WO2025056583A1

WO2025056583A1 - A leveling device for a framework structure

Info

Publication number: WO2025056583A1
Application number: PCT/EP2024/075324
Authority: WO
Inventors: Trond Austrheim; Simen Aarseth
Original assignee: Autostore Technology AS
Priority date: 2023-09-12
Filing date: 2024-09-11
Publication date: 2025-03-20
Also published as: NO348585B1; NO20230973A1

Abstract

A leveling device (10) and method for erecting and leveling the framework structure of an automated storage and retrieval system. The leveling device has a base portion (12) and a support platform (14) for supporting an upright member of the framework structure. A guide structure (42) is arranged on the support platform. The support platform is arranged for receiving and supporting, between the guide structure and a center point of the support platform, a lower end of the upright member and a spacer frame for spacing upright members.

Description

A LEVELING DEVICE FORA FRAMEWORK STRUCTURE

TECHNICAL FIELD

[0001] The present disclosure relates to an automated storage and retrieval system for storage and retrieval of containers, in particular to a leveling device for leveling a framework structure of 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 201, 301, 401 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 201, 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 201, 301, 401 in a first direction X across the top of the frame 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 201, 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 201, 301, 401 through access openings 112 in the rail system 108. The container handling vehicles 201, 301, 401 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 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 the lateral movement of the container handling vehicles 201, 301, 401 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 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.

[0007] Each prior art container handling vehicle 201, 301, 401 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 201, 301, 401 so that the position of the gripping / engaging devices with respect to the vehicle 201, 301, 401 can be adjusted in a third direction Z which is orthogonal the first direction X and the second direction Y. Parts of the gripping device of the container handling vehicles 301, 401 are shown in Figs. 3 and 4 indicated with reference number 304, 404. The gripping device of the container handling device 201 is located within the vehicle body 201a 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, 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=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=1, Z=6. The container handling vehicles 201, 301, 401 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 Y-direction, while each storage cell maybe identified by a container number in the X-, Y- and Z-direction.

[0010] 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, 401a 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 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.

[0012] The cavity container handling vehicle 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 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 401 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 too, 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 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 too or transferred out of or into the framework structure too. Within the art, such a location is normally referred to as a ‘port’ and the column in which the port is located maybe referred to as a ‘port column’ 119, 120. The transportation to the access station maybe 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 too, 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 drop-off port column where the container handling vehicles 201, 301, 401 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 201, 301, 401 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 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, 401 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, maybe 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. [0023] 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 any 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.

[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 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 which typically is computerized and which typically comprises a database for keeping track of the storage containers 106.

Positioning of Grid Feet

[0025] In order to erect a framework structure as described above, the upright members, and hence the grid feet upon which they rest, must be precisely aligned to form storage columns of the correct dimensions. In an automated storage and retrieval system, the dimensional tolerances are very small, and the hence the grid feet must be very accurately aligned on the floor of the facility where the framework is to be erected. The prior art method of installing a framework structure too currently comprises laying out a grid of perpendicular floor rails for positioning the grid feet. The grid of floor rails is used as a template to determine the placement and proper spacing by placing each grid foot at an intersection of the perpendicular rails of the grid. In use, the perpendicular rails of the grid of floor rails are bolted or otherwise affixed to the floor, with the floor rails remaining permanently attached to the floor after construction of the framework. The upright members are then mounted on top of the affixed grid feet such that a center upward protrusion of the grid foot is placed in the hollow interior of the upright member, with retaining portions of the grid foot engaging the side walls. [0026] The installation of a grid of floor rails to position the grid feet has several disadvantages. First, installing the floor rails is time consuming. Also, in some situations it is necessary to clean the floor within the perimeter of the framework structure of an automated storage and retrieval system. The prior art method of erecting the framework structure makes such cleaning difficult. First, the containers are positioned so low to the floor that is difficult to reach the floor of the facility with a cleaning device without first removing all of the containers from the storage columns. Secondly, even if all the container are removed, the floor rails make cleaning difficult, as the slightly raised floor rails collect debris and inhibit the optimal operation of cleaning devices.

[0027] There is a need therefore for a leveling device and method of erecting the framework structure of an automated storage and retrieval system that does not require the use of a grid of floor rails.

SUMMARY

[0028] The present invention is set forth and characterized in the independent claims. 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.

[0029] In one aspect, the disclosure relates to a leveling device for leveling the framework structure of an automated storage and retrieval system, for example in the form of an adjustable grid foot that supports upright members of the framework. The grid foot has a base portion and a support platform for supporting an upright member of the framework structure. The upright members in a preferred embodiment are extruded aluminum profiles. When viewed from the top or otherwise in cross section, the upright members have an essentially rectangular, hollow center portion with four side walls. Arranged at each of four corners of the center portion are two substantially 90 degree extensions that form corner guides. When four such upright members are in a rectangular pattern to define a storage column, the corner guides project towards the interior of the storage column and retain and guide the corners of storage containers as they are lifted in and out of the storage column.

