Storage and retrieval system

Abstract

The invention provides a mobile power supply for charging a load processing device. The mobile power supply comprises an auxiliary rechargeable power supply; and at least one power transfer tool electrically coupled to the auxiliary rechargeable power source; wherein the at least one power transfer means is configured to be electrically coupled to the load processing device for transferring power from the auxiliary rechargeable power source to the load processing device.

Description

Technical Field

[0001] The present invention relates to the field of storage and retrieval systems, more particularly to a load handling device operating on a track system of a grid frame structure, and more particularly to charging of a load handling device power supply. The grid frame structure comprises a supporting frame structure on which is mounted a track system supporting a remotely operated load handling device for handling storage containers stacked in the grid frame structure. Background Art

[0002] The claimed invention seeks to provide improvements related to power charging of load handling devices operating in automated storage and retrieval systems.

[0003] The load handling device is usually powered by a rechargeable power source. Once the rechargeable power source is exhausted, it needs to be recharged to allow the load handling device to continue to operate. Recharging can take a significant amount of time and reduce the useful operating time of the load handling device.

[0004] The charging time of the rechargeable power source can represent a lengthy downtime during which the load handling device remains inactive or inoperative. Where a certain number of load handling devices are operating in an automated storage and retrieval system to fulfill customer orders within a given time slot, keeping one or more load handling devices idle for a significant amount of time has an adverse effect on the ability of a fulfillment center or distribution warehouse to fulfill orders in a timely manner. This is particularly true in the case of a logistics system where the load handling devices facilitate door-to-door delivery of goods to a customer's location upon receipt of an order for the goods. Here, online retailers such as Amazon and Ocado in the UK use delivery information including the delivery address to deliver goods to the customer's delivery address. To alleviate such problems, online retailers such as Ocado in the UK provide a buffer of load handling devices operating on a track system of a grid frame structure to accommodate load handling devices that remain idle for charging. In extreme cases, the time period for delivering orders is extended to accommodate such downtime.

[0005] Typically, a load handling device powered by a lithium-ion battery requires 15 minutes of charging for every 4 hours of discharge.

[0006] Typically, charging stations are provided on top of the track system, at the edge of the grid frame structure. Charging stations allow load handling devices to be charged without leaving the track system, but have the disadvantage of taking up a lot of space that could be used to store cargo.

[0007] Therefore, there is a need for a storage and retrieval system in which charging does not take up a large amount of space that could be used for storage, and in which load handling devices can be quickly and easily charged without requiring significant downtime. Summary of the invention

[0008] The present invention provides a mobile power supply for charging a load processing device, the mobile power supply comprising: Auxiliary rechargeable power source; and at least one power transfer tool electrically coupled to the auxiliary rechargeable power source; Therein, at least one power transfer tool is configured to be electrically coupled to the load handling device so as to transfer power from the auxiliary rechargeable power source to the load handling device.

[0009] In another aspect, the present invention provides a load processing device, comprising: 1) Main rechargeable power source; 2) a container receiving space configured to receive a mobile power source as defined in the present invention; 3) a container lifting tool, the container lifting tool comprising a container engaging assembly configured to engage with a mobile power source and a drive mechanism configured to lift the mobile power source into a container receiving space, Wherein, the load handling device is configured to receive power from the mobile power source when the mobile power source is received in the container receiving space of the load handling device.

[0010] In this specification, the terms "container lifting tool" and "container lifting tool" are used interchangeably.

[0011] The container receiving space may include a charge receiving element for receiving power from the mobile power source to charge the main rechargeable power source.

[0012] The container engagement assembly may include one or more than one gripper, and the housing may be configured to be gripped by the gripper.The housing body may be gripped, clamed or held by the gripper.

[0013] In another aspect, there is provided a storage and retrieval system comprising: a) Grid frame structure, including: i) a track system comprising a plurality of tracks arranged in a grid pattern; ii) a supporting frame structure supporting the track system; and iii) a plurality of stacks of storage containers arranged in a plurality of storage columns located below the rail system; B) A load handling apparatus as defined in the present invention, wherein the container receiving space is further configured to receive a storage container, the container engagement assembly is further configured to engage with the storage container, and the drive mechanism is further configured to lift the storage container from a stack of the plurality of stacks into the container receiving space; One or more than one of the storage containers in the stack is a mobile power source as defined in the present invention.

