Storage system and method

Abstract

The present invention relates to storage systems and methods. The storage system comprises: a first set of parallel tracks or rails and a second set of parallel tracks or rails, the second set extending transversely to the first set in a substantially horizontal plane to form a grid pattern comprising a plurality of grid spaces; a plurality of storage containers arranged in one or more stacks, the one or more stacks being located below the tracks or rails, each stack being located within the footprint of the grid spaces; and a load handling device arranged to move laterally on the tracks or rails above the one or more stacks of storage containers, the load handling device comprising a lifting device arranged to lift one or more storage containers or parts of one or more storage containers from the top of the stack. The lifting device comprises an umbilical cable to provide service from a service source in the load handling device to one or more storage containers to be lifted from the top of the stack by the load handling device in use.

Description

[0001] This application is a divisional application of the patent application with application number 201780069603.9, application date October 19, 2017, and invention name “Storage System and Method”. Technical Field

[0002] The present invention relates to storage systems. More particularly, but not exclusively, the present invention relates to a storage system having stacks of storage bins or containers and a robot operating over the stacks to pick, move, remove or replace the containers.

[0003] This application claims priority to UK patent application No. GB1617727.1 filed on October 19, 2016, the entire contents of which are incorporated herein by reference.

[0004] This application is related to UK patent applications No. GB2541766, No. GB ​​2540651, No. GB ​​2541055, No. GB ​​2541765 and No. GB ​​2540838, all filed on 15 April 2016 and with a priority date of 15 April 2015, the contents of all of which are incorporated herein by reference. Background Art

[0005] Some commercial and industrial activities require systems that can store and retrieve a large number of different products. One known type of system for storing and retrieving items in multiple product lines involves arranging storage containers or containers one on top of another in a stack, the stack being arranged in rows. The storage containers or containers are accessed from above, eliminating the need for aisles between rows and enabling more containers to be stored in a given space.

[0006] In known storage and retrieval systems, containers are passive and exist only to contain items. Although the identity of a given container can be known and associated with the contents of the given container by, for example, a barcode, the containers in the system do not have active components or onboard intelligence.

[0007] In container systems, containers include monitoring and control systems for containers that, for example, refrigerate the contents, containers that include gas monitoring systems for monitoring fruit ripening, and containers that include positioning devices that enable individual containers to be tracked and traced in ports.

[0008] Methods for handling containers stacked in multiple columns and rows have been known for decades. In some such systems, such as described in US Pat. No. 2,701,065 (Bertel), such systems include freestanding stacks of containers arranged in rows to reduce the storage space associated with storing the containers, but still provide access to a particular container if necessary. Access to a given container is enabled by providing a relatively complex lifting mechanism that can be used to stack a given container and remove a given container from the stack. However, the cost of such systems is impractical in many cases, and they are primarily commercialized for the storage and handling of large containers.

[0009] The idea of ​​using a free-standing container stack and providing a mechanism to extract and store a specific container has been further developed, such as described in EP 0767113 B (Cimcorp). Document '113 discloses a mechanism for removing multiple stacked containers, which uses a robotic load manipulator in the form of a rectangular tube, which descends around the container stack and is configured to grab containers at any level in the stack. In this way, multiple containers can be lifted from the stack at once. The movable tube can be used to move multiple containers from the top of one stack to the top of another stack or to move containers from the stack to an external position, and vice versa. This system can be particularly useful when all containers in a single stack contain the same product (called a single product stack).

[0010] In the system described in document '113, the height of the tube must be at least as high as the height of the largest container stack so that the tallest container stack can be extracted in a single operation. Accordingly, when used in an enclosed space such as a cargo hold, the maximum height of the stack is limited by the need to accommodate the tube of the load manipulator.

[0011] EP 1037828 B1 (Autostore), the contents of which are incorporated herein by reference, describes a system in which a stack of containers is arranged within a frame structure. A system of this type is schematically shown in Figures 1 to 4 of the accompanying drawings. A robotic load handling device can be controllably moved around the stack on the stack system, on the uppermost surface of the stack.

[0012] Other forms of robotic load handling devices are further described in, for example, Norwegian Patent No. 317366, the contents of which are incorporated herein by reference.

[0013] Figures 3a and 3b are schematic perspective views of a form of load handling equipment suitable for use in a robotic picking system, viewed from the rear and front respectively, and Figure 3c is a schematic front perspective view of the load handling equipment of Figures 3a and 3b for lifting boxes or containers.

[0014] A further development of the load handling apparatus is described in UK Patent Application No. 1314313.6 (Ocado Innovations Ltd) in which each robotic load manipulator covers only one grid space, allowing a higher density of load manipulators and therefore higher productivity for a given size system.

[0015] In such known storage systems, a large number of containers are densely stacked. The contents of the containers may deteriorate, may require lighting, heating or cooling, or may require some form of monitoring or control not currently provided by known systems. Summary of the invention

[0016] According to the present invention, a storage system is provided, which comprises: a first group of parallel tracks or rails and a second group of parallel tracks or rails, the second group extending transversely to the first group in a substantially horizontal plane, so that the tracks form a grid pattern comprising a plurality of grid spaces; a plurality of storage containers arranged in stacks, located below the tracks, each stack being located within the occupied area of ​​the grid space; and at least one load handling device, the at least one load handling device being disposed on the grid and arranged to move laterally above the stack and on the tracks, the load handling device comprising a lifting device, the lifting device being arranged to lift one or more containers or parts of the one or more containers from the stack; wherein the plurality of containers comprises a service device for providing services to the container or each container, so that an independent container within the stack can perform additional functions, the lifting device comprising a releasable connection device for connecting the load handling device to the container to be lifted, the electrical connection device being operative to maintain power or data or signals or other services for the container when the container is lifted from the stack within the storage system.

[0017] According to the present invention, there is further provided a method for maintaining service for a container within a storage system, the method comprising the following steps: positioning a load handling device above a container to be removed from the system; lowering a lifting device from the load handling device, the lifting device comprising a connecting device that is releasably connected to the container; lifting the container from the storage system, and maintaining a connection between power or data or signals or other services and the container via the load handling device.

[0018] Advantageously, according to one form of the invention, individual containers within a storage system may be serviced in addition to or as an alternative to items, but individual containers may be removed from the system without losing data or information stored in the containers due to the removal of power supplied via, for example, a vertical member of the storage system.

