Automatic storage and retrieval system comprising temperature management system and method for managing temperature in automatic storage and retrieval system

Abstract

The invention relates to an automated grid-based storage and retrieval system (1), said system (1) comprising a frame structure (100) comprising a grid of a plurality of vertically extending members (102) and horizontal rails (110, 111) arranged at the upper ends of said vertical members (102), in which a remotely operated vehicle for handling cargo holders (106) operates on top of the grid, the frame structure (100) comprises a plurality of vertically extending storage columns (105) that provide storage volumes (500) for storing cargo holders (106). A storage volume (500) is disposed below the horizontal rails (110, 111) and at a distance from the horizontal rails (110, 111). The system (1) further comprises a temperature management system (20) for the storage volume (500), the temperature management system comprising means (22) for providing air at a first temperature and a horizontally extending air duct (24) for delivering the air at the first temperature to the storage volume (500), the air duct being disposed along a middle portion of the storage volume (500), the air at the first temperature is released in the upper section (500U) of the storage volume (500). The invention also relates to a method for managing air in an automatic grid-based storage and retrieval system (1).

Description

[0001] The present invention generally relates to an automatic storage and retrieval system including a temperature management system and a method for managing temperature in the storage and retrieval system. Background Art

[0002] Figure 1 The invention discloses an automatic storage and retrieval system 1 with a frame structure 100 of the prior art. Figure 2 , Figure 3a to Figure 3b Three different prior art container handling vehicles 201, 301, 401 suitable for operating on such a system 1 are disclosed.

[0003] The frame structure 100 comprises a plurality of upright members 102 and comprises a storage volume comprising a plurality of storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106, also called boxes, are stacked one on top of another to form container stacks 107. These members 102 may 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 rail system 108 arranged across the top of the frame structure 100, on which a plurality of container handling vehicles 301, 401 can be operated to lift and lower storage containers 106 from and into the storage array 105, and also to transport these storage containers 106 over the storage array 105. The rail system 108 includes: a first set of parallel rails 110 arranged to guide the container handling vehicles 301, 401 to move across the top of the frame structure 100 in a first direction X; and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide the container handling vehicles 301, 401 to move in a second direction Y perpendicular to the first direction X. The containers 106 stored in the array 105 are accessed by the container handling vehicles 301, 401 through access openings 112 in the rail system 108. The container handling vehicles 301 , 401 can move laterally above the storage row 105 , ie in a plane parallel to the horizontal XY plane.

[0005] Upright members 102 of frame structure 100 may be used to guide storage containers during raising and lowering of containers from row 105 and into row 105. Stack 107 of containers 106 is generally self-supporting.

[0006] Each prior art container handling vehicle 201, 301, 401 includes a body 201a, 301a, 401a, and a first set of wheels and a second set of wheels 201b, 201c, 301b, 301c, 401b, 401c, which enable the container handling vehicle 201, 301, 401 to move laterally in the X direction and the Y direction, respectively. Figures 2 to 3b , the two wheels in each set are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent tracks of the first set of tracks 110, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent tracks of the second set of tracks 111. At least one of these sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be raised and lowered so that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can engage with the corresponding set of tracks 110, 111 at any one time.

[0007] Each prior art container handling vehicle 201, 301, 401 further includes a lifting device 304, 404 ( Figure 3a to Figure 3b ), the lifting device has a lifting frame part 304a for vertically transporting storage containers 106, for example, raising storage containers 106 from storage columns 105 and lowering storage containers 106 into storage columns 105. Lifting belts 404a are also provided. Figure 3b The lifting device 304, 404 includes one or more clamping / engaging devices adapted to engage the storage container 106, and the clamping / engaging device can be lowered from the vehicle 201, 301, 401 so that the position of the clamping / engaging device relative to the vehicle 201, 301, 401 can be in a third direction Z (e.g., Figure 1 The gripping device of the container handling vehicle 301, 401 is partly adjusted. Figure 3a and Figure 3b The container handling vehicle 201 has a gripping device located at Figure 2 In the vehicle body 201a.

[0008] Typically, and also for the purposes of this application, Z=1 represents the uppermost level of storage containers available below the rails 110, 111, i.e., the level directly below the rail system 108, Z=2 represents the second level below the rail system 108, Z=3 represents the third level, etc. Figure 1 In the exemplary prior art disclosed in , Z=8 represents the bottommost 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. Therefore, as an example, and using Figure 1The Cartesian coordinate system X, Y, Z indicated in Figure 1 The storage container identified as 106' in FIG. 1 may be referred to as occupying storage location X=18, Y=1, Z=6. The container handling vehicles 201, 301, 401 may be referred to as traveling in level Z=0, and each storage column 105 may be identified by its X and Y coordinates. Thus, Figure 1 The storage containers shown extending above rail system 108 are also referred to as being arranged in level Z=0.

