System and method for controlling temperature in an automated grid-based storage and retrieval system

Abstract

A system and method for controlling the temperature of multiple storage volumes within an automated grid-based storage and retrieval system. Multiple storage volumes (406) are arranged adjacent to each other under a horizontal rail (110), and multiple vertical walls (402) surround each of the multiple storage volumes (406). A cooler system (403) draws air from the input (404) of the cooler system (403), cools the air, and blows the cooled air through the output (405) of the cooler system (403). In each of the multiple storage volumes (406), a first air damper (408) is connected between the output (405) of the cooler system (403) and an air discharge area (409) above the storage volume (406), and a second air damper (410) is connected between an air gap (411) below the storage volume and the input (404) of the cooler system (403). A controller (414) for each of the plurality of storage volumes controls the air flow through the first air damper (408) to control the overpressure and air temperature within the air discharge area (409) and controls the air flow through the second air damper (410) to control the underpressure within the air gap (411), and accordingly, the storage volume temperature is controlled separately for each of the plurality of storage volumes (406), and the storage volume temperature is determined by the air temperature within the air discharge area (409) and the differential pressure between the overpressure within the air discharge area (409) and the underpressure within the air gap (411).

Description

Technology Field

[0001] The present invention relates to an automated storage and retrieval system for storing and retrieving containers, in particular to a ventilation system and method of such an automated storage and retrieval system. Background Technology

[0002] FIG. 1 discloses a typical prior art automated storage and retrieval system (1) having a skeletal structure (100), and FIG. 2 and FIG. 3 disclose two different prior art container handling vehicles (201, 301) suitable for operation in such a system (1).

[0003] The skeletal structure (100) comprises a storage volume including an upright member (102), a horizontal member (103), and a storage column (105) arranged in a row between the upright member (102) and the horizontal member (103). Within these storage columns (105), storage containers (106), also known as bins, are stacked vertically on top of each other to form a stack (107). The members (102, 103) can typically be made of metal, for example, compressed aluminum profiles.

[0004] The skeletal structure (100) of the automated storage and retrieval system (1) includes a rail system (108) arranged across the upper part of the skeletal structure (100), and a plurality of container handling vehicles (201, 301) are operated on the rail system (108) to raise a storage container (106) from a storage column (105), lower a storage container (106) into a storage column, and transport a storage container (106) on top of a storage column (105). The rail system (108) includes a first set of parallel rails (110) arranged to guide the movement of the container handling vehicles (201, 301) in a first direction (X) across the upper part of the skeletal structure (100), and a second set of parallel rails (111) arranged perpendicular to the first set of rails (110) to guide the movement of the container handling vehicles (201, 301) in a second direction (Y) perpendicular to the first direction (X). The container handling vehicle accesses the container (106) stored in the column (105) through an access opening (112) in the rail system (108). The container handling vehicle (201, 301) can move laterally on the storage column (105), that is, in a plane parallel to the horizontal XY plane.

[0005] The upright member (102) of the skeletal structure (100) is used to guide the storage container while raising the container from the column (105) and lowering the container into the column. The stack (107) of the container (106) is typically self-supporting.

[0006] Each of the prior art container handling vehicles (201, 301) comprises a vehicle body (201a, 301a) and first and second sets of wheels (201b, 301b, 201c, 301c) that enable lateral movement of the container handling vehicle (201, 301) along the X direction and Y direction, respectively. In FIGS. 2 and 3, two wheels within each set can be fully identified. The wheels of the first set (201b, 301b) are arranged to be coupled with two adjacent rails of the first set of rails (110), and the wheels of the second set (201c, 301c) are arranged to be coupled with two adjacent rails of the second set of rails (111). At least one of the wheels of the set (201b, 301b, 201c, 301c) can be lifted and lowered, and accordingly, the wheels of the first set (201b, 301b) and / or the wheels of the second set (201c, 301c) can be combined with the rails (110, 111) of each set at any time.

[0007] Each of the prior art container handling vehicles (201, 301) also includes a lifting device (not shown) for vertical transport of a storage container (106), for example, for raising the storage container (106) from a storage column (105) and lowering the storage container (106) into a storage column. The lifting device includes one or more gripping / coupling devices, such gripping / coupling devices are configured to be coupled with the storage container (106), such gripping / coupling devices can be lowered from the vehicle (201, 301), and accordingly, the position of the gripping / coupling device relative to the vehicle (201, 301) can be adjusted in a third direction (Z) perpendicular to the first direction (X) and the second direction (Y). A portion of the gripping device of the container handling vehicle (301) is indicated by reference numeral 304 and is illustrated in FIG. 3. The gripping device of the container handling device (201) is positioned within the vehicle body (201a) in FIG. 2.

[0008] Typically, and also for the purposes of the present invention, Z=1 represents the top layer of the storage container, that is, the layer immediately below the rail system (108), Z=2 represents the second layer below the rail system (108), and Z=3 represents the third layer, and so on. In the exemplary prior art disclosed in FIG. 1, Z=8 represents the bottom layer of the lowest storage container. Similarly, X=1…n and Y=1…n represent the positions of each storage column (105) in a horizontal plane. Consequently, for example, and using the Cartesian coordinate system (X, Y, Z) shown in FIG. 1, the storage container labeled 106' in FIG. 1 may be said to occupy the storage position X=10, Y=2, Z=3. The container handling vehicle (201, 301) may be said to move within the layer (Z=0), and each storage column (105) may be indicated by its X and Y coordinates.

