WO2024194481A1

WO2024194481A1 - Container transfer system

Info

Publication number: WO2024194481A1
Application number: PCT/EP2024/057838
Authority: WO
Inventors: Asheesh SARASWAT; Jon HERMANSEN
Original assignee: Autostore Technology AS
Priority date: 2023-03-22
Filing date: 2024-03-22
Publication date: 2024-09-26

Abstract

The present disclosure concerns a container transfer system, an automated storage and retrieval system, and methods for transferring products between the storage system and a delivery unit. The container transfer system comprises a support that extends from the external wall of the storage system, a second transfer device and a delivery unit provided with plurality of compartments. A first transfer device retrieves a product ordered by a customer and places the product onto the support. From the support, the product is retrieved by a second transfer device and transferred to a delivery unit. At the delivery unit, a compartment assigned for storing the product opens automatically and the second transfer device releases the product into the assigned compartment. A control system is then informed of completion of the product transfer.

Description

CONTAINER TRANSFER SYSTEM

FIELD

[0001] The present disclosure relates to a container transfer system for an automated storage and retrieval system for storage and retrieval of containers. The present disclosure also relates to methods of transferring products to a delivery unit integrated with the automated storage and retrieval system. The present disclosure also relates to an automated storage and retrieval system comprising a container transfer system, and to methods of control of a container transfer system and/or an automated storage and retrieval system.

BACKGROUND

[0002] Fig. 1 discloses a prior art automated storage and retrieval system 1 with a framework structure too and Figs. 2, 3 and 4 disclose three different prior art container handling vehicles 200, 300, 400 suitable for operating on such a system 1.

[0003] The framework structure too 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 stacks 107. The members 102 may typically be made of metal, e.g. extruded aluminum profiles.

[0004] The framework structure too of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of framework structure too, on which rail system 108 a plurality of container handling vehicles 200, 300, 400 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 200, 300, 400 in a first direction X across the top of the framework structure too, 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 200,300,400 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 200,300,400 through access openings 112 in the rail system 108. The container handling vehicles 200,300,400 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.

[0005] The upright members 102 of the framework structure too 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-supporting.

[0006] Each prior art container handling vehicle 200, 300, 400 comprises a vehicle body 200a, 300a, 400a and first and second sets of wheels 200b, 200c, 300b, 300c, 400b, 400c which enable the lateral movement of the container handling vehicles 200,300,400 in the X direction and in the Y direction, respectively. In Figs. 2, 3 and 4 two wheels in each set are fully visible. The first set of wheels 200b, 300b, 400b is arranged to engage with two adjacent rails of the first set 110 of rails, and the second set of wheels 200c, 300c, 400c is arranged to engage with two adjacent rails of the second set 111 of rails. At least one of the sets of wheels 200b, 200c, 300b, 300c, 400b, 400c can be lifted and lowered, so that the first set of wheels 200b, 300b, 400b and/or the second set of wheels 200c, 300c, 400c can be engaged with the respective set of rails 110, 111 at any one time.

[0007] Each prior art container handling vehicle 200,300,400 also comprises a lifting device 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 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 200,300,400 so that the position of the gripping / engaging devices with respect to the vehicle 200,300,400 can be adjusted in a third direction Z which is orthogonal the first direction X and the second direction Y. Parts of the gripping device of the container handling vehicles 300,400 are shown in Figs. 3 and 4 indicated with reference number 304,404. The gripping device of the container handling device 200 is located within the vehicle body 200a in Fig. 2 and is thus not shown.

[0008] Conventionally, and also for the purpose of this application, Z=i identifies the uppermost layer available for storage containers below the rails 110,111, i.e. the layer immediately below the rail system 108, =2 the second layer below the rail system 108, =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=i...n and Y=i...n identifies the position of each storage column 105 in the horizontal plane. Consequently, as an example, and using the Cartesian coordinate system X, Y, Z indicated in Fig. 1, the storage container identified as 106’ in Fig. 1 can be said to occupy storage position X=i , Y=i, Z=6. The container handling vehicles 200,300,400 can be said to travel in layer Z=o, and each storage column 105 can be identified by its X 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=o.

[0009] The storage volume of the framework structure too 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 T-direction, while each storage cell may be identified by a container number in the X-, Y- and Z-direction.

[0010] Each prior art container handling vehicle 200,300,400 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 200a, 400a as shown in Figs. 2 and 4 and as described in e.g. WO2O15/193278A1 and W02019/206487A1, the contents of which are incorporated herein by reference.

[0011] Fig. 3 shows an alternative configuration of a container handling vehicle 300 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.

[0012] The cavity container handling vehicle 200 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 WO2O15/193278A1, the contents of which are incorporated herein by reference. The term ‘lateral’ used herein may mean ‘horizontal’.

[0013] Alternatively, the cavity container handling vehicles 400 may have a footprint which is larger than the lateral area defined by a storage column 105 as shown in Fig. 1 and 4, e.g. as is disclosed in W02014/090684A1 or W02019/206487A1. [0014] 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 110,111 may comprise two parallel tracks. In other rail systems 108, each rail in one direction (e.g. an X direction) may comprise one track and each rail in the other, perpendicular direction (e.g. a Y direction) may comprise two tracks. Each rail 110,111 may also comprise two track members that are fastened together, each track member providing one of a pair of tracks provided by each rail.

[0015] W02018/146304A1, the contents of which are incorporated herein by reference, illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both X and Y directions.

[0016] In the framework structure 100, a majority of the columns are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107. In addition to storage columns 105, there are special-purpose columns within the framework structure. In Fig. 1, columns 119 and 120 are such special-purpose columns used by the container handling vehicles 200,300,400 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 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. [0017] In Fig. 1, the first port column 119 may for example be a dedicated dropoff port column where the container handling vehicles 200,300,400 can drop off storage containers 106 to be transported to an access or a transfer station, and the second port column 120 maybe a dedicated pick-up port column where the container handling vehicles 200,300,400 can pick up storage containers 106 that have been transported from an access or a transfer station.

[0018] 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 returned into the framework structure too again once accessed. 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.

[0019] A conveyor system comprising conveyors is normally employed to transport the storage containers between the port columns 119,120 and the access station.

[0020] If the port columns 119,120 and the access station are located at different levels, 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.

[0021] The conveyor system may be arranged to transfer storage containers 106 between different framework structures, e.g. as is described in W02014/075937A1, the contents of which are incorporated herein by reference.

[0022] 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 200,300,400 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 200,300,400 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 200,300,400 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 200,300,400 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.

[0023] When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 200,300,400 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 any storage containers 106 positioned at or above the target position within the stack 107 have been removed, the container handling vehicle 200,300,400 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.

[0024] 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 too, the content of each storage container 106, and the movement of the container handling vehicles 200,300,400 so that a desired storage container 106 can be delivered to the desired location at the desired time without the container handling vehicles 200,300,400 colliding with each other, the automated storage and retrieval system 1 comprises a control system 500 which typically is computerized and which typically comprises a database for keeping track of the storage containers 106. [0025] Present day warehouses are increasingly employing online order fulfillment systems for purchase and delivery of products. Order fulfillment systems eliminate the need of complicated delivery mechanisms, shipping costs etc. by providing user pick-up points or collection points. These pick-up points are usually automated and are located close to the warehouse facility or an intermediate collection center. With introduction of click and collect systems, the user is able to place order for his products online and collect them at collection centers in the vicinity.

[0026] EP2950283A1 describes use of delivery box system and method for delivering groceries to the user. The delivery box system comprises several delivery boxes with a locker door. A control unit of the system controls access to the delivery boxes by verifying identification information of the user.

