System and method for controlling movement of containers in automated storage and retrieval system

Abstract

A method for returning containers to a grid after completion of picking in a port in a system, the system comprising: a frame structure (100) forming a three-dimensional storage grid structure (104) for storing storage containers (106) for storing items, where the grid structure (104) forms vertical storage columns (105), where the storage columns (105) are arranged in a vertical direction; each vertical storage column (105) has a horizontal area defined by the size of the access opening (112) of the vertical storage column (105), and wherein the frame structure comprises a track system (108) arranged above the storage columns (105), said track system comprising a plurality of tracks extending in an X-direction and a Y-direction to form a grid, a track system (108) defining a perimeter of each access opening (112) on top of each storage row (105), the track system (108) providing an available route in the X-direction or Y-direction for the container handling vehicle (201, 301) to carry and transfer the storage containers (106) to and from the storage row (105); and a central computer system having a warehouse management system (WMS) for controlling operation of the storage and retrieval system; wherein the method comprises the steps of: transporting a container from a storage and retrieval system to a port using a container handling vehicle to pick up at least one item stored in the container, picking an indicated item from the container in the port, registering the container as complete in the port, if the container is not issued by a second container waiting to be picked from the port, storing the container in the port; or if the container is not requested at the other port, the container is automatically sent back to the storage and retrieval system.

Description

Technical Field

[0001] The present invention relates to an automatic storage and retrieval system for storing and retrieving containers, and more particularly to a system and method for automatically returning containers to a grid after desired items are retrieved from a port. Background Art

[0002] FIG. 1 discloses a prior art automated storage and retrieval system 1 having a frame structure 100 , and FIGS. 2 , 3 and 4 disclose three different prior art container handling vehicles 201 , 301 , 401 suitable for operating on such a system 1 .

[0003] The frame structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106 (also referred to as containers) are stacked one on top of the other to form stacks 107. The members 102 may typically be made of metal, for example 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 201, 301, 401 can be operated to lift and lower storage containers 106 from a storage row 105 into the storage row 105, and also to transport storage containers 106 above the storage row 105. The rail system 108 includes a first set of parallel rails 110 arranged to guide the container handling vehicles 201, 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 201, 301, 401 to move in a second direction Y perpendicular to the first direction X. The container handling vehicles 201, 301, 401 access the containers 106 stored in the row 105 through access openings 112 in the rail system 108. The container handling vehicles 201 , 301 , 401 can move laterally above the storage row 105 , ie in a plane parallel to the horizontal XY plane.

[0005] The upright members 102 of the frame structure 100 may be used to guide storage containers during the process of lifting containers from and lowering containers into the row 105. The stack 107 of containers 106 is generally self-supporting.

[0006] Each prior art container handling vehicle 201, 301, 401 comprises a vehicle body 201a, 301a, 401a and first and second wheel sets 201b, 201c, 301b, 301c, 401b, 401c, which wheels allow the container handling vehicle 201, 301, 401 to move laterally in the X direction and the Y direction, respectively. In Figures 2, 3 and 4, the two wheels in each set are fully visible. The first wheel set 201b, 301b, 401b is arranged to engage with two adjacent rails in the first set of rails 110, and the second wheel set 201c, 301c, 401c is arranged to engage with two adjacent rails in the second set of rails 111. At least one of the wheel sets 201b, 201c, 301b, 301c, 401b, 401c can be raised and lowered so that the first wheel set 201b, 301b, 401b and / or the second wheel set 201c, 301c, 401c can be engaged with the corresponding guide rail set 110, 111 at any time.

[0007] Each prior art container handling vehicle 201, 301, 401 further comprises a lifting device for vertically transporting storage containers 106, for example, lifting storage containers 106 from storage rows 105 and lowering storage containers 106 into storage rows 105. The lifting device comprises one or more gripping / engaging devices adapted to engage storage containers 106 and which can be lowered from the vehicle 201, 301, 401 so that the position of the gripping / engaging devices relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. Parts of the gripping devices of the container handling vehicles 301, 401 are shown in FIGS. 3 and 4 and are indicated by reference numerals 304, 404. The gripping devices of the container handling vehicle 201 are located within the vehicle body 201a in FIG. 2 and are therefore not shown.