[0009] The storage volume of the skeletal structure (100) is often referred to as a grid (104), and possible storage locations within this grid are referred to as storage cells. Each storage column can be indicated by a location along the X- and Y- directions, while each storage cell can be indicated by a container number along the X-, Y-, and Z- directions.

[0010] Each of the prior art container handling vehicles (201, 301) includes a storage compartment or space for receiving and storing a storage container (106) when transporting the storage container (106) across a rail system (108). The storage space may include a cavity arranged in the center within the vehicle body (201a), such as as shown in FIG. 2 and, for example, as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0011] FIG. 3 illustrates an alternative configuration of a container handling vehicle (301) having a cantilever configuration. Such a vehicle is specifically described in, for example, NO317366, the contents of which are also incorporated herein by reference.

[0012] The central joint container handling vehicle (201) illustrated in FIG. 2 may have a footprint covering an area having dimensions along the X and Y directions generally identical to the lateral range of the storage column (105), as described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference. As used herein, the term 'lateral' may mean 'horizontal'.

[0013] Alternatively, the central joint container handling vehicle (101) may have a footprint larger than the lateral area formed by the storage column (105), as disclosed in, for example, WO2014 / 090684A1.

[0014] A rail system (108) typically includes a rail having a groove through which the wheels of a vehicle run. Alternatively, the rail may include an upward protrusion element, and the wheels of the vehicle may include a flange to prevent rail derailment. These grooves and upward protrusion elements are collectively known as a track. Each rail may include a single track, or each rail may include two parallel tracks.

[0015] WO2018 / 146304, which is incorporated herein by reference, illustrates a typical configuration of a rail system (108) comprising tracks and rails parallel along both X and Y directions.

[0016] Within the frame structure (100), most of the columns (105) are storage columns (105), that is, columns (105) in which storage containers (106) are stored in stacks (107). However, some columns (105) may have other purposes. In FIG. 1, columns (119 and 120) are such special-purpose columns used by container handling vehicles (201, 301) to drop off and / or pick up storage containers (106) so that storage containers (106) can be accessed from outside the frame structure (100) or transported to an access station (not shown) where storage containers can be delivered inside or outside the frame structure (100). In the art, such locations are generally referred to as 'ports,' and columns in which ports are placed may be referred to as 'port columns' (119, 120). Transport to the access station may be in any direction, namely horizontal, tilted, and / or vertical. For example, a storage container (106) may be placed in a random or designated column (105) within the frame structure (100), then picked up by any container handling vehicle, and transported to a port column (119, 120) for further transport to the access station. It should be noted that the term 'tilted' refers to the transport of a storage container (106) having a general transport orientation between horizontal and vertical.

[0017] In FIG. 1, the first port column (119) may be a designated drop-off port column where, for example, a container handling vehicle (201, 301) can drop off a storage container (106) to be transported to an access or transfer station, and the second port column (120) may be a designated pickup port column where a container handling vehicle (201, 301) can pick up a storage container (106) transported from an access or transfer station.

[0018] The access station may typically be a picking or storage station where product items are removed from or located inside a storage container (106). At the picking or storage station, the storage container (106) is generally not removed from the automated storage and retrieval system (1) but is returned to the frame structure (100) when accessed again. The port may also be used to transfer the storage container to another storage facility (e.g., another frame structure or another automated storage and retrieval system), to a transport vehicle (e.g., a train or heavy truck), or to a production facility.

[0019] A conveyor system including a conveyor is generally used to transport storage containers between port columns (119, 120) and access stations.

[0020] When the port columns (119, 120) and the access station are positioned at different levels, the conveyor system may include a lifting device having a vertical component for vertically transporting a storage container (106) between the port columns (119, 120) and the access station.

[0021] A conveyor system may be arranged to transfer storage containers (106) between different frame structures, for example, as described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0022] When accessing a storage container (106) stored within one of the columns (105) disclosed in FIG. 1, one of the container handling vehicles (201, 301) is commanded to retrieve the target storage container (106) from that location and to transport it to a drop-off port column (119). This operation includes moving the container handling vehicle (201, 301) to a location above the storage column (105) where the target storage container (106) is located, retrieving the storage container (106) from the storage column (105) using a container handling vehicle (201, 301) lifting device (not shown), and transporting the storage container (106) to a drop-off port column (119). When the target storage container (106) is placed deep within the stack (107), that is, when one or more other storage containers (106) are positioned on top of the target storage container (106), the operation also includes temporarily moving the storage containers positioned on top before lifting the target storage container (106) from the storage column (105). This step, often referred to as “digging” in the art, may be performed using one or more other cooperative container handling vehicles, using the same container handling vehicle that is subsequently used to transport the target storage container to the drop-off port column (119). Alternatively or additionally, the automated storage and retrieval system (1) may have a container handling vehicle (201, 301) specifically designated for the task of temporarily removing the storage container (106) from the storage column (105). When the target storage container (106) is removed from the storage column (105), the temporarily removed storage container (106) can be relocated into the original storage column (105). Alternatively, however, the removed storage container (106) can be relocated to another storage column (105).