[0027] US10482420 describes an on-demand locker assembly with several lockers into which a package is placed for retrieval by a user. The lockers are provided with a barrier wall having a front side accessible to the user and a back side that is inaccessible to the user.

[0028] While the aforementioned systems aim to lower shipping costs, they do involve costs associated with setting up standalone collection centers at several areas in a locality. In addition, there are also costs related to setting up infrastructure, communication systems and management of the collection centers, costs involved in transporting ordered goods to the collection centers.

[0029] Further, GB2594796A describes a dispatch system mounted to a fulfillment center. The dispatch system is provided with lockers. A locking mechanism allows selective access to user into the locker area of the dispatch system. This system is specifically built to store groceries in the lockers. The lockers are further temperature controlled to store perishable groceries.

[0030] The drawback associated with this system is that customer’s orders have to be consolidated manually and loaded into the locker system. This involves significant use of manpower and resources.

[0031] Hence, there is a need for a secure order fulfillment system that can be integrated with the warehouses system to save additional costs. In addition, such system must be able to automatically transfer customer’s orders to the delivery point while eliminating manual operations which are cumbersome and time consuming.

SUMMARY

[0032] This summary is provided to introduce in simplified form a selection of concepts that are further described herein. The summary is not intended to identify key or essential features of the invention.

[0033] The present invention is set forth and characterized in the independent claims, while the dependent claims describe other preferred/optional features.

[0034] In a first aspect, there is provided a container transfer system for transferring products stored in a storage grid of an automated storage and retrieval system, hereinafter referred to as ‘a storage system’. The transfer system comprises a support for supporting the products received from at least one first transfer device of the storage system’, a delivery locker (or, more generally, a delivery unit) comprising a plurality of locker boxes (or, more generally, a plurality of compartments) and a second transfer device for transferring the products between the support and into any one of the plurality of locker boxes.

[0035] The support may be any arrangement that extends out from the external wall of the storage system, for example a platform.

[0036] The support may further comprise a mechanism to adjust the support’s vertical position in relation to a second transfer device. The support may in addition, or alternatively, comprise a tilting mechanism to adjust the position of the support with respect to the horizontal axis. For example, the support maybe provided with a common motor that is configured to adjust both the vertical position of the support and the tilt of the support.

[0037] In an exemplary configuration, the first transfer device is a container handling vehicle operating on a rail system of the storage system.

[0038] In another exemplary configuration, the second transfer device is a robotic manipulator. The robotic manipulator may comprise a rotatably moving arm provided with a gripping mechanism configured to retrieve/grab a product present on the support for delivering the products to an assigned locker box of the delivery locker after rotation of the arm. The delivering may be in form of insertion and releasing the products directly into the assigned locker box and/or via a dedicated transport mechanism coupled to the assigned locker box such as an upward tiltable lid/or door which slides the products into the locker box’s inner volume during tilting.

[0039] The robotic manipulator may further comprise a height adjustable stand, wherein the arm is mounted on the stand. Such a height adjustable stand may be provided with telescopic elements to adjust the height of the stand. The stand may also be a pivotable stand which can pivot around the rotatably moving arm.

[0040] The robotic manipulator may further comprise a base, wherein the base is movable horizontally to adjust the position of the robotic manipulator with respect to the delivery locker and the support, for example along a linear track on the floor.

[0041] In another exemplary configuration, the second transfer device may comprise a conveyor system with a conveyor that extends between the support and the delivery locker. The second transfer device may also comprise a tilting mechanism that allows the conveyor to tilt such that an end of the conveyor is positioned in transferring position at or near an assigned locker box of the delivery locker, for example at or near the above mentioned tiltable lid.

[0042] The tilting mechanism may further comprise a shaft around which the conveyor maybe tiltable, wherein controlled tilting around the shaft maybe achieved by an electric motor. The mechanical rotation may be provided directly or via means such as one or more worm gears. The rotational control may be remotely controlled in that a dedicated control system or the control system controlling other parts of the storage system sends instruction signals to the motor of the conveyor system.

[0043] The shaft may be arranged near or at a center of the conveyor’s longitudinal axis.

[0044] In another exemplary configuration, the conveyor may comprise a height adjustment mechanism that comprises plurality of legs. The height adjustment mechanism may be configured to allow motorized positioning of the conveyor by for example vertical extension / retraction using one or more motors. [0045] Iⁿ another exemplary configuration, the container transfer system may comprise the pluralities of locker boxes comprising a rear door openable towards the second transfer device. The rear door maybe configured to automatically open when the second transfer device carrying one or more products is within a threshold distance (e.g. 3 times a minimum distance) from an assigned locker box containing the rear door, optionally within 2 times the minimum distance, for example at or immediately outside the minimum distance.

[0046] The minimum distance may be defined as the distance between the second transfer device and a rear door such that the rear door can be opened without interfering with the second transfer device. Alternatively, if no such rear door is present, or the rear door is configured to not hinder the movements of the second transfer device during opening / closing, the minimum distance maybe set as zero or near zero distance from the lower edge into the inner volume of the locker box. Near zero distance may for example be 5 % or less the horizontal depth of the locker box.

[0047] If rear doors are employed, each rear door may be provided with proximity sensors to detect the proximity of the second transfer device during operation.

[0048] In another exemplary configuration, at least one of the plurality of locker boxes comprises a front door / port openable to a front side distant to the second transfer device. The front door may be configured to open on verification of credentials of a user such as a customer

[0049] In another exemplary configuration, the second transfer device may be positioned between the support and a rear side of the delivery locker to transfer the products between the support and the assigned locker box.

[0050] In a second aspect, there is provided a storage system comprising the container transfer system as described above and the first transfer device configured to transfer products between the storage grid of the storage system and the support.

[0051] In an exemplary configuration of the second aspect, the storage system may comprise a framework structure for storing a plurality of storage containers stored in stacks. The framework structure may further comprise a rail system arranged above the stacks, wherein the rail system comprises perpendicular rails. The intersections of the rails may form a horizontal grid structure having grid cells defining grid openings.

[0052] The storage system may further comprise a plurality of container handling vehicles configured to travel along the rail system. Each container handling vehicle may be configured to transfer storage containers between the stacks and the support.

[0053] Further, a control system may be configured to send instructions to control operations of at least one of the plurality of container handling vehicles for transferring products to the support, the second transfer device for transferring products between the support and the assigned locker box and any doors / ports for providing access to the inner volume of the locker boxes.

[0054] In another exemplary configuration of the second aspect, the container handling vehicles may achieve said transfer of storage containers to the support by a drive means and a lifting device working in cooperation, wherein both the drive means and the lifting device form an integral part of the vehicle.

[0055] In another exemplary configuration of the second aspect, each of the mentioned components of the storage system such as the control system and the container handling vehicles maybe provided with at least one transmitter and at least one receiver to transmit and receive instruction signals for carrying out operations.

[0056] The doors / ports may be interpreted to be a structure configured to open and close to provide access to the locker boxes’ inner volume.

[0057] In another exemplary configuration of the second aspect, the storage system may comprise an enclosure enclosing at least partly the container transfer system. The enclosure maybe arranged at a periphery of the rail system and maybe arranged on a floor onto which the stacks of the storage containers are supported.

[0058] In another exemplary configuration of the second aspect, the framework structure that comprises a plurality of vertical upright members defining a plurality of storage columns for storing the stacks and at least one port column for transferring a storage container between the rail system and an external location outside the framework structure. The support may for example be arranged adjacent to, or form an integral part of, an exterior side of the framework structure, wherein the support is arranged at the external location.

