WO2024110121A1

WO2024110121A1 - A unit for moving a plurality of goods holders and a method of moving the plurality of goods holders.

Info

Publication number: WO2024110121A1
Application number: PCT/EP2023/078777
Authority: WO
Inventors: Jørgen DJUVE HEGGEBØ; Juan Pablo RAMIREZ PEREZ; Erik STRØMME
Original assignee: Autostore Technology AS
Priority date: 2022-11-25
Filing date: 2023-10-17
Publication date: 2024-05-30
Also published as: NO20221274A1

Abstract

The invention relates to a unit (10) for moving a plurality of goods holders (106), the unit (10) having an open top (12) for inserting or extracting a goods holder (106) in a vertical direction. The goods holder (106) is extractable from the unit (10) via at least one lateral side of said unit (10), wherein the unit (10) comprises a barrier associated with said at least one lateral side. The barrier is movable between a first position allowing extraction of goods holder from the unit (10) via said lateral side and a second position preventing lateral extraction of goods holder from the unit (10) via said lateral side. The invention further relates to a method of moving a plurality of goods holders (106) out of a grid-based storage and retrieval system (1).

Description

A UNIT FOR MOVING A PLURALITY OF GOODS HOLDERS AND A METHOD OF MOVING THE PLURALITY OF GOODS HOLDERS

The present invention primarily relates to a unit for moving a plurality of goods holders out of a grid-based storage and retrieval system.

BACKGROUND AND PRIOR ART

Fig. 1 discloses a prior art automated storage and retrieval system 1 with a framework structure 100 and Figs. 2, 3a-3b disclose three different prior art container handling vehicles 201, 301, 401 suitable for operating on such a system 1.

The framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105 storage containers 106, also known as bins, are stacked one on top of one another to form container stacks 107. The members 102 may typically be made of metal, e.g. extruded aluminum profiles.

The framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of framework structure 100, on which rail system 108 a plurality of container handling vehicles 301, 401 may be operated to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 301, 401 in a first direction X across the top of the frame structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 301, 401 in a second direction Y which is perpendicular to the first direction X. Containers 106 stored in the columns 105 are accessed by the container handling vehicles 301, 401 through access openings 112 in the rail system 108. The container handling vehicles 301, 401 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.

The upright members 102 of the framework structure 100 may be used to guide the storage containers during raising of the containers out from and lowering of the containers into the columns 105. The stacks 107 of containers 106 are typically self- supportive.

Each prior art container handling vehicle 201, 301, 401 comprises a vehicle body 201a, 301a, 401a and first and second sets of wheels 201b, 201c, 301b, 301c, 401b, 401c which enable lateral movement of the container handling vehicles 201, 301, 401 in the A direction and in the Y direction, respectively. In Figs. 2-3b, two wheels in each set are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails of the first set 110 of rails, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent rails of the second set 111 of rails. At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be lifted and lowered, so that the first set of wheels 201b, 301b, 401b and/or the second set of wheels 201c, 301c, 401c can be engaged with the respective set of rails 110, 111 at any one time.

Each prior art container handling vehicle 201, 301, 401 also comprises a lifting device 304, 404 (visible in Figs. 3a-3b) having a lifting frame part 304a, 404a for vertical transportation of storage containers 106, e.g. raising a storage container 106 from, and lowering a storage container 106 into, a storage column 105. The lifting device 304, 404 comprises one or more gripping/ engaging devices which are adapted to engage a storage container 106, and which gripping/engaging devices can be lowered from the vehicle 201, 301, 401 so that the position of the gripping/engaging devices with respect to the vehicle 201, 301, 401 can be adjusted in a third direction Z (visible for instance in Fig. 1) which is orthogonal the first direction A and the second direction Y. Parts of the gripping device of the container handling vehicles 301, 401 are shown in Figs. 3a and 3b indicated with reference number. The gripping device of the container handling device 201 is located within the vehicle body 201a in Fig. 2.

Conventionally, and also for the purpose of this application, Z=1 identifies the uppermost layer available for storage containers below the rails 110, 111, i.e. the layer immediately below the rail system 108, Z=2 the second layer below the rail system 108, Z=3 the third layer etc. In the exemplary prior art disclosed in Fig. 1, Z=8 identifies the lowermost, bottom layer of storage containers. Similarly, X=l ... n and Y=l ... n identifies the position of each storage column 105 in the horizontal plane. Consequently, as an example, and using the Cartesian coordinate system A, F, Z indicated in Fig. 1, the storage container identified as 106’ in Fig. 1 can be said to occupy storage position X=18, Y=l, Z=6. The container handling vehicles 201, 301, 401 can be said to travel in layer Z=0, and each storage column 105 can be identified by its A and Y coordinates. Thus, the storage containers shown in Fig. 1 extending above the rail system 108 are also said to be arranged in layer Z=0.

