Load handling device and storage system

Abstract

The present application relates to a load handling device for lifting and moving one or more containers stacked in a storage system, the storage system comprising a grid frame structure supporting a plurality of rails arranged in a grid pattern, the present invention relates to a load handling device for handling containers to define a grid structure over one or more stacks of containers, the grid pattern comprising a plurality of grid cells, the load handling device comprising: A) a drive mechanism operably arranged for moving the load handling device over the grid structure, B) a vehicle body containing: i) a container receiving space, the guide rail is positioned above the rail; the present invention relates to a container stacking device comprising i) a stacking portion, i) a container receiving space, ii) a lifting device comprising a lifting drive assembly and a gripping device configured to releasably grip the container and lift the container from the stacking portion into the container receiving space in use, iii) a cartridge housing a rechargeable power source for supplying power to the drive mechanism.

Description

[0001] This application is a divisional application of the PCT application entering the Chinese national phase with an application date of January 22, 2021, application number CN202180016635.9 (international application number PCT / EP2021 / 051465), and invention name “Rechargeable power supply for load handling device”. Technical Field

[0002] The present invention relates to the field of load handling devices for handling storage containers or boxes in a storage system comprising a grid frame structure and stacked containers, and more particularly to a thermal management system for a rechargeable power supply of the load handling devices. Background Art

[0003] An order fulfilment or warehouse facility typically includes a receiving operation for receiving shipments of goods from various suppliers and storing the received goods in inventory. As is well known, an order fulfilment or warehouse facility typically includes a storage system or automated storage system, which includes a three-dimensional storage grid structure in which storage containers / boxes are stacked on top of each other. PCT publication number WO2015 / 185628A (Ocado) describes a known storage and fulfilment system in which stacks of boxes or containers are arranged in a grid frame structure. The boxes or containers are approached by a load handling device running on tracks, which are located on top of the grid frame structure. This type of storage system (1) is schematically shown in Figures 1 to 3 of the accompanying drawings.

[0004] As shown in FIGS. 1 and 2 , stackable containers, referred to as boxes 10, are stacked on top of one another to form stacks 12. In a warehouse or manufacturing environment, the stacks 12 are arranged in a grid frame structure 14. The grid frame includes a plurality of storage columns or grid columns. Each grid in the grid frame structure has at least one grid column, and at least one grid column is used to store stacks of containers. FIG. 1 is a schematic perspective view of a grid frame structure 14.

[0005] The grid frame structure 14 includes a plurality of upright members 16 supporting horizontal members 18, 20. A first set of parallel horizontal members 18 are arranged perpendicular to a second set of parallel horizontal members 20 to form a plurality of horizontal grid structures supported by the upright members 16. The members 16, 18, 20 are typically made of metal. The boxes 10 are stacked between the members 16, 18, 20 of the grid frame structure 14 such that the grid frame structure 14 prevents horizontal movement of the stack 12 of boxes 10 and prevents vertical movement of the boxes 10.

[0006] The top layer of the grid frame structure 14 includes rails 22 arranged in a grid pattern, the grid pattern including a plurality of grid cells to define a grid structure that passes through the top of the stacking portion 12. Figure 2 is a top view of a single grid cell 17 of the grid structure, showing the stacking portion 12 of the box 10 arranged within the frame structure 14. Each box 10 typically contains a plurality of product items (not shown), and depending on the application, the product items within the box 10 may be the same, or may be different product types.

[0007] In addition, referring to Fig. 3, the guide rails 22 support a plurality of load handling devices 30. A first set of parallel guide rails 22a in the guide rails 22 guide the movement of the robotic load handling device 30 across the top of the grid frame structure 14 in a first direction (e.g., X direction), and a second set of parallel guide rails 22b in the guide rails 22 guide the movement of the load handling device 30 in a second direction (e.g., Y direction), the second set of parallel guide rails being arranged perpendicular to the first set of parallel guide rails 22a. In this way, the guide rails 22 enable the robotic load handling device 30 to move laterally in two dimensions in the horizontal XY plane, so that the load handling device 30 can be moved to a position above any stacking portion in the stacking portion 12.

[0008] A known load handling device 30 shown in FIG. 4 is described in PCT patent publication number WO2015 / 019055 (Ocado), which load handling device includes a vehicle 32, and is therefore incorporated herein by reference, wherein each load handling device 30 covers only one grid space of the grid frame structure 14. Here, the load handling device 30 includes a wheel assembly, the wheel assembly including a first set of wheels 34 and a second set of wheels 36, the first set of wheels including a pair of wheels at the front of the vehicle 32 and a pair of wheels 34 at the rear of the vehicle 32, the first set of wheels for engaging with a first set of rails or tracks to guide movement of the device in a first direction, and the second set of wheels including a pair of wheels 36 at each side of the vehicle 32, the second set of wheels for engaging with a second set of rails or tracks to guide movement of the device in a second direction.

[0009] The load handling device shown in Figures 5(a) and 5(b) is equipped with a lifting device or hoisting device to lift the storage container from above. The lifting device includes a set of lifting ropes 38 extending in the vertical direction and connected at the four corners of a lifting frame 39, the lifting device is also called a gripping device (one rope is close to each of the four corners of the gripping device), and the gripping device is used to releasably connect to the storage container 10. The gripping device 39 is configured to releasably clamp the top of the storage container 10 to lift the storage container from the stack of containers in the storage system of the type shown in Figures 1 and 2.

[0010] Although not shown in Figures 1 to 3, the load handling device 30 is powered by an onboard rechargeable battery during operation. Examples of rechargeable batteries are lithium-ion batteries, nickel-cadmium batteries, nickel-metal hydride batteries, lithium-ion polymer batteries, thin-film batteries, and smart battery carbon foam-based lead-acid batteries. When the load handling device 30 is running on the grid frame structure, the battery is recharged by a charging station. The charging station is generally an L-shaped structure that is fixed near the grid frame structure and extends on the nominal grid unit at the edge of the grid structure. The charging station includes a charging head that includes a charging contact portion fixed in place relative to the charging station. The charging head is mounted on one arm of the L-shaped structure so that the charging head is suspended on at least two grid spaces of the grid frame. The load handling device can be charged by being instructed to move to the grid unit above which the charging head is located. When the load handling device moves into the grid unit, a contact portion is formed between the charging contact disk on the top surface of the load handling device and the charging contact portion of the charging head. The charge is transferred from the charging contacts to the load handling device through a charging contact plate, which is located on the top surface of the load handling device.

[0011] Since the items stored in the containers may include various food and grocery items of a perishable nature that need to be stored at strict storage temperatures, the load handling device is capable of operating on the grid frame structure under harsh temperature conditions. The different storage temperatures include ambient control temperature, refrigerated temperature, and frozen temperature. The frozen temperature ranges from approximately -25°C to approximately 0°C, more preferably approximately -21°C to approximately -18°C; the refrigerated temperature ranges from approximately 0°C to approximately 4°C, preferably approximately 0°C to approximately 5°C, and the ambient control temperature ranges from approximately 4°C to approximately 21°C, preferably approximately 18°C. Therefore, depending on whether the charger is located in an ambient area, a refrigerated area, or a frozen area of ​​the fulfillment center, the charging of the battery can be performed under various temperature conditions.

[0012] During the charging of the battery, a portion of the current from the charging station is converted into heat energy. The heat energy must be dissipated to the outside of the battery, otherwise the heat will accumulate, thereby increasing the temperature of the battery. When the charging station delivers more than 150 amperes of charge at 48 volts, the control of the temperature of the battery is essential to prevent thermal runaway of the battery. When the dissipated heat is large, the temperature of the battery exceeds the normal temperature range, resulting in degradation of the performance of the battery and ultimately a shortened cycle life of the battery. For example, one of the most common types of batteries used to deliver power to drive the wheels and lifting drive mechanisms in load handling devices is a lithium-ion battery. This type of battery has the ability to generate an internal oxygen supply of the battery itself when overheated. More specifically, oxygen is released from the anode at high temperatures, which is mainly composed of cobalt oxide or nickel cobalt oxide. Due to the presence of oxygen and fuel inside the battery cell, a fire can occur within one or more battery cells. Unless the fire is extinguished, the fire will continue until all combustible materials in the battery are consumed.

[0013] One of the contributing factors to the heating of the battery during charging is the internal resistance of the battery. The higher internal resistance of the battery causes the battery to heat up during charging, which causes damage and thus poses a safety problem. Low internal resistance enables the battery to deliver high current as required, while high internal resistance causes the current to be limited and the voltage across the load to drop. The internal resistance of the battery depends largely on temperature and increases as the ambient temperature decreases. This is because low temperatures slow down the electrochemical reactions occurring within the battery, resulting in a decrease in the mobility of ions in the electrolyte. Since the load handling device can be operated in a refrigerated area or a frozen area of ​​the fulfillment center, when the load handling device is operated on a grid structure, the heating of the battery during charging of the battery and during discharge is becoming an increasing problem, resulting in a shortened effective cycle life of the battery. Various attempts have been made in the art to mitigate this heating of the battery, which may lead to thermal runaway. Thermal runaway refers to a situation where the internal temperature of the battery rises to a high temperature (e.g., 200°C or higher) due to some reasons (e.g., internal short circuit or overcharging) to promote chemical reactions in the battery and accelerate the temperature increase within the battery cell.

[0014] One of the solutions suggested in the art is to relocate one or more batteries in the body of the load handling device to effectively dissipate heat to the surrounding environment, especially during charging. WO 2019 / 206440 (Automatic Storage Technology AS) teaches a container handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system, the container handling vehicle comprising a first set of wheels and a second set of wheels, the first set of wheels being arranged at opposite parts of the vehicle body, the first set of wheels being used to move the vehicle along a first direction (X) on a rail system in the grid, and the second set of wheels being arranged at opposite parts of the vehicle body, the second set of wheels being used to move the vehicle along a second direction (Y) on a rail system in the grid, the second direction (Y) being perpendicular to the first direction (X). The vehicle body includes walls on all sides and forms a quadrilateral footprint, the first section and the second section are arranged side by side so that the center point of the first section is arranged off-center relative to the center point of the footprint formed by the vehicle body, and wherein the size ratio of the footprint of the first section relative to the footprint of the second section is at least 2:1, and wherein the first section is configured to accommodate a storage container and the second section includes at least one first battery. The second section is more open to allow necessary cooling of the battery and the motor. However, arranging the first section and the second section side by side so that the first section is equal to the size of a single grid cell means that the second section extends beyond the footprint of the first section. Since the footprint of the first section occupies a single grid cell, the total footprint of the vehicle extends beyond a single grid cell.

