WO2022214957A1

WO2022214957A1 - Device for automatic storage of objects

Info

Publication number: WO2022214957A1
Application number: PCT/IB2022/053157
Authority: WO
Inventors: Dirk LEYSSENS; Frans Hegge; Yves VANSTRAELEN
Original assignee: Groep Tom Heeren, Naamloze Vennootschap
Priority date: 2021-04-07
Filing date: 2022-04-05
Publication date: 2022-10-13
Also published as: BE1029283A1; BE1029283B1

Abstract

The present invention relates to a device (1) for accepting, storing and delivering objects. The device includes a housing (2) with an access port (3) for accepting an object from and/or delivering it to a user. The device includes storage containers (11) and a storage device (4) in the housing to store the storage containers. A robotic system (20) in the housing moves storage containers from the storage device to the access port and vice versa. A user interface module (10) receives an instruction and/or code from a user and a control unit (55) processes this instruction and/or code and controls the robotic system. The access port is adapted to hold the storage container, applied by the robotic system, such that it can be accessed from outside the enclosure by a user to deposit and/or remove an object.

Description

Device for automatic storage of objects

Technical field

The present invention relates to the field of machines for the secure storage of objects. In particular, the present invention relates to a device, and a corresponding method, for automatically accepting, storing and releasing objects, such as keys, wallets, bank cards, and/or other objects.

Technical Background

Keys and cards, such as bank cards, smart cards, access badges and the like, are almost ubiquitous in contemporary life. The majority of systems for restricting access to a space (or to physical goods, documents, securities, etc.) use a key, card or similar physical object in one form or another. A unique aspect of such an object, such as a geometric form of a conventional key or a digital code ("key") stored in the object, hereby allows, either singly or in combination with further security means, to unlock a complementary mechanism, e.g., a lock, granting access to the protected space, goods, information, and/or the like.

In addition, after the most simple protection mechanisms that only use a password or pincode, encryption keys, signatures and/or certificates are the most prevalent technique to restrict and/or control access to digital information and/or services. Such a digital key (or an alternative thereto in the form of unique information or a unique algorithm) will usually (or at least frequently) also be stored on a portable physical carrier or unit of account (e.g., a chip), such as in the form of a USB stick, a memory card, a portable hard drive, a token, a smart card, a code generator, or the like. For example, the digital key may also take the form of information and/or processor-interpretable instructions on a mobile phone device (e.g., a smartphone). By largely shifting the problem of access control to a virtual service or information to the secure storage of a physical and manageable object, often in combination with a password or other user authentication, difficulties in implementing electronic access control and user authentication can be reduced.

However, this also means that a need exists for secure storage systems for keys and similar items. After all, in several situations it is not possible, or at least not practical, to keep (often several) such handy articles intended for access control in your pocket. For instance, it may be preferable not to carry keys when they will not be needed for a considerable period of time, e.g. when travelling, to avoid loss and/or simply for reasons of comfort. In addition to loss, there is of course always the risk of theft, and the importance of worrying about possible loss or theft should not be underestimated either, which can obviously also contribute to unwanted stress. Replacement of a key in case of loss or theft, but often also of the corresponding lock due to security considerations, can also be costly, involves lost time and resources, and can involve far-reaching risks, depending on the assets or location protected by the key and corresponding lock (physical or virtual) from unauthorized and/or improper use or access. If such a key (or similar article for purposes of access control) is additionally required to gain access to a vehicle, residence or office upon return from the trip, it is also not obvious, and more specifically essentially impossible, to leave it in said vehicle or building.

Relatively few alternatives exist that provide for the safe and convenient storage of keys and similar small items, e.g., at an airport. In addition to airports, train stations and other locations related to travel, a similar need exists in situations where users wish to be temporarily relieved of the objects they keep in their pockets. Examples can be found in the event sector, e.g. at performances, festivals, shows and the like, at other mass gatherings, e.g. demonstrations and conferences, and at sports and leisure activities, e.g. athletic tracks, soccer fields, fitness/sports schools and water sports facilities (e.g. rafting, kayaking,....). Another example of a possible application area can be found in key management systems, as for example applicable in car rental and/or hotel services. One can therefore conclude that there seems to be a broad need for solutions for the safe, but also efficient and user-friendly, storage of all kinds of objects that one might typically have in one's pocket. It will also come as little surprise that storage systems need not be limited to the storage of generally small (e.g. handheld) objects, but can find an even wider application when the storage of larger objects is also considered, e.g. in checkroom services, storage services for computers (e.g. laptops), parcel services, and so on.

The international patent application WO 2019/180115 A1 discloses a kiosk system to manage keys. Through a user interface, a user can log in to receive a key. Inside an enclosure of the kiosk system is a storage unit for keys and an actuatable robotic arm with an effector, in which this effector can grasp an individual key. With this system, a key can be taken from a storage location into the storage unit, by the robotic arm, and delivered to the user, and conversely taken back from the user for storage again.

Summary of the Invention

It is an object of embodiments of the present invention to provide a solution to the problems described above, and/or to provide an efficient, user-friendly and/or effective system for the automatic storage of objects. It is an advantage of embodiments of the present invention that items, such as keys and other small (handy) articles, can be stored in a secure manner.

It is an advantage of embodiments of the present invention that a user-friendly and/or approachable possibility is provided for storing objects, e.g., of different, and variable, users.

It is an advantage of embodiments of the present invention that the precise location where a specific object, or the objects linked to a specific user, is stored is difficult to ascertain for persons attempting to gain unlawful access thereto.

It is an advantage of embodiments of the present invention that efficient automatic storage of objects is provided, e.g., in terms of space, time, energy and/or resources. In particular, a system according to embodiments may be advantageously compact.

It is an advantage of embodiments of the present invention that a reliable system is provided. It is an advantage of embodiments of the present invention that an automatic system can be substantially constant and/or permanently accessible without incurring a high cost, e.g., in terms of personnel costs.

It is an advantage of embodiments of the present invention that a user can sign up in advance through a digital portal, and then quickly and easily identify himself to a machine for the temporary storage of objects according to embodiments, so that high efficiency in use and/or high availability for many users per unit time can be achieved. It is an advantage of embodiments of the present invention that information relating to (a) deposited object(s) can be automatically recorded, e.g., for purposes of traceability and/or potential settlement of claims.

It is an advantage of embodiments of the present invention that deposited object(s) can be automatically disinfected, e.g., with a disinfectant spray and/or ultraviolet light, for hygienic reasons.