[0008] Conventionally, and also for the purposes of this application, Z=1 identifies the uppermost layer available for storage containers below the rails 110, 111, i.e., the layer directly below the rail system 108, Z=2 identifies the second layer below the rail system 108, Z=3 identifies the third layer, etc. In the exemplary prior art disclosed in FIG. 1, Z=8 identifies the lowest layer of storage containers. Similarly, X=1...n and Y=1...n identify the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z indicated in FIG. 1, the storage container identified as 106' in FIG. 1 can be said to occupy storage position X=17, Y=1, Z=6. It can be said that the container handling vehicle 201, 301, 401 travels in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. Therefore, the storage container extending above the rail system 108 shown in FIG. 1 is also said to be arranged in layer Z=0.

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

[0010] Each prior art container handling vehicle 201, 301, 401 includes a storage chamber or space for receiving and storing the storage container 106 when transporting the storage container 106 across the track system 108. The storage space may include a cavity arranged inside the vehicle body 201a, 401a, as shown in Figures 2 and 4, and as described in WO 2015 / 193278 A1 and WO 2019 / 206487 A1, the contents of which are incorporated herein by reference.

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

[0012] 2 may have an area covering dimensions in the X and Y directions substantially equal to the lateral area of ​​the storage row 105, for example as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein may mean "horizontal".

[0013] Alternatively, for example, as shown in Figures 1 and 4, the cavity container handling vehicle 401 may have an area greater than the lateral area defined by the storage column 105, for example, as disclosed in WO 2014 / 090684 A1 or WO 2019 / 206487 A1.

[0014] Track system 108 generally includes a track with grooves, and the wheels of these vehicles travel in these grooves. Alternatively, the track may include an element protruding upward, wherein the wheel of the vehicle includes a flange to prevent derailment. These grooves and the elements protruding upward are collectively referred to as track facilities. Each track may include a track facility, or each track 110, 111 may include two parallel track facilities. In other track systems 108, each track in a direction (e.g., X direction) may include a track facility and each track in another vertical direction (e.g., Y direction) may include two track facilities. Each track 110, 111 may also include two track facility components fastened together, and each track facility component provides one of a pair of track facilities provided by each track.

[0015] WO 2018 / 146304 A1 (the contents of which are incorporated herein by reference) shows a typical construction of a track system 108 comprising tracks in the X-direction and the Y-direction and parallel track facilities.

[0016] In the frame structure 100, most of the rows 105 are storage rows 105, that is, rows 105 in which storage containers 106 are stored in stacks 107. However, some rows 105 may have other uses. In Figure 1, rows 119 and 120 are dedicated rows used by container handling vehicles 201, 301, 401 to unload and / or pick up storage containers 106 so that the containers can be transported to access stations (not shown), where storage containers 106 can be accessed from the outside of the frame structure 100, or transferred outside the frame structure 100 or transferred into the frame structure 100. In the art, such positions are generally referred to as 'ports', and the rows where the ports are located may be referred to as 'port rows' 119, 120. Transportation to the access station can be carried out in any direction, horizontal, inclined and / or vertical. For example, storage containers 106 may be placed in a random column or a dedicated column 105 within the frame structure 100 and then picked up by any container handling vehicle and transported to the port columns 119, 120 for further transport to the access station. Transportation from the port to the access station may require movement in a variety of different directions by means such as delivery vehicles, carts or other transportation routes. It is noted that the term "inclined" means that the transportation of storage containers 106 has a general transportation direction between horizontal and vertical.

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

[0018] The access station can generally be a picking station or replenishment station that removes items from the storage container 106 or places items into the storage container 106. In the picking station or replenishment station, the storage container 106 is generally not removed from the automatic storage and retrieval system 1, but is returned to the frame structure 100 again after access. The port can also be used to transfer the storage container to another storage facility (e.g., to another frame structure or to another automatic storage and retrieval system), a transport vehicle (e.g., a train or a truck), or a production facility.

[0019] A conveyor system including a conveyor belt is typically used to transport storage containers between the port rows 119, 120 and the access station.