[0019] Furthermore, individual containers within a storage system may contain no items but may contain services provided to other containers or services that monitor or control the state of the system, and in such a way that the integrity of the data contained in the service is protected.

[0020] In this way, depending on the services provided in the individual containers, the contents can be continuously powered and data flow between containers maintained so as to maintain control or monitoring of the containers within the system or to maintain system-related data stored in a storage device or processing device within the system.

[0021] In addition, because the power and data connection with the container is maintained by means of an electrical connection and / or data connection with the load handling equipment that lifts and carries the container, services and states within the container, such as temperature, humidity, lighting or other parameters, can be maintained. The control function can be provided by a local control system in the box or by a central system that sends signals to the actuators in the container. In addition, control and monitoring of peer-to-peer communications between non-adjacent containers can be achieved via wireless or other means. The transmitted data can provide information about the state of the box, information about the contents of the box, or information about the state of adjacent containers can be provided to monitor the entire storage system. In addition, in this way, the container can be heated or cooled according to the needs of the specific contents of the box. For whatever reason, all these services, data and control capabilities are maintained when the container is removed from the stack.

[0022] In this manner, the present invention overcomes the problems of the prior art and provides a system and method that improves reliability and reduces the overall cost of a large case handling storage system, wherein the container comprises a service, storage device or a handling device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will now be described with reference to the accompanying drawings, in which:

[0024] FIG1 is a schematic perspective view of a frame structure for accommodating a plurality of container stacks in a storage system;

[0025] FIG2 is a schematic plan view of a portion of the frame structure of FIG1 ;

[0026] Figs. 3(a) and 3(b) are schematic perspective views, viewed from the rear and front respectively, of one form of robotic load handling apparatus for use with the frame structure of Figs. 1 and 2, and Fig. 3(c) is a schematic perspective view of a known load manipulator apparatus for lifting a box in use;

[0027] Figure 4 is a schematic perspective view of a known storage system that includes a plurality of load manipulator devices of the type shown in Figures 3(a), 3(b) and 3(c) mounted on the frame structure of Figures 1 and 2 together with a form of robotic service device according to the present invention.

[0028] Figure 5a and Figure 5b is a schematic perspective view of a container of one form, Figure 5a A view showing one side of the container, Figure 5b shows a view of the opposite side of the same container, the container comprising services and facilities connected via connection means supplied via routing means located on at least one side of the container;

[0029] Figure 6a and Figure 6b is a schematic perspective view of another form of a container, the container including a lighting device and a fluid supply device;

[0030] Figure 7a Shown in Figure 5a An expanded view of a connector device on a container;

[0031] Figure 7b Shown in Figure 5b An expanded view of a routing device on a container;

[0032] Figure 8a , Figure 8b and Figure 8c is a schematic perspective view of a container including a lighting device located in the container or in a portion of the container;

[0033] Fig. 9 yes Figure 6a and Figure 6b A schematic perspective view of a stack of containers of , showing the mating connectors on the containers when the containers are stacked;

[0034] Fig.10 yes Fig. 9 A schematic perspective view of a stack of containers of the type described above, the containers being located within a frame of a storage and retrieval system of one form, the connectors being further connected to a supply device located in a base of the storage and retrieval system;

[0035] Fig.11 is a schematic perspective view of the connection between the base of the storage and retrieval system and the bottom container in the stack;

[0036] Fig.12 is a schematic perspective view of a container including a fluid supply and further including a fluid reservoir;

[0037] Fig.13is a schematic perspective view of a container comprising a plurality of smaller containers, each smaller container comprising a given service connectable via connection means located on at least one side of the container;

[0038] Fig.14 is a schematic perspective view of a load handling apparatus according to one form of the invention, the load handling apparatus comprising a lifting apparatus, the lifting apparatus further comprising releasable connection means, the connection means comprising means for electrically connecting a container to a power source located in or on the load handling apparatus;

[0039] Fig.15 yes Fig.14 an expanded schematic perspective view of a lifting device of FIG. 1 , showing in more detail one form of electrical connection means for electrically connecting a container to a load handling device;

[0040] Fig.16 is a schematic perspective view of a portion of a storage system showing a plurality of stackable containers within a vertical member of the storage system, each container being electrically connected to the container immediately above and / or below it, the container at the bottom of each stack being electrically connected to a power source located within the storage system, said connections between the containers or between the containers and a base of the system being releasable when a lifting device of a load handling device is connected;

[0041] Fig.17 yes Fig.16 a schematic perspective view of a portion of a system showing a lifting device in accordance with one form of the present invention in position and connected to a topmost container of a stack of containers within a storage system, providing power and / or signal connections to a load handling device via a daisy chain cable; and

[0042] Fig.18 yes Fig.16 and Fig.17 Schematic perspective view of a portion of a system showing a lifting device according to one form of the invention, which lifts a container from a stack of containers, the container being lifted and thus electrically connected to a load handling device via suitable cables. DETAILED DESCRIPTION

[0043] As shown in Figures 1 and 2, stackable containers known as boxes 10 are stacked one on top of another to form a stack 12. The stack 12 is arranged in a frame structure 14 located in a cargo hold or manufacturing environment. Figure 1 is a schematic perspective view of the frame structure 14, and Figure 2 is a view looking down from the top, showing a single stack 12 of boxes 10 arranged within the frame structure 14. Each box 10 typically holds a plurality of product items or articles (not shown), and the product items within the box 10 can be the same, or can be different product types depending on the application.

[0044] The frame structure 14 includes a plurality of vertical members 16 supporting generally horizontal members 18, 20. A first set of generally parallel generally horizontal members 18 are arranged perpendicular to a second set of generally parallel generally horizontal members 20 to form a plurality of horizontal grid structures supported by the vertical members 16. The members 16, 18, 20 are typically made of metal. The boxes 10 are stacked between the members 16, 18, 20 of the frame structure 14 such that the frame structure 14 prevents horizontal movement of the stack 12 of boxes 10 and guides vertical movement of the boxes 10.