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

[0010] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or space for receiving and loading the storage container 106 when transporting the storage container 106 across the track system 108. The storage space may include a cavity centrally disposed within the vehicle body 201a, such as Figure 2 and Figure 3b As shown, and as described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0011] Figure 3a An alternative construction of a container handling vehicle 301 having a cantilever structure is shown. Such a vehicle is described in detail in, for example, NO 317366, the contents of which are also incorporated herein by reference.

[0012] Figure 2 The illustrated cavity container handling vehicle 201 may have a footprint that covers an area whose dimensions in the X and Y directions are substantially equal to the lateral extent of the storage row 105, for example, as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" may mean "horizontal".

[0013] Alternatively, the hollow container handling vehicle 401 may have a footprint that is larger than the lateral area defined by the storage row 105, such as Figure 3b As shown, and as disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] The track system 108 typically includes a track with grooves in which the wheels of the vehicle run. Alternatively, the track may include an upwardly protruding element, wherein the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly protruding elements are collectively referred to as guide rails. Each track may include one guide rail, or each track may include two parallel guide rails; in other track systems 108, each track in one direction may include one guide rail, and each track in the other perpendicular direction may include two guide rails. The track system may also include a double guide rail track in one direction of the X or Y direction and a single guide rail track in the other direction of the X or Y direction. The double guide rail track may include two track members, each track member having a guide rail, and the two track members are fastened together.

[0015] WO 2018 / 146304 A1, the contents of which are incorporated herein by reference, shows a typical construction of a rail system 108 comprising a track and parallel guides in the X and Y directions.

[0016] In the frame structure 100, most of the rows 105 are storage rows 105, i.e. rows 105 in which storage containers 106 are stored in stacks 107. However, some of the rows 105 may have other purposes. Figure 1 In the embodiment of the present invention, the columns 119 and 120 are special columns that are used by the container handling vehicles 201, 301, 401 to put down and / or pick up the storage containers 106 so that they can be transported to the access station (not shown), where the storage containers 106 can be accessed from the outside of the frame structure 100, or transferred out or transferred into the frame structure 100. In the art, such a position is generally referred to as a "port", and the column where the port is located can be referred to as a "port column" 119, 120. The transportation to the access station can be carried out in any direction, i.e. horizontal, inclined and / or vertical. For example, the storage container 106 can be placed in a random or special column 105 within the frame structure 100, and then picked up by any container handling vehicle and transported to the port column 119, 120 for further transportation to the access station. The transportation from the port to the access station may need to be moved along various different directions by means such as a conveying vehicle, a trolley or other transportation line. It should be noted that the term "inclined" means transport of the storage container 106 with a general transport direction somewhere between horizontal and vertical.

[0017] exist Figure 1 In the embodiment, the first port column 119 can be, for example, a dedicated unloading port column, where the container handling vehicles 201, 301 can unload the storage containers 106 to be transported to the access station or the transfer station, and the second port column 120 can be a dedicated picking port column, where the container handling vehicles 201, 301, 401 can pick up the storage containers 106 that have been transported from the access station or the transfer station.

[0018] The access station may generally be a pick-up station or a deposit station where product items are removed from or positioned in the storage container 106. In the pick-up station or the deposit station, the storage container 106 is generally not removed from the automated storage and retrieval system 1, but rather once access is completed, the storage container is returned to the frame structure 100. The port may also be used to transfer the storage container 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 the port rows 119, 120 and the access station using a conveyor system comprising a plurality of conveyors.

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

[0021] The conveyor system may be arranged to transfer storage containers 106 between different frame structures, for example as described in WO 2014 / 075937 A1, the contents of which are incorporated herein by reference.