[0059] In another exemplary configuration of the second aspect, the second transfer device may be a robotic manipulator.

[0060] The robotic manipulator may further comprise a rotatably moving arm provided with a gripping mechanism configured to retrieve/grab a product arranged on the support by the container handling vehicles and delivering the product to an assigned locker box after rotation of the arm. The delivering may be in form of insertion and releasing the products directly into the assigned locker box and/or via a dedicated transport mechanism coupled to the assigned locker box such as an upward tiltable lid / or door which slides the products into the locker box’s inner volume during tilting.

[0061] In another exemplary configuration of the second aspect, the second transfer device may comprise a height adjustable stand onto which the rotatably moving arm is mounted.

[0062] In another exemplary configuration of the second aspect, the second transfer device may be a conveyor system comprising a conveyor that extends between the support and the delivery locker. The second transfer device may also comprise a tilting mechanism that allows the conveyor to tilt such that an end of the conveyor is positioned in transferring position at or near an assigned locker box, for example at or near an openable rear door having been opened to allow insertion of products into the locker box’s inner volume, or, if no rear door is present, at or near the opening into the inner volume.

[0063] The transferring position of the conveyor refers to a delivering or a receiving position which maybe achieved by performing a backward and forward tilt of the conveyor, respectively.

[0064] In another exemplary configuration of the second aspect, a height adjustment mechanism maybe arranged on at least one side of the tilting mechanism of the conveyor for providing support to the conveyor during tilting and/or to provide necessary power for tilting. The tilting mechanism may for example include a pivotable shaft arranged at or near the mid-point of the conveyor relative to the conveyor’s longitudinal axis. [0065] In a third aspect, there is provided a method for transferring products using a container transfer system as described in connection with the first aspect.

[0066] The method comprises steps of verifying credentials of a customer entered into an interface device of the delivery locker, if the verification of the credentials is accepted by a control system, opening an assigned locker box of the delivery locker allowing placing of the products into the assigned locker box by the customer, transmitting instruction signals from the control system to one or more receivers of the second transfer device instructing the second transfer device to retrieve the product from the assigned locker box, and transferring the products by the second transfer device to the support.

[0067] In an exemplary process of the third aspect, the method may employ the storage system and the control system may be further configured to transmit instruction signals to at least one of the plurality of container handling vehicles to retrieve the product from the support and place the product in an assigned location in the storage system.

[0068] In another exemplary process of the third aspect, the second transfer device maybe a robotic manipulator.

[0069] The robotic manipulator may further comprise a height adjustable stand and a rotatably moving arm connected to the height adjustable stand, wherein the moving arm comprises a gripping mechanism configured to retrieve a product present in an assigned locker box and place the product on the support.

[0070] By use of such a robotic manipulator, the method may further adjust the height of the height adjustable stand such that the gripping mechanism is positioned at the same height, or substantially the same height, as the assigned locker box. The rotatably moving arm is then rotated around a longitudinal axis of the height adjustable stand such that the gripping mechanism is allowed to pick the product from the assigned locker box.

[0071] In another exemplary process of the third aspect, the second transfer device maybe a conveyor system. [0072] The conveyor system may further comprise a conveyor that extends between the support and the delivery locker, a tilting mechanism that allows the conveyor to tilt such that an end of the conveyor is positioned in a transferring position at or near an assigned locker box. The conveyor may further comprise a height adjustment mechanism allowing the height adjustments of at least the transferring position.

[0073] By use of such a conveyor, the method may comprise the steps of tilting the conveyor to the transferring position (receiving / delivery position) near the assigned locker box by the tilting mechanism. The height of the conveyor may be adjusted by operating the height adjustment mechanism.

[0074] In a fourth aspect, there is provided a method for transferring storage containers using the storage system as described above in connection with the second aspect.

[0075] The method of the fourth aspect comprises the steps of transmitting instruction signals from a control system to one or more receivers of the second transfer device instructing the second transfer device to retrieve the storage container or product(s) within the storage container from the support, transferring the storage container or the product(s) to the assigned locker box of the delivery locker by use of the second transfer device, verifying credentials of a customer entered into an interface device at the delivery locker and, if the verification of the credentials is accepted by the control system, opening the assigned locker box for retrieval of the storage container or the product(s) by the customer.

[0076] In addition, the method of the fourth aspect may comprise the step of lifting a storage container containing the product(s) from a stack within the framework structure by use of the lifting device of the container handling vehicle operating on the rail system, moving the container handling vehicle with the storage container to a position in which the storage container is directly above the support, lowering the storage container, for example such that the storage container is supported onto the support.

[0077] Means for emptying the storage container for product(s) onto the support may also be envisaged, for example by activating an openable bottom of the storage container and/or by providing the storage container with openings at the side in which the products slide out when the storage container is tilted.

[0078] The method of the fourth aspect may include exemplary processes as described in the third aspect.

[0079] The credentials entered by the user may be at least one of a one-time code, a QR code, biometric input or any form of machine readable code.

[0080] In a fifth aspect, there is provided a computer program product comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps of the method described in the third aspect and/or the method described in the fourth aspect.

[0081] The computer may form part of the control system, wherein the computer program product instructs the control system to send instructions to the container transfer system / the storage system to transfer products / storage containers between the storage system and the support. The computer may comprise a memory unit with a database in which information such as which products/storage containers to be transferred, completion of transfers as described above, and availability of locker boxes are stored. The control system may send instruction signals to the container transfer system / the storage system that the transfer is complete and the locker box is available for the next order.

BRIEF DESCRIPTION OF THE DRAWINGS

[0082] Following drawings are appended to facilitate the understanding of the disclosure. The drawings show embodiments, which will now be described by way of example only, where:

[0083] Fig. 1 is a perspective side view of a framework structure of a prior art automated storage and retrieval system. [0084] Fig. 2 is a perspective side view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0085] Fig. 3 is a perspective side view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.

[0086] Fig. 4 is a perspective side view, seen from below, of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0087] Fig. 5 is a perspective side view of a container transfer system according to an embodiment arranged adjacent a storage grid of the automated storage and retrieval system.

[0088] Fig. 6a is a perspective side view of the container transfer system of Fig. 5, wherein part of a side wall has been removed showing a second transfer device for transferring products between a storage grid and a delivery locker.

[0089] Fig. 6b is an enlarged perspective side view of fig. 6a.

[0090] Fig. 7 is a cross sectional side view of a container transfer system according to another embodiment showing the second transfer device.

[0091] Fig. 8 is a flow chart describing a method according to embodiments for storing a product into an assigned location of a storage grid.

[0092] Fig. 9 is a flow chart describing a method according to embodiments for retrieving a product from an assigned location of a storage grid into a delivery locker.

DETAILED DESCRIPTION

[0093] In the following, embodiments will be discussed in more detail with reference to the appended drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject-matter depicted in the drawings.

[0094] The framework structure too of the automated storage and retrieval system 1 is constructed in a similar manner to the prior art framework structure too described above in connection with Figs. 1-4. That is, the framework structure too comprises a number of upright members 102 and a first upper rail system 108 extending in the X direction and Y direction.

[0095] The framework structure too further comprises storage compartments in the form of storage columns 105 provided between the members 102, wherein storage containers 106 are stackable in stacks 107 within the storage columns 105.

[0096] The framework structure too can be of any size. In particular it is understood that the framework structure too can be considerably wider and/or longer and/or deeper than disclosed in Fig. 1. For example, the framework structure too may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve storage containers 106.