[0045] The top of the frame structure 14 includes tracks 22 arranged in a grid pattern across the top of the stack 12. Referring also to Figures 3 and 4, the tracks 22 support a plurality of robotic load handling devices 30. A first group 22a of parallel tracks 22 guides the load handling devices 30 to move across the top of the frame structure 14 in a first direction (X), and a second group 22b of parallel tracks 22 arranged perpendicular to the first group 22a guides the load handling devices 30 to move in a second direction (Y) perpendicular to the first direction. In this manner, the tracks 22 allow the load handling devices 30 to move in two dimensions in the XY plane, so that the load handling devices 30 can be moved to a position above any stack 12.

[0046] Each load handling apparatus 30 includes a vehicle 32 arranged to travel along the X and Y directions on the tracks 22 of the frame structure 14 above the stack 12. A first set of wheels 34, including a pair of wheels 34 at the front of the vehicle 32 and a pair of wheels 34 at the rear of the vehicle 32, is arranged to engage two adjacent tracks of a first set 22a of tracks 22. Similarly, a second set of wheels 36, including a pair of wheels 36 on each side of the vehicle 32, is arranged to engage two adjacent tracks of a second set 22b of tracks 22. Each set of wheels 34, 36 can be raised and lowered so that either the first set of wheels 34 or the second set of wheels 36 engages the respective set of tracks 22a, 22b at any time.

[0047] When the first set of wheels 34 is engaged with the first set of tracks 22a and the second set of wheels 36 is fully raised from the tracks 22, the wheels 34 can be driven by a drive mechanism (not shown) housed in the vehicle 32 to move the load handling apparatus 30 in the X direction. To move the load handling apparatus 30 in the Y direction, the first set of wheels 34 is fully raised from the tracks 22 and the second set of wheels 36 is lowered into engagement with the second set of tracks 22a. The drive mechanism can then be used to drive the second set of wheels 36 to achieve movement in the Y direction.

[0048] In this manner, one or more robotic load handling devices 30 may be moved around the top surface of the stack 12 on the frame structure 14 under the control of a central picking system (not shown). Each robotic load handling device 30 is provided with means for lifting one or more boxes or containers to retrieve the desired product from the stack 12. In this manner, multiple products may be retrieved from multiple locations in the grid and stack at any time.

[0049] It will be appreciated that if the required container 10 is not at the top of the stack 12 , multiple load handling devices will need to cooperate in order to retrieve the target container 10 if each load handling device can only carry a single container 10 .

[0050] 4 shows a typical storage system as described above, with a plurality of load handling devices 30 acting on the stack 12 so as to cooperate in extracting containers 10 from the stack 12 and replacing containers 10 to the stack 12. Unnecessary containers 10 removed from the stack 12 in pursuit of a target container 10 are placed back into the stack 12, at an empty location.

[0051] 1 and 4 illustrate boxes 10 in stacks 12 within a storage system. It will be appreciated that there may be a large number of boxes or containers in any given storage system, and that many different items may be stored within the boxes or containers in the stacks 12, that each box or container may contain a different item within a single stack 12, or that similar items may be stored in boxes or containers 10 in a given stack, or that multiple different inventory items or items may be stored in separate containers 10. While the above described system is contemplated for the storage and pickup of groceries in an online shopping e-commerce solution, it will be appreciated that other uses may be contemplated, and that other items such as packages and letters may be stored in the containers 10.

[0052] Preferably, in a first embodiment of the invention, the box or container comprises storage means or processing means or the like. It will be appreciated that all boxes or containers may comprise storage means or processing means. Alternatively, only a portion of the boxes or containers may comprise storage means or processing means. It will be appreciated that the storage means or processing means may comprise computer means or any other means suitable for performing mathematical or computational functions.

[0053] Figure 5a and Figure 5b One form of suitable container is shown, namely a container 10 that can be held in a stack by mating surfaces that form an interference fit between adjacent containers 10. In addition, Figure 5a and Figure 5b The containers 10 comprise connection means 40 at mating surfaces, wherein the containers are to be mated in order to form a stack 12 of containers 10 . Figure 5a and Figure 5bThe connection means 40 shown in the drawings comprises a push-fit male connector 40 located at the top edge of the container 10. The bottom edge of the container comprises a female connector. The two containers are connected by a routing device, which may be formed as a component of the container 10 as a molded part, or may be a pipe, cable, wire or other routing device mounted on the surface of one side of the container 10. It will be appreciated that this form of connector device and routing device is only one form of connector and routing device that can be used, and any suitable form of releasable connector device can be locked or connected and unlocked or disconnected as required by the movement of the container into and out of the stack 12.

[0054] For example, the connection device 40 may include a conductive layer deposited on the mating surface of the container 10, or may include spring-loaded contacts or springs as contacts or any other connection device capable of carrying power, data or other signals between two or more containers 10. Non-contact power transmission methods such as magnetic induction or RF induction and optical methods may also be used. In addition, the connection device 40 may include carbon-loaded rubber contacts that are capable of carrying signals or data between two or more mating containers 10 in a stack.

[0055] Although the containers may be held in the stack 12 by interference means or by adjacent containers 10 having shaped mating surfaces, the containers 10 may be locked together via suitable locking means (not shown). The locking means may be used to releasably lock two or more containers 10 together in the stack 12. The locking means must be remotely operable so that the load handling device can lift individual containers 10 or multiple containers 10 locked together. Any form of remote locking and unlocking means may be used. For example, an electromagnetic locking means or any other means suitable for performing this function.

[0056] Figure 5a and Figure 5b Further shown is a separate box 10 comprising a power supply device 42 for supplying, for example, a heating device 56, a cooling device 58, a data logging device 44, a communication device 46 and / or Figure 6a and Figure 6b10. If power is to be transmitted to adjacent containers 10 in the stack 12, the box 10 further includes a power control device 43, which is used to control the power transmitted to the service or each service and to control the power transmitted to other containers 10 in the stack 12. It will be appreciated that the container 10 includes a power control device, and that the control device can power the heater 56, the cooler 58, the lights 60 or any other service requiring power. Any component requiring power can utilize the power supply device 42. The power supply device may include a battery, or may include a device for transmitting power from an external power source from the base of the storage system through the connection device 52 on the container 10 or via the vertical members 16 of the grid.

