Multi-temperature storage system

Abstract

The invention provides a multi-temperature storage system (1) comprising: A) a grid frame structure (14) configured for supporting a robotic load handling device (30) thereon, the grid frame structure (14) comprising: i) a track system (4) comprising a plurality of tracks (22) arranged in a grid pattern comprising a plurality of grid cells (17), iii) a support frame structure (3) for supporting the rail system (4) above the ground to form a storage space comprising a plurality of storage columns (5), each storage column (5) being arranged to store a stack (12) of storage containers (10) so as, in use, to receive the storage containers (10) from the storage space (1); a robotic load handling apparatus (30) operating on a track system (4) is able to lift one or more containers (10) from a stack (12) of storage columns (5) through a grid cell (17), where a portion of the storage system (1) is housed within an enclosure (6) having an opening (7) above the track system (4), to allow a robotic loading handling device (30) to move in and out of the enclosure (6); b) a temperature control system (50) comprising an inlet (51) for drawing fluid from the enclosure (6), a temperature control unit (52) for heating or cooling the fluid into a temperature-controlled fluid, and an outlet (53) for providing the temperature-controlled fluid to the enclosure (6), such that the enclosure (6) has a temperature different from the temperature outside the enclosure (6); c) at least one air curtain unit (54) arranged above the rail system (4), said at least one air curtain unit (54) being arranged to recirculate the temperature-controlled fluid from the enclosure (6) to provide an air curtain (55) across the opening (7) of the enclosure (6) so as to substantially confine the temperature-controlled fluid within the enclosure (6), and enabling the robotic loading handling device (30) to move in and out of the enclosure (6) on the track system (4).

Description

Technical Field

[0001] The present invention relates to a storage and retrieval system, which includes a grid frame structure for handling storage containers or boxes stacked in the grid frame structure and one or more robotic loading handling devices that can operate on the grid frame structure. More specifically, it relates to a multi-temperature storage system for storing and retrieving goods and items at different temperatures. Background Art

[0002] As is known, storage systems 1 comprise a three-dimensional storage grid frame structure in which storage containers / bins / boxes are stacked on top of each other. PCT Publication No. WO2015 / 185628A (Ocado) describes a known storage and fulfillment or distribution system in which stacks of bins or containers are arranged in a grid frame structure. The bins or containers are accessed by a load handling device operating remotely on tracks on top of the grid frame structure. Figures 1 to 3 of the accompanying drawings schematically illustrate a system of this type.

[0003] As shown in Figures 1 and 2, stackable containers (referred to as storage boxes or containers 10) are stacked on top of each other to form a stack 12. The stack 12 is arranged in a grid frame structure 14 of a storage or production environment. The grid frame structure is composed of a plurality of storage columns or grid columns. Figure 1 is a schematic perspective view of the grid frame structure 14, and Figure 2 is a top view showing the stack 12 of boxes 10 arranged in the grid frame structure 14. Each box 10 typically contains a plurality of product items (not shown), and the product items within the box 10 can be the same, or can be different product types, depending on the application.

[0004] Specifically, the grid frame structure 14 includes a plurality of vertical columns or upright members or upright columns 16 supporting horizontal grid members 18, 20. The first group of parallel horizontal grid members 18 is arranged perpendicular to the second group of parallel horizontal grid members 20 to form a grid structure or grid 15 including a plurality of grid cells 17. Each grid cell in the grid frame structure has at least one grid column for stacking storage containers. For the avoidance of doubt, the term "grid frame structure" is used to refer to a three-dimensional structure in which storage containers are stored, while the terms "grid structure" and "grid" are used interchangeably to refer to a two-dimensional structure in a substantially horizontal plane, wherein the load handling equipment operates on a substantially horizontal plane. The grid cells have openings to allow the load handling equipment to lift containers or storage boxes through the grid cells. Within the grid structure, the first group of parallel horizontal grid members 18 intersects with the second group of parallel horizontal grid members at nodes. The grid structure is supported by upright members 16 located at each node in the node or at the point where the grid members intersect, so that the upright members are connected to each other at their top ends by intersecting grid members. The grid members 16, 18, 20 are typically made of metal and are typically welded or bolted together or a combination of bolting and welding. Storage boxes or containers 10 are stacked between the upright members 16 of the grid frame structure 14 so that the upright members 16 prevent horizontal movement of the stack 12 of boxes 10 and guide vertical movement of the storage boxes 10. The top layer of the grid frame structure 14 includes rails or tracks 22 arranged in a grid pattern on top of the stack 12 to define a track system 4. Referring also to FIG. 3, the rails 22 support a plurality of load handling devices 30. The track system includes a first group 22a of parallel rails 22 to guide the movement of the robotic load handling devices 30 along a first direction (e.g., X direction) on top of the grid frame structure 14, and includes a second group 22b of parallel rails 22 arranged perpendicular to the first group 22a to guide the movement of the load handling devices 30 along a second direction (e.g., Y direction) perpendicular to the first direction. In this manner, the track 22 enables the robotic load handling device 30 to move laterally in two dimensions in a horizontal XY plane so that the load handling device 30 can be moved to a position above any stack 12 .

[0005] The track or rail may be a separate component from the grid member (sometimes referred to as a "track support"), or alternatively, the track may be integrated into the grid member as a single body, i.e., form part of the grid member. For example, each of the first and second sets of horizontal grid members 18, 20 of the grid structure may act as a track support, and the first and second sets of tracks of the track system may be mounted to the grid structure for two-dimensionally guiding loading and handling equipment on the grid structure. In the illustrated embodiment, the tracks are mounted to the horizontal grid members 18, 20 such that the horizontal grid members 18, 20 act as track support members, and the grid members may be defined as track support structures. In view of this definition, the horizontal grid members 18, 20 are also referred to as track support members, i.e., a first set of track support members extending in a first direction and a second set of track support members extending in a second direction. The track support members form a grid structure or grid 15, which is also referred to as a track support system.

[0006] PCT Patent Publication No. WO2015 / 019055 (Ocado), which is incorporated herein by reference, describes a known load handling device (also referred to as a robot) 30 shown in FIGS. 4 and 5 that includes a carrier body 32, wherein each load handling device 30 covers only a single grid space or grid cell 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 pair of wheels 34 at the rear of the carrier 32, which are used to engage a first set of tracks or rails to guide movement of the device in a first direction, and a second set of wheels 36, which are used to engage a second set of tracks or rails to guide movement of the device in a second direction. Each wheel in the set of wheels is driven to enable the carrier to move along the tracks in the X and Y directions, respectively. One or both sets of wheels may be moved vertically to lift each set of wheels off of their respective tracks, thereby allowing the vehicle to move in a desired direction, such as the X or Y direction, on the grid structure.

[0007] The loading handling device 30 is equipped with a lifting device or crane mechanism to lift the storage container from above. The crane mechanism includes a winch tether or cable 38 wound on a reel or spool (not shown), and a gripping device 39 in the form of a lifting frame. The lifting device includes a set of lifting tethers 38 (one tether near each of the four corners of the gripping device) extending in a vertical direction and connected near or at the four corners of the lifting frame 39 (also called the gripping device) for releasable connection to the storage container 10. The gripping device 39 is configured to releasably clamp the top of the storage container 10 to lift it from the stack of containers of the storage system of the type shown in Figures 1 and 2.

[0008] The wheels 34, 36 are arranged at the periphery of a cavity or recess (also referred to as a container receiving recess or container receiving space) 41 in the lower portion. As shown in Figures 5 (a and b), the recess is sized to accommodate the container 10 when the container 10 is lifted by the lifting mechanism. When in the recess, the container is lifted off the track below, allowing the carrier to move laterally to a different location. Once the target location is reached, such as another stack, an access point in a storage system, or a conveyor belt, the box or container can be lowered from the container receiving portion and released from the gripping device. The container receiving space may include a cavity or recess arranged in the carrier body, such as described in WO2015 / 019055 (Ocado Innovation Limited). Alternatively, the carrier body of the loading handling device may include a cantilever as taught in WO2019 / 238702 (Autostore Technology AS), in which case the container receiving space is located below the cantilever of the loading handling device. In this case, the gripping device is lifted by the cantilever so that the gripping device can engage the container and lift the container from the stack into the container receiving space below the cantilever.

[0009] To ensure the stability of the grid frame structure, prior art storage systems rely heavily on various supports and reinforcements arranged within the grid frame structure or arranged at least partially along the periphery of the grid frame structure. However, the use of various supports and reinforcements (reinforcements to prevent movement) to stabilize the grid frame structure from internal and external forces is disadvantageous for a variety of reasons. Because the grid frame structure occupies space or area that could be used to store containers, the grid frame structure does not make the best use of the available space or area for container storage. The need for a support structure may limit the available options for positioning the grid frame structure because any auxiliary grid support structure typically needs to be connected to the surrounding structure, such as the interior walls of a building. The need for a support structure to stabilize the grid frame structure is generally not cost-effective and takes up useful storage space.

[0010] WO2019 / 101367 (Autostore Technology AS) teaches a self-supporting storage grid that requires a less extensive auxiliary grid support structure by integrating a grid support structure into the storage grid structure. The grid support structure consists of four storage columns interconnected by a plurality of vertically inclined support struts. The storage column profile has a cross-section including a hollow center portion and four corner portions, each corner portion including two vertical box guides for accommodating the corners of a storage box. The support struts have a width that allows them to fit between two parallel guides without compromising the ability of the storage column to accommodate stacks of containers or storage boxes.

[0011] To construct a grid frame structure in the art, a plurality of vertical columns are individually positioned on the ground in a grid-like pattern. An assembly of individual vertical columns assembled together one by one is sometimes referred to as a "stick-built" structure. The "stick-built" method of assembling a grid frame structure requires a large number of time-consuming adjustments to ensure reliable operation of the robotic load handling equipment on the track. Therefore, the height of the vertical columns and the level of the grid mounted thereon are adjusted by one or more adjustable feet located at the base or bottom end of each vertical column. Subgroups of vertical columns are reinforced together to provide structural stability to the grid frame structure. The vertical columns are interconnected at their top ends by grid members so that the grid members adopt the same grid pattern as the vertical columns, that is, the vertical columns support the grid members at the points or nodes where each grid member in the grid member intersects according to the grid pattern. For the purpose of explaining the present invention, the points or intersections where the grid members intersect or are interconnected constitute the nodes of the grid structure and correspond to the areas where the grid structure is supported by the vertical columns. The resulting grid frame structure can be viewed as a free-standing rectilinear collection of upright columns supporting a grid formed by intersecting horizontal grid members, i.e. a four-walled frame.

[0012] The arrangement of vertical columns provides a plurality of vertical storage columns for storing one or more containers in a stack. The vertical columns help guide the gripping equipment of the lifting mechanism as the gripping equipment engages the container within the grid frame structure and is lifted toward load handling equipment operating on the grid. The size of the grid frame structure - and therefore the ability to store containers containing different items or stock keeping units (SKUs) - depends largely on the number of vertical columns that span a given footprint of the grid frame structure. However, one of the greatest obstacles to building a fulfillment or distribution center is the erection of the grid frame structure. The time and cost to assemble the grid frame structure accounts for a large proportion of the time and cost to build a fulfillment or distribution center. The largest and most time-consuming operations involve erecting the vertical columns one by one and securing the grid structure to the vertical columns.

[0013] WO2019 / 157197 (Alert Innovation Inc.) attempts to solve this problem by providing an automated fulfillment system comprising a plurality of storage modules, wherein each of the plurality of storage modules comprises a pair of rack modules, the pair of rack modules comprising a number of defined storage locations for storing containers (also referred to as boxes). The pairs of rack modules are spaced apart from one another to allow a mobile robot to pass between the pairs of rack modules and retrieve or deliver inventory to the storage locations. However, because the rack modules take up valuable storage space, the automated storage system taught in WO2019 / 157197 (Alert Innovation Inc.) does not provide a dense storage system as taught in WO2015 / 185628A (Ocado).