The storage volume of the framework structure 100 has often been referred to as a grid 104, where the possible storage positions within this grid are referred to as storage cells. Each storage column may be identified by a position in an X- and Y- direction, while each storage cell may be identified by a container number in the X-, Y- and Z-direction. Each prior art container handling vehicle 201, 301, 401 comprises a storage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 across the rail system 108. The storage space may comprise a cavity arranged internally within the vehicle body 201a as shown in Figs. 2 and 3b and as described in e.g. WO2015/193278A1 and WO2019/206487A1, the contents of which are incorporated herein by reference.

Fig. 3a shows an alternative configuration of a container handling vehicle 301 with a cantilever construction. Such a vehicle is described in detail in e.g. NO317366, the contents of which are also incorporated herein by reference.

The cavity container handling vehicles 201 shown in Fig. 2 may have a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a storage column 105, e.g. as is described in WO2015/193278A1, the contents of which are incorporated herein by reference. The term ‘lateral’ used herein may mean ‘horizontal’.

Alternatively, the cavity container handling vehicles 401 may have a footprint which is larger than the lateral area defined by a storage column 105 as shown in Fig. 3b and as disclosed in W02014/090684A1 or WO2019/206487A1.

The rail system 108 typically comprises rails with grooves in which the wheels of the vehicles run. Alternatively, the rails may comprise upwardly protruding elements, where the wheels of the vehicles comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively known as tracks. Each rail may comprise one track, or each rail may comprise two parallel tracks; in other rail systems 108, each rail in one direction may comprise one track and each rail in the other perpendicular direction may comprise two tracks. The rail system may also comprise a double track rail in one of the X or Y direction and a single track rail in the other of the X or Y direction. A double track rail may comprise two rail members, each with a track, which are fastened together.

WO2018/146304A1, the contents of which are incorporated herein by reference, illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both A and Y directions.

In the framework structure 100, a majority of the columns 105 are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In Fig. 1, columns 119 and 120 are such special -purpose columns used by the container handling vehicles 201, 301, 401 to drop off and/or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside of the framework structure 100 or transferred out of or into the framework structure 100. Within the art, such a location is normally referred to as a ‘port’ and the column in which the port is located may be referred to as a ‘port column’ 119,120. The transportation to the access station may be in any direction, that is horizontal, tilted and/or vertical. For example, the storage containers 106 may be placed in a random or a dedicated column 105 within the framework structure 100, then picked up by any container handling vehicle and transported to a port column 119, 120 for further transportation to an access station. The transportation from the port to the access station may require movement along various different directions, by means such as delivery vehicles, trolleys or other transportation lines. Note that the term ‘tilted’ means transportation of storage containers 106 having a general transportation orientation somewhere between horizontal and vertical.

In Fig. 1, the first port column 119 may for example be a dedicated drop-off port column where the container handling vehicles 201, 301 can drop off storage containers 106 to be transported to an access or a transfer station, and the second port column 120 may be a dedicated pick-up port column where the container handling vehicles 201, 301, 401 can pick up storage containers 106 that have been transported from an access or a transfer station.

The access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers 106. In a picking or a stocking station, the storage containers 106 are normally not removed from the automated storage and retrieval system 1, but are, once accessed, returned into the framework structure 100. A port can also be used for transferring storage containers to another storage facility (e.g. to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.

A conveyor system comprising conveyors is normally employed to transport the storage containers between the port columns 119, 120 and the access station.

If the port columns 119, 120 and the access station are located at different heights, the conveyor system may comprise a lift device with a vertical component for transporting the storage containers 106 vertically between the port column 119, 120 and the access station.

The conveyor system may be arranged to transfer storage containers 106 between different framework structures, e.g. as is described in WO2014/075937A1, the contents of which are incorporated herein by reference.

When a storage container 106 stored in one of the columns 105 disclosed in Fig. 1 is to be accessed, one of the container handling vehicles 201, 301, 401 is instructed to retrieve the target storage container 106 from its position and transport it to the drop-off port column 119. This operation involves moving the container handling vehicle 201, 301 to a location above the storage column 105 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the container handling vehicle’s 201, 301, 401 lifting device (not shown), and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within a stack 107, i.e. with one or a plurality of other storage containers 106 positioned above the target storage container 106, the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container 106 from the storage column 105. This step, which is sometimes referred to as “digging” within the art, may be performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port column 119, or with one or a plurality of other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 specifically dedicated to the task of temporarily removing storage containers 106 from a storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers 106 can be repositioned into the original storage column 105. However, the removed storage containers 106 may alternatively be relocated to other storage columns 105.