[0020] If the port rows 119, 120 and the access station are located at different heights, the conveying 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 conveying system may be arranged to convey the 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 a storage container 106 stored in one of the columns 105 disclosed in FIG. 1 is to be accessed, one of the container handling vehicles 201, 301, 401 is instructed to take out the target storage container 106 from its position and transport it to the unloading port column 119. This operation involves moving the container handling vehicle 201, 301, 401 to a position above the storage column 105 where the target storage container 106 is located, taking out the storage container 106 from the storage column 105 using a lifting device (not shown) of the container handling vehicle 201, 301, 401, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep in the stack 107, that is, in the case where one or more other storage containers 106 are located above the target storage container 106, the operation also involves temporarily moving these storage containers located above before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to in the art as "digging") may be performed with the same container handling vehicle that is subsequently used to deliver the target storage container to the unloading port row 119, or with one or more other cooperating container handling vehicles. Alternatively or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 that are specifically dedicated to the task of temporarily removing a storage container 106 from a storage row 105. Once the target storage container 106 has been removed from the storage row 105, the temporarily removed storage container 106 may be relocated to the original storage row 105. However, the removed storage container 106 may alternatively be relocated to another storage row 105.

[0023] When a storage container 106 is to be stored in one of the rows 105, one of the container handling vehicles 201, 301, 401 is instructed to pick up a storage container 106 from the pick port row 120 and transport it to a position above the storage row 105 where it is to be stored. After any storage container 106 located at or above the target position 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, such as monitoring and controlling the position of each storage container 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301, 401, so that the required storage containers 106 can be transported to the required location at the desired time without the container handling vehicles 201, 301, 401 colliding with each other, the automatic storage and retrieval system 1 includes a control system 500, which is usually computerized and typically includes a database for tracking the storage containers 106.

[0025] If the storage and retrieval system has a section with, for example, items that need to be stored in a temperature sensitive area, then the containers with items that need to be stored in the temperature sensitive area must be brought back to the temperature controlled section of the storage and retrieval system after the items have been picked at the port.

[0026] This is not usually a problem because after being picked at the port, the container is automatically sent back to the storage and retrieval system, and its place is taken by the new container that needs to be picked.

[0027] However, it may happen that there are no other containers waiting to enter the port, or the container in question does not need to be sent to another port, then the container in question may remain in the port for a long time, which is not ideal for items that may need to be kept frozen or refrigerated. Summary of the invention

[0028] The invention is set forth and characterized in the independent claim, while the dependent claims describe further characteristics of the invention.

[0029] A first aspect of the present invention relates to a method for controlling the movement of containers in an automatic storage and retrieval system, the automatic storage and retrieval system comprising: a frame structure (100) forming a three-dimensional storage grid structure (104) for storing storage containers (106), the storage containers being used to store items; wherein the frame structure (100) forms vertical storage columns (105), each vertical storage column having a horizontal area defined by the size of an access opening (112) of the vertical storage column (105), and wherein the frame structure comprises a rail system (108) arranged above the storage columns (105), the rail system comprising a plurality of rails extending in the X direction and a plurality of rails extending in the Y direction to form a grid, the rails defining the perimeter of each access opening (112) at the top of each storage column (105), the rail system (108) providing a means for transporting containers in the X direction or the Y direction. Vehicles (201, 301) provide available routes to transfer the storage containers (106) to the storage column (105) and to transfer the storage containers (106) from the storage column (105), as well as a central computer system; the grid structure (104) also includes a port column (119, 120), the port column includes a port, in which a container handling vehicle (201, 301) can unload and / or pick up the storage container (106) so that the storage container can be transported to a storage and retrieval station for picking, wherein the method includes using a container handling vehicle to pick up a storage container from a temperature controlled and / or atmosphere controlled area in an automatic storage and retrieval system; transporting the storage container from the atmosphere controlled area for picking; setting a timer that runs to monitor the elapsed time; comparing the elapsed time with a predetermined threshold; when the elapsed time exceeds the predetermined threshold, retrieving the storage container and transporting it back to the atmosphere controlled area.

[0030] Furthermore, if the storage container is not sent from the port by a second storage container waiting to be picked, or is not requested at another port before the elapsed time exceeds a predetermined threshold, the storage container may be removed from the port when the elapsed time exceeds the predetermined threshold.

[0031] Furthermore, the timer may be arranged to run when the storage container arrives at the port, such that the elapsed time corresponds to the time the storage container has spent at the port. The timer may be arranged to run when the system has completed picking from the storage container at the port, such that the elapsed time corresponds to the time the storage container has spent at the port after the picking from the storage container has been completed. Alternatively, the timer may be arranged to run when the storage container leaves the temperature-controlled and / or atmosphere-controlled zone, such that the elapsed time corresponds to the time the storage container is outside the temperature-controlled and / or atmosphere-controlled zone.

