System and method for circulating a gas in a grid-based automated storage and retrieval system

Abstract

The invention relates to a grid-based automated storage and retrieval system and a method of circulating gas therein. The system comprises: a framework structure (100) comprising upright members (102) and comprising a grid of horizontal rails (110) disposed at upper ends of the upright members (102), the framework structure defining a storage volume comprising a plurality of columns (105) arranged in a grid pattern between the upright members (102) below the horizontal rails (110); a plurality of storage containers (106) vertically stacked in stacks (107) in the columns to provide the plurality of storage columns (105); a sub-stack void (402) extending below the stacks of storage containers; a plurality of inlets (403) to the sub-stack void (402) between the stacks of storage containers; at least one column which is free of storage containers and arranged among the plurality of storage columns to provide a ventilation column (404), the ventilation column (404) comprising a fan (405), wherein a plurality of duct walls (410) around the ventilation column define a duct (406) having a first end (407) adjacent the horizontal rails (110) and a second end (408) adjacent the sub-stack void (402), wherein the fan (405) is arranged to circulate gas along sides of the stacks (107) via the plurality of inlets (403), the sub-stack void (402) and through the duct (406).

Description

[0001] The present invention relates to an automated storage and retrieval system for storing and retrieving containers, and particularly to a system and method for ventilating the automated storage and retrieval system. Background Technology

[0002] Figure 1 discloses a common prior art automated storage and retrieval system 1 with a frame structure 100, and Figures 2 and 3 disclose two different 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 storage volumes comprising storage rows 105 arranged between the upright members 102 and the horizontal members 103. Storage containers 106, also referred to as boxes, in these storage rows 105 are stacked one on top of another to form a stack 107. Members 102 and 103 can typically be made of metal, such as 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 transport vehicles 201, 301 operate to lift and lower storage containers 106 from storage columns 105 into the storage columns, and also to transport storage containers 106 above the storage columns 105. The track system 108 includes a first set of parallel tracks 110 arranged to guide the container transport vehicles 201, 301 along a first direction X through the top of the frame structure 100, and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide the container transport vehicles 201, 301 along a second direction Y, perpendicular to the first direction X. Containers 106 stored in the columns 105 are accessed by the container transport vehicles through access openings 112 in the track system 108. The container transport vehicles 201, 301 are laterally movable above the storage columns 105, i.e., moving 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 the process of lifting the containers out of the column 105 and lowering the containers into the column. The stack 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 201b, 301b and a second set of wheels 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 of a first set of tracks 110, and the second set of wheels 201c, 301c are arranged to engage with two adjacent tracks of a second set of tracks 111. At least one set of these 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, such as raising the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column. The lifting device includes one or more clamping / engaging devices adapted to engage the storage container 106, and these clamping / engaging devices are descentable 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. Some portions of the clamping device of the container handling vehicle 301 are shown in FIG. 3 and are identified by reference numeral 304. The clamping device of the container handling vehicle 201 is located within the vehicle body 301a in FIG. 2.

[0008] Typically, and for the purposes of this application, Z=1 represents the uppermost layer of the storage container, i.e., the layer directly below the track system 108; Z=2 represents the second layer below the track system 108; Z=3 represents the third layer, and so on. In the exemplary prior art disclosed in FIG1, Z=8 represents the lowest layer of the storage container. Similarly, X=1...n and Y=1...n represent 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 considered to occupy storage positions X=10, Y=2, Z=3. Container transport vehicles 201, 301 can be considered 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 typically 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 during transport across the track system 108. The storage space may include a cavity centrally located within the vehicle body 201a, as shown in FIG2, and the contents of which are incorporated herein by reference, for example, as described in WO2015 / 193278A1.

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

[0012] The central cavity container transport vehicle 201 shown in Figure 2 may have a coverage area that is approximately equal in size to the lateral extent of the storage column 105 in the X and Y directions, 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 larger than the lateral area 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] WO2018 / 146304 (the contents of which are incorporated herein by reference) shows a typical construction of a track system 108, which includes a track 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 in which storage containers 106 are stored in the form of 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 drop and / or pick up storage containers 106, so that the storage containers can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside frame structure 100, or transferred out of or into frame structure 100. In the art, such a location is generally referred to as a "port," and the columns in which ports are located may be referred to as "port columns" 119, 120. Transport to the access station can be in any direction, i.e., 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. It should be noted that the term "inclined" means transport of storage container 106 with a general transport direction somewhere between horizontal and vertical.

[0017] In Figure 1, the first port column 119 may be a dedicated unloading port column, where container handling vehicles 201 and 301 can unload the storage container 106 to be transported to the storage station or transfer station, and the second port column 120 may be a dedicated pickup port column, where container handling vehicles 201 and 301 can pick up the storage container 106 that has been transported from the storage station or transfer station.