[0014] In another aspect, the present invention provides a storage and retrieval system comprising: a) A grid framework structure, which includes: i) a track system comprising a plurality of tracks arranged in a grid pattern; ii) a supporting frame structure supporting the track system; and iii) a plurality of stacks of storage containers arranged in a plurality of storage columns located below the rail system; B) A load handling device, comprising: 1) Main rechargeable power source; 2) a container receiving space for receiving a storage container, the container receiving space including a charge receiving element for receiving power to charge a primary rechargeable power source; 3) a container lifting tool including a container engaging assembly configured to engage with a storage container, and a drive mechanism for lifting the storage container from a stack in the plurality of stacks into the container receiving space; Wherein one or more of the storage containers in the stack is a mobile power source, comprising: Auxiliary rechargeable power source; and at least one power transfer tool electrically coupled to an auxiliary rechargeable power source in the mobile power source, the at least one power transfer tool being configured to electrically couple to a charge receiving element of the load handling device so as to transfer power from the auxiliary rechargeable power source in the mobile power source to a main rechargeable power source in the load handling device when the mobile power source is received in the container receiving space of the load handling device.

[0015] An advantage of providing a power bank that can charge the load handling device is that a separate charging station is not required, thereby saving space in the storage system. Charging stations are typically located at the edge of the track system and take up a lot of space - not only the space on top of the track system, but also the storage columns below the charging station, which cannot be used to store items or products. The number and location of the power banks can be selected to suit the charging requirements of the load handling device and the throughput of the storage and retrieval system.

[0016] At least one power transfer tool may include at least one electrical coupling element, which includes a primary charge providing element, which is configured to electrically couple the mobile power source to the charge receiving element on the load handling device so as to charge the main rechargeable power source in the load handling device.

[0017] The primary charge providing element on the mobile power supply may include a primary charge providing contact, and the charge receiving element on the load handling device may include a charge receiving contact, so that power is transferred through contact between the primary charge providing contact and the charge receiving contact. Alternatively, the primary charge providing element on the mobile power supply may include a wireless charge transmitter, and the primary charge providing element on the load handling device may include a wireless charge receiver, so that power is wirelessly transmitted from the wireless charge transmitter to the wireless charge receiver. Power transmission by contact has the advantage of simplicity, and wireless power transmission has the advantage of no contact, so there is no wear on the charge providing element on the mobile power supply and the primary charge receiving element on the load handling device.

[0018] The mobile power supply may include a housing configured to be received within a container receiving space of a load handling device, the housing including one or more engagement features configured to engage with a container engagement assembly. The engagement features may include one or more holes in an upper side of the housing of the mobile power supply, the holes being configured to be engaged by the container engagement assembly of the load handling device. The container engagement assembly may include one or more clamps, and the housing may be configured to be clamped or gripped by the clamps. The housing may include one or more edges or lips, and the container engagement assembly may be configured to hook under the edges or lips. The housing may have the same size or substantially the same size as the storage container.

[0019] An advantage of the features described in the above paragraphs is that the load handling device can engage with the power bank in the same manner as a standard storage container. No modification is required to the container engagement assembly to enable the power bank to be lifted into the container receiving space and used to charge the load handling device. The only required modification to the load handling device is the addition of a charge receiving element for electrically coupling with and receiving charge from the power bank. Thus, existing storage and retrieval systems can be easily retrofitted to work with a power bank instead of an external charging station.

[0020] The housing may include a base, side walls, and an opening for receiving an auxiliary rechargeable power source. The auxiliary rechargeable power source in the power bank may be one or more supercapacitors, or an assembly of supercapacitors. The advantage of using supercapacitors as auxiliary power sources is fast charging; enabling the load handling device to be quickly charged reduces the required downtime and increases the throughput of the storage and retrieval system. Using multiple supercapacitors enables higher power density and higher energy storage capacity.