[0015] During the operation of the load handling device on the grid structure, the load handling device can travel at a high speed of 4 m / s on the grid structure and at a high speed of 2 m / s 2 acceleration. Therefore, in addition to the heating of the battery during charging and the heavy load during discharge, the positioning of the battery in the body of the load handling device also has an impact on the stability of the load handling device on the grid structure. Since the battery weighs up to 30kg, the position of the battery has an impact on the center of gravity (CoG) of the load handling device. A high CoG reduces the stability of the load handling device on the grid structure. WO 2019 / 206440 (Automatic Storage Technology AS) increases the footprint of the load handling device by mounting the battery on the side or outside of the container receiving space of the body of the load handling device to extend over a single grid unit of the grid structure, thereby alleviating this problem. The increased footprint of the load handling device provides improved stability of the load handling device, and the positioning of the battery enables heat to be dissipated from the battery.

[0016] Therefore, a load handling device is sought that is not affected by the above problems while still having a footprint that occupies a single grid cell.

[0017] This application claims priority to UK patent applications numbered GB2001012.0 filed on January 24, 2020, GB2003101.9 filed on March 4, 2020, and GB2017241.7 filed on October 30, 2020, the contents of which are hereby incorporated by reference into the present invention. Summary of the invention

[0018] The applicant has recognized that by combining an integrated thermal management system with a rechargeable power supply, the temperature of the battery cells of the rechargeable power supply can be controlled within a predetermined range that will mitigate possible thermal runaway. More particularly, the present invention provides a load handling device or robotic load handling device for lifting and moving one or more containers stacked in a storage system, the storage system comprising a grid frame structure supporting a plurality of rails, the plurality of rails being arranged in a grid pattern to define a grid structure above one or more stacks of containers, the grid structure comprising a plurality of grid cells, the load handling device comprising:

[0019] A) a drive mechanism operably arranged to move the load handling device on the grid structure,

[0020] B) The vehicle body, which contains:

[0021] i) a container receiving space, the container receiving space being located above the track;

[0022] ii) a lifting device, the lifting device comprising a lifting drive assembly and a gripping device, the gripping device being configured to releasably grip the container and lift the container from the stacking portion into the container receiving space when in use, iii) a box body, the box body accommodating a rechargeable power source for powering the drive mechanism;

[0023] Wherein, the load handling device or the robotic load handling device includes a thermal management system, the thermal management system includes a temperature sensor and at least one temperature regulating device, and the temperature regulating device is configured to maintain the temperature of the rechargeable power supply within a predetermined temperature range in response to a signal from the temperature sensor.

[0024] By incorporating the thermal management system of the present invention into a load handling device, the temperature of the rechargeable power source can be adjusted to a predetermined temperature range by at least one temperature adjustment device, and the thermal management system includes a temperature sensor and at least one temperature adjustment device. The load handling device includes a wheel assembly, the wheel assembly includes a first set of wheels and a second set of wheels, the first set of wheels includes a pair of wheels located at the front of the vehicle body and a pair of wheels located at the rear of the vehicle body, the first set of wheels is used to engage with a first set of rails or tracks to guide the movement of the device in a first direction, and the second set of wheels includes a pair of wheels located on each side of the vehicle body, and the second set of wheels is used to engage with a second set of rails or tracks to guide the movement of the load handling device in a second direction. Optionally, the temperature sensor includes one or more temperature sensors. Optionally, the predetermined temperature range is between 20°C and 40°C. Optionally, the temperature sensor includes a thermal imaging camera (e.g., an infrared camera) in the vehicle body, and the thermal imaging camera detects infrared energy emitted by the rechargeable power source. Optionally, the temperature sensor includes a thermistor (e.g., an NTC thermistor or a PTC thermistor) or a thermocouple (e.g., a K-type thermocouple). In order to maintain the temperature of the rechargeable power source, preferably, the at least one temperature regulating device comprises at least one cooling fan. The speed of the cooling fan can be adjusted to control the delivery of cooling air to the rechargeable power source.

[0025] Preferably, the cassette includes a thermal management system. Optionally, the thermal management system is integrated into the cassette. For the purposes of the present invention, the term "cassette" includes a separate housing or enclosure. By encapsulating the rechargeable power supply in the cassette together with the temperature sensor and at least one temperature regulating device, the temperature of the rechargeable power supply can be maintained within a predetermined temperature range in response to a signal from the temperature sensor. The rechargeable power supply of the present invention includes a built-in thermal management system that eliminates the need to locate the rechargeable power supply to certain areas of the vehicle body to achieve heat dissipation. This increases the flexibility of the cassette of the present invention to be located or installed in the vehicle body to lower the center of gravity of the load handling device, thereby improving the stability of the load handling device running on the grid structure. For example, the cassette of the present invention can be incorporated into other electronic auxiliary components and / or hardware components of the load handling device that are considered impractical due to heat dissipation, such as being incorporated into a lifting drive assembly, or even being incorporated into a control unit of the load handling device, without affecting the performance of these components in the load handling device. The cassette itself can be an independent device so that the power from the rechargeable power supply can provide power to at least one temperature regulating device and / or temperature sensor. Alternatively, at least one temperature regulating device and / or temperature sensor may be powered by a separate auxiliary power supply, which is accommodated inside or outside the housing.

[0026] In addition, the use of a cassette to accommodate a rechargeable power source enables the load handling device to be not limited to any one type of rechargeable power source and can include rechargeable batteries from different manufacturers, and also enables different combinations of different types of rechargeable power units to be combined in one housing or cassette. Preferably, the cassette includes one or more vents, such as one or more openings on at least one wall of the cassette. For example, a cooling fan can be configured to draw cool air through one or more vents in the cassette. Alternatively, the cooling fan can be configured to draw cool air into the cassette space and force hot air to leave from one or more vents. Optionally, at least one cooling fan includes a first cooling fan and a second cooling fan, the first cooling fan being used to supply cool air to the interior space of the cassette, and the second cooling fan being used to extract hot air from the interior space of the cassette.

[0027] To facilitate heat dissipation of the rechargeable power source, the case further comprises a heat sink thermally coupled to the rechargeable power source, the heat sink comprising a plurality of heat dissipation fins, and wherein the at least one cooling fan is configured to blow cool air through the heat dissipation fins. Preferably, the case comprises walls on all sides, and wherein the at least one cooling fan is mounted to at least one of the walls of the case.

[0028] When the internal resistance of the battery increases in a refrigerated area or a frozen area of ​​the fulfillment center, preferably, the temperature adjustment device includes at least one heating element, the at least one heating element is close to the rechargeable power supply and is accommodated in the box body. The at least one heating element provides heat to increase the temperature of the battery cells of the rechargeable power supply, thereby reducing the internal resistance of the battery cells of the rechargeable power supply. Generally, the internal resistance of the battery changes rapidly at temperatures below 0°C in the refrigerated area and the frozen area of ​​the fulfillment center. Optionally, the at least one heating element is a heating plate. For example, the rechargeable power supply can be mounted on the heating plate so that heat from the heating plate is thermally conducted to heat the rechargeable power supply.

[0029] The case itself may be a stand-alone device, such that the temperature of the rechargeable power source may be regulated by powering at least one temperature regulating device in response to a signal from a temperature sensor. Alternatively, at least one temperature regulating device and / or the temperature sensor may be powered by a separate auxiliary power source, which may be housed within or outside the case. Combining the ability to heat and / or cool the rechargeable power source in one device enables the case of the present invention to be formed as a stand-alone device, which is independent of other auxiliary components of the load handling device.

[0030] Preferably, at least one temperature regulating device comprises at least one thermoelectric device. At least one thermoelectric device is housed in the case and adjacent to the battery cells of the rechargeable power supply. Preferably, at least one thermoelectric device comprises at least one Peltier element, at least one Peltier element having a heat absorbing surface and a heat radiating surface opposite to each other. The advantage of the Peltier element over other temperature regulating devices is that the Peltier element can operate without using a cooling fluid or any moving parts. As is known in the prior art, when an electric current passes through two different metals or (n-type and p-type) semiconductors connected to each other at two junctions (Peltier junctions), a temperature difference is generated between the opposite surfaces of the Peltier element. The Peltier element has a heat absorbing surface (also referred to as a cooling side) and a heat radiating surface (also referred to as a heating side), where heat is absorbed and where heat is generated. The heat absorbing surface provides a cooling surface because the heat absorbing surface absorbs heat dissipated from the rechargeable power supply. Conversely, the heat radiating surface of the Peltier element provides heat to the rechargeable power supply. Preferably, at least one Peltier element is configured to selectively cool and / or heat the rechargeable power source by switching the polarity across the Peltier junction. This enables the thermoelectric element to selectively provide heating and cooling in one area of ​​the thermoelectric element simply by switching the electrical polarity or direction of the current passing through the at least one Peltier element. By switching the direction of the current, the at least one Peltier element enables cooling and heating of the rechargeable power source in one area. Thus, comprehensive temperature control of the rechargeable power source is possible to operate the rechargeable power source within an optimal operating temperature range for the rechargeable power source. For example, the case may include a switching device for reversing the polarity of the current to the at least one Peltier element.

[0031] Since the Peltier element has a heat absorbing surface and a heat radiating surface, in an alternative arrangement, preferably, at least one Peltier element includes a first Peltier element and a second Peltier element, the first Peltier element being arranged so that the heat absorbing surface of the first Peltier element is close to the first portion of the rechargeable power source, and the second Peltier element being arranged so that the heat radiating surface is close to the second portion of the rechargeable power source. The first portion and the second portion of the rechargeable power source correspond to the first contact surface of the rechargeable power source and the second contact surface of the rechargeable power source, respectively.