[0023] When a storage container (106) is to be stored in one of the columns (105), one of the container handling vehicles (201, 301) is ordered to pick up the storage container (106) from the pickup port column (120) and transport it to a location on the storage column (105) where it is to be stored. After any storage container (106) located at or on the target location within the stack (107) is removed, the container handling vehicle (201, 301) places the storage container (106) at the desired location. Subsequently, the removed storage container (106) can be lowered back into the storage column (105) or relocated to another storage column (105).

[0024] To monitor and control the automated storage and retrieval system (1), for example, the location of each storage container (106) within the skeletal structure (100), the contents of each storage container (106); and to monitor and control the movement of the container handling vehicles (201, 301) so that the desired storage container (106) can be delivered to the desired location at the desired time without the container handling vehicles (201, 301) colliding with each other, the automated storage and retrieval system (1) includes a control system (121), such a control system is typically computerized and typically includes a database for continuously tracking the storage container (106).

[0025] A part of the aforementioned system (1) can be used to store product items that require a specific environment. For example, some types of food require a low-temperature environment (typically a temperature of 1°C to 6°C), some types of food require a lower-temperature environment (typically a temperature of -15°C or lower), and other types of food require a higher-temperature environment (typically, a temperature of 10°C or higher).

[0026] In buildings where such storage systems are located, ventilation systems are typically used to provide the desired environment. However, due to the space efficiency gained by storing containers adjacent to each other in a stack, less air can be used to control the temperature of the stored products within the storage area.

[0027] WO2015 / 124610A1 discloses an automated storage and retrieval system, wherein the storage volume is subdivided into a large number of sections separated from one another by insulation, and the temperature within the large number of sections is lower than where the container handling vehicle moves on a rail system over the storage volume. These sections can be cooled to different temperatures, for example, by connecting a cooling unit to one of the sections.

[0028] WO2016 / 7193419 discloses a storage system in which containers are cooled while stored within a grid. The cooling system comprises a chiller above the grid for cooling air, and a fan that circulates the cooled air through the storage system by drawing air through the system and into the empty space beneath the stack of storage containers so that the air is circulated through the stack to regulate its temperature. The fan is located externally on the side of the grid, above a bounded volume that draws air from a large number of stacks. As air is drawn from the outside of the grid, the airflow will be greatest near the fan, i.e., near the edge of the grid, and will decrease toward the middle of the grid.

[0029] The problem with conventional solutions is that they rely on separate cooling elements for each temperature zone.

[0030] In light of the foregoing, it may be desirable to provide an automated storage and retrieval system and a method of operating such a system that solves or at least alleviates one or more of the aforementioned problems related to the use of a storage and retrieval system of the prior art. means of solving the problem

[0031] The present invention is described and characterized in the independent claim, while the dependent claim describes other features of the present invention.

[0032] The present invention relates to an automated grid-based storage and retrieval system, wherein:

[0033] - A skeletal structure comprising an upright member and a grid of horizontal rails provided at the upper end of the upright member, forming a plurality of storage volumes arranged adjacent to each other below the horizontal rails,

[0034] - Multiple vertical walls surrounding each of the multiple storage volumes,

[0035] - As a cooling system, it is configured to draw air from the input of the cooling system, to cool the air drawn from the input, and to blow the cooled air through the output of the cooling system, and

[0036] - For each of the plurality of storage volumes, the system further comprises a first air damper connected between the output of the cooler system and an air discharge region above the storage volume, and a second air damper connected between an air gap below the storage volume and the input of the cooler system, a cooler system

[0037] - Includes a controller configured to control overpressure and air temperature within an air discharge area by adjusting air flow through a first air damper associated with each of a plurality of storage volumes independently, and to control underpressure within an air gap by adjusting air flow through a second air damper associated with each of the storage volumes,

[0038] Accordingly, the storage volume temperature is controlled separately for each of the multiple storage volumes, and the storage volume temperature is controlled by the air temperature in the air discharge area and by controlling the pressure difference between the overpressure in the air discharge area and the underpressure in the air gap in each storage volume.

[0039] In an embodiment, the air discharge area may be arranged on a horizontal rail at a distance that allows a container handling vehicle on the horizontal rail to move directly below the air discharge area.

[0040] In an embodiment, the air discharge area may be arranged below a horizontal rail adjacent to the upper end of an upright member.

[0041] In an embodiment, the vertical wall may include an insulating material.

[0042] In an embodiment, the cooler system may include a heat exchanger, and the heat exchanger is configured to cool air drawn from an input and also to transfer heat to at least one of a plurality of storage volumes.

[0043] In an embodiment, the system may further include a fan positioned between the air gap and the second air damper.

[0044] In an embodiment, the cooling system may be a fan-coil unit.

[0045] In an embodiment, each storage volume may include a temperature sensor, and a controller is configured to adjust the airflow through a first air damper and the airflow through a second air damper based on the temperature measured by the temperature sensor.

[0046] In an embodiment, the system may further include a bottom having a plurality of ventilation holes provided between the storage volume and the air gap below the storage volume, and the total area of ​​each of the plurality of ventilation holes increases as the horizontal distance of the ventilation holes from the air outlet communicating with the air from the air gap to the second air damper increases.