[0022] When accessing data stored in Figure 1 When a storage container 106 in one of the plurality of rows 105 disclosed in the embodiment of the present invention is located, one of the container handling vehicles 201, 301, 401 is instructed to take the target storage container 106 from its position and transport it to the unloading port row 119. This operation includes moving the container handling vehicle 201, 301 to a position above the storage row 105 where the target storage container 106 is located, using the lifting equipment ( Figure 2 Not shown, but Figure 3a and Figure 3b107, and the target storage container 106 is removed from the storage column 105 (as can be seen in FIG. 107 ), and the storage container 106 is transported to the discharge port column 119. If the target storage container 106 is located deep within the stack 107, that is, one or more other storage containers 106 are positioned above the target storage container 106, the operation also includes temporarily moving the storage container located above before lifting the target storage container 106 from the storage column 105. This step, sometimes referred to as "digging" in the art, can be performed using the same container handling vehicle that is subsequently used to transport the target storage container to the discharge port column 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automatic storage and retrieval system 1 can have a container handling vehicle 201, 301, 401 specifically for the task of temporarily removing the storage container 106 from the storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container 106 can be repositioned in the original storage column 105. However, the removed storage containers 106 may instead be relocated to other storage rows 105 .

[0023] When a storage container 106 is to be stored in one row 105, one of the container handling vehicles 201, 301, 401 is instructed to pick up a storage container 106 from the pick-up port row 120 and transport it to a location where the storage container is to be stored above the storage row 105. After the storage container 106 located at or above the target location within the stack 107 has been removed, the container handling vehicle 201, 301, 401 positions the storage container 106 at the desired location. The removed storage container 106 can then be lowered back into the storage row 105 or repositioned to another storage row 105.

[0024] In order to monitor and control the automatic storage and retrieval system 1, for example, to monitor and control the position of the corresponding storage containers 106 in the frame structure 100, the content of each storage container 106, and the movement of the container handling vehicles 201, 301, 401, so that the desired storage container 10 can be transported to the desired position at the desired time, and the container handling vehicles 201, 301, 401 will not collide with each other, the automatic storage and retrieval system 1 includes a control system 500 ( Figure 1 ), which is typically computerized and which typically includes a database for tracking storage containers 106.

[0025] The above-mentioned type of storage and retrieval system can also be used to store frozen goods, such as frozen foods. For this purpose, a temperature environment far below 0°C is required in the area of ​​the system where frozen foods are stored. At the same time, the area of ​​the storage and retrieval system located above the tracks needs to be maintained at a significantly higher temperature in order to protect the vehicles, in particular the wheels of the vehicles, where the container handling vehicles move in this area. More specifically, ice accumulation on the tracks will eventually cause the wheels to slip. Therefore, it is necessary to provide a multi-temperature environment within the storage and retrieval system. A storage and retrieval system featuring such an environment is discussed in WO2021 / 209648A1.

[0026] With reference to the system of WO 2021 / 209648 A1 , it is desirable to provide a storage and retrieval system that provides further benefits to the system owner, such as easy access to areas of the system where frozen food is stored for efficient cleaning and maintenance. Summary of the invention

[0027] The invention is set forth and characterized in the independent claim, while the dependent claims describe further characteristics of the invention.

[0028] A first aspect of the present invention relates to an automated grid-based storage and retrieval system comprising:

[0029] - a frame structure comprising a grid of vertically extending members and horizontal rails disposed at upper ends of the vertical members, wherein a remotely operated vehicle for handling goods holders operates on top of the grid, the frame structure comprising a plurality of vertically extending storage columns providing storage volumes for storing the goods holders, the storage volumes being disposed below and at a distance from the horizontal rails, and

[0030] - Temperature management system for storage volume, including:

[0031] - means for providing air at a first temperature, and

[0032] - a horizontally extending air duct for conveying air at a first temperature to the storage volume, the air duct being arranged along the middle of the storage volume, wherein the air at the first temperature is released in an upper section of the storage volume.

[0033] Thus, it is achieved that only a very limited section of the useful storage volume of the system is occupied by the system infrastructure, such as pipes with refrigerant. This leads to an increase in the useful storage space when compared with systems belonging to the prior art (e.g. WO 2021 / 209648 A1). Obviously, the increased storage capacity leads to an improved economic benefit for the plant owner.

[0034] The system of the present invention is suitable and can be operated with air as the only refrigerant. Therefore, the number of refrigerant transmission pipes employed in the present system can be kept to a minimum. Compared with the system represented by WO2021 / 209648A1 (in which ethylene glycol is used as the refrigerant and the ethylene glycol transmission pipe is integrated in the upright member supported by the rail), this simplifies and facilitates the system design and reduces the installation and operating costs.

[0035] Additionally, there are no pipes at floor level in the present system, which allows easy access to the storage volume and keeps it clean.