[0032] When at least one Peltier element is operated as a cooling device, the heat absorbing surface of at least one Peltier element is thermally coupled to the rechargeable power source so that heat from the rechargeable power source is absorbed by the heat absorbing surface. One of the side effects of absorbing heat at one face of the Peltier element is that the heat is transferred to another opposite face of the Peltier element. If the heat from the heat radiating surface is not fully dissipated, the temperature of the heat radiating surface will gradually increase, resulting in a reduction in the effectiveness of the Peltier element as a cooling device, and in extreme cases, causing damage to at least one Peltier element. In order to dissipate the heat from the heat radiating surface of at least one Peltier element and maintain the effectiveness of at least one Peltier device as a cooling device, preferably, the heat radiating surface of at least one Peltier element is thermally coupled to a radiator. The radiator enables heat to be effectively dissipated from the heat radiating surface. The radiator may include a plurality of fins to achieve the dissipation of heat from the heat radiating surface. Preferably, the cooling fan may be configured to blow air at the radiator. Alternatively, the cooling fan may blow air at the heat radiating surface of at least one Peltier element to improve the efficiency of heat dissipation of the heat radiating surface of at least one Peltier element. Preferably, at least one Peltier element is driven by a Peltier driver. The Peltier driver may be, for example, a simple connection between at least one Peltier element and a rechargeable power source to provide a current source to at least one Peltier element. Preferably, the Peltier driver includes a pulse width modulator. The pulse width modulator is configured to adjust the amount and / or direction of the current to at least one Peltier element, which in turn controls the amount of heating and / or cooling of the heat radiating surface and the heat absorbing surface. For example, the pulse width modulator may adjust the power to at least one Peltier element by converting the power to at least one Peltier element to be fully turned on or fully turned off. Alternatively or in combination, the pulse width modulator may be configured to periodically convert the direction of the current to at least one Peltier element or the polarity of the current.

[0033] In all of the different options for changing the temperature of the rechargeable power source, a controller is coupled to the temperature sensor and at least one temperature adjustment device to define a thermal management system, the controller being configured to provide a control signal to the at least one temperature adjustment device in response to a signal from the temperature sensor to adjust the temperature reading from the temperature sensor to within a predetermined temperature range. More particularly, the signal from the temperature sensor is fed back to the controller to control the at least one temperature adjustment device. The controller may be referred to as a feedback controller.

[0034] In the case where at least the temperature regulating device is a fan, the controller controls the operation and / or speed of the fan in response to the temperature reading of the temperature sensor being outside the predetermined temperature range. Similarly, the controller can be configured to adjust the current to at least one Peltier element in response to a signal from the temperature sensor, the signal indicating a temperature outside the predetermined temperature range. For example, the controller can control the direction of the current passing through at least one Peltier element and / or the duration of the current passing through at least one Peltier element in response to a signal from the temperature, the signal indicating a temperature above or below the predetermined temperature range. The controller sends a control signal to the Peltier driver to drive the actuator of at least one Peltier element. In the case where the Peltier driver includes a pulse width modulator, the controller is configured to control the "pulse" and / or duration (i.e., duty cycle) of the current passing through at least one Peltier element, and the "pulse" and / or duration of the current passing through at least one Peltier element respectively controls the amount of cooling and heating of the heat absorbing surface and the heat radiating surface of at least one Peltier element. Preferably, the controller comprises a PI or PID controller configured to regulate the temperature reading of the temperature sensor to within a predetermined temperature range, ie to a set point temperature.

[0035] Preferably, the controller may be housed within the case. Alternatively, at least one temperature regulating device may be controlled from outside the case via an appropriate communication port. For example, in addition to the power terminals mounted to the case, which for a DC power supply include + and - terminals for electrical connection to an electrical load, a third communication port may be configured to receive signals from an external controller. Preferably, the third communication port on the case provides a signal to the controller regarding the state or condition of the rechargeable power source.

[0036] Preferably, the rechargeable power source comprises at least one of a battery and / or a capacitor, each of the at least one of the battery and / or the capacitor comprising a plurality of cells. Preferably, the battery is a lithium-ion battery comprising a stack of lithium-ion battery cells, each of the stack of lithium-ion battery cells being electrically connected together.

[0037] The present invention provides an automatic storage system, which includes:

[0038] a first set of tracks and a second set of tracks, the second set of tracks extending transversely to the first set of tracks in a generally horizontal plane to form a grid pattern including a plurality of grid spaces or grid cells;

[0039] a plurality of stacks of containers, the plurality of stacks of containers being located below the first set of tracks and the second set of tracks, wherein each of the stacks of containers occupies a single grid space or grid cell,

[0040] According to the robotic load handling device claimed for protection in the present invention, the robotic load handling device is arranged to traverse along a first set of tracks and a second set of tracks on multiple grid spaces or grid cells, so that when the robotic load handling device is positioned above a stacking portion of a container, it occupies the grid space or grid cell, and the lifting device is configured to lift at least one container from the stacking portion of the container.

[0041] The terms load handling device and robotic load handling device are used interchangeably in the specification to refer to the same features. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Other features and aspects of the present invention will become apparent from the following detailed description of illustrative embodiments with reference to the accompanying drawings, in which:

[0043] FIG1 is a schematic diagram of a grid framework structure according to a known system,

[0044] FIG. 2 is a schematic top view showing a stack of boxes arranged within the frame structure of FIG. 1 .

[0045] FIG. 3 is a schematic diagram of a known storage system of load handling devices operating on a grid frame structure.

[0046] Fig. 4 is a schematic perspective view of the load handling device showing the lifting device gripping the container from above.

[0047] 5(a) and 5(b) are schematic perspective cross-sectional views of the load handling apparatus of FIG. 4, showing (a) a container receiving space of the load handling apparatus and (b) a container accommodating the container receiving space of the load handling apparatus.

[0048] Figure 6 is a perspective view of a load handling device according to an embodiment of the present invention, showing a battery receiving space.

[0049] Figure 7 is a perspective side view of a load handling apparatus according to an embodiment of the present invention.

[0050] Figure 8 is a perspective top view of a load handling apparatus showing the arrangement of a battery and lift drive assembly according to an embodiment of the present invention.

[0051] Fig. 9 is a perspective top view of the mounting tray of the present invention supporting the battery and lift drive assembly.

[0052] Fig.10 is a perspective side view of an installation of a battery and lift drive assembly according to an embodiment of the present invention.

[0053] Fig.11 is a perspective view of a battery case according to an embodiment of the present invention.

[0054] Fig.12 is a perspective view of a battery case according to another embodiment of the present invention.

[0055] Fig.13 is a schematic diagram of an example of a battery case accommodating a battery cell according to an embodiment of the present invention.

[0056] Fig.14 is a simplified block diagram of a thermal management system for a battery according to one embodiment of the present invention.

[0057] FIG. 15 is a simplified block diagram of a thermal management system for a battery according to another embodiment of the present invention.

[0058] FIG. 16 is a simplified block diagram of a thermal management system incorporating Peltier elements according to an embodiment of the present invention.

[0059] Fig.17 2 is a schematic diagram of a load handling device according to an embodiment of the present invention, showing the position of a battery box in a vehicle body.

[0060] FIG. 18 shows the position of the centre of mass of the load handling devices relative to the intersection plane of the load handling devices on the grid structure.

[0061] Fig.19 is a schematic diagram of a load handling apparatus according to an embodiment of the present invention, showing a chassis for mounting a wheel assembly. DETAILED DESCRIPTION

[0062] Figure 6 shows a perspective side view of a load handling device 130 according to an embodiment of the invention, Figure 7 A rear view of a load handling device 130 is shown. For the purpose of illustrating the invention, most of the auxiliary components of the load handling device, such as the electronic auxiliary components, and the drive assembly for moving the load handling device on the rails are not shown to make the location of the battery in the body of the load handling device more clear. Figure 6 and Figure 7The load handling device 130 shown in FIG. 1 includes a vehicle body 132 mounted on a wheel assembly 134, the wheel assembly including a first set of wheels for guiding the load handling device in a first direction on a track and a second set of wheels for guiding the load handling device in a second direction on the track. The vehicle body 132 includes side panels 136 and a top panel 138. In a particular embodiment of the invention, the vehicle body 132 defines a footprint that occupies or is located within a single grid cell of a grid structure.

[0063] As discussed in the introduction of the patent, the first set of wheels includes a first pair of wheels located at the front of the vehicle body and a pair of wheels located at the rear of the vehicle body 132. The first set of wheels is arranged to engage with a first set of tracks or rails. The second set of wheels includes a pair of wheels located on each side of the vehicle body, and the second set of wheels is used to engage with a second set of tracks. The first set of wheels and the second set of wheels are configured to selectively disengage from the first set of tracks and the second set of tracks by moving vertically, so that the load handling device 130 can move in a desired direction (i.e., in an XY direction on the grid structure) on the grid structure.

[0064] exist Figures 6 to 8 Also present in the schematic diagram is a lifting drive assembly 140 and a battery 142, the lifting drive assembly being used to winch the grabbing device 139 into the main body 132 of the load handling device 130, and the battery being used to supply power to the lifting drive assembly 140 and the wheel assembly 134. The lifting drive assembly includes a motor 140, which is configured to raise or lower the grabbing device 139. In a specific embodiment of the present invention, the motor 140 of the lifting drive assembly is a single motor, but is not limited to a single motor. The lifting device or mechanism also includes a winch assembly 144, which includes a first pair of winches or reels 146 and a second pair of winches or reels 148. The first pair of winches or reels 146 and the second pair of winches or reels 148 respectively carry lifting ropes 150, which are attached to the grabbing device 139. As shown in Figure 8As clearly shown in FIG. 5 , the first pair of winches 146 and the second pair of winches 148 are installed in the vehicle body 132 at intervals to define a battery receiving space for accommodating the battery 142 of the present invention. For the purpose of explaining the present invention, the container receiving space 142 for accommodating the container below the battery 142 is referred to as the first space, and the space for accommodating the battery of the present invention is referred to as the second space 142b. The gripping device 139 is configured to clamp the top of the container and lift the container from the stack of containers in the storage system of the type shown in FIGS. 1 and 2 . Typically, the gripping device 139 is configured as a frame, and four lifting ropes are fixed to each corner of the gripping device, as shown in FIG. 5 . The first pair of lifting ropes are attached to one side of the gripping device 139 and are wound around the first pair of winches 146, and the second pair of lifting ropes are attached to the other side of the gripping device 139 and are wound around the second pair of winches 148. For the purposes of the present invention, the phrase "occupying the footprint of a single grid cell" is interpreted to mean that the footprint of the load handling device does not extend into adjacent grid cells because the wheels of the load handling device rest on tracks around the periphery of the single grid cells 10 (see Figure 2), enabling the gripping device of the load handling device to descend into the single grid cells and retrieve containers stored in the grid columns. The containers are stored in the container receiving space within the vehicle body of the load handling device. This is clearly shown in Figure 5.