[0018] The storage and retrieval station can typically be a pick-up station or a storage station, where product items are removed from or placed 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 instead returned to the frame structure 100 after being retrieved. The port can also be used to transfer storage containers to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0019] Storage containers are typically transported between port columns 119, 120 and the access station using a transmitter system that includes a transmitter.

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

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

[0022] When access is required for a storage container 106 stored in one of the columns 105 shown in Figure 1, one of the container handling vehicles 201, 301 is instructed to remove the target storage container 106 from its location and transport it to the unloading port column 119. This operation involves moving the container handling vehicles 201, 301 to a position above the storage column 105 where the target storage container 106 is located, removing 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 located above the target storage container 106, the operation also includes temporarily moving the storage container located 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 unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have container handling vehicles 201, 301 specifically for the task of temporarily removing storage container 106 from storage column 105. After the target storage container 106 has been removed from storage column 105, the temporarily removed storage container 106 can be repositioned back into the original storage column 105. However, the removed storage container 106 can alternatively be repositioned to another storage column 105.

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

[0024] In order to monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of the respective storage containers 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container transport vehicles 201, 301, so that the desired storage container 106 can be transported to the desired location at the 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 tracking the storage containers 106.

[0025] Some of the items in System 1 described above can be used to store products that require a specific environment. For example, some types of food require a low-temperature environment (typically between 1°C and 6°C), while others require even colder temperatures (typically below -15°C). If living plants are stored in the system, a suitable gas mixture (something of oxygen, nitrogen, and carbon dioxide) may be required. Such plants and other products may also require a certain level of air humidity (humid or dry air). Fire-hazardous products such as oil / gas products and fireworks can be advantageously stored in an oxygen-free environment. Here, it may be desirable to distribute gases such as nitrogen into containers within the storage system. The distribution of extinguishing gases into such a storage and retrieval system may also be related to fire suppression.

[0026] In buildings housing such storage systems, ventilation systems are typically used to provide the desired environment. However, because the purpose of such storage systems is to store containers side-by-side in stacks, providing the same environment for all products stored within the system is challenging. Ensuring airflow through the system is particularly challenging when the system is full of storage containers. If the gas does not move along the sides of the storage containers, the containers will be isolated. This, for example, can lead to a slow cooling process.

[0027] WO2016 / 193419 discloses a storage system in which containers are cooled during storage in a grid. The cooling system has a cooler located above the grid to cool air and a fan that circulates the cooled air through the storage system by drawing air through the system and into an empty space below the stack of storage containers, thus circulating the air through the stack to regulate its temperature. The fan is located externally, on the side of the grid, above a bounded volume from which air is drawn from the large stack. As air is drawn from outside the grid, the airflow is highest near the fan, i.e., near the grid edges, and decreases towards the center of the grid.

[0028] The problem with existing technology solutions is that it is difficult to provide the same environment for storage containers in the middle of the storage system as for storage containers on the periphery of the storage system.

[0029] In view of the above, it is desirable to provide an automated storage and retrieval system and a method for operating such a system, which solves or at least mitigates one or more of the aforementioned problems associated with the use of existing storage and retrieval systems. Summary of the Invention

[0030] The invention and its features are set forth in the independent claims, while the dependent claims describe other features of the invention.

[0031] In a first aspect, the present invention relates to a grid-based automated storage and retrieval system, comprising:

[0032] - A frame structure, including upright members and a grid of horizontal tracks disposed at the upper ends of the upright members, the frame structure defining a storage volume comprising multiple columns arranged in a grid pattern below the horizontal tracks among the multiple upright members;

[0033] - Multiple storage containers are stacked vertically in a stacked manner in columns to provide multiple storage columns;

[0034] - The space under the stack extends beneath the stack of storage containers;

[0035] - Multiple inlets leading to the space beneath the stacks of storage containers;

[0036] - At least one such column, which has no storage container and is arranged within a storage column to provide a ventilation column, the ventilation column including a fan, wherein a plurality of duct walls surrounding the ventilation column define ducts having a first end adjacent to a horizontal track and a second end adjacent to a void below the stack, wherein the fan is arranged to circulate gas along the side of the stack via a plurality of inlets, a void below the stack and through the ducts.

[0037] The advantage of setting up ventilation columns within storage columns is that it ensures uniform airflow, for example, by providing the same environment for storage containers in the middle of the grid as for storage containers on the periphery of the storage system.

[0038] In one implementation, the total area of ​​each of the multiple inlets can increase with the horizontal distance of the inlet from the ventilation column. For example, smaller orifices closer to the duct (where airflow is stronger in the gaps below the stack) and larger orifices farther from the duct (where airflow is weaker) will create a more uniform airflow between the storage columns.