When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201, 301, 401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a location above the storage column 105 where it is to be stored. After storage containers 106 positioned at or above the target position within the stack 107 have been removed, the container handling vehicle 201, 301, 401 positions the storage container 106 at the desired position. The removed storage containers 106 may then be lowered back into the storage column 105 or relocated to other storage columns 105.

For monitoring and controlling the automated storage and retrieval system 1, e.g. monitoring and controlling the location of respective storage containers 106 within the framework structure 100, the content of each storage container 106 and the movement of the container handling vehicles 201, 301, 401 so that a desired storage container 106 can be delivered to the desired location at the desired time without the container handling vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 comprises a control system 500 (shown in Fig. 1) which typically is computerized and which typically comprises a database for keeping track of the storage containers 106.

WO2016/166294A1 discloses an object handling system having certain similarities with the system shown in Fig. 1. The system comprises a workspace with several vertically extending storage spaces, each comprising a plurality of stacked storage containers. The system further comprises wheeled robotic load handling devices operating on rails arranged in a grid patern above the work space. The robotic devices can move in a horizontal direction and, when suitably positioned relative a selected storage space, i.e. immediately above a stack of containers, use lifting means to engage and lift a top container from the stack such that the engaged container is removed from the work space. A corresponding operation is performed in the opposite scenario, i.e. when a storage container needs to be introduced into a selected storage space of the work space.

In one embodiment of WO2016/166294A1, a number of storage containers exits the storage space(s) for subsequent transport to an alternative location. To that purpose, a wheeled structure shown in Fig. 5a of WO2016/166294A1 that transports storage containers between the storage space(s) and the transport vehicle is employed. In this context, one major challenge associated with the system of WO2016/166294A1 is to ensure efficient and safe flow of storage containers. More specifically, it is necessary to provide a solution that allows precise and secure loading/unloading of said wheeled structure while preserving structural integrity of the storage containers.

In view of the above it is desirable to provide a solution that solves or at least mitigates one or more of the aforementioned problems belonging to the prior art.

SUMMARY OF THE INVENTION

The present invention is set forth and characterized in the independent claims, while the dependent claims describe other characteristics of the invention.

First aspect of the invention relates to a unit for moving a plurality of goods holders in accordance with claim 1.

On the general level, invention in accordance with the above enables automatic and accurate loading of the unit with goods holders (by means of a remotely operated vehicle). The loading typically takes place in a micro fulfilment center (MFC). Here, an MFC is a small-scale warehouse facility placed close to the consumer to improve delivery times.

In addition, it becomes possible to manually unload the goods holders off the unit in a safe manner by extracting the goods holders sideways. This confers greater flexibility as the goods holder extraction process may be performed by the operator/ end-user without use of a remotely operated vehicle.

This is particularly true with respect to the embodiments where the goods holders are vertically spaced allowing the operator/end-user to access individual goods holders regardless of their position within the unit. Obviously, it is still possible to unload the goods holders off the suitably positioned unit by means of a remotely operated vehicle.

Still in the context of allowing individual goods holders access regardless of their position, the remotely operated vehicle may collect all the goods holders needed for an order and drop them into a given unit without any particular restriction on the order. This could improve efficiency, especially when it comes to grouping of goods holders for an order, as the number of scheduled movements taken by the remotely operated vehicle should be significantly reduced. In addition to above-discussed benefits, the unit holding the goods holders hereby creates a type of temporary buffer in the system. Furthermore, it becomes possible to effortlessly put back goods holders into the unit in a desired order to facilitate further handling of these by the remotely operated vehicle once said goods holders reenter the storage and retrieval system.

With reference to the embodiment of claim 4, the goods holders are firmly secured during unit transport since the unit is sized so that a goods holder in an upright configuration fits snugly in the space delimited by unit walls and the barrier in second position (preventing extraction of goods holder from the unit).

Another aspect of the invention relates to a method of moving a plurality of goods holders out of a grid-based storage and retrieval system in accordance with claim 29. Yet another aspect of the invention relates to a method of moving a plurality of goods holders into a grid-based storage and retrieval system in accordance with claim 34. For the sake of brevity, advantages discussed above in connection with the unit for moving a plurality of goods holders, may even be associated with the corresponding methods and are not further discussed.

In one aspect, the unit for moving a plurality of goods holders of the present invention is for use in the context of the framework structure 100 comprising upright members 102.

In another aspect, the unit for moving a plurality of goods holders of the present invention is for use in the context of a storage volume comprising storage columns

105 for storing stacks of goods holders 106. These storage columns 105 are arranged in rows between the upright members 102.