[0097] The framework structure too may further comprise special-purpose columns called port columns as described in the background section. The port columns 119, 120 may be employed by the container handling vehicles 300 to drop off and/or pick up products 614 and/or storage containers 106 containing products so that they can be transferred out of or into the framework structure too.

[0098] One embodiment of the storage system 1 according to the present disclosure will now be discussed in more detail with reference to Figs 5 to 9.

[0099] Fig. 5 illustrates a container transfer system 600 comprising a delivery locker 504 with locker boxes so6a-f. The delivery locker can more generally be described as a delivery unit and the locker boxes can more generally be described as compartments. It can be advantageous, though it is not essential, that the compartments are lockable. The container transfer system 600 forms an integral part of the storage system 1 as described above and is arranged adjacent a vertical side 109 of the framework structure too. As depicted in the figure, the container transfer system 600 comprises an enclosure / room 702 that is coupled to the vertical side 109. The upper part of the enclosure 702 is thus arranged at a periphery of the rail system 108 and has a roof 702a with a ceiling that extends to a level positioned higher than the rail system 108. The level should exceed the height of the rail system 108 with at least the height of the container handling vehicle 300 operating on the rail system 108. [oioo] In addition to a roof 702a with the above mentioned position of its ceiling, the enclosure 702 comprises four walls 702b, two side walls and one front wall, thereby forming an enclosed area or a room for safe access and transfer of products 614 between a storage column 105 of the framework structure too and the delivery locker 504 of the container transfer system 600.

[0101] Hence, the enclosure 702 restricts access for a user such as a customer to enter an inner area of the container transfer system 600, thereby ensuring safe transfer of products 614. The user is provided access only to the contents of a locker box 5o6a-f that is assigned to the user after verification of his/her credentials. The user may thus place a product 614 within the delivery locker 504 in order to be stored into the storage system 1 without risking that a non-authorized person can get access to the product 614.

[0102] The delivery locker 504 comprises a front side 502, a rear side and a plurality of locker boxes 5o6a-so6f that extend from the front side to the rear side. The locker boxes are arranged in several rows 5o6a-so6f. Each locker box 5o6a-so6f is provided with a front door 506c” or port, a rear door (not shown in fig 1) and an inside volume capable of storing products. The locker boxes 5o6a-so6f may be accessed by the customer through the front door 506c” only.

[0103] Alternatively, the locker boxes 506a-506f may comprise only a front door 506c” and an inner volume for storing products. In such a configuration, the rear end of the locker boxes 5o6a-so6f may be open without a door to allow access to the second transfer device. As the rear end is not accessible to a non-authorized person, there is no risk associated with the safety of products 614.

[0104] Alternatively, or in addition, the locker boxes 5o6a-so6f may also be capable of storing storage container(s) 106 containing products within them, transferred from the storage system 1.

[0105] The delivery locker 504 is also provided with a user interface device 512 that allows a customer to authenticate himself to access the contents of the delivery locker 504. The interface device 512 may be a QR code scanner, a biometric device that can verify biometric information of the user, a keycode input device where user can input a onetime code or any machine readable device. [oio6] The user interface device 512 maybe in communication with the control system 500 of the storage system 1 or alternatively with a local control unit of the delivery locker 504 that further communicates with the control system 500. The information on the customer credentials may be stored in a memory unit and database of the control system 500.

[0107] Fig. 6a is a perspective side view of the container transfer system 600 of Fig. 5, wherein part of a side wall 702b of the enclosure has been removed showing a second transfer device for transferring products between a storage grid and a delivery locker. The container transfer system 600 is integral with the storage system 1 and arranged adjacent to a vertical side 109 of the framework structure. The enclosure 702 that forms a room includes a roof 702a with four side walls 702b and comprises the container transfer system 600 and a support 612 that extends at a lower level than the framework structure too compared to the rail system as shown in figure.

[0108] The support 612 is a horizontal elongated structure that extends from the framework structure too at a lower level in a horizontal plane through the width of the enclosure 702 of the container transfer system 600. The support 612 provides support or acts as a drop-off location for products or items transferred to and from the framework structure too. Alternatively, or in addition, the support 612 may comprise a mechanism to adjust the vertical position of the support 612 such that the dropped-off products 614 can be easily accessed by a second transfer device 605 of the container transfer system 600. The support may further comprise a tilting mechanism to adjust the position of the support with respect to the its horizontal axis.

[0109] Alternatively, or in addition the support 612 may also support storage containers 106 containing products 614 or items within them, that are transferred from and to the storage columns 105.

[0110] The container transfer system 600 receives a product from a first transfer device, which is a container handling vehicle 300 that operates on the rail system 108 of the framework structure too. The container handling vehicle 300 transfers product(s) to and from the support 612 and the storage columns 105 by employing its gripping and lifting device 304, to place the products retrieved from storage column 105 on the support 612.

[0111] The container handling vehicle 300 is a cantilever type of vehicle described above. Alternatively, the container handling vehicle 300 may also be a vehicle with central cavity 200, 400 construction as shown in figure 2 and 4.

[0112] It must be understood that the term ‘product’ may refer to a ‘single item’ or alternatively a ‘plurality of items’ consolidated into an order.

[0113] A second transfer device 605 is located in between the support 612 and a rear side of a delivery locker 508. The second transfer device 605 must be able to access the locker boxes so6a-f from the rear side of the delivery locker 508. Hence, the positioning of the second transfer device 605 maybe mid-way or at least close to mid-way between the support 612 and the rear side of the delivery locker 508. For this, the second transfer device 605 may comprise a position adjustment mechanism that adjusts the horizontal position of the device.

[0114] The second transfer device 605 retrieves the product 614 placed on the support 612 and transfers the product 614 into an assigned locker box 506c of the delivery locker 504. The second transfer device 605 may be robotic manipulator or conveyor system, that performs the transfer of the product to the assigned locker box 506c, the details of this will be further discussed in figure 6b and 7 below.

[0115] The delivery locker 504 is integrated with its rear side 508 inside the enclosure 702 of the container transfer system 600. The delivery locker 504 is provided with a plurality of locker boxes so6a-f, each locker box is provided with an inner volume that can store products 614 or items transferred from the storage column 105. The rear door 506c’ of the locker box maybe provided with a mechanism to automatically open the door on detecting the second transfer device within three times a minimum distance (e.g. a threshold distance) from the assigned locker box’s rear door 506c’, optionally when the second transfer device is within twice the minimum distance or immediately outside the minimum distance to the rear door 506c’ of the locker box. The minimum distance is defined as the distance between the second transfer device 605 and the rear door 506c’ such that the rear door can be opened without interfering with the second transfer device. This minimum distance may be stored on the control system 500. Alternatively, or in addition the rear door 506c’ may be capable of supporting the product 614 released by the second transfer device 605. The rear door 506c’ may also be provided with a motorized mechanism to move the door and thus the product released on the door to be placed inside the locker box 506c.

[0116] Alternatively, if no such rear door 506c’ is present, or the rear door is configured to not hinder the movements of the second transfer device 605 during opening / closing, the minimum distance may be set as zero or near zero distance from the lower edge into the inner volume of the locker box 506c. Near zero distance may for example be 5% or less the horizontal depth of the locker box.

[0117] Fig. 6b is an enlarged perspective side view of fig. 6a. In this embodiment, the second transfer device 604 is a robotic manipulator 604 as illustrated, however does not intend to limit the scope to only a robotic manipulator. The second transfer device may for example be a conveyor system or a crane. The robotic manipulator 604 is provided with a base 606, a height adjustment mechanism such as a telescopic stand 608, a rotatably movable arm 610 with a gripping mechanism 616.