[0036] Another aspect of the present invention relates to a method for managing temperature in an automated grid-based storage and retrieval system according to claim 22. For the sake of brevity, the advantages discussed above in connection with the air flow control device may be associated with the corresponding method and not discussed further. Here, it should be explained that the order of the method steps of the method claim may be implemented in any given order.

[0037] For the purposes of this application, the term "container handling vehicle" used in the "Background of the invention" section of this application and the term "remotely operated vehicle" used in the "Specific embodiments" section both define a robotic wheeled vehicle that operates on a track system arranged across the top of a frame structure that is part of an automated storage and retrieval system. Similarly, the term "storage container" used in the "Background of the invention" section of this application and the term "cargo holder" used in the "Specific embodiments" section both define a container for storing items. In this context, a cargo holder can be a box, basket, pallet, tray, or the like. Different types of cargo holders can be used in the same automated storage and retrieval system.

[0038] The relative terms "upper", "lower", "below", "above", "higher" and the like are to be understood in their normal sense as viewed in a Cartesian coordinate system. When referring to a track system, "upper" or "above" is to be understood as a position closer to the surface of the track system (relative to another component), as opposed to the terms "lower" or "below", which are to be understood as a position further away from the track system (relative to another component). BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The following drawings are attached to facilitate understanding of the present invention. The drawings illustrate embodiments of the present invention which will now be described by way of example only, wherein:

[0040] Figure 1 It is a perspective view of the frame structure of the automatic storage and retrieval system of the prior art.

[0041] Figure 2 is a perspective view of a prior art container handling vehicle / remotely operated vehicle having a centrally disposed cavity for carrying a storage container therein.

[0042] Figure 3a is a perspective view of a prior art container handling vehicle / remotely operated vehicle having a cantilever for carrying a storage container underneath.

[0043] Figure 3b is a perspective view of a prior art container handling vehicle / remotely operated vehicle from below, the container handling vehicle / remotely operated vehicle having an internally arranged cavity for carrying a storage container therein.

[0044] Figure 4a is a perspective view of an automatic storage and retrieval system with a temperature management system according to an embodiment of the present invention.

[0045] Figure 4b Is has Figure 4a A side view of the automatic storage and retrieval system of the temperature management system is shown.

[0046] Figure 5a is a perspective top view of an automated storage and retrieval system with a temperature management system according to another embodiment of the present invention.

[0047] Figure 5b Is has Figure 5a A perspective side view of an automated storage and retrieval system of a temperature management system is shown.

[0048] Figure 5c Is has Figure 5a to Figure 5b A close up view of the automated storage and retrieval system of the temperature management system is shown.

[0049] Figure 5d It shows Figure 5a to Figure 5c A close-up of portions of the first and second air ducts of the temperature management system is shown.

[0050] Figure 6 The relative arrangement of the device for controlling the air flow with respect to the sections of the storage volume and the first area / second area arranged between the storage volume and the horizontal track grid is shown. DETAILED DESCRIPTION

[0051] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. It should be understood, however, that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings.

[0052] The frame structure 100 of the automatic storage and retrieval system 1 is combined with the above Figures 1 to 3b The prior art frame structure 100 described is constructed of a plurality of upright members 102, wherein the frame structure 100 further includes a first upper track system 108 along the X-direction and the Y-direction.

[0053] The frame structure 100 further comprises storage compartments arranged between the components 102 in the form of storage rows 105 , wherein storage containers 106 can be stacked in the form of stacks 107 within the storage rows 105 .

[0054] The frame structure 100 may be of any size. In particular, it should be understood that the frame structure may be Figure 1 The frame structure 100 may be much wider and / or longer and / or deeper than that disclosed in . For example, the frame structure 100 may have a horizontal extent of more than 700×700 columns and a storage depth of more than twelve containers. Figure 4a is a perspective view of an automatic storage and retrieval system with a temperature management system according to an embodiment of the present invention.

[0055] Now refer to Figures 4a to 6 Various aspects of the invention are discussed in greater detail.

[0056] Figure 4a is a perspective view of an automatic storage and retrieval system 1 having a temperature management system 20 according to an embodiment of the present invention. Figure 1 The system 1 comprises a frame structure 100 comprising vertically extending members and a grid of horizontal rails disposed at the upper ends of the vertical members, wherein a holder (106, Figure 4a A remotely operated vehicle (not shown) Figure 4a ) operates on top of the grid.

[0057] Further references Figure 1 The frame structure 100 includes a plurality of vertically extending storage rows providing storage volumes 500 for storing cargo holders, the storage volumes 500 being arranged below and at a distance from the horizontal rails. Figure 6 Discuss more thoroughly.