In another aspect, the unit for moving a plurality of goods holders 106 of the present invention is for use in the context of a rail system 108 arranged across the top of the framework structure 100. Here, a plurality of remotely operated vehicles travels on the rail system 108 and raises goods holders 106 from, and lowers goods holders 106 into, the storage columns 105, and also to transport the goods holders

106 above the storage columns 105. During this transport, the remotely operated vehicles move laterally, i.e. in a plane which is parallel to a horizontal plane. In one aspect, the unit for moving a plurality of goods holders of the present invention is for use in the context of a SDG-based rail system 108. Here, SDG stands for Single/Double Grid. This design provides a single rail track along one axis and a double rail track along the other axis. Utilizing a single rail in one direction requires the meeting robots to have a cell between them.

In one aspect, the unit for moving a plurality of goods holders of the present invention is for use in the context of a DDG-based rail system 108. Here, DDG stands for Double/Double Grid. This design provides a double rail track in all directions allowing robots to pass each other in all directions.

For the purposes of this application, the term “container handling vehicle” used in “Background and Prior Arf ’-section of the application and the term “remotely operated vehicle” used in the rest of the application text are synonymous and define an autonomous wheeled vehicle operating on a rail system arranged across the top of the framework structure being part of an automated storage and retrieval system.

Analogously, the terms “storage container” and “storage bin” used in “Background and Prior Art”-section of the application and the term “goods holder” used in the rest of the application text are synonymous and define a vessel for storing items. In a related context, the goods holder of the present application can be any one of a bin, a tote, a pallet, a tray or similar. Different types of goods holders may be used in the same automated storage and retrieval system.

Moreover, the term “lifting frame part” used in “Background and Prior Art”-section of the application and the term “gripper assembly” used in in the rest of the application text both define a device for vertical transportation of storage containers, e.g. raising a storage container from, and lowering a storage container into, a storage column.

The relative terms “upper”, “lower”, “below”, “above”, “higher” etc. shall be understood in their normal sense and as seen in a Cartesian coordinate system. When mentioned in relation to a rail system, “upper” or “above” shall be understood as a position close to the surface rail system (relative to another component), contrary to the terms “lower” or “below” which shall be understood as a position further away from the rail system (relative another component).

BRIEF DESCRIPTION OF THE DRAWINGS

Following drawings are appended to facilitate the understanding of the invention. The drawings show embodiments of the invention, which will now be described by way of example only, where: Fig. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.

Fig. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein.

Fig. 3a is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.

Fig. 3b is a perspective view, seen from below, of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

Fig. 4 shows a grid-based storage and retrieval system according to an embodiment of the present invention. The shown system is a micro fulfilment center (MFC).

Fig. 5 is a perspective view of a unit for moving a plurality of goods holders in accordance with one embodiment of the present invention, said unit also being featured in Fig. 4.

Figs. 6a-6d show a unit for moving a plurality of goods holders, said unit being shown with a unit for controlling a position of the foldable flaps in accordance with one embodiment of the present invention.

Figs. 6e-6f show a unit for moving a plurality of goods holders, said unit being shown with a unit for controlling a position of the foldable flaps in accordance with another embodiment of the present invention.

Figs. 7a-7c show a unit for moving a plurality of goods holders in conjunction with means for aligning said unit in accordance with one embodiment of the present invention.

Fig. 8 is a perspective view showing a unit for moving a plurality of goods holders in accordance with one embodiment of the present invention where goods holder supports are deployed.

Fig. 9 shows a unit of Fig. 8 where a goods holder rests on deployed goods holder supports shown in Fig. 8.

Fig. 10 is a perspective view showing a unit for moving a plurality of goods holders in accordance with another embodiment of the present invention where the unit is completely filled with goods holders.

Fig. 11 shows a unit of Fig. 10 where uppermost goods holder is being extracted from the unit.

Fig. 12 is a perspective view showing a unit for moving a plurality of goods holders in accordance with yet another embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

In the following, embodiments of the invention will be discussed in more detail, by way of example only and with reference to the appended drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject-matter depicted in the drawings.

The framework structure 100 of the automated storage and retrieval system 1 is constructed in accordance with the prior art framework structure 100 described above in connection with Figs. l-3b, i.e. a number of upright members 102, wherein the framework structure 100 also comprises a first, upper rail system 108 in the X direction and Y direction.

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

The framework structure 100 can be of any size. In particular, it is understood that the framework structure can be considerably wider and/or longer and/or deeper than disclosed in Fig. 1. For example, the framework structure 100 may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.

Various embodiments of the present invention will now be discussed in more detail with reference to Figs. 4-12.

