NO348165B1

NO348165B1 - An adapter for a goods holder for a remotely operated vehicle in a grid-based storage and retrieval system, including a system and method for using same

Info

Publication number: NO348165B1
Application number: NO20230226A
Authority: NO
Inventors: Jørgen Djuve Heggebø
Original assignee: Autostore Tech As
Priority date: 2023-03-06
Filing date: 2023-03-06
Publication date: 2024-09-16
Also published as: WO2024184340A1; EP4676850A1; CN120936553A; NO20230226A1

Description

AN ADAPTER FOR A GOODS HOLDER

The present invention primarily relates to an adapter for a goods holder handled by a remotely operated vehicle 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 selfsupportive.

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 X 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 gripper device 304, 404 (visible in Figs.3a-3b) 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 gripper device 304, 404 comprises one or more grippers which are adapted to engage a storage container 106 by means of insertion in gripper holes of the storage container. Furthermore, the gripper device can be lowered from the vehicle 201, 301, 401 so that the position of the gripper device 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 X and the second direction Y. Parts of the gripper device of the container handling vehicles 301, 401 are shown in Figs.3a and 3b. The gripper 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=1…n and Y=1…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=18, Y=1, 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 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=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 WO2014/090684A1 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 X 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.

Storage containers of the system of Fig.1 are optimized for use within the storage volume and are not particularly well-suited for use outside the system. In view of this, it is desirable to provide a solution that solves or at least mitigates the aforementioned problem 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 an adapter for a goods holder handled by a remotely operated vehicle of a grid-based storage and retrieval system, said adapter comprising a quadrangular frame for attaching to an edge section of the goods holder, and affixing means for attaching the adapter frame to the edge section of the goods holder.

An adapter in accordance with the above preserves all advantages associated with the standard goods holders, for instance goods holders being easily stackable within the storage volume, goods holders being suitable for handling by the remotely operated vehicle.

In addition, use of the adapter improves overall stability when a stack of goods holders is freestanding outside the storage volume, i.e. is not supported by means of the upright members defining the storage column. Moreover, the adapter can also act as a structural reinforcement that increases the strength of the goods holder and reduces the risk of goods holder deformation due to external forces.

Also, the adapter ensures an efficient handling of goods holders and is particularly useful during goods holder transport and at a micro fulfilment center (MFC). Here, an MFC is a small-scale warehouse facility typically placed close to the consumer to improve delivery times. More specifically, the adapter is easily installed on a goods holder leaving the grid-based storage and retrieval system or unmounted off the goods holder returning to the system. Furthermore, a goods holder with an installed adapter may be introduced into a storage column of the storage volume by means of the remotely operating vehicle and without constructional changes to the remotely operating vehicle or to other parts of the storage and retrieval system.

Another aspect of the invention relates to a method for adapting a goods holder handled by a remotely operated vehicle of a grid-based storage and retrieval system in accordance with claim 19. For the sake of brevity, advantages discussed above in connection with the adapter may even be associated with the corresponding method and are not further discussed. Here, it is to be construed that the sequence of method steps of method claims may be effectuated in any given order.

In one aspect, the goods holder adapter of the present invention is for use in the context of the framework structure 100 comprising upright members 102.

In another aspect, the goods holder adapter 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 goods holder adapter 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 goods holder adapter of the present invention is for use in the context of an 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 goods holder adapter 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 Art”-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.

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. 4a is a perspective view showing an adapter in accordance with one embodiment of the present invention as well as a standard goods holder.

Fig. 4b is a perspective view showing an adapter in accordance with another embodiment of the present invention, said adapter being shown from below.

Fig. 4c is a perspective view showing the adapter of Fig.4b from above.

Fig. 5 is a perspective view showing an adapter in accordance with another embodiment of the present invention as well as a standard goods holder.

Fig. 6 is a perspective view showing a standard goods holder with an adapter affixed to an upper edge section of the goods holder and a further goods holder being stacked on the adapted goods holder.

Fig. 7 is a perspective view showing a standard goods holder with an adapter affixed to a lower edge section of the goods holder.

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.1-3b, 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.4a-7.