[0014] The storage system can be used to store goods that require a temperature-controlled environment, such as refrigerated or frozen goods. WO2016193419 (Ocado) discloses a storage system, which includes one or more heaters and / or one or more refrigerators for generating temperature-controlled gas, one or more fans for circulating the temperature-controlled gas in the storage system, and a plenum for receiving the temperature-controlled gas. The storage system provides a simple way to regulate the temperature of goods in the storage system.

[0015] WO22053372 discloses a grid storage system, the grid storage system comprising a gap below the stack extending below the stack of storage containers, a plurality of inlets leading to the gap below the stack between the stacks of storage containers, and at least one column without storage containers and arranged in the storage column to provide a ventilation column, the ventilation column including a fan, wherein a plurality of duct walls surrounding the ventilation column define a duct having a first end adjacent to a horizontal track and a second end adjacent to the gap below the stack, wherein the fan is arranged to circulate gas along the side of the stack via the plurality of inlets, the gap below the stack and through the duct. The ventilation column can be used to distribute temperature-controlled gas to ensure uniform temperature throughout the storage system.

[0016] In some cases, it is necessary to store goods at different temperatures, such as refrigerated goods and ambient temperature goods. Separate storage systems can be set up for goods at different temperatures, such as ambient temperature storage systems for ambient temperature goods and refrigerated storage systems for refrigerated goods. Although separate storage systems can meet different temperature needs, the disadvantage is that they take up more space than a single storage structure, which is particularly problematic for small sites. Small sites are becoming more important as consumer demand for rapid order fulfillment increases.

[0017] In other cases, a single storage system may include separate sections within the same grid frame structure for storing items at different temperatures. These systems require some type of insulation or thermal barriers between the sections to maintain the temperature differential. Goods need to pass through the thermal barriers, which can create an obstruction or limit the throughput of customer orders.

[0018] WO2019001816 (AutoStore) discloses a system comprising: at least two different temperature zones arranged horizontally relative to a storage grid, and wherein the storage grid is arranged in at least one of the temperature zones; a thermal barrier separating the at least two temperature zones; and a lifter for lowering and raising storage containers between an access point accessible from a temperature zone on one side of the thermal barrier and a transport zone in the storage grid, for transporting the storage containers between the lifter and a port column of the storage grid, wherein the port column is accessible by one or more processing carriers in another temperature zone on the other side of the thermal barrier.

[0019] While the above described systems allow containers to be transported between different temperature zones, the elevators can become an obstacle or limiting factor in the speed at which the goods can be transported, thereby limiting the efficiency of order picking and the efficiency of the entire system.

[0020] WO2015124610 (AutoStore) discloses a cooling storage system comprising a grid structure of storage units. Each unit is arranged to accommodate a vertical stack of storage boxes. A remotely operated vehicle is arranged to move on a top layer of the grid structure and receive boxes from the storage units at the top layer of the grid structure. Thermal insulation is provided between at least part of the grid structure and the remotely operated vehicle, and the temperature of the part of the grid structure is lower than the temperature of the remotely operated vehicle. An insulating cover on the top layer of the grid structure is provided and is movable by the remotely operated vehicle.

[0021] The disadvantage of this storage system is that the insulating cover required to prevent heat loss from the grid structure blocks access to the containers below. To retrieve a container, the thermally insulating cover first needs to be moved to another cell in the grid, either by the same carrier (in which case the operation of the storage system is slowed down) or by a different carrier (in which case more carriers are required to perform the same operation). In either case, the storage system operates less efficiently and the throughput of customer orders is reduced. Summary of the invention

[0022] The present invention has alleviated the above-mentioned problems by isolating at least part of a storage and retrieval system through an enclosure for storing items or goods (e.g., grocery items) at different temperatures. The enclosure has an opening to allow a robotic load handling device that can operate in the storage and retrieval system to move between the enclosure and the outside of the enclosure. The enclosure can be connected to a refrigeration system to maintain the temperature inside the enclosure at a temperature lower than the temperature outside or outside the enclosure. For example, the refrigeration system can maintain the temperature inside the enclosure to provide a refrigerated area, such as in a temperature range of 4°C to 8°C. Similarly, the refrigeration system can maintain the temperature inside the enclosure to provide a frozen area, such as in a temperature range of -18°C to -22°C. Similarly, the enclosure can be connected to a heating system to maintain the temperature inside the enclosure at a temperature higher than the temperature outside or outside the enclosure. The enclosure can be thermally insulated to reduce the transfer of heat entering and / or leaving the enclosure.

[0023] In order to prevent or significantly reduce the transfer of heat through the opening of the enclosure, the present invention provides at least one air curtain unit to provide an air curtain across the opening. At least one air curtain unit uses a fan to force the air curtain in a downward direction and across the opening. The forced air forms an invisible barrier that helps control the temperature by preventing hot air or cold air from entering the enclosure at the opening. The air curtain is advantageous over using a physical door to enter the enclosure - a physical door would create an obstruction on the grid frame structure because one or more robotic load handling devices must wait to enter and exit the enclosure through the physical door to retrieve and / or deposit items or cargo stored at different temperatures.

[0024] To meet the needs of items or goods stored at different temperatures, traditionally, storage and retrieval systems for storing items or goods at different temperatures are placed in separate temperature-controlled rooms or temperature-controlled buildings. The separate rooms have their own dedicated grid frame structure for storing storage containers in stacks, and one or more robotic load handling devices that can operate on the grid frame structure to store and / or retrieve storage containers. The separate rooms allow the temperature in the room to be controlled, such as by separate cooling facilities. This arrangement allows the one or more robotic load handling devices that can operate on the respective grid frame structures to operate at their optimal capacity.

[0025] However, a problem with this arrangement is that there may be excess capacity in one or more storage and retrieval systems that accommodate items or goods at different temperatures. This problem is exacerbated as the seasons change, such as summer and winter, when demand for refrigerated items may exceed demand for higher temperature items. The inefficiency of storing and retrieving items becomes more apparent when trying to meet market demand for convenience items or goods. This is especially true when orders include small, often necessary items, such as bread or milk, and may also include impulse buying behavior by customers, who often purchase goods without planning ahead. When customers make such instant buying decisions, they are often motivated by emotions and feelings, i.e., making unplanned purchases. Convenience stores, which typically stock a wide range of everyday items such as coffee, groceries, snacks, candy, soft drinks, tobacco products, over-the-counter medications, toiletries, newspapers and magazines, are often the best places to meet such impulse buying needs. As the demand for convenience store purchases and impulse buying increases, a storage and retrieval system that can address the above issues is needed. Therefore, there is a need for a storage and retrieval system that is capable of storing and / or retrieving goods or items stored at different temperatures within a single storage and retrieval system.

[0026] The present invention provides a multi-temperature storage system, the multi-temperature storage system comprising: A) A lattice frame structure configured to support a robotic load handling device thereon, the lattice frame structure comprising: i) a track system, the track system comprising a plurality of tracks arranged in a grid pattern comprising a plurality of grid cells, ii) a support frame structure for supporting a track system above ground level to form a storage space comprising a plurality of storage columns, each storage column being arranged to store a stack of storage containers so that, in use, a robotic load handling device operating on the track system can lift one or more containers from the stack of storage columns by the grid cell, wherein portions of the storage system are housed within an enclosure having an opening above the track system to allow a robotic load handling device to move into and out of the enclosure; B) a temperature control system, the temperature control system comprising an inlet for drawing a fluid from the enclosure, a temperature control unit for heating or cooling the fluid into a temperature-controlled fluid, and an outlet for providing the temperature-controlled fluid to the enclosure so that the enclosure has a temperature different from a temperature outside the enclosure; C) at least one air curtain unit disposed above the track system, the at least one air curtain unit being arranged to recirculate a temperature control fluid from the enclosure to provide an air curtain across an opening in the enclosure so as to substantially confine the temperature control fluid within the enclosure and enable the robotic load handling equipment to move into and out of the enclosure on the track system.

[0027] For purposes of limitation, the term "fluid" is to be interpreted broadly to include air, but may also include other fluids, such as other gases. The term "air curtain" should not be interpreted as limiting the fluid to air. Not only do the air curtains help to confine the temperature-controlled fluid within the enclosure, but more importantly, the air curtains enable one or more robotic load handling devices to be easily moved into and out of the enclosure because the air curtains do not form a physical barrier to the movement of the one or more robotic load handling devices through the enclosure opening. This, in turn, enables one of the robotic load handling devices to retrieve one or more storage containers from within the enclosure and move the storage containers to a location outside the enclosure, such as a location within the ambient temperature zone. In this way, because the different temperature zones share the same track system - and therefore the robotic load handling devices on the track system, they can exist simultaneously in a single storage and retrieval system.

[0028] Optionally, the multi-temperature storage system includes a robotic load handling device, the robotic load handling device including: a) wheel assemblies, which are used to guide load handling equipment on the track system; b) a container receiving space located above the track system; and c) A lifting device, which is arranged to lift the storage container from the stack into the container receiving space.

[0029] Optionally, the temperature control system includes a refrigeration system and the temperature control unit includes a refrigeration unit so that the temperature inside the enclosure is lower than the temperature outside the enclosure. Optionally, the temperature control system includes a heating system and the temperature control unit includes a heating unit, such as an electric heating element, so that the temperature inside the enclosure is higher than the temperature outside the enclosure. Providing a heating system connected to the enclosure enables the storage system to store items or goods at a temperature higher than the ambient temperature, such as hot food.

[0030] The ability to share load handling equipment between zones of different temperatures helps balance changes in demand for ambient and refrigerated products. If there is a sudden surge in demand for refrigerated products (for example, an impulse purchase of ice cream by a customer on a sunny bank holiday weekend), load handling equipment in the ambient temperature zone of the storage system outside the enclosure can be redeployed to the refrigerated temperature zone inside the enclosure, thereby increasing capacity and throughput of customer orders. Similarly, if customer demand for refrigerated goods is low and demand for ambient temperature goods is high, load handling equipment in the refrigerated temperature zone of the storage system can be redeployed to the ambient temperature zone to increase capacity and throughput of customer orders. The air curtains enable this reallocation of load handling equipment as the track system is shared between zones of different temperatures, allowing load handling equipment to pass directly through the air curtains when needed.

[0031] Preferably, at least one air curtain unit has an air inlet extending into the enclosure and an outlet including a nozzle, wherein the nozzle is configured to direct a temperature control fluid downwardly into the enclosure. Because the temperature control fluid (e.g., air) used to generate the air curtain is recirculated from the temperature control fluid within the enclosure, and the temperature control fluid is cooled to a temperature for storing items or cargo in a refrigerated environment, it is important that the air curtain does not affect the storage containers of the items or cargo at the temperature of the storage environment outside the enclosure, so as to avoid causing these items or cargo to deteriorate. Optionally, the nozzle is configured to direct the temperature control fluid toward the enclosure in a downwardly inclined direction (e.g., at a small angle to the vertical). For example, the nozzle may include one or more movable baffles to control the flow direction of the air curtain.

[0032] Optionally, the opening of the enclosure extends across at least one direction of the grid frame structure, so that at least one air curtain unit is configured to provide an air curtain across at least one direction of the grid frame structure, i.e., across multiple grid units of the track system. For example, the at least one direction across the grid frame structure can span the grid frame structure along a first direction and / or a second direction, the second direction being perpendicular to the first direction. Depending on the size of the opening of the enclosure, optionally, at least one air curtain unit includes a plurality of air curtain units arranged side by side. In order to provide an air curtain that can extend across multiple grid units, multiple air curtain units can be arranged side by side. In order to reduce or eliminate any gaps between air curtains from adjacent air curtain units, the edges of adjacent air curtains can partially overlap.

[0033] Although the air curtain provides an invisible barrier to prevent heat from flowing into the enclosure, the enclosure is optionally thermally insulated to reduce or prevent heat from being transferred through the walls of the enclosure. Optionally, the enclosure has a lower portion below the track system and an upper portion above the track system, and the lower portion of the enclosure includes a thermally insulated solid wall panel. In order to make the thermally insulated solid wall panel a load-bearing wall in the grid frame structure, optionally, one or more of the thermally insulated solid wall panels includes a structural insulation panel, which includes a thermally insulating core sandwiched between at least two layers of structural panels. At least two layers of structural panels may include magnesium oxide.

