ROBOTIC PICKING AND CONVEYOR SYSTEM

1 . An automated picking system for picking to and from containers in an automated storage and retrieval system wherein the automated storage and retrieval system comprises a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction across a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction which is perpendicular to the first direction, the first and second sets of parallel rails dividing the rail system into a plurality of grid cells having access openings at a top of the frame structure, for storing storage containers in which items can be stored, the automated picking system comprising:

at least one automated picking arm arranged on a base that spans one or more access openings of a grid cell of the plurality of grid cells that is configured to pick items to and from containers situated in adjacent grid cells of the plurality of grid cells, and

a conveyor system which is situated in columns of the adjacent grid cells to the at least one automated picking arm for transporting containers to and from a picking zone defined by the grid cell occupied by the automated picking system, a pick-up point and/or a delivery point on the top of the frame structure of the conveyor system of the automated picking system.

2 . The automated picking system according to claim 1 , wherein the automated picking system takes up from 3×3 to 5×5 grid cells.

3 . The automated picking system according to claim 1 , wherein a picking zone of 2×3 grid cells of the automated picking system is surrounded by walls positioned at outer edges of the conveyor system in the grid cells of the picking zone.

4 . The automated picking system according to claim 1 , wherein the conveyor system is situated in a stacking level which is located below the access opening of the grid cells.

5 . The automated picking system according to claim 1 , wherein the conveyor system is situated at a level of the access opening of the grid cells.

6 . The automated picking system according to claim 1 , wherein the delivery point and the pick-up point of containers are the same grid cell.

7 . The automated picking system according to claim 1 , wherein the delivery point and the pick-up point of containers are neighboring grid cells.

8 . The automated picking system according to claim 1 , wherein each grid cell has its own part of the conveyor system that can be controlled independent of other parts of the conveyor system of the other grid cells.

9 . The automated picking system according to claim 1 , wherein the conveyor system comprises rollers or belts.

10 . The automated picking system according to claim 1 , wherein the conveyor system is configured to transport the container from one grid cell into a neighboring grid cell.

11 . The automated picking system according to claim 1 , wherein along an outermost edge of the conveyor system there is positioned stoppers configured to prevent the containers from moving outside the conveyor system.

12 . The automated picking system according to claim 11 , wherein the stoppers are blocks or an upright edge running an entire perimeter of the conveyor system.

13 . The automated picking system according to claim 1 , wherein each part of the conveyor system is controlled by a central computer system.

14 . The automated picking system according to claim 1 , wherein each part of the conveyor system is the size of a grid cell.

15 . The automated picking system according to claim 1 , wherein the at least one automated picking arm can extend below the access opening of the grid cells.

16 . A method for picking at an automated picking system placed for picking to and from containers in an automated storage and retrieval system, wherein the automated storage and retrieval system comprises a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction across a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction which is perpendicular to the first direction, the first and second sets of parallel rails dividing the rail system into a plurality of grid cells having access openings, for storing storage containers for storing items and wherein the method comprises the following steps:

transporting source containers and/or target containers to a delivering point in the automated picking system using container handling vehicles,

transporting the source container and/or the target container from the delivering point to a picking zone using a conveyor system,

picking one or more items from one or more source containers using at least one automated picking arm,

placing the one or more picked items in the one or more target containers using the at least one automated picking arm,

transporting the source containers and the target containers from the picking zone to a pick-up point when finished using the conveyor system, and

transporting the containers from the pick-up point of the system to a designated area for that container using container handling vehicles.

17 . The method according to claim 16 , wherein the method includes delivering the source containers back into the frame structure for storage after picking using container handling vehicles.

18 . The method according to claim 16 wherein the method includes delivering the target containers to ports for further distribution after picking.

19 . The method according to claim 16 , wherein the containers are lowered into/raised up through one stacking level onto/off the conveyor system.

20 . The method according to claim 16 , wherein the containers are lowered into/raised up through two stacking levels onto/off the conveyor system.

21 . A computer program product that when executed in a processor by a central computer system is arranged to control at least one picking arm and a conveyor system for picking at an automated picking system placed for picking to and from containers in an automated storage and retrieval system to perform the steps of:

transporting a container from the automated storage and retrieval system to the conveyor system using a container handling vehicle,

maneuvering the container to a right position in the automated picking system using the conveyor system,

using the at least one picking arm to pick an item stored in a source container and deliver it to a target container, and

using a container handling vehicle to pick up the source container after the item has been picked.

22 . An automated storage and retrieval system comprising:

a framework structure with a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction across the framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction which is perpendicular to the first direction, the first and second sets of parallel rails dividing the rail system into a plurality of grid cells having access openings, for storing storage containers in which items can be stored, forming vertical columns each having a horizontal area defined by a size of an access opening between rails of the rail system ( 108 ) that are arranged on the framework structure,

an automated picking system comprising at least one automated picking arm situated in the access opening of a grid cell that is configured to pick items to and from containers situated in adjacent grid cells, and

a conveyor system which is situated in columns of the adjacent grid cells to the at least one automated picking arm for transporting containers to and from a picking zone, a pick-up point and/or a delivery point of the conveyor system of the automated picking system;

wherein the automated storage and retrieval system is controlled by a central computer system.