[0065] exist Figure 8 The battery 142 shown in FIG. 1 is positioned in a second space defined by the first pair of winches 146 and the second pair of winches 148. The battery 142 is set back toward one of the side walls 136 of the vehicle body 132 so that the battery 142 is partially positioned between the first pair of winches 146 and the second pair of winches 148, and more particularly, between a single winch or reel of the first pair of winches 146 and a single winch of the second pair of winches 148. This enables the battery to be easily replaced through one of the side walls of the vehicle body 132. Figure 8 In the particular embodiment shown in FIG. 1 , the battery 142 is positioned back toward the front or rear wall of the vehicle body 132. In addition, the location of the battery 142 above the first space 152 and partially between the first pair of winches 146 and the second pair of winches 148 in the vehicle body 132 lowers the center of gravity of the load handling device and, therefore, improves the stability of the load handling device on the grid structure. This is particularly beneficial when the vehicle body of the load handling device defines a footprint that occupies a single grid cell. Further details of the effect of the location of the battery in the vehicle body on the center of gravity or center of mass of the load handling device will be discussed below.

[0066] As in Fig. 9 and Fig.10, the battery 142 of the present invention is fixed in the vehicle body 132 by being mounted to a tray or subframe 154. In order to balance the weight of the battery 142 in the load handling device, thereby improving the stability of the load handling device, the use of the tray 154 to mount the battery 142 allows the weight of other auxiliary components or hardware components to balance the battery in the load handling device. In a specific embodiment of the present invention, the battery 142 and the lifting drive assembly 140 are installed adjacent to each other and are installed at opposite ends of the tray 154 so that the weight of the battery 142 offsets (balances) the weight of the lifting drive assembly 140. The lifting drive assembly 140 in a specific embodiment of the present invention includes a single lifting motor. Balancing the weight of the battery 142 with the weight of the lifting drive assembly 140 in the load handling device 130 helps to stabilize the load handling device in an upright position on the track.

[0067] exist Fig. 9 and Fig.10 It is also shown that, more particularly, Fig.11 and Fig.12 As shown in FIG. 1 , the battery is housed in a housing or box 143. Using box 143 to house the battery provides the flexibility of housing different types of battery cells from various manufacturers, so that the battery is not limited to a particular battery manufacturer and / or size and / or shape. Although the size and shape of the outer wall of box 143 are designed to fit into the second space above the container receiving space in the vehicle body, the interior space or interior cavity of the box can be adapted to accommodate batteries or other rechargeable power sources of different types and / or shapes. For example, the outer shape and / or size can be standardized, while the interior space or interior cavity of box 143 can be made flexible.

[0068] In addition, the case 143 of the present invention may also accommodate a thermal management system to regulate the temperature of the battery housed therein; details of which will be discussed below. An example of a case 143 of the present invention that houses a battery is shown in FIG. Fig.11 and Fig.12 In either example, the box body or housing 143 includes top and bottom walls 156 and side walls 158. The box body 143 can be manufactured as a single body or separate components that are combined together. Optionally, the box body 143 is made of a plastic material.

[0069] The side wall 158 includes a front wall and a rear wall arranged to provide a quadrilateral footprint. Fig.11 and Fig.12In the particular embodiment shown in , the front or rear wall of the box body includes at least two terminals 160 corresponding to the positive DC terminal and the negative DC terminal. The at least two terminals 160 are electrically connected to the stack of battery cells in the box body and are arranged to be electrically connected to the electrical connector of complementary shape in the vehicle body. Positioning the at least two terminals at the front or rear of the box body enables the box body to slide into the vehicle body from one of the sides of the vehicle body 132, rather than being lowered into the vehicle body from the top of the vehicle body. This makes it easy to replace or replace the battery simply by removing one of the side panels of the vehicle body and sliding the box body 143 into the second space between the winch or reel of the lifting mechanism. The at least two terminals 160 are shown as two male portions, which are configured to be received in at least two correspondingly shaped female mating portions in the vehicle body. However, the present invention is not limited to the male mating portion on the box body 143 arranged to be electrically coupled to the female mating portion on the vehicle body, as the opposite arrangement is also applicable to the present invention, wherein the male mating portion is in the vehicle body and the male mating portion is configured to be electrically coupled to the female mating portion on the front wall of the box body 143. In order to help guide the at least two electrical terminals to engage with the electrical connector in the vehicle body, one or more guides 162 can be mounted to the front wall or rear wall of the box body, and the one or more guides are received in correspondingly shaped grooves in the vehicle body. One or more guides 162 may include tapered ends to help properly position the at least two terminals 160 to engage with the electrical connector in the vehicle body.

[0070] When installing or replacing the cassette 143 from the load handling device 130, the operator will simply remove one of the side panels of the vehicle body. If there is already a cassette in the body of the load handling device, the operator will remove the existing cassette by pulling from the front face or rear face of the cassette, depending on whether the electrical connector is at the front or rear of the cassette, so that the cassette 143 slides out of the seating area of ​​the cassette in the second space. The front face is the first face of the cassette, and the rear face opposite the front face is defined as the second face of the cassette. Preferably, the cassette is mounted on a guide rail or track in the vehicle body so that the cassette can easily slide out. The seating area of ​​the cassette in the vehicle body is Fig. 9 A newly charged battery is installed in the second space by pushing the box along the guide rails so that the electrical terminals at the second face including the electrical connector engage with a complementary shaped electrical connector in the vehicle body. The side loading of the box enables the battery to be easily replaced.

[0071] Whether the battery is in a charging or discharging state, the battery may generate a certain amount of heat. When the heat generated is large, the temperature of the battery will exceed the normal optimal temperature range, resulting in reduced performance of the battery and ultimately reduced cycle life of the battery. As the equivalent series resistance (ESR) of the internal resistance of the battery increases at low temperatures, the problem of heat dissipation during charging of the battery is exacerbated in the refrigerated area and / or freezer area of ​​the fulfillment center, where the temperature can reach minus 18°C. Charging can include delivering a current of about 160 amperes at 48 volts through the battery. Therefore, a small increase in the internal resistance of the battery results in a large amount of heat being generated. For the purpose of the present invention, the ideal temperature range for optimal performance of the battery is in the range of 20°C to 40°C. Since the operating temperature of the battery affects the optimal performance of the battery, the heat dissipated from other auxiliary electrical components in the vehicle body will also affect the operating temperature of the battery. Therefore, typically, the battery is confined to the outer wall of the vehicle body, or is mounted laterally to one side of the container receiving space as discussed in WO 2019 / 206440 Autostore Technology AS, so that the heat from the battery can be dissipated to the external environment, thereby preventing excessive thermal runaway during charging. Since the battery accounts for a large part of the weight of the load handling device, the position of the battery in the vehicle body also has an impact on the stability of the load handling device in an upright position on the grid. Therefore, there is a balance between ensuring that the operating temperature of the battery is within the operable range so that the battery operates in an optimal state and ensuring the stability of the load handling device in an upright position on the grid structure. Ideally, preferably, the auxiliary components and / or hardware components are optimally arranged based on the respective weights of the auxiliary components and / or hardware components to improve the stability of the load handling device. In the present invention, the battery can be positioned between other auxiliary electrical components and other hardware components in the vehicle body of the load handling device by integrating a thermal management system including a temperature regulating device in the battery. The box body 143 provides a cavity for packaging the battery with an integrated thermal management system including a temperature regulating device.

[0072] In a specific embodiment of the invention, the term "battery" encompasses one or more battery cells electrically connected together to form a battery pack. Batteries include, but are not limited to, any rechargeable power source. Examples of rechargeable power sources are lithium-ion batteries, nickel-cadmium batteries, nickel-metal hydride batteries, lithium-ion polymer batteries, thin-film batteries, and smart battery carbon foam-based lead-acid batteries. The present invention is not limited to batteries, and other rechargeable power sources that can store charge and deliver power to a motor, such as capacitors, supercapacitors, or a combination of batteries and supercapacitors (hybrid systems), are also suitable for use with the present invention. In a specific embodiment of the invention and for the purpose of illustrating the invention, rechargeable power sources will be discussed with reference to batteries.

[0073] exist Fig.11 and Fig.12 What is not shown in the figure is that the wall of the box body includes one or more vents. The vents enable cold air to circulate through the interior space of the box body 143. One or more vents may include one or more inlet vents and one or more outlet vents. Cold air is sucked in through one or more inlet vents, and hot air is discharged from one or more outlet vents. Optionally, the interior space of the box body may include one or more channels (not shown) so that air can flow through a twisted path around the interior space of the box body to maximize the air flow through the battery cell, and thus maximize the surface area exposure of the circulating air to take away heat from the battery. For example, cold air can enter the battery through at least one inlet vent of the box body, flow along the interior space or internal cavity of the box body, and hot air is taken away by leaving at least one outlet vent. At least one inlet vent and outlet vent may be formed in any wall (e.g., bottom wall and top wall) of the box body. One or more walls of the box body may be perforated to provide an inlet vent and / or an outlet vent. The air flow channel may be incorporated into the box body so that the air flow can be guided through a twisted path around the battery cell.

[0074] In order to achieve a better battery cooling effect, the thermal management system includes a temperature regulating device to adjust the temperature of the internal space of the box body. By adjusting the temperature of the internal space of the box body, the temperature of the battery can be adjusted to the optimal performance of the battery. In a specific embodiment of the present invention, the temperature regulating device includes a fan. Through the rotation of the fan, the air is accelerated to pass through the internal space of the box body, so that the air quickly takes away the heat generated in the battery pack. This enables the battery cells to operate within a stable temperature range, extending the service life of the battery cells in the battery pack. For the purpose of the present invention, the ideal temperature range for the optimal performance of the battery is from 20°C to 40°C. In the present invention, Fig.11 and Fig.12In the particular embodiment shown in FIG. 1 , one or more cooling fans 164, 166 are mounted to the front wall of the box to provide air flow through the interior space of the box. Fig.11 In the embodiment shown in FIG. 1 , two fans (a first fan 164 and a second fan 166) are mounted to the wall of the box body. Optionally, the first fan 164 draws cold air into the interior space of the box body 143a, and the second fan 166 draws hot air from the interior space of the box body 143b to the external surrounding area. The first fan 164 and the second fan 166 also improve the fluidity of the air surrounding the interior space of the box body, so that the air flow quickly takes away the heat generated in the battery pack.