[0058] The temperature management system 20 for the storage volume 500 comprises a device 22 for providing air at a first temperature, and a horizontally extending air duct 24 (at a position between 100 and 150) for conveying the air at the first temperature to the storage volume 500. Figure 4b The air duct 24 is completely enclosed by the storage volume 500 and is arranged along the middle of the storage volume 500. The air at the first temperature is drawn from the upper section 500U ( Figure 4b24 in the storage volume 500). As can be easily seen, only the vertical plane of the storage volume 500 contains the pipe 24, so this plane cannot store cargo holders. Thus, it is achieved that only a very limited section of the useful storage volume is occupied by system infrastructure, such as the pipe 24. This results in an increase in the useful storage space when compared to systems belonging to the prior art. Obviously, the increased storage capacity leads to improved economic benefits for the plant owner.

[0059] Furthermore, the system of the present invention can be operated with air as the sole refrigerant. Therefore, the number of refrigerant transmission pipes employed in the present system can be kept to a minimum. This simplifies and facilitates system design and reduces installation and operating costs compared to systems belonging to the prior art in which ethylene glycol is often used as the refrigerant. In addition, as shown in FIG. Figure 4a As can be easily deduced, the absence of pipes at floor level in the present system allows easy access to the storage volume and keeps it clean.

[0060] Still reference Figure 4a The air duct 24 extends in a first direction (X) of the frame structure 100 so as to span a distance between two opposite sides of the frame structure 100 .

[0061] Figure 4b is a side view of a portion of an automatic storage and retrieval system 1 having a temperature management system 20. Figure 4b In the figure, flow control devices 21, 23 for releasing air at a first temperature into the system 1 can be seen. Thus, the air at the first temperature is released laterally in the second direction (Y) from both sides of the air duct 24 via the device 21 into two substantially equally sized halves of the storage volume 500. Furthermore, the air at the first temperature is released downwards via the device 23. The air duct occupies the size of one storage unit in the second direction (Y). Figures 5a to 6 Other embodiments of these devices for releasing air are discussed.

[0062] Figure 5a 2 is a perspective top view of an automatic storage and retrieval system with a temperature management system 20 according to another embodiment of the present invention. Figure 1, system 1 includes a frame structure including a plurality of vertically extending members and a grid of horizontal tracks disposed at upper ends of the vertical members, wherein a remotely operated vehicle for carrying cargo holders operates on top of the grid. The frame structure includes a plurality of vertically extending storage columns, the storage columns providing a storage volume for storing cargo holders, the storage volume being disposed below and a distance from the horizontal tracks. Also shown is a temperature management system 20 for the storage volume, comprising a device 22 for providing air at a first temperature, and a horizontally extending air duct (at the top of the storage volume 500) for delivering air at the first temperature to the storage volume 500. Figure 5b to Figure 5c ). Figure 5a , Figure 5c As can be easily seen, the air duct is arranged along the middle of the storage volume 500. The temperature management system 20 also includes a plurality of vertically extending equidistant first air ducts 26 for conveying air at a first temperature through the storage volume 500, the plurality of air ducts 26 extending from the horizontally extending air duct 24 so that each first air duct 26 passes upward through the storage column 105. In one embodiment, each air duct 26 is composed of two parallel sub-ducts. Figure 5b to Figure 5c The air duct 26 is described in more detail.

[0063] In a preferred embodiment, the storage row 105 holding the first air duct 26 is completely surrounded by the storage row holding the cargo holder (not shown). Figure 4a to Figure 4b Similar to the embodiment shown, the air at the first temperature is Figure 5a The storage volume portion 500 is released from the upper section.

[0064] Figure 5b Is has Figure 5a A perspective side view of an automatic storage and retrieval system of a portion of the temperature management system 20 is shown. As can be seen, the horizontally extending air duct 24 is provided in the lower section 500L of the frame structure, and the plurality of first air ducts 26 extend upward. Still referring to Figure 5b Also shown are devices 28, 30, 32, 42 for releasing air from the temperature management system 20. These will be combined with Figure 5c to Figure 5d and Figure 6 Discuss in more detail.