[0039] In one embodiment, the system may further include vent plates arranged at each of the multiple inlets, wherein the vent plates include a plurality of holes, and the total area of ​​the plurality of holes increases with the distance of the vent plate from the ventilation column. Vent plates are easier to assemble than adjusting the size of the inlets and allow for easier reconfiguration of the ventilation system.

[0040] In one embodiment, the system may further include a plurality of lift-floor panels disposed at the bottom of each storage column, the lift-floor panels providing a clearance beneath the stack. The lift-floor panels are easy to install. In one embodiment, a plurality of entrances to the clearance beneath the stack are defined by the gaps between adjacent lift-floor panels. Changing the gaps between adjacent panels changes the total area of ​​each entrance.

[0041] In one embodiment, each lift floor panel may include a support plate for supporting a stack of storage containers and a plurality of legs adapted to raise the support plate. The support plate and legs may be integral or made of separate parts connected by fasteners. In one embodiment, the support plate may be made of metal and the plurality of legs may be made of plastic.

[0042] In one embodiment, the raised floor panel can be made of sheet metal, wherein the central portion of the sheet metal forms a support plate, and multiple outer portions of the sheet metal arranged perpendicular to the central portion form multiple legs. The outer portions of the sheet metal may have openings. These openings allow airflow to pass under the floor panel and / or pipes.

[0043] In one embodiment, the duct may be equipped with at least one sensor arranged to measure at least one property of the gas flowing through the duct. Exemplary properties of the gas may include at least one of temperature, humidity, particulate matter, smoke, pollutants, fungi, and bacteria. Sensors in the duct can provide earlier warnings compared to sensors arranged above a grid. The gas in the duct may also be more concentrated than the gas above the grid, allowing for better measurement of gas properties.

[0044] The invention also relates to a system as described above, further comprising at least one cooling device arranged above the frame structure, adapted to cool gas circulating from above the storage column along the sides of the stack, via multiple inlets, gaps below the stack, and upward through air ducts. This system can be used to cool products within the grid, such as groceries.

[0045] The present invention also relates to a system as described above, further comprising at least one gaseous fire extinguishing device disposed above the frame structure, adapted to release fire extinguishing gas circulating upwards through a duct from above the storage column along the sides of the stack, via multiple inlets, gaps below the stack, and through an air duct, to extinguish a fire in the storage column. The gaseous fire extinguishing device can be combined with a system including a cooling device. Exemplary fire extinguishing gases include, but are not limited to, CO2 and...

[0046] In one implementation, the system can be adapted to increase the fan speed when releasing extinguishing gas. Increasing the fan speed increases the circulation of the extinguishing gas and improves fire suppression.

[0047] In one embodiment, the fan may be located at a first end of the air duct adjacent to the upper end of the upright member.

[0048] In a second aspect, the invention also relates to a method for circulating gas in a grid-based automated storage and retrieval system, the system comprising:

[0049] - A frame structure, including upright members and a grid of horizontal tracks disposed at the upper ends of the upright members, the frame structure defining a storage volume comprising multiple columns arranged in a grid pattern below the horizontal tracks among the multiple upright members;

[0050] - Multiple storage containers are stacked vertically in a stacked manner in columns to provide multiple storage columns;

[0051] - The space under the stack extends beneath the stack of storage containers;

[0052] - Multiple inlets leading to the space beneath the stacks of storage containers;

[0053] - At least one such column, which has no storage containers and is arranged among multiple storage columns to provide a ventilated column, the ventilated column including a fan, wherein multiple duct walls surrounding the ventilated column define ducts having a first end adjacent to a horizontal track and a second end adjacent to a gap below the stack.

[0054] The method includes using a fan to circulate gas along the side of the stack through multiple inlets, the gap below the stack, and through a duct.

[0055] In one embodiment, the step of circulating the gas may include using a fan to draw gas from the gaps beneath the stack.

[0056] In one embodiment, the method may further include providing at least one cooling device above the frame structure and cooling the gas to be circulated above the storage column to cool the storage container.

[0057] In one embodiment, the method may further include providing at least one gas extinguishing device above the frame structure and releasing extinguishing gas to be circulated from above the storage column to extinguish the fire in the storage column.

[0058] In one embodiment, the method may further include increasing the speed of the fan when releasing the extinguishing gas.

[0059] In one embodiment, the method may further include releasing fire extinguishing gas when a fire is detected in a storage column using at least one sensor disposed in the duct, the at least one sensor being arranged to measure at least one property of the gas flowing through the duct. Attached Figure Description

[0060] The following figures are provided to facilitate understanding of the present invention. The figures illustrate embodiments of the invention, which will now be described by way of example only. In the figures:

[0061] Figure 1 is a perspective view of the framework structure of an existing automated storage and retrieval system.

[0062] Figure 2 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers therein.

[0063] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever for supporting storage containers below.

