Automated storage and retrieval system for storing fresh food and agricultural products

Abstract

The present invention relates to an automated storage and retrieval system (1) for storing products (80). The system (1) comprises a framework structure (100) with upright members (102) and horizontal members (103) and storage volumes comprising storage columns (105) between the members (102, 103), wherein the framework structure (100) comprises a rail system (108) arranged above the members (102, 103). Storage containers (6, 106) are stackable in stacks (107) within the storage columns (105). Container handling vehicles (201, 301) move along the rail system (108) for transporting the storage containers (6, 106). The rail system (108) comprises rails (110, 111), each rail (110, 111) comprising guide rails (110a, 110b, 111a, 111b). Adjacent guide rails (111a, 111b) of at least one rail (111) of the rail system (108) are separated by a ventilation slot (30) extending along a vertical plane (VP) between two adjacent storage columns (105).

Description

Technical Field

[0001] This invention relates to an automated storage and retrieval system for containers, particularly for storing fresh food and agricultural products. Background Technology

[0002] Figure 1 discloses a typical prior art automated storage and retrieval system 1 with a frame structure 100, and Figures 2 and 3 disclose two prior art container handling vehicles 201 and 301 suitable for operation on such system 1.

[0003] The frame structure 100 includes upright members 102, horizontal members 103, and a storage volume comprising storage columns 105 arranged in a row between the upright members 102 and the horizontal members 103. In these storage columns 105, storage containers 106 (also referred to as boxes) are stacked one on top of another to form a stack 107. Members 102 and 103 can typically be made of metal (e.g., extruded aluminum profiles).

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged across the top of the frame structure 100, on which multiple container handling vehicles 201, 301 operate to raise and lower storage containers 106 from and into storage columns 105, and to transport storage containers 106 above storage columns 105. The track system 108 includes a first set of parallel tracks 110 and a second set of parallel tracks 111. The first set of parallel tracks is arranged to guide the movement of container handling vehicles 201, 301 across the top of the frame structure 100 in a first direction X, and the second set of parallel tracks is arranged perpendicular to the first set of tracks 110 to guide the movement of container handling vehicles 201, 301 in a second direction Y, perpendicular to the first direction X. The container handling vehicles access containers 106 stored in columns 105 through access inlets 112 in the track system 108. Container handling vehicles 201 and 301 are capable of moving laterally above storage column 105, i.e., in a plane parallel to the horizontal XY plane.

[0005] The upright members 102 of the frame structure 100 can be used to guide the storage containers during raising and lowering of the containers into the columns 105. The stacking 107 of the containers 106 is typically self-supporting.

[0006] Each prior art container handling vehicle 201, 301 includes a body 201a, 301a and a first set of wheels and a second set of wheels 201b, 301b, 201c, 301c, which enable the container handling vehicle 201, 301 to move laterally in the X and Y directions, respectively. In Figures 2 and 3, two wheels in each set are fully visible. The first set of wheels 201b, 301b are arranged to engage with two adjacent tracks in the first set of tracks 110, and the second set of wheels 201c, 301c are arranged to engage with two adjacent tracks in the second set of tracks 111. At least one of the two sets of wheels 201b, 301b, 201c, 301c can be raised and lowered, such that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c can engage with the corresponding set of tracks 110, 111 at any given time.

[0007] Each prior art container handling vehicle 201, 301 also includes a lifting device (not shown) for vertically transporting the storage container 106, for example, raising the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column 105. The lifting device includes one or more clamping / engaging devices adapted to engage the storage container 106, and the clamping / engaging devices are detachable from the vehicle 201, 301 such that the position of the clamping / engaging devices relative to the vehicle 201, 301 is adjustable in a third direction Z orthogonal to the first direction X and the second direction Y. A portion of the clamping device of the container handling vehicle 301 is indicated by reference numeral 304 and shown in FIG. 3. The clamping device of the container handling vehicle 201 is located within the vehicle body 301a in FIG. 2.