[0021] An assembly of supercapacitors may include a string of supercapacitor elements connected in series, wherein each element of the string includes a plurality of supercapacitors connected in parallel. Particular arrangements of supercapacitor elements connected in parallel to form supercapacitor elements that are then connected in series are particularly advantageous. Connecting supercapacitors in parallel makes it easier to monitor the voltage of the supercapacitors to ensure that none of them is allowed to operate at a higher than rated voltage that could damage the supercapacitor. Connecting supercapacitors in series increases the voltage.

[0022] Alternatively, the rechargeable power source in the mobile power source may be a rechargeable battery. Rechargeable batteries have the advantage of energy density, so the mobile power source can provide more charge to the load processing device.

[0023] The mobile power supply may further include a voltage converter to convert the voltage from the auxiliary rechargeable power supply in the mobile power supply to charge the main rechargeable power supply in the load handling device. The voltage converter may be a DCDC converter, such as a boost converter. The boost converter allows a larger proportion of the operating range of the auxiliary rechargeable power supply to be used. This is particularly relevant in the specific case where the auxiliary rechargeable power supply in the mobile power supply is a supercapacitor and the main rechargeable power supply in the load handling device is a battery, due to the non-linear shape of the battery discharge curve. Without a DCDC converter, the battery will stop charging once the supercapacitor voltage drops below the battery voltage.

[0024] One or more of the storage columns may include a charging surface including a charge providing element for charging the mobile power source when the charging surface is electrically coupled to the mobile power source. The charging surface is a base charging plate, which allows the mobile power source to be electrically coupled to the base charging plate when the mobile power source is mounted on the base charging plate. Using a base charging plate has the advantage of being easily retrofitted into an existing storage and retrieval system; since the base charging plate is located at the base of the storage column, no modification is required to the structure of the storage column or the grid frame structure. In fact, the base charging plate still allows the storage column to be used as a standard storage column for storing storage containers, as well as for charging the mobile power source. The flexibility of charging can be achieved by equipping more storage columns with base charging plates, so that the storage column can be used for charging or storage, depending on the requirements of the system at a given time. For example, during busy times when many orders are being fulfilled, a storage column provided with a base charging plate can be used to store storage containers of goods or items to be picked up for customer orders, thereby increasing storage density and throughput, while during quiet times, the same storage column can be used to charge the mobile power source.

[0025] Alternatively, the charging surface can be a bus extending upward along the storage column, which electrically couples the bus to the side of the mobile power supply. This arrangement has the advantage that any mobile power supply in the stack of mobile power supplies can be charged directly from the bus. Therefore, the mobile power supply at the top of the stack of mobile power supplies can be charged directly from the bus, and in the example where the charging surface is a base charging plate, the mobile power supply at the top is charged by the mobile power supply below in the stack (as will be explained later), so the charge is transferred from the base charging plate upward through each mobile power supply in the stack of mobile power supplies to the mobile power supply at the top.

[0026] The at least one electrical coupling element of the mobile power supply may further include a primary charge receiving element configured to receive power from the charge providing element of the charging surface. The charge receiving element is electrically coupled to the auxiliary power source in the mobile power supply and thereby enables the auxiliary rechargeable power source to be charged.

[0027] At least one electrical coupling element of the mobile power source may further include a secondary charge providing element for electrically coupling with a vertically adjacent mobile power source above the stack, and a secondary charge receiving element for electrically coupling with a vertically adjacent mobile power source below the stack, so that, when arranged into a mobile power source stack, power can be transferred from one mobile power source in the stack to another mobile power source.

[0028] The storage and retrieval system may include a plurality of power banks arranged in a stack, wherein their respective secondary charge providing and receiving elements are electrically coupled to each other in the stack to transfer charge from power banks lower in the stack to power banks higher in the stack. This arrangement has the advantage of allowing charge to be transferred upward through the stack to charge power banks that are not directly electrically coupled to the charging surface. Thus, in the example where the charging surface is a base charging plate, the base charging plate can provide power to charge the entire stack of power banks, rather than just one power bank mounted on top of the base charging plate.