[0034] In order to provide thermal insulation in the upper part of the enclosure above the rail system, the enclosure optionally includes a hood covering the upper part of the enclosure. Optionally, the upper part of the enclosure includes a thermal insulation cover having a top wall and downwardly extending side walls, such as opposing side walls. Preferably, at least one of the downwardly extending side walls includes an opening. Optionally, the thermal insulation cover includes a thermal insulation blanket. An advantage of using a thermal insulation blanket to provide thermal insulation in the upper part of the enclosure is that the thermal insulation blanket is flexible and suitable for an inlet and / or outlet of a temperature control system to extend through the thermal insulation cover.

[0035] To provide an air curtain across the opening of the enclosure, preferably at least one air curtain unit is mounted adjacent the opening. Optionally, the temperature control system comprises one or more ducts extending from the inlet to the outlet via the temperature control unit to circulate temperature control fluid from the temperature control unit into the enclosure via the outlet. Optionally, the temperature control system comprises one or more fans for drawing fluid from the enclosure via the inlet. To distribute the temperature control fluid to the interior space of the enclosure, optionally, the outlet comprises at least one diffuser.

[0036] Optionally, the multi-temperature storage system further includes at least one inventory handling station arranged below the track system, and one or more grid cells of the track system define ports for delivering storage containers to and picking up storage containers from the inventory handling station. One of the advantages of using an enclosure having an opening (the opening has an invisible insulating barrier provided by an air curtain so that the track system can extend through the opening) and then using the same track system extending through different temperature areas of the storage system is that different temperature areas of the storage system can share the same inventory handling station. In other words, the same inventory handling station can be used to fulfill customer orders for items or goods stored in the enclosure (e.g., refrigerated items) and customer orders for items or goods stored outside the enclosure (e.g., ambient temperature items). Thus, a robotic loading and handling device that can operate on a track system that extends through the enclosure opening can retrieve a storage container from inside the enclosure and move the storage container to an inventory handling station outside the enclosure. Similarly, a robotic loading and handling device that can operate on a track system outside the enclosure can retrieve a storage container stored outside the enclosure and move the storage container to the same inventory handling station. The inventory handling station may be a picking station and / or a staging station. Since the air space within the enclosure may be refrigerated for storage of refrigerated items or goods, the inventory handling station is ideally located outside the enclosure, under the track system, e.g., in an ambient temperature environment. This enables personnel at the inventory handling station to work in a more comfortable working environment.

[0037] Typically, individual areas are provided by incorporating mezzanines supported by vertical beams between adjacent grid frame structures, and are typically freestanding structures. The mezzanines provide access to accommodate, for example, one or more inventory handling stations. However, a problem with this arrangement is that no two grid frame structures are the same size, and the size and layout of a grid frame structure is largely dependent on the building area or distribution center footprint that the grid frame structure houses. Incorporating mezzanines within a grid frame structure increases the complexity of the grid frame structure and reduces the design flexibility of a storage and retrieval system that includes the grid frame structure and the inventory handling station.

[0038] In order to improve the modularity of the storage system, the multi-temperature storage system further includes a second support frame structure and a support platform for supporting the second support frame structure, rather than integrating the interlayer into the grid frame structure. The support platform is raised above the ground by a plurality of legs to define an area below the support platform for accommodating the inventory processing station. The support platform provides a separate area below the support platform for accommodating the inventory processing station. The support platform can be provided to the support frame structure to define an area below the support platform for accommodating the inventory processing station. Optionally, the second support frame structure is arranged below the track system so that the track system extends continuously to the support frame structure and the second support frame structure. The support platform can be used to simulate the interlayer in the grid frame structure so that stacks of a plurality of storage containers can be stored in the storage column above the support platform; the storage column above the support platform is set by the second support frame structure. Therefore, when in use, a robotic loading and handling device operable on the track system can be moved from an area in the enclosure to an area above the inventory processing station, where the storage container retrieved by the robotic loading and handling device can be lowered to the inventory processing station via a delivery port in the track system.

[0039] Although the supporting frame structure may include a plurality of upright columns or posts to form a plurality of storage columns for storing a plurality of storage containers in a stack as described in the introductory portion of the present patent specification, in order to increase the modularity of the storage system, the supporting frame structure may optionally include a plurality of prefabricated modular panels arranged in a three-dimensional grid pattern and including a first group of parallel prefabricated modular panels extending along a first direction and a second group of parallel prefabricated modular panels extending along a second direction to define a plurality of grid units.

[0040] In order to realize the supporting frame structure of the three-dimensional grid pattern, each of the prefabricated modular components is planar, and therefore, the prefabricated modular components can also be referred to as prefabricated modular panels. The construction of the supporting frame structure by prefabricated modular panels is different from the "stick-built" method. When the supporting frame structure is constructed by the "stick-built" method, individual vertical columns are first built one by one to form a plurality of storage columns for storing a plurality of storage containers in the stack. The track system is installed to the plurality of vertical columns by interconnecting the upper ends of the vertical columns with a plurality of intersecting track support members, wherein the plurality of intersecting track support members intersect in a grid pattern to form a track support structure including a plurality of grid cells or grid spaces. Alternatively, the supporting frame structure can be formed by a plurality of prefabricated modular panels arranged in a three-dimensional grid pattern including a plurality of grid cells. Each of the plurality of grid cells provided by the three-dimensional grid pattern defines a storage space for storing a stack of one or more storage containers.

[0041] The prefabricated modular panels are load bearing, meaning that when they are assembled together to form a supporting frame structure, they provide a load bearing structure to support one or more load handling equipment moving on a track system mounted to the supporting frame structure.

[0042] The use of prefabricated modular panels to construct the grid frame structure allows the grid frame structure to be assembled much faster than the traditional "build-to-build" method, in which individual vertical columns are first built one by one on the floor and the track support members are installed on the upper ends of the vertical columns. The modular construction of the supporting frame structure and each prefabricated modular panel extending in a single plane also facilitates the supporting frame structure to be flat packed for transportation. The prefabricated nature of the modular panels allows the supporting frame structure to be quickly assembled on site or within a building. This has the advantage that the supporting frame structure can be constructed in an existing vacant building or warehouse.

[0043] Since each of the grid cells of the supporting frame structure defines a storage space for storing a stack of one or more storage containers, preferably, the grid pattern arrangement of the prefabricated modular panels is such that each of the grid cells of the supporting frame structure is sized to be a subset of a plurality of grid cells of the supporting rail system, the subset comprising two or more grid cells of the rail system. Thus, each of the grid cells of the supporting frame structure acts as a storage column for storing a stack of two or more storage containers. This allows a robotic load handling device operating on the rail system to position itself above a grid cell of the rail system and retrieve or lower a storage container from a stack stored within a storage column of the supporting frame structure.

[0044] Optionally, one or more of the plurality of prefabricated modular panels comprises a prefabricated reinforcement frame, the prefabricated reinforcement frame comprising a plurality of parallel columns extending in a common vertical plane and connected together by one or more reinforcement members located in the common vertical plane of the plurality of parallel columns. Each of the prefabricated reinforcement frames can be conceived as a panel frame, so that the supporting frame structure is composed of components of the panel frames. When assembled together in a three-dimensional grid arrangement, the reinforced panel frames form a stable three-dimensional grid frame structure. The structural integrity of the three-dimensional supporting frame structure enables one or more crash barriers to be mounted directly on the supporting frame structure rather than on a separate supporting structure. Since the thermally insulating solid wall panels can be load-bearing, for example including structurally insulated panels, optionally, at least one of the plurality of prefabricated modular panels may include at least one of the thermally insulating solid wall panels.

[0045] Optionally, the grid frame structure further comprises a track support structure located in a horizontal plane and supported by the support frame structure, the track support structure comprising a first set of parallel track support members extending in a first direction and a second set of parallel track support members extending in a second direction, the second direction being substantially perpendicular to the first direction, so that the first set of parallel track support members and the second set of parallel grid members are arranged in a grid pattern comprising a plurality of grid cells or grid spaces. The track system is mounted to the track support structure such that the grid cells of the track system correspond to the grid cells of the track support structure.

[0046] In addition to prefabricating the support frame structure from a plurality of modular panels to facilitate transportation and assembly of the support frame structure, the track support structure may also be modularized so that the track support structure can be flat-packed for ease of transportation and assembly. Optionally, the track support structure includes a plurality of prefabricated modular sub-track support structures assembled together to form the track support structure, each of the plurality of prefabricated modular sub-track support structures including two or more grid units. Preferably, each of the prefabricated modular sub-track support structures includes a portion of a first set of track support members extending in a first direction and a portion of a second set of track support members extending in a second direction.

[0047] Traditionally, multiple track sections or track sections are required to build a track or track. The greater the number of track sections or track sections required to build a track, the more complex the components of the track system. In most cases, there is a two-to-one relationship between the number of track sections or track segments or track sections or track sections at each node or intersection of the track support member in the track support structure, that is, more than one track section or track section is connected together at each node of the track support structure. For example, in WO2018 / 146304 (Autostore Technology AS), when an intersection is formed between a first group of tracks or tracks and a second group of tracks or tracks, the second group of tracks or tracks all include grooves, and the first group of tracks or tracks can be arranged in the grooves.

[0048] Additionally, in order to provide a plurality of rectangular or square grid cells, a plurality of tracks or track sections of different sizes are connected together in a track system. For example, for each grid cell, there is a track or track section extending in one direction along one length and another track or track section extending in a second direction along a different length. In the track system, the tracks or track sections of different lengths meet at nodes where they intersect. The need to use tracks or track sections of different lengths complicates the assembly of the tracks or track sections in a grid pattern. Therefore, there is a need for a track or track having a reduced number of tracks or track sections used in assembling a track system.

[0049] Optionally, the track system comprises a plurality of interconnected modular track sections, each of the plurality of interconnected modular track sections comprising substantially perpendicular elements so as to provide a track surface extending in a first direction and a track surface extending in a second direction. In other words, each of the plurality of track sections may be cross-shaped, having a first track section element extending in a first direction and a second track section element intersecting the first track section element and extending in a second direction. By adopting a track system in which each of the plurality of track sections is formed as a single body or a single body to provide a track surface or path extending in a transverse direction, the number of track sections required to construct the track is reduced compared to prior art track systems - thereby simplifying the layout of the track sections on the track support structure. For example, in the track support structure, there may be a one-to-one relationship between each of the plurality of track sections and each single node, i.e., only a single track section is required at each node of the track support structure. A "node" in the track support structure is a point where a first set of parallel track support members intersects a second set of parallel track support members in a grid pattern. In prior art track systems, there is a two to one relationship between the number of track sections and individual nodes in the track support structure, ie, the prior art track system has one track section extending in a first direction and another separate track section extending in a second direction.

[0050] Ideally, the surface of a track system mounted to a grid structure is continuous and substantially smooth to prevent unwanted pitching impacts to the wheels of load handling equipment traveling on the track system. It is believed that the areas of a track system most susceptible to pitching impacts to the wheels of load handling equipment are where the track sections meet at the nodes of the track system. This is the area in the track system where the track support members intersect or meet.

[0051] Typically in the art, to ensure that the track system is level and to compensate for uneven floors, the level of a track support structure mounted to a vertical post is adjusted by employing adjustable leveling feet at the base or lower end of the vertical post, wherein the adjustable leveling feet include a threaded shaft that can be extended or retracted relative to the base of the vertical post. The need to adjust the level of the track support structure can be attributed in part to the vertical displacement of the interconnected track support members at the intersection of the top ends of the vertical posts (i.e., at the nodes of the track support structure).

[0052] In prior art track systems, when one or more track sections mounted on track support members meet at a node of the track system, such vertical displacement of the lower track support members at the node may create an unwanted edge or step that is transferred to the track section mounted thereon and can be easily struck by the wheels of load handling equipment traveling on the track.