[0057] Furthermore, the containers 10 in the stack 12 may be supplied with power, data or any other signal via power and / or data connectors located in the cargo hold floor. Power may be transmitted upwardly in the stack 12 via contacts 52 in the mating surface of the container 10. Furthermore, services may flow upwardly in the stack 12 of containers 10 from the floor, for example cooling or heating fluids may be utilized in this manner.

[0058] Figure 5a and Figure 5b Further shown is an independent box 10, which includes at least data recording means 44 and communication means 46 for transmitting recorded data to a remote central data recording device. The data recording means 44 includes sensors suitable for monitoring conditions such as temperature, any gas emissions such as due to fruit decay, and humidity in the box 10. The data recording means 44 and the communication means 46 enable the contents and conditions of the independent container 10 to be monitored.

[0059] In addition, knowing information about a particular container 10 in a stack 12 in the system enables monitoring of the status of the entire storage system. Although the boxes or containers 10 themselves may be anonymous, a unique identification may be assigned to each box or container 10 in the storage system. In this way, the location of each box or container 10 (and associated its contents) may be trackable and identifiable by the system via a communication device. In this way, since each box or container 10 has information about the identification of the immediately adjacent boxes or containers 10 and the bottom box or container 10 in any stack has information that there is no container 10 below it, a topology of boxes or containers 10 may be constructed.

[0060] It will be appreciated that any communication type and communication method may be used, for example WiFi, Bluetooth, 3-wire serial, SigFox or other dedicated systems, such as described in UK patent application number GB 1509793.4 (Ocado Innovations Ltd), the contents of which are incorporated herein by reference. It will be appreciated that any other suitable communication means or communication protocol may be used.

[0061] Figure 5a and Figure 5b Further shown is a separate container 10 of the stack 12, which includes a heating device 56 and / or a cooling device 58 and a temperature monitoring device 50 for monitoring the temperature in the box 10. The heating device 56 may include a direct device through which a hot fluid (e.g., hot air) flows or an indirect device (e.g., a radiator device), or may further include an electric heater or an electromagnetic induction heater.

[0062] The cooling device 58 may include a Peltier cooler, or may include a direct device through which a cool fluid (eg, cool air) flows, or an indirect device (eg, a radiator device) including a driven ice slurry compressor.

[0063] In these ways, the temperature of the individual containers 10 can be monitored, controlled and changed depending on the contents of the individual boxes 10. If the contents of the boxes require refrigeration or freezing, the individual boxes can be maintained at a temperature of 5°C for refrigeration and below 5°C for freezing, without the need to maintain a portion of the stack 12 in the storage system at a predetermined temperature via space heaters and coolers.

[0064] It will be appreciated that these are examples only and that any suitable form of heater or cooler may be used to achieve the desired effect. The boxes or containers 10 may be designed and arranged so that each box or container 10 is sealed, for example in an airtight manner, by the box or container 10 located above. The top box or container 10 in each stack 12 may be provided with a lid (not shown) to seal the top box or container 10. Sealing the boxes or containers 10 in this way enables the temperature within the individual boxes or containers to be more easily controlled by suitable heating or cooling means.

[0065] Figure 6a and Figure 6b An alternative form of tank or container 10 is shown which includes lighting means 60 and fluid supply means 72. The same connector 40 and connector 17 may be used to send power to the lighting means 60 or to deliver water to the fluid supply means 72, for example.

[0066] Figure 7a and Figure 7bAn expanded view of the male connector 40 and the female connector 17 located on or in one side of the box or container 10 is shown. Figure 7a and Figure 7b Only one example of a connection arrangement that may form a connection between adjacent boxes or containers 10 in a stack 12 of containers 10 is shown in greater detail.

[0067] FIG8 shows three examples of individual boxes or containers 10 of a stack 12, the boxes or containers 10 including lighting devices. The lighting device 60 can be arranged in the base of the box to illuminate the box 10 below. Alternatively, the lighting device 60 can include a cover 62, which contains a suitable bulb, LED or any other suitable form of lighting device. The cover 62 can be removably attached to the box 10 and folded up during the removal of the box 10 from the stack 12. Likewise, the lighting device 60 is supplied with power via the connector device 40 and the connector device 17 located on the container 10.

[0068] Fig. 9 A stack 12 of boxes or containers 10 is shown in FIG8 . The boxes or containers 10 include a fluid supply and lighting 60. Connectors 40 and 17 mate together to connect each box or container 10 to the boxes or containers 10 immediately above and below it. In this way, services such as electricity (to power the lighting 60) or water (to rinse the contents of the individual containers 10) can be sent through the containers in the stack 12.

[0069] Fig.10 A portion of a frame 14 of a storage system is shown, the frame including a plurality of boxes or containers 10 located therein, the boxes or containers 10 carrying services upwardly through the frame 14 of the system via wires, cables or pipes or any other suitable means 17. Fig.10 As seen in more detail in FIG. 1 , the bottom box or container 10 in the stack 12 is connected via a connector 72 to a supply device that is sent through the base of the storage system. It will be appreciated that Fig.10 As shown in , the supply means in the base may be located in a movable base 76 of the system, but may also be delivered beneath the floor of a building that includes the storage system, or may be delivered via other means.

[0070] Fig.11 The connection means between the stack 12 of boxes or containers 10 and the supply means in the base 76 of the system are shown in more detail. It will be appreciated that this is only one example of a suitable connection means and that any connector system that releasably connects the box or container 10 to power, data, electrical, lighting, telecommunications or any other supply or service is envisioned.

[0071] Fig.12Another form of independent box or container 10 according to the present invention of the stack 12 is shown, the box or container 10 includes a fluid supply 72 and further includes a fluid reservoir 74. It may be necessary to supply water to the contents of the box or container 10. Accordingly, the box or container 10 is provided with a reservoir 54 that can be filled with a liquid or a gas. In order to fill the reservoir 74, the box or container 10 can be removed from the stack 12 by a robotic load handling device and brought to a location in the system where the reservoir can be filled as required. Alternatively, the required fluid can be sent to a specific container 10 via the vertical members 16 of the grid system.

[0072] Fig.13 Another embodiment of the invention is shown, in which a box or container 100 comprises a plurality of smaller boxes or containers 110 , each comprising a given service connectable via connection means 17 , 40 located on at least one side of the box or container 10 .