A device in accordance with embodiments of the present invention accomplishes the above objective. In a first aspect, the present invention relates to a device for accepting, storing and delivering objects. The device comprises a housing and an access port, in and/or at a front of the enclosure, for accepting one or more of the objects from and/or delivering them to a user. The device includes a plurality of storage containers, and a storage device, in the enclosure, to store the storage containers. The device includes a robotic system, in the housing, for moving one of the storage containers from the storage device to the access port and for moving a storage container from the access port back to a free storage location in the storage device. The device also includes a user interface module to receive an instruction and/or code from a user, and a control unit to process the instruction and/or code and control the robotic system, in response thereto. The access port is adapted to hold the storage container, delivered by the robotic system, such that it can be accessed from outside the housing by a user to deposit and/or remove an object.

In a device according to embodiments of the present invention, said objects may be hand-held objects, and the access port may comprise an opening (or access) through which the objects are accepted and/or delivered, said opening having a maximum diameter smaller than 20 cm, e.g., smaller than 15 cm, e.g., smaller than 10 cm. The storage container may possess a maximum diameter that is smaller than 20 cm, e.g., smaller than 15 cm, e.g., smaller than 10 cm. The storage container may (optionally) also have dimensions such that it does not fit through said opening. Designs are not necessarily limited to small and/or manageable items, however, and may also provide for e.g. storage of larger items.

In a device according to embodiments of the present invention, the access port may include a mechanism for automatically closing the access port when the access port is not in use and for opening the access port when the device is ready to receive and/or issue one or more items into and/or out of the storage container held by the access port.

In a device according to embodiments of the present invention, the access port may at least partially pop out of the housing(i.e. protrude) so that a table or drawer is formed, wherein, in use, the storage container is held in the access port such that the storage container is accessible through this table or drawer.

However, embodiments are not necessarily limited thereto. For example, the access port may also include a hatch or door, so that the access port may be substantially fully recessed in the housing. In a device according to embodiments of the present invention, the access port may comprise a hatch and/or door which, when automatically or manually opened, provides access to the storage container placed in the access port. In this regard, the hatch and/or door may be arranged in, or substantially parallel to, the front of the housing (e.g., in at least the closed configuration of the hatch and/or door).

In a device according to embodiments of the present invention, the access port may be adapted so that, when the storage container is made accessible to the user, the storage container is held in such a way that the storage container itself cannot be removed from the device.

In a device according to embodiments of the present invention, the user interface module may be integrated into or attached to the access port.

In a device according to embodiments of the present invention, the user interface module may include a code reader to read a code provided by the user.

In a device according to embodiments of the present invention, the storage direction may be applied to the inside of said front.

In a device according to embodiments of the present invention, the (e.g., all) storage containers may have an equal shape and equal dimensions.

In a device according to embodiments of the present invention, the plurality of storage containers may comprise multiple groups of storage containers that differ in shape and/or size, e.g., to store objects of different sizes based on the selected container size. In a device according to embodiments of the present invention, the control unit may be adapted to track the assignment of a storage container and/or a user to a storage location in the storage device.

In a device according to embodiments of the present invention, the housing may be equipped with one or more wheels, e.g., adjustable wheels, to facilitate movement of the device. In a device according to embodiments of the present invention, the housing may have one or more height-adjustable feet for resting the device on.

In a device according to embodiments of the present invention, the housing may be provided with guides, such as parallel rails and/or slots, e.g., in or near the ground plane of the housing, so that the housing may be moved using a forklift by engaging in/on/to said guides. In a device according to embodiments of the present invention, the housing may be equipped with one or more lifting eyes to lift and move the device as an integral unit.

In a device according to embodiments of the present invention, the housing may be provided with an access door to facilitate maintenance and/or repairs of the device.

In a device according to embodiments of the present invention, a screen(s) may be provided in or on the housing to present notices to the user and/or to passersby.

In a device according to embodiments of the present invention, the storage container may include a box and a loose or hinged lid to seal the box.

In a device according to embodiments of the present invention, the storage container may include a latch to lock the lid on or to the box when closing the box. In a device according to embodiments of the present invention, the access port may include a container opener to open the storage container delivered by the robotic system before making the storage container accessible to the user, and/or to close the storage container again after the user has finished depositing and/or removing the object in and/or from the storage container.

In a device according to embodiments of the present invention, the storage device may include a plurality of shelves attached to an inner wall of the housing and/or supported by a rack structure in the housing.

A device according to embodiments of the present invention may include a camera module for photographically capturing a content of the storage container, e.g., just before and/or just after the storage container is made available to a user through the access port.

A device according to embodiments of the present invention may include a disinfection module for disinfecting a content of the storage container, e.g., just before and/or just after making the storage container available to a user through the access port.

In a device according to embodiments of the present invention, the robotic system may be adapted to provide movement of an effector in a plane, e.g., substantially parallel to the front face, wherein the effector may include a gripper to grasp at least one of the storage containers, e.g., via further movement in a direction perpendicular to (or at least not parallel to) said plane. In a device according to embodiments of the present invention, the effector may include multiple grippers to simultaneously hold and transport multiple storage containers with the effector. In a device according to embodiments of the present invention, the (or each) gripper may include a suction cup to hold the storage container when a negative pressure is applied to the suction cup using a vacuum system.

A device according to embodiments of the present invention may include a queuing facility to temporarily park one or more storage containers, after removal from the access port, until the robotic system is available to bring these temporarily parked storage containers to their places in the storage facility.

The independent and dependent claims describe specific and preferred features of the invention. Features of the dependent claims may be combined with features of the independent claims and with features of other dependent claims as appropriate and not necessarily only as indicated in the claims.

Brief description of the drawings FIG 1 shows, schematically, a device according to embodiments of the present invention.

FIG 2 shows a schematic representation of internal components of an illustrative device according to embodiments of the present invention.

FIG 3 shows an example combination of a wheel and adjustable fixed base for a housing of a device according to embodiments of the present invention. FIG 4 shows an internal space in a housing of a device according to embodiments of the present invention.

FIG 5 shows an access port for exchanging objects mounted to a front surface of a device according to embodiments of the present invention.

FIG 6, 7 and 8 show, in various views, an access port with various systems integrated therein/therein, for use in a device according to embodiments of the present invention. FIG 9 shows an illustrative storage device and robotic system in a device according to embodiments of the present invention. FIG 10 and 11 show an example effector (manipulator) in a robotic system of a device according to embodiments of the present invention for grasping, moving and unloading storage containers at the desired destination.

FIG 12 shows a gantry -translation device of a robotic system in a device according to embodiments of the present invention for moving the effector, with storage container(s) possibly held, in substantially a plane. FIG 13 illustrates a further example of a device according to embodiments of the present invention.