[0053] When the support frame structure is assembled from a plurality of prefabricated reinforcement frames as defined in the present invention, the misalignment problem of the track support members at the intersections where the track support members meet at the nodes may be more serious. Since the plurality of prefabricated reinforcement frames are assembled together by connecting one of the plurality of columns of the prefabricated reinforcement frames to one of the plurality of columns of the adjacent prefabricated reinforcement frames, misalignment is prone to occur at the intersections where the columns of the adjacent prefabricated reinforcement frames are connected or meet. This may cause the intersections or connection points between adjacent prefabricated modular sub-grid structures on the support frame structure to be misaligned, thereby creating a physical step or ridge that is moved to the upper track system.

[0054] The applicant has realised that the up and down impacts to the wheels of a load handling device when travelling on a track / grid structure can be mitigated by designing a track section element that covers the areas of the track support structure that are most susceptible to changes in the height displacement of the track support members, i.e. the nodes of the track support structure. In other words, the track section of the present invention covers any defects or edges in the underlying track support members, which occur primarily at the nodes where the track support members intersect or meet together, and shifts the joints where adjacent track sections meet to areas of the track support structure that are not susceptible to such height changes. The areas of the track support structure that are not susceptible to such height changes due to adjacent track support members are along the length of the track support members, more specifically, between or in between adjacent or neighboring nodes of the track support structure. Preferably, a plurality of track sections are assembled in a track system such that adjacent modular track sections in the track system meet between areas of the track support structure where a first set of track support members and a second set of track support members intersect or meet in a grid pattern.

[0055] In order to further alleviate the up and down bumps of the wheels of the robot loading and handling equipment, preferably, a plurality of track sections are connected by joints including tapered edges. For the purpose of the present invention, the term "joint" is broadly interpreted as indicating the butt ends of adjacent track sections. The confluent ends of adjacent track sections are cut or molded so that they are mitered together. Preferably, a plurality of track sections are connected by joints including tapered edges. Before the wheels of the loading and handling equipment completely roll over the edge of the track section element, part of the wheel has already contacted the mitered edge of the track section element of the adjacent track section. Compared to the joints cut at right angles to the direction of travel of the loading and handling equipment on the track, this provides a gradually transitioned track joint and prevents a larger part of the wheel from hitting the edge of the joint, thereby further alleviating this up and down bump impact and reducing any noise and vibration of the wheels of the loading and handling equipment. Optionally, each modular track section in a plurality of interconnected modular track sections is formed by a plastic material. Using plastic materials to manufacture track sections can make the manufacturing tolerances of track sections more stringent than the tolerances achieved by extrusion alone. The use of plastic materials to manufacture the track sections of the present invention allows the track sections to be injection molded. Unlike extrusion, injection molding allows parts to be formed to very tight tolerances, thereby eliminating or alleviating the need for over-machining of the finished parts. Among other things, injection molding allows one or more contours to be precisely or intricately incorporated into the track, which is critical for guiding the wheels of load handling equipment on the track and ensuring that it does not derail.

[0056] In order to prevent the gripping equipment of the robotic loading handling equipment and any storage containers attached thereto from shaking when lifted through the grid cells of the track system, the grid frame structure further includes a plurality of guides extending vertically between the grid structure and the floor. The plurality of guides are arranged in a pattern to accommodate the plurality of storage containers in the stack between the plurality of guides and guide the plurality of storage containers through the grid cells. Unlike the primary load-bearing vertical columns of the prefabricated modular panels, the guides are intended to guide the gripping equipment and / or storage containers through the grid cells of the track system. Removing the load-bearing function of the guides enables the guides to provide a certain toughness when guiding the storage containers through the grid cells of the track system. Traditionally, the vertical columns have a load-bearing function to support the track system and guide the storage containers through the grid cells. However, when the storage container is not correctly oriented when being lifted, that is, when one or more corners of the storage container are tilted downward due to the different lengths of the lifting tethers that suspend the gripping device to the body of the robotic load handling device, there is a risk that the storage container may become stuck or trapped between the vertical columns due to the rigidity of the vertical columns supporting the track system. By removing this load-bearing capacity, the guides are able to become more flexible and provide a degree of elasticity to provide some resilience when the storage container hits the guides. This elasticity allows the guides to deflect to accommodate any incorrect orientation of the storage container when it is lifted or lowered through the grid frame structure. The elasticity of the guides makes it rigid enough to correctly guide the storage container through the grid cells, but not too rigid to provide some resilience to prevent the storage container from becoming stuck or stuck between the guides.

[0057] Preferably, each of the plurality of guides comprises two vertical box guides extending between the grid structure and the floor for accommodating the corners of the storage container. The two vertical box guides are configured to accommodate the corner portions of the gripping device and / or the storage container. Thus, four guides are required to accommodate the four corner portions of a standard storage container, which are generally rectilinear in shape.

[0058] In order to provide a lightweight and high strength metal guide, optionally, at least a portion of the two vertical box guides is textured by continuously cold rolling a pattern into the two vertical plates. Incorporating a textured pattern into the guide improves the structural integrity of the guide. An embodiment of a lightweight steel formed by a cold rolling process is ultraSTEEL® from Hadley Group of the United Kingdom. Optionally, the texture includes pits or depressions. In order to reduce friction between a gripping device and / or a storage container of a robotic load handling device and a surface of the guide, optionally, each of the plurality of guides includes a travel surface for engaging with a gripping device of the robotic load handling device, and wherein the travel surface is substantially smooth. Textured cold rolled steel is not limited to use in guides, but may also be used in the manufacture of any portion of a supporting frame structure. For example, prefabricated modular panels may be manufactured by a cold roll forming process, such as using ultraSTEEL®.

[0059] Optionally, the plurality of guides include four guides, and the four guides are symmetrically arranged around a center point defined by the four guides, so that the four guides are arranged to guide the corners of four adjacent storage containers. The center point can be a cover plate for fastening the plurality of guides together, so that the plurality of guides can be arranged around the cover plate.

[0060] Although it is not necessary to engage or accommodate all four corners of the storage container along the guide when the container is lifted toward the grid structure by the lifting mechanism of the loading and handling equipment, in another specific embodiment of the present invention, a plurality of guides are arranged to guide one or more containers in the stack only along the paired diagonally opposite corners of one or more containers. When the storage container is lifted along the diagonally opposite guides, this provides a certain level of lateral stability in the X direction and the Y direction for the gripping device and / or the storage container attached thereto. By guiding the gripping device and / or the storage container attached thereto only by the diagonally opposite guides, the number of guides required to guide the gripping device and / or the storage container attached thereto is reduced. In fact, a plurality of guides can be arranged at alternating nodes in a first direction (e.g., the x direction) and a second direction (e.g., the y direction) so that one or more containers are stacked between two guides only at the diagonally opposite corners of the storage container.

[0061] In another aspect of the invention, the enclosure comprises a plurality of enclosures for enclosing respective portions of the storage system, such that each enclosure of the plurality of enclosures comprises: i) respective openings to allow the robotic load handling equipment to move into and out of the respective enclosures, ii) a respective temperature control system, the respective temperature control system comprising a respective inlet for drawing fluid from the respective enclosure, a respective temperature control unit for cooling the fluid into a temperature-controlled fluid, and a respective outlet for providing the temperature-controlled fluid to the respective enclosure such that the respective enclosure has a temperature that is lower than a temperature outside the respective enclosure; iii) at least one respective air curtain unit, at least one respective air curtain unit disposed above the track system, said at least one respective air curtain unit being arranged to recirculate temperature control fluid from the respective enclosure to provide a respective air curtain across an opening of the respective enclosure so as to substantially confine the temperature control fluid within the respective enclosure and to enable the robotic load handling equipment to move into and out of the respective enclosure on the track system.

[0062] By enclosing different portions of a storage system with a plurality of enclosures, wherein each of the plurality of enclosures is provided with its own dedicated temperature control system, such as a refrigeration system or a heating system, such that the plurality of enclosures share a common track system, a storage system according to the present invention is capable of storing different temperature-sensitive items, such as refrigerated items and / or frozen items and / or heated items. For example, a first enclosure may be configured to store items at refrigerated temperatures, while a second enclosure may be configured to store items at frozen temperatures. Respective air curtains of the plurality of enclosures provide invisible insulation to enable one or more robotic load handling devices to enter and exit the respective enclosures. Depending on the items required to fulfill one or more customer orders, one or more robotic load handling devices operable on the track system are capable of visiting one or more of the plurality of enclosures to retrieve one or more storage containers from the respective enclosures and deliver the one or more storage containers to an inventory handling station. Because a plurality of enclosures share a common inventory handling station, a greater proportion of customer orders including various temperature-sensitive items can be fulfilled by a single storage system.A storage system may include a plurality of inventory handling stations to fulfill customer orders.

[0063] Optionally, the enclosure may be provided with two or more openings to allow the robotic load handling equipment to enter at one end of the enclosure and exit through the other end of the enclosure, e.g., the enclosure is configured as a tunnel. Each of the two or more openings of the enclosure may be provided with its own dedicated air curtain to provide an invisible insulating barrier to confine the temperature control fluid within the enclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Further 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: FIG1 is a schematic diagram of a grid framework structure according to a known system; FIG2 is a schematic diagram showing a top view of a stack of boxes arranged within the supporting frame structure of FIG1; FIG3 is a schematic diagram of a known storage system for load handling equipment operating on a grid frame structure; FIG4 is a schematic perspective view of the loading and handling equipment, showing the lifting device clamping the container from above; 5( a ) and 5 ( b ) are schematic perspective cross-sectional views of the load handling apparatus of FIG. 4 , showing (a) a container accommodated in a container receiving space of the load handling apparatus and (b) the container receiving space of the load handling apparatus; Figure 6 is a schematic perspective view of a multi-temperature storage system according to the present invention; Figure 7 is a flow chart showing the flow of fluids in a storage system; Figure 8 is a cross-sectional perspective view of an enclosure of a multi-temperature storage system; Fig. 9 is a schematic diagram of a load handling device passing through an air curtain; Fig.10 is a schematic diagram of an air curtain; Fig.11 is a perspective view of a supporting frame structure according to the present invention; Fig.12 is a perspective view of at least one outer wall covering a supporting frame structure according to the present invention; Fig.13 is a perspective view showing a top plan view of a grid cell of a track system nested with each of the grid cells of a supporting frame structure; Fig.14 is a perspective view showing the mounting of a track section to a track support or a grid member of a grid structure according to the present invention; Fig.15 is a side view of an enclosure for a multi-temperature storage system with a platform and a picking station; Fig.16 is a perspective view of an enclosure for a multi-temperature storage system with platforms and picking stations; Fig.17 is a plan view of a guide having a box guide incorporating a textured graphic. DETAILED DESCRIPTION

[0065] The present invention is designed with respect to the known features of storage systems, such as the grid frame structure and load handling equipment described above with reference to Figures 1 to 5. Figure 6A multi-temperature storage system 1 according to a specific embodiment of the present invention is shown. The multi-temperature storage system 1 includes a grid frame structure 14, the grid frame structure 14 includes a track system 4, the track system 4 includes a first set of tracks 22a extending in a first direction and a second set of tracks 22b extending in a second direction. The tracks 22a, 22b of the track system are arranged in a grid pattern including a plurality of grid cells 17. The track system 4 is supported on top of a supporting frame structure 3. The supporting frame structure 3 forms a storage space below the track system 4 including a plurality of storage columns 5. Each storage column 5 is arranged to store a stack (not shown) of storage containers.

[0066] exist Figure 6 In the specific embodiment of the invention shown, the supporting frame structure includes a plurality of prefabricated modular panels arranged in a grid pattern, the details of which are briefly described below and fully described in PCT application WO2022034195A1 filed in the name of Ocado Innovation Ltd, which is incorporated by reference into the present application. By providing a supporting frame structure including a plurality of prefabricated modular panels arranged in a three-dimensional grid pattern to define a plurality of grid cells, the grid frame structure described in WO2022034195A1 solves the problem of time and cost required for assembly. Each of the grid cells of the supporting frame structure is sized to support two or more grid cells of the grid structure. The grid frame structure is formed by fewer structural components, but still maintains the same structural integrity as the typical "component-based" grid frame structure described above, and is built faster and at a lower cost.