[0065] Figure 5c yes Figure 5a to Figure 5b A close-up view of an automatic storage and retrieval system with a temperature management system 20 is shown. Here, a first air duct 26 is provided with a first device 28 for controlling (i.e. limiting) the flow of air at a first temperature. The first device 28 is arranged to be arranged on a horizontal track ( Figure 6 shown) below and the storage volume ( Figure 6The first air duct 26 is provided with a second device 32 for controlling the flow of air at a first temperature, the second device 32 being arranged below the first device 28 and provided with a device for releasing air to the storage volume 500 ( Figure 6 The air openings of the second device 32 are arranged in a rectangular pattern. The first air duct 26 is provided with a third device 34 for controlling the flow of air at the first temperature. The third device 34 is arranged below the second device 32 and is provided with a device for releasing air to the storage volume 500 ( Figure 6 The air openings of the third device 34 are arranged in a rectangular pattern.

[0066] Figure 5c The temperature management system 20 also shows a device 36 for providing air at a second temperature, wherein the second temperature is higher than the first temperature. A horizontally extending air duct 38 for conveying air at the second temperature toward the storage volume 500 and a plurality of vertically extending equidistant second air ducts 40 for conveying air at the second temperature toward the storage volume are shown. Figure 5a Each second air duct 40 is arranged in the same storage row as the corresponding first air duct 26. The air duct 38 extends in parallel with the air duct 24. The second air duct 40 extends in parallel with the first air duct 26. In the embodiment shown, each second air duct 40 is sandwiched between two sub-ducts (combined with the first air duct 26) of the corresponding first air duct 26. Figure 5b The air duct 38 is arranged in a similar manner to the air duct 24. The second air duct 40 discharges to a fourth air flow control device 42.

[0067] Figure 5d It shows Figure 5a to Figure 5c The first air duct 26 and the second air duct 40 of the temperature management system shown in FIG. The first air duct 26 consisting of two sub-ducts is provided with a first device 28 for controlling the flow of air at a first temperature, and the first device 28 is arranged on a horizontal track ( Figure 6 shown) below and the storage volume ( Figure 6The air is released in the first area 30 above the first device 28 (as shown). The first device 28 includes a first device part 281 having a semi-cylindrical shape, wherein the curved surface of the first device part 281 is provided with a plurality of air openings for releasing air. The air openings of the first device part 281 are arranged in an elliptical or circular pattern. The first device 28 includes a second device part 282 having a semi-cylindrical shape, wherein the curved surface of the second device part 282 is provided with a plurality of air openings. The air openings of the second device part 282 are arranged in an elliptical or circular pattern. As can be seen, the first device part 281 and the second device part 282 are arranged so that the curved surface of the first device part 281 deviates from the curved surface of the second device part 282.

[0068] refer to Figure 5b to Figure 5d The temperature management system 20 further includes a device 36 for providing air at a second temperature, wherein the second temperature is higher than the first temperature; a horizontally extending air duct 38 for conveying the air at the second temperature toward the storage volume 500; and a plurality of vertically extending equidistant second air ducts 40 for conveying the air at the second temperature toward the storage volume, each second air duct 40 being arranged in the same storage column as the corresponding first air duct 28.

[0069] The second air duct 40 is provided with a fourth air flow control device 42 ( Figure 5d ), which is arranged in the second area ( Figure 6 The fourth air flow control device 42 has a cylindrical shape, and its cylindrical surface is provided with a plurality of air openings extending circumferentially, so as to release air in all directions in the second area.

[0070] Figure 6 The relative arrangement of the devices for controlling the air flow with respect to the sections of the storage volume and the first area / second area arranged between the storage volume and the grid of horizontal tracks is shown. More specifically, a first air duct 26 is shown, which discharges to a first device 28, a second device 32 and a third device 34 for controlling the air flow. The second air duct (arranged behind the first air duct) is not visible. The second air duct discharges to a fourth device 42 for air flow. Figure 6 As shown, the second device 32 and the third device 34 release the air of the first temperature into the storage volume 500 (e.g., at the bottom of the storage volume 500L and the top of the storage volume 500U) composed of Figure 4a10 (see FIG. 10 ), while the first device 28 for controlling the air flow releases air at a first temperature into the first region 30 arranged between the rails 110, 111 and the storage volume 500U, 500L. The fourth device 42 for controlling the air flow releases air at a second temperature into the second region 44 arranged between the first region 30 and the rails 110, 111. The second temperature is higher than the first temperature. The airflow into the storage volume 500L, 500U and the first region 30 and the second region 44 is indicated by the box arrows. Also shown is a container handling vehicle 510 supported by the horizontal rails 110, 111.