The figures are schematic and not limiting. Elements in the figures are not necessarily shown to scale. The present invention is not limited to the possible specific implementations according to the present invention as shown in the figures.

Detailed description of embodiments

Regardless of the exemplary embodiments described below, the present invention is limited only by the appended claims, The appended claims are hereby expressly incorporated into this detailed description, each stand-alone claim constituting a separate embodiment of the present invention.

The term "comprises," as used in the claims, is not limited to the features, elements or steps described thereafter and does not exclude additional features, elements or steps. It therefore specifies the presence of the features listed, without excluding a further presence or addition of one or more features. Numerous specific details are brought forward in this detailed description. Embodiments of the present invention can be performed without these specific details. In addition, well-known features, elements and/or steps might not be described in detail in the interest of clarity and conciseness. In a first aspect, the present invention provides an automated device for accepting, storing and delivering objects, e.g., small handheld objects, such as keys, (e.g., smart, bank, identity, ...) cards, wallets, portable telephone devices (such as smartphones) and the like. However, embodiments are not necessarily limited to small and/or handy objects, and may e.g. also relate to storing larger objects, such as laptops, handbags, jackets, travel cases, packages and the like more. Referring to FIG 1 and FIG 2, a device 1 in accordance with embodiments comprises an enclosure 2 having at least one access port 3 for accepting and/or delivering one or more objects. For example, the dimensions and/or configuration of the access port may be adapted for accepting and/or delivering hand-held objects, e.g., the access port may comprise a hatch, drawer, or similar device adapted for such relatively small objects (and thus /«/simultaneously also for e.g., objects having a maximum diameter/dimension of e.g., more than 1 m, e.g., more than 0.5 m, e.g., more than 20 cm, e.g., more than 10 cm). However, embodiments are not necessarily limited thereto, and embodiments adapted for generally larger objects, such as packages, (larger) boxes, furniture pieces and the like, are therefore not excluded.

The housing 2 includes a front surface 5 in which/which the access port(s) 3 is provided. The term "front surface" does not necessarily imply a limitation, and may refer to any side of the enclosure, but preferably an upright side (e.g., vertical standing side surface). However, the term "front surface" is used to clearly distinguish from e.g. rear surface. Front surface and front wall (resp. rear surface and rear wall, side surface and side wall) may refer to the same part of the enclosure in the description below. In other words, the term "flat" does not necessarily imply that the surface (or part) of the enclosure referred to is actually (completely) flat (although in accordance with some embodiments this may be the case).

A storage device 4 is provided in the housing 2 to store multiple of said objects. The housing 1 also includes a plurality of storage containers 11, e.g., similarly shaped storage containers (e.g., substantially similar in shape and size), wherein the housing 1 is adapted to store each storage container, e.g., at a predetermined position, in the storage device. The storage containers may be similar in shape and/or size, but the plurality of storage containers may also include, e.g., multiple groups of storage containers that differ in shape and/or size, e.g., to store items of different sizes based on the selected container size.

The storage device provides predetermined storage locations, but there is not necessarily a predetermined correspondence between specific storage containers and specific storage locations. In other words, the storage container is not necessarily assigned one-to-one to a storage location (from a discrete number of storage locations provided by the storage device 4), however this may indeed be the case. Preferably, the device does include a system for keeping track of the allocation of the storage containers to the storage locations, e.g., to the extent that this allocation is not already implicitly determined by a one- to-one correspondence, e.g., a management system provided by the control unit 55. The "predetermined positions" refer to a system whereby unique locations in the storage device are addressed via an actuator device, i.e. to move the storage container to and from this position. Thus, the "predetermined locations" are not necessarily explicitly physically delineated, e.g., with wall partitions (although this may be the case). The storage device may, of course, comprise at least one support surface, support point, or support device per position to allow a storage container to be stored stably at this position. However, such a support device can be shared by multiple locations, e.g., a shelf (shelf) where multiple containers can be placed side by side. In other words, it is an advantage of embodiments of the present invention that a simple and cost-effective storage device can be used, e.g., by using one or more shelves (shelves), where each shelf can carry multiple storage containers (simultaneously) at different predetermined storage positions, without providing physical compartments separating these storage positions on the same shelf. The access port 3 is adapted to hold a selected storage container of the storage containers such that it can be accessed from the outside (relative to the housing) by a user to remove an object from the storage container and/or place it in the storage container.

The device 1 further includes a robotic system 20 for moving a storage container (more specifically, any storage container in storage in the storage device, as selected by a control unit) from the storage device 4 to the access port 3, so that a user can deposit objects in or receive objects from the container, and for moving a storage container from the access port 3 to a free position in the storage device, so that the object(s) in the container are safely stored (or so that the emptied container can be made available again for a subsequent user).

The device includes a user interface module 10 to receive an instruction and/or code from a user, and a control unit 55 to receive and process this instruction and/or code. The control unit 55 is further adapted to control the robotic system 20 to move a container from the storage device to the access port 3, to allow the user to access this container, and to store the container back in the storage device after manipulation by the user.

The housing may comprise (or may substantially comprise) a substantially beam-shaped enclosure within which the storage device 4 is provided. It is an advantage of a beam-shaped enclosure that it is easily movable and placeable, e.g., transportable by standard freight transport and placeable against a flat wall (without restriction therefrom). The housing (e.g., the beamshaped housing) may have, e.g., a height in the range of 0.5 m to 4 m (without limitation therein), preferably in the range of 1.5 m to 3 m (without limitation therein). A height that is at least 1.0 m, preferably at least 1.5 m, may allow a user to easily use the system (e.g., without bending), although embodiments are not necessarily limited thereto. The housing can hereby, preferably, be placed (directly) on a fixed floor, but embodiments are also not necessarily limited thereto. The height is in principle not limited, and can even exceed 4 m, as long as the space in which the enclosure is placed is provided for this. Nevertheless, more limited heights may be preferable for practical reasons.

For example, the housing (e.g., the beam-shaped housing) may have a depth in the range of 0.3 m to 2 m (without limitation thereto), preferably in the range of 0.5 m to 1.5 m. This depth refers to a dimension in the direction perpendicular to the front surface 5, i.e., the housing may be characterized by a height, a width and a depth, the front surface extending in the height and the width. It is an advantage of embodiments that a relatively compact arrangement can be obtained, particularly in this depth direction, so that (for example) the device can be placed against a wall without obstructing passage too much. For example, the device can be placed in a corridor without hindering persons in their passage through this corridor. However, the designs are not limited to this, and a compact depth obviously also has advantages when placed in larger spaces or freestanding (i.e. not against a wall). A possible area of application of an arrangement according to embodiments, as already briefly explained in the background section hereinabove, is in airports, stations, and similar junctions for (passenger) traffic. It should be noted that such locations often have to accommodate large numbers of passing persons per unit of time, so that a free, or as little as possible restricted, passage and flow through spaces can be essential. The width of the enclosure can vary freely, e.g., without restriction, in the range of 0.5 m to 5 m, or even more if required and/or desired.