[0073] In use, the storage system described above with reference to the accompanying drawings includes a large number of boxes or containers 10 arranged in a stack 12. In one example, the storage system includes different categories of boxes or containers 10 dispersed within the system. For example, there may be empty boxes or containers 10, boxes or containers 10 containing items to be stored, boxes or containers 10 containing services such as power devices or communication devices or data transmission devices or data storage devices, boxes or containers 10 that can be heated, boxes or containers 10 that can be cooled, boxes or containers 10 that include items that require liquids and / or light. It will be appreciated that some or all of the boxes or containers 10 may contain one or more services or devices as described above. For example, a box or container 10 having a reservoir 54 may also be provided with a lighting device 60.

[0074] Providing data logging and condition monitoring devices in the boxes or containers 10 within the stack 12 enables the generation of a state and topology map of the system that would not otherwise be possible unless a particular box or container 10 is removed and inspected. In addition, including camera devices within a number of the boxes or containers 10 allows the containers to be moved around the system to inspect the state of the grid and / or other boxes or containers 10.

[0075] Furthermore, servicing specific individual bins or containers 10 via verticals 16 or via bin-to-bin contacts enables items with different needs to be stored within the same storage system without resorting to allocating the system and separating items with different needs into separate sections of the grid.

[0076] Furthermore, the connections between boxes or containers 10 and the communication between containers 10 and stacks 12 generate a knowledge base of the storage system in real time, which will help in possible disaster recovery in the event of a power outage, for example. The alternative would be to empty all containers and rebuild the stack, which would be inefficient and expensive.

[0077] The system described above has many different uses. The foregoing description provides details of specific control and monitoring services that can be used in some of the following situations. According to many aspects of the present invention, some non-limiting examples of applications for the smart box or container 10 system may include, but are not limited to, the following:

[0078] The box or container 10 including the temperature sensing device can be used to monitor the temperature of the refrigerated section, the frozen section or the room temperature section of the storage system. For example, the temperature increase in the room temperature part of the system may cause the melting of chocolate or the ignition of combustibles. This may be a particular problem in the summer months when the climate is warmer.

[0079] The bins or containers 10 including the camera device may be used to monitor the status of the grid and other bins or containers 10 in the stack 12. The robotic load handling equipment 30 may be used to move the bins or containers 10 around the storage system to inspect the system or other bins or containers 10 or portions of the stack 12 as needed. This may be relevant if there is a leak in the system or other issues with the integrity of the system, the grid or bins or containers.

[0080] The box or container 10 identification means within each individual container 10 together with the communication means between boxes or containers 10 or stacks 12 can be used to create a topological profile of the storage system where peer identification is possible. In the event of a catastrophic failure of the system controlling the stack, the topological information can be used to create a disaster recovery scenario.

[0081] Individual boxes or containers 10 may be provided with lighting devices 60 for use in conjunction with monitoring devices and camera devices to aid in the inspection of individual boxes or containers 10 or the entire system. In addition, the contents of the boxes or containers 10 may benefit from lighting of a particular wavelength or a range of wavelengths. For example, appropriate lighting may be used for unripe fruit. In addition, the boxes or containers 10 may be used for cultivation purposes.

[0082] The storage tank or container 10 may be provided with sensors to detect gas, smoke, fire or heat, which activate a sprinkler system to extinguish any fire.

[0083] For example, if the storage system is used to store cars in a mechanized car park, as described in British Patent Publication No. GB ​​2540838, the contents of which are incorporated herein by reference, sensors detecting fire or smoke can activate sprinklers and communication means can be provided to communicate directly with a central monitoring system or directly with emergency services.

[0084] The box or container 10 including the gas sensing device can be used to monitor the condition of fruit in the refrigerated part of the system. Ripening fruit will release gases, so monitoring of these specific gases can provide an indication of over-ripening fruit in storage. If this condition is detected, the container 10 with cooling means inside the box can be cooled to prevent over-ripening of the contents.

[0085] If the box or container 10 is used to store alternative items such as packages, the box or container 10 may include a weighing device such as a scale to monitor the weight of the stored packages prior to onward distribution.

[0086] It will be apparent from the foregoing description that all boxes or containers 10 that include some form of service will require power, data or signal connections to be carried to the service or equipment within the box or container 10. As described above, the electrical connections 40 between boxes or containers 10 or between the bottom-most boxes or containers 10 of a stack may be of any suitable form, such as interference connections or any other suitable releasable connector capable of carrying the required power, data or signals between boxes or containers 10 or between a box or container 10 and a base of the system or a vertical member within the system.

[0087] In one embodiment of the present invention, the box or container 10 includes an intelligent device, such as a router, computer or server (not shown). The intelligent device can communicate via peer-to-peer communication across the boxes or containers 10 in the system. In addition, communication can occur via contactless lights over the air, however, any other suitable means for communication between containers 10 can be envisioned and used.

[0088] The smart devices may be powered and controlled by suitable power supply devices and power control devices, such as those described above.

[0089] Utilizing the proximity of the box or container 10 provides a system with a relatively short communication distance between smart devices located in the box or container 10. The relatively short distance reduces latency between the smart devices, and the system is able to operate quickly and robustly.

[0090] Such a system may require a great deal of cooling. Such cooling may be provided as described above, or via cooling from the base of the system upward through the vertical members 16 of the frame 14.

[0091] If a case or container 10 needs to be removed from a stack 12 within a frame 14, it will be appreciated that a loss of data, signals, power, etc. may occur when the case or container 10 is removed from the top of the stack 12, from within the stack 12, or from the bottom of the stack 12. As described above, this is simply because the case or container 10 draws its power from the base of the stack 12 and from the storage system below via the connector 70 in the base and the connector 40 within the stack 12. A case or container 10 may need to be removed from a stack 12 for repair reasons, redistribution reasons, and to enable changes to systems or services within a given case or container 10, as well as many other reasons.

[0092] In order to facilitate movement of boxes or containers 10 around the storage system or to enable complete removal of any given box or container 10, it may be necessary to provide power, data, signals or any other services to the individual boxes or containers 10 while the boxes or containers 10 are in the process of being removed or moved and are therefore disconnected from any services provided via the frame 14 or the base of the storage system as described above.