[0075] exist Fig.11 Also shown are one or more ducts 168, 170 mounted to the walls of the box 143a and having openings to direct or guide the flow of air through the vents by the rotation of the fans 164, 166. The fans 164, 166 are mounted to the ducts 168, 170 so that air entering the fans is forced through the vents by being directed through one or more ducts in the ducts. Similarly, hot air drawn out by the fans is directed through the ducts and out of the fans. For purposes of describing the present invention, the fan used to draw cool air into the duct is referred to as an inlet fan, and the fan used to draw hot air out of the duct is referred to as an outlet fan. As shown in Fig.11 As shown in FIG. 1 , the inlet fan 164 and the outlet fan 166 are respectively mounted to the duct so that air is guided through the duct. Alternatively, the inlet fan and the outlet fan may be respectively mounted in line with the duct.

[0076] One or more ducts also enable air to be drawn in or exhausted from different parts of the vehicle body to different parts of the vehicle body. For example, in the case where cool air is drawn into the interior space of the cassette 143a, the duct can be extended to draw air from a cooler area of ​​the vehicle body (i.e., an area away from electrical and electronic auxiliary components). This prevents hot air from being drawn into one or more inlet vents. Similarly, in the case of outlet vents, the duct can be shaped to exhaust hot air to an area of ​​the vehicle body away from heat-sensitive electronic components (e.g., a processor or controller). This is possible if the fan is mounted in line with the duct.

[0077] One or more ducts may be mounted separately to the cassette. Alternatively, one or more ducts may be integrally formed with the cassette as a single or unitary body. At the same time, the inlet fan is configured to draw cold air into the interior space of the cassette, and the outlet fan is configured to draw hot air out of the interior space of the cassette, and the reverse situation also applies to the present invention, wherein the inlet fan draws hot air into the interior space of the cassette, and the outlet fan is configured to exhaust cold air from the interior space of the cassette. For example, in a refrigerated area or a frozen area of ​​a fulfillment center, hot air obtained from a hot area of ​​the vehicle body can be used to raise the temperature of the battery to the optimal temperature range of the battery, i.e., between 20°C and 40°C. The heat dissipated from the motor of the lifting mechanism and / or the drive assembly and / or the auxiliary electronic components can be collected or used to heat the battery to the optimal temperature range. Optionally, the direction of rotation of the inlet fan and the outlet fan can be reversed so that the role of the inlet fan and the outlet fan to draw air or exhaust air from the interior space of the cassette can be reversed according to the air temperature in different parts of the vehicle body. For example, different parts of the vehicle body can be made hotter or cooler than other parts within the body, depending on whether the opening of the duct is near any auxiliary electronic components or motors. The direction of rotation of one or more fans can be reversed depending on whether cool air needs to be drawn into or exhausted from the interior space of the box.

[0078] Despite Fig.11 The particular embodiment shown in FIG. 1 shows two fans mounted to the front wall of the box body, but a single fan 172 may be used to circulate cool air through the interior space of the box body 143 b, as in FIG. Fig.12 Here, a single fan 172 mounted to the wall of the box body 143b draws cool air from the outside environment into the interior space of the box body, where the cool air circulates to adjust the temperature of the battery cells 141, and hot air is exhausted through one or more vents 174. A plurality of battery cells 141 are also shown in FIG. 13 and may be represented in FIG. Fig.11In the battery, a plurality of battery cells are assembled into a stacked portion, and a plurality of battery cells are electrically connected together in series or in parallel one above the other. When a plurality of battery cells are connected in series, the positive terminal of one battery cell is connected to the negative terminal of the next battery cell, and so on, the battery cells are arranged into a stacked portion. The connection between the electrical connection portions of adjacent battery cells is provided by a bus strip 176, which may include a conductor, such as copper. Each of the battery cells in the battery cell 141 is spaced apart so that air flow can exist between the battery cells. For example, one or more spacers (not shown) may be arranged between each of the battery cells in the battery cell. The battery cells are held together in the stacked portion by the bus strip 176. The battery cell 141 is shown as an elongated battery cell. However, the present invention is not limited to the battery cells being elongated cells, but may also be cylindrical cells assembled together and accommodated in the box body 143b.

[0079] To facilitate heat dissipation of the battery cells 141, a heat sink (not shown) may be thermally coupled to the battery to transfer heat generated from the battery to the external environment. The heat sink is typically made of aluminum or copper and may include fins to dissipate heat generated from the battery cells. To further facilitate heat dissipation of the heat sink, one or more fans may direct cool air through the fins of the heat sink, or alternatively, a separate cooling fan may be mounted to the heat sink, more specifically, to the fins of the heat sink to increase the flow of cool air around the fins.

[0080] Although certain embodiments describe the temperature regulating device as a fan, other temperature regulating devices for regulating the temperature of the battery are also suitable for use with the present invention. In addition to cooling of the battery, this is also true in cold environments (such as in a refrigerated area or freezer area of ​​a fulfillment center, where the temperature of the battery drops too low, particularly during charging, thereby preventing optimal performance of the battery). One or more heating elements (such as electric heating elements) can be used to raise the temperature of the battery to a predetermined temperature range corresponding to the operable temperature range of the battery, i.e., between 20°C and 40°C. For example, the heating element can be a heating plate.

[0081] In order to provide cooling and / or heating, the temperature regulating device can be a thermoelectric converter including one or more Peltier elements, which generate heat and / or cooling based on the current passing through the Peltier elements. In short, the Peltier element provides thermoelectric cooling and heating, and generally includes two unique semiconductors, an n-type semiconductor and a p-type semiconductor. The alternating p&n-type semiconductor columns are arranged to be thermally parallel to each other and electrically in series, and are therefore joined to a heat conducting plate (usually ceramic, without the need for a separate insulator) on each side. When a voltage is applied to the free ends of the two semiconductors, there is a flow of DC current through the junction of the semiconductors, resulting in a temperature difference. The side with the cooling plate absorbs heat, and the heat is then transferred to the other side of the device by the semiconductor, that is, the semiconductor takes heat from one side (heat absorbing side) to the other side (heat radiating side), so that the heat absorbing side becomes cold, and the heat radiating side becomes hot. The polarity passing through the Peltier element can be reversed so that the current can flow in the opposite direction, thereby reversing the heat absorbing side and the heat radiating side of the Peltier element. The Peltier element can draw power from the battery or from a separate power source. This enables the same Peltier element to provide both heating and cooling of the battery cell.

[0082] When the battery cell is used as a cooling device, the surface of one or more battery cells is positioned to be in thermal contact with the heat absorbing surface of the Peltier element. Conversely, when the battery cell is used as a heating device, the surface of one or more battery cells is positioned to be in thermal contact with the heat radiating surface of the Peltier element. In the specific embodiment of the present invention shown in Figure 1 3, two Peltier elements (a first Peltier element 178 and a second Peltier element 1 80) are shown as being arranged on the left and right sides of the battery stack portion, and in direct contact with the battery stack portion to provide heating and / or cooling of the battery stack portion. For example, the first Peltier element 178 can be arranged so that the heat absorbing surface is in thermal contact with the battery stack portion to provide cooling of the battery stack portion, and the second Peltier element 180 can be arranged so that the heat radiating surface is in thermal contact with the battery stack portion to provide heating of the battery stack portion. The heating and / or cooling of the battery stack portion is not limited to two Peltier elements, and can be provided by a single Peltier element, wherein the heating and / or cooling is provided by reversing the polarity of the current passing through the single Peltier element, that is, by using an appropriate converter.

[0083] Since the ability to remove heat from the heat radiating side of the Peltier element increases the efficiency of the Peltier element in cooling the battery, one or more fans can direct cold air to the heat radiating side to promote the heat absorbing side of the Peltier element to remain cool. In addition, a heat sink can be mounted to the heat radiating side to achieve heat dissipation from the heat radiating side of the Peltier element. To further promote heat dissipation from the heat radiating side, one or more cooling fans can take away heat from the heat sink mounted to the heat radiating side of the Peltier element.

[0084] The amount of heating or cooling of the battery can be controlled by the size or duration of the current passing through the Peltier element. For example, by fully connecting or fully disconnecting the power to the Peltier element, the pulse of the current passing through the Peltier element, the heating or cooling of the corresponding heat radiation side and the heat absorption side can be adjusted. The Peltier element can be driven by a Peltier driver. The Peltier driver can be a voltage source, a current source, a relay or a transistor. A relay or a transistor is used to fully connect or fully disconnect the power to the Peltier element. Alternatively, a pulse width modulator (PWM) can be used to adjust the connection or disconnection of the power to the Peltier element. The PWM output signal can include a periodic square wave with a variable "on time". The "on time" is called a duty cycle when it is expressed as a percentage of the period of the square wave. The power to the Peltier element can be adjusted by changing the duty cycle of the square wave. Further details of the function of the Peltier element to adjust the temperature of the battery will be discussed below.

[0085] Returning to the components of the thermal management system not shown in FIG. 13 , the thermal management system includes one or more temperature sensors arranged in the housing and in close proximity to the battery, more particularly between the battery cells, to measure the temperature of the battery. The signal from the one or more temperature sensors is read by a temperature reader and used to adjust the temperature regulating device. The temperature reader 204 reads and interprets the indication of the temperature provided by the one or more temperature sensors 202 and generates a temperature signal which is fed back to the controller 208 as shown in FIG. Fig.14. The temperature sensor 202 can be any type of temperature measurer known in the art to measure the temperature of the rechargeable power source, in this case the temperature of the battery. For example, the temperature sensor can be, but is not limited to, a thermistor (e.g., an NTC thermistor or a PTC thermistor) or a thermocouple (e.g., a K-type thermocouple). Also shown in FIG. 13 is a thermal management system 179, which includes a controller for controlling at least one temperature regulating device 172 housed in the box body. However, the controller does not need to be housed in the box body and can be housed in the body of the load handling device. A communication port (not shown) can be present on the box body to communicatively connect to a controller outside the box body.