[0047] In an embodiment, a plurality of ventilation holes may be provided by a plurality of perforations within a panel forming a floor arranged between a storage volume and a void located at the lower end of the storage volume.

[0048] In an embodiment, each air discharge area may be configured to block the air discharge area from each adjacent air discharge area.

[0049] In an embodiment, the system may further include a first common conduit connecting the output portion of the cooler system to each of the first air dampers, and a second common conduit connecting each of the second air dampers to the input portion of the cooler system.

[0050] The present invention also relates to a method for controlling a plurality of storage volume temperatures in an automated grid-based storage and retrieval system, wherein:

[0051] - A step of adjusting the cooler system to blow cooled air to a first temperature through the output of the cooling system,

[0052] - The method includes the step of controlling the air flow through a first air damper to control the overpressure and air temperature in the air discharge area above the storage volume and the air flow through a second air damper to control the underpressure in the air gap below the storage volume, independently for each of the plurality of storage volumes, so that the storage volume temperature is controlled by the air temperature in the air discharge area above the storage volume and by controlling the pressure difference between the overpressure in the air discharge area and the underpressure in the air gap associated with each storage volume.

[0053] In an embodiment, the method may further include the step of directing air flow from a first air damper to an air discharge area arranged below a horizontal rail adjacent to the upper end of an upright member.

[0054] In an embodiment, the method may further include the step of transferring heat from a heat exchanger in a cooler system to at least one of a plurality of storage volumes.

[0055] In an embodiment, the method may further include the step of adjusting a fan placed between the air gap and a second air damper to adjust the underpressure within the air gap.

[0056] In an embodiment, the method may further include the step of adjusting a first air damper and a second air damper for a given storage volume based on a temperature measured by a temperature sensor within the storage volume. Brief explanation of the drawing

[0057] The following drawings are attached to aid in understanding the present invention. The drawings illustrate embodiments of the present invention to be described below merely as examples. FIG. 1 is a perspective view of the skeletal structure of a conventional automated storage and retrieval system. FIG. 2 is a perspective view of a conventional container handling vehicle having a central arrangement cavity for transporting storage containers internally. FIG. 3 is a perspective view of a conventional container handling vehicle having a cantilever for transporting storage containers from below. FIG. 4 is a schematic diagram of an exemplary automated storage and retrieval system according to an embodiment of the present invention. FIG. 5a is a side view of an exemplary bottom panel according to an embodiment of the present invention. FIG. 5b is a top view of an exemplary bottom panel of FIG. 5a. FIG. 6 is a schematic diagram of an exemplary automated storage and retrieval system according to an embodiment of the present invention. Specific details for implementing the invention

[0058] Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the claims depicted in the drawings.

[0059] The skeletal structure (100) of the automated storage and retrieval system (1) is constructed according to the skeletal structure (100) of the prior art described above in relation to FIGS. 1 to 3, that is, it is composed of a large number of upright members (102) and a large number of horizontal members (103) supported by the upright members (102), and the skeletal structure (100) also includes a first upper rail system (108) in the X direction and Y direction.

[0060] The skeletal structure (100) further includes storage compartments in the form of storage columns (105) provided between members (102, 103), and storage containers (106) can be stacked in a stack (107) within the storage columns (105).

[0061] The skeletal structure (100) may be of any size. In particular, it is understood that the skeletal structure may be significantly wider and / or longer and / or deeper than disclosed in FIG. 1. For example, the skeletal structure (100) may have a horizontal range of more than 700 x 700 columns and a storage depth of more than 12 containers.

[0062] Now, with reference to FIGS. 4 to 6, an embodiment of an automated storage and retrieval system according to the present invention will be described in more detail.

[0063] FIG. 4 is a schematic diagram of an automated storage and retrieval system comprising a skeletal structure (400) as described above with reference to a skeletal structure (100). The skeletal structure (400) is subdivided into a plurality of storage volumes (406a, 406b, 406c), and each storage volume (406a, 406b, 406c) includes a plurality of storage columns (105) arranged adjacent to each other below a horizontal rail. Accordingly, each of the storage volumes (406a, 406b, 406c) may include one or more storage columns (105), and storage containers are stacked vertically on these storage columns to form a stack (407). The skeletal structure (400) includes a plurality of vertical walls (402) that surround each of the plurality of storage volumes (406a, 406b, 406c) and separate the storage volumes (406a, 406b, 406c) from adjacent storage volumes (406a, 406b, 406c) and external surrounding conditions. The plurality of walls (402) surrounding the storage volumes provide a substantially airtight channel extending from below the horizontal rail (110) to the void or voids (411a, 411b, 411c) below each of the plurality of storage volumes (406a, 406b, 406c). The storage volumes (406a, 406b, 406c) are open to the rail, thereby allowing the storage container vehicle (401) to lower and raise the storage container (106) into and out of the storage volumes.