[0030] In one embodiment, the support platform of the leveling device is essentially rectangular, or has as essentially rectangular footprint, with an area in the horizontal plane that essentially corresponds to, or is larger than, the footprint of an upright member, such that the lower end of the upright member, when resting upon the platform, is completely within the periphery of the support member, i.e., when viewed from above, a rectangular area defined by four line connecting the corners of the support platform would correspond to or be larger than the footprint of the upright member. In alternate embodiments the support platform could have a cross sectional area smaller than the footprint of the upright member, such that portions of the upright member extend beyond the perimeter of the support platform, so long as the support platform has sufficient cross sectional area to securely support the upright member.

[0031] A wedge member is provided that may be inserted between the base portion of the leveling device and the support platform in order to regulate the distance therebetween. In one embodiment, the wedge member is U-shaped and comprises a series of raised locking teeth that engages corresponding locking teeth on the leveling device. The leveling device has a central, upwardly protruding column along which the support platform travels, and which is arranged to be received in the interior of the hollow center portion of an upright member. In one embodiment, the upwardly protruding column comprises alignment tabs or other structure arranged to abut with the interior surface or edge of the center portion of the upright member in order to center the upright member on the platform.

[0032] The support platform of the leveling device comprises four sets of two guide ridges, or four sets of other features, to assist with alignment of the upright members of the framework structure. The two guide ridges are arranged at substantially 90 degrees to each other to substantially form a right angle having a vertex at a point where the two guide ridges meet, or where linear projections of the guide ridges meet. The right angle of the guide ridges corresponds to the right angle formed by the two sides of the corner guides of an upright member, albeit, they are stepped outwardly from where the sides of the corner guides of the upright members lie by a distance corresponding to a thickness of a spacer frame, discussed in more detail below. The 90- degree guide ridges are arranged between the central upwardly protruding column and the corners of the support platform, where an imaginary line bisecting the 90-degree angle of the guide ridges intersects with a corner of the support platform.

[0033] The vertex of each 90-degree angle of each set of guide ridges is positioned at a distance D from the midpoint of the central column that is greater than a distance D’ between the midpoint of the upright member and the vertex of the two sides of the corner guides, i.e. the guide ridges will be positioned within the confines of, and exterior to, the corner guides when the upright member is centered on the platform, with a gap being formed between each guide ridge and a side of a corner guide of the upright member. It should be understood that, in addition to the embodiment described above, the support platform could have a shape other than rectangular, so long as the guide ridges are positioned with respect to the corner guides as described above.

[0034] The gap between the guide ridges and the corner guides corresponds to the width of corner portions of a rectangular spacer frame, the rectangular spacer frame having the cross-sectional dimensions of a storage column. As used herein the term “essentially corresponds to the width of” means that the corner portion of the rectangular spacer frame can be inserted by hand into the gap between the corner guide of the upright member and the guide ridges of the support platform, in a snug yet removable fit such that the corner of the rectangular spacer frame remains essentially fixed in place between the corner guide of the upright member and the guide ridges. When each of the four corners of the rectangular spacer frame is inserted into the gaps of four upright member/leveling device arrangements, the four upright members will consequently be spaced at the proper distance to define a storage column.

[0035] In alternate embodiments, structures other than guide ridges maybe employed to position the corners of the rectangular spacer frame with respect to the corner guides, for example one or more pins or grooves, provided that the alternative structure retains a corner of the rectangular spacer frame against an inside corner of a corner guide of the upright member.

[0036] According to another aspect, the disclosure provides a method for erecting the framework structure of an automated storage and retrieval system. According to the method, four upright members defining a storage column are placed on the support platforms of four leveling devices, thus forming four upright member/leveling device arrangements as described above. A rectangular spacer frame having substantially the cross sectional dimensions of a storage column is connected to each of the four upright member/leveling device arrangements by inserting the corners of the spacer frame into the gaps between the four upright members and their respective guide ridges. When the rectangular spacer frame is so connected, the four upright members are thereby locked into position with respect to each other in the correct dimensions of a storage column. Additional upright members/leveling device arrangements are connected in a similar fashion adjacent to the correctly positioned four upright members and so forth in order to build out the grid pattern of the framework structure, without the need to lay out a grid pattern of floor rails in order to position the leveling devices. [0037] According to one aspect of the disclosure, the rectangular spacer frames are left in place once the framework structure is complete, with the spacer frames functioning as elevated supports for stacks of containers. This provides access to the area underneath the stacks for various purposes, such as cleaning of the floor underneath the stacks, running electrical cables or other infrastructure underneath the stacks, etc. The elevated support can provide access for example to robotic vacuum cleaners and the like. Such robotic cleaning devices typically require a clearance of greater than 5 cm, or greater than 7 cm, or greater than 10 cm, or greater than 15 cm or other minimum clearance depending on the dimensions of available devices. Therefore, the height of the support platform of the leveling device may be selected such that the stacks are elevated at sufficient height for robotic cleaning devices to pass underneath. Since the spacer framers are removably connected to the upright member/leveling device arrangements, the spacer frames could be removed from empty storage columns to provide easier access to the floor of the facility for cleaning devices and other purposes.

[0038] The disclosure would also be useful in vertical farming, where a framework structure is erected defining storage columns intended to house stacks of containers or other receptacles holding growing plants. In this case, the space underneath the stacks could provide ventilation for the plants, or provide a space for running electrical cables, water pipes, drain pipes etc.