[0067] Fig.11 is an embodiment of a support frame structure 3 for supporting a track support structure 2 and a track system 4. The support frame structure 3 is manufactured from an assembly of prefabricated modular panels 60 to form one or more storage spaces 61. Each of the one or more storage spaces 61 is sized to store a stack 12 (not shown) of a plurality of storage containers 10 (commonly referred to as storage boxes).

[0068] The prefabrication of modular panels involves assembling and securing together individual components of the supporting frame structure 3 prior to erecting the supporting frame structure 3. This can be accomplished in a number of ways. In one embodiment, the prefabrication of modular panels can be accomplished by additive manufacturing (e.g., 3D printing). Subsequently, the 3D printed modular panels can be assembled into the supporting frame structure. In some embodiments, the prefabrication of modular panels involves prefabricating together subgroups of a plurality of columns to form a prefabricated reinforcement framework that facilitates assembly of the supporting frame structure. Further details of the components of the prefabricated reinforcement framework will be discussed below.

[0069] The same prefabrication principles can be applied to the grid frame structure 14 and the track system for guiding the robotic loading and handling equipment on the grid frame structure 14. Various lightweight materials can be used for the prefabrication of modular panels. These include but are not limited to metals, plastics or fiber reinforced composites. One of the main features of prefabricated modular panels is that fewer parts are required to assemble the supporting frame structure, and the prefabricated modular panels can be flat-packed for easy transportation. Another key feature of the prefabricated modular panels that make up the supporting frame structure is that they are planar because each prefabricated modular panel is located in its own plane. The planar configuration of the prefabricated modular panels enables a plurality of prefabricated modular panels to be arranged in a grid pattern including a plurality of grid cells or grid spaces. For example, a plurality of prefabricated modular panels include a first group of parallel prefabricated modular panels extending in a first direction and a second group of parallel prefabricated modular panels extending in a second direction, the second direction being substantially perpendicular to the first direction.

[0070] exist Fig.11 In the illustrated embodiment, the prefabricated modular panels 60 forming the supporting frame structure 3 are each configured as a prefabricated reinforced frame or panel, which includes a plurality of columns reinforced together by one or more reinforcing members extending between the plurality of columns. Not all prefabricated modular panels in the supporting frame structure may be such. Fig.11 The prefabricated reinforced frames shown, the prefabricated modular panels may be a combination of one or more prefabricated reinforced frames and one or more prefabricated modular panels of another type (e.g., 3D printed panels). Fig.11 In the particular embodiment of the invention shown, each of the prefabricated modular panels 60 is a prefabricated reinforced frame comprising a plurality of upright members reinforced together by one or more reinforcing members. The reinforcement members allow subgroups of uprights to be assembled together prior to assembly into the supporting frame structure.

[0071] In order to enable the prefabricated reinforced frames to be flat packed for transportation, the plurality of columns of each prefabricated reinforced frame in the prefabricated reinforced frames extend in a common plane and are fastened together by one or more reinforcing members. The one or more reinforcing members connecting the plurality of columns are located in the same plane as the plurality of columns, so that each prefabricated reinforced frame in the prefabricated reinforced frames is planar. Each of the plurality of columns can be an I-shaped or H-shaped solid support beam, and the solid support beam includes opposing beam flanges so that the columns can be reinforced together by one or more reinforcing members.

[0072] Since the plurality of prefabricated reinforcement frames in the supporting frame structure 3 are Fig.12The grid cells 63 of the supporting frame structure are arranged in a grid pattern including a plurality of grid cells 63, so that the grid cells 63 of the supporting frame structure act as storage columns for storing one or more storage containers or stacks of boxes. In order to reduce the number of components of the supporting frame structure and thereby increase the speed of erection of the supporting frame structure, the grid cells 63 of the supporting frame structure are sized to support a plurality of grid cells 17 of the grid 15. In other words, the ratio of the number of grid cells 17 of the grid 15 to the number of grid cells 63 of the supporting frame structure 3 is X:1, where X is any integer greater than one, i.e., each of the grid cells 63 of the supporting frame structure 3 is sized to support a subset of the plurality of grid cells 17 of the grid 15, the subset comprising two or more grid cells 17 of the grid 15.

[0073] Fig.12 Yes Fig.11 A perspective view of the grid frame structure 14 of the support structure 3, wherein Fig.11 The support structure 3 supports a grid 15 on top of the support structure 3 .

[0074] exist Fig.12 The embodiment shown and Fig.13 In a top plan view of the grid frame structure, the plurality of grid cells 63 of the supporting frame structure 3 are divided such that each grid cell 63 of the supporting frame structure 3 has twelve grid cells 17 of the grid 15. Thus, each of the grid cells 63 of the supporting frame structure 3 provides storage space for storing a stack of twelve storage containers. Fig.12 and Fig.13 The plurality of grid cells 63 of the illustrated supporting frame structure 3 create a plurality of storage spaces for storing a stack of a plurality of storage containers within each storage space of the supporting frame structure.

[0075] Fig.11 , Fig.12 and Fig.13 The supporting frame structure 3 shown is not limited to prefabricated reinforcement frames, but can also be applied to any prefabricated modular panels, including but not limited to 3D printed prefabricated modular panels, that is, the first subset and the second subset of the prefabricated modular panels are arranged so that the first subset and the second subset of the prefabricated modular panels along the first direction and the second direction are staggered by at least one grid unit.

[0076] The supporting frame structure is not limited to the supporting frame structure described in WO2022034195A1, and may also include other types of supporting grid frame structures. For example, the supporting frame structure may be a "component-type" design including the upright components 16 supporting the horizontal grid components 18, 20 as described above.

[0077] The movement of the robotic load handling device 30 on the supporting frame structure is guided by a track system 4 .

[0078] In order to provide an uninterrupted track surface on the grid structure, the track system 4 comprises a plurality of interconnected modular track sections 65, each of the plurality of track sections 65 being formed as a single unitary body. Adjacent track sections are arranged to meet between nodes 42 of the grid 15, i.e. at points 43 between intersections of the track (see Fig.14 ). Single piece moulding allows a one-to-one relationship between each track portion 65 and each node 42 of the grid structure, that is, only a single track portion occupies a single node of the grid structure, rather than at least two track portions as in the prior art grid structures described above. Fig.14 In the particular embodiment shown, each track portion 65 has a connecting portion or connecting element 66 extending in the direction of the underlying (grid member) track supports 18, 20 to provide a track surface extending in a first direction and a second direction, i.e., each track portion 65 is cross-shaped and has a connecting portion or connecting element 154 extending in a transverse direction. For the purpose of explaining the present invention, the connecting portion or track portion element 66 may be referred to as a "branch" extending from the node 42 in the transverse direction.

[0079] A plurality of track sections 65 are mounted to the underlying grid structure or track supports 18, 20 to provide a continuous uninterrupted track surface between adjacent track sections for movement of one or more load handling devices on the grid structure 15. The distal ends 45 of the connecting portions or connecting elements (branches) 66 of adjacent track sections meet substantially midway or at the midpoint between adjacent nodes 42 of the grid structure 15, i.e., meet or connect at the midpoint between adjacent track intersections. This has the advantage of reducing the number of differently shaped track sections required to assemble the track for a significant portion of the grid structure, i.e., eliminating the "jigsaw" effect where the track sections have specific positions in the track, thereby reducing the time to assemble the track on the grid structure. In addition, since fewer tooling designs are required to mold the track sections of the present invention compared to prior art tracks, the tooling costs for manufacturing the track sections will be significantly reduced.

[0080] As described above, the storage container 10 lifted by the gripping device 39 is guided by the vertical columns 16 of the grid frame structure. The vertical columns 16 are arranged in a grid pattern to provide a plurality of storage columns 5 for storing the storage container 10 in the stack 12. Traditionally, the vertical columns 16 have structural load-bearing components and are capable of guiding the storage container 10 through the grid cells 17. Since the load-bearing capacity of the supporting frame structure 3 is mainly transferred to the prefabricated modular panels 60, which are mostly prefabricated reinforced frames, the storage system 1 can include a guide member 8 extending substantially vertically between the rail system 4 and the floor. As a result, the guide member 8 does not need to be load-bearing as in the structural support frame structure 3. In this way, since no load-bearing is required, thinner flexible upright members can be used as guides.

[0081] The flexible guides 8 allow the storage container 10 to be misaligned when being lifted or lowered in the storage column 5. With rigid guides 8, if the storage container 10 is misaligned when being lifted or lowered (for example, if the cables 38 of the lowering gripping device 39 are of different lengths, or if one of the cables extends longer than the other cables, causing the storage container 10 to be uneven), the storage container may easily get stuck between the guides 8. With flexible guides 8, the guides have a certain elasticity and can deflect, thereby allowing the storage container 10 to be misaligned and not get stuck. As a result, the possibility of the storage container 10 getting stuck due to being misaligned in its storage column 5 is reduced. The guides 8 are arranged in a grid pattern at some or all corners of the storage column 5. The stack 12 of storage containers 10 in the storage column 5 is thus arranged between the guides 8. The guides 8 are used to guide the storage container 10 upwards through the grid cells 17 into the container receiving space 41 of the loading and handling device 30 when the storage container 10 is lifted from its position in the stack. Similarly, the guide guides the storage container 10 downward through the grid cells 17 back to its position in the stack 12 when the storage container 10 is lowered from the container receiving space 41 of the loading handling device 30 .

[0082] In some embodiments, the guide 8 includes two vertical box guides 90 extending between the rail system 4 and the floor to accommodate the corners of the storage container 10. When the storage container 10 is lifted or lowered by the load handling equipment 30, the box guides 90 engage the corners of the storage container 10 and help guide the storage container 10 in the vertical direction.

[0083] Fig.17A guide 8 is shown in which a portion of the box guide 90 is formed of steel, which includes a pattern or texture formed by continuously cold rolling the steel. The addition of the pattern treatment will harden the material, thereby improving the material properties. An example of such a material is ultraSTEEL®. The use of this material helps to improve the material properties of the guide 8, for example, enhancing the modulus or stiffness of the guide 8 so that less material can be used, reducing weight and saving costs. The pattern or texture can be any suitable pattern or texture, such as a regular pattern of pits or depressions. The effect of the pattern or texture is to reduce the thickness of the material required to achieve the required structural strength, thereby reducing the use of material. This improves the stiffness and bending resistance of the guide without increasing the mass of the material used.

[0084] If the entire surface of the guide 8 is formed of ultraSTEEL® or another textured material, any portion of the pattern protruding from the surface may interfere with the smooth travel of the storage container 10 along the guide 8. To address this issue, in some cases, the vertical box guide includes a substantially smooth travel surface 91 for engaging the storage container 10 and / or the gripping device 8, and an outer surface 92 formed of a textured or patterned material. Thus, the portion 91 of the box guide that directly contacts the storage container 10 and / or the gripping device 39 is substantially smooth and does not interfere with the movement of the storage container 10 and / or the gripping device 39 up and down the guide 8, while the portion 92 of the box guide that does not directly contact the storage container 10 and / or the gripping device 39 is textured or patterned so that the guide 8 enjoys the benefits of increased strength.

[0085] exist Fig.17 In the illustrated embodiment, the guide 8 includes four pairs of box guides 90. The box guides 90 are attached to one or more frames 93, which hold the four pairs of box guides 90 together to form the guide 8. Therefore, the guide 8 is capable of guiding four storage containers 10 at each of the four corners of the guide 8, each storage container 10 being guided by a pair of box guides of the four pairs of box guides 90.

[0086] The gripping device 39 may be provided with corner members 94 that reinforce the corners (vertical edges) of the gripping device and protrude from the gripping device in order to ensure smooth travel of the gripping device up and down along the guide 8. Fig.17In the particular embodiment shown, the corner members 94 contact the smooth running surface 91 of the guide 8 and ensure that the guide 8 does not contact the body of the gripping device 39 itself, but only the corner members 94. The robotic load handling device 30 operable on the track system 4 is capable of lifting one or more containers 10 from the stack 12 of the storage column 5 through the grid unit 17. In order to store items and goods at different temperatures, parts of the storage system 1 are housed within the enclosure 6. The enclosure 6 provides a volume within the enclosure 6 that can be temperature controlled.