[0086] Fig.14 A simplified block diagram of a thermal management system 200 according to a first embodiment of the present invention is shown. The output from the temperature sensor 202 is fed to a temperature reader 204, which interprets the output to provide a temperature signal. The temperature signal provides an indication of the temperature of the battery. One or more temperature sensors 202 may be arranged between battery cells to provide a more accurate measurement of the temperature of the battery. The temperature reader 204 sends the temperature signal to a controller 208, which uses the temperature signal to drive a temperature adjustment device 206 to adjust the temperature of the battery to a predetermined temperature range. The predetermined range is within the operational range of the battery, i.e., between 20°C and 40°C. Beyond the predetermined range of 40°C, the battery's ability to hold a charge decreases. One or more flags may be set to notify the user that the temperature of the battery is outside the ideal operational range of the battery. For example, one or more flags may be set in which the controller 208 will notify the operator when the temperature reading from the one or more temperature sensors 202 reaches 65°C and 80°C, 65°C being an indication of excessive temperature, and 80°C being an indication of thermal runaway. On the colder side, the controller may notify the operator when a temperature reading from a temperature reading registers a reading of -80°C, which is an indication of a possible failure due to freezing of the battery electrolyte.

[0087] In response to the signal from the temperature sensor 202, the controller 208 can instruct one or more temperature regulating devices 206 to adjust the temperature of the battery. As discussed above, the temperature regulating device 206 can be one or more fans, one or more heating elements and / or one or more thermoelectric converters (such as Peltier elements) to keep the temperature of the battery within an operable range. The controller 208 can be any processing device known in the prior art. Typical examples include, but are not limited to, microprocessors. The processor can be communicatively connected to a computer-readable medium (such as a memory device). The memory can be any storage device known in the art, and includes, but is not limited to, RAM, computer-readable media, magnetic storage media, optical storage media, or other electronic storage media that can be used to store data and instructions accessed by the processor. One or more processors of the controller can execute instructions stored in ROM and / or RAM to adjust the temperature of the battery in response to the temperature signal from the temperature reader 204. The controller 208 can form a part of the thermal management system 200 of the present invention, and therefore, the controller can be housed in a box body or outside a box body, for example, in the body of the load handling device. For example, the thermal management system can include a communication module capable of wireless communication over a network. The network may include a local area network (LAN), a wide area network (WAN), or any other type of network. The temperature signal and instructions for adjusting the temperature adjustment device 208 may be sent wirelessly to a controller located outside through the network. The controller may be housed in the vehicle body or alternatively separated from the vehicle body. In addition to the at least two charging receiving terminals discussed above, a third connection may be present on the vehicle body, which is communicatively connected to the temperature reader 204 and the temperature adjustment device 206 to communicate and receive not only signals about the health of the battery, but also signals about the temperature of the battery, and receive signals from the controller 208 to actuate at least one temperature adjustment device 206. The controller may include a proportional, integral, derivative (PID) controller or a proportional, integral (PI) controller to adjust the temperature of the battery to within the set point temperature by controlling the operation of at least one temperature adjustment device.

[0088] In a first embodiment of the present invention, the controller 208 is configured to actuate the temperature regulating device 206 in response to a temperature signal from the temperature reader 204 outside the operable temperature range. For example, in the case of excessive temperature, the controller actuates the operation of one or more cooling fans until the temperature of the battery falls within the operable range. As discussed above, the controller can control the rotation speed and direction of the fan to control the degree of cooling of the battery contained in the box. A radiator can be used in conjunction with a fan to promote heat dissipation of the battery. Conversely, in the case of too low a temperature of the battery, the controller 208 can actuate a heating element to increase the temperature of the battery. As shown in FIG. 1 5 , the controller can be instructed to actuate more than one temperature regulating device to adjust the temperature of the battery. The temperature regulating device includes, but is not limited to, one or more fans, a heating element, and / or one or more thermoelectric converters (Peltier elements). The controller may include a proportional, integral, derivative (PID) controller to adjust the temperature of the battery to a predetermined set point temperature.

[0089] In FIG. 15 , the thermal management system 201 is shown to include a first temperature regulating device 206 and a second temperature regulating device 207. The first temperature regulating device 206 may be a cooling fan, and the second temperature regulating device 207 may be a heating element. The controller 208 may regulate the temperature of the battery to be within an operable range by controlling the activation of one or more fans and / or heating elements.

[0090] Fig.16 is Fig.14 15, wherein at least one temperature regulating device of the thermal management system 300 includes a Peltier element 306. Fig.16In the specific embodiment shown in , the heat absorbing side 312 or cooling side of the Peltier element 306 is in direct contact with the rechargeable power source 314 (e.g., a battery) so that the heat generated by one or more battery cells of the battery is thermally conducted to the heat absorbing side of the Peltier element 306. The physical contact between the battery and the heat absorbing side of the Peltier element helps keep the battery cool. In another embodiment of the present invention, a conductive plate (not shown) can be arranged between the heat absorbing side 312 of the Peltier element 306 and the battery 314. The controller 308 is configured to control the Peltier driver 316 to drive at least one Peltier element 306. The Peltier driver 316 can be a voltage source, a current source, or a connection connected to a power supply of a battery or another power source for driving at least one Peltier element. The cooling of the heat absorbing surface can be controlled by turning the power to at least one Peltier element 306 on and off. As discussed above, the Peltier driver 316 may include a pulse wave modulator (PWM) to generate power pulses to drive at least one Peltier element 316, and thereby adjust the cooling of the heat absorbing surface. The duty cycle of the square wave generated by the PWM (the "on" time of the Peltier element) can be changed by the controller to change the power to at least one Peltier element. The larger the duty cycle, the greater the cooling effect of the heat absorbing surface, because the heat absorbing surface will remain cool for a longer period of time, thereby maintaining the cooling of the battery. Similarly, the frequency of the square wave controls the number of "cooling bursts" from the Peltier element, thereby controlling the cooling of the battery. The controller 308 can be instructed to change the duty cycle and / or the frequency of the duty cycle of the signal from the PWM to adjust the temperature of the battery. The controller may include a PID controller or a PI controller to change the duty cycle and / or frequency of the signal from the PWM so that the temperature of the battery falls within a predetermined set point temperature.

[0091] When heat is transferred from the heat absorbing side of at least one Peltier element to the heat radiating side, the heat can be optionally taken away from the heat radiating side 310 by arranging the heat radiating side in thermal contact with a heat sink. In addition, the heat radiating side 310 of at least one Peltier element can be arranged in the path of air blown by one or more fans, and thus help the heat absorbing side of at least one Peltier element to cool the battery more effectively.

[0092] exist Fig.16Not shown in the figure, the polarity of the current passing through at least one Peltier element can be reversed (the direction of the current is reversed) so that the heat absorbing side becomes the heat radiating side to cause the battery to heat up. This is particularly true in the refrigerated section or freezer section of the fulfillment center. As with the heat absorbing side (cooling side), the controller controls the Peltier driver to adjust the current to the at least one Peltier element to adjust the heating of the battery. Reversing the direction of the current passing through at least one Peltier element enables a single element to achieve cooling and heating of the battery based on the temperature signal from the temperature reader. Reversing the polarity of at least one Peltier element can be achieved using a relay or other suitable converter.

[0093] However, heating and cooling of the battery can be provided by two separate Peltier elements (a first Peltier element for cooling the battery and a second Peltier element for heating the battery). An advantage of having a first Peltier element and a second Peltier element for cooling and heating the battery is that the efficiency of heating or cooling at least one Peltier element can be improved by treating the opposite faces of the Peltier elements. In the case of cooling, the heat absorbing side can be improved by treating the heat radiating side (e.g., a radiator or fan) to remove heat from the heat radiating side. Similarly, the heat radiating side that causes the battery to heat up can be improved by isolating the heat absorbing side.

[0094] The present invention can also use the Seebeck effect of the thermoelectric converter to determine the temperature of the battery. The current generated due to the temperature difference between the heat radiating side and the heat absorbing side of the thermoelectric converter can be used to determine the temperature of the battery, that is, the temperature difference across the semiconductor. One face of the thermoelectric element can be exposed to the ambient temperature, and the opposite face of the thermoelectric converter can be in thermal contact with the battery. The temperature difference between the opposite faces of the thermoelectric converter generates a current at the junction of the thermoelectric converter, which is read by a temperature reader to determine the temperature of the battery.

[0095] While certain embodiments of the invention describe a thermal management system integrated into a cartridge housing a rechargeable power source, the temperature of the rechargeable power source may be controlled external to the cartridge. In another embodiment of the invention, the thermal management system may be integrated into a vehicle body of a load handling apparatus. For example, the temperature sensor may include an infrared camera mounted within the vehicle body and configured to determine the temperature of the rechargeable power source by detecting infrared energy emitted from the rechargeable power source. The temperature readings from the infrared camera may be used by the controller to actuate one or more of the temperature adjustment devices described above in response to a temperature signal outside of a predetermined temperature range.

[0096] The thermal management system of the present invention can be powered by a rechargeable power supply. Alternatively, whenever the rechargeable power supply of the load handling device is charged at the charging station, the thermal management system of the present invention can be powered by the power delivered by the charging station. Powering the thermal management system includes, but is not limited to, powering the temperature regulating device, and / or the temperature sensor and / or the controller. The charging station includes a charging head, which is configured to cooperate with the charging point on the load handling device. When the load handling device moves into the grid unit where the charging station is located, a contact portion is formed between the charging contact plate on the top surface of the load handling device and the charging contact portion of the charging head. The charge is transferred from the charging contact portion to the load handling device through the charging contact plate, which is located on the top surface of the load handling device. During the charging of the rechargeable power supply, the charge is transferred to the thermal management system of the present invention to power the components of the thermal management system. Typically, the charging station delivers a charge of about 160 amperes at 48 volts. During the operation of the load handling device on the grid structure, the possibility of thermal runaway of the rechargeable power supply when the battery is charged is higher than the possibility of thermal runaway of the rechargeable power supply when the battery is discharged. The internal resistance of a rechargeable power source, particularly a battery, varies with temperature and increases at low temperatures. During charging of the battery, the likelihood of heating the battery in the refrigerated section and / or frozen section of the fulfillment center is increased than in any other area of ​​the fulfillment center. In the worst case, thermal runaway can result and the battery components may decompose. The thermal management system of the present invention becomes even more important during battery charging. During charging of the rechargeable power source at a charging station, the thermal management system of the present invention can be used to monitor the temperature state of the battery and actuate one or more temperature regulating devices when the temperature of the rechargeable power source falls outside a predetermined temperature range. In order to preserve the charge in the rechargeable power source, the charge from the charging station can be used to deliver power to the thermal management system. The charge can be extracted from the charge delivered to the rechargeable power source. Alternatively, a separate charge collector including at least two (positive and negative) charge collector contacts can be incorporated on the vehicle body, and the charge collector contacts cooperate with corresponding charge supply contacts at the charging station to supply power to the thermal management system.