The housing may also, in accordance with embodiments of the present invention, be integrated, or adapted to be so integrated, into a wall and/or behind a partition. In other words, the housing may be partially (or completely) formed by a cavity in a wall and/or partition (e.g., of a fixed facility, such as a corridor or room in a building). Thus, in accordance with such embodiments, the device 1 may be built into a wall and/or partition. It is an advantage of a built-in/integratable device that it does not obstruct passersby and/or prevent maximum utilization of a space. It should also be noted that a device according to embodiments of the present invention may be particularly compact in depth, so as to be easily (or more easily) integratable.

The housing may also (optionally) be equipped with one or more wheels 6 to facilitate movement of the automated device. An illustrative wheel assembly is illustrated in FIG 3. In this example, a wheel mounting block 7 is provided in/on the housing (or multiple, such as, e.g., four, mounting blocks 7; e.g., placed at or near each corner point of the base surface of the housing). In the wheel mounting block 7, the wheel 6, preferably swivelling, is mounted. The wheels may be retracted by a telescopic mechanism, for example, and/or blocked by a braking or locking device.

A height-adjustable foot may also be provided (e.g., one such fixed foot per wheel) to stably support the housing, e.g., when it has been moved to an intended location using the wheels. In a retracted position, this foot may cause the housing to rest on the floor via the wheels, and thus be movable, while in an extended (or unscrewed) position the housing no longer rests on wheels. By providing individually adjustable feet, the facility can be placed level even on uneven ground, and the wheels also do not need to have a braking device and/or telescopic mechanism.

Alternatively or in addition, the housing may also be provided with lifting eyes 13, e.g., four lifting eyes on the roof of the housing (without limitation thereto), to lift the device 1 and transport it as an integral unit. The housing 2 may be provided with an access door 9 to facilitate maintenance and/or repairs of the device. Preferably, this access door can be provided in a side surface of the housing. This side surface may be adjacent to the front surface 5, e.g. perpendicular to it, and oriented in an upright direction. More specifically, the depth discussed above may provide sufficient space for the width of this door (preferably with some margin). For example, FIG 4, shows (part of) the housing 2 of a device according to embodiments of the present invention, with an access door 9 provided therein, in a side wall. A console 12 may additionally be provided to allow a service technician to access configuration and/or maintenance functions of the system, preferably inside the housing to avoid unauthorized access to this maintenance interface.

In the further example according to embodiments of the present invention shown in FIG 13, the device 1 comprises an intermediate chamber 95, e.g., an intermediate space between two doors 9. An exterior door provides, from the outside, access to the intermediate chamber 95, and an interior door, in turn, provides access from the intermediate chamber to the primary interior space, where, e.g., the robotic system and the storage device are provided. Such an intermediate chamber can improve safety, by allowing e.g. a maintenance technician to first isolate himself (from the public, who may be present outside the facility) in this intermediate space before unlocking the inner door.

In/on the front surface 5 of the housing 2 (possibly e.g. integrated into the access port 3), a user interface module 10 is further provided. This may include, for example, a touch screen, one or more keys, a keypad, a selection module, and/or such components as are known in the prior art to provide a user interface.

In particular, the user interface module 10 may include a code reader 81 (see, e.g., FIG.1) for reading (without limitation thereto) an optical code, such as a barcode and/or QR code. Such a code (e.g., QR code) may, for example, be displayed on the screen of a portable telephone device (e.g., smartphone). In particularly advantageous embodiments, the device may be part of a system that also provides a computer program product that can be executed by the processor of such a portable telephone device (smartphone). In other words, an application on a smartphone may provide for management of data associated with its user, e.g., via an Internet platform, and may generate or retrieve a code (e.g., QR code) from a server to log such user into the device 1 However, the code reader is not (necessarily) limited to a device for reading optical codes. Other examples include receiving a wireless code, e.g., via near-field communication (e.g., from an RFID tag), Bluetooth or similar technology for wireless (radio frequency) transmission (i.e., reception) over relatively short distances (e.g., < 10 m, e.g., < 2 m, e.g., < 1m). The code may also include (or consist of) a biometric code. For example, the code reader may include a facial recognition module (e.g., comprising an optical and/or infrared camera and a suitable processing unit), a fingerprint reader, an iris scanner, and/or a similar biometric identification module. Other forms of a code that can be transmitted from a short distance (more specifically from a user in physical range of the device), and a corresponding code reader, are not excluded.

Optionally, a sign and/or screen (display) 50 may be provided in/on the front surface 5 to present messages and/or commercial communications, such as advertising, to users and/or passersby. The front surface may be significantly larger than the space required to accommodate the access port 3 and/or the user interface module 10, e.g., to obtain sufficient space inside the housing to provide the storage device 4 (for a sufficient number of objects). It is an additional advantage of embodiments of the present invention that this available area can be used usefully and/or cost-effectively. This is particularly advantageous in light of possible areas of application, such as airports and/or other (passenger) transportation hubs where a fairly large flow of passersby is not inconceivable. Inside the housing 2 is a storage device 4, adapted to store multiple objects. The device 1 also includes a plurality of storage containers 11, e.g., similar shaped storage containers (e.g., substantially similar in shape and size), wherein the device 1 is adapted to hold each storage container at a predetermined position within the storage device. For example, the (each) storage container may comprise a box, e.g., a box made of a metal or polymeric material (without limitation thereto), and the storage device may comprise one or more shelves (e.g., shelves, racks) provided within the housing so that the storage containers may be placed on these shelves. The storage container may comprise an opaque material (or materials), so that the contents of the container are not visible without opening the container (with e.g. advantages in terms of security in the event of burglary of the enclosure), or may comprise a transparent material (or materials), so that the contents of the container are visible without opening the container (with e.g. advantages in terms of processing, such as to facilitate automatic photographing of the contents). A combination of transparent and opaque materials is not excluded here, e.g. by providing a transparent window in an otherwise opaque shell. It should also be noted that a balance can be found between security (by using opaque materials) and convenience (e.g., when automatically photographing the contents). This can be done, for example, by providing only a small transparent window so that a camera can photograph the contents at a short distance (e.g., a 'pinhole' hole), but making it impossible, or very difficult, for the contents of multiple containers to be viewed simultaneously (e.g., by a malicious intruder). The terms 'window' and 'transparent material' may, of course, also refer to an opening, preferably insofar as this opening is not so large as to interfere with its primary function as a container for (an) object(s).