[0064] The automated storage and retrieval system includes a cooler system (403) configured to draw air from an input section (404) of the cooler system (403), to cool the air drawn from the input section (404), and to blow the cooled air through an output section (405) of the cooler system (403). The cooler system (403) may be a fan-coil unit including a heat exchanger, e.g., a coil and a fan, but any suitable cooler system may be used. When the cooler system (403) is a fan-coil unit, the flow of air through the cooler system (403) is driven by a fan within the fan-coil unit. For each of the plurality of storage volumes (406a, 406b, 406c), the system includes a first air damper (408a, 408b, 408c) connected between the output portion (405) of the cooler system (403) and an air discharge area (409a, 409b, 409c) above the storage volume (406a, 406b, 406c), and a second air damper (410a, 410b, 410c) connected between the air gap (411a, 411b, 411c) below the storage volume (406a, 406b, 406c) and the input portion (404) of the cooler system (403).

[0065] Accordingly, each storage volume (406a, 406b, 406c) is part of an air circuit, and this air circuit includes its own first air damper (408a, 408b, 408c), its own air discharge area (409a, 409b, 409c), its own air gap (411a, 411b, 411c), and its own second air damper (410a, 410b, 410c). The air circuit may share a common conduit from the output section (405) of the cooler system (403) to a point dividing the upstream of a plurality of first air dampers (408a, 408b, 408c) in order to supply cooling air into the supply section for different first air dampers (408a, 408b, 408c). The air circuit may also share a common conduit from a point where it is combined downstream of the second air damper (410a, 410b, 410c) to return air to the input (404) of the cooler system (403).

[0066] When air is drawn from the air gaps (411a, 411b, 411c) through each of the second air dampers (410a, 410b, 410c), a low pressure or vacuum is created within the air gaps. The magnitude of the low pressure within the air gaps (411a, 411b, 411c) is controlled by the force drawing air into the cooler system (403) and the air flow through the second air dampers (410a, 410b, 410c). The second air dampers (410a, 410b, 410c) can be adjusted individually, and accordingly, the air flow through the second air dampers (410a, 410b, 410c) can be controlled. The force felt downstream of the second air dampers (410a, 410b, 410c) and the air drawn into the cooler system (403) is the same at each of the second air dampers (410a, 410b, 410c). The underpressure within each of the air gaps (411a, 411b, 411c) is controlled by adjusting the air flow through each of the second air dampers (410a, 410b, 410c). For example, increasing the air flow through one of the second air dampers (410a) relative to the other of the second air dampers (410b) can increase the underpressure within the air gap (411a) relative to the air gap (411b).

[0067] When cooled air is blown through the output (405) of the cooler system (403) and through the first air dampers (408a, 408b, 408c), overpressure is generated within the air discharge area (409a, 409b, 409c) above the storage volume (406a, 406b, 406c). The magnitude of the overpressure and temperature within the air discharge area (409a, 409b, 409c) is controlled by the temperature of the air leaving the cooler system (403), the force blowing air through the output (405) of the cooler system, and the air flow through each of the first air dampers (408a, 408b, 408c). The temperature within the air discharge area (409a, 409b, 409c) may vary to some extent depending on the shape and / or volume of the air discharge area. The first air dampers (408a, 408b, 408c) can be individually adjusted to control air flow. The force for blowing air out of the output section (405) of the cooler system (403) is the same at each of the first air dampers (408a, 408b, 408c). The overpressure and air temperature within each of the air discharge areas (409a, 409b, 409c) are controlled by adjusting the air flow through each of the first air dampers (408a, 408b, 408c). For example, increasing the air flow through one of the first air dampers (408a) relative to the other of the first air dampers (408b) can increase the overpressure within the air discharge area (409a) relative to the air discharge area (409b).

[0068] The system controls the temperature of each of the plurality of storage volumes (406a, 406b, 406c) by adjusting the air flow through the first damper (408a, 408b, 408c) of a specific storage volume (406a, 406b, 406c) to control overpressure and air temperature within the air discharge area (409a, 409b, 409c) associated with the storage volume (406a, 406b, 406c), and by adjusting the air flow through the second air damper (410a, 410b, 410c) of the corresponding storage volume (406a, 406b, 406c) to control underpressure within the air gap (411a, 411b, 411c) below the storage volume (406a, 406b, 406c). It further includes a controller (414) configured to control. The pressure difference between the overpressure in the air discharge areas (409a, 409b, 409c) and the underpressure between the air gaps (411a, 411b, 411c) determines the velocity of air through each storage volume (406a, 406b, 406c). A larger pressure difference increases the velocity of the air and increases the cooling effect of the air passing through the storage volumes (406a, 406b, 406c). A smaller pressure difference decreases the velocity of the air and decreases the cooling effect of the air passing through the storage volumes (406a, 406b, 406c).

[0069] By adjusting the air flow through the first and second air dampers, the controller (414) can control the storage volume temperature for each of the plurality of storage volumes (406a, 406b, 406c), and the storage volume temperature is controlled by the air temperature in the air discharge area (409a, 409b, 409c) and by controlling the pressure difference between the overpressure in the air discharge area (409a, 409b, 409c) and the underpressure in the air gap (411a, 411b, 411c).

[0070] Each of the storage volumes (406a, 406b, 406c) may include at least one temperature sensor, and the controller (414) may be configured to adjust the first air damper (408a, 408b, 408c) and the second air damper (410a, 410b, 410c) based on the temperature measured by at least one temperature sensor. The temperature sensor may be placed anywhere within the wall of the storage volume.