[0087] The temperature inside the enclosure 6 is controlled by a temperature control system 50 including a temperature control unit 52. The temperature inside the enclosure 6 can be controlled to be higher or lower than the temperature outside the enclosure 6. In some embodiments, the temperature control system 50 is a heating system and the temperature control unit 52 is a heating unit, and the temperature inside the enclosure 6 can be controlled to be higher than the temperature outside the enclosure 6. In other embodiments, the temperature control system 50 is a refrigeration system and the temperature control unit 52 is a refrigeration unit, and the temperature inside the enclosure 6 can be controlled to be lower than the temperature outside the enclosure 6.

[0088] For example, the enclosure 6 may be warmed by a heating system 50. The heating system 50 comprises an inlet 51 for drawing air from the enclosure 6, a heating unit 52 for the heated air, and an outlet 53 for releasing the heated air back into the enclosure 6. The heated air circulates within the enclosure 6 and is heated by the heating unit 52 during each cycle, thereby keeping the temperature within the enclosure 6 constant (warmer).

[0089] It may be desirable to heat the portion of the storage system 1 that is located inside the enclosure 6, for example, if the storage system is used to grow plants or other organisms. Different plants or organisms in the same storage system 1 may have different requirements for different growing conditions. Using a multi-temperature storage system enables different portions of the storage system to provide different environmental conditions. For example, plants or other organisms that require higher temperatures for growth can be stored inside the enclosure 6 that is heated to a higher temperature, while plants or other organisms that require lower temperatures for growth can be stored outside the enclosure 6 at ambient temperature.

[0090] In another embodiment, the enclosure 6 may be cooled by a refrigeration system 50. The refrigeration system 50 includes an inlet 51 for drawing air from the enclosure 6, a refrigeration unit 52 for cooling the air, and an outlet 53 for releasing the cooled air back into the enclosure 6. The cooled air circulates within the enclosure 6 and is cooled by the refrigeration unit 52 during each cycle, thereby maintaining a constant (cooler) temperature within the enclosure 6.

[0091] Figure 7is a flow chart schematically showing the flow of air in the enclosure 6. The air in the enclosure 6 circulates: air is drawn into the inlet 51 from the body of the enclosure 6 and then directed to the temperature control unit 52. The air is then heated or cooled by the temperature control unit 52 and then released back into the enclosure 6 via the outlet 53. A duct or pipe 58 delivers the heated or cooled air from the temperature control unit to the outlet. One or more fans 59 (not shown) are used to draw air into the temperature control unit 52 via the inlet 51 and force the heated or cooled air to flow along the duct 58 to the outlet 53.

[0092] The following description relates to a specific embodiment in which the temperature control system 50 is a refrigeration system, the temperature control unit 52 is a refrigeration unit, and the temperature inside the enclosure 6 is controlled to be a refrigeration temperature lower than the temperature outside the enclosure 6. This embodiment is not intended to be limiting, and in other embodiments, the temperature inside the enclosure 6 can be higher than the temperature outside the enclosure 6.

[0093] exist Figure 8 In the particular embodiment shown, one or more ducts 58 extend through the interior space of enclosure 6 through an aperture in enclosure 6. To circulate refrigerated air in enclosure 6, outlet 53 may include one or more diffusers 67 to help diffuse refrigerated air into enclosure 6. Figure 8 The outlet 53 is shown positioned above the portion of the grid frame structure 14 contained within the enclosure 6 so that refrigerated air enters the grid frame structure 14 from above and penetrates the plurality of storage containers 10 stored in the stack 12 of the grid frame structure 14, thereby cooling the contents of the storage containers 10. The air is then drawn through the inlet 51 to the bottom or base of the enclosure 6 below the track system 4 and back to the refrigeration unit 52 so that the air flows in a continuous cycle from the inlet 51 to the outlet 53 as the refrigerated air maintains the temperature within the enclosure 6 at a controlled temperature, i.e., a refrigerated temperature (4°C to 8°C). Although this particular embodiment is described with reference to refrigerated air, other temperature-controlled fluids (heating or cooling) are also suitable for use with the present invention.

[0094] Although the inlet 51 and outlet 53 of the refrigeration system 50 are arranged so that air flows in a downward direction within the enclosure 6, the reverse is also possible, with the outlet 53 toward the bottom of the enclosure 6 below the track system 4 and the inlet 51 toward the top of the enclosure 6 above the track system 4, so that the refrigerated air flows from the bottom of the enclosure 6 and moves in an upward direction toward the inlet 51 above the track system 4.

[0095] Although the specific embodiment describes that the temperature within the enclosure is controlled to store refrigerated goods, i.e., 4°C to 8°C, the present invention is not limited to storing refrigerated goods within the enclosure, and other temperature control ranges are also possible, such as a frozen temperature range (-18°C to -22°C) or even an elevated temperature above ambient temperature. The key here is that the enclosure 6 provides a temperature controlled environment for storing temperature sensitive items or goods.

[0096] The enclosure 6 is cooled so that the temperature inside the enclosure 6 is lower than the temperature outside the enclosure 6. The temperature outside the enclosure 6 can be ambient temperature, or even a temperature lower than the temperature inside the enclosure. The enclosure 6 is thermally insulated to reduce the transfer of heat through the walls of the enclosure 6 so that the temperature inside the enclosure 6 is different from the temperature outside the enclosure 6. The thermal insulation may include various physical insulation panels, including but not limited to thermal insulation panels, thermal insulation blankets, etc. The thermal insulation extends from below the track system 4 to an area above the track system 4 to enable one or more robotic loading handling devices 30 that can operate on the track system 4 to move on the track 22 within the enclosure 6. More details on the types of insulation used to thermally insulate the enclosure 6 according to specific embodiments of the present invention are discussed below.

[0097] In order to enable one or more robotic load handling devices 30 to enter and exit the enclosure 6 on the track system 4, the enclosure 6 includes an opening 7 above the track system 4 so that the track system 4 extends continuously through the opening 7. In order to limit or prevent the refrigerated air in the enclosure 6 from escaping through the opening 7 and / or heat from entering the enclosure 6 via the opening 7, the opening 7 includes an air curtain 55 across the opening 7 to confine the cooled air inside the enclosure 6 while allowing the load handling devices 30 to enter and exit the enclosure 6 through the air curtain 55. The air curtain 55 is generated by one or more air curtain units 54, which draw air from within the enclosure 6 and discharge a continuous stream of air that travels downward from the air curtain unit 54 to the track system 4.

[0098] An air curtain (also called an air door or invisible door) is a controlled flow of air across an opening. The air flow creates an air seal that separates different environments while also allowing uninterrupted traffic flow and unimpeded sight lines through the opening.

[0099] The operation of the air curtain unit 54 is described below. Once activated, air enters the air curtain unit 54 through the air inlet 56. The air is then accelerated by the fan. This fast-moving air is directed into a plenum that distributes the air evenly along the length of the extended discharge nozzle 57. The wing-shaped blades or baffles 68 in the nozzle 57 form an even and minimally turbulent air flow. The air discharged through the nozzle 57 forms a jet stream toward the floor.

[0100] The air curtain 55 spanning the opening 7 can be thought of as an invisible thermal insulation barrier between the interior and exterior of the enclosure 6. As the temperature of the air curtain 55 is determined by the temperature of the air within the enclosure 6, it is important that the air flow from the air curtain unit 54 does not affect any portion of the grid frame structure 14 outside the enclosure 6 to avoid damaging cargo or items stored in storage containers 10 outside the enclosure 6. In order to redirect the air flow from the air curtain 55 back into the enclosure 6, the wing-shaped blades or baffles 68 can be oriented so that the air jet from the air curtain unit 54 flows toward the interior of the enclosure 6. In this way, the air curtain 55 adopts a downwardly sloping orientation from the air curtain unit 54 toward the interior of the enclosure 6. The air curtain unit 54 has an air inlet 56 extending into the enclosure 6 and an outlet adjacent to the opening 7 of the enclosure 6 so that refrigerated air from the interior of the enclosure 6 is recirculated through the air curtain unit 54 and back into the enclosure 6.

[0101] Fig. 9 A load handling device 30 is shown passing through an air curtain 55 generated by an air curtain unit 54. The load handling device is able to pass directly through the air curtain 55 without any obstructions or the need to change the route or slow down the load handling device 30, so that the load handling device 30 can be quickly and efficiently moved along the track system 4 and through the air curtain 55 in and out of the enclosure 6. During the passage through the air curtain 55, the air flow is interrupted by the load handling device 30. The air curtain effectively forms a seal around the load handling device 30 as the load handling device 30 passes through the curtain 55. Fig.10 An air curtain unit 54 is shown which generates an air curtain 55 and is provided with an air inlet 56 and an elongated nozzle 57 .

[0102] The number of robotic load handling devices 30 that can simultaneously travel through the enclosure 6, and the efficiency with which multiple storage containers 10 can be retrieved from an area within the enclosure 6, depends largely on the size and width of the opening 7 of the enclosure 6. For example, the opening 7 may extend across multiple grid cells 17 to allow multiple robotic load handling devices 30 operable on the track system 4 to retrieve multiple storage containers 10 stored in the enclosure 6.

[0103] exist Figure 8 In the particular embodiment shown, the opening 7 extends across the width of the track system 4 to allow multiple robotic load handling devices 30 to travel between the interior and exterior of the enclosure 6. To provide an air curtain 5 that extends across multiple grid cells 17, an air curtain 55 is provided by a plurality of air curtain units 54 arranged side by side, wherein each of the plurality of air curtain units 54 provides at least a portion of an air curtain 55 that extends across the opening 7 of the enclosure 6. To provide a continuous air curtain 55 that extends across the opening 7 of the enclosure 6, preferably, the edges of adjacent curtains overlap. Enclosures and Insulators

[0104] Figure 8 The interior of the enclosure 6 is shown. The part of the multi-temperature storage system 1 located inside the enclosure 6 is divided into a lower part 70 below the rail system 4 and an upper part 71 above the rail system 4. The load handling device 30 operates in the upper part 71 on the rail system 4. The lower part 70 is occupied by the stack 12 of storage containers 10.

[0105] The rail system 4 is supported by a support frame structure 3. The support frame structure 3 may be integrally formed with the support frame structure 3 supporting the rail system 4 outside the enclosure 6, or alternatively, separate support frame structures 3 may be provided inside and outside the enclosure 6. The rail system 4 extends above the support frame structure(s) 3 both inside and outside the enclosure 6 through an opening 7 in the enclosure 6 so that the loading and handling equipment 30 can be freely moved into and out of the enclosure 6 on the rail system 4, i.e. the rail system 4 extends from inside the enclosure 6 to outside the enclosure 6.

[0106] The wall extends to the top above the rail system 4 to form an enclosure 6 having an opening 7, the opening 7 being above the rail system 4. The lower portion 70 of the enclosure 6 encloses part of the storage system, i.e., the wall encloses a plurality of storage columns 5 along all four sides of the lower portion 70 of the enclosure 6. The plurality of storage columns 5 enclosed by the enclosure 6 is a subset of the total number of storage columns in the grid frame structure. The wall enclosing the lower portion 70 extends upwardly above the rail system 4 so as to enclose an upper portion 71 of the enclosure 6. The upper portion 71 of the enclosure 6 has an opening 7 at one side of the enclosure 6 to allow the loading and handling equipment 30 to move in and out of the enclosure 6.

[0107] The upper portion 71 of the enclosure 6 is formed by walls of the enclosure 6 extending above the rail system 4. The walls of the enclosure 6 extend from the floor of the building housing the storage system to the top of the enclosure 6. One of the several walls in the upper portion 71 is missing to form an opening 7. In the embodiment shown, one wall above the rail system 4 is missing entirely, but in other embodiments, one wall may be partially missing, or more than one wall above the rail system 4 may be partially or completely missing. Except for the opening 7, the walls forming the enclosure 6 completely enclose the portion of the storage system 1 through which the loading handling equipment 30 can freely move into and out of the enclosure 6 on the rail system 4.

[0108] Figure 8 The enclosure 6 shown is thermally insulated. An air curtain 55 extends across the opening 7 of the enclosure 6 in order to maintain a temperature difference between the inside and the outside of the enclosure 6.