[0008] Conventionally, and also for the purposes of this application, Z=1 identifies the uppermost layer of the storage container, i.e., the layer immediately below the track system 108; Z=2 identifies the second layer below the track system 108; Z=3 identifies the third layer, and so on. In the exemplary prior art disclosed in FIG1, Z=8 identifies the lowermost layer, the bottom layer, of the storage container. Similarly, X=1...n and Y=1...n identify the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z indicated in FIG1, the storage container identified as 106' in FIG1 can be said to occupy the storage position X=10, Y=2, Z=3. The container transport vehicles 201 and 301 can be said to travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates.

[0009] The storage volume of the frame structure 100 is often referred to as grid 104, and the possible storage locations within this grid are referred to as storage cells. Each storage column can be identified by its position in the X and Y directions, while each storage cell can be identified by its container number in the X, Y, and Z directions.

[0010] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and loading the storage container 106 as it is transported through the track system 108. The storage space may include a cavity centrally located within the vehicle body 201a, as shown in FIG2, and is described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0011] Figure 3 shows an alternative configuration of a container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail in, for example, NO317366, the contents of which are also incorporated herein by reference.

[0012] The central cavity container transport vehicle 201 shown in Figure 2 may have a coverage area that covers a region having dimensions in the X and Y directions, which is generally equal to the lateral extent of the storage column 105, as described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein may mean “horizontal”.

[0013] Alternatively, the central cavity container transport vehicle 101 may have a coverage area greater than the lateral region defined by the storage column 105, such as that disclosed in WO2014 / 090684A1.

[0014] The track system 108 typically includes a track with grooves in which the wheels of a vehicle run. Alternatively, the track may include upwardly projecting elements, where the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track may include one guide rail, or each track may include two parallel guide rails.

[0015] The content of WO2018146304, which is incorporated herein by reference, illustrates a typical configuration of a track system 108, which includes tracks and parallel guide rails in the X and Y directions.

[0016] In frame structure 100, most columns 105 are storage columns 105, i.e., columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may serve other purposes. In Figure 1, columns 119 and 120 are such dedicated columns used by container handling vehicles 201, 301 to unload and / or pick up storage containers 106, enabling them to be transported to an access station (not shown) where storage containers 106 can be accessed from outside frame structure 100, or moved out of or into frame structure 100. In the art, such locations are commonly referred to as 'ports', and the columns containing the ports may be referred to as 'port columns' 119, 120. Transport to the access station can be in any direction, horizontal, inclined, and / or vertical. For example, storage container 106 can be placed in random or dedicated columns 105 within frame structure 100, and then picked up by any container handling vehicle and transported to port columns 119, 120 for further transport to the retrieval station. Note that the term "inclined" refers to the transport of storage container 106 having an overall transport orientation in some direction between horizontal and vertical.

[0017] In Figure 1, the first port post 119 may be, for example, a dedicated unloading port post, at which container handling vehicles 201, 301 can unload storage containers 106 to be transported to an access or transfer station, and the second port post 120 may be a dedicated pickup port post at which container handling vehicles 201, 301 can pick up storage containers 106 that have been transported from an access or transfer station.

[0018] The retrieval station can typically be a pick-up station or a storage station, where products are removed from or positioned into storage container 106. At the pick-up station or storage station, storage container 106 is not typically removed from the automated storage and retrieval system 1, but is returned to frame structure 100 once retrieved. Ports can also be used to transfer storage containers to another storage facility (e.g., to another frame structure or another automated storage and retrieval system), transport vehicles (e.g., trains or trucks), or production facilities.

[0019] Storage containers are typically transported between port posts 119, 120 and access stations using a transmitter system that includes multiple transmitters.

[0020] If the port posts 119, 120 and the access station are located at different heights, the conveyor system may include a lifting device with vertical components for vertically transporting the storage container 106 between the port posts 119, 120 and the access station.

[0021] The transport system can be arranged to transfer storage containers 106 between different frame structures, such as those described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0022] When a storage container to be accessed is located in a column 105 shown in Figure 1, one of the container handling vehicles 201, 301 is instructed to retrieve the target storage container 106 from its location and transport it to the unloading port column 119. The operation involves moving the container handling vehicles 201, 301 to a position above the storage column 105 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the lifting device (not shown) of the container handling vehicles 201, 301, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are positioned above the target storage container 106, the operation also involves temporarily moving the storage container positioned above it before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to in the art as "digging") can be performed using the same container handling vehicle subsequently used to transport the target storage container to the unloading port post 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have a container handling vehicle specifically designed for the task of temporarily removing storage containers from storage post 105. Once the target storage container 106 has been removed from storage post 105, the temporarily removed storage container can be repositioned back into the original storage post 105. However, the removed storage container can alternatively be repositioned to another storage post.