[0039] According to one aspect, the leveling device of the disclosure can be described as follows:

[0040] A leveling device (for a framework structure of an automated storage and retrieval system that comprises a plurality of upright members (arranged in rows, the upright members supporting a rail system comprising a first set of parallel rails arranged in a horizontal plane (P) and extending in a first direction (X), and a second set of parallel rails arranged in the horizontal plane (P) and extending in a second direction (Y) which is orthogonal to the first direction (X), which first and second sets of rails form a grid pattern in the horizontal plane (P) comprising a plurality of access openings/grid cells, where the upright members define corners of a plurality of rectangular crosssection storage columns, each storage column located beneath an access opening/grid cell and being arranged to store a respective stack of storage containers, wherein the leveling device comprises a base portion, a support member that is vertically movable in relation to the base portion, the support member being arranged to support an upright member of the framework structure, said upright member having a plurality of longitudinally arranged corner guides (for guiding a corner of a container being raised or lowered into a storage column, each of said corner guides (comprising two longitudinal side portions arranged at substantially 90 degrees, and wherein the leveling device comprises a wedge member insertable between the base portion and the support member for regulating the height of the support member, CHARACTERIZED IN THAT a. the support member is a support platform (arranged for receiving and supporting a lower end of an upright member, the support platform having a cross-sectional area in the horizontal plane sufficient to support the upright member, b. the support platform comprises a guide structure arranged on an upper surface of the support platform, at a location where the guide structure will be within a rectangular area defined by the side portions of the corner guide of an upright member when the upright member is resting on the support platform, and wherein c. the guide structure is spaced at a distance (D) from a center point of the support platform such that a gap is formed between the guide structure and the side portions of the corner guide.

[0041] According to another aspect, a system according to the disclosure can be described as follows:

[0042] A system for leveling a framework structure , and correctly spacing upright members of an automated storage and retrieval system, comprising: a. a plurality of leveling devices as described above, and b. a plurality of rectangular spacer frames, the frames having substantially the dimensions of a storage column of the storage and retrieval system, wherein the corners of the spacer frame are adapted to fit into the gaps of four leveling devices upon which are resting upright members in a snug yet removable fit, thereby spacing the upright members from each other in the proper distances and alignment to define a storage column.

[0043] According to another aspect, a method of the disclosure can be described as follows:

[0044] A method for spacing the upright members of a framework structure of an automated storage and retrieval system, comprising: a. arranging a plurality of leveling devices from the system according to the disclosure in grid pattern, b. placing an upright member on each leveling device such that a lower end of the upright member rests on the support platform of the leveling device, c. connecting a spacer frame (52) from the system according to the disclosure between each group of four leveling devices by inserting corners (53) of the spacer frame into the gap (46) between the corner guides of the upright member and the guide structure of the support platform of the leveling devices.

[0045] According to an aspect of the present disclosure, there is provided a leveling device for a framework structure of an automated storage and retrieval system, the framework comprising a plurality of upright members defining corners of a plurality of rectangular cross-section storage columns arranged to store a respective stack of storage containers, wherein the leveling device comprises: a base portion; a support member that is vertically movable in relation to the base portion, wherein the support member is a support platform, wherein the support platform comprises a guide structure arranged on an upper surface of the support platform, wherein the support platform is arranged for receiving and supporting a lower end of an upright member of the framework structure and a spacer frame for spacing upright members from each other to define a storage column, wherein the support platform is arranged for receiving the lower end of the upright member and the spacer frame between the guide structure and a center point of the support platform; and a wedge member insertable between the base portion and the support member for regulating the height of the support member.

[0046] According to an aspect of the present disclosure, there is provided a system comprising: a leveling device as described according to any of the above aspects or any of the numbered clauses following the detailed description; and the upright member of the framework structure. [0047] The system may further comprise a spacer frame for spacing the upright members from each other to define a storage column. The spacer frame maybe configured to support a stack of storage containers.

[0048] The spacer frame and upright member may be positioned on the support platform of the leveling device between the guide structure and a center point of the support platform. The spacer frame maybe positioned in a gap formed between the guide structure and the corner guide of the upright member resting on the support platform.

BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Following drawings are appended to facilitate the understanding of the disclosure. The drawings show embodiments of the disclosure, which will now be described by way of example only, where:

[0050] Fig. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.

[0051] Fig. 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0052] Fig. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.

[0053] Fig. 4 is a perspective view, seen from below, of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0054] Fig 5 is a detailed perspective view of a prior art upright member and a prior art grid foot.

[0055] Fig 6 is a perspective view of an embodiment of a leveling device according to the disclosure.

[0056] Fig 7 is a perspective view of an embodiment of a leveling device according to the disclosure, with a cut-away portion of an upright member resting on the device.

[0057] Fig 8 is a perspective view of a rectangular spacer frame.

[0058] Fig 9 is a perspective view of an embodiment of a rectangular frame, illustrating the means of assembly of the frame. [0059] Fig 10 is an overhead view of a rectangular spacer frame engaging four leveling devices of the disclosure in order to position such leveling devices to define a storage column of intended dimensions.