Fig. 4a is a perspective view showing a goods holder and adapter assembly in accordance with one embodiment of the present invention. Shown adapter 109 is for mounting on a goods holder 106 handled by a remotely operated vehicle (shown in Figs. 2-3b) of a grid-based storage and retrieval system (shown in Fig.1). The adapter 109 comprises a quadrangular frame 19 for attaching to an edge section of the goods holder 106 and affixing means 21 for attaching the adapter frame 19 to the edge section of the goods holder 106. In the shown embodiment, an inner rim section 23 of the adapter 109 is inserted into the interior of the goods holder 106 and is in contact with an inner surface of the goods holder 106.

Fig. 4b is a perspective view showing an adapter 109 in accordance with another embodiment of the present invention, said adapter 109 being shown from below. Fig. 4c is a perspective view showing the adapter of Fig.4b from above.

Adapters shown in Fig.4a and Figs.4b-4c comprise the previously mentioned inner rim section 23 extending perpendicularly from the quadrangular frame 19.

Moreover, these adapters comprise a plurality of flanges 25 each located at a corner of the quadrangular frame, said flanges 25 extending perpendicularly from the quadrangular frame in a direction opposite to extension direction of the inner rim section 23.

With reference to Fig.4a, affixing means 21 of the adapter comprise a plurality of through-holes 21 in the frame. Suitable fasteners (not shown) are then used to immobilize the frame relative the goods holder. Obviously, number and placement of the through-holes may vary. With reference to Figs.4b-4c, the frame lacks through-holes and the affixing means 21 comprises projections 21 extending from the frame 19, wherein the projections 21 are for insertion into gripper holes 33 of the goods holder (shown in Fig.4a). Once the projections 21 are inserted, a friction fit ensures that these projections 21 are firmly secured in the gripper holes 33 so that the frame 19 is immobilized relative the goods holder 106. As clearly seen, the projections 21 extend further down then the inner rim section 23. Here, it is conceivable for an assembly to have affixing means 21 including through-holes in the frame as well as projections – see for instance Fig.4a.

An adapter 109 in accordance with Figs.4a-4c ensures that all advantages associated with the standard goods holders 106 are preserved, for instance goods holders being easily stackable within the storage volume or goods holders being suitable for handling by the remotely operated vehicle. In addition, use of the adapter improves overall stability when a stack of goods holders is freestanding outside the storage volume, i.e. is not supported by means of the upright members defining the storage column. Moreover, the adapter 109 can also act as a structural reinforcement that increases the strength of the goods holder and reduces the risk of goods holder deformation due to external forces.

In another embodiment (not shown), the adapter comprises a planar surface extending within the frame. This surface may act as a lid protecting interior of the goods holder. This adapter design improves structural properties of the goods holder, notably its resistance to shearing. Preferably, the adapter of this embodiment is formed integrally with the frame.

Still with reference to Fig.4a, the goods holder 106 and the above-described adapter 109 make up an assembly. The goods holder 106 of the assembly comprises a base 27 and four sides 29a-29d extending from the base 27, the four sides defining an upper edge 31 opposite the base 27. The adapter 109 may be attached either to the upper edge (31; Fig.4a) or to the base (27; Fig.7) of the goods holder 106. In any case, the adapter 109 does not extend outwardly of an outer perimeter of the goods holder 106 defined by the four sides 29a-29d. Regardless of the placement of the adapter 109, the adapter frame 19 is releasably affixed to the suitable section of the goods holder 106.

Fig. 5 is a perspective view showing a goods holder 106 and adapter 109 assembly in accordance with another embodiment of the present invention. Here, an inner rim section (23; discussed in connection with Fig.4a) extends to a base 27 of the goods holder 106. Moreover, the inner rim section 23 comprises a bottom section 24, such that the inner rim section 23 forms an open box, and the bottom section 24 abuts the base 27 of the goods holder 106. The adapter 109 of this embodiment may be affixed to the goods holder 106 in the same ways as previously discussed. For the sake of brevity, further features of the adapter shown in Fig.5 are not further discussed, and the reference is made to corresponding discussion presented in conjunction with Figs.4a-4c.

Fig. 6 is a perspective view showing a stack of goods holders 106. More specifically, it is shown a standard goods holder 106L with an adapter 109 affixed to an upper edge section of the goods holder 106L and a further goods holder 106 being stacked on the adapted goods holder 106L such that the adapter 109 is sandwiched between the goods holder 106 and the adapted goods holder 106L. For the sake of brevity, further features shown in Fig.6 are not further discussed, and the reference is made to corresponding discussion presented in conjunction with Figs. 4a-4c and Fig.5. Goods holder stack of Fig.6 may be stored in an automated storage and retrieval system, for instance that of Fig.1, comprising a framework structure 100 with upright members 102, a storage volume comprising storage columns 105 provided between the members, wherein goods holders 106 are stackable in stacks 107 within the storage columns 105, a rail system 108 provided on top of the upright members 102, with remotely operated vehicles 201, 203 moving on the rail system 108.