[0029] The secondary charge supply element and the secondary charge receiving element may include a secondary charge supply contact and a secondary charge receiving contact, respectively. Alternatively, the secondary charge supply element and the secondary charge receiving element may include a wireless charge transmitter and a wireless charge receiver, respectively. Power transmission through contact has the advantage of simplicity, while wireless power transmission has the advantage of no contact, so there is no wear on the charge supply element on the mobile power supply and the primary charge receiving element on the load processing device.

[0030] In another aspect, the present invention provides a method for transmitting power to a load handling device operating in a storage and retrieval system as defined herein, the method comprising the steps of: a) moving the load handling device on the rail system into position above the stack including the mobile power source; b) using a container lifting tool to lift the mobile power source into the container receiving space of the load handling device, which enables at least one power transmission tool to be electrically coupled with the charge receiving element of the load handling device, thereby transferring power from the auxiliary power source in the mobile power source to the main rechargeable power source of the load handling device.

[0031] In another aspect, the present invention provides a method for transmitting power to a load handling device operating in a storage and retrieval system as defined herein, wherein the storage and retrieval system comprises a first load handling device and a second load handling device, the method comprising the steps of: a) a first load handling device moves on a rail system to a position above the stack including the mobile power source; b) using a container lifting tool to lift the mobile power source into the container receiving space of the first load handling device; c) the first load handling device moves to a predetermined position on the track system; d) the first load handling device returns the mobile power source to the stack below the target location in the grid frame structure; e) The second load handling device lifts the power bank into the container receiving space, which causes power to be transferred from the auxiliary power source in the power bank to the main rechargeable power source of the second load handling device.

[0032] The predetermined location may be a grid cell located adjacent to or proximate to the second load handling device. Advantageously, the method allows the second load handling device to be charged without the need to travel to a remotely located power bank or charging station - for example on a different part of the track structure. For example, if the second load handling device's main power source is partially depleted and has only enough charge to travel a short distance, the second load handling device may be able to retrieve the power bank from the predetermined location and charge, rather than being stranded on the track system because it cannot travel to another power bank or charging station.

[0033] The above method may further include the step of the load handling device returning the mobile power source to the stack in the grid frame structure. The above method may further include the step of charging the mobile power source in the stack in the grid frame structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Other features and aspects of the present invention will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings.

[0035] Figure 1 The grid frame structure and storage container are schematically shown; Figure 2 Schematically shows the Figure 1 Tracks on top of the lattice frame structure shown; Figure 3 Schematically shows the Figure 1 A load handling device on top of the lattice frame structure is shown; Figure 4 schematically illustrates a single load handling device with a container lifting tool in a lowered configuration; Figure 5 schematically illustrates a cross-sectional view of a single load handling device with a container lift in raised and lowered configurations; Figure 6 is a perspective view of an example of a known container lifting tool; Figure 7 is a perspective side view of a known container engagement assembly; Figure 8 is a perspective bottom view of a known container engagement assembly; Fig. 9 A load handling device and a mobile power source are schematically shown; Fig.10 shows the typical discharge curves of batteries and supercapacitors; Fig.11 schematically shows a supercapacitor assembly comprising a string of supercapacitor elements connected in series, wherein each element of the string consists of several capacitors connected in parallel; Fig.12 The load handling device, container lifting tool and mobile power supply are schematically shown; Fig.13 A power bank having primary and secondary charge providing elements and a charge receiving element is schematically shown; Fig.14 A power bank and a base charging plate are schematically shown; Fig.15 A stack with a base charging plate and three power banks is schematically shown; Fig.16 is a flow chart illustrating a method of charging a primary rechargeable power source in a load handling device; Fig.17 is a flow chart showing a method in which a first load handling device brings a mobile power source to a predetermined location and then a second load handling device charges from the mobile power source. DETAILED DESCRIPTION

[0036] The following embodiments represent preferred examples of how applicants have implemented the invention, but they are not necessarily the only examples of how the invention may be implemented. Grid frame structure

