, 20, 22 further comprise fastening rails 110 containing a fastening surface 112 facing substantially downward and located at some distance from the running surface 114 along which the wheels 115 of the cart 2 move. Said distance is somewhat greater than the diameter of those wheels. carriages 2 that extend forward and backward beyond the contour of the carriage 2 so that they are capable of moving on the running surface 114 below the mounting surface 112. The fastening rails 110 in this case have a C-shaped profile, partially enclosing the carts 2. The fastening rails 110 in this case extend along a straight section 108 having such a constant maximum angle of inclination that the cart 2 is prevented from tipping over where the angle of inclination is greatest. If the cart 2 carrying the container 4 begins to tip over, for example due to the momentum of the container load sliding downward inside the container 4, the wheels of the cart 2 may momentarily lift off the running surface 114 against the mounting surface 112. Then the wheels of the first set of wheels 37 will return down to move on the running surface 114 again. Thus, the fastening rails 110 secure the trolley 2 on the steep sections of the ramps 14, 16, 20, 22.

Where reference is made to integers or elements that have known, obvious, or predictable equivalents in the foregoing description, such equivalents are included in this description as if they were set forth separately. To determine the true scope of the present invention, reference should be made to the claims, which should be deemed to cover any such equivalents. The reader should also appreciate the fact that integers or features of the invention that are described as optionally present, preferred, advantageous, convenient, or the like are optional and do not limit the scope of the independent claims.

The above embodiments are to be understood as illustrative examples of the invention. It is intended that any feature described in connection with any embodiment may be used alone or in combination with other features described, and may be used in combination with one or more features of any other embodiments or any combination of any other embodiments. At least one possible embodiment is illustrated and described, and it is to be understood that other modifications, substitutions, and alternatives will be apparent to one skilled in the art and may be varied within the scope of the subject matter described herein, and the application should be considered to cover any adapting or modifying the specific embodiments discussed herein.

In addition, the word contained, her, ie) does not exclude other elements or stages, and singular features do not exclude the plural. In addition, features or steps that are described with reference to one of the above-mentioned exemplary embodiments may also be used in combination with other features or steps of other exemplary embodiments described above. The method steps are applicable in any other order or in parallel, or may form some part or more detailed version of another method step. It should be understood that all such modifications and changes discussed herein are within the scope of the patent claims as would reasonably and properly be inferred from the scope of the prior art. Such changes, substitutions and alternatives may be made within the scope and spirit of the invention, which shall be determined by reference to the claims and their legal equivalents.

List of drawing positions.

- Track structure;

- trolleys;

- structure of warehouse racks;

- objects;

- storage location;

- rack;

- storage level;

- walkway;

- passage;

- place of interaction;

- the first horizontal track with one-way traffic;

- second horizontal track with one-way traffic;

- the first sequence of the first ramps;

- the first one-way ramp;

- second sequence of second ramps;

- second ramp;

- entry point level;

- exit point level;

- third sequence of third ramps;

- third ramp with one-way traffic;

- fourth sequence of fourth ramps;

- fourth ramp with one-way traffic;

- connection point;

- automated storage and retrieval system;

- interaction path;

- point of entry;

- exit point;

- horizontal track with two-way traffic;

- connecting track;

- front side;

- sediment track;

104 - lowered concave section;

106 - elevated convex section;

108 - straight section;

110 - fastening rails;

112 - mounting surface;

114 - running surface;

-

Claims (15)