Fig. 7 is a perspective view showing a goods holder and adapter assembly in accordance with yet another embodiment of the present invention. In this embodiment, the adapter 109 is affixed to the base 27 of the goods holder 106. The adapter 109 of this embodiment is affixed to the goods holder 106 via through-holes 21 in corners of the frame 19 and at midpoints of the two long sides, but other variants are conceivable. For the sake of brevity, further features of the adapter 109 shown in Fig.7 are not further discussed, and the reference is made to relevant parts of the discussion presented in conjunction with Figs.4a-4c. Affixing the adapter to the base of the goods holder confers all afore-mentioned advantages. In addition, upper section of the goods holder is not altered. This entails that interface for the gripper device (shown for instance in Fig.3b), most notably access to the gripper holes of the goods holder, is the same as in conventional goods holders. In consequence, no further modification of the remotely operated vehicle nor gripper device itself is required.

In another embodiment (not shown), the frame of the adapter belonging to the assembly only covers a portion of the upper edge surface of the goods holder. In a closely related embodiment, it is the portion of the upper edge surface adjacent interior of the goods holder that is covered by the frame. In consequence, a goods holder having suitably sized and shaped base and being lowered into the stack may be guided into position by the adapter frame of the top goods holder of the stack, more specifically by the edge of said frame. In addition, by implementing the adapter frame in accordance with this embodiment, height of the stack in the storage column is not increased since the frame only covers the portion of the upper edge surface and not the entire upper edge surface. Here, upper goods holder having a suitably sized and shaped base is supported only by the portion of the upper edge surface not covered by the adapter frame and the total stack height is the same as if the goods holders weren’t provided with an adapter. This entails that no further adjustments of the system are required – very useful in a high-precision storage system as that shown and discussed in connection with Fig.1.

In the preceding description, various aspects of the adapter for a goods holder handled by a remotely operated vehicle of a grid-based storage and retrieval system according to the invention and a thereto associated assembly 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

1 Storage and retrieval system

19 Frame

21 Affixing means

23 Inner rim section

24 Bottom section

25 Flange

27 Base of the goods holder

29a-29d Sides of the goods holder

31 Upper edge of the goods holder

33 Gripper holes of the goods holder

100 Framework structure

102 Upright members of framework structure

104 Storage grid

105 Storage column

106 Storage container/Goods holder

106L Lower goods holder

106’ Particular position of storage container

107 Stack of storage containers

108 Rail system

109 Adapter

110 Parallel rails in first direction (X)

111 Parallel rails in second direction (Y)

112 Access opening

119 First port column

201 Container handling vehicle/Remotely operated vehicle 201a Vehicle body of the container handling vehicle 201

201b Drive means / wheel arrangement, first direction (X) 201c Drive means / wheel arrangement, second direction (Y) 301 Cantilever-based container handling vehicle/Remotely operated vehicle

301a Vehicle body of the container handling vehicle 301

301b Drive means in first direction (X)

301c Drive means in second direction (Y)

401 Container handling vehicle/Remotely operated vehicle 401a Vehicle body of the container handling vehicle 401

401b Drive means in first direction (X)

401c Drive means in second direction (Y)

500 Control system

X First direction Y Second direction Z Third direction

Claims

1. An adapter (109) for a goods holder (106) handled by a remotely operated vehicle (201, 301, 401) of a grid-based storage and retrieval system (1), said adapter comprising:

- a quadrangular frame (19) for attaching to an edge section of the goods holder (106),

- affixing means (21) for attaching the quadrangular frame (19) to the edge section of the goods holder (106).

2. An adapter (109) of claim 1, wherein the adapter (109) comprises an inner rim section (23) extending perpendicularly from the quadrangular frame (19).

3. An adapter (109) of any of the preceding claims, wherein the adapter (109) comprises a plurality of flanges (25) each located at a corner of the quadrangular frame (19), said flanges (25) extending perpendicularly from the quadrangular frame (19).