[0093] like Fig.14 As shown in , according to one form of the invention, the load handling equipment 30 includes a lifting device 39, which further includes a releasable connecting device 40, which includes a device for electrically or otherwise connecting the box or container 10 to a power source or other service (not shown) located in or on the load handling equipment 30.

[0094] The lifting device 39 of the load handling device 30 is provided with a cable 80 and a connection means 40 adapted to be releasably connected to the tank or container 10. The cable 80 performs the function of an umbilical, connecting a power, data or signal source in the load handling device 30 to the container 10 via the releasable connection means 40. Fig.14 and Fig.15 One form that the connection may take is shown. However, it will be appreciated that any form of suitable connector 40 capable of carrying power or signals or services appropriately may be used. The cable 80 may be any suitable form of cable capable of carrying the required services. Furthermore, it will be appreciated that the cable 80 may perform multiple functions, such as connecting power to the box or container 10 and carrying data signals to a data storage device carried within the load handling device.

[0095] Additionally, the load handling equipment 30 may utilize a means for downloading data from the bin or container 10 without removing the bin or container 10 from the system.

[0096] Fig.15 yes Fig.141 is an expanded schematic perspective view of a lifting device of FIG. 1 , showing one form of electrical connection means 40 for electrically connecting a container to the load handling device 30 in more detail.

[0097] In this manner, a make before break system is provided to enable removal of a case or container 10 from a stack 12 within the system.

[0098] Figures 16 to 18 Demonstrates the use of a make-before-break connection system. Fig.16 A portion of a storage system is shown, showing a plurality of stackable boxes or containers 10 within a vertical member 14 of the storage system, each box or container 10 being suitably electrically connected to at least the box or container 10 immediately above and / or below it, the box or container 10 at the bottom of each stack 12 being electrically connected to a power source (not shown) located within the storage system, said connections between the boxes or containers 10 or between the boxes or containers 10 and the base of the system being releasable when a lifting device 39 of a load handling device 30 is connected. It is important to note that the lifting device 39 will be connected to the box or container 10 and a connection will be established between the load handling device 30 power source and the box or container 10 before the box or container 10 is disconnected from the box or container 10 electrically connected thereto.

[0099] In use, the connection between the case or container 10 to be removed and the load handling apparatus 30 will be verified before the case or container 10 is moved from the stack 12. This verification may be performed, for example, by monitoring the load on the load handling apparatus 30 power supply or by any other suitable means.

[0100] Fig.17 The lifting device 39 is shown positioned and connected to the topmost box or container 10 of a stack 12 of boxes or containers 10 within the storage system, providing power and / or data and / or signal connection to the load handling device 30 via a daisy-chain cable 80. As mentioned above, it will be appreciated that the cable 80 can take any suitable form and is not necessarily limited to the form of the cable 80 shown in the accompanying drawings. The use of any suitable form of cable 80 is sufficient to be able to carry the required power, data or signal between the load handling device 30 and the box or container 10. In use, the load handling device 30 is positioned above the box or container 10 to be removed. The lifting device 39 is lowered from the load handling device 30 via a suitable motor and belt device 38. The lifting device 39 releasably engages with the target box or container 10. Once the connection between the box or container 10 and the load handling device 30 is established, the box or container 10 is lifted into the load handling device 30.

[0101] It will be appreciated that if a box or container 10 is mechanically connected to the box or container 10 immediately below it in the stack 12, some form of interlock release signal may be required to separate the mechanical connection. In the above example, where the electrical connection between the boxes or containers 10 is only an interference connection or a friction connection, the lifting device 39 of the load handling device 30 is sufficient to disconnect the boxes or containers 10 from each other by force alone. However, other automatically triggered disconnection means may be required.

[0102] Fig.18 A lifting device 39 according to one form of the invention is shown which lifts a bin or container 10 from a stack 12 of bins or containers 10 which is lifted so as to be electrically connected to the load handling device 30 via a suitable cable 80 as described above.

[0103] In use, each box or container 10 including an intelligent device, computer or server can be connected via an optical channel to at least six neighboring boxes or containers 10 of the box or container 10. For example, using a slightly transparent mirror, each computer can transmit or receive the channel, for example using wavelength division multiplexing, without interfering with any other traffic. In this way, each node can have a speed of light, precisely defined latency, connection to every other node in the system.

[0104] For example, such communication means may include laser-based transmission through the air. However, other communication means may be provided, such as a connection to a server or computer extending through fiber optic antennae into contact with adjacent components.

[0105] For example, 100,000 containers 10, each containing powerful intelligence, can be combined into a 60×60 stack, 28 feet high, and 14,000 square feet of machinery. Or 1 million containers can be combined into a 200×160 grid, 33 feet high, and 125 square feet of building.

[0106] It will be appreciated that there are many applications that can benefit from this instantaneous and defined node-to-node connectivity. For example, flow simulations for aircraft design, weather forecasting or climate models, financial transaction calculations, protein synthesis calculations, and simulations of chemical reactions with entire organisms, etc., can advantageously benefit from such large, densely packed intelligent devices. However, it will be appreciated that these examples are given by way of example only and are not limiting.

[0107] It will also be appreciated that a standalone box or container 10 can be provided with one service, a selection of services, or all of the services described. Furthermore, the services listed should not be considered limiting. Any form of service that can be carried or transferred to a box or container 10 is contemplated.

[0108] Furthermore, although embodiments of the invention are described above and specific systems are shown in the accompanying drawings in which the boxes or containers 10 are of substantially the same size and shape, it will be appreciated that this is not necessarily the case. As described in UK Patent Publication No. GB ​​2528573 (claiming priority to UK Patent Application No. 1506364.7 filed on April 15, 2015), which is incorporated herein by reference, it will be appreciated that such a system can be configured to handle boxes or containers 10 of various sizes by using load handling equipment 30 of different sizes capable of lifting and moving containers 10 of various sizes.