[0023] When storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201, 301 is instructed to pick up storage container 106 from pick-up port column 120 and transport the storage container to a position above the storage column 105 where it is to be stored. After all storage containers positioned at or above the target location within the storage column stack 107 have been removed, the container handling vehicles 201, 301 position storage container 106 in the desired location. The removed storage container can then be lowered back into storage column 105 or repositioned to another storage column.

[0024] In order to monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of each storage container 106 within the frame structure 100, the contents of each storage container 106, and the movement of container transport vehicles 201, 301, so that the desired storage container 106 can be delivered to the desired location at a desired time without the container transport vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0025] Some products require special storage conditions to prevent quality degradation and deterioration. Examples of these products are fresh foods and produce, which are temperature-sensitive and should be stored in a temperature range of 0.5°C to 8°C, typically around 4°C. Additionally, some products (such as herbs, vegetables, and fruits) may require a supply of fresh air.

[0026] As shown in Figure 9a, air can circulate between the storage containers in the prior art system 1. As indicated by the double-headed arrows, air can circulate between the two pillars 102 (dashed part of the arrows) and circulate upward through the access opening 112 between the rails 111 (solid part of the arrows). However, this airflow is limited.

[0027] WO2016193419 describes an automated storage and retrieval system in which temperature is adjusted, regulated, controlled, and / or maintained. The storage container has ventilation openings in two or more side walls. The storage system has compartments on the respective sides and also below the storage system to allow air circulation and control temperature.

[0028] One objective is to provide an automated storage and retrieval system capable of efficiently storing fresh food and produce. Another objective is to enable the storage of fresh food and produce in a desired environment (i.e., at a desired temperature and under desired air quality).

[0029] Another purpose is that other products can also be stored in the same storage system. Summary of the Invention

[0030] This invention relates to an automated storage and retrieval system for storing products; wherein the system comprises:

[0031] - A frame structure having upright members and horizontal members and a storage volume, the storage volume including storage columns between the members, wherein the frame structure includes a track system arranged above the members;

[0032] - Storage containers, where products are stored, wherein the storage containers can be stacked into a stack within storage columns;

[0033] - Container handling vehicles move along a track system to transport storage containers.

[0034] The track system includes multiple tracks, each of which includes a guide rail;

[0035] Its features are:

[0036] - The adjacent guide rails of at least one rail of the track system are separated by a ventilation slot that extends along a vertical plane between two adjacent storage columns.

[0037] The term “adjacent rails” here refers to two spaced rails between two adjacent posts or two rows of posts, wherein one rail is used by a vehicle moving above one of the adjacent posts, and wherein the other rail is used by a vehicle moving above the second of the adjacent posts.

[0038] In one aspect, the first type of storage container is a ventilated storage container.

[0039] In one aspect, the ventilated storage container includes a plurality of ventilation openings in at least one sidewall facing the ventilation slot when located in a storage column adjacent to the ventilation slot.

[0040] In one aspect, the ventilated storage container includes multiple ventilation openings in only one sidewall, the sidewall having multiple ventilation openings facing the ventilation slot when located in a storage column adjacent to the ventilation slot.

[0041] Alternatively, the ventilated storage container may include multiple ventilation openings in only two opposing sidewalls, and one of the two sidewalls may have multiple openings that face the ventilation slot when located in a storage column adjacent to the ventilation slot.

[0042] In one aspect, the width of the ventilation slot in the first horizontal direction is 1%-30%, preferably 5%-20%, of the width of the adjacent storage column in the first horizontal direction.

[0043] In one aspect, the frame structure includes a ventilation slot for every two second storage columns.

[0044] In one aspect, the frame structure includes a ventilation slot for every two storage columns in a first horizontal direction.

[0045] In one aspect, a first region of the frame structure includes a ventilation slot for every two storage columns; and a second region of the frame structure is disposed between adjacent guide rails without a ventilation slot; and a container handling vehicle is capable of moving along the track system between the first and second regions.