[0118] The base 606 is a support structure supporting the manipulator 610 to stand on the floor of the container transfer system 600. The base 606 may be a single unit that is rectangular in shape and holds the weight of the manipulator 604. The base 606 maybe movable horizontally to adjust the position of the manipulator 604 in relation to the assigned locker box 506c and the support 612 (as shown by arrows).

[0119] Telescopic stand 608 may extend and retract to adjust the height of the robotic manipulator 604 and position the manipulator at a level such that the gripping mechanism 616 can easily access the product from the support 612. The telescopic stand 610 is supported by the base 606 and connected to the rotatably movable arm 610 of the robotic manipulator 604. The arm 610 is rotatable around a longitudinal axis of the stand 608. The rotation of the arm 610 maybe achieved by a mechanism such as a motor. The arm 610 is provided with the gripping mechanism 616 that may be in the form of gripper that grasp the product and transfers the product between the support 612 and the delivery locker 504. The gripper may be provided with ridges or slots that allow effective gripping of the product during transfers. [0120] Alternatively, or in addition, the gripping mechanism 616 is built to grasp a product and or a storage container 106 that is delivered on the support 612.

[0121] In an example, the rotatably movable arm 610 may also be provided with an additional release switch or mechanism which maybe triggered on receiving instructions from the control system 500. On being triggered, the switch may allow the gripping mechanism 616 to release the gripped product 614. The release switch may be activated when the rotatably movable arm 610 is partly inside the locker box 506c.

[0122] In another example, the rear door 506c’ of the locker box may be capable of supporting the product on it and the rotatably moving arm 610 may release the gripping mechanism 616 to place the product 614 onto the rear door 506c’. The rear door 506c’ with upward tiltable lid may slide the product 614 into the locker box’s 506c inner volume during tilting, on receiving instruction signals from the control system 500.

[0123] Fig. 7 is a cross sectional side view of a container transfer system according to another embodiment showing the second transfer device. A container handling vehicle operating on the rail system 108, carrying a product 614 may dropoff the product 614 onto the support 612 through a port column 119, 120 in the framework structure too.

[0124] Alternatively, or in addition, the container handling vehicle 300 may be directed to move to a position on the framework, such that the support is directly below and drop-off the product on the support 612.

[0125] In this embodiment, the second transfer device is a conveyor system, that comprises a conveyor 622 with an endless moving belt that moves and conveys products 614 between the support 612 and the delivery locker 504. The conveyor 622 also comprises a pair of legs which may be telescopic legs 624 on which the conveyor is also supported. The telescopic legs 624 allow the height of the conveyor to be adjusted to position the conveyor 622 at the same level as the support 612 and an assigned locker box 506c of the delivery locker 504.

[0126] Alternatively, or in addition, the conveyor is also provided with a tilting mechanism 626 that is arranged at or near the center of the conveyor’s longitudinal axis. The tilting mechanism 626 maybe operational by means of a shaft around which the conveyor is tiltable and the shaft may be connected to a separate motor to drive the tilting. Alternatively, the shaft may be connected to a common motor which also adjusts the height of the telescopic legs 624 through the height adjustment mechanism and tilts the conveyor 622. The controls may be performed remotely by the control system 500 sends instruction signals to the motor of the conveyor system.

[0127] The telescopic legs 624 and the tilting mechanism 626 function in unison to position the conveyor 622 and tilt the conveyor 622 such that the conveyor 622 is in receiving position or delivery position towards the locker box 506c of the delivery locker 504. Further, the conveyor 622 is tilted such that the ends of the conveyor are in reach and touching the product 614 and the rear door 506c’ of the assigned locker box 506c on either end.

[0128] In addition, the support 612 may also comprise a mechanism 618 that adjust the vertical position of the support in relation to the conveyor 622. The mechanism 618 may also cause tilting of the support 612 by means of a common motor, such that the product 614 may slide onto the conveyor 622 by gravity.

[0129] The details of the process of transferring the product to/or from the support 612 and the delivery locker 504 will be discussed in the details of figure 8 and 9.

[0130] Fig. 8 is a flow chart describing a method according to the present disclosure for storing a product into an assigned location of a storage grid. In an example scenario, a customer would like to place a product into the storage system 1. The customer may want to return a purchased product, or an item and the return process may be automated by employing the container transfer system 600.

[0131] Initially, customer may register the product to be returned online on a mobile device of the user. The mobile device may be a smartphone, tablet, laptop, computer or the like. Once the product is registered to be returned, the customer may receive a confirmation and a code. The code is one of: a numeral code, a QR code or any machine readable code. The customer will then place the product into the delivery locker 504. [0132] At the delivery locker 504, customer enters his credentials at the interface device 512 provided on the delivery locker 504. The interface device 512 as described in figure 5 may be a QR code reader, a keycode interface or a biometric device. The credentials of the customer are (801) sent to a local control unit of the container transfer system 500 or the control system 500 of the storage system 1. The credentials are matched with the return order details of the customer to authenticate the customer. On authentication of the customer, the control system 500 sends instruction signals to an available locker box 506c of the delivery locker 504. The locker box 506c is assigned for the customer. The front door 506c” of the assigned locker box opens (802) automatically. The customer places (803) the product 614 inside the locker box 506c. The front door 506c” is closed.

[0133] The control system 500 then sends (804) instruction signals to a second transfer device which may be a conveyor system 622 to collect the product from the assigned locker box 605c. The conveyor system 622 on receiving instruction signals may position the conveyor 622 by adjusting the height of the conveyor 622 by varying the telescopic legs 624 such that the conveyor is positioned at substantially the same height as the assigned locker box 506c. The tilting mechanism 626 may be operational to tilt the conveyor 622 such that the conveyor is in receiving position near the rear door 506c’ of the locker box. The receiving position is a slight forward tilt in the position of the conveyor 622 towards the rear door of the assigned locker box 506c. In the receiving position, the product may be pushed out of the locker box 506c by a pushing mechanism. The pushing mechanism may be built inside locker box on its front door and may push the product out of the locker box 506c on receiving instruction signals by the control system 500. The product may then slide onto the conveyor 622 by gravity.

[0134] For this purpose, the rear door 506c’ of each locker box may be a push to open type of door or magnetic door that opens on a push from the product being pushed by the pushing mechanism on receiving instruction signals from the control system 500.

[0135] When the product 614 is pushed out of the rear door 506c’ of the locker box 506c, the product is received on the conveyor 622. The conveyor 622 transfers (805) the product on its belt towards the support 612. [0136] The control system 500 sends instruction signals to a first transfer device 200,300,400 to retrieve the product from the support 612. On receiving the signals, the available container handling vehicle 300 moves towards the port column 119,120 of the framework structure near the support 612 and extends its lifting and gripper mechanism towards the support 612 to pick the product 614 placed on the support 612. The product 614 is retrieved (806) from the support 612 and placed into an assigned location in the storage system by the container handling vehicle 300.

[0137] In an embodiment, the second transfer device may be the robotic manipulator 604 transferring the product 614 from the locker box 506c to the support 612. The horizontal position of the robotic manipulator 604 may be adjusted by a horizontal positioning mechanism provided at the base 606 to position the manipulator in the vicinity of the assigned locker box 605c. Further, the robotic manipulator 604 may also adjust the height of the telescopic stand 608 to position the device at a level as the assigned locker box 605c.