Fig. 4 shows a grid-based storage and retrieval system 1 according to an embodiment of the present invention. The grid-based storage and retrieval system 1 comprises a framework structure comprising vertically extending members 102 and a grid 108 of horizontal rails provided at upper ends of said vertical members 102. The framework structure defines a storage volume for storing goods holders 106. A remotely operated vehicle 506 for handling goods holders 106 operates on top of the grid 108. The shown system 1 is a micro fulfilment center (MFC). Here, an MFC is a small-scale warehouse facility placed close to the consumer to improve delivery times. As seen, goods holders 106 are inserted/extracted in/from a unit 10 for moving a plurality of goods holders by means of said remotely operated vehicle 506. One unit 10 is positioned in a booth 525 structurally integrated in the framework structure and the goods holders 106 are inserted in the unit 10 via an access opening 112 in the rail 108. A further unit 10, positioned at a distance from the framework structure, is also shown. These units 10 will be discussed in greater detail in conjunction with Fig. 5 and Figs. 8-11 and the booth 525 will be further discussed in conjunction with Figs. 7a-7c. Fig. 5 is a perspective view of a unit for moving a plurality of goods holders shown in Fig. 4. The unit 10 has an open top 12 for inserting or extracting a goods holder 106 in a vertical direction (as disclosed in connection with Fig. 4). Furthermore, the unit 10 is arranged to allow a goods holder 106 to be extracted from the unit via a lateral side 508 of said unit 10. To that purpose the unit 10 comprises a barrier 512 associated with said lateral side. Said barrier 512 is movable between a first position allowing extraction of a goods holder from the unit 10 via said lateral side and a second position (shown in Fig. 5) preventing lateral extraction of a goods holder from the unit 10 via said lateral side 508. Two positions of the barrier 512 are shown in Figs. 8-11.

Advantageously, the unit in accordance with the above enables automatic and accurate loading of the unit with goods holders (by means of a remotely operated vehicle). In addition, it becomes possible to manually unload the goods holders off the unit in a safe manner by extracting the goods holders sideways. This confers greater flexibility as the goods holder extraction process may be performed by the operator/ end-user without use of a remotely operated vehicle.

Still with reference to Fig. 5, the unit 10 is for moving a single column of goods holders 106 and the open top 12 of the unit 10 is sized so as to allow insertion or extraction of a single goods holder 106 in an upright configuration.

A goods holder in the upright configuration fits snugly in a space limited by unit walls and the barrier in the second position (preventing extraction of goods holder from the unit). In consequence, the goods holder is firmly secured during unit transport. The goods holder of the tote type is also conceivable, said tote having slightly smaller dimensions than the goods holder.

Still with reference to Fig. 5, in the shown embodiment the unit 10 is in a shape of a rectangular parallelepiped and said barrier is arranged at a long side of said unit 10. In a related, alternative or complementary embodiment (not shown), the barrier may be arranged at a short side of said unit 10.

Figs. 6a-6d show a unit 10 for moving a plurality of goods holders 106, said unit being shown with a unit 514 for controlling a position of the foldable flaps in accordance with one embodiment of the present invention. More specifically, the unit for controlling a position of the foldable flaps 518 comprises a manual flap depl oyer in the shape of a lever 516, wherein deployment of said lever 516 results in pivoting of the flap.

In Figs. 6a-6b, uppermost flaps 518 are mutually parallel and uppermost levers 516 are also mutually parallel, whereas lowermost flaps (not visible) and lowermost levers are in a plane. In consequence, it is possible to position a goods holder (by means of a remotely operated vehicle) on the lowermost flaps. In Figs. 6c-6d, both uppermost and lowermost flaps are in a plane and uppermost and lowermost levers are also in a plane. In consequence, it is possible to position a goods holder (by means of a remotely operated vehicle) only on the uppermost flaps. In Figs. 6a-6d, the lever is manually deployed, typically by an operator.

Figs. 6e-6f show a unit 10 for moving a plurality of goods holders, said unit being shown with a unit 514 for controlling a position of the foldable flaps 518 in accordance with another embodiment of the present invention. A barrier 512 is also shown. More specifically, the unit for controlling a position of the foldable flaps is automatized and shown in engagement with a rectangular frame 520 affixed to a part of the framework structure (typically a booth shown in Fig. 4; not shown in Figs. 6e-6f). Said unit 514 for controlling a position of the foldable flaps is arranged at the rectangular frame. In this embodiment, said unit for controlling a position of the foldable flaps comprises automatized flap deployers, the deployment of these resulting in pivoting of the flaps. More particularly and with reference to Fig. 6f, side bars 520 of the unit 10, to which bars the flaps are rigidly connected, are brought in engagement with flap deployers at the rectangular frame. The flap deployers are automatically turned, typically once a goods holder passes the corresponding flap pair in upward position, resulting in rotation of the side bars and pivoting of the flaps such that the flaps are in a plane and the 10 unit may receive another goods holder.

Figs. 7a-7c show a unit 10 for moving a plurality of goods holders in conjunction with means 528 for aligning said unit in accordance with one embodiment of the present invention.