[0046] In one aspect, the system also includes a control system for monitoring and controlling the system; wherein:

[0047] -The control system includes a unique identifier for each storage container;

[0048] - The control system is configured to determine whether the storage container is ventilated or non-ventilated based on this unique identifier; and

[0049] - The control system is configured to determine the storage location of the ventilated storage container in one of these storage columns, wherein its ventilation opening will face the ventilation slot.

[0050] In one aspect, the control system is configured as follows:

[0051] - The location of the ventilation openings of the ventilated storage container is determined based on a unique identifier before the storage location is determined.

[0052] In one aspect, the location of the ventilation duct is stored in the control system; and the container transport vehicle is configured to detect the location of the ventilation duct during operation of the container transport vehicle on the track system.

[0053] In one aspect, at least one container handling vehicle includes a lifting device having a clamping unit, the lifting device having the clamping unit being rotatably connected relative to its first set of wheels and second set of wheels.

[0054] In one aspect, the first guide rail in the adjacent guide rails is used by a vehicle moving above one of the adjacent posts, and the second guide rail in the adjacent guide rails is used by a vehicle moving above the second post in the adjacent posts.

[0055] In one aspect, the track in the first horizontal direction forms a bridge over the ventilation slot in the second direction at intervals, thereby allowing vehicles to pass through the ventilation gap. Attached Figure Description

[0056] The following figures are attached to aid in understanding the present invention. The figures illustrate embodiments of the invention, which will now be described by way of example only, in which:

[0057] Figure 1 is a perspective view of the framework structure of an existing automated storage and retrieval system.

[0058] Figure 2 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers.

[0059] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever for supporting storage containers below.

[0060] Figure 4 shows the track system of a prior art storage and retrieval system from above.

[0061] Figure 5 The track system of this storage and retrieval system is shown from above.

[0062] Figure 6a The stack of three storage containers is shown.

[0063] Figure 6b It shows Figure 6a The stack is rotated 180°.

[0064] Figure 7 It shows in Figure 5 How storage containers are stacked on top of each other in a storage system.

[0065] Figure 8 yes Figure 7 A magnified view of the dashed box DB.

[0066] Figure 9a to Figure 9b A side view of the upper part of the frame structure is shown.

[0067] Figure 10 The prior art system shown in Figure 4 and Figure 5 A combination of systems;

[0068] Figure 11a and Figure 11b A container handling vehicle is shown, in which the container lifting device is capable of rotation. Detailed Implementation

[0069] In the following, embodiments of the invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the invention to the subject matter depicted therein.

[0070] The frame structure 100 of the automatic storage and retrieval system 1 is constructed according to the prior art frame structure 100 described above in conjunction with Figures 1 to 3, namely, a plurality of upright members 102 and a plurality of horizontal members 103 supported by the plurality of upright members, and furthermore, the frame structure 100 includes a track system 108 in the X and Y directions.

[0071] The frame structure 100 also includes storage compartments arranged in the form of storage columns 105 between the members 102 and 103, wherein the storage containers 106 can be stacked in the storage columns 105 in a stack 107.

[0072] The frame structure 100 can have any size. In particular, it should be understood that the frame structure can be wider and / or longer and / or deeper than disclosed in Figure 1. For example, the frame structure 100 can have a horizontal range of more than 700 × 700 columns and a storage depth of more than 12 containers.

[0073] In Figure 4, the prior art frame structure 100 is shown from above. Because components 102 and 103 are located below tracks 110 and 111 of the track system 108, only tracks 110 and 111 are visible in Figure 4. In addition, for simplicity, storage column 105 is shown empty here, that is, there are no storage containers stacked on top of each other in storage column 105.

[0074] First, refer to Figure 6a and Figure 6b The three storage containers 6 are stacked 107 on top of each other. Each storage container 6 includes a ventilation opening 12 in one of its four side walls 11. Figure 6a In the middle, the ventilation opening 12 is located on the right side of the storage container 6, while... Figure 6b In the middle, the ventilation opening 12 is located on the upper left side of the storage container 6. These storage containers 6 are referred to below as ventilated storage containers.