[0109] In addition, the embodiments described above and described in detail in the accompanying drawings assume that the storage system includes boxes or containers 10 arranged in a stack 12 within a frame 14 in an unconstrained manner. It will be appreciated that the system can be divided into smaller sub-divisions, such as those defined by temperature, by suitable partitioning devices. In this way, for example, the system can have a room temperature section, a refrigerated section, and a frozen section. It will also be appreciated that the partitions can have additional advantages, for example, the partitions enable the partitions of the storage system to be separated from other partitions. For example, if a fire occurs, this may be necessary and a fire extinguishing device is used in a given area to extinguish the fire. In addition, in the case where the system is used for alternative purposes, it may be advantageous to have different gas atmospheres in different parts of the system. This can be achieved by a partitioning system. It will be appreciated that the partitions can be temporary and remotely deployable, such as a roller shutter disposed below the grid.

[0110] It will be appreciated in the foregoing examples that the load handling equipment 30 carries sufficient power or other resources to maintain the power, data, signal or other services required to remove the box or container 10 from the fixed supply provided by the framework 14 of the system.

[0111] However, it will be appreciated that the load handling equipment 30 may not have sufficient required services. In such a case, in order to maintain services such as power, data, cooling, and any other services required to remove the tank or container 10, the load handling equipment 30 may provide such required services via alternative means. These means may include, but are not limited to, for example, an overhead umbilical line connected to the load handling equipment and transported around the system by virtue of the connection with the load handling equipment, which umbilical line is capable of carrying the required services to the load handling equipment for connection to the tank or container 10 to be removed. Alternatively, an overhead socket may be provided above the storage system to which the load handling equipment may be releasably attached so that these services are transmitted to the tank or container 10 to be removed via the load handling equipment 30.

[0112] Furthermore, it will be appreciated that the load handling apparatus 30 may be provided with means for connecting to services provided via the frame 14 or means for connecting to the uppermost bin or container 10 in an adjacent stack 12. In this way, when a bin or container 10 is to be removed from a stack 12, the required services are provided by components of the storage system which may be in close proximity to the load handling apparatus 30.

[0113] Furthermore, it will be appreciated that additional load handling equipment 30 operating on the system may form a cluster adjacent to the load handling equipment 30, thereby lifting a target box or container 10 and then providing the required service to the load handling equipment 30 which holds the stack 12 of boxes or containers 10 requiring service.

[0114] It will be appreciated from the foregoing that the or each load handling apparatus may be configured to connect to, lift and remove one bin or container 10 from the stack 12. However, it will be appreciated that the load handling apparatus 30 may be configured to connect to, lift and remove more than one bin or container 10 in a single movement.

[0115] It will be appreciated that in the embodiments described above, the term box or container 10 is used to refer to storage containers 10 that are stackable in a stack 12 within a storage system. However, the storage box or container 10 may contain another containment device within the box or container 10 structure. The containment device may be connected to the box or container by any suitable means to allow power, signals or data to be transmitted between the containment device, the box or container 10 and the load handling equipment 30. This is particularly true where the box or container needs to carry an intelligent device or computing device and requires cooling.

[0116] According to the present invention, there is provided a storage system comprising: a first group 22a of parallel tracks 22 or guides and a second group 22b of parallel tracks 22 or guides, the second group extending transversely to the first group in a substantially horizontal plane to form a grid pattern comprising a plurality of grid spaces; a plurality of storage containers 10 arranged in stacks below the tracks 22, each stack 12 being within the footprint of the grid space; and at least one load handling device 30 disposed on the grid and arranged to move laterally above the stack 12 and on the tracks 22, the load handling device 30 being arranged to move laterally above the stack 12 and on the tracks 22. 0 comprises a lifting device 39 arranged to lift one or more containers 10 or parts of the one or more containers from a stack 12; wherein the plurality of containers 10 comprises a service device for providing services to the container 10 or each container, thereby enabling an independent container 10 within the stack 12 to perform additional functions, the lifting device 39 comprising a releasable connection device 40 for connecting the load handling device 30 to the container to be lifted, the releasable connection device 40 acting so as to maintain power or data or signals or other services for the container 10 when the container 10 is lifted from the stack 12 within the storage system.

[0117] In one example, the lifting apparatus includes means for lifting the lid 62 from the container 10 , the container 10 , or the plurality of containers 10 .

[0118] In one example, a portion of the container 10 includes a power supply 42 .

[0119] In one example, a portion of the container includes a power control device 43 .

[0120] In one example, a portion of the container 10 includes a sensor device and a data logging device 44 for monitoring the output of the sensor device.

[0121] In one example, a portion of the container 10 includes a communication device 46 for communicating with adjacent containers 10 or with a central communication manager.

[0122] In one example, some or all of the containers 10 include a heating device 47 for heating and controlling the temperature of the contents of the container 10 .

[0123] In one example, some or all of the containers include a cooling device 48 for cooling and controlling the temperature of the contents of the container 10 .

[0124] In one example, some or all of the containers 10 include a reservoir 54 that functions as a fluid sink in the container 10 .

[0125] In one example, some or all of the containers include lighting devices 60 .

[0126] In one example, the lighting device 60 includes a cover 62 that is removably attached to the or each container 10 in the stack 12 .

[0127] In one example, individual containers 10 in the stack 12 are provided with unique identification that can be tracked and traced by suitable sensors and monitoring devices.

[0128] In one example, the containers 10 include intelligence so that a topology of the containers can be constructed since each container has information of the identities of immediately adjacent containers 10 and the bottom container 10 in any stack 12 has information that there are no containers 10 below it.

[0129] In one example, the container 10 comprises a communication device 46 arranged to allow peer-to-peer communication between containers 10 within the system.

[0130] In one example, the containers 10 include computing devices that are capable of communicating between the containers 10 so that data-intensive computing can be performed under the control of a control device located external to the system.

[0131] In one example, the lifting device 39 is connected to the container 10 via a suitable connecting device, and the connecting device 40 is adapted to carry power and / or signals between the container 10 and the load handling device 30. Before the container 10 is removed from the stack 12, the power connection and signal connection are made between the load handling device 30 and the container 10, and the power connection and signal connection are verified by a suitable verification device.

[0132] According to the present invention, a supercomputer is also provided, which includes the storage system as described above, and further includes a plurality of separate computing devices, each of which is located in a container 10, and a plurality of containers 10 are stored in the storage system as described above, and the computing devices are provided with communication devices to allow communication between the separate computing devices, so that data-intensive computing can be performed under the control of a central device.

[0133] In one example, the communication between computing devices includes wireless communication devices.