[0060] Fig 11 is a perspective view of Fig 11.

[0061] Fig 12 illustrates a stack of storage container supported by the rectangular spacer frame.

[0062] Fig 13 is an image of a robotic cleaning device.

[0063] Fig 14 is a perspective view of a framework structure with storage containers removed from storage columns for cleaning of the floor of the facility, but with the rectangular spacer frames remaining in place.

[0064] Fig 15 is a perspective view of a framework structure with storage containers removed from storage columns for cleaning of the floor of the facility, but with the rectangular spacer frames removed from a row of storage columns.

DETAILED DESCRIPTION

[0065] In overview, the disclosure provides a leveling device and corresponding systems and methods including or using leveling devices, upright members of a framework structure of an automated storage and retrieval system, and spacer frames for spacing the upright members. Once assembled, an upright member and a corner of a spacer frame are supported on a support platform of the leveling device in a position guided by a guide structure of the support platform. For example, the support platform has a region bounded or partially bounded by the guide structure into which the upright member and one corner from each of four spacer frames can slot, to be securely held in position. Accordingly, when four or more leveling devices are arranged in a grid, a spacer frame with a rectangular shape will space apart the upright members to define storage columns between upright members, the storage columns being for storing a stack of storage containers. This provides a uniform framework without mounting upright members on floor rails. The support platform is vertically adjustable in relation to a base portion of leveling device and held at a required height using a wedge member inserted between the base portion and the support platform. The stack of storage containers can rest on the spacer frame. This provides a way to store storage containers above floor level, with greater ventilation, access, and ease of cleaning under storage containers. It also provides a level base for stacks of storage containers that does not require a perfectly level floor surface, because the spacer frames can be leveled by adjusting the leveling devices at each corner of the spacer frame.

[0066] In the following, embodiments of the disclosure 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 claimed invention to the subject-matter depicted in the drawings.

[0067] 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. 1-5. That is, the framework structure too comprises a number of upright members 102, and comprises a first, upper rail system 108 extending in the X direction and Y direction.

[0068] 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.

[0069] The framework structure too 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 too may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.

[0070] Embodiments of the disclosure will now be discussed in more detail with reference to Figs. 6-15.

Leveling device

[0071] According to one aspect the disclosure provides a leveling device 10 for a framework structure of an automated storage and retrieval system. As shown in Figs 6 and 7, the leveling device 10 comprises a base portion 12 adapted for resting on a surface, for example a floor of a facility in which the framework structure is to be erected. The device also comprises a support platform 14 for supporting an upright member 102 of the framework structure.

[0072] Support platform 14 has a surface area 15 equal to or greater than the footprint of the upright member, such that the lower end of the upright member can rest on the platform, with the entirety of the end of the upright member being within an outer perimeter 16 of the support platform. In the event the cross-sectional profile of the end of the upright member 102 is non-rectangular, as shown in Fig 7, the outer perimeter 16 may include cutouts or have a non-rectangular shape corresponding to the shape of the footprint of the end of the upright member to optimize use of material.

[0073] Support platform 14 is vertically moveable in relation to base portion 12. In one embodiment, base portion 12 comprises a vertically extending column 18 which passes through a corresponding opening 20 in support platform 14. The support platform 14 comprises a vertical wall defining the opening 20. It should be understood, however, that in other arrangements the support platform 14 could comprise the column and the base portion could comprise the opening or similar recess. In one embodiment, when an upright member is resting on the support platform, the vertically extending column is positioned with the hollow center interior of the upright member.

[0074] Arranged between base portion 12 and support platform 14 is an insertable wedge device 22 with an upper sloped surface 24. When wedge device 22 is progressively inserted between base portion 12 and support platform 14, support platform 14 will ride up along sloped surface 24, thus raising support platform 14 with respect to base portion 12. Conversely, when wedge device 22 is progressively withdrawn from between base portion 12 and support platform 14, support platform 14 will be lowered with respect to base portion 12.

[0075] In one embodiment, support platform 14 comprises a sloped lower surface 26 that corresponds to sloped upper surface 24 of the wedge device 22.

[0076] In one embodiment, wedge device 22 is U-shaped, forming two legs 28, the upper surfaces of which comprise a sloped upper surface 24. In one embodiment, the legs 28 have a plurality of locking teeth 30 that engage with corresponding locking teeth 30’ (not shown) of the base portion 12, for example with teeth 30’ arranged in connection with vertical column 18. Retaining tabs 32 can be arranged on base portion 12 to the exterior of legs 28, to prevent legs 28 from flaring outward under load.

[0077] As discussed above support platform 14 has a surface area 15 and perimeter 16 such that the entirety of the lower end of upright member 102 is within perimeter 16 as shown in Fig 7. In an embodiment, upright members 102 are extruded aluminum profiles. As shown in Fig 5, when viewed from the top or otherwise in cross section, the upright members have an essentially rectangular, hollow center portion 34 with four side walls 36. Arranged at each of four corners of the center portion are two substantially 90 degree extensions 38 that form corner guides 40. When four such upright members define a storage column 105, the corner guides 40 retain and guide the corners of storage containers as they are lifted in and out of the storage columns.