More specifically, Fig. 7a is a perspective view of a booth (525; also shown in Fig. 4) for accommodating the unit and the unit 10 itself. With reference to Fig. 4, the booth is accessible to a lifting device of the remotely operated vehicle.

The booth 525 shown in Fig. 7a comprises a lateral enclosure 526 comprising at least three sections 526a-526c arranged so that the lateral enclosure is U-shaped. As seen in Fig. 7a, the lateral enclosure comprises a first means 528 for aligning in the shape of two sets of rollers arranged in opposite sections of the lateral enclosure. The lateral enclosure also comprises a second means 530 for aligning (also visible in Fig. 7c) in the shape of two protruding fingers arranged in a remaining section of the lateral enclosure, i.e. the one lacking the first means for aligning. As shown in Fig. 7b, the unit 10 for moving a plurality of goods holders comprises two cavities for receiving the protruding fingers. These cavities are also part of the second means 530 for aligning. At a tip of each protruding finger there is a first part of means (not shown) for locking the unit 10 with respect to the booth 525. This first part is a tap arranged at a right angle with respect to the protruding finger. The taps are for interaction with a second part of said means - vertically extending recesses (not shown), one recess being arranged in each cavity.

Fig. 8 is a perspective view showing a wheeled unit 10 for moving a plurality of goods holders in accordance with another embodiment of the present invention where several goods holder supports are deployed. The goods holders 106 in the unit 10 are vertically spaced and the unit 10 comprises a plurality of vertically spaced goods holder supports. Analogously with the unit shown in Fig. 5, the goods holder support comprises at least one pair of foldable flaps 518 arranged at opposite walls of the unit 10. A unique feature of the unit shown in Fig. 8 is that each foldable flap is structurally integrated in a wall of the unit 10. Fig. 9 shows a unit of Fig. 8 where a goods holder rests on deployed goods holder support shown in Fig. 8. The flaps 518 could be manually deployed.

Still with reference to Fig. 8, a barrier 512 is in a first position allowing lateral extraction of a goods holder from the unit and extends between a bottom and a top of the unit 10 and comprises two barrier parts, each pivotable about a vertical axis VAI, VA2, said vertical axes VAI, VA2 being parallel and each vertical axis VAI, VA2 coinciding with an edge of the unit 10. In one embodiment, the barrier comprises goods holder guide means arranged on a face of the barrier facing interior of the unit 10, when said barrier is in the second position. In Fig. 9, the barrier 512 is in a second position preventing lateral extraction of a goods holder from the unit. In alternative embodiments (not shown), the barrier is of a side coiling type, or a sliding door.

With reference to Figs. 8-9, the shown unit enables automatic and accurate loading of the unit with goods holders (by means of a remotely operated vehicle). In addition, it becomes possible to manually unload the goods holders off the unit in a safe manner by extracting the goods holders sideways. This confers greater flexibility as the goods holder extraction process may be performed by the operator/ end-user without use of a remotely operated vehicle. Moreover, the operator/ end-user may access individual goods holders of the shown unit regardless of their position within said unit.

Still in the context of allowing individual goods holders access regardless of their position, the remotely operated vehicle may collect all the goods holders needed for an order and drop them into the shown unit without any particular restriction on the order. This improves overall process efficiency as the number of scheduled movements taken by the remotely operated vehicle is significantly reduced. In addition, the unit holding the goods holders hereby becomes a type of a temporary buffer in the system. Furthermore, it becomes possible to relatively effortlessly put back goods holders into the unit in a desired order to facilitate further handling of these by the remotely operated vehicle once said goods holders reenter the storage and retrieval system.

Fig. 10 is a perspective view showing a unit 10 for moving a plurality of goods holders 106 in accordance with another embodiment of the present invention where the unit 10 is completely filled with goods holders. In this embodiment, the unit 10 lacks goods holder supports and the goods holders 106 are in a stack arrangement. Fig. 11 shows a unit of Fig. 10 where uppermost goods holder is being extracted from the unit.

Fig. 12 is a perspective view showing a unit 10 for moving a plurality of goods holders in accordance with yet another embodiment of the present invention. The unit 10 is shown prior to a wheeled base 534 being firmly connected with the unit 10. The shown wheeled base 534 comprises drive means (not visible) configured to drive the unit 10. The drive means may comprise a first set of wheels and a second set of wheels which enable movement of the unit 10. The drive means may further comprise one or several motors configured to provide torque to at least one wheel to cause movement of the unit 10. The motor may be engaged with one or several wheels by means of belts(s), chain(s) and/or shaft(s). The drive means may comprise a power source configured to operate the one or several motors. The power source is typically a battery. Alternatively, power may be provided to the drive means from an external source. The wheeled base 534 may be provided with sensors, cameras and/or radar units and suitable control systems in order to increase the unit’s degree of autonomy and reduce the need for human input when the unit 10 is being towed and in particular when said unit is being received in the booth shown in Fig. 4.