[0032] Furthermore, the method may include removing the storage container from the port after the elapsed time exceeds a predetermined threshold, even if the storage container has not yet completed picking at the port.

[0033] Further, the second storage container can be removed from the port to allow storage containers to access the port, and the queue of containers picked at the port can be rearranged to allow the storage container to be picked before other storage containers that do not need to be stored in the atmosphere controlled area, and the queue of containers collected from the port can be rearranged to allow the storage container to be removed before other storage containers that do not need to be stored in the atmosphere controlled area.

[0034] In a second aspect, the present invention relates to an automatic storage and retrieval system, the system comprising: a frame structure (100) forming a three-dimensional storage grid structure (104) for storing storage containers (106), the storage containers being used to store items; wherein the grid structure (104) forms vertical storage columns (105), each vertical storage column having a horizontal area defined by the size of an access opening (112) of the vertical storage column (105), and wherein the frame structure comprises a track system (108) arranged above the storage columns (105), the track system comprising a plurality of tracks extending in the X direction and the Y direction to form a grid, the tracks defining the perimeter of each access opening (112) at the top of each storage column (105), the track system (108) providing an available route in the X direction or the Y direction for a container handling vehicle (201, 301) to transfer the storage containers (106) to the storage columns (105) and to remove the storage containers The device (106) is transferred from the storage column (105), the grid structure includes an atmosphere control zone, in which the temperature and / or atmospheric content are controlled, the grid structure (104) also includes a port column (119, 120), the port column includes a port, at which a container handling vehicle (201) can unload and / or pick up the storage container (106), so that the storage container can be transported to a storage and retrieval station for picking, and a central computer system for controlling the operation of the automatic storage and retrieval system, wherein the central computer is configured to send a container handling vehicle to retrieve the storage container from the atmosphere control zone in the automatic storage and retrieval system; transport the storage container to the port for picking; set a timer that runs to monitor the elapsed time; compare the elapsed time with a predetermined threshold; when the elapsed time exceeds the predetermined threshold, send a container handling vehicle to retrieve the storage container from the port and transport the storage container back to the temperature control and / or atmosphere control zone.

[0035] Storage containers contain items that need to be stored in a temperature-controlled and / or atmosphere-controlled area.

[0036] The central computer is configured to rearrange the queue of storage containers going to or leaving the port to minimize the amount of time that storage containers containing items that need to be stored under specific atmospheric conditions spend outside the atmosphere control area, and the central computer system prioritizes tasks containing items that need to be stored under controlled atmospheric conditions over those tasks that can be stored under normal climate conditions, and the central computer system can also issue automatic flushing instructions if the central computer system does not request that a new container be picked in the port.

[0037] A third aspect of the invention is directed to a computer program product comprising a plurality of instructions which, when executed by a computer, cause the computer to perform a method according to the invention as set out in a method claim in the set of claims.

[0038] By using the solution proposed in this paper, the problem of containers storing temperature-sensitive items is solved in the following way: the containers are automatically returned to the grid after picking is completed and after a preset period of time has passed. 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] FIG. 1 is a perspective view of a frame structure of an automatic storage and retrieval system of the prior art.

[0041] 2 is a perspective view of a prior art container handling vehicle having a cavity arranged inside the container handling vehicle for carrying storage containers therein.

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

[0043] 4 is a perspective view of a prior art container handling vehicle as seen from below, the interior of the container handling vehicle being arranged with a cavity for carrying a storage container therein.

[0044] Figure 5 is a flow chart describing an embodiment of the present invention.

[0045] Figure 6 is a flow chart describing an alternative embodiment of the present invention. DETAILED DESCRIPTION

[0046] 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.

[0047] The frame structure 100 of the automatic storage and retrieval system 1 is constructed in a similar manner to the prior art frame structure 100 described above in conjunction with Figures 1 to 3. That is, the frame structure 100 includes a plurality of upright members 102 and includes a first upper track system 108 extending in the X direction and the Y direction.

[0048] The frame structure 100 further comprises storage compartments in the form of storage rows 105 arranged between the components 102 , wherein storage containers 106 can be stacked in stacks 107 within the storage rows 105 .

[0049] The frame structure 100 can have any size. In particular, it should be understood that the frame structure can be wider and / or longer and / or deeper than that disclosed in Figure 1. For example, the frame structure 100 can have a horizontal extent of greater than 700x700 columns and a storage depth of greater than 12 containers.