4. An adapter (109) of any of the preceding claims, wherein affixing means (21) comprise a plurality of through-holes in the frame (19).

5. An adapter (109) of any of the preceding claims, wherein the adapter (109) comprises a planar surface extending within the frame (19).

6. A goods holder (106) and adapter (109) assembly, comprising:

- the adapter (109) of any of the preceding claims, and

- a goods holder (106) comprising a base (27) and four sides (29a-29d) extending from the base (27), the four sides (29a-29d) defining an upper edge (31) opposite the base (27),

wherein the adapter (109) is attached to the upper edge (31) or the base (27) of the goods holder (106), and wherein the adapter (109) does not extend outwardly of an outer perimeter of the goods holder (106) defined by the four sides (29a-29d).

7. A goods holder (106) and adapter (109) assembly as claimed in claim 6, wherein the frame (19) is releasably affixed to the upper edge (31) or the base (27) of the goods holder (106).

8. A goods holder (106) and adapter (109) assembly as claimed in claims 6 or 7, wherein the frame (19) is affixed to the upper edge (31) of the goods holder (106).

9. A goods holder (106) and adapter (109) assembly as claimed in claim 8, wherein the frame (19) only covers a portion of the upper edge (31) surface.

10. A goods holder (106) and adapter (109) assembly as claimed in claim 9, wherein the portion of the upper edge (31) surface covered by the frame (19) is adjacent interior of the goods holder (106).

11. A goods holder (106) and adapter (109) assembly as claimed in any of claims 6 to 10, wherein the goods holder (106) comprises gripper holes (33) in the upper edge (31) of the goods holder (106), and the affixing means (21) comprises projections extending from the frame (19), wherein the projections (21) are inserted into the gripper holes (33) of the goods holder (106).

12. A goods holder (106) and adapter (109) assembly as claimed in any of claims 6 to 11, wherein the inner rim section (23) is inserted into the interior of the goods holder (106) and is in contact with an inner surface of the goods holder (106).

13. A goods holder (106) and adapter (109) assembly as claimed in claim 12, wherein said inner rim section (23) extends to the base (27) of the goods holder (106).

14. A goods holder (106) and adapter (109) assembly as claimed in claim 13, wherein the inner rim section (23) comprises a bottom section (24), such that the inner rim section (23) forms an open box, and the bottom section (24) abuts the base (27) of the goods holder (106).

15. A goods holder (106) and adapter (109) assembly as claimed in claims 6 or 7, wherein the adapter (109) is affixed to the base (27) of the goods holder (106).

16. A goods holder (106) and adapter (109) assembly as claimed in claim 15, wherein the affixing means (21) comprises a through-hole in each corner of the frame (19).

17. A stack of goods holders (106) comprising:

- the goods holder (106) and adapter (109) assembly as claimed in any of claims 5 to 16, and

- a lower goods holder (106L),

wherein the goods holder (106) and adapter (109) assembly is stacked on top of the lower goods holder (106L), such that the adapter (109) is sandwiched between the goods holder (106) and the lower goods holder(106L).

18. An automated storage and retrieval system (1) comprising a framework structure (100), wherein the framework structure (100) comprises:

- upright members (102);

- a storage volume comprising storage columns (105) provided between the members (102, 103), wherein goods holders (106) are stackable in stacks (107) within the storage columns (105);

- a rail system (108) provided on top of the upright members (102);

wherein the automated storage and retrieval system (1) comprises remotely operated vehicles (201, 301, 401) moving on the rail system (108); and a stack of goods holders (106, 106L) as claimed in claim 17.

19. A method for adapting a goods holder (106) handled by a remotely operated vehicle (201, 301, 401) of a grid-based storage and retrieval system (1), said method comprising:

- providing an adapter (109) as claimed in any of claims 1 to 5,

- affixing the adapter (109) to a goods holder (106).

20. A method of claim 19, the method comprising:

- affixing the adapter (109) to the goods holder (106) when the goods holder (106) has exited the grid-based storage and retrieval system (1).

21. A method of claim 19 or claim 20, the method comprising:

- unmounting the adapter (109) from the goods holder (106) when the goods holder (106) is about to enter the grid-based storage and retrieval system (1).

22. A method of claim 19, the method comprising:

- inserting the goods holder (106) with the adapter (109) or extracting the goods holder (106) with the adapter (109) from a storage column (105) of a storage volume of the automated storage and retrieval system (1).