[0109] One or more outer walls of the supporting frame structure 3 in the lower portion 70 may be coated with a thermally insulating solid wall panel 72 so as to enclose the interior space of the supporting frame structure 3. In some embodiments, the thermally insulating solid wall panel 72 forms part of the enclosure 6. The thermally insulating solid wall panel 72 provides a thermal barrier to prevent heat from escaping from the interior space of the supporting frame structure 3 in the lower portion 70 of the enclosure. In the case where the contents of the storage container 10 are temperature sensitive (e.g., grocery items), the thermally insulating solid wall panel 72 enclosing the outer wall of the supporting frame structure 3 has the advantage of reducing heat transfer between the interior and exterior of the lower portion 70 of the enclosure 6. For example, the interior space of the enclosure 6 may be a refrigerated zone operating within a temperature range between substantially 0°C and substantially 5°C, or a freezer zone operating within a temperature range between substantially -25°C and substantially 0°C (preferably between substantially -21°C and substantially -18°C).

[0110] In order to maintain a temperature difference between the inside and the outside of the enclosure 6 , all four sides of the support structure 3 in the lower part 70 of the enclosure may be clad with thermally insulating solid wall panels 72 .

[0111] Additionally, the floor of the enclosure 6 may be insulated to reduce heat transfer between the enclosure 6 and the ground. Any suitable kind of thermal barrier may be used, such as thermally insulating floor tiles or thermally insulating carpets or thermally insulating panels.

[0112] Where the supporting frame structure 3 in the lower portion 70 of the enclosure 6 is formed from prefabricated modular panels 60, one or more of the thermally insulating solid wall panels 72 may comprise a structural insulating panel. A structural insulating panel is load bearing and has insulating properties. A structural insulating panel may comprise a thermally insulating core sandwiched between at least two layers of structural panels. As the structural insulating panels are load bearing, they can form part of the supporting structure 3 rather than being an external cladding which does not have a load bearing function. This has the advantage of reducing the cost, complexity and time required to construct the storage system as the structural insulating panel is one component which performs two functions (providing structural support and insulation).

[0113] exist Figure 8In the illustrated embodiment, the enclosure is substantially rectangular, having two long sides and two short sides. However, the enclosure need not necessarily be rectangular, and enclosures of other shapes are fully permitted in the present invention. The lower portion 70 of the enclosure includes a support structure 3 formed by prefabricated modular panels 60 and structural insulation panels. The prefabricated modular panels 60 extend in the same direction (first direction) between the two long sides of the enclosure 6 and are parallel to the two short sides of the enclosure 6. Most of the structural insulation panels extend in a second direction perpendicular to the first direction and are parallel to the long sides of the enclosure 6. The structural insulation panels form the two long sides of the enclosure 6, and the prefabricated modular panels 60 extend between the structural insulation panels along the two long sides of the enclosure 6. Additional structural insulation panels extend in the first direction to form the two short sides of the enclosure 6. Therefore, the structural insulation panels extend along all four sides of the enclosure 6 to enclose the space within the enclosure and help maintain the temperature difference between the inside and outside of the enclosure 6.

[0114] exist Figure 8 In the particular embodiment shown, an inlet 51 for the refrigeration system is located in the lower portion 70 of the enclosure below the track system 4. The inlet 51 extends from the enclosure 6 through the structural insulation panel to the refrigeration unit 52 located outside the enclosure 6. Refrigerated air from the refrigeration unit 52 is directed into the enclosure 6 via a duct 58. The duct 58 includes a substantially vertical portion located outside the enclosure and a substantially horizontal portion extending into the enclosure 6 through the thermal insulation blanket.

[0115] The upper portion 71 of the enclosure is provided with a thermally insulating cover 73. The thermally insulating cover 73 may take any suitable form and may be formed from any suitable insulating material. For example, the thermally insulating cover may comprise a thermally insulating solid panel or a thermally insulating blanket. Figure 8 In the embodiment shown, the thermally insulating cover 73 in the upper portion 71 of the enclosure 6 comprises a top wall 74 and four downwardly extending side walls 75 on four sides of the rail system 4. The downwardly extending side walls on the sides of the upper portion adjacent to the portion of the storage system 1 located outside the enclosure 6 comprise openings 7.

[0116] In some embodiments, the thermal insulation cover 73 comprises a thermal insulation blanket. The thermal insulation blanket is flexible, which has the advantage of being easily adaptable to storage systems of different sizes and shapes, and it does not require a custom designed thermal insulation cover for each individual storage system.

[0117] The thermal insulation blanket can be attached to the top of the building by any suitable attachment means, or attached to a separate structure. For example, one or more struts can be mounted to the top of the building. The strut can be a single strut (unistrut) including one or more threaded holes, and one or more lowering shafts can be screwed into the one or more threaded holes. A second single strut is attached below, and the thermal insulation blanket is sandwiched between the two struts. A diffuser 67 mounted to the ceiling can pass through one or more apertures in the thermal insulation blanket, thereby allowing the diffuser 67 to reach the interior of the enclosure 6 and at the same time provide a thermal seal around the diffuser 67.

[0118] As an alternative or additional solution to the thermally insulating cover 73 including one or more thermally insulating blankets, the duct 58 used to circulate refrigerated air from the refrigeration unit 52 can be thermally insulated and can form part of the thermally insulating cover 73. Thermal insulation can be arranged around the outside of the duct 58 to form a thermally insulating duct. The thermally insulating duct can form part or all of the top wall 74 and / or the downwardly extending side wall 75 of the thermally insulating cover 73. The advantage of this arrangement is that it is easy to assemble and reduces cost and complexity. The thermally insulating duct performs two functions: providing a path for recirculating fluid in the refrigeration system 50 and insulating the enclosure 6 to maintain a temperature difference between the inside and outside of the enclosure 6. In some embodiments, the thermally insulating duct can be used in combination with a thermally insulating blanket to form the thermally insulating cover 73.

[0119] To fulfill customer orders, Fig.15 and Fig.16 A multi-temperature storage system 1 with an inventory handling station 9 is schematically shown, wherein the inventory handling station 9 is arranged below the rail system 4. Storage containers are transported to and from the inventory handling station 9 via port columns 84. Port columns 84 are storage columns 5 that are not used for storage containers 10 and include locations at which the loading handling equipment 30 can drop storage containers or boxes 10 to the inventory handling station 9 and / or pick up storage containers or boxes 10 from the inventory handling station 9. Port columns 84 correspond to grid cells 17 where storage containers 10 are dropped or picked up by the loading handling equipment 30. Depending on whether the port is used for dropping or picking up storage containers 10, the grid columns where the ports are located can be called "delivery columns" located at drop ports and "retrieval columns" located at pick-up ports.

[0120] The inventory handling station 9 is located below the rail system 4. In order to create space for the inventory handling station 9, the storage system 1 includes a support platform 81 which is raised above the ground by a plurality of legs 82 so as to define an area 83 below the support platform 81.

[0121] exist Fig.15 and Fig.16In the illustrated embodiment, this area 83 below the support platform 81 is used to accommodate the inventory handling station 9. In other embodiments, various other stations and service areas may be accommodated within the space 83. For example, the space 83 may accommodate a charging station for charging the rechargeable power source (which powers the load handling equipment 30 on the track system 4), a service station for performing routine maintenance of the load handling equipment 30, or other stations.

[0122] In order to increase the storage capacity of the grid frame structure 14, the storage system 1 further includes a second support frame structure 80 mounted on the top of the support platform 81 and supported by the support platform 81. The support platform 81 can be supported by a plurality of purlins below the support platform 81, thereby increasing the structural rigidity of the support platform 81 to support a plurality of storage containers 10 in a plurality of stacks 12 on the support platform 81. The second support frame structure 80 can be separate from the support frame structure 3 in the rest of the storage system 1, or can be integrated into the same structure. The second support frame structure 80 can be a component structure, or a modular structure including the above-mentioned prefabricated modular panels 60, or any other suitable support structure. Like the support frame structure 3, the second support frame structure 80 is used to store stacks 12 of storage containers 10.

[0123] The track system 4 extends continuously across the supporting frame structure 3 and the second supporting frame structure 80. Therefore, the load handling equipment 30 can travel on the track system 4 across the supporting frame structure 3 and the second supporting frame structure 80. Therefore, the shared track system 4 enables the load handling equipment 30 to transport storage containers 10 in the stacks 12 of the supporting frame structure 3 and the second supporting frame structure 90 to or from the inventory handling station 9.

[0124] The support platform 81 performs a similar function to the mezzanine of the storage system of the prior art. The conventional mezzanine has the problem of requiring a customized design for each site, and the construction cost is high and the time is long due to the need for precise matching of dimensional tolerances. The advantage of the support platform 81 is that it is faster to build and can be easily adapted to storage systems 1 of different sizes and layouts, especially in storage systems 1 in which the second support structure 80 includes prefabricated modular panels 60. The support platform 81 can be a modular support platform including modules of standard sizes so that a support platform 81 of any size can be selected to adapt to the available site. Similarly, the support platform 81 can be any desired height (the height of the support leg 82 can be adjusted). Therefore, the support platform 81 can be easily and quickly constructed for any site without the need for customized design. The support platform 81 is provided to the support frame structure 3 and docked with the support frame structure 3.

[0125] exist Fig.15 and Fig.16In the illustrated embodiment, the second supporting frame structure 80 is a modular structure comprising prefabricated modular panels 60. The advantage of using prefabricated modular panels 60 in the supporting frame structure 80 is that the system is more modular because both the second supporting frame structure 80 and the supporting platform 81 are modular. Custom designs are no longer required, and a storage system of any desired size and layout can be assembled quickly and economically.

[0126] An advantage of a multi-temperature storage system 1 for fulfilling customer orders, particularly grocery items, is that different goods can be fulfilled at a single location, compared to storage systems known in the art that typically fulfill temperature-sensitive goods separately from non-temperature-sensitive goods. In use, when fulfilling baskets of grocery items or goods that include both temperature-sensitive goods and non-temperature-sensitive goods, because the track system 4 is shared by the grid frame structure inside and outside the enclosure 6, one or more robotic load handling devices 30 that can operate on the track system 4 can be instructed to retrieve temperature-sensitive items from inside the enclosure 4 and move the storage container 10 to the inventory handling station 9, where the items in the storage container 10 can be picked to fulfill a portion of the customer order. Similarly, one or more robotic load handling devices 30 can be instructed to retrieve the storage container 10 from the non-temperature-sensitive area of ​​the grid frame structure 14 outside the enclosure 6 and transport the storage container 10 to the inventory handling station 9 for use in completing the customer order. To improve the efficiency of fulfilling multiple customer orders, the multi-temperature storage system 1 may include a plurality of inventory handling stations 9, each of the plurality of inventory handling stations 9 fulfilling a different customer order.

[0127] Although certain specific embodiments describe a single enclosure 6, the present invention is not limited to a single enclosure 6. For example, a multi-temperature storage system 1 according to the present invention may include a plurality of enclosures 6, each enclosure 6 of the plurality of enclosures 6 having its respective opening 7, a refrigeration system 50 as described above, and at least one air curtain unit 54 for generating an air curtain 55 across the respective openings 7 of the enclosures 6. The track system 4 is shared by the plurality of enclosures 6 so that a robotic load handling device 30 operable on the track system 4 can enter different enclosures 6 of the plurality of enclosures 6, i.e., the track system 4 extends continuously through the plurality of enclosures 6.

[0128] One way to achieve this is to have one or more of the plurality of enclosures 6 include more than one opening 7, such as an entry opening into the enclosure 6 and an exit opening out of the enclosure 6. In some embodiments, the entry and exit openings may be provided by a single opening 7 of the enclosure 6, while in other embodiments, the entry and exit openings may be provided by separate openings 7 of the enclosure 6. Where the entry and exit openings are provided by separate openings 7, the openings 7 may be located on the same side of the enclosure or on different sides of the enclosure 7. For example, one or more of the plurality of enclosures 6 may act as a tunnel so that the robotic load handling device 30 can pass through the enclosure 6 when traveling to the inventory handling station 9. Each of the openings 7 of the enclosure 6 may be isolated from the outside environment by a respective air curtain 55 as described above when entering the enclosure 6, and isolated from the outside environment by another air curtain 55 when exiting the enclosure 6. Each of the plurality of enclosures 6 may store goods or items at different and / or the same temperature as each other. For example, the first enclosure 6 may be configured to store goods or items in a refrigerated temperature range, while the second enclosure 6 may be configured to store goods or items in a frozen temperature range.