[0075] It should be noted that, in Figure 6a and Figure 6b The ventilated storage containers 6 are identical to each other, but rotated 180° relative to each other about the vertical axis (Z direction).

[0076] Now for reference Figure 5 (Top view) and Figure 7 (Side view). Using the coordinate system shown in the attached figure, multiple rows of storage columns extend in the X direction, and these multiple rows of storage columns are placed adjacent to each other in the Y direction. Storage containers 6 are stacked one on top of the other in the Z direction.

[0077] The track system 108 of the frame structure 100 includes a ventilation slot 30 that extends along a vertical plane VP between two adjacent rows of storage columns, i.e., the vertical plane VP extends in both the X and Z directions. The ventilation slot 30 is disposed between two vertical members 102 of the frame structure 100, such as... Figure 8 As shown.

[0078] Now for reference Figure 9b On the upper left, track 111 and its two adjacent guide rails 111b and 111a are located above the vertical member 102, which is the same configuration as in the prior art shown in FIG. 9a. On the upper right, there are two spaced-apart vertical members 102 below track 111, which are separated by ventilation slots 30. In addition, the adjacent guide rails 111b and 111a of the left track 111 are also separated by ventilation slots 30.

[0079] The ventilation slot 30 has a width d30 in the Y direction. The width d30 of the ventilation slot 30 is indicated here as the distance that air can flow between the tracks 111b, 111a. The width of the ventilation slot 30 between the vertical members 102 is indicated as d102. Preferably, the width d102 is equal to or substantially equal to the width d30 of the ventilation slot 30.

[0080] In this embodiment, the ventilation slot 30 has a width d30 of 5 cm. The dimensions of this storage system are determined for a storage container with a length of 60 cm (Y direction) and a width of 40 cm (X direction). The width and length of the storage column are slightly larger than the width and length of the storage container. Preferably, the width d30 of the ventilation slot 30 is between 3 cm and 12 cm.

[0081] Therefore, based on the above, the ventilation slot 30 extends across the track system. However, it should be noted that... Figure 9b The vertical members 102 will be mechanically fixed to each other in a manner similar to that in FIG. 9a, i.e., by means of a horizontal column and a track 110 in the Y direction. Thus, the track 110 in the Y direction will bridge the ventilation slots 30 at intervals in the X direction to allow vehicles to pass through the ventilation gaps.

[0082] In Figure 9a and Figure 9b In the image, a container transport vehicle, arranged to collect storage containers from storage column 105, will use guide rail 111a on the left track 111 and guide rail 111b on the right track 111 when driving in the X direction (i.e., entering the image). Assume the cantilever structure protrudes relative to the vehicle body in the X direction (e.g., ...). Figure 5 As shown), when storage containers 6 and 106 are raised / lowered into compartment 105, the cantilevered container handling vehicle 301 (Figure 3) lowers its wheels into track 110 in the Y direction and raises its driving wheels in the X direction. The single-unit type container handling vehicle 201 (Figure 2) can lower its wheels into track 110 and / or track 111.

[0083] Now refer to it again Figure 7 and Figure 8 The storage containers 6 shown here are ventilated storage containers, wherein their ventilation openings 12 face the ventilation slot 30 when positioned in storage columns 105 adjacent to the ventilation slot 30.

[0084] In the control system 500 used for monitoring and controlling the system 1, a unique identifier is stored for each storage container 6, 106. The control system 500 is configured to determine whether a storage container is a ventilated storage container 6 or a non-ventilated storage container 106 based on the unique identifier. In this embodiment, if each ventilated storage container 6 has a right-side ventilation opening or a left-side ventilation opening, a parameter indicating the location of its ventilation opening is also stored for each storage container 6.

[0085] Based on the above information, the control system 500 is configured to determine the storage location of each ventilated storage container 6 to ensure that the ventilation opening 12 of each ventilated storage container 6 is positioned to face the ventilation slot 30.

[0086] Therefore, the ventilated storage container 6 with the right-side ventilation opening 12 is stored in the storage column 105 on the left side of the ventilation slot 30, while the ventilated storage container 6 with the left-side ventilation opening 12 is stored in the storage column 105 on the right side of the ventilation slot 30.