[0134] According to the present invention, there is also provided a method for maintaining service for a container 10 within a storage system, the storage system comprising a plurality of containers 10 stored in a stack 12 within a frame 14, the frame 14 being provided with a rail located above the stack 12, on which a load handling device is capable of operating, the method comprising the following steps: positioning a load handling device 30 above a container 10 to be removed from the system; lowering a lifting device 39 from the load handling device 30, the lifting device 39 comprising a connecting device 40 which is capable of releasably connecting to the container 10; lifting the container 10 from the storage system, and maintaining connection of power, data, signals or other services to the container 10 via the load handling device 30.

[0135] In one example, the services can include power, data, signals, gases, fluids, nutrients, radiation, light, or any other service required by the contents of the container 10 .

[0136] In one example, the method further comprises the step of connecting the load handling apparatus 30 to an alternative service provision, the alternative service provision forming part of the storage system.

[0137] In one example, the method further comprises the step of transferring the service from the alternative supply means to the container 10 via suitable connection means.

[0138] Numerous variations and modifications not explicitly described above are possible without departing from the scope of the present invention, which is defined in the appended claims.

Claims

1. A storage system, comprising: a first set (22a) of parallel tracks or rails (22) and a second set (22b) of parallel tracks or rails (22), the second set extending transversely to the first set in a substantially horizontal plane to form a grid pattern including a plurality of grid spaces; a plurality of storage containers (10) arranged in one or more stacks, the one or more stacks being located beneath the track or rail, each stack (12) being located within the footprint of the grid space; and a load handling device (30) arranged to move laterally on the track or rail above the one or more stacks of storage containers, the load handling device comprising a lifting device (39) arranged to lift one or more storage containers or parts of the one or more storage containers from the top of the stack, Wherein the lifting equipment includes an umbilical cable (80) to provide service from a service source in the load handling equipment to one or more storage containers to be lifted from the top of the stack by the load handling equipment in use.

2. The storage system according to claim 1, wherein: The lifting apparatus comprises releasable connection means adapted to connect one or more storage containers to be lifted via the umbilical cable to the service provided from a service source in the load handling apparatus.

3. The storage system according to claim 1 or 2, wherein: The storage system includes an overhead umbilical line connectable to the load handling equipment to carry the service to the load handling equipment for connection to one or more storage containers to be lifted.

4. The storage system according to claim 1 or 2, wherein: The storage system includes an overhead receptacle to which the load handling apparatus is releasably attached so that the service can be transmitted via the load handling apparatus to one or more storage containers to be lifted.

5. The storage system according to claim 1 or 2, wherein: The load handling apparatus is provided with means for connection to an alternative service supply which forms part of the storage system.

6. The storage system according to claim 5, wherein: The alternative service supply is provided by an uppermost storage container in a stack adjacent to the stack from which one or more storage containers are to be lifted.

7. A storage system according to claim 1 or 2, comprising an additional load handling device arranged to: moving laterally on the track or rails over the one or more stacks of storage containers; forming a cluster adjacent to the load handling apparatus, the cluster being arranged to lift the one or more storage containers; as well as The servicing is provided to the load handling equipment when the one or more storage containers are lifted from the top of the stack in use.

8. The storage system according to claim 1 or 2, wherein: The service includes at least one of power, data, signal, fluid, radiation, lighting, heating, and cooling.

9. The storage system according to claim 1, wherein: Each storage container of the plurality of storage containers arranged in one or more stacks comprises: a first connector (17) adapted to be connected to the lifting device to receive the service from a service source in the load handling device; and A second connector adapted to connect to a first connector of a storage container located below in a given stack of the one or more stacks, such that the service can be delivered through the storage container in the given stack.

10. The storage system according to claim 9, wherein: The second connector of each storage container is also adapted to connect to a primary service source at the bottom (70) of the given stack in the storage system, the service source in the load handling device being a secondary service source.

11. The storage system according to claim 1 or 2, wherein: The umbilical cable is configured to provide a plurality of services to one or more storage containers to be lifted from a plurality of corresponding service sources in the load handling equipment.

12. A method of servicing a movable storage container in a storage system, the storage system comprising: a first set of parallel tracks or rails and a second set of parallel tracks or rails extending transversely to the first set in a substantially horizontal plane to form a grid pattern including a plurality of grid spaces; a plurality of storage containers arranged in one or more stacks, the one or more stacks being located beneath the track or rail, each stack being located within a footprint of the grid space; and a load handling device arranged to move laterally on the track or rails over the one or more stacks of storage containers, the load handling device comprising a lifting device arranged to lift one or more storage containers or parts of the one or more storage containers from the top of a given stack, wherein the method comprises: providing an umbilical cable to said lifting equipment to provide said services to said movable storage container from a service source in said load handling equipment; positioning the load handling apparatus over a movable storage container to be lifted from the given stack; lowering the lifting device from the load handling device; releasably connecting the lifting device to the movable storage container; supplying the mobile storage container with the services from a service source in the load handling equipment via the umbilical cable; and The movable storage container is lifted from the given stack while the service is supplied via the umbilical cable.

13. A method according to claim 12, comprising connecting an overhead umbilical line to the load handling equipment to carry the service to the load handling equipment for provision to a movable storage vessel to be lifted.

14. The method of claim 12, comprising releasably attaching the load handling apparatus to an overhead receptacle such that the service can be transmitted via the load handling apparatus to a movable storage container to be lifted.

15. A method according to any one of claims 12 to 14, comprising connecting the load handling apparatus to an alternative service supply, the alternative service supply forming part of the storage system.

16. The method according to claim 15, wherein: The replacement service supply is provided by an uppermost storage container in a stack adjacent to the stack from which the movable storage container is to be lifted.

17. The method according to any one of claims 12 to 14, comprising: moving additional load handling equipment on the track or rails to form a cluster adjacent to the load handling equipment, the cluster being arranged to lift a movable storage container to be lifted; as well as The service is provided to the load handling equipment when the movable storage container is lifted from the top of the stack in use.

18. The method according to any one of claims 12 to 14, wherein: The service includes at least one of power, data, signal, fluid, radiation, lighting, heating, and cooling.

19. A method according to any one of claims 12 to 14, comprising supplying a plurality of services to a movable storage container to be lifted from a plurality of corresponding service sources in the load handling equipment via the umbilical cable.

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