In the preceding description, various aspects of the unit for moving a plurality of goods holders according to the invention have been described with reference to the illustrative embodiments. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiment, as well as other embodiments of the system, which are apparent to persons skilled in the art to which the disclosed subject matter pertains, are deemed to lie within the scope of the present invention. LIST OF REFERENCE NUMBERS

Storage and retrieval system

Unit for moving a plurality of goods holders

Unit top 2 Upright members of framework structure 4 Storage grid 5 Storage column 6 Storage container; Goods holder 6’ Particular position of storage container 7 Stack of storage containers 8 Rail system 0 Parallel rails in first direction (X) 1 Parallel rails in second direction (Y) 2 Access opening 9 First port column 1 Container handling vehicle belonging to prior art 1a Vehicle body of the container handling vehicle 201 1b Drive means / wheel arrangement, first direction X) 1c Drive means / wheel arrangement, second direction (F) 1 Cantilever-based container handling vehicle belonging to prior art1a Vehicle body of the container handling vehicle 301 1b Drive means in first direction (X) 1c Drive means in second direction (F) 1 Container handling vehicle belonging to prior art 1a Vehicle body of the container handling vehicle 401 1b Drive means in first direction (X) 1c Drive means in second direction (F) 0 Control system 6 Remotely operated vehicle 8 Lateral side 2 Barrier 4 Unit for controlling a position of the foldable flaps 6 Lever 8 Flap 0 Frame 2 Means for aligning 5 Booth 6 Enclosure 6a - 526c Sections of enclosure 528 First means for aligning

530 Second means for aligning

534 Wheeled base

VAI, VA2 Vertical axes

X First direction

Y Second direction

Z Third direction

Claims

1. A unit (10) for moving a plurality of goods holders (106), the unit (10) having an open top (12) for inserting or extracting a goods holder (106) in a vertical direction, wherein the unit is arranged to allow a goods holder (106) to be extracted from the unit (10) via at least one lateral side of said unit (10), wherein the unit (10) comprises a barrier (512) associated with said at least one lateral side (508), wherein said barrier (512) is movable between a first position allowing extraction of a goods holder from the unit (10) via said lateral side (508) and a second position preventing lateral extraction of a goods holder from the unit (10) via said lateral side (508).

2. A unit (10) in accordance with claim 1, wherein the open top (12) of the unit (10) is sized so as to allow insertion or extraction of one goods holder (106) in an upright configuration.

3. A unit (10) in accordance with any of the preceding claims, wherein the unit (10) is for moving a column of goods holders (106).

4. A unit (10) in accordance with claim 3, wherein the unit (10) is sized so that, when the goods holder (106) is in an upright configuration, said goods holder (106) fits snugly in a space limited by unit walls and the barrier (512) in the second position.

5. A unit (10) in accordance with any of the preceding claims, wherein the barrier (512) extends between a bottom and a top of the unit (10).

6. A unit (10) in accordance with any of the preceding claims, wherein the barrier (512) is pivotable about a vertical axis (VA) coinciding with an edge of the unit (10).

7. A unit (10) in accordance with claim 6, wherein the barrier (512) comprises two barrier parts, each pivotable about a vertical axis (VAI, VA2).

8. A unit (10) in accordance with any of the preceding claims, wherein the barrier (512) comprises goods holder guide means arranged on a face of the barrier facing interior of the unit (10), when said barrier (512) is in the second position.

9. A unit (10) in accordance with any of the claims 1-5, wherein the barrier (512) is of a side coiling type.

10. A unit (10) in accordance with any of the claims 1-5, wherein the barrier (512) is a sliding door. 11. A unit (10) in accordance with any of the preceding claims, wherein said unit (10) is in a shape of a rectangular parallelepiped and said barrier (512) is arranged at a long side of said unit (10).

12. A unit (10) in accordance with any of the preceding claims, wherein said unit (10) is in a shape of rectangular parallelepiped and said barrier (512) is arranged at a short side of said unit (10).

13. A unit (10) in accordance with any of the preceding claims, wherein the goods holders (106) in the unit (10) are vertically spaced.

14. A unit (10) in accordance with claim 13, wherein the unit (10) comprises a plurality of vertically spaced goods holder supports.

15. A unit (10) in accordance with claim 14, wherein the goods holder support comprises at least one pair of foldable flaps (518) arranged at opposite walls of the unit (10).

16. A unit (10) in accordance with claim 15, wherein each foldable flap (518) is structurally integrated in a wall of the unit (10).