[0071] In the foregoing description, various aspects of an automatic grid-based storage and retrieval system including a temperature management system have been described with reference to illustrative embodiments. For purposes of explanation, specific numbers, systems, and configurations are set forth in order to provide a thorough understanding of the system and its operation. However, this description is not intended to be interpreted in a restrictive sense. Various modifications and variations of the illustrative embodiments and other embodiments of the system that are apparent to those skilled in the art to which the disclosed subject matter belongs are deemed to fall within the scope of the invention.

[0072] List of reference numerals

[0073] 1 Storage and retrieval system

[0074] 20 Temperature Management System

[0075] 21 Flow control device for lateral air release

[0076] 22. means for providing air at a first temperature

[0077] 23 Flow control devices for downward air release

[0078] 24 air duct for conveying air at a first temperature

[0079] 26 First air duct

[0080] 28 The first device for controlling air flow

[0081] 30 First Area

[0082] 32 Second device for controlling air flow

[0083] 34 Third device for controlling air flow

[0084] 36. Means for providing air at a second temperature

[0085] 38 Air duct for conveying air at a second temperature

[0086] 40 Second air duct

[0087] 42 Fourth air flow control device

[0088] 44 Second Area

[0089] 102 Vertical members of frame structure

[0090] 104 Storage Grid

[0091] 105 Storage Rows

[0092] 106 Storage Containers / Cargo Holders

[0093] 106' Specific location of storage container

[0094] 107 Stacking of storage containers

[0095] 108 Track System

[0096] 110 Parallel tracks in the first direction (X)

[0097] 111 Parallel tracks in the second direction (Y)

[0098] 112 Access port

[0099] 119 First port column

[0100] 201 Container handling vehicle belonging to the prior art

[0101] 201a Body of container transport vehicle 201

[0102] 201b Drive device / wheel arrangement in the first direction (X)

[0103] 201c Drive / wheel arrangement in the second direction (Y)

[0104] 281 First device part of the first device

[0105] 282 Second device part of first device

[0106] 301 Cantilever-based container handling vehicle

[0107] 301a Body of container transport vehicle 301

[0108] 301b Driving device in the first direction (X)

[0109] 401 Container handling vehicle belonging to the prior art

[0110] 401a Body of container transport vehicle 401

[0111] 401b Driving device in the first direction (X)

[0112] 500 Storage volume

[0113] 500U storage volume upper part

[0114] 500L storage volume lower section

[0115] 505 Control System

[0116] 510 container handling vehicle

[0117] X first direction

[0118] Y Second direction

[0119] Z third direction

Claims

1. An automatic grid-based storage and retrieval system (1), the system (1) comprising: - a frame structure (100) comprising a plurality of vertically extending members (102) and a grid of horizontal rails (110, 111) arranged at the upper ends of the vertical members (102), wherein a remotely operated vehicle for handling cargo holders (106) operates on top of the grid, the frame structure (100) comprising a plurality of vertically extending storage rows (105) providing storage volumes (500) for storing cargo holders (106), the storage volumes (500) being arranged below and at a distance from the horizontal rails (110, 111), and - A temperature management system (20) for the storage volume (500), comprising: - means (22) for providing air at a first temperature, and - a horizontally extending air duct (24) for conveying air at the first temperature to the storage volume (500), the air duct being arranged along the middle of the storage volume (500), wherein the air at the first temperature is released in an upper section (500U) of the storage volume (500).

2. The system (1) according to claim 1, wherein: The air duct (24) extends in a first direction (X) of the frame structure (100) over at least a major part of the distance between two opposite sides of the frame structure (100).

3. System (1) according to any one of the preceding claims, wherein: The air at the first temperature is released laterally from both sides of the air duct (24) in a second direction (Y) into two substantially equally sized halves of the storage volume (500).

4. System (1) according to any one of the preceding claims, wherein: The air at the first temperature is released downwardly from the air duct (24).

5. System (1) according to any one of the preceding claims, wherein: The temperature management system (20) comprises a plurality of vertically extending equidistant first air ducts (26) for conveying air at the first temperature through the storage volume (500), the plurality of air ducts (26) extending from the horizontally extending air duct (24) such that each first air duct (26) passes upwardly through the storage column (105).

6. The system (1) according to claim 5, wherein: The storage row (105) holding the first air duct (26) is completely surrounded by the storage row (105) holding the cargo holders.

7. A system (1) according to claim 5 or claim 6, wherein: The horizontally extending air duct (24) is disposed in a lower section (500L) of the storage volume (500), and the plurality of first air ducts (26) extend upward.