[0078] As shown in Fig 7, support platform 14 comprises four guide structures 42, arranged to be positioned within the confines of corner guides 40 when an upright member is resting on the support platform, for example at corners of support platform 14. In one embodiment, guide structure 42 is a guide ridge arrangement 43, comprising two 90-degree guide ridges portions 44 arranged at substantially 90 degrees. Guide structures 42,43 are positioned on support platform 14 such that a gap 46 is formed between each guide structure and its respective corner guide 40. In a preferred embodiment, guide ridges portions 44 touch at (or linear projections of non-touching guide ridges intersect at) a vertex 48 and corner guides 40 have a vertex 50. Vertex 48 of guide ridges arrangement 43 is arranged at a distance D from a midpoint of support platform 14 that is greater than a distance D’, representing the distance from a midpoint of upright member 102 to vertex 50 of corner guides 40. When so arranged, a line bisecting the essentially 90-degree angle of a corner guide will intersect with the vertex of guide ridge arrangement 43.

[0079] In a preferred embodiment, distances D and D’ are selected such that the width of gap 46 corresponds to the width of corners of a rectangular spacer frame 52, as shown in Figs 8, 9 and 10. Spacer frame 52 has dimensions in the X and Y directions (when lying horizontally) that corresponds to the dimensions in the X and Y directions of a storage column 105 of the framework structure too. As illustrated in Fig 10, when the four corners 53 of spacer frame 52 are inserted into gaps 46 of four leveling devices 10, the upright members 102 resting upon the leveling devices and their respective corner guides 40 will be correctly positioned with respect to each other in order to precisely define a storage column 105 of correct dimensions and correct alignment. In a preferred embodiment, the width of gap 46 is selected such that spacer frame 52 maybe inserted by hand in a snug yet removable fit.

[0080] In one embodiment, spacer frame 52 is made of metal, in particular aluminum. In one embodiment, spacer frame 52 is made of a single piece of extruded aluminum having appropriately spaced notches and/or bending zones 54, arranged such that the single piece of aluminum can be bent into the shape of a rectangle, as illustrated in Fig 9. System for, and Method of erecting a framework structure

[0081] According to other aspects, the disclosure provides a system for, and a method of erecting a framework structure too of an automated system and retrieval system. In particular, the system and method provide a means of correctly spacing upright members of the framework structure with respect to each other so as to define storage columns of the correct dimensions and alignment, without the need to lay out a grid of floor rails on the floor of the facility in order to position the upright members.

[0082] According to this aspect, a plurality leveling devices according to the disclosure, as described above, are used together with rectangular spacer frames as a system used in method to precisely lay out and align the upright members of a framework structure of an automated storage and retrieval system.

[0083] According to the method of the disclosure, four leveling devices 10 are laid out in a rectangular pattern on a surface, such as a floor of a facility in which the framework is to be erected. Upright members are placed on the support platforms 14 of the leveling devices and a rectangular spacer frame is connected to the four leveling devices by inserting the corners 53 of the spacer frame into gap 46. The four upright members will thereby be correctly spaced with respect to each other. Additional leveling devices and upright members may be built out from this starting point by likewise using rectangular spacer frames to complete the framework grid structure. It should be understood that the order of assembly of the various components maybe altered and still be within the scope of the disclosure. For example, plurality of leveling devices may be set out in a grid pattern by using rectangular spacer frames prior to upright members being arranged on top of the leveling devices that have been so laid out.

[0084] According to another aspect the disclosure provides an automated storage and retrieval system comprising a framework structure comprising leveling feet as described above, and in an aspect a framework structure laid out according to the method described above. In one aspect, the framework structure comprises rectangular spacer frames that remain in place, the spacer frames forming and functioning as an elevated support base 56 for a stack of containers. According to one aspect, the height of the support platforms 14 above the floor of the facility is chosen such that a clearance 58 is created of sufficient height for automated cleaning devices 60 to operate underneath stacks of containers. Such clearance heigh maybe greater than 5 cm, or greater than 7 cm, or greater than 10 cm, or greater than 15 cm or other minimum clearance depending on the dimensions of available devices. According to this aspect, the space underneath the stack of containers could be used for various other purposes, such as a space for arranging electrical conduits, drainage pipes, ventilation, fire suppression equipment etc.

[0085] According to another aspect the disclosure provides a method for cleaning the floor within the perimeter of a framework structure of an automated storage and retrieval system. The method according to this aspect comprises erecting the framework structure as described above, allowing the rectangular spacer frames to remain in place and function as an elevated support base 56 for stacks of containers, and operating automated cleaning devices 60 underneath the stacks of containers. According to another aspect, the cleaning method comprises removing the stack of containers from a storage column, removing the rectangular spacer frame from the storage column, cleaning the floor at the bottom of the storage column, replacing the spacer frame and then replacing a stack of containers. According to this aspect, the containers and spacer frames from a complete or partial row of storage columns maybe removed, the floor of the row cleaned, and the spacers frames and containers replaced.

[0086] While the above description describes the framework structure and storage columns holding storage containers, it should be understood that the device, system method and other aspects of the disclosure would be applicable to a vertical farming system, where receptacles for growing plants are used instead of storage containers.