‘ Shelf' here refers, in general terms, to a typically (substantially) horizontal support on which containers can be placed so that they remain stable and rest on it. Other terms, such as 'shelf' or 'rack' can be considered equivalent, and this terminology thus implies no further restrictions, such as of shape or choice of material. In particular, the storage container can enclose a cavity in which one or more objects to be stored can be placed. This cavity may have a simple form, such as a beam-shaped or cube-shaped space (without limitation thereto). In particular, it is an advantage that the container does not have to be specifically adapted to an object or class of objects in particular (although, of course, size limitations apply, as implied by the space available in this cavity). Thus, the storage container may be relatively simple, and thus cost-effective in production and maintenance. The container may have a loose lid (i.e., removable in its entirety from the main body of the container), or a flap, hatch, or similar hinged lid (i.e., a lid that remains connected, e.g., in a point or along an axis, to the main body of the container when opening/closing in a tilting motion). The container may also, optionally, be provided with a locking device, which can be opened and closed by means of a container opener/closer integrated in the device 1 (e.g., in the access port). It is an advantage of using such, preferably uniform, storage containers that all kinds of objects of different materials and shapes can be accepted, transported and stored by the system. Thus, the robotic system 20 (as well as the access port and the storage device) need not be specifically adapted for grasping (resp. accepting, storing) specific objects. In addition, it is difficult to retrieve a specific object in a plurality of preferably uniformly designed containers by malicious persons when accessing the enclosure. As already mentioned, Any storage container may also be provided with a (simple) lock that can be opened quickly and easily by a part of the facility equipped for this purpose, e.g., a container opener/closer, but therefore not necessarily easily and quickly by a malicious person without the proper tools. The tool required to open a container, e.g., by a service technician, may, preferably, be specifically designed for this purpose, e.g., having an unusual shape and/or size of a coupling (i.e., not necessarily corresponding to a standard screwdriver, Allen wrench, or similar tool). The locking mechanism is not necessarily unique to each storage container, e.g., through a specific key and lock combination for each container. More specifically, the locking mechanism is preferably uniform/substantially identical across the plurality of containers.

Storing items to be stored in the storage containers further has the advantage that these items are shielded from dust and debris in the environment, and are more difficult to lose (e.g., due to rolling or sliding of a storage position, or due to errors in manipulation by a robotic system that expects a specific shape and/or size of the item).

For example, such shelves may be attached to the inner side of the front wall 5, or to the inner side (i.e., inside the enclosure) of a rear wall 14 located opposite the front wall 5. Of course, shelves may also be provided that are supported by a free-standing shelf inside the enclosure, or the shelves may be supported by the side wall(s) and/or ceiling of the enclosure, although these alternatives may be less practical and/or expedient for various reasons. Nevertheless, such alternatives may also possess advantages, and are therefore not necessarily excluded. For example, the storage device may, according to some embodiments, include a rack that can be slid out of the enclosure via wheels and/or a rail system, e.g., via a door in a side wall. This may, for example, simplify maintenance and/or allow the housing to be even more compact (with previously mentioned advantages).

FIG 9 shows an example of a storage device 4 provided (at least in part) on the inside of the front wall 5. In this example, the storage device includes at least one shelf 41 (preferably a plurality of shelves) on the inside of the front wall 5, with said shelf(s) 41 carrying the plurality of storage containers 11. With some obvious modifications, such a system can also be applied to another wall of the enclosure and/or on a shelf that is not necessarily affixed to a wall. Nevertheless, it should be noted that installing the storage device (e.g., comprising a plurality of shelves 41) on the same wall in which the access port(s) 3 are provided may offer additional advantages in terms of a compact and efficient implementation. For example, movements of the storage containers between the access port and the storage device can be carried out substantially in a single plane (XY), except for additional short translations in a third direction (e.g. substantially perpendicular to this plane) after to park a container in the storage device (resp. take it out again, and idem for the insertion into/removal from the access port). By applying the mechanical components to substantially a single wall (without any necessary restriction to this), e.g. alignment problems can also be avoided or limited. A combination of the use of one or more wall shelves and/or free-standing shelves is also not excluded. In this example, the supporting wall is provided with perforations (or a similar fastening system) to which supports for the shelves (or directly the shelves) can be attached, e.g. similar to tool walls as already known in the prior art. Designs are not necessarily limited to specifically such a shelf mounting system. These shelves can be directly attached to the inner wall of the enclosure, but also indirectly. For example, such a perforated plate (or similar fasteners) may be attached to the wall as a separate component, to in turn support the shelves.

FIG 4 also shows a work table 15, affixed to the inside of the back wall 14. This work table is not necessarily part of the storage device, and may, e.g., provide a maintenance technician with an area to maintain and/or examine the storage containers, and/or may house control electronics of the device, such as a computer, a router, and the like. Such a work table or additional rack may also be used to store spare parts. However, this does not preclude the use of the back wall to accommodate storage equipment (or a portion thereof).

In addition, in a device according to embodiments of the present invention, both a rear wall 14 and a front wall 5 may be provided with shelves (or similar components of a storage device 4). For example, the device may be designed as a freestanding module with both front and rear access ports 3, e.g., by combining and merging (after mirroring one thereof) two devices according to simpler embodiments of the present invention (with only one or more front access ports, as e.g., illustrated in the figures), with both walls further provided with their specifically assigned actuators and storage racks. Apart from this example, it will also be apparent that a system according to embodiments may provide an optional rotation or translation step, such that, storage containers may be stored both in a first part of the storage device at the front of the housing and in a second part of the storage device at the rear of the housing. In other words, the front access port(s) 3 can receive and/or dispense items that are moved to/from a front or rear storage location, depending on the situation.

For example, the access port 3 may include a dispensing/receiving system. The access port may include a hatch, slide 33, drawer, flap or similar mechanism to automatically close the port (e.g., via a controlled actuator) when not in use and open when the system is ready to receive or dispense an item. This has obvious advantages in terms of prevention of damage and/or misuse and/or in terms of maintenance and/or cleaning. The access port 3 may protrude at least in part (and at least in an operating phase) from the front surface 5 (or other surface of the housing in which/on which it is mounted) (outwardly; away from the internal space defined by the housing). In such a way, a table 32 or drawer can be formed on which/which the object can be presented to the user and/or on/in which the object can be deposited. An example of this is illustrated in FIG 5.