[0050] Now we will see Figure 5 One embodiment of the automated storage and retrieval system according to the present invention is discussed in more detail.

[0051] Figure 5 is a flow chart describing an embodiment of the present invention.

[0052] Some storage and retrieval systems have areas of items that need to be stored in temperature-controlled areas or areas with specific atmospheric conditions. Therefore, containers with such items must be brought back to the temperature-controlled and / or atmospheric-controlled sections of the storage and retrieval system after the items have been picked at the port.

[0053] This is usually not a problem as the containers are automatically sent back to the storage and retrieval system after they have been picked through their position at the port and their position is replaced by a new container that needs to be picked.

[0054] However, sometimes there are no other containers waiting to enter the port, or the container in question does not need to be sent to another port, then the container in question may remain in the port for a long time, which is not ideal for items that should not be stored outside of a zone with suitable temperature and / or atmospheric conditions.

[0055] The invention therefore offers the possibility that the central computer system can issue a command to remove a container from a port and return the container to the storage and retrieval system, and in particular to return the container to a temperature controlled area and / or atmosphere controlled area if the container is completed at the port and if the central computer system does not request the picking of a new container at the port within a predetermined time period.

[0056] The embodiment of the present invention comprises the following steps:

[0057] - The central computer system generates tasks and targets based on the orders for items stored in a part of the storage and retrieval system, which is a temperature controlled area and / or an atmosphere controlled area.

[0058] - Mission and objectives are communicated to the container handling vehicle.

[0059] -Container handling vehicles transport containers from the storage and retrieval systems to the ports.

[0060] - Has the container been at the port longer than the scheduled time period?

[0061] oIf No: The container remains in the port until it is requested at another port or another container is requested at the current port,

[0062] oIf yes: The central computer system issues a command to return the container to the correct location in the storage and retrieval system.

[0063] -Containers are sent out from the port and picked up by container handling vehicles.

[0064] - Container handling vehicles pick up containers from the ports and transport them to the correct location in the storage and retrieval system.

[0065] In order to track the time when the container has left the temperature controlled area and / or the atmosphere controlled area of ​​the storage and retrieval system, the central computer system sets a timer that runs to monitor the elapsed time and compares the elapsed time with a predetermined threshold, and when the elapsed time exceeds the predetermined threshold, the central computer system sends a command to remove the storage container and transport it back to the temperature controlled area and / or the atmosphere controlled area.

[0066] The timer can be set to run when the storage container arrives at the port, so that the elapsed time corresponds to the time the storage container has been at the port. Alternatively, the timer can be set to run when the storage container leaves the temperature controlled zone and / or the atmosphere controlled zone, so that the elapsed time corresponds to the time the storage container has been outside the temperature controlled zone and / or the atmosphere controlled zone.

[0067] If the threshold is exceeded, the central computer system generates a command to remove the storage container from the port, even if the storage container has not yet been picked at the port.

[0068] If the central computer system knows that there are other containers queued at the port waiting to be unloaded by the container handling vehicle, it can command the other containers to be removed from the port to allow storage containers with items that are sensitive to temperature and atmospheric conditions to access the port. The central computer system can also rearrange the queue of containers to be picked at the port to allow the storage container to be picked before other storage containers that do not need to be stored in the atmosphere controlled area.

[0069] Examples of the types of items that need to be stored in a temperature controlled area are frozen foods that need to be stored under refrigerated conditions to comply with parameters set by health authorities. There may be many different refrigeration zones for storing items that need to be kept at different temperatures.

[0070] Furthermore, there are many items that need to be stored under refrigerated conditions, like dairy products, raw meat products, mayonnaise products, and the like.

[0071] Examples of the types of items that need to be stored in a controlled atmosphere area would be plants, some of which require a temperature controlled area and specific atmospheric conditions where the levels of oxygen, nitrogen, carbon dioxide, water vapor, and argon are different from those in the ambient air.

[0072] Another atmospheric condition could be items that need to be stored in a fire extinguishing environment (for storing flammable objects) or items that need to be stored in a dust free environment (for clean room items).

[0073] The examples of items that are sensitive to temperature and / or atmospheric conditions provided herein are intended merely to give an idea of ​​the types of items that may be stored in such locations and are not meant to be an exhaustive list.