[0087] The frame structure 100 shown includes a ventilation slot 30 for every two storage columns 105. Figure 5 As shown in Figure 6, the frame structure 100 includes a ventilation slot 30 for every two storage columns 105 in the first horizontal direction Y, as this is assumed to be a proper trade-off between effective storage capacity and effective ventilation.

[0088] Now for reference Figure 10 The frame structure is shown above, divided into a first region A1 and a second region A2. The first region A1 of the frame structure 100 includes a ventilation slot 30 for every two storage columns 105. The second region A2 of the frame structure 100 is configured not to have ventilation slots 30 between adjacent guide rails 111a, 111b, similar to the prior art frame structure of FIG. 1. Ventilated storage containers 6 are primarily stored in the first region A1, while non-ventilated storage containers 106 are primarily stored in the second region A2. However, non-ventilated storage containers 106 can be stored in the first region A1 and ventilated storage containers 6 in the second region A2. It should be noted that container transport vehicles 201, 301 can move freely along the track system 108 between the first region A1 and the second region A2.

[0089] Alternative implementation methods

[0090] In the above embodiments, the storage container 6 with the right-side vent 12 is stored in the storage column on the left side of the ventilation slot 30, while the storage container 6 with the left-side vent 12 is stored in the storage column 105 on the right side of the ventilation slot 30.

[0091] Now for reference Figure 11a and Figure 11b This section shows a cantilevered type container handling vehicle 301 (similar to but not exactly the same type of prior art shown in Figure 3), in which a lifting device with a clamping unit 304 is rotatably connected relative to its wheels. Here, by rotating the storage container 180°, the storage container 6 having a right-side ventilation opening 12 can be converted into a storage container 6 having a left-side ventilation opening 12.

[0092] The storage container 6 may also include ventilation openings 12 in its two side walls 11, which are opposite side walls. This storage container 6 can be stored in storage columns 105 on both sides of the ventilation slot without any 180° rotation.

[0093] In the preceding description, various aspects of the automatic storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. Specific figures, systems, and configurations have been set forth for illustrative purposes to provide a thorough understanding of the system and its operation. However, this specification is not intended to be interpreted in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, that will be apparent to those skilled in the art to which the disclosed subject matter pertains, are considered to fall within the scope of the invention.

[0094] Reference column designations represent technologies (Figures 1 to 4): 1. Existing technology: Automated storage and retrieval system 100. Frame structure.

[0095] 102. Upright members of a frame structure

[0096] 103 Horizontal members of frame structures

[0097] 104 Storage Grid

[0098] 105 Storage Columns

[0099] 106 Storage Containers

[0100] Special location of the 106' storage container

[0101] 107 Stacking

[0102] 108 Track system 110 Parallel track in the first direction (X) 110a First track in the first direction (X) 110b Second track in the first direction (X)

[0103] 111 Parallel track in the second direction (Y)

[0104] 111a First orbit in the second direction (Y)

[0105] 111b Second orbit in the second direction (Y)

[0106] 112 Access Opening

[0107] 119 First Port Column

[0108] 120 Second Port Post

[0109] 201 Prior art storage container vehicles

[0110] 201a storage container vehicle 201 body

[0111] 201b Drive unit / wheel arrangement, first direction (X)

[0112] 201c drive unit / wheel arrangement, second direction (Y)

[0113] 301 Prior art cantilevered storage container vehicles

[0114] 301a storage container vehicle body 301

[0115] 301b Drive device in the first direction (X)

[0116] 301c Drive device in the second direction (Y)

[0117] 304 clamping device

[0118] 500 Control System

[0119] X First Direction

[0120] Y Second Direction

[0121] Z Third Direction

Claims

1. Automated storage and retrieval system (1) for storing products (80); wherein, The system (1) comprises: - a framework structure (100) having upright members (102) and horizontal members (103) and a storage volume comprising storage columns (105) between the members (102, 103), wherein the framework structure (100) comprises a rail system (108) arranged above the members (102, 103); - storage containers (6, 106) in which products (80) are stored, wherein the storage containers (6, 106) are stackable into stacks (107) within the storage columns (105); - container handling vehicles (201, 301) moving along the rail system (108) for transporting the storage containers (6, 106), wherein the rail system (108) comprises rails (110, 111), each rail (110, 111) comprising guide rails (110a, 110b, 111a, 111b); and wherein adjacent guide rails (111a, 111b) of at least one rail (111) of the rail system (108) are separated by a ventilation slot (30) extending in a vertical plane between two adjacent storage columns (105), the ventilation slot (30) extending in vertical direction from a top of the adjacent storage columns (105) to a bottom of the adjacent storage columns (105) and being narrower than the adjacent storage columns (105).