[0097] Different combinations of the temperature regulating devices discussed above can be used to control the temperature of the rechargeable power source. For example, a Peltier element can be used in conjunction with one or more cooling fans. The one or more temperature sensors can be thermocouples or thermistors or other temperature sensors known in the art, or based on the Seebeck effect of semiconductor thermocouples as discussed above. The temperature reader can be integrated into the controller, where the voltage signal from the temperature sensor is interpreted by the controller to provide a temperature reading.

[0098] Stability of load handling equipment

[0099] During the operation of the load handling device on the grid structure, the load handling device can move at a speed of up to 2 m / s 2 Accelerate and reach a maximum speed of 4m / s. In addition, the load handling device can change direction along the XY direction on the grid structure, which may sometimes be sudden. Therefore, since the forces suffered during acceleration and change of direction on the grid structure may cause the load handling device to fall, the stability of the load handling device on the grid structure is crucial. In order to improve the stability of the load handling device, the center of mass of the load handling device is kept as low as possible. There are various methods in the prior art to achieve a low center of mass. These methods include increasing the occupied space of the main body of the load handling device by more than the size of a single grid unit to extend into an adjacent grid unit, thereby arranging the battery to one side of the container receiving space, and the battery accounts for a large part of the weight of the load handling device. However, when the occupied space of the main body of the load handling device occupies the space of a single grid unit of the grid structure, the problem with the load handling device (the so-called single unit load handling device) is the relative instability of the load handling device on the grid structure. When the battery becomes larger, the problem of instability will be aggravated due to the increase in the center of mass (i.e., the center of gravity). When the load handling device is affected by the gravitational field, the center of mass is equivalent to the center of gravity of the load handling device. Therefore, the location of the center of mass and the location of the center of gravity are the same.

[0100] In the present invention, reference Figures 6 to 10 as well as Figures 17 to 19 In a particular embodiment of the present invention, the cassette 143 is positioned in the vehicle body 132 such that the center of mass 320 (defined by Fig.17 The points in the figure are located in the space occupied by the box. For the purposes of this invention, the center of mass is measured relative to the center point of the vehicle body. Fig.17 The center point of the load handling device represented by the Cartesian coordinates X, Y, Z shown in Figure 18 is 0, 0, 0. The position of the center of mass is Fig.18 17, for the purpose of illustrating the present invention, the Y direction extends along the Y axis and in the vertical direction. The X direction and the Z direction extend in the horizontal plane in the lateral direction. Therefore, the coordinate in the Y direction determines whether the center of mass is a point above or below the first space - the first space is the container receiving space. The X axis, the Y axis and the Z axis are marked in Fig.17 , but may be different, for example, the Z axis may be the Y axis, in which case the coordinate in the Z direction determines the position of the center of mass in the vertical direction.

[0101] In a particular embodiment of the invention, a box 143 housing a rechargeable power source is located directly above the first space 152 for housing a container. By positioning the box directly above the first space 152 for housing a container, the center of mass 322 of the load handling device is located in the second space 142b housing the box. Although not perfect, because the box is directly above the first space, the stability of a single unit load handling device operating on a grid structure is improved. By positioning the battery directly above the first space and roughly centered between the opposing side walls of the vehicle body, the shift in the center of mass of the load handling device becomes less drastic when the load handling device is carrying a payload.

[0102] Table 1 below shows the coordinates of the center of mass of the load handling device, which is defined by the displacement of the center of mass from the center point of the load handling device. In a specific embodiment of the present invention, the mass of the box body containing the battery is in the range of 30kg to 35kg. Position 1 in Table 1 represents the center of mass of the load handling device without the box body. In a specific embodiment of the present invention, the center of mass of the load handling device without the box body is located in the first space for accommodating the container. Therefore, the load handling device without the box body is more stable. Although the mass of the box body will increase the center of mass and thus affect the stability of the load handling device when the box body is installed in the vehicle body, the specific position of the box body roughly in the center between the opposite side walls of the vehicle body alleviates this effect. In a specific embodiment of the present invention, the box body is roughly located in the center of the opposite side walls of the vehicle body and is installed on a pallet directly above the first space, as shown in reference Figures 6 to 10As described. When the box body is installed in the vehicle body, the position of the center of mass indicated by the Y coordinate moves upward from position 2 and position 3 in Table 1 to the second space, that is, to the second space located directly above the first space. When the load handling device carries a payload, the position of the center of mass is reduced, as indicated by position 4 of Table 1. In this case, the position of the center of mass moves downward to the first space, making the load handling device more stable on the grid structure. Therefore, depending on whether the load handling device carries a container with a payload, the center of mass of the load handling device changes between being located in the second space and being located in the first space. By positioning the center of mass in the battery receiving space (second space), the stability of the load handling device is therefore determined by the position of the battery in the vehicle body. Arranging the battery as low as possible in the vertical direction determined by the Y coordinate improves the stability of the load handling device on the grid structure. Since the first space is configured to accommodate containers during the operation of the load handling device in the storage system, in a specific embodiment of the present invention, the battery is positioned adjacent to the first space in the vertical direction and is located above the first space, that is, directly above the first space. By positioning the battery just above the first space, any movement or adjustment of the center of mass is minimized. This reduces the impact on the instability of the load handling device when the battery is installed in the vehicle body. In a specific embodiment of the invention, installing the battery just above the first space changes the center of mass to the second space, i.e. the battery receiving space.

[0103] To further improve the stability of the load handling device on the grid structure, the load handling device includes a lower portion and an upper portion. The box body is mounted in the upper portion of the load handling device, and the wheel assembly is mounted in the lower portion of the load handling device, and the wheel assembly includes a first set of wheels and a second set of wheels. The load handling device 230 also includes a chassis or frame, and the chassis or frame includes a weight 234 located in the lower portion of the load handling device. In a specific embodiment of the present invention, the weight 234 is a wheel mounting plate. As in Fig.19 2, the first and second sets of wheels 134 are mounted to a wheel mounting plate 234. The wheel mounting plate 234 is manufactured so that the weight of the chassis or frame is concentrated towards the lower portion of the load handling device. Fig.19 Not shown is the vehicle body including side panels mounted to the chassis.

[0104] In the present invention Fig.19 In the particular embodiment shown in FIG. 2 , the wheel mounting plate 234 represents a separate portion of the vehicle body 232 and comprises a heavy metal plate, for example by increasing the thickness of the material used to make the wheel mounting plate and / or increasing the type of material used. Fig.19The wheel mounting plate 234 shown in FIG. 1 includes a first pair of opposing metal plates and a second pair of opposing metal plates for mounting the first set of wheels 134 and the second set of wheels 135, respectively. The weight of the wheel mounting plate is greater than the weight of the box 143 containing the rechargeable power source. By concentrating the weight of the load handling device 230 toward the lower portion of the load handling device (e.g., at the base or bottom of the load handling device), the stability of the load handling device is improved and the weight of the box above the first space in the single unit load handling device is compensated.

[0105] Alternatively, the chassis or frame of the load handling device comprises an upper part and a lower part; wherein the box 143 is mounted in the upper part of the chassis and the wheel assembly is mounted in the lower part of the chassis. The mass of the chassis in the lower part is greater than the mass of the chassis in the upper part.

[0106] Although the reference Figures 6 to 10 as well as Figures 17 to 19 The stability of the load handling device describes a box body that accommodates a rechargeable power supply, but the same effect can be achieved when the rechargeable power supply is installed separately just above the first space so that the center of mass is located in the second space (i.e., the second space is not limited to accommodating the box body, but can accommodate the rechargeable power supply separately). As discussed above, the rechargeable power supply can be a battery or a supercapacitor, or both a battery and a supercapacitor. Although the specification describes a box body, the battery alone can also account for a large part of the weight of the load handling device, and therefore the battery can affect the stability of the load handling device, wherein the occupied space of the load handling device occupies a single grid unit. Therefore, the center of mass in the second space for accommodating the box body also applies to the case of the second space accommodating the battery.

[0107]

[0108] Table 1 : Coordinates of the centre of mass of the load handling device defined by the displacement from the centre point (0,0,0) of the load handling device.

[0109] Other aspects of the invention may be described with reference to the following numbered clauses:

[0110] Clause 1. A load handling device 30 for lifting and moving one or more containers 10 stacked in a storage system, the storage system comprising a grid frame structure 14 supporting a plurality of rails 22, the plurality of rails being arranged in a grid pattern to define a grid structure 15 above one or more stacks 12 of containers, the grid pattern comprising a plurality of grid cells 17, and each of the one or more stacks 12 of containers being located only within the footprint of a single grid cell 17, the load handling device 30 comprising:

[0111] A) a drive mechanism operatively arranged to move the load handling device 30 on the grid structure 15,

[0112] B) a vehicle body 132 having a footprint that, when in use, only substantially occupies a single grid cell 17 in the storage system, said vehicle body 132 housing:

[0113] i) a rechargeable power source 142, the rechargeable power source is used to supply power to the drive mechanism;

[0114] ii) a first space 152 and a second space 142b, the first space 152 being configured to accommodate the container 10, and the rechargeable power source 142 being accommodated in the second space 142b;

[0115] iii) a lifting device, the lifting device comprising a lifting drive assembly 140 and a gripping device 39, the gripping device being configured to releasably grip the container 10 and lift the container 10 from the stacking portion 12 into the first space 152 when in use,

[0116] Therein, the rechargeable power source 142 is arranged above the first space 152 so that the center of mass of the load handling device is in the second space 142b.

[0117] Item 2. A load handling device 30 according to Item 1, wherein the center of mass 320 of the load handling device 30 deviates from the center point of the load handling device 30 by -10 mm to -13 mm in the X direction, by 440 mm to 490 mm in the Y direction, and by 4.5 mm to 6 mm in the Z direction.