[0138] The product 614 may be pushed and placed on the rear door 506c’ of the assigned locker box, such that the gripping mechanism 616 can easily access the product placed on the rear door 605c’. The rotatably moving arm 610 maybe rotated to allow the arm to be positioned near the locker box 506c and the arm 610 may subsequently extend its gripper mechanism 616 to grip the product from the locker box 506c and move towards the support 612. At the support 612, the arm 610 may release its gripper mechanism 616 with a release switch as described above to place the product 614 over the support 612 for subsequent retrieval by a container handling vehicle 200,300,400.

[0139] Fig. 9 is a flow chart describing a method according to the present disclosure for retrieving a product from an assigned location of a storage grid into a delivery locker. In this example illustration, the second transfer device is a robotic manipulator 604, however it must be understood the scope is not limited to the same.

[0140] A customer places an order on his mobile device for an item or a product 614 that maybe consolidation of several items stored in the storage column 105. The order of the customer is confirmed, and a message is sent to the mobile device of the customer with a confirmation code, a QR code or any other form of machine readable code. In addition, a message is sent to the control system 500 of the storage system 1 of the details of the product 614. On receiving the message, the control system 500 sends instructions signals to a container handling vehicle 200,300,400 to retrieve the product of the customer from a storage location in the storage column 105. The container handling vehicle 300 moves to the location where the product 614 is stored and retrieves (901) the product and moves towards the edge of the framework structure 1 where the support 612 is located. The container handling vehicle 300 then positions its lifting and gripping mechanism to release the product and place it on the support 612.

[0141] Alternatively, there may be a delivery port that leads towards the support 612. The container handling vehicle 300 may position itself on top of the delivery port such that the lifting and gripping mechanism moves towards the support to release the product onto the support 612.

[0142] The control system 500 sends instruction signals to the transfer system 600 to assign an available locker box 506c of the delivery locker 504 for storing the product 614.

[0143] The control system 500 also sends instructions signals to a robotic manipulator 604 to retrieve (902) the product 614 placed on the support 612 and transfer the product to an assigned locker box 506c.

[0144] On receiving instruction signals the robotic manipulator 604 adapts its telescopic stand 608 to position the rotatably movable arm 610 substantially near or near the support 612. The manipulator 604 may also adjust the position horizontally, by a horizontal positioning mechanism provided at the base 606 to position the manipulator near the support 612. The arm 610 then rotates to move towards the support 612. The gripping mechanism 616 is activated and the arm grips (903) the product 614 from the support 612. The arm 610 is rotated to move towards the rear side 508 of the deliver locker.

[0145] When the arm 610 is within three times a minimum distance, or twice the minimum distance or immediately outside the minimum from the rear door 506c’ of the assigned locker box 506c, the rear door 506c’ opens automatically on receiving instruction signals from the control system 500. The rear door 506c’ of the locker box 506c may be provided with proximity sensors to detect the presence of the rotatably moving arm 610, when the arm is just outside the minimum distance required to open the rear door 506c’ of the locker box 506c. The proximity sensors may send signals to the control system 500 on detecting the presence of the arm 610. The control system 500 sends instructions signals back to the rear door 506c’ to open to provide access to the assigned locker box 506c.

[0146] The arm 610 places (904) the product inside the assigned locker box 506c. The arm 610 then moves away from the rear door 506c’ and the rear door of the assigned locker box 506c is locked. The rear door 506c’ remains locked until the assigned locker box 506c is accessed by the customer from the front door 506c”.

[0147] The customer who ordered the product, enters (905) his credentials at the user interface device 512 of the delivery locker 504. The credentials may be a biometric input, a onetime code, or any machine readable code. The credentials are sent to verification to the control system 500, the control system 500 on verification of the credentials authenticates the customer and allows access to the assigned locker box 506c.

[0148] The front door 506c” of the assigned locker box 506c opens (906) automatically on receiving instruction signals from the control system 500. The customer accesses his products 614 and the front door 506c” is closed on receiving instruction signals from the control system 500 of completion of the product retrieval by the customer.

[0149] In another embodiment, the second transfer device in the example of figure 9 may also be the conveyor system. In which case, the conveyor 622 as described in the embodiment above adapts its tilting mechanism 626 to position the conveyor 622 in receiving position towards the support 612 and transfers the product 614 to the assigned locker box 506c.

[0150] Alternatively, or in addition, the support 612 may also be adjusted in height and position by means of its positioning mechanism 618 as described above that adjusts the vertical position of the support 612 and causes tiling of the support 612 in relation to the conveyor 622.

[0151] In the preceding description, various aspects of the container handling vehicle and the automated storage and retrieval system according to the present disclosure have been described with reference to the illustrative embodiment. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiment, as well as other embodiments of the system, which are apparent to persons skilled in the art to which the disclosed subject matter pertains, are deemed to lie within the scope of the appended claims.

[0152] Also disclosed herein are the following numbered clauses:

Clause 1. A container transfer system (600) for transferring products (614) stored in a storage grid of an automated storage and retrieval system (1), the transfer system (600) comprising:

- a support (612) for supporting the products (614) received from at least one first transfer device (200, 300, 400) of the automated storage and retrieval system (1);

- a delivery locker (504) comprising a plurality of locker boxes (so6a-f); and

- a second transfer device (605) for transferring the products (614) between the support (612) and into one of the plurality of locker boxes (so6a-f).

Clause 2. The container transfer system (600) in accordance with clause 1, wherein the first transfer device is a container handling vehicle (200, 300, 400) operating on a rail system (108) of the automated storage and retrieval system (1).

Clause 3. The container transfer system (600) in accordance with clause 1 or 2, wherein the second transfer device (604) is a robotic manipulator (604) that comprises a rotatably moving arm (610) having a gripping mechanism (616) configured to retrieve a product (614) present on the support (612) and release the product (614) to an assigned locker box (506c) of the delivery locker (504) after rotation of the arm (610).

Clause 4. The container transfer system (600) in accordance with clause 3, wherein the robotic manipulator (604) comprises a height adjustable stand (608) and wherein the rotatably moving arm (610) is mounted on the stand (608).

Clause 5. The container transfer system (600) in accordance with any one of the preceding clauses, wherein the second transfer device (605) comprises: - a conveyor system with a conveyor (622) that extends between the support (612) and the delivery locker (504); and

- a tilting mechanism (626) that allows the conveyor (622) to tilt such that an end of the conveyor (622) is positioned in transferring position at or near an assigned locker box (506c) of the delivery locker (504).

Clause 6. The container transfer system (600) in accordance with clause 5, wherein the tilting mechanism (626) comprises a shaft (626) around which the conveyor (622) may be tiltable.

Clause 7. The container transfer system (600) in accordance with clause 5 or 6, wherein the conveyor (622) comprises a height adjustment mechanism (624) comprising a plurality of legs (624), wherein the height adjustment mechanism (624) is configured to allow motorized positioning of the conveyor (702) by extension or retraction.

Clause 8. The container transfer system (600) in accordance with any one of the preceding clauses,

- wherein at least one of the plurality of locker boxes (so6a-f) comprises a rear door (506c’) openable towards the second transfer device (605),

- wherein the rear door (506c’) is configured to automatically open when the second transfer device (605) carrying one or more products (614) is within three times a minimum allowable distance, from an assigned locker box (506c) containing said rear door (506c’).

Clause 9. The container transfer system (600) in accordance with any one of the preceding clauses,

- wherein at least one of the plurality of locker boxes (so6a-f) comprises a front door (506c”) openable to a front side (508) distant to the second transfer device (605), and

- wherein the front door (506c”) is configured to open on verification of credentials of a user.