[0064] Figure 4 This is a side view of an exemplary automatic storage and retrieval system according to the present invention.

[0065] Figure 5 This is a perspective view of an exemplary raised floor according to the present invention.

[0066] Figure 6 This is a perspective view of another exemplary raised floor according to the present invention.

[0067] Figure 7a This is a top view of an exemplary automatic storage and retrieval system according to the present invention.

[0068] Figure 7b This is a perspective sectional view of an exemplary automatic storage and retrieval system according to the present invention.

[0069] Figure 8 This is a schematic top view of an exemplary automatic storage and retrieval system according to the present invention.

[0070] Figure 9a and Figure 9b This is a perspective view of an exemplary lifting floor panel according to the present invention.

[0071] Figure 10 This is a perspective view of an exemplary automatic storage and retrieval system for cooling according to the present invention.

[0072] Figure 11 This is a side view of an exemplary automatic storage and retrieval system with a fire extinguishing system according to the present invention.

[0073] Figure 12This is a schematic diagram of an exemplary vent size according to the present invention. Detailed Implementation

[0074] 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 in the drawings.

[0075] 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 upright members 102, and the frame structure 100 also includes a first track system 108 in the upper part in the X and Y directions.

[0076] The frame structure 100 also includes storage compartments arranged in the form of storage columns 105 between the members 102 and 103, wherein storage containers 106 can be stacked in the storage columns 105 in the form of stacks 107.

[0077] The frame structure 100 can be of any size. In particular, it should be understood that the frame structure can be much wider and / or much longer and / or much 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 twelve containers.

[0078] Now refer to Figures 4 to 12 Embodiments of the automatic storage and retrieval system according to the present invention will be discussed in more detail.

[0079] Figure 4This is a side view of an exemplary automated storage and retrieval system 1, which includes a frame structure 100 as described in detail above, comprising upright members 102 and a grid of horizontal tracks 110 disposed at the upper ends of the upright members 102. The frame structure 100 defines a storage volume comprising a plurality of columns 105 arranged in a grid pattern below the horizontal tracks 110 between the plurality of upright members 102. A plurality of storage containers 106 are vertically stacked in columns in a stack 107 to provide a plurality of storage columns 105. The system also includes a stack undergrowth gap 402 extending below the stack of storage containers. The stack undergrowth gap 402 allows gases such as air to flow below the stack of containers and between adjacent stacks of storage containers. Various types of insulators can be used to provide the stack undergrowth gap, such as special ventilated storage containers, or a raised floor panel 401 as will be discussed in further detail below. A plurality of inlets 403 exist between the stacks of storage containers leading to the stack undergrowth gap 402. The distance between adjacent stacks is typically short, usually within centimeters, to achieve a compact storage and retrieval system. Therefore, directing airflow through the storage and retrieval system when storage container 106 is full is a challenge. For example, airflow may be needed for cooling processes or fire suppression. In refrigerated environments, this involves moving air along the sides of the container to aid the cooling process. If the air around the container does not move, it will be blocked, resulting in a slow cooling process. Existing solutions have addressed this problem by forced air circulation through the storage container, where a fan draws air from an area outside the storage volume, resulting in high airflow near the fan, i.e., near the edge of the storage volume, decreasing towards the center of the storage volume. This leads to uneven cooling of the product within the storage volume.

[0080] exist Figure 4 In the illustrated automated storage and retrieval system 1, at least one column without storage containers and arranged among multiple storage columns provides a ventilation column 404. The ventilation column 404 includes a fan 405 and multiple duct walls 410 surrounding the ventilation column to define an air duct 406 having a first end 407 adjacent to a horizontal track 110 and a second end 408 adjacent to a gap 402 below the stack. The fan 405 is arranged to circulate gas through multiple inlets 403, the gap 402 below the stack, and through the air duct 406 along the side of the stack 107. The ventilation column 404 within the storage columns generates a more uniform airflow 409 than drawing air only at the edges of the storage volume.

[0081] exist Figure 4 In the middle, the fan 405 is located at the first end 407 of the air duct 406, near the upper end of the upright member 102. Figure 4In the example configuration, the gas circulates as shown in airflow 409, where a fan 405 draws gas from the under-stacking void 402, causing the gas to be drawn upwards along air duct 404 to the area above the storage volume. The negative pressure created by drawing gas from the under-stacking void 402 draws gas from above the storage space, downwards along the side of the stack 107 through multiple inlets 403 to the under-stacking void 402.

[0082] Depending on the number of ventilation columns 404 and the distance between them, similar but limited non-uniformity may occur. To reduce this non-uniformity, the system can be arranged such that the total area of ​​each of the multiple inlets 403 increases with the horizontal distance of the inlet 403 from the ventilation column 404. Inlets with a larger total area allow more gas to flow through compared to inlets with a smaller area, thus compensating for the reduced airflow due to the distance from the ventilation column. Inlets with a smaller area allow less gas to flow through, thus compensating for the higher airflow near the ventilation column. Therefore, even more uniform and balanced airflow can be achieved.