An illustrative design of an access port 3 (in the form of an object dispensing/receiving system) according to embodiments of the present invention is further explained with reference to FIG 6, FIG 7 and FIG 8.

The user interface module 10 may include a code reader 81, e.g., a barcode scanner or camera with an associated code recognition system. By providing such a code reader 81 above a protruding part of the access port, wherein said part substantially forms a table 32, a user can conveniently take a code to be scanned in hand, and e.g. in the process let the code and/or other objects temporarily rest on the table surface. Thus, this may be a particularly advantageous combination with providing access to a storage container through an opening in the container that is substantially in a horizontal plane, and where the container is slid out of the principle front surface 5 of the housing, as further explained. However, this does not preclude a code reader 81 from being otherwise affixed to a device according to embodiments of the present invention. For example, the code reader may be substantially affixed in (or parallel to) a surface (e.g., front surface 5) of the housing. For example, the code reader may be adapted to scan a code in a field of view around an (optical) axis perpendicular to the front surface 5.

In said table 33, a controlled (e.g., provided with an actuator) sliding door 33 (or a provision for a compartment that is otherwise automatically public and lockable) may be provided, which, in an open position, allows a user access to a storage container placed thereunder, and in a closed position protects the device from misuse, dust, and the like more.

The access port 3 is adapted to hold one of the storage containers (and thus any storage container, but e.g., only one or a few simultaneously) in a configuration such that it is accessible from the outside (relative to the housing) by a user. Thus, the access port may hold a storage container such that a user may place an object in the container and/or take an object out of the container.

Preferably, the access port is adapted to present the interior space of the storage container accessible to a user, but holding the storage container in such a way that the container itself cannot be removed from the facility. In other words, the access port 3 may be adapted (e.g., in shape and/or by appropriate guide devices) to prevent removal of the storage container from the facility 1 via the access port. This feature is not necessarily combined with features of the illustrative access port shown in FIG 6 to 8, and may be implemented in other ways by the person skilled in the art without exercising inventivity.

For example, the storage containers 11 may comprise a box-shaped casing with a separate lid that, when placed on the casing, closes it (completely), with or without a locking mechanism to secure the lid to the casing. For example, the storage container may include a beam-shaped casing with one open side, on which the lid fits. The storage container may be made of a polymer, a metal or metal alloy, and/or any other suitable material or combination of materials. The access port 3 may include a container opener 34 (mechanism to open/close the container) to open a storage container, e.g., by removing the lid from the storage container, before placing the storage container in a user-accessible position, e.g., under the hatch 33. The container opener 34 may be further adapted to place/fix the lid back on the container when the user has finished the desired manipulation of the container (contents). Thus, the lid may be placed (and/or locked) back on the container by the same mechanism 34, or the container and lid may be brought to a further mechanism (by analogy, a container closer) via separate paths to handle the closing of the container separately from the opening of the containers. In addition, the same lid that was previously removed need not necessarily be reinstalled on the same container, although this may be the case.

For example, the lid may be manipulated with an (electro)mechanical gripper, with a pneumatic and/or vacuum system, e.g., a suction cup, and/or a magnetic gripper, e.g., an electromagnet, or a combination thereof. A magnetic gripper may be advantageous, but may possibly have an undesirable effect on an object in the container, e.g., a magnetic data carrier. A vacuum system may have the advantage of efficient and reliable operation.

In the example shown here, below the opener 34 is a device for grasping the container while manipulating the lid, and/or for unlocking (and/or re-locking) a (e.g., internal to the container) latch of the container.

The device 1 may also include, optionally, a camera module 31 for photographically recording the contents of a storage container. This camera module may, for example, be integrated into (or affixed to) the access port 3, so that (e.g., under control of the control unit 55) a photograph is taken and stored after a user has finished manipulating the contents of a container through the access port, but e.g., before the container is closed again using the mechanism provided for this purpose (container opening/closing device 34). This photo can then remain stored locally, or be transmitted via a data communication module to an external system. Such a photograph may serve, for example, as a reference in case of alleged damage and/or theft incidents, and/or as a resource for the user to verify whether or not the facility has taken custody of a wanted item. Another possible use (whether or not in conjunction with these earlier applications) involves comparing a photo of the contents of a container taken just before it is presented to a user for deposit of previously deposited items with a photo of those contents taken earlier, e.g., just after the user deposited those items in the container. This allows for manual, or preferably automatic, detection of anomalies that may indicate a possible compromise of the integrity of the system.

The device 1 may also include a detector and/or sensor to determine a characteristic of the container that is indicative of the container contents, such as a load cell or similar sensor to determine the weight of the container (or of the container contents). However, other types of sensor and/or detector are not excluded, such as measurements based on reflection, scattering, and/or transmission of radiation (e.g., X-ray, optical, infrared, and/or other electromagnetic radiation), based on pressure, based on sound waves (e.g., characteristics of ultrasonic transmission and/or reflection), etc.

Such a detector and/or sensor may for example be integrated in (or affixed to) the access port 3, e.g. so that the control unit 55 may determine from a signal thereof whether a container is empty or not, e.g. after manipulation by a user. As already mentioned, the device can also comprise a camera module, so that such photographic information can also be used, either alone or in combination with (an)other measurement(s) using a detector(s)/sensor(s), to determine whether the container is empty or not.

The device 1 may also include a disinfection module, e.g., integrated into (or affixed to) the access port 3. This disinfection module may be adapted to disinfect the contents of the container before presentation to and/or after manipulation by the user. This ensures that an object can be automatically disinfected after receipt by the facility and/or before delivery to a user. The disinfection module may include, for example, a disinfectant atomizer and/or an ultraviolet light source, without limitation thereto. For example, the disinfection module may be positioned such that it can disinfect the container contents after a lid has been removed from the container by the container opener, and before and/or after manipulation of the container contents by the user. Referring to FIG 9 (for example), the device 1 includes a robotic system 20 for moving a storage container from the storage device 4 to the access port 3 so that a user can deposit items in the container or receive items therefrom, and for moving a storage container from the access port 3 to a free position in the storage device so that the item(s) in the container are safely stored (or so that the emptied container can be made available again for a subsequent user).