2. The automated storage and retrieval system (1) of claim 1, wherein The storage containers (6, 106) of the first type are ventilated storage containers (6).

3. The automated storage and retrieval system (1) of claim 2, wherein The ventilated storage containers (6) comprise ventilation openings (12) in at least one side wall (11) facing the ventilation slot (30) when located in a storage column (105) adjacent to the ventilation slot (30).

4. The automated storage and retrieval system (1) of claim 2, wherein The ventilated storage containers (6) comprise ventilation openings (12) in only one side wall (11) having such ventilation openings (12) facing the ventilation slot (30) when located in a storage column (105) adjacent to the ventilation slot (30).

5. The automated storage and retrieval system (1) of claim 1, wherein, The width (d30) of the ventilation slot (30) in a first horizontal direction (Y) is 1-30% of the width (d105) of adjacent storage columns (105) in the first horizontal direction (Y).

6. The automated storage and retrieval system (1) of claim 1, wherein The width (d30) of the ventilation slot (30) in a first horizontal direction (Y) is 5-20% of the width (d105) of adjacent storage columns (105) in the first horizontal direction (Y).

7. The automated storage and retrieval system (1) of claim 1, wherein The framework structure (100) comprises one ventilation slot (30) for every two storage columns (105).

8. The automated storage and retrieval system (1) according to claim 1, wherein: - a first area (Al) of the framework structure (100) comprises one ventilation slot (30) for every two storage columns (105); - a second area (A2) of the framework structure (100) is arranged without ventilation slots (30) between adjacent guide rails (111a, 111b); and - a third area (A3) of the framework structure (100) is arranged with ventilation slots (30) between adjacent guide rails (111a, 111b). - said container handling vehicles (201, 301) are movable along said rail system (108) between said first and second areas (A1, A2).

9. The automated storage and retrieval system (1) according to claim 1, further comprising a control system (500) for monitoring and controlling the system (1); wherein: - said control system (500) comprises a unique identifier for each of said storage containers (6; 106); - said control system (500) is configured to determine, based on said unique identifier, whether said storage container is a ventilated storage container (6) or a non- ventilated storage container (106); and - said control system (500) is configured to determine a storage position for said ventilated storage container (6) in one of said storage columns (105), wherein a ventilation opening (12) of said storage container will face said ventilation slot (30).

10. The automated storage and retrieval system (1) according to claim 9, wherein said control system (500) is configured to: - determine, based on said unique identifier, a position of said ventilation opening (12) of said ventilated storage container (6) prior to determining said storage position.

11. The automated storage and retrieval system (1) according to claim 9, wherein: - a position of said ventilation slot (30) is stored in said control system (500); - said container handling vehicles (201, 301) are configured to detect a position of said ventilation slot (30) during operation of said container handling vehicles on said rail system (108).

12. The automated storage and retrieval system (1) according to any of claims 1 to 11, wherein At least one of said container handling vehicles (301) comprises a lifting device with a gripping unit (304), said lifting device with said gripping unit (304) being rotatably connected relative to a first and second set of wheels (201b, 301b, 201c, 301c) of said container handling vehicle.

13. The automated storage and retrieval system (1) according to any of claims 1 to 11, wherein A first one of the adjacent rails (111a) is used by vehicles moving above one of the adjacent columns (105), and wherein a second one of the adjacent rails (111a, 111b) is used by vehicles moving above a second one of the adjacent columns (105).

14. The automated storage and retrieval system (1) according to any of claims 1 to 11, wherein The rails (110) in the first horizontal direction (Y) are spaced apart in the second direction (X) to form bridges above the ventilation slots (30), thereby allowing the vehicles to pass through ventilation gaps.

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