[0083] In one embodiment, the duct 406 may be provided with at least one sensor 411 arranged to measure at least one property of the gas flowing through the duct. Exemplary properties of the gas may include at least one of temperature, humidity, particulate matter, smoke, pollutants, oxygen saturation, fungi, and bacteria. Sensors in the duct can provide earlier warnings compared to sensors arranged above the grid. The gas in the duct may also be more concentrated than the gas above the grid, allowing for better gas quality measurement.

[0084] Figure 5 This is a perspective view of a plurality of lift-floor panels 401 arranged at the bottom of each storage column 105, wherein the lift-floor panels 401 provide a clearance 402 under the stack. The lift-floor panels 401 are placed at the bottom of the frame structure 100, for example on the floor 400. The position of the lift-floor panels 401 is secured within the frame structure 100 by upright members 102. After the frame structure 100 has been assembled, the lift-floor panels 401 are typically installed in the bottom of the frame structure.

[0085] exist Figure 5 In the illustrated embodiment, a plurality of inlets 403 leading to the gap 402 below the stack are defined by gaps between adjacent lift floor panels 401. The gaps between adjacent panels can be varied by changing the panel dimensions or by having cutouts of different sizes in the inlet areas between the stacks 107. The cutouts can be circular, square, or have any other suitable shape. The total area of ​​each of the plurality of inlets 403 can be varied as described above, such that the total area of ​​each of the plurality of inlets 403 increases with the horizontal distance of the inlet 403 from the ventilation column 404.

[0086] Figure 6 An embodiment is shown in which a nozzle plate 600 is arranged at each of a plurality of inlets 403. The nozzle plate 600 includes a plurality of holes 601, 602, and the total area of ​​the plurality of holes 601, 602 increases with the distance of the nozzle plate 600 from the ventilation column 404. Holes 601 are larger than holes 602 closer to the ventilation column. In an alternative solution, the total area of ​​the plurality of holes 601, 602 can be increased alternatively or additionally by increasing the number of holes 601, 602 in the nozzle plate 600. The nozzle plate 600 may have holes of the same size along its length, or it may have smaller holes at one end and larger holes at the other end. The nozzle plate 600 is easier to assemble than adjusting the size of the inlets 403 and allows for easier reconfiguration of airflow. In an alternative embodiment, a valve plate is arranged at each of the plurality of inlets 403. The valve plate includes an adjusting valve to control airflow. In one embodiment, the adjusting valve is a sliding door.

[0087] Figure 7a This is a top view of an embodiment of the present invention. Figure 7a A stack 107 of multiple storage containers surrounding ventilated column 404 is shown. Figure 7b yes Figure 7a A 3D view showing the storage container removed. Figure 7a and Figure 7b Multiple duct walls 410 are shown surrounding the ventilation column to define the air duct. The multiple duct walls 410 may be panel panels made of a suitable rigid and thin material such as aluminum and mounted to the upright member 102. Figure 7a and Figure 7b An uncovered inlet 403 leading to the gap 402 below the stack is shown, and a vent plate 600 is arranged above the inlet 403. The diameter of the hole 602 in the vent plate closest to the ventilation column 404 is smaller than the diameter of the hole 601 in the vent plate of a floor panel further away from the ventilation column.

[0088] Figure 8 This is a schematic top view of an exemplary automated storage and retrieval system, showing nine ventilated columns 404 located within storage column 105.

[0089] Figure 12This is a schematic diagram of the vent dimensions according to the invention. Ventilation column 404 is located at the center of a circle, which shows the distance from the ventilation column. In this example, vent A has a vent opening n, where n defines the area of ​​the vent opening and can be described, for example, by the diameter of the opening. Ventilation vent A is located close to ventilation column 404. Ventilation vent B, located further away from ventilation column 404 than vent A, has a vent opening greater than n, i.e., larger than vent A. Ventilation vent C, located further away from ventilation column 404 than vent B, has a vent opening larger than vent B.

[0090] Figure 9a and Figure 9b A perspective view of exemplary lifting floor panels 401, 401a, and 401b according to the present invention is shown. Each of the lifting floor panels 401, 401a, and 401b may include a support plate 900 for supporting a stack 107 of storage containers and a plurality of legs 901 adapted to raise the support plate 900. The plurality of legs 901 may, for example, be positioned on the floor 400. The support plate 900 and the legs 901 may be integral or made of separate parts connected by fasteners. Figure 9a One embodiment is shown in which a plurality of legs 901 are made of plastic and a support plate 900 is made of metal.