[0118] Item 3. A load handling device 30 according to Item 2, wherein the first space 152 accommodates a container 10 so that the center of mass 320 of the load handling device 30 is offset from the center point of the load handling device 30 by -12 mm to 13 mm in the X direction, by 470 mm to 475 mm in the Y direction, and by 5.0 mm to 5.6 mm in the Z direction.

[0119] Item 4. A load handling device 30 according to Item 3, wherein the container 10 includes a payload weighing approximately 35 kg, so that the center of mass 320 of the load handling device is offset from the center point of the load handling device 30 by -10 mm to 11 mm in the X direction, by 440 mm to 450 mm in the Y direction, and by 4.5 mm to 5.0 mm in the Z direction.

[0120] Clause 5. A load handling device 30 according to any of the preceding clauses, wherein the rechargeable power source 142 displaces the center of gravity 320 of the load handling device by 40 mm to 45 mm in the X direction, by 50 mm to 60 mm in the Y direction, and by 5 mm to 7 mm in the Z direction.

[0121] Clause 6. The load handling device 30 of any of the preceding clauses, wherein the rechargeable power source 142 is mounted substantially centered between a pair of opposing side walls 158 of the vehicle body 132 .

[0122] Item 7. A load handling device 30 according to Item 6, wherein the lifting device includes a first pair of reels 146 and a second pair of reels 148, the first pair of reels individually carrying a first pair of lifting ropes, the second pair of reels individually carrying a second pair of lifting ropes, the first pair of reels 146 and the second pair of reels 148 are driven by a lifting drive assembly 140 to raise or lower the grabbing device 39 relative to the vehicle body 132, and wherein the first pair of reels 146 and the second pair of reels 148 are spaced apart from each other to define a second space 142b, so that the rechargeable power source 142 is partially located between the first pair of reels 146 and the second pair of reels 148.

[0123] Clause 8. The load handling device 30 of clause 7, wherein the rechargeable power source 142 and the lift drive assembly 140 are mounted in the same horizontal plane.

[0124] Clause 9. The load handling device 30 of clause 7 or 8, wherein the rechargeable power source 142 and the lift drive assembly 140 are mounted in the tray 154.

[0125] Clause 10. The load handling device 30 of any of the preceding clauses, wherein the second space 142b is accessible from outside the vehicle body 132 such that the rechargeable power source 142 is removable from outside the vehicle body.

[0126] Clause 11. The load handling device 30 of clause 10, wherein the rechargeable power source 142 is removable from the vehicle body 132 by pulling from a first side of the rechargeable power source 142.

[0127] Clause 12. The load handling device 30 of clause 11, wherein the lift drive assembly 140 is mounted adjacent a second side of the rechargeable power source, the second side being opposite the first side.

[0128] Clause 13. The load handling device 30 of any one of clauses 10 to 12, wherein the rechargeable power source 142 is mounted on a rail.

[0129] Clause 14. A load handling device 30 according to any of the preceding clauses, wherein the vehicle body 1 32 includes walls on all sides and forms a quadrilateral footprint which, when in use, occupies substantially only a single grid cell in the storage system.

[0130] Clause 15. A load handling device 30 according to any of the preceding clauses, wherein the drive assembly includes a wheel assembly 134, the wheel assembly includes a first set of wheels 34 and a second set of wheels 36, the first set of wheels being used to move the load handling device 30 in a first direction, and the second set of wheels being used to move the load handling device 30 in a second direction.

[0131] Clause 16. A load handling device 30 according to clause 15, wherein the vehicle body 132 includes a chassis having an upper portion and a lower portion, the rechargeable power source 142 is mounted in the upper portion, and the wheel assembly 134 is mounted in the lower portion, wherein the mass of the chassis in the lower portion of the chassis is greater than the mass of the chassis in the upper portion.

[0132] Clause 17. The load handling device 30 of clause 15, wherein the chassis includes a wheel mounting plate 234 to which the wheel assembly 134 is mounted, and wherein the mass of the wheel mounting plate 234 is greater than the mass of the rechargeable power source 142.

[0133] Clause 18. The load handling device 30 of clause 17, wherein the wheel mounting plates 234 include a first pair of opposing plates and a second pair of opposing plates, such that the first set of wheels 34 are mounted to the first pair of opposing plates and the second set of wheels 36 are mounted to the second pair of opposing plates.

[0134] Clause 19. A load handling device 30 according to any of the preceding clauses, wherein the rechargeable power source 142 comprises a plurality of rechargeable power cells which are electrically connected together and housed in a housing to define a box body 143.

[0135] Clause 20. The load handling device 30 of clause 19, wherein the rechargeable power unit comprises a battery unit.

[0136] Clause 21. A storage system, the storage system comprising:

[0137] a first set of tracks 22a and a second set of tracks 22b, the second set of tracks extending transversely to the first set of tracks 22a in a generally horizontal plane to form a grid pattern 15, the grid pattern comprising a plurality of grid spaces or grid cells 17;

[0138] a plurality of stacks 12 of containers, the plurality of stacks of containers being located below the first set of parallel tracks 22a and the second set of parallel tracks 22b, wherein each of the stacks 12 of containers occupies a single grid space or grid cell 17,

[0139] According to any one of clauses 1 to 20, the load handling device 30 is arranged to traverse along a first set of rails 22a and a second set of rails 22b on a plurality of grid spaces or grid cells 17 so that when the load handling device is positioned above a stacking portion 12 of a container, it occupies the grid space or grid cell 17, and the lifting device is configured to lift at least one container 10 from the stacking portion 12 of the container.

Claims

1. A load handling device for lifting and moving one or more containers stacked in a storage system, the storage system comprising a grid frame structure supporting a plurality of rails arranged in a grid pattern to define a grid structure above one or more stacks of containers, the grid pattern comprising a plurality of grid cells, the load handling device comprising: A) a drive mechanism operably arranged to move the load handling device on the grid structure, B) a vehicle body, the vehicle body housing: i) a container receiving space, the container receiving space being located above the track; ii) a lifting device comprising a lifting drive assembly and a gripping device, the gripping device being configured to releasably grip a container and lift the container from the stacking portion into the container receiving space in use, iii) a case housing a rechargeable power source for powering the drive mechanism; wherein the load handling device comprises a thermal management system, the thermal management system comprising one or more temperature sensors and at least one temperature regulating device, the temperature regulating device being configured to regulate the temperature of the rechargeable power source within a predetermined temperature range in response to signals from the one or more temperature sensors; wherein the at least one temperature regulating device comprises a first temperature regulating device and a second temperature regulating device, wherein the first temperature regulating device comprises one or more cooling fans and the second temperature regulating device comprises one or more heating elements; wherein the at least one temperature adjustment device is controllable from outside the case via a communication port, wherein the communication port provides a signal regarding a state or condition of the rechargeable power source to a controller located outside the case, and wherein the controller is configured to adjust the temperature of the rechargeable power source to within the predetermined temperature range by controlling actuation of the one or more cooling fans and / or the one or more heating elements.

2. The load handling device according to claim 1, wherein: The thermal management system includes a temperature reader configured such that output from the one or more temperature sensors is fed to the temperature reader, wherein the temperature reader is configured to interpret the output to provide a temperature signal and to send the temperature signal to the controller.

3. The load handling device according to claim 2, wherein: The temperature reader is integrated into the controller.

4. A load handling device according to any one of the preceding claims, wherein: The controller includes a proportional-integral (PI) controller or a proportional-integral-derivative (PID) controller to adjust the temperature of the rechargeable power source within the predetermined temperature range by controlling the operation of the at least one temperature adjustment device.

5. A load handling device according to any one of the preceding claims, wherein: The one or more temperature sensors include an infrared camera mounted within the vehicle body and configured to determine the temperature of the rechargeable power source by detecting infrared energy emitted from the rechargeable power source.

6. A load handling device according to any one of the preceding claims, wherein: The one or more temperature sensors include a thermistor or a thermocouple.

7. A load handling device according to any one of the preceding claims, wherein: The controller is configured to notify an operator when the one or more temperature sensors register a reading of 40°C.

8. A load handling device according to any one of the preceding claims, wherein: The controller is configured to notify an operator when the one or more temperature sensors register a reading of -80°C.

9. A load handling device according to any one of the preceding claims, wherein: The rechargeable power source includes a plurality of rechargeable power cells that are electrically connected together and housed in the case, wherein the one or more temperature sensors are disposed between the plurality of rechargeable power cells.

10. A load handling device according to any one of the preceding claims, wherein: The thermal management system includes a communication module configured to wirelessly communicate with the controller via a network.

11. A load handling device according to any one of the preceding claims, wherein: The cassette is mounted on rails or tracks in the vehicle body.

12. The load handling device according to claim 11, wherein: The case includes at least two terminals electrically coupled to the rechargeable power source and arranged to electrically couple with a complementary shaped electrical connector in the vehicle body.

13. The load handling device according to claim 12, wherein: The at least two terminals are located at the front or rear of the box body so that the box body can be slid into the vehicle body from one of the sides of the vehicle body.

14. A load handling device according to any one of the preceding claims, wherein: The box body includes one or more vents.

15. The load handling device according to claim 14, wherein: The one or more cooling fans are configured to draw cool air through the one or more vents.

16. The load handling device according to claim 14 or 15, wherein: The one or more cooling fans are configured to draw hot air from the interior of the case through the one or more vents.

17. A load handling device according to any one of the preceding claims, wherein: The box body comprises walls on all sides, and wherein the one or more cooling fans are mounted to at least one of the walls of the box body.

18. A storage system, comprising: a first set of tracks and a second set of tracks extending transversely to the first set of tracks in a generally horizontal plane to form a grid pattern, the grid pattern comprising a plurality of grid spaces or grid cells; a plurality of stacks of containers, the plurality of stacks of containers being located below the first set of tracks and the second set of tracks, wherein each of the stacks of containers occupies a single grid space or grid cell, The load handling device according to any one of claims 1 to 17, the load handling device being arranged to traverse along the first set of tracks and the second set of tracks over the plurality of grid spaces or grid cells so that the load handling device occupies the grid spaces or grid cells when positioned above a stack of containers, the lifting device being configured to lift at least one container from the stack of containers.

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