[0087] In the preceding description, various aspects of an automated storage and retrieval system according to the disclosure 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 claims.

Numbered clauses

[0088] The present disclosure includes the following numbered clauses:

1. A leveling device (10) for a framework structure of an automated storage and retrieval system that comprises a plurality of upright members (102) arranged in rows, the upright members supporting a rail system comprising a first set of parallel rails (no) arranged in a horizontal plane (P) and extending in a first direction (X), and a second set of parallel rails (in) arranged in the horizontal plane (P) and extending in a second direction (Y) which is orthogonal to the first direction (X), which first and second sets of rails (no, ill) form a grid pattern in the horizontal plane (P) comprising a plurality of access openings/grid cells (112), where the upright members define corners of a plurality of rectangular cross-section storage columns (105), each storage column located beneath an access opening/grid cell and being arranged to store a respective stack (107) of storage containers (106), wherein the leveling device comprises a base portion, a support member that is vertically movable in relation to the base portion, the support member being arranged to support an upright member (102) of the framework structure, said upright member having a plurality of longitudinally arranged corner guides (40) for guiding a corner of a container being raised or lowered into a storage column, each of said corner guides (40) comprising two longitudinal side portions (38) arranged at substantially 90 degrees, and wherein the leveling device comprises a wedge member (22) insertable between the base portion and the support member for regulating the height of the support member, wherein a. the support member is a support platform (14) arranged for receiving and supporting a lower end of an upright member (102), the support platform (14) having a cross-sectional area in the horizontal plane sufficient to support the upright member, b. the support platform comprises a guide structure (42, 43) arranged on an upper surface of the support platform, at a location where the guide structure will be within a rectangular area defined by the side portions (38) of the corner guide (40) of an upright member when the upright member is resting on the support platform, and wherein c. the guide structure is spaced at a distance (D) from a center point of the support platform such that a gap (46) is formed between the guide structure and the side portions (38) of the corner guide (40).

2. A leveling device according to clause 1, wherein the support platform has a cross sectional area in the horizontal plane that is equal to or greater than the footprint of the lower end of the upright member, such that the footprint of the upright member is within a perimeter (16) of the support platform. 3. A leveling device according to clause 1 or 2, wherein the guide structures is a guide ridge arrangement (43) comprised of two guide ridge portions (44) arranged at substantially 90 degrees to each other, each of said guide ridge arrangements (43) corresponding to a corner guide of the upright member.

4. A leveling device according to one of the preceding clauses, wherein a vertex (48) of each of the guide ridge arrangements (43) is spaced at a distance (D) from a midpoint of the support platform that is greater than a distance (D’) from the midpoint of the upright member to a vertex (50) of the corresponding corner guide, thereby forming gaps (46) between guide ridge portions (44) and corresponding side portions (38) of the corresponding corner guide (40).

5. A leveling device according to one of the preceding clauses, wherein the width of the gap (46) corresponds to the width of a corner portion (53) of a rectangular spacer frame (52), said spacer frame having substantially the dimensions of a storage column.

6. A leveling device according to one of the preceding clauses, wherein the wedge device is U-shaped, forming two legs (28) having sloped uppers surfaces (24).

7. A leveling device according to any of clauses 4-6, wherein the legs (28) of the wedge device (22) comprise locking teeth (30) arranged to engage corresponding locking teeth (30’) arranged on the base portion.

8. A system for leveling a framework structure (100) , and correctly spacing upright members (102) of an automated storage and retrieval system, comprising a. a plurality of leveling devices (10) according to any of the preceding clauses or a plurality of systems according to any of clauses 21-25, and b. a plurality of rectangular spacer frames (52), the frames having substantially the dimensions of a storage column of the storage and retrieval system, wherein the corners (53) of the spacer frame are adapted to fit into the gaps (46) of four leveling devices upon which are resting upright members in a snug yet removable fit, thereby spacing the upright members from each other in the proper distances and alignment to define a storage column.

9. A system according to clause 8, wherein each spacer frame is made of a single extruded aluminum piece having a plurality of cutouts and/or bending zones, whereby the aluminum piece may be bent into the shape of a rectangle. 10. A method for spacing the upright members (102) of a framework structure (100) of an automated storage and retrieval system, comprising: a. arranging a plurality of leveling devices (10) from the system according to one of clauses 8 or 9 in grid pattern, b. placing an upright member on each leveling device such that a lower end of the upright member rests on the support platform of the leveling device, c. connecting a spacer frame (52) from the system according to one of clauses 8 or 9 between each group of four leveling devices by inserting corners (53) of the spacer frame into the gap (46) between the corner guides of the upright member and the guide structure of the support platform of the leveling devices.

11. A method according to clause 10, wherein the leveling devices are arranged in a grid pattern with the help of the spacer frames prior to placing the upright members on the support platforms.

12. A method according to clause 10 or 11, wherein the spacer frames remain in place after laying out the grid, in order to function as a support base (56) for a stack of storage containers.

13. A method according to one of clauses 10-12, wherein the leveling devices have a height such as to create a clearance (58) great enough allow an automated cleaning device (60) to pass underneath a stack of storage containers.