[0071] The controller (414) may include a plurality of control units for controlling the temperature of each of the storage volumes (406a, 406b, 406c).

[0072] The system may further include a fan (413a, 413b, 413c) positioned between the air gap (411a, 411b, 411c) and the second air damper (410a, 410b, 410c). The fan (413a, 413b, 413c) may be used to increase the underpressure within the air gap (411a, 411b, 411c) to maintain a differential pressure when necessary. In the illustrated embodiment, the fan (413a, 413b, 413c) is provided to each storage volume (406a, 406b, 406c) to force air flow for each storage volume (406a, 406b, 406c) as needed. In another embodiment, the fans (413a, 413b, 413c) may be common fans for all storage volumes (406a, 406b, 406c). This embodiment facilitates inexpensive control of airflow within each storage volume.

[0073] In one embodiment, one of the storage volumes (406a) maintains a storage volume temperature suitable for fruits, vegetables, flowers, etc., e.g., 10°C, another storage volume (406b) maintains a storage volume temperature suitable for perishable foods such as meat, fish, dairy products, e.g., 1 to 4°C, and a third storage volume (406c) maintains a freezing temperature, i.e., less than 0°C, typically -20°C. Of course, there may be more than three storage volumes, and each storage volume may have a different storage volume temperature. Additionally, there may be several storage volumes having similar storage volume temperatures. The controller (414) may also adjust the storage volume temperature within the storage volume from room temperature to freezing temperature or vice versa according to current or future storage needs.

[0074] In one embodiment, the storage and retrieval system (1) may be used for a vertical farm in which grain is grown within a vertical stack (407). The vertical stack (407) may include a special storage container (406) configured to allow air and light to enter the storage container for the grain or other suitable stacked vertical farm system. In this embodiment, each storage volume may have different control environments for optimal growth conditions for different grains.

[0075] In one embodiment, each of the air discharge areas (409a, 409b, 409c) is positioned on a container handling vehicle (401) so that the container handling vehicle can move on a horizontal rail (110) to lower and raise a storage container (106) and move the storage container around the storage system (1). The air discharge areas (409a, 409b, 409c) may be configured to isolate each air discharge area (409a, 409b, 409c) from any adjacent air discharge area, so that the air temperature and overpressure within one air discharge area are substantially independent of the air temperature and overpressure within an adjacent air discharge area. Any suitable shielding method may be used. In one embodiment, the air discharge areas (409a, 409b, 409c) may be in the shape of a hood separating the air discharge areas on the container handling vehicle (401). In another embodiment, the air discharge areas (409a, 409b, 409c) may be in the shape of a directional nozzle on the container handling vehicle (401). An air curtain and others may be used to help separate the areas.

[0076] In a large automated storage and retrieval system (1), more cooling may be required than can be provided by a single cooling system (403). To meet this requirement, the large automated storage and retrieval system may be equipped with multiple cooling systems (403), and each of the multiple cooling systems (403) cools multiple storage volumes as described above. The cooling system or cooling system (403) may take the entire automated storage and retrieval system or only a part thereof.

[0077] FIG. 6 is a schematic diagram of an alternative embodiment, wherein one of the air discharge regions (609c) is arranged below the horizontal rail (110) adjacent to the upper end of the upright member (102). In this embodiment, the output of the first air damper (408c) is vented directly into the storage volume (406c). The air discharge region (409) may include a plurality of vents surrounding the upper end of the storage volume (406c).

[0078] One advantage of arranging the air discharge area (609c) below the horizontal rail (110) is that the cold air entering the grid creates a "cold curtain" to prevent the air from moving freely between the container handling vehicle environment and the storage volume environment. This prevents the temperature of the container handling vehicle environment from falling below 0°C, thereby allowing the container handling vehicle to operate within its normal operating window.

[0079] In one embodiment, the cooler system (403) may include a heat exchanger that cools air drawn from an input, and heat or part of the heat may be transferred to one of the storage volumes (406a, 406b, 406c). This may be useful in a warmer storage volume, or when there is a need to rapidly heat a freezing zone due to a change in the storage system.

[0080] In one embodiment, a plurality of vertical walls (402) include an insulating material. The walls may be manufactured from an insulating material, the walls may be covered with an insulating material, or the insulating material may be part of a sandwich wall configuration. A vertical wall (403) including an insulating material is particularly useful when the difference in storage volume temperatures between two adjacent storage volumes is too large to be controlled by air flow alone.

[0081] Now, referring to FIGS. 4, 5a and 5b, the system may further include a bottom (412) having a plurality of ventilation holes provided between storage volumes (406a, 406b, 406c) and air gaps (411a, 411b, 411c) below storage volumes (406a, 406b, 406c), and the total area of ​​each of the plurality of ventilation holes increases as the horizontal distance of the ventilation holes from an air outlet communicating with air from the air gaps (411a, 411b, 411c) to a second air damper (410a, 410b, 410c) increases. The total area of ​​each of the plurality of ventilation holes may vary depending on the number and / or size of the ventilation holes. Small and / or fewer ventilation holes close to the air outlet and larger and / or more ventilation holes further from the air outlet will produce more uniform airflow and more uniform cooling within each storage volume. The total area of ​​each of the multiple ventilation holes can be adjusted, for example, by using one opening plate over another opening plate, and the two opening plates are moved relative to each other.