17. A unit (10) in accordance with claim 15 or claim 16, wherein the unit (10) comprises a unit (514) for controlling a position of the foldable flaps (518).

18. A unit (10) in accordance with claim 17, wherein the unit (514) for controlling a position of the foldable flaps (518) comprises a manual flap deployer in the shape of a lever (516), wherein deployment of said lever (516) results in pivoting of the flap (518).

19. A unit (10) in accordance with any of the preceding claims, wherein the goods holders (106) are inserted in the unit (10) by means of a remotely operated vehicle (506).

20. A unit (10) in accordance with claim 19, wherein the goods holders (106) are inserted in the unit (10) via an access opening (112).

21. A grid-based storage and retrieval system (1), said grid-based storage and retrieval system (1) comprising a framework structure (100) comprising vertically extending members (102) and a grid of horizontal rails (110, 111) provided at upper ends of said vertical members (102), wherein remotely operated vehicles (506) for handling goods holders (106) operate on top of said grid, the framework structure (100) defining a storage volume for storing goods holders (106), the grid-based storage and retrieval system (1) comprising a unit (10) in accordance with any of the claims 1-19. 22. A grid-based storage and retrieval system (1) in accordance with claim 21, said system (1) comprising a booth (525) for accommodating the unit (10), said booth

(525) being accessible to a lifting device of the remotely operated vehicle (506), said booth (525) comprising a lateral enclosure (526) comprising at least three sections (526a - 526c) arranged so that the lateral enclosure is U-shaped.

23. A grid-based storage and retrieval system (1) in accordance with claim 22, wherein the lateral enclosure (526) comprises a first means (528) for aligning in the shape of two sets of rollers arranged in opposite sections of the lateral enclosure

(526).

24. A grid-based storage and retrieval system (1) in accordance with claim 23, wherein the lateral enclosure (526) comprises a second means (530) for aligning in the shape of at least one protruding finger arranged in a section of the lateral enclosure (526) lacking the first means (528) for aligning.

25. A grid-based storage and retrieval system (1) in accordance with claim 24, wherein the unit (10) for moving a plurality of goods holders (106) comprises a cavity for receiving the protruding finger.

26. A grid-based storage and retrieval system (1) in accordance with claim 25, wherein means for locking the unit (10) with respect to the booth (525) is arranged at a tip of the protruding finger, said means for locking being for interaction with a recess arranged in the cavity.

27. A grid-based storage and retrieval system (1) in accordance with any of the claims 21-26, wherein the system (1) comprises a rectangular frame (520) affixed to the booth (525), wherein a unit (514) for controlling a position of the foldable flaps (518) is arranged at the rectangular frame (520).

28. A grid-based storage and retrieval system (1) in accordance with claim 27, wherein said unit (514) for controlling a position of the foldable flaps (518) comprises an automatized flap deployer in the shape of a lever (516), wherein deployment of said lever (516) results in pivoting of the flap (518).

29. A method of moving a plurality of goods holders (106) out of a grid-based storage and retrieval system (1) by means of a unit (10) having an open top (12) for inserting or extracting a goods holder (106), said unit (10) being accommodated and locked in a booth of the grid-based storage and retrieval system (1), the method comprising:

- vertically inserting the goods holder (106) into the unit (10), - unlocking the unit (10) from a framework structure of the grid-based storage and retrieval system (1),

- moving the unit (10) away from the grid-based storage and retrieval system (1),

- laterally extracting the goods holder (106) from the unit (10) via at least one lateral side of said unit (10).

30. A method in accordance with claim 29, the method comprising:

- moving a barrier (512) associated with said at least one lateral side (508) to a first position allowing extraction of goods holder from the unit (10) prior to laterally extracting the goods holder (106).

31. A method in accordance with claim 29 or claim 30, the method comprising:

- deploying at least one pair of foldable flaps (518) arranged on opposite walls of the unit (10) so that they project into an interior of the unit (10) prior to vertically inserting the goods holder (106).

32. A method in accordance with any of the claims 29-31, the method comprising:

- inserting the unit (10) into the booth (525) by means of a first (528) and a second (530) means for aligning.

33. A method in accordance with claim 32, the method comprising:

- locking the unit (10) in the booth (525).

34. A method of moving a plurality of goods holders (106) into a grid-based storage and retrieval system (1) by means of a unit (10) having an open top (12) for inserting or extracting a goods holder (106), said unit (10) being accommodated and locked in a booth of the grid-based storage and retrieval system (1), the method comprising:

- vertically extracting the goods holder (106) from the unit (10),

- unlocking the unit (10) from a framework structure of the grid-based storage and retrieval system (1), - moving the unit (10) away from the grid-based storage and retrieval system (1),

- laterally inserting the goods holder (106) into the unit (10) via at least one lateral side of said unit (10).