14. A method of cleaning the floor of a facility within the perimeter of the framework of an automated storage and retrieval system, comprising operating an automated cleaning device underneath stacks of storage containers stored in a storage columns of a framework structure of an automated storage and retrieval system that has been erected according to any of clauses 10-13.

15. A leveling device (10) for a framework structure of an automated storage and retrieval system that comprises a plurality of upright members (102) arranged in rows, wherein the upright members define corners of a plurality of rectangular cross-section storage columns (105) arranged to store a respective stack (107) of storage containers (106), wherein the leveling device comprises: a base portion; a support member that is vertically movable in relation to the base portion, wherein the support member is a support platform (14) arranged for receiving and supporting a lower end of an upright member (102) of the framework structure, the upright member having a plurality of longitudinally arranged corner guides (40) for guiding a corner of a container being raised or lowered into a storage column, wherein the support platform comprises a guide structure (42, 43) arranged on an upper surface of the support platform, wherein the guide structure is spaced at a distance (D) from a center point of the support platform such that a gap (46) is formed between the guide structure and the corner guide (40) when the upright member is resting on the support platform; and a wedge member (22) insertable between the base portion and the support member for regulating the height of the support member.

16. A leveling device according to clause 15, wherein the upright members supporting a rail system comprising a first set of parallel rails (110) arranged in a horizontal plane (P) and extending in a first direction (X), and a second set of parallel rails (111) arranged in the horizontal plane (P) and extending in a second direction (Y) which is orthogonal to the first direction (X), which first and second sets of rails (110, 111) form a grid pattern in the horizontal plane (P) comprising a plurality of access openings/grid cells (112), wherein each storage column located beneath an access opening/grid cell.

17. A leveling device according to clause 15 or 16, wherein each of the corner guides (40) comprises two longitudinal side portions (38) arranged at substantially 90 degrees.

18. A leveling device according to any of clauses 15 to 17, wherein the support platform has a cross-sectional area in the horizontal plane sufficient to support the upright member.

19. A leveling device according to any of clauses 15 to 18, wherein the guide structure is arranged at a location where the guide structure will be within a rectangular area defined by the side portions (38) of the corner guides (40) when the upright member is resting on the support platform.

20. A leveling device according to any of clauses 15-19, wherein the base portion comprises a vertically extending column which passes through an opening in the support platform, wherein the gap is formed in a region between: the guide structure and the opening in the support platform; and/or between the guide structure and the column of the base portion; and/or between the guide structure and a vertical wall defining the opening.

21. A system comprising: a leveling device according to any of the preceding clauses; and the upright member of the framework structure.

22. The system according to clause 21, further comprising a spacer frame for spacing the upright members from each other to define a storage column.

23. The system according to clause 22, wherein the spacer frame is configured to support a stack of storage containers.

24. The system according to clause 22 or 23, wherein the spacer frame and the upright member are snugly positioned on the support platform of the leveling device: within the bounds of the guide structure; and/or between the guide structure and a center point of the support platform; and/or between the guide structure and the opening in the support platform; and/or between the guide structure and the column of the base portion; and/or between the guide structure and a vertical wall defining the opening.

25. The system according to any of clauses 22 to 24, wherein the spacer frame is positioned in a gap formed between the guide structure and the corner guide of the upright member resting on the support platform.

LIST OF REFERENCE NUMBERS

Prior art (figs 1-4):

1 Prior art automated storage and retrieval 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

110 Parallel rails in first direction (X)

111 Parallel rails in a second direction (Y)

112 Access opening

119 First port column 120 Second port column

201 Prior art container handling vehicle

201a Vehicle body of the container handling vehicle 201

201b Drive means / wheel arrangement / first set of wheels in first direction (X)

201c Drive means / wheel arrangement / second set of wheels in second direction (Y)

301 Prior art cantilever container handling vehicle

301a Vehicle body of the container handling vehicle 301

301b Drive means / first set of wheels in first direction (X)

301c Drive means / second set of wheels in second direction (Y)

304 Gripping device

401 Prior art container handling vehicle

401a Vehicle body of the container handling vehicle 401

401b Drive means / first set of wheels in first direction (X)

401c Drive means / second set of wheels in second direction (Y)

404 Gripping device

404a Lifting band

404b Gripper

404c Guide pin

4O4d Lifting frame

500 Control system

X First direction

Y Second direction

Z Third direction

10 Leveling device

12 Base portion

14 Support platform

15 Surface area

16 Perimeter of support platform

18 Vertical column

20 Opening

22 Wedge device

24 Sloped upper surface

26 Sloped lower surface

28 Legs of wedge device

30 Locking teeth of Legs 30’ Locking teeth of base portion

32 Retaining Tabs

34 Hollow center portion

36 Side walls

38 side portions of corner guide

40 Corner guides

42 Guide structure

43 Guide ridge arrangement

44 guide ridge portion

46 Gap

48 Vertex of guide ridges

50 Vertex of corner guide

D Distance of guide ridges

D’ Distance of corner guides

52 Spacer frame

53 Corner of spacer frame

54 Notches/bending zone

56 Elevated support base

58 Clearance

60 Automated cleaning device

Claims

1. A leveling device (10) for a framework structure of an automated storage and retrieval system, the framework comprising a plurality of upright members (102) defining corners of a plurality of rectangular cross-section storage columns (105) arranged to store a respective stack (107) of storage containers (106), wherein the leveling device comprises: a base portion; a support member that is vertically movable in relation to the base portion, wherein the support member is a support platform (14), wherein the support platform comprises a guide structure (42, 43) arranged on an upper surface of the support platform, wherein the support platform is arranged for receiving and supporting a lower end of an upright member (102) of the framework structure and a spacer frame for spacing upright members from each other to define a storage column, wherein the support platform is arranged for receiving the lower end of the upright member and the spacer frame between the guide structure and a center point of the support platform; and a wedge member (22) insertable between the base portion and the support member for regulating the height of the support member.