[0082] A plurality of ventilation holes may be provided by a plurality of perforations (501) within a panel (500) forming a bottom (412) arranged between the storage volumes (406a, 406b, 406c) and the gaps (411a, 411b, 411c) located at the lower ends of the storage volumes (406a, 406b, 406c).

[0083] The storage volume temperature within a plurality of storage volumes of the automated grid-based storage and retrieval system (1) described in detail above is controlled by a method, and this method is:

[0084] - A step of adjusting the cooler system (403) to blow cooled air to a first temperature through the output section (405) of the cooling system;

[0085] - A first air damper (408a, 408a, 406b, 406c) is used to control the overpressure and air temperature within the air discharge areas (409a, 409b, 409c, 609c) above the storage volumes independently for each of the plurality of storage volumes (406a, 406b, 406c), so that the storage volume temperature is controlled by the air temperature within the air discharge areas (409a, 409b, 409c, 609c) above the storage volumes and by controlling the pressure difference between the overpressure within the air discharge areas (409a, 409b, 409c, 609c) and the underpressure within the air gaps (411a, 411b, 411c) associated with the respective storage volumes for each storage volume (406a, 406b, 406c), and so that the storage volume temperature is controlled by controlling the pressure difference between the overpressure within the air discharge areas (409a, 409b, 409c, 609c) and the underpressure within the air gaps (411a, 411b, 411c) associated with the respective storage volumes for each storage volume (406a, 406b, 406c). It includes the step of controlling air flow through the second air damper (410a, 410b, 410c) and the underpressure in the void (411a, 411b, 411c) below the storage volume.

[0086] The first air damper (408a, 408b, 408c) and the second air damper (410a, 410b, 410c) can be adjusted for a given storage volume based on the temperature measured by a temperature sensor within the storage volume (406a, 406b, 406c).

[0087] Air flow from the first air dampers (408a, 408b, 408c) can be directed to an air discharge area arranged below a horizontal rail (110) adjacent to the upper end of the upright member (102).

[0088] Heat from the heat exchanger in the cooler system (403) can be transferred to at least one of the multiple storage volumes (406a, 406b, 406c).

[0089] The underpressure within the air gap (411a, 411b, 411c) can be adjusted by adjusting the fan (413a, 413b, 413c) placed between the air gap (411a, 411b, 411c) and the second air damper (410a, 410b, 410c).

[0090] In the prior art description, various aspects of a delivery vehicle and an automated storage and retrieval system according to the present invention have been described with reference to exemplary embodiments. For the sake of illustrative purposes, specific numbers, systems, and configurations have been described to provide a complete understanding of the system and its operation. However, this description is not intended to be interpreted in a limiting sense. Various modifications and changes to the exemplary embodiments that are obvious to those skilled in the art related to the disclosed claims, as well as other embodiments of the system, are considered to be included within the scope of the present invention. Explanation of the symbols

[0091] 1. Automated storage and retrieval system of the prior art 100 Skeletal Structures 102 Upright members of skeletal structures 103 Horizontal members of skeletal structures 104 Storage Grid 105 Storage Columns 106 storage containers Specific location of the 106' storage container 107 laminates 108 rail system 110 Parallel rail in the first direction (X) 110a First rail in the first direction (X) 110b Second rail in the first direction (X) 111 Parallel rail in the second direction (Y) 111a First rail in the second direction (Y) 111b Second rail in the second direction (Y) 112 Access opening 119 1st Port Column 120 2nd Port Column 201 Conventional storage container vehicle 201a Vehicle body of the storage container vehicle (201) 201b Driving means / wheel arrangement, first direction (X) 201c Driving means / wheel arrangement, second direction (Y) 301 Conventional cantilever storage container vehicle 301a Vehicle body of the storage container vehicle (301) 301b Driving means of the first direction (X) 301c Driving means for the second direction (Y) 304 Gripping device 121 Control System X first direction Y second direction Z third direction 400 skeletal structures 401 storage container vehicle 402 Vertical airtight wall 403 Cooler System 404 Cooler System Input 405 Cooler System Output 406a Storage volume A 406b Storage volume B 406c Storage volume C 407 laminate 408a First air damper A 408b First air damper B 408c 1st Air Damper C 409a Air discharge area A 409b Air discharge area B 409c Air discharge area C 609c Air discharge area C 410a Second air damper A 410b Second air damper B 410c Second air damper C 411a Void A below storage volume 411b Void B below storage volume 411c Void C below storage volume 412 floor 413a fan 413b fan 413c fan 414 Controller 500 bottom panel 501 Perforation within the lower panel (600)