[0091] Figure 9b One embodiment is shown in which the raised floor panel 401b is made of sheet metal. A central portion 903 of the sheet metal forms a support plate 900, and a plurality of outer portions 904 of the sheet metal arranged perpendicular to the central portion 903 form a plurality of legs 901. The plurality of outer portions 903 of the sheet metal may also be provided with openings 905. The openings allow airflow under the floor panel and / or ducts to pass through. The openings 905 can be closed by a closing device (e.g., a plug) to regulate airflow in the gap 402 below the stack. The number of closed openings 905 decreases as the horizontal distance between the raised floor panel 401b and the ventilation column 404 increases, which effectively increases the total area of ​​each of the plurality of inlets 403 as the horizontal distance between the inlets 403 and the ventilation column 404 increases. The larger total area openings 905 allow more gas to flow through compared to smaller area openings 905, thus compensating for the reduced airflow due to the distance from the ventilation column. The smaller total area openings 905 allow less gas to flow through, thus compensating for the higher airflow near the ventilation column. Therefore, even more uniform and balanced airflow can be achieved.

[0092] A special ventilated storage container can be provided in the gap 402 below the stack. Preferably, a small-profile storage container is used. The special ventilated storage container may have an adjustable opening on the side of the storage container to regulate the airflow through it, as discussed above with reference to the raised floor panel 401b. The opening can be adjusted by a sliding door, multiple baffles, or plugs.

[0093] Figure 10 This is a perspective view of the system as described above, which also includes at least one cooling device 1000 arranged above the frame structure 100. The at least one cooling device 1000 is adapted to cool gas circulating from above the storage column 105 along the side of the stack 107, via multiple inlets 403, under-stack gaps 402, and upward through air ducts 406. This system can be used to cool products, such as groceries, within the storage volume of the stack 107. The temperature within the storage volume of the stack 107 can be controlled by adjusting the temperature of the gas from the cooling device and / or the velocity of the gas flowing through the storage volume.

[0094] Figure 11 This is a side view of the system as described above, which also includes at least one gas extinguishing device 1100 disposed above the frame structure 100. The extinguishing device 1100 is adapted to release extinguishing gas 1102 circulating from above the storage column 105 along the side of the stack 107, via multiple inlets 403, under-stack gaps 402, and upward through duct 406 to extinguish fire in the storage column 105. The system may also include at least one sensor 1101 to detect fire within the storage volume. This at least one sensor 1101 may be part of a separate fire sensor system or part of at least one sensor 411 arranged to measure at least one property of the gas flowing through the duct. Sensors 411, 1104 in the duct can provide earlier warnings compared to sensors disposed above the grid. The gas in the duct can also be more concentrated than the gas above the grid, allowing for better measurement of gas properties. This allows for earlier detection of fire within the storage volume and earlier release of the extinguishing gas 1102. Exemplary extinguishing gases include, but are not limited to, CO2 and... In one embodiment, the system can be adapted to increase the speed of fan 405 when releasing extinguishing gas 1102. Increasing the speed of fan 405 increases the circulation of extinguishing gas 1102 and improves fire suppression. The gas extinguishing device can be combined with a system that includes a cooling device.

[0095] Now, for reference Figures 4 to 12 This paper describes a method for circulating gas in a grid-based automated storage and retrieval system 1. The grid-based automated storage system 1 includes:

[0096] - Frame structure 100 includes upright members 102 and a grid of horizontal rails 110 disposed at the upper end of the upright members 102. The frame structure defines a storage volume including a plurality of columns 105 arranged in a grid pattern below the horizontal rails 110 between the upright members 102.

[0097] - Multiple storage containers 106 are vertically stacked in columns in the form of stacks 107 to provide multiple storage columns 105;

[0098] - The gap 402 under the stack extends below the stack of storage containers;

[0099] - Multiple inlets 403 lead between the stacks of storage containers to the space 402 below the stacks;

[0100] - At least one such column, which has no storage containers and is arranged among a plurality of storage columns, to provide a ventilated column 404, the ventilated column 404 including a fan 405, wherein a plurality of duct walls 410 surrounding the ventilated column define ducts 406 having a first end 407 adjacent to a horizontal track 110 and a second end 408 adjacent to a gap 402 below the stack.

[0101] The method includes using a fan 405 to circulate gas along the side of the stack 107 via multiple inlets 403, an under-stack void 402, and through a duct 406. The step of circulating the gas may advantageously include using the fan 405 to draw gas from the under-stack void 402. The fan 405 draws gas from the under-stack void 402, drawing the gas upwards along the duct 406 to an area above the storage volume. The negative pressure created by drawing gas from the under-stack void 402 draws gas from above the storage volume, and the gas is drawn downwards along the side of the stack 107 via the multiple inlets 403 to the under-stack void 402.