8. The system (1) according to claim 7, wherein: At least one first air duct (26) is provided with a first device (28) for controlling the flow of air at the first temperature, the first device (28) being arranged to release air in a first area (30) arranged below the horizontal track (110) and above the storage volume (500).

9. The system (1) according to claim 8, wherein: The first device (28) comprises a first device part (281) having a semi-cylindrical shape, wherein a curved surface of the first device part (281) is provided with a plurality of air openings for releasing air into the first area (30).

10. The system (1) according to claim 9, wherein: The air openings of the first device part (281) are arranged in an oval or circular pattern.

11. The system (1) according to claim 9 or 10, wherein: The first device (28) comprises a second device part (282) having a semi-cylindrical shape, wherein a curved surface of the second device part (282) is provided with a plurality of air openings for releasing air into the first area (30).

12. The system (1) according to claim 11, wherein: The air openings of the second device part (282) are arranged in an oval or circular pattern.

13. System (1) according to claim 11 or 12, wherein: The first device part (281) and the second device part (282) are arranged such that the curved surface of the first device part (281) faces away from the curved surface of the second device part (282).

14. The system (1) according to any one of claims 8 to 13, wherein: The at least one first air duct (26) is provided with a second device (32) for controlling the flow of air at the first temperature, the second device (32) being arranged below the first device (28) and provided with a plurality of air openings for releasing air into the storage volume (500).

15. The system (1) according to claim 14, wherein: The air openings of the second device (32) are arranged in a rectangular pattern.

16. System (1) according to claim 14 or 15, wherein: The at least one first air duct (26) is provided with a third device (34) for controlling the flow of air at the first temperature, the third device (34) being arranged below the second device (32) and provided with a plurality of air openings for releasing air into the storage volume (500).

17. The system (1) according to claim 16, wherein: The air openings of the third device (34) are arranged in a rectangular pattern.

18. The system (1) according to any one of claims 5 to 17, wherein: The temperature management system comprises: - means (36) for providing air at a second temperature, wherein the second temperature is higher than the first temperature, - a horizontally extending air duct (38) for conveying air at the second temperature towards the storage volume (500), and - a plurality of vertically extending equidistant second air ducts (40) for conveying air at the second temperature towards the storage volume (500), each second air duct (40) being arranged in the same storage column (105) as the corresponding first air duct (26).

19. The system (1) according to claim 18, wherein: The second air duct (40) extends parallel to the first air duct (26).

20. The system (1) according to claim 18 or claim 19, wherein: The second air duct (40) is provided with a fourth air flow control device (42) arranged to release air of the second temperature in a second area (44) provided between the grid of the horizontal tracks (110, 111) and the first area (30).

21. The system (1) according to claim 20, wherein: The fourth air flow control device (42) has a cylindrical shape, and a plurality of air openings extending circumferentially are provided on the cylindrical surface thereof.

22. A method for managing temperature in an automated grid-based storage and retrieval system (1), the storage and retrieval system comprising a frame structure (100) comprising a plurality of vertically extending members (102) and a grid of horizontal rails (110, 111) disposed at the upper ends of the vertical members (102), wherein: A remotely operated vehicle for handling cargo holders (106) is operated on top of the grid, the frame structure (100) comprising a plurality of vertically extending storage rows (105), the storage rows defining storage volumes (500) for storing cargo holders (106), the storage volumes (500) being disposed below and at a distance from the horizontal rails (110, 111), the method comprising: - providing air at a first temperature to the storage volume (500) through an air channel, - conveying the air at the first temperature horizontally along the middle of the storage volume (500), and - releasing air at the first temperature in the upper section (500U) of the storage volume (500).

23. The method according to claim 22, comprising: - conveying the air at said first temperature vertically upwards before releasing the air.

24. The method according to any one of claims 22 to 23, comprising: - releasing air at the first temperature in a first area (30) arranged below the horizontal rails (110, 111) and above the storage volume (500).

25. The method according to claim 24, comprising: - releasing air at the first temperature into the storage volume (500).

26. The method according to claim 25, comprising: - releasing the air at the first temperature laterally in a second direction (Y) so that the air flows laterally through the storage volume (500).

27. A method according to any one of claims 24 to 26, comprising: - providing air at a second temperature, wherein the second temperature is higher than the first temperature, - conveying the air of the second temperature horizontally, and - releasing the air at the second temperature in a second area (44) arranged above the first area (30).

28. The method of claim 27, comprising releasing air omnidirectionally in the second region (44).

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