Preferably, this robotic system 20 comprises two complementary (i.e., in non-collinear/non-parallel directions) translation stages, e.g., a Cartesian XY translation system, so that it can move in an elevation and length direction over the available storage locations in the storage facility. This allows to obtain a very compact configuration, requiring only a thin housing (in the direction transverse to the front plane). As mentioned earlier, it can be advantageous to limit the depth of the housing, so that the device can be placed, for example, in a corridor without (excessively) obstructing the path for passers-by. The example robotic system 20 shown in FIG 9 thus allows a container 11 to be taken from a shelf 41 by moving an effector 42 to the appropriate location, via the appropriate movement in the longitudinal direction X and the elevational direction Y. There are many known solutions in the prior art to provide such XY translation steps, e.g., with a gantry robotic system as shown. In this example, two access ports 3 are provided, but this number may vary, e.g., from a single to a dozen (or even more). The robotic system 20 may be adapted to supply one or more access ports, and/or the enclosure may include multiple such robotic systems to supply multiple access ports.

This illustrative Cartesian XY translation system is further shown, in more detail, in FIG 12. The effector 42 (manipulator-robot system) is, at least in this example, mounted on/attached to a vertical elevator system 47, which allows for controlled movement of the effector to a desired vertical position (height). The vertical elevator system 47 moves, in use of the device, over (a) vertical guide rail(s) or frame 48, which in turn is slidably mounted on (a) horizontal guide rail(s) or frame 49. The vertical frame, in use of the device, is shifted in a controlled manner over the horizontal frame, e.g., by means of one or more actuators. A control unit 55 controls the actuators of this vertical and horizontal translation system, as well as the manipulation movement(s) of the effector 42.

FIG 10 and FIG 11 show an illustrative effector 42 according to embodiments of the present invention. For example, the effector may include a (third) actuator for moving, when the effector is brought to the appropriate coordinates using the robotic system 20, a gripper 43 in a third direction Z (complementary to the previously mentioned directions X and Y), for pushing a container from the effector at a storage location into the storage device 4, and/or for grasping a container already at such a storage location and pulling it into/onto the effector for further movement (e.g., further movement in the XY plane). In a similar manner, the effector may push a container held with the gripper 43 into the access port 3 (more specifically, an access port receiving mechanism), and/or take a container from an access port issuing mechanism.

An effector 42 according to embodiments of the present invention may comprise one or more such grippers 43, which are separately actuable and each of which may grasp and hold a separate container. In addition, an effector with (at least) provisions for simultaneously carrying/moving two separate containers can be particularly advantageous. This can significantly increase the processing speed of objects in the facility. Two or more containers can be brought together to, or picked up from, the same area of the storage facility, thus avoiding or reducing additional back and forth movement to and from the, possibly relatively distant, access point 3. In addition, or alternatively, the unit can also be controlled such that, e.g., an empty container is always taken when the robot picks up a specific container (to deliver a previously deposited item to a user). This allows an empty container to be immediately placed on the vacant position when the desired container is picked up by the effector. In other words, this can avoid duplicating the path to this position.

For example, the (or any) gripper 43 may include an (electro)mechanical gripper, a pneumatic and/or vacuum system, and/or a magnetic gripper. For example, the gripper may include a vacuum suction cup for suctioning to the container when a negative pressure is applied to the suction cup. Another possible example involves an electromagnet to hold e.g. a ferromagnetic sidewall of the container when the electromagnet is activated. Both examples (suction cup and electromagnet) possess the advantage of being maintenance friendly, e.g., by limiting mechanically moving parts, and being able to efficiently and very effectively switch between an active state, in which the container is firmly held, and a passive state, in which no (significant) force is exerted on the container anymore.

Referring now to FIG 9, the device may also include a queue 91 to temporarily park one or more storage containers 11 until the robotic system 20 is available to move the temporarily parked containers to their assigned location in the storage device. This allows, for example, to postpone the putting away of containers, after manipulation of their contents by a user through the access port, if there is another, priority, demand on the robotic system, e.g., to allow a new user to quickly retrieve his/her previously deposited items and/or to quickly deposit new items. Such a queue 91 may also provide other benefits, such as temporarily isolating containers for security reasons, or otherwise improving the flow rate and responsiveness of the system. For example, a distinction can be made between empty containers (after collection of items deposited therein) and containers in use. In this example, the queue may serve to keep a small stock of empty containers in the vicinity of the access port. The queue 91 may preferably be located at a short distance from the access port, in order to allow efficient transfer of containers from the access port to this queue. For example, the access port may be equipped with an ejection mechanism which, after being handled by the access port, places the storage container in the queue. For example, the container may be rotated out of the access port into the queue via a powered pivot arm. Another example is a system where containers are pushed into the queue via a sliding mechanism from the access port, so that any containers already present are automatically pushed further (by contacting and pressing on the new container). The robot system can for example be controlled via a FIFO (or LIFO) queuing principle, always taking the oldest (or newest) container from the queue to be stored when there is no more urgent request registered, e.g. a request for dispensing the contents of a container that is already in use. The robot system can also be controlled according to a more advanced optimization, e.g. a combination of two or more containers simultaneously taken from the queue for disposal in the storage facility based on the proximity of these containers in the storage facility, so that the total traveled path can be limited.

It should be noted that the robotic system is adapted to move one of the storage containers from the storage facility to the access port and to move a storage container from the access port back to a free storage location in the storage facility, which does not necessarily imply that the robotic system directly provides for these movements. For example, the robotic system may be assisted in movements from the storage facility to the access port and/or from the access port to the storage facility by the temporary queuing device 91.

As also shown in FIG 9, the queuing facility 91 may be (optionally) shared by multiple access ports. It may be particularly advantageous to provide two (or more) access ports on either side of the queue, so that it is easily accessible to containers ejected from any of the access ports.

The device includes a control unit 55 for receiving an instruction and/or code from a user from the user interface module 10 and then processing it. This control unit 55 is adapted to control the robotic system 20 to move a container from the storage device to the access port 3, to allow the user to access this container, and to store the container back in the storage device after manipulation by the user.

For example, the control unit may be adapted to identify a user by a code, such as a QR or bar code (without limitation thereto), and to perform a lookup in a table stored in a memory unit (e.g., integrated into the control unit, without limitation thereto). This table may include, for example, a storage location in the storage device 4 previously associated with the user. If such a storage location coupled to the user is found, the control unit can control the robotic system 20 to grasp the container at this storage device and bring it to the access port 3. The access port 3 may then, automatically upon insertion or presentation of the container in/to the access port and/or by control of the control unit 55, allow the user to access the contents of this container. When the user has finished removing the contents of the storage container, it can, by control of the control unit, be brought back to the previous, or another free, storage location in the storage facility by the robotic system.