[0102] The method may also include the steps of providing at least one cooling device 1000 above the frame structure 100 and cooling the gas to be circulated above the storage column 105 to cool the storage container 106.

[0103] The method may further include the steps of providing at least one gas extinguishing device 1100 above the frame structure 100 and releasing extinguishing gas 1102 to be circulated from above the storage column 105 to extinguish fire in the storage column 105. In one embodiment, the method may further include increasing the speed of the fan 405 when releasing the extinguishing gas 1102.

[0104] The method may also include the step of releasing fire extinguishing gas 1102 using at least one sensor 1101 disposed in air duct 406 when a fire is detected in storage column 105, the at least one sensor 1101 being arranged to measure at least one property of gas 409 flowing through air duct 406.

[0105] In the foregoing description, various aspects of the transport vehicle and automated storage and retrieval system according to the invention have been described with reference to illustrative embodiments. Specific figures, systems, and configurations have been set forth for purposes of explanation in order to provide a full 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.

[0106] Reference number list

[0107] 1. Existing automated storage and retrieval systems

[0108] 100 Frame Structure

[0109] 102. Upright members of a frame structure

[0110] 103 Horizontal members of frame structures

[0111] 104 Storage Grid

[0112] 105 Storage Columns

[0113] 106 Storage Containers

[0114] 106' Specific location of the storage container

[0115] 107 Stacking

[0116] 108 orbital system

[0117] 110 Parallel orbits in the first direction (X)

[0118] 110a First track in the first direction (X)

[0119] 110b Second orbit in the first direction (X)

[0120] 111 Parallel track in the second direction (Y)

[0121] 111a First track in the second direction (Y)

[0122] 111b Second track in the second direction (Y)

[0123] 112 Enter the opening

[0124] 119 First Port Column

[0125] 120 Second Port Column

[0126] 201 Prior art storage container vehicles

[0127] 201a The body of storage container vehicle 201

[0128] 201b Drive unit / wheel arrangement, first direction (X)

[0129] 201c Drive unit / wheel arrangement, second direction (Y)

[0130] 301 Prior art cantilevered storage container vehicles

[0131] 301a The body of storage container vehicle 301

[0132] 301b Drive device in the first direction (X)

[0133] 301c Drive device in the second direction (Y)

[0134] 304 clamping device

[0135] 500 Control System

[0136] X First Direction

[0137] Y Second Direction

[0138] Z Third Direction

[0139] 400 floor

[0140] 401 Lift Floor Panel

[0141] 401 Lift Floor Panel

[0142] 401 Lift Floor Panel

[0143] 402 Gap under stacking

[0144] 403 Gas Inlet

[0145] 404 ventilation column

[0146] 405 Ventilation Fan

[0147] 406 Ventilation Duct

[0148] 407 The first end of air duct 406

[0149] 408 The second end of air duct 406

[0150] 409 airflow

[0151] 410 Ventilation duct wall

[0152] 411 Sensor

[0153] 600 Vent Plate

[0154] The first-sized hole in the vent plate 600 of 601

[0155] The second-sized hole in the vent plate 600 of 602

[0156] 900 Support plate for lifting floor panels

[0157] 901 Lifting feet for floor panels

[0158] 902 Support legs for raising floor panels

[0159] 903 The center part of the sheet metal plate

[0160] 904 Sheet Metal Plate (Exterior Part)

[0161] 905 Openings in the external portion of sheet metal sheet 904

[0162] 1000 Cooling device

[0163] 1100 Fire Extinguishing Device

[0164] 1101 sensor

[0165] 1102 Fire Extinguishing Gas

[0166] A. Vent opening

[0167] B Vent opening

[0168] C Vent opening

Claims

1. A grid-based automated storage and retrieval system (1), comprising: - A frame structure (100) includes upright members (102) and a grid of horizontal rails (110) disposed at the upper end of the upright members (102), the frame structure defining a storage volume comprising a plurality of storage columns (105) arranged in a grid pattern below the horizontal rails (110) among the plurality of upright members (102), the storage columns being configured for storing corresponding vertical stacks (107) of a plurality of storage containers (106). - A gap (402) under the stack extends below the storage column (105); - Multiple entrances (403) between the storage columns (105) lead to the gap (402) below the stack. - At least one such ventilation column (404) configured without storage containers and arranged among a plurality of said storage columns (105), said ventilation column (404) including a fan (405), wherein a plurality of duct walls (410) surrounding said ventilation column define ducts (406) having a first end (407) adjacent to said horizontal rail (110) and a second end (408) adjacent to said under-stacking gap (402), wherein said fan (405) is configured to circulate gas along the side of said vertical stack (107) via the plurality of said inlets (403), said under-stacking gap (402) and through said duct (406).