[0074] A zone is a part of a specially controlled storage and retrieval system, not the entire system.

[0075] Figure 6 is a flow chart describing an alternative embodiment of the present invention. In an alternative embodiment of the present invention, the central computer system sends a command to empty all containers from the inactive ports. This means that if no new containers that need to be picked enter the port, the central computer system creates at least one job to command the containers in the inactive ports to be picked up by the container handling vehicles and transported back to the storage and retrieval system.

[0076] If the central computer system registers that one or more ports do not have another container entering for picking, the central computer system sends a message to at least one container handling vehicle to retrieve the container in the port and transport it back to the grid of storage and retrieval systems.

[0077] This system is called automatic flushing of the container from the port.

[0078] Automatic flushing of containers in ports provides the possibility of enabling a way to automatically empty a port after a configured timeout. The concept is that if the central computer system does not request a container in the corresponding port within a preconfigured time, the automatic flush will trigger. As an example, if the configuration specifies 60 seconds, then 60 seconds after the previous container is closed, if the central computer system does not request to open a new container in the port, the central computer system will automatically flush all containers in the port. This applies regardless of the mode of the port (i.e., whether the port is still open or not).

[0079] The central computer system can specify a desired timeout value for automatically removing containers from the port. This will ensure that the containers are placed back in the area of ​​the grid to which they belong, thus ensuring the desired environment for the containers.

[0080] The timeout is the time that has passed since the last container was completed at the port. For example, since the operator recorded the container as completed for picking.

[0081] In the foregoing description, various aspects of the delivery vehicle and automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. For purposes of explanation, specific numbers, systems, and configurations are set forth to provide a thorough understanding of the system and its operation. However, this description 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 are apparent to those skilled in the art to which the disclosed subject matter belongs are deemed to fall within the scope of the present invention.

[0082] Reference Numbers List

[0083] Existing technology (Figures 1-4):

[0084] 1 Prior Art Automated Storage and Retrieval System

[0085] 100 Frame structure

[0086] 102 Vertical members of frame structure

[0087] 104 Storage Grid

[0088] 105 Storage Rows

[0089] 106 Storage Container

[0090] 106' Specific location of storage container

[0091] 107 Stacking

[0092] 108 Track System

[0093] 110 Parallel tracks in the first direction (X)

[0094] 112 Access opening

[0095] 119 First port column

[0096] 120 Second port column

[0097] 201 Prior Art Container Handling Vehicle

[0098] 201a: body of container transport vehicle 201 201b Drive device / wheel arrangement / first set of wheels in first direction (X) 201c Drive device / wheel arrangement / second set of wheels in second direction (Y) 301 Prior art cantilever container handling vehicle

[0099] 301a: body of container transport vehicle 301

[0100] 301b Driving device in the first direction (X) / first set of wheels

[0101] 301c Drive device in second direction (Y) / second set of wheels

[0102] 304 Clamping device

[0103] 401 Container handling vehicle of the prior art

[0104] 401a: body of container transport vehicle 401

[0105] 401b Driving device in first direction (X) / first set of wheels

[0106] 401c Drive device in second direction (Y) / second set of wheels

[0107] 404 Clamping device

[0108] 404a Lifting belt

[0109] 404b Clamp

[0110] 404c Guide Pin

[0111] 404d lifting frame

[0112] 500 Control System

[0113] X first direction

[0114] Y Second direction

[0115] Z third direction.

Claims

1. A method for controlling the movement of containers in an automatic storage and retrieval system, the automatic storage and retrieval system comprising: A frame structure (100) forming a three-dimensional storage grid structure (104) for storing storage containers (106), wherein the storage containers are used to store items, wherein the frame structure (100) forms vertical storage rows (105), each of the vertical storage rows having a horizontal area defined by the size of an access opening (112) of the vertical storage row (105), and wherein the frame structure includes a track system (108) arranged above the storage rows (105), the track system including a plurality of tracks extending in an X direction and a plurality of tracks extending in a Y direction to form a grid, the tracks defining the size of each access opening (112) at the top of each storage row (105). The invention relates to a storage column (105) and a central computer system. The grid structure (104) comprises a perimeter, the track system (108) providing an available route in the X direction or the Y direction for a container handling vehicle (201, 301) to carry the storage container (106) and transfer the storage container (106) to the storage column (105) and transfer the storage container (106) from the storage column (105), and a central computer system. The grid structure (104) also includes a port column (119, 120), the port column includes a port, and the container handling vehicle (201, 301) can unload and / or pick up the storage container (106) at the port, so that the storage container can be transported to a storage and retrieval station for picking, wherein the method comprises: - picking up storage containers from a temperature-controlled and / or atmosphere-controlled area in said automated storage and retrieval system using a container handling vehicle, - transporting said storage container from said temperature-controlled and / or atmosphere-controlled area for picking, - Set a timer to run to monitor elapsed time, - comparing said elapsed time with a predetermined threshold, - When the elapsed time exceeds the predetermined threshold, the storage container is removed and transported back to the temperature-controlled and / or atmosphere-controlled area.