[0037] Figure 1A grid frame structure 1 is shown which comprises a supporting frame structure 2 supporting a track structure 13. The supporting frame structure 2 may take any suitable form. Figure 1 In the specific embodiment shown, the support frame structure 2 includes a plurality of upright members 3 and horizontal members 5, 7 supported by the upright members 3. The upright members 3 may also be referred to as upright columns 3. The horizontal members 5 extend parallel to each other and parallel to the x-axis shown. The horizontal members 7 extend parallel to each other and parallel to the y-axis shown, and extend transversely to the horizontal members 5. The upright members 3 extend parallel to each other and parallel to the z-axis shown, and extend transversely to the horizontal members 5, 7. The horizontal members 5, 7 form a grid pattern defining a plurality of grid cells. In the embodiment shown, the storage containers 9 are arranged in a stack 11 below the grid cells defined by the grid pattern, with each grid cell having a stack 11 of storage containers 9.

[0038] Figure 2 A large-scale plan view of a section of a track structure 13 is shown, forming Figure 1 A portion of the grid frame structure 1 shown in FIG. Figure 1 The grid frame structure 1 shown in FIG. 1 is on top of the horizontal members 5, 7. The track structure 13 can be provided by the horizontal members 5, 7 themselves (e.g., formed in or on the surface of the horizontal members 5, 7) or by one or more additional components mounted on top of the horizontal members 5, 7. The illustrated track structure 13 includes x-direction tracks 17 and y-direction tracks 19, i.e., a first set of tracks 17 extending in the x-direction and a second set of tracks 19 extending in the y-direction, transverse to the tracks 17 in the first set of tracks 17. The tracks 17, 19 define a hole 15 in the center of the grid unit. The size of the hole 15 is designed to allow the storage container 9 located below the grid unit to be lifted and lowered through the hole 15. The x-direction tracks 17 are arranged in pairs and separated by channels 21, while the y-direction tracks 19 are arranged in pairs and separated by channels 23. Other arrangements of the track structure are also possible.

[0039] As a combination Figure 1An alternative to the supporting frame structure 2 described, in other embodiments, the supporting frame structure includes a plurality of prefabricated modular panels arranged in a grid pattern, the details of which are briefly described below and fully described in PCT application WO2022034195A1 filed in the name of Ocado Innovation Ltd, which is incorporated herein by reference. The grid frame structure 1 described in WO2022034195A1 solves the time and cost issues of assembly by providing a supporting frame structure 2, which includes a plurality of prefabricated modular panels arranged in a three-dimensional grid pattern to define a plurality of grid cells. Each grid cell of the supporting frame structure 2 is sized to support two or more grid cells of the rail system 13. The grid frame structure 1 is formed of fewer structural components, but still maintains the same structural integrity as the typical "stick-built" grid frame structure 1 described above, and is faster and cheaper to build.

[0040] Any suitable support frame structure 2 may be used in the present invention. Load handling device

[0041] Figure 3 Shown in Figure 1 A plurality of load handling devices 31 are shown moving on top of the grid frame structure 1. The load handling devices 31 (which may also be referred to as robots 31) are provided with sets of wheels to engage with corresponding x-direction or y-direction tracks 17, 19 to enable the load handling devices 31 to travel through the track structure 13 and reach specific grid cells. The pairs of tracks 17, 19 shown separated by channels 21, 23 allow the load handling devices 31 to occupy adjacent grid cells (or pass each other on adjacent grid cells) without colliding with each other.

[0042] like Figure 4 As shown in detail in FIG. 1 , the load handling device 31 includes a body 33 in or on which is mounted one or more components that enable the load handling device 31 to perform its intended functions. These functions may include moving across the grid frame structure 1 on the track structure 13 and raising or lowering the container 9 (e.g., from or to the stack 11) so that the load handling device 31 can retrieve or deposit the container 9 at a specific location defined by the grid pattern.