2. A leveling device according to claim 1, wherein the support platform has a cross sectional area in the horizontal plane that is equal to or greater than the footprint of the lower end of the upright member, such that the footprint of the upright member is within a perimeter (16) of the support platform.

3. A leveling device according to claim 1 or 2, wherein the guide structure comprises one or more guide ridge arrangement (43) comprising two guide ridge portions (44) arranged at substantially 90 degrees to each other, each of the one or more guide ridge arrangements (43) corresponding to a corner guide of the upright member.

4. A leveling device according to claim 3, wherein a vertex (48) of each of the guide ridge arrangements (43) is spaced at a distance (D) from the center point of the support platform that is greater than a distance (D’) from a midpoint of the upright member to a vertex (50) of the corresponding corner guide, thereby forming gaps (46) between guide ridge portions (44) and corresponding side portions (38) of the corresponding corner guide (40).

5- A leveling device according to claim 4, wherein the width of the gaps (46) corresponds to the width of the corner of the spacer frame (52), the spacer frame having substantially the dimensions of a storage column.

6. A leveling device according to one of the preceding claims, wherein the wedge device is U-shaped, forming two legs (28) having sloped uppers surfaces (24).

7. A leveling device according to claim 6, wherein the legs (28) of the wedge device (22) comprise locking teeth (30) arranged to engage corresponding locking teeth (30’) arranged on the base portion.

8. A leveling device according to any preceding claim, wherein the base portion comprises a vertically extending column which passes through an opening in the support platform, wherein the support platform is arranged for receiving the lower end of the upright member and the spacer frame between the guide structure and the opening in the support platform and/or between the guide structure and the column of the base portion and/or between the guide structure and a vertical wall defining the opening.

9. A system comprising: a leveling device according to any of the preceding claims; and the upright member of the framework structure.

10. A system according to claim 9, wherein the upright member comprises a plurality of longitudinally arranged corner guides (40) for guiding a corner of a container being raised or lowered into a storage column.

11. A system according to claim 10, wherein each of the corner guides (40) comprises two longitudinal side portions (38) arranged at substantially 90 degrees.

12. A system according to claims 11, wherein the guide structure is arranged at a location where the guide structure will be within a rectangular area defined by the side portions (38) of the corner guides (40) when the upright member is resting on the support platform.

13. A system according to any of claims 9-12, wherein the guide structure is spaced at a distance (D) from the center point of the support platform such that a gap (46) is formed between the guide structure and the corner guide (40) when the upright member is resting on the support platform.

14. A system for leveling a framework structure (100) and correctly spacing upright members (102) of an automated storage and retrieval system, comprising: a plurality of leveling devices (10) according to any of claims 1-8, or a plurality of systems according to any of claims 9-13, and a plurality of rectangular spacer frames (52), the frames having substantially the dimensions of a storage column of the storage and retrieval system, wherein the corners (53) of the spacer frame are adapted to fit into the gaps (46) of four leveling devices upon which are resting upright members in a snug yet removable fit, thereby spacing the upright members from each other to define a storage column.

15. A system according to claim 14, wherein each spacer frame is made of a single extruded aluminum piece having a plurality of cutouts and/or bending zones, whereby the aluminum piece maybe bent into the shape of a rectangle.

16. A method for spacing the upright members (102) of a framework structure (100) of an automated storage and retrieval system, comprising: arranging a plurality of leveling devices (10) from the system according to any of claim 14 or 15 in grid pattern; placing an upright member on each leveling device such that a lower end of the upright member rests on the support platform of the leveling device; and connecting a spacer frame (52) from the system according to claim 14 or 15 between each group of four leveling devices by inserting corners (53) of the spacer frame into the gap (46) between the corner guides of the upright member and the guide structure of the support platform of the leveling devices.

17. A method according to claim 16, wherein the leveling devices are arranged in a grid pattern with the help of the spacer frames prior to placing the upright members on the support platforms.

18. A method according to claim 16 or 17, wherein the spacer frames remain in place after laying out the grid, in order to function as a support base (56) for a stack of storage containers.

19. A method according to any of claims 16-18, wherein the leveling devices have a height such as to create a clearance (58) great enough allow an automated cleaning device (60) to pass underneath a stack of storage containers.

20. A method of cleaning the floor of a facility within the perimeter of the framework of an automated storage and retrieval system, comprising operating an automated cleaning device underneath stacks of storage containers stored in a storage columns of a framework structure of an automated storage and retrieval system that has been erected according to a method according to any of claims 16-19.