2. The method according to claim 1, wherein: If the storage container has not been sent out from the port by a second storage container waiting to be picked, or has not been requested at another port before the elapsed time exceeds the predetermined threshold, the storage container is removed from the port when the elapsed time exceeds the predetermined threshold.

3. The method according to claim 1 or 2, wherein: The timer is arranged to run when the storage container arrives at the port, so that the elapsed time corresponds to the time the storage container spends in the port.

4. The method according to claim 1 or 2, wherein: The timer is arranged to run when the system has completed picking of the storage container from the port, so that the elapsed time corresponds to the time the storage container spends in the port after picking from the storage container has been completed.

5. The method according to claim 1 or 2, wherein: The timer is arranged to run when the storage container leaves the temperature controlled and / or atmosphere controlled zone, so that the elapsed time corresponds to the time that the storage container has been outside of the temperature controlled and / or atmosphere controlled zone.

6. A method according to any preceding claim, comprising removing a second storage container from the port to allow the storage container to access the port.

7. A method according to any one of the preceding claims, comprising: A queue of containers to be picked at the port is rearranged to allow the storage containers to be picked before other storage containers that do not need to be stored in the atmosphere controlled area.

8. A method according to any preceding claim, comprising rearranging the queue of containers to be collected from the port to allow the storage containers to be removed before other storage containers which are not required to be stored in the atmosphere controlled area.

9. An automatic storage and retrieval system, comprising a frame structure (100) forming a three-dimensional storage grid structure (104) for storing storage containers (106), wherein the storage containers are used to store articles, wherein: The grid structure (104) forms vertical storage rows (105), each vertical storage row having a horizontal area defined by the size of an access opening (112) of the vertical storage row (105), and wherein the frame structure includes a track system (108) arranged above the storage rows (105), the track system including a plurality of tracks extending in an X direction and a Y direction to form a grid, the tracks defining the perimeter of each access opening (112) on the top of each storage row (105), the track system (108) providing an available route in the X direction or the Y direction for a container handling vehicle (201, 301) to carry the storage container (106), and transferring the storage containers (106) to and from the storage row (105), the grid structure comprising an atmosphere control zone in which the temperature and / or atmospheric content is controlled, the grid structure (104) further comprising a port row (119, 120), the port row comprising ports at which container handling vehicles (201, 301) can unload and / or pick up storage containers (106) so that the storage containers can be transported to a storage and retrieval station for picking, and a central computer system for controlling the operation of the automated storage and retrieval system, wherein the central computer is configured to: - sending a container handling vehicle to retrieve a storage container from the atmosphere controlled area in the automated storage and retrieval system to transport the storage container to the port for picking, - setting a timer which runs to monitor the elapsed time, - comparing said elapsed time with a predetermined threshold, - When the elapsed time exceeds the predetermined threshold, sending a container handling vehicle to retrieve the storage container from the port and transport the storage container back into the atmosphere controlled area.

10. The system of claim 9, comprising a storage container containing items to be stored in a temperature controlled and / or atmosphere controlled area.

11. A system according to any one of claims 9 or 10, wherein: The central computer is configured to rearrange a queue of storage containers traveling to or from the port to minimize the amount of time that storage containers containing items requiring storage under specific atmospheric conditions spend outside of the atmosphere controlled zone.

12. A system according to any one of claims 9 to 11, wherein: The central computer system prioritizes tasks involving items that require storage under controlled atmosphere conditions over tasks that can be stored under normal climate conditions.

13. A system according to any one of claims 9 to 12, wherein: If the central computer system does not request a new container to be picked in the port, the central computer system issues an automatic flush command.

14. A computer program product comprising instructions which, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 9.

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