Claims

Claim 1 An automated grid-based storage and retrieval system (1) comprising: - a skeletal structure (100) including an upright member (102) and a grid of horizontal rails (110) provided at the upper end of the upright member (102), forming a plurality of storage volumes (406a, 406b, 406c) arranged adjacently below the horizontal rails (110); - a plurality of vertical walls (402) surrounding each of the plurality of storage volumes (406a, 406b, 406c); - a cooling system (403) configured to draw air from an input (404) of the cooling system (403), to cool the air drawn from the input (404), and to blow the cooled air through an output (405) of the cooling system (403); and - of the plurality of storage volumes (406a, 406b, 406c). For each, the system further comprises a first air damper (408a, 408b, 408c) connected between an output portion (405) of the cooler system (403) and an air discharge area (409a, 409b, 409c, 609c) above the storage volume (406a, 406b, 406c), and a second air damper (410a, 410b, 410c) connected between an air gap (411a, 411b, 411c) below the storage volume (406a, 406b, 406c) and an input portion (404) of the cooler system (403), wherein, independently for each of the plurality of storage volumes (406a, 406b, 406c), the first air associated with the storage volume A system comprising a controller (414) configured to control the pressure difference between the air discharge area and the air gap (411a, 411b, 411c) by adjusting the air flow through the dampers (408a, 408b, 408c) and adjusting the air flow through the second air dampers (410a, 410b, 410c) associated with the storage volume. Claim 2 In claim 1, the air discharge areas (409a, 409b, 409c) are arranged on the horizontal rail (110) at a distance that allows a container handling vehicle (401) on the horizontal rail (110) to move directly below the air discharge areas (409a, 409b, 409c), in a system. Claim 3 A system according to claim 1 or 2, wherein the air discharge area (609c) is arranged below the horizontal rail (110) adjacent to the upper end of the upright member (102). Claim 4 A system according to claim 1 or 2, wherein the vertical wall (402) comprises an insulating material. Claim 5 A system according to claim 1 or 2, wherein the cooler system (403) comprises a heat exchanger, the heat exchanger is configured to cool air drawn from the input section (404) and is also configured to transfer heat to at least one of the plurality of storage volumes (406a, 406b, 406c). Claim 6 A system according to claim 1 or 2, wherein the system further comprises a fan (413a, 413b, 413c) disposed between the air gap (411a, 411b, 411c) and the second air damper (410a, 410b, 410c). Claim 7 A system according to claim 1 or 2, wherein the cooler system (403) is a fan-coil unit. Claim 8 A system according to claim 1 or 2, wherein each of the storage volumes (406a, 406b, 406c) includes a temperature sensor, and the controller (414) is configured to adjust the airflow through the first air damper (408a, 408b, 408c) and the airflow through the second air damper (410a, 410b, 410c) based on the temperature measured by the temperature sensor. Claim 9 The system according to claim 1 or 2 further comprises a bottom (412) having a plurality of ventilation holes provided between the storage volume (406a, 406b, 406c) and the air gap (411a, 411b, 411c) below the storage volume (406a, 406b, 406c), wherein the total area of ​​each of the plurality of ventilation holes increases as the horizontal distance of the ventilation holes from an air outlet communicating with air from the air gap (411a, 411b, 411c) to the second air damper (410a, 410b, 410c) increases. Claim 10 A system according to claim 9, wherein the plurality of ventilation holes are provided by a plurality of perforations (501) within a panel (500) forming a bottom (412) arranged between the storage volume (406a, 406b, 406c) and the gaps (411a, 411b, 411c) located at the lower ends of the storage volume (406a, 406b, 406c). Claim 11 A system according to claim 1 or 2, wherein each air discharge area (409a, 409b, 409c) is configured to block said air discharge area (409a, 409b, 409c) from each adjacent air discharge area (409a, 409b, 409c). Claim 12 A system according to claim 1 or 2, wherein the system further comprises a first common conduit connecting the output portion (405) of the cooler system (403) to each of the first air dampers (408a, 408b, 408c), and a second common conduit connecting each of the second air dampers (410a, 410b, 410c) to the input portion (404) of the cooler system (403). Claim 13 A method for controlling a plurality of storage volume temperatures in an automated grid-based storage and retrieval system (1) of claim 1, comprising: - adjusting the cooler system (403) to blow cooled air to a first temperature through the output (405) of the cooler system (403); - adjusting the air flow through the first air damper (408a, 408b, 408c) and the air flow through the second air damper (410a, 410b, 410c) independently for each of the plurality of storage volumes (406a, 406b, 406c) to control the pressure difference between the air discharge area (409a, 409b, 409c, 609c) above the storage volume and the air flow through the second air damper (410a, 410b, 410c) so that the storage volume temperature is controlled by the air temperature within the air discharge area (409a, 409b, 409c, 609c) above the storage volume. Method including. Claim 14 A method according to claim 13, further comprising the step of directing the air flow from the first air damper (408a, 408b, 408c) to an air discharge area (609c) arranged below the horizontal rail (110) adjacent to the upper end of the upright member (102). Claim 15 A method according to claim 13 or 14, wherein the method further comprises the step of transferring heat from a heat exchanger in the cooler system (403) to at least one of the plurality of storage volumes (406a, 406b, 406c). Claim 16 The method according to claim 13 or 14, further comprising the step of adjusting a fan (413a, 413b, 413c) disposed between the air gap (411a, 411b, 411c) and the second air damper (410a, 410b, 410c) to adjust the underpressure within the air gap (411a, 411b, 411c). Claim 17 The method according to claim 13 or 14, further comprising the step of adjusting the first air damper (408a, 408b, 408c) and the second air damper (410a, 410b, 410c) for a given storage volume (406a, 406b, 406c) based on a temperature measured by a temperature sensor within the storage volume (406a, 406b, 406c).

Images