Clause 10. The container transfer system (600) in accordance with any of the preceding clauses, wherein the second transfer device (605) is positioned between the support (612) and a rear side (508) of the delivery locker (604) to transfer the products (614) between the support (612) and the assigned locker box (506c). Clause 11. An automated storage and retrieval system (1) comprising

- the container transfer system (600) in accordance with any one of clauses 1-10; and the first transfer device (200, 300, 400) configured to transfer storage containers

(106) or products (614) stored within the container between the storage grid of the automated storage and retrieval system (1) and the support (612).

Clause 12. The automated storage and retrieval system (1) in accordance with clause 11, and wherein the system comprises:

- a framework structure (100) for storing a plurality of storage containers (106) stored in stacks (107), the framework structure (100) comprising:

- a rail system (108) arranged above the stacks (107), the rail system (108) comprising perpendicular rails (110, 111), the intersections of which forms a horizontal grid structure having grid cells (112) defining grid openings;

- a plurality of container handling vehicles (200, 300, 400) configured to travel along the rail system (108) and to transfer storage containers (106) between the stacks

(107) and the support (612); and

- a control system (500) configured to send instructions to control operations of at least one of: the plurality of container handling vehicles (200, 300, 400) for transferring products to/and from the support (612), the second transfer device (605) for transferring products between the support (612) and the locker boxes (so6a-f), and the doors (506c’, 506c”) for providing access to the plurality of locker boxes (so6a-f) inner volume.

Clause 13. The automated storage and retrieval system (1) in accordance with clause 11 or 12, wherein the automated storage and retrieval system (1) comprises:

- an enclosure (702) enclosing at least partly the container transfer system (600); and wherein the enclosure (702) is arranged at a periphery of the rail system (108). Clause 14. The automated storage and retrieval system (1) in accordance with clauses 11 to 13, wherein the framework structure (100) comprises a plurality of vertical upright members (102) defining a plurality of storage columns (105) for storing the stacks (107) and at least one port column (119,120) for transferring a storage container (106) between the rail system (108) and an external location outside the framework structure (100), and wherein:

- the support (612) is arranged adjacent to, or forms an integral part of, an exterior side of the framework structure (100), and that

- the support (612) is arranged at the external location.

Clause 15. The automated storage and retrieval system (1) in accordance with any of clauses 11 to 14, wherein the second transfer device (604) is a robotic manipulator (604) comprising:

- a rotatably moving arm (610) that comprises: a gripping mechanism (616) configured to retrieve a product (614) arranged on the support (612) by the container handling vehicles (200, 300, 400) and release the product (614) into an assigned locker box (506c) of the delivery locker (504) after rotation of the arm (610).

Clause 16. The automated storage and retrieval system (1) in accordance with clause 15, wherein the second transfer device (604) comprises a height adjustable stand (608) and the rotatably moving arm (610) is mounted on the stand (608).

Clause 17. The automated storage and retrieval system (1) in accordance with any of clauses 11 to 14, the second transfer device (605) comprises:

- a conveyor (622) that extends between the support (612) and the delivery locker (504); and

- a tilting mechanism (626) that allows the conveyor (622) to tilt such that an end of the conveyor (622) is positioned in transferring position at or near an assigned locker box (506c) of the delivery locker (504). Clause 18. A method for transferring products (614) using a container transfer system (600) in accordance with any one of clauses 1-10, wherein the method comprises:

- verifying credentials of a customer entered into an interface device (512) of the delivery locker (506);

- if the verification of the credentials is accepted by the control system (500), opening an assigned locker box (506c) of the delivery locker (506) allowing placing of the products (614) into the assigned locker box (506c) by the customer; and

- transmitting instruction signals from the control system (500) to one or more receivers of the second transfer device (605) instructing the second transfer device (605) to retrieve the product (614) from the assigned locker box (506c) and transferring the products (614) by the second transfer device (605) to the support (612).

Clause 19. The method in accordance with clause 18, wherein the method uses the automated storage and retrieval system (1) in accordance with any one of clauses 11 to 14, and that the control system (500) further transmits instruction signals to at least one of the plurality of container handling vehicles (200,300,400) to retrieve the product (614) from the support (612) and place the product (614) in an assigned location in the automated storage and retrieval system (1).

Clause 20. The method in accordance with clause 18 or 19, wherein the second transfer device (604) is a robotic manipulator (604) that comprises: a height adjustable stand (608); and a rotatably moving arm (610) connected to the height adjustable stand (608), wherein the arm (610) comprises: a gripping mechanism (616) configured to retrieve a product (614) present in an assigned locker box (506c) of the delivery locker (504) and place the product (614) on the support (612), wherein the method comprises the steps of:

- adjusting the height of the height adjustable stand (608) such that the gripping mechanism (616) is positioned at the same height, or substantially the same height, as the assigned locker box (506c); and - rotating the rotatably moving arm (610) around a longitudinal axis of the height adjustable stand (608) to allow the gripping mechanism (616) to pick the product (614) from the assigned locker box (506c).

Clause 21. The method in accordance with clause 18 or 19, wherein the second transfer device is a conveyor system (605) comprising: a conveyor (622) that extends between the support (612) and the delivery locker (504); a tilting mechanism (626) that allows the conveyor (622) to tilt such that an end of the conveyor (622) is positioned in transferring position near an assigned locker box (506c); and a height adjustment mechanism (624), and wherein the method comprises the steps of:

- tilting the conveyor (622) to a receiving position near an assigned locker box (506c) by a tilting mechanism (626); and

- adjusting the height of the conveyor (622) by use of the height adjustment mechanism (624).

List of reference numbers

Prior art (figs 1-4):

1 Prior art automated storage and retrieval system/Storage system too Framework structure

102 Upright members of framework structure

104 Storage grid

105 Storage column

106 Storage container

106’ Particular position of storage container

107 Stack

108 Rail system

109 Vertical side of the framework structure

110 Parallel rails in first direction (X)

111 Parallel rails in the second direction (Y)

112 Access opening

119 First port column

120 Second port column

200 Prior art container handling vehicle

200a Vehicle body of the container handling vehicle 200

200b Drive means / wheel arrangement / first set of wheels in first direction (X)

200c Drive means / wheel arrangement / second set of wheels in second direction (Y)

300 Prior art cantilever container handling vehicle

300a Vehicle body of the container handling vehicle 300 300b Drive means / first set of wheels in first direction (X) 300c Drive means / second set of wheels in second direction (Y) 304 Gripping device

400 Prior art container handling vehicle

400a Vehicle body of the container handling vehicle 400

400b Drive means / first set of wheels in first direction (X)

400c Drive means / second set of wheels in second direction (Y) 404 Gripping device 404a Lifting band

404b Gripper

404c Guide pin

404b Lifting frame

500 Control system

502 Front side of delivery locker

504 Delivery locker

506, 5o6a-f Locker boxes

506c Assigned locker box

506c’ Rear door of the assigned locker box

506c” Front door of the assigned locker box

508 Rear side of the delivery locker

604 Robotic manipulator

605 Second transfer device

606 Base of robotic manipulator

608 Height adjustment mechanism/telescopic stand of robotic manipulator

610 Arms of the robotic manipulator

612 Support

614 Product(s)/item

616 Gripping mechanism

618 Positioning mechanism for the support

622 Conveyor

624 Telescopic stand for the conveyor

626 Tilting mechanism for conveyor

702 Enclosure

702a Roof of enclosure

702b Side walls and front wall of enclosure

704 Front face of the enclosure

X First direction

Y Second direction

Z Third direction

Claims

1. A container transfer system (600) for transferring products (614) stored in a storage grid of an automated storage and retrieval system (1), the transfer system (600) comprising:

- a support (612) for supporting a product (614) received from at least one first transfer device (200, 300, 400) of the automated storage and retrieval system (1);

- a delivery unit (504) comprising a plurality of compartments (so6a-f); and

- a second transfer device (605) for transferring the product (614) between the support (612) and one of the plurality of compartments (so6a-f).