2. The system according to claim 1, wherein, The total area of ​​each of the plurality of inlets (403) increases with the horizontal distance of the inlet (403) from the ventilation column (404).

3. The system according to claim 1, further comprising a vent plate (600) disposed at each of the plurality of said inlets (403), wherein, The vent plate (600) includes a plurality of holes (601, 602), and the total area of ​​the plurality of holes (601, 602) increases with the distance of the vent plate (600) from the ventilation column (404).

4. The system according to any one of claims 1 to 3 further includes a plurality of lifting floor panels (401) arranged at the bottom of each of the storage columns (105), the lifting floor panels (401) providing a gap (402) under the stack.

5. The system according to claim 4, wherein, The plurality of entrances (403) leading to the gap (402) below the stack are defined by the gap between adjacent lifting floor panels (401).

6. The system according to any one of claims 4 to 5, wherein, Each of the plurality of the lifting floor panels (401, 401a, 401b) includes a support plate (900) for supporting the vertical stack (107) formed by the storage containers and includes a plurality of legs (901) adapted to raise the support plate (900).

7. The system according to claim 6, wherein, The support plate (900) is made of metal, and the plurality of the legs (901) are made of plastic.

8. The system according to claim 6, wherein, The raised floor panel (401b) is made of sheet metal, wherein the central portion (903) of the sheet metal forms the support plate (900), and a plurality of external portions (904) of the sheet metal arranged at a perpendicular angle to the central portion (903) form a plurality of the legs (901).

9. The system according to claim 8, wherein, The sheet metal plate has multiple external portions (904) provided with openings (905).

10. The system according to any one of claims 1 to 9, wherein, The air duct (406) is provided with at least one sensor (411, 1101) arranged to measure at least one property of the gas (409) flowing through the air duct (406).

11. The system according to any one of claims 1 to 10, further comprising at least one cooling device (1000) disposed above the frame structure (100), the cooling device being adapted to cool gas circulating from above the storage column (105) along the side of the vertical stack (107) via a plurality of the inlets (403), the gap below the stack (402) and upward through the air duct (406).

12. The system according to any one of claims 1 to 10, further comprising at least one gas extinguishing device (1100) disposed above the frame structure (100), the gas extinguishing device being adapted to release extinguishing gas (1102) circulating from above the storage column (105) along the side of the vertical stack (107), via the plurality of the inlets (403), the gap below the stack (402) and upward through the air duct (406) to extinguish a fire in the storage column (105).

13. The system according to claim 12 is further adapted to increase the speed of the fan (405) when releasing the fire extinguishing gas (1102).

14. The system according to any one of claims 1 to 13, wherein, The fan (405) is located at the first end (407) of the air duct (406) adjacent to the upper end of the upright member (102).

15. A method for circulating gas in a grid-based automated storage and retrieval system (1), the system comprising: - A frame structure (100) includes upright members (102) and a grid of horizontal rails (110) disposed at the upper end of the upright members (102), the frame structure defining a storage volume comprising a plurality of storage columns (105) arranged in a grid pattern below the horizontal rails (110) among the plurality of upright members (102), the storage columns storing corresponding vertical stacks (107) of a plurality of storage containers (106). - A gap (402) under the stack extends below the storage column (105); - Multiple entrances (403) leading to the space (402) below the stack between the storage columns (105); - At least one ventilation column (404) configured without storage containers and arranged among the plurality of said storage columns (105), said ventilation column (404) including a fan (405), wherein a plurality of duct walls (410) surrounding said ventilation column define ducts (406), said ducts having a first end (407) adjacent to said horizontal rail (110) and a second end (408) adjacent to said under-stack clearance (402). The method includes: The fan (405) is used to circulate the gas along the sides of the multiple vertical stacks (107) of the multiple storage containers via the multiple inlets (403), the gaps under the stacks (402), and through the air duct (406).

16. The method according to claim 15, wherein, The steps for circulating the gas include using the fan (405) to draw gas from the void (402) below the stack.

17. The method according to claim 15 or 16, wherein, The method further includes providing at least one cooling device (1000) above the frame structure (100) and cooling the gas to be circulated above the storage column (105) to cool the storage container (106).

18. The method according to claim 15 or 16, wherein, The method further includes providing at least one gas extinguishing device (1100) above the frame structure (100) and releasing extinguishing gas (1102) to be circulated from above the storage column (105) to extinguish the fire in the storage column (105).

19. The method according to claim 18, wherein, The method also includes increasing the speed of the fan (405) when releasing the extinguishing gas (1102).

20. The method according to claim 19, wherein, The method further includes releasing the fire extinguishing gas (1102) when a fire is detected in the storage column (105) using at least one sensor (1101) disposed in the air duct (406), wherein at least one of the sensors (1101) is arranged to measure at least one property of the gas (409) flowing through the air duct (406).

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