Claims

1. A multi-temperature storage system 1, the multi-temperature storage system 1 comprising: A) A grid frame structure 14, the grid frame structure 14 is configured to support a robotic load handling device 30 thereon, the grid frame structure 14 comprising: i) a track system 4 comprising a plurality of tracks 22 arranged in a grid pattern comprising a plurality of grid cells 17, ii) a support frame structure 3 for supporting the track system 4 above the ground to form a storage space comprising a plurality of storage columns 5, each storage column 5 being arranged to store a stack 12 of storage containers 10 so that, in use, the robotic load handling device 30 operating on the track system 4 is able to lift one or more containers 10 from the stack 12 in the storage column 5 via the grid cells 17, wherein part of the storage system 1 is housed in an enclosure 6 having an opening 7 above the rail system 4 to allow a robotic load handling device 30 to move in and out of the enclosure 6; B) a temperature control system 50, the temperature control system 50 comprising an inlet 51 for drawing fluid from the enclosure 6, a temperature control unit 52 for heating or cooling the fluid into a temperature-controlled fluid, and an outlet 53 for providing the temperature-controlled fluid to the enclosure 6, so that the enclosure 6 has a temperature different from the temperature outside the enclosure 6; C) at least one air curtain unit 54, said at least one air curtain unit 54 being arranged above said track system 4, said at least one air curtain unit 54 being arranged to recirculate said temperature control fluid from said enclosure 6 to provide an air curtain 55 across said opening 7 of said enclosure 6 so as to substantially confine said temperature control fluid within said enclosure 6 and enable said robotic loading and handling equipment 30 to move in and out of said enclosure 6 on said track system 4.

2. The multi-temperature storage system 1 according to claim 1, wherein: The temperature control system 50 includes a refrigeration system 50 , and the temperature control unit 52 includes a refrigeration unit 52 , so that the temperature inside the enclosure 6 is lower than the temperature outside the enclosure 6 .

3. The multi-temperature storage system 1 according to claim 1, wherein: The temperature control system 50 includes a heating system 50 , and the temperature control unit 52 includes a heating unit 52 , so that the temperature inside the enclosure 6 is higher than the temperature outside the enclosure 6 .

4. A multi-temperature storage system 1 according to any of the preceding claims, wherein: The at least one air curtain unit 54 has an air inlet 56 extending into the enclosure 6 and an outlet including a nozzle 57 configured for directing the temperature control fluid downwardly into the enclosure 6 .

5. The multi-temperature storage system 1 according to claim 4, wherein: The nozzle 57 is configured to direct the temperature control fluid in a downwardly inclined direction towards the enclosure 6 .

6. A multi-temperature storage system 1 according to any of the preceding claims, wherein: The opening 7 of the enclosure 6 extends across at least one direction of the grid frame structure 14 , such that the at least one air curtain unit 54 is configured to provide an air curtain 55 across the at least one direction of the grid frame structure 14 .

7. The multi-temperature storage system 1 according to claim 6, wherein: The at least one air curtain unit 54 includes a plurality of air curtain units 54 arranged side by side.

8. A multi-temperature storage system 1 according to any of the preceding claims, wherein: The enclosure 6 is thermally insulating.

9. The multi-temperature storage system 1 according to claim 8, wherein: The enclosure 7 has a lower portion 70 below the rail system 4 and an upper portion 71 above the rail system 4 , the lower portion 70 of the enclosure 6 comprising a thermally insulating solid wall panel 72 .

10. The multi-temperature storage system 1 according to claim 9, wherein: One or more of the thermally insulated solid wall panels 72 comprises a structural insulation panel including a thermally insulating core sandwiched between at least two layers of structural board.

11. The multi-temperature storage system 1 according to claim 9 or 10, wherein: The upper portion 71 of the enclosure 6 comprises a thermally insulating cover 73 having a top wall 74 and side walls 75 extending downwardly.

12. The multi-temperature storage system 1 according to claim 11, wherein: At least one of the downwardly extending side walls 75 includes the opening 7 .

13. The multi-temperature storage system 1 according to claim 12, wherein: The at least one air curtain unit 54 is installed adjacent to the opening 7 .

14. The multi-temperature storage system 1 according to any of claims 11 to 13, wherein: The thermal insulation cover 73 includes a thermal insulation blanket.

15. The multi-temperature storage system 1 according to any of claims 11 to 14, wherein: The inlet 51 and the outlet 53 of the temperature control system 50 extend through the thermal insulation cover 73 .

16. The multi-temperature storage system 1 according to any of claims 8 to 15, wherein: The supporting frame structure 3 includes a plurality of prefabricated modular panels 60, which are arranged in a three-dimensional grid pattern to define a plurality of grid cells 63, and the three-dimensional grid pattern includes a first group of parallel prefabricated modular panels extending along a first direction and a second group of parallel prefabricated modular panels extending along a second direction.

17. The multi-temperature storage system 1 according to claim 16, wherein: Each of the grid cells 63 of the supporting frame structure 3 is sized to support a subset of the plurality of grid cells 17 of the rail system 4 , the subset comprising two or more grid cells 17 of the rail system 4 .

18. The multi-temperature storage system 1 according to claim 16 or 17, wherein: At least one of the plurality of prefabricated modular panels 60 includes at least one of the thermally insulated solid wall panels 72 .

19. A multi-temperature storage system 1 according to any of the preceding claims, wherein: The grid frame structure 14 further includes a track support structure 2 located in a horizontal plane and supported by the supporting frame structure 3, the track support structure 2 including a first group of parallel track support members 18 extending along a first direction and a second group of parallel track support members 20 extending along a second direction, the second direction being substantially perpendicular to the first direction so that the first group of parallel track support members and the second group of parallel track support members are arranged in a grid pattern including a plurality of grid cells 17 or grid spaces; and wherein the track system 4 is mounted to the track support structure 2 so that the grid cells 17 of the track system correspond to the grid cells 17 of the track support structure 2.

20. The multi-temperature storage system 1 according to claim 19, wherein: The track support structure 2 includes a plurality of prefabricated modular sub-track support structures 64 assembled together to form the track support structure 2 , each of the plurality of prefabricated modular sub-track support structures 64 including two or more grid units 17 .

21. The multi-temperature storage system 1 according to claim 20, wherein: Each of the prefabricated modular sub-track support structures 64 includes a portion of the first set of track support members 18 and a portion of the second set of track support members 20 .

22. The multi-temperature storage system 1 according to any of claims 19 to 21, wherein: The track system 4 comprises a plurality of interconnected modular track sections, each track section 65 of the plurality of interconnected modular track sections comprising a substantially vertical element 66 so as to provide a track surface extending in the first direction and the second direction.

23. The multi-temperature storage system 1 according to claim 22, wherein: The plurality of track sections 65 are assembled in the track system 4 such that adjacent modular track sections 65 in the track system 4 converge between areas where the first and second groups of track support members 18, 20 in the grid frame structure 14 intersect or converge in the grid pattern.

24. The multi-temperature storage system 1 according to claim 23, wherein: Adjacent modular track sections 66 are connected together by joints including tapered edges.

25. The multi-temperature storage system 1 according to any of claims 22 to 24, wherein: Each of the plurality of interconnected modular track sections 65 is formed from a plastic material.

26. A multi-temperature storage system 1 according to any of the preceding claims, wherein: The temperature control system 50 includes one or more conduits 58 extending from the inlet 51 via the temperature control unit 52 to the outlet 53 , so that the temperature control fluid from the temperature control unit 52 circulates into the enclosure 6 via the outlet 53 .

27. The multi-temperature storage system 1 according to claim 26, wherein: The temperature control system 50 comprises one or more fans 59 for drawing the fluid from the enclosure 6 via the inlet 51 .

28. The multi-temperature storage system 1 according to claim 26 or 27, wherein: The outlet 53 comprises at least one diffuser 67 .

29. The multi-temperature storage system 1 according to any of the preceding claims further comprises a plurality of guide members 8 extending substantially vertically between the rail system 4 and the floor, the plurality of guide members 8 being arranged in a graphic pattern for accommodating stacks 12 of a plurality of storage containers 10 between the plurality of guide members 8 and guiding the plurality of storage containers 10 through the grid unit 17.

30. The multi-temperature storage system 1 according to claim 29, wherein: The plurality of guides 8 are arranged for guiding the one or more storage containers 10 in the stack 12 along pairs of diagonally opposite corners of the one or more storage containers 10 .

31. The multi-temperature storage system 1 according to claim 29 or 30, wherein: Each guide 8 of the plurality of guides includes two vertical box guides 90 extending between the rail system 4 and the floor for accommodating the corners of storage containers 10 .

32. The multi-temperature storage system 1 according to claim 31, wherein: Each guide 8 of the plurality of guides comprises ultraSTEEL®.

33. A multi-temperature storage system 1 according to any of claims 31 or 32, wherein: At least a portion of the two vertical box guides 90 are textured by continuously cold rolling a pattern into the two vertical box guides 90 .

34. The multi-temperature storage system 1 according to claim 33, wherein: The texture includes pits or depressions.

35. A multi-temperature storage system 1 according to any of claims 31 to 34, wherein: Each guide 8 of the plurality of guides 8 comprises a running surface 91 for engaging with a gripping device 39 of the robotic load handling device 30, and wherein the running surface 91 is substantially smooth.

36. A multi-temperature storage system 1 according to any of claims 31 to 35, wherein: The plurality of guides 8 include four guides 8 that are symmetrically arranged around a center point defined by the four guides 8 , such that the four guides 8 are arranged to guide the corners of four adjacent storage containers 10 .

37. The multi-temperature storage system 1 according to any of the preceding claims, further comprising at least one inventory handling station 9 arranged below the rail system 4, and wherein: One or more of the grid cells 17 of the track system 4 defines a port for delivering storage containers to and picking up storage containers from the inventory handling station 9 .

38. The multi-temperature storage system 1 according to claim 37 further includes a second supporting frame structure 80 and a supporting platform 81 for supporting the second supporting frame structure 80, and the supporting platform 81 is raised above the ground by a plurality of legs 82 to define an area 83 under the supporting platform 81 for accommodating the inventory processing station 9.

39. The multi-temperature storage system 1 according to claim 38, wherein: The second supporting frame structure 80 is arranged below the rail system 4 such that the rail system 4 extends continuously across the supporting frame structure 3 and the second supporting frame structure 80 .

40. A multi-temperature storage system 1 according to any of the preceding claims, wherein: The enclosure 6 comprises a plurality of enclosures 6 for enclosing respective parts of the storage system 1, such that each enclosure 6 of the plurality of enclosures 6 comprises: i) a respective opening 7 to allow a robotic load handling device 30 to be moved into and out of said respective enclosure 6, a respective temperature control system 50, the respective temperature control system 50 comprising a respective inlet 51 for drawing a fluid from the respective enclosure 6, a respective temperature control unit 52 for heating or cooling the fluid into a temperature-controlled fluid, and a respective outlet 53 for supplying the temperature-controlled fluid to the respective enclosure 6, so that the respective enclosure 6 has a temperature different from the temperature outside the respective enclosure 6; At least one respective air curtain unit 54 is arranged above the rail system 4, and the at least one respective air curtain unit 54 is arranged to recirculate the temperature control fluid from the respective enclosure 6 to provide a respective air curtain 55 across the opening 7 of the respective enclosure 6 so as to substantially confine the temperature control fluid within the respective enclosure 6 and enable the robotic loading and handling equipment 30 to move in and out of the respective enclosure 6 on the rail system 4.

41. The multi-temperature storage system 1 according to claim 40, wherein: The temperature inside each of the plurality of enclosures 6 is different from each other.

Images