2. The container transfer system (600) in accordance with claim 1, wherein the first transfer device is a container handling vehicle (200, 300, 400), optionally wherein the container handling vehicle (200, 300, 400) is arranged to operate on a rail system (108) of the automated storage and retrieval system (1).

3. The container transfer system (600) in accordance with claim 1 or 2, wherein the second transfer device (605) is a robotic manipulator (604) that comprises a rotatably moving arm (610) having a gripping mechanism (616) configured to retrieve a product (614) present on the support (612) and release the product (614) to an assigned compartment (506c) of the delivery unit (504) after rotation of the arm (610).

4. The container transfer system (600) in accordance with claim 3, wherein the robotic manipulator (604) comprises a height adjustable stand (608) and wherein the rotatably moving arm (610) is mounted on the stand (608).

5. The container transfer system (600) in accordance with claim 1 or 2, wherein the second transfer device (605) comprises:

- a conveyor (622) that extends between the support (612) and the delivery unit (504)-

6. The container transfer system (600) in accordance with claim 5, further comprising a tilting mechanism (626) that allows the conveyor (622) to tilt such that an end of the conveyor (622) is positioned in a transferring position at or near an assigned compartment (506c) of the delivery unit (504), optionally wherein the tilting mechanism (626) comprises a shaft around which the conveyor (622) is tiltable.

7. The container transfer system (600) in accordance with claim 5 or 6, wherein the conveyor (622) comprises a height adjustment mechanism (624), optionally wherein the height adjustment mechanism comprises a plurality of legs, further optionally wherein the height adjustment mechanism (624) is configured to allow positioning of the conveyor (622) by extension or retraction.

8. The container transfer system (600) in accordance with any one of the preceding claims, wherein at least one of the plurality of compartments (so6a-f) comprises a rear door (506c’), optionally wherein the rear door is openable towards the second transfer device (605).

9. The container transfer system (600) in accordance with claim 8, wherein the rear door (506c’) is configured to automatically open when the second transfer device (605) carrying one or more products (614) is within a threshold distance from an assigned compartment (506c) comprising said rear door (506c’).

10. The container transfer system (600) in accordance with claim 9, wherein the threshold distance is two to three times a minimum allowable distance between the second transfer device (605) and the rear door (506c’), wherein the minimum allowable distance is such the rear door (506c’) maybe opened without interfering with the second transfer device (605).

11. The container transfer system (600) in accordance with any one of the preceding claims, wherein at least one of the plurality of compartments (so6a-f) comprises a front door (506c”) openable to a front side (502) of the delivery unit distal to the second transfer device (605), optionally wherein the front door (506c”) is configured to open on verification of credentials of a user.

12. The container transfer system (600) in accordance with any of the preceding claims, wherein the second transfer device (605) is positioned between the support (612) and a rear side (508) of the delivery unit (504) to transfer the product (614) between the support (612) and the assigned compartment (506c).

13. The container transfer system (600) in accordance with any preceding claim, wherein the delivery unit (504) is a delivery locker and each of the compartments is a locker box (so6a-f).

14. An automated storage and retrieval system (1) comprising

- the container transfer system (600) in accordance with any one of claims 1-13; and the first transfer device (200, 300, 400), wherein the first transfer device (200, 300, 400) is configured to transfer storage containers (106) or products (614) stored within the container between the storage grid of the automated storage and retrieval system (1) and the support (612).

15. The automated storage and retrieval system (1) in accordance with claim 14, and wherein the system comprises:

- a plurality of container handling vehicles (200, 300, 400) configured to travel along the rail system (108) and to transfer storage containers (106) between the stacks (107) and the support (612); and

- a control system (500) configured to send instructions to control operations of at least one of: the plurality of container handling vehicles (200, 300, 400) for transferring products to/and from the support (612), and/or the second transfer device (605) for transferring products (614) between the support (612) and the compartments (so6a-f), and/or the doors (506c’, 506c”) for providing access to the inner volume of each of the plurality of compartments (so6a-f).

16. The automated storage and retrieval system (1) in accordance with claim 14 or 15, wherein the automated storage and retrieval system (1) comprises:

- an enclosure (702) enclosing at least partly the container transfer system (600); and wherein the enclosure (702) is arranged at a periphery of the rail system (108).

17. The automated storage and retrieval system (1) in accordance with any one of claims 14 to 16, wherein the framework structure (100) comprises a plurality of vertical upright members (102) defining a plurality of storage columns (105) for storing the stacks (107) and at least one port column (119,120) for transferring a storage container (106) between the rail system (108) and an external location outside the framework structure (100), and wherein:

- the support (612) is arranged adjacent to, or forms an integral part of, an exterior side of the framework structure (100), and

- the support (612) is arranged at the external location.

18. A method for transferring products (614) using a container transfer system (600) in accordance with any one of claims 1-13, wherein the method comprises:

- verifying credentials of a customer entered into an interface device (512) of the delivery unit (504);

- if the verification of the credentials is accepted by the control system (500), opening an assigned compartment (506c) of the delivery unit (506) allowing placing of a product (614) into the assigned compartment (506c) by the customer; and

- transmitting instruction signals from the control system (500) to one or more receivers of the second transfer device (605) instructing the second transfer device (605) to retrieve the product (614) from the assigned compartment (506c) and transferring the product (614) by the second transfer device (605) to the support (612).

19. The method in accordance with claim 18, wherein the method uses the automated storage and retrieval system (1) in accordance with any one of claims 14 to 17, and wherein the control system (500) further transmits instruction signals to at least one of the plurality of container handling vehicles (200,300,400) to retrieve the product (614) from the support (612) and place the product (614) in an assigned location in the automated storage and retrieval system (1).

20. The method in accordance with claim 18 or 19, wherein the second transfer device (605) is a robotic manipulator (604) that comprises: a height adjustable stand (608); and a rotatably moving arm (610) connected to the height adjustable stand (608), wherein the arm (610) comprises a gripping mechanism (616) configured to retrieve a product (614) present in an assigned compartment (506c) of the delivery unit (504) and place the product (614) on the support (612), wherein the method comprises the steps of:

- adjusting the height of the height adjustable stand (608) such that the gripping mechanism (616) is positioned at the same height, or substantially the same height, as the assigned compartment (506c); and

- rotating the rotatably moving arm (610) around a longitudinal axis of the height adjustable stand (608) to allow the gripping mechanism (616) to pick the product (614) from the assigned compartment (506c).

21. The method in accordance with claim 18 or 19, wherein the second transfer device is a conveyor system (605) comprising: a conveyor (622) that extends between the support (612) and the delivery unit (504); a tilting mechanism (626) that allows the conveyor (622) to tilt such that an end of the conveyor (622) is positioned in a transferring position at or near an assigned compartment (506c); and a height adjustment mechanism (624), and wherein the method comprises the steps of:

- tilting the conveyor (622) to a receiving position near an assigned compartment (506c) by a tilting mechanism (626);

- adjusting the height and/or tilt of the conveyor (622) by use of the height adjustment mechanism (624); and

- transferring, by the conveyor (622), the product (614) from the assigned compartment towards the support (612).