115 - trolley wheels; I - direction of passage; II - first direction of movement; III - second direction of movement; X - number of track columns; Y - number of rows of tracks; Z - number of track levels. CLAIM 1. A structure (1) of tracks for self-propelled carts (2) in a structure (3) of warehouse racks for automatic storage of items (4) and access to them, wherein the structure (3) of warehouse racks contains a plurality of storage places (5) located at least on at least one rack on k storage levels (7), wherein a track structure (1) connects each storage level (7) with at least one interaction point (10) for automatic processing of stored items (4) and/or automatic issue of items (4) to be stored, characterized in that the track structure (1) contains at least Z track levels, where Z>k, entry point (27) at the m-th track level for at least one of the mentioned locations (10 ) interaction, with me {1, ... Z}, and the exit point (28) for at least one of the mentioned interaction sites (10), with ne{1, ... Z}, with structure (1) tracks additionally contains for each location (10) interactions Z-m of the first one-way ramps (14), directed downwards to the entry point (27); m-1 second ramps (16) with one-way traffic, directed upward to the entry point (27); Z-n third ramps (20) with one-way traffic, directed upward from the exit point (28); and n-1 fourth one-way ramps directed downward from the exit point (28), the path structure (1) comprising a plurality of interaction points (10), one first sequence of first ramps (13), one second sequence of second ramps (15 ), one third sequence of third ramps (19) and one fourth sequence of fourth ramps (21) are uniquely associated with exactly one interaction site (10). 2. Track structure (1) according to claim 1, characterized in that for each interaction point (10) the entry point (27) and the exit point (28) are located at the same track level. 3. The structure (1) of paths according to claim 1 or 2, characterized in that one or more first ramps (14) are one-way, second (16) ramps are one-way, third ramps (20) are one-way and/or The fourth one-way ramps (22) are located so that they will connect adjacent track levels to each other. 4. Path structure (1) according to any one of claims 1 to 3, characterized in that one or more first ramps (14) are one-way, second ramps (16) are one-way, third ramps (20) are one-way and /or fourth ramps (22) with one-way traffic are located so that they will connect the next level of tracks with each other. 5. Path structure (1) according to any one of claims 1 to 4, characterized in that the first one-way ramps (14) contain such a first sequence of first ramps (13), the second one-way ramps (16) contain such a second sequence second ramps (15), third one-way ramps (20) contain such a third sequence of third ramps (19) and/or fourth one-way ramps (22) contain such a fourth sequence of fourth ramps (21). 6. Track structure (1) according to any one of claims 1 to 5, characterized in that this track structure (1) contains at least one horizontal track (30) with two-way traffic at each storage level (7). 7. Track structure (1) according to any one of claims 1 to 6, characterized in that this track structure (1) contains a first horizontal track (11) with one-way traffic at each storage level (7) in the first direction (II) of movement . 8. Track structure (1) according to claims 1 to 7, characterized in that this track structure (1) contains a second horizontal track (12) with one-way traffic at each storage level (7) in the second direction (III) of movement, opposite first direction (II). 9. Structure (1) of paths according to any one of claims 1 to 8, characterized in that the first one-way ramps (14) following one after the other are connected to each other by one or two horizontal connection points (24); and/or the second one-way ramps (16) following one another are connected to each other by one or two horizontal connection points (24) and/or the third one-way ramps (20) following one another are connected to each other by one or two horizontal connection points (24); and/or the fourth one-way ramps (22) one after the other are connected to each other - 21 044766 other one or two horizontal connection points (24). 10. Track structure (1) according to any one of claims 1 to 9, characterized in that this track structure (1) is located on a three-dimensional grid, which has Z track levels, Y rows of tracks and X track columns, wherein points (24) connections define grid points belonging to the three-dimensional grid, and ramps (14, 16, 20, 22) are located in at least one row of tracks, preferably two rows of tracks, between adjacent or subsequent adjacent columns of tracks to connect adjacent levels of tracks or subsequent beyond adjacent levels of tracks to each other. 11. Track structure (1) according to any one of claims 1 to 10, characterized in that this track structure (1) contains an interaction track (26), providing for one-way traffic, for connecting the entry point (27) of the interaction place (10) with mentioned at least one interaction place (10) and said at least one interaction place (10) with the exit point (28) of the interaction place (10). 12. Structure (1) of tracks according to claims 1 to 11, characterized in that for each interaction point (10) the configuration of a first sequence of first ramps (13), a second sequence of second ramps (15), a third sequence of third ramps (19) and /or the fourth sequence of fourth ramps (21) provides the connection of any of the storage places (5) with exactly one interaction place (10). 13. Automated storage and retrieval system (25), comprising a track structure (1) according to any one of claims 1 to 12; and at least one self-propelled cart (2) configured to move along a certain first path along one-way ramps (14, 16, 20, 22) belonging to the track structure (1) for automatically transporting the stored item (4) from the storage place (5) to the interaction place (10), and/or movement along some specific second path along one-way ramps (14, 16, 20, 22) belonging to the track structure (1), for automatic transportation of the item (4 ) from the place (10) of interaction to the place (5) of storage. 14. Automated storage and retrieval system (25) according to claim 13, wherein the track structure (1) is located on the front side (32) of the warehouse rack structure (3). 15. A method for automated storage and retrieval, including the steps of retrieving a stored item (4) from a storage location (5) using a self-propelled cart (2), wherein the storage location (5) is located in a warehouse rack structure (3) , containing a plurality of storage places (5), located on at least two racks (6), occupying multiple storage levels (7), and storage places (5) are accessible along horizontal paths (8) passages at each storage level (7), wherein the paths (8) of the passages extend in the direction (I) of the passage along the passages (8) between the racks (6); transport the item (4) from the storage place (5) using a self-propelled cart (2) through the first one-way ramps (14) containing the first sequence of first ramps (13), or through the second one-way ramps (16) containing the second a sequence of second ramps (15), to the entry point (27) of interaction points (10) of a plurality of interaction points for automatic processing of a stored item (4), wherein the first sequence of first ramps (13) and the second sequence of second ramps (15) are uniquely associated with the specified above the place (10) of interaction; and/or transporting the item (4) from the exit point (28) of the above interaction location (10) using a self-propelled cart (2) through third one-way ramps (20) containing a third sequence of third ramps (19), or through fourth one-way ramps (22) containing a fourth sequence of fourth ramps (21) to one of the storage locations (5) for automated storage of an item (4), wherein the third sequence of third ramps (19) and the fourth sequence of fourth ramps (21) are unique associated with the above location (10) of interaction. -