When the control unit could not find a storage location linked to the user, it may identify an empty container (e.g., based on the same or a similar table), to offer it in a similar way through the access point, so that the user can deposit one or more objects in it. Upon completion of this operation, the control unit may specify a link between the user and the location in the storage facility where the used container was stored again in the said table, so that this container (with contents) may be offered again to the user when the user logs in again.

This of course does not preclude, in embodiments of the present invention, the device from being provided for simultaneously linking multiple individual containers/storage units to the same user, e.g., by allowing, through a user interface, the user to choose between a new deposit or a collection of the contents of a stored container (with possible choices for multiple container units in use).

Preferably, said table is stored in a local (and preferably also isolated) data source, thus avoiding access to this information via a data communication network with possible security risks. It goes without saying that the term "table" is only exemplary, and this information can be stored in any format that allows electronic/digital processing by the control unit.

Preferably, the device includes a data communication facility that allows the control unit to communicate with an external data source, e.g., via an Internet connection. This external data source can store data related to the users and the codes/instructions associated with these users that can be used for login via the user interface module of the device. This allows to manage the users through this external system, e.g., to create new users, to save and/or update administrative data of the users, to save and/or update accounting data related to the use of the retention service provided by the facility 1, etc.

The control unit 55 may optionally retain a local copy (cache) of such externally stored data (to the extent relevant, more specifically the data linking a login code/instruction to an authorized user), so that the device 1 may continue to operate when the data communication facility is unable to connect the control unit to the external data source.

It is also an advantage of combining a device according to embodiments with an external data source that both software and hardware requirements for the device 1 can be kept relatively simple. For example, if the device 1 provides a paying service, functionality related to payment (and/or billing) can be provided by the external data source. As a result, the establishment 1 does not need to provide payment capabilities locally, e.g., via a coin and/or bill receipt module, and/or a payment module for electronic card payment.

Claims

1. A device (1) for the accepting, storing and delivering items, the device comprising: a housing (2), an access port (3), in and/or at a front (5) of the housing, to accept one or more of the objects from and/or deliver them to a user,

A plurality of storage containers (11),

A storage device (4), inside the housing, to store the storage containers (11), a robotic system (20), in the housing, to move one of the storage containers from the storage device to the access port and to move a storage container from the access port back to a free storage location in the storage device, a user interface module (10) to receive an instruction and/or code from a user, and A control unit (55) to process the instruction and/or code and control the robot system, wherein the access port is adapted to hold the storage container, delivered by the robotic system, such that it can be accessed from outside the enclosure by a user to deposit an object therein and/or remove an object therefrom.

2. The device according to any of the preceding claims, wherein the access port (3) comprises a mechanism (33) to automatically close the access port when not in use and to open it when the device (1) is ready to receive and/or deliver one or more objects into and/or out of the storage container held by the access port.

3. The device according to any of the preceding claims, wherein the access port (3) juts or protrudes at least in part from said front of the housing (2) so that a table (32) or drawer is formed, and wherein, in use, the storage container is held in the access port so that the storage container is accessible through said table or drawer.

4. The device according to any one of the preceding claims, wherein the access port (3) comprises a hatch and/or door which, when opened automatically or manually, provides access to the storage container placed in the access port, and wherein the hatch and/or door is located in, or is substantially parallel to, the front face (5).

5. The device according to one of the preceding conclusions, wherein the access port (3) is adapted to, when making the storage container accessible to the user, hold this storage container in such a way that the storage container itself cannot be removed from the device (1).

6. The device according to one of the preceding claims, wherein the user interface module (10) comprises a code reader (81) to read a code provided by the user.

7. The arrangement according to one of the previous conclusions, where the storage direction (4) is applied to the inside of said front (5).

8. The arrangement according to one of the preceding claims, wherein the storage containers have a similar shape and dimensions.

9. The arrangement according to any of the preceding claims, wherein the plurality of storage containers comprises multiple groups of storage containers of different shapes and/or sizes.

10. The device according to one of the preceding claims, wherein the control unit (55) is adapted to store and/or follow up the assignment of a storage container and/or a user to a storage location in the storage device.

11. The device according to any of the preceding claims, wherein the housing (2) is equipped with one or more wheels (6) to facilitate moving the device, and/or wherein the housing is equipped with one or more height adjustable feet (8) to rest the device on, and/or wherein the housing is equipped with one or more lifting eyes (13) to lift the device and move it as an integral unit, and/or wherein the housing is equipped with an access door (9) to facilitate maintenance and/or repairs of the device.

12. The device according to any one of the preceding claims, wherein a screen (50) is provided in, on or at the housing (2) to present notices to the user and/or passers-by.

13. The device according to any of the preceding claims, wherein the storage container (11) comprises a box and a loose or hinged lid to close the box, and wherein the access port (3) comprises a container opener (34) to open the storage container, supplied by the robotic system, before making the storage container accessible to the user, and/or to close the storage container again after the user has finished depositing the object in and/or removing the object from the storage container.

14. The device according to any one of the preceding claims, wherein the storage container (11) comprises a latch to lock the lid on or onto the box when the box is closed.

15. The device according to any of the preceding claims, wherein the storage device (4) comprises a plurality of shelves (41) attached to an inner wall of the housing and/or supported by a rack structure within the housing.

16. The device according to one of the preceding claims, comprising a camera module (31) for photographically recording a content of the storage container, and/or a disinfection module (82) for disinfecting a content of the storage container.

17. The device according to one of the preceding claims, wherein the robotic system (20) is adapted to provide movements of an effector (42) in a plane (XY), wherein the effector comprises a gripper (43) to grasp at least one of the storage containers.

18. The device according to claim 17, wherein effector (42) comprises multiple grippers (43) to simultaneously hold and transport multiple storage containers with the effector (42).

19. The device according to claim 17 or 18, wherein the gripper (43) comprises a suction cup to hold the storage container when a vacuum is applied to the suction cup using a vacuum system.

20. The device according to one of the preceding claims, further comprising a queue (91) to temporarily park one or more storage containers (11), after removal from the access port (3), until the robotic system (20) is available to bring the temporarily parked storage containers to their place in the storage device.

1/6

FIG 2

INCORPORATED BY REFERENCE (RULE 20.6) 2/6

FIG 4

INCORPORATED BY REFERENCE (RULE 20.6) 3/6

INCORPORATED BY REFERENCE (RULE 20.6) 4/6

INCORPORATED BY REFERENCE (RULE 20.6) 5/6

INCORPORATED BY REFERENCE (RULE 20.6) 6/6

FIG 13

INCORPORATED BY REFERENCE (RULE 20.6)