[0043] The load handling device 31 comprises a wheel assembly 34 . Figure 4 The illustrated embodiment of the load handling device 31 comprises a first and a second set of wheels 35, 37 mounted on a body 33 of the load handling device 31 and enabling the load handling device 31 to move in the x and y directions along the rails 17 and 19, respectively. In particular, the two wheels 35 are arranged at Figure 4 The other two wheels 35 are arranged on the shorter side of the load handling device 31 visible in FIG. 1 , while the other two wheels 35 are arranged on the opposite shorter side of the load handling device 31 (this side and the other two wheels 35 are in Figure 4 The wheels 35 are engaged with the track 17 and are rotatably mounted on the body 33 of the load handling device 31 to allow the load handling device 31 to move along the track 17. Similarly, two wheels 37 are provided on the Figure 4 The two wheels 37 are arranged on the longer side of the robot 31 visible in FIG. 1 , and the other two wheels 37 are arranged on the opposite longer side of the load handling device 31 (this side and the other two wheels 37 are in Figure 4 Wheels 37 engage with the track 19 and are rotatably mounted on the body 33 of the load handling device 31 to allow the load handling device 31 to move along the track 19.

[0044] The wheel assembly 34 of the load handling device 31 may be driven by a drive mechanism 38. The drive mechanism 38 may include one or more than one motor.

[0045] The load handling device 31 also includes a container lifting tool 39 configured to raise and lower the storage container 9. The container lifting tool 39 shown includes four belts or reels 41, which are connected to a container engagement assembly 43 at their lower ends. The container engagement assembly 43 includes an engagement tool configured to engage with the features of the storage container 9 (which can be, for example, arranged at the corners of the assembly 43, near the belt 41). For example, the storage container 9 can be provided with one or more holes on its upper side, and the engagement device can engage with the hole. Alternatively or additionally, the engagement tool can be configured to hook under the edge or lip of the storage container 9, and / or clamp or grasp the storage container 9. As required, the belt 41 can be wound up or down to raise or lower the container engagement assembly. The container lifting tool 39 can be driven by a drive mechanism 38. The upward or downward winding of the belt 41 of the container lifting tool 39 can be achieved or controlled by the drive mechanism 38, and the drive mechanism 38 can include one or more motors or other tools. The same drive mechanism 38 may be used to drive the wheel assembly 34 and the container lifting tool 39, or separate drive mechanisms may be used to drive the wheel assembly and for driving the container lifting tool.

[0046] As in Figure 5As can be seen in the drawings, the body 33 of the load handling device 31 shown has an upper portion 45 and a lower portion 47. The upper portion 45 is configured to accommodate one or more working components (not shown). The lower portion 47 is arranged below the upper portion 45. The lower portion 47 includes a container receiving space 49 or cavity for accommodating at least a portion of a storage container 9 that has been lifted by the container lifting tool 39. The size of the container receiving space 49 is designed so that the storage container 9 is sufficient to be fitted in the cavity so that the load handling device 31 can be moved across the track structure 13 on top of the grid frame structure 1 without the underside of the storage container 9 being stuck on the track structure 13 or another part of the grid frame structure 1. When the load handling device 31 has reached its intended destination, the container lifting tool 39 controls the belt 41 to lower the container engagement assembly 43 and the corresponding storage container 9 from the container receiving space 49 in the lower portion 47 to the intended position. The intended location may be a stack 11 of storage containers 9 or an exit point of the grid frame structure 1 (or an entry point of the grid frame structure 1 if the load handling device 31 has been moved to collect containers 9 for a grid frame in the grid frame structure 1). Although in the illustrated embodiment, the upper portion 45 and the lower portion 47 are separated by a physical divider, in other embodiments, the upper portion 45 and the lower portion 47 may not be physically separated by a particular component or part of the body 33 of the load handling device 31.

[0047] In some embodiments, the container receiving space 49 of the load handling device 31 may not be within the body 33 of the robot 31. For example, in some embodiments, the container receiving space 49 may be adjacent to the body 33 of the load handling device 31, such as in a cantilever arrangement, where the weight of the body 33 of the load handling device 31 offsets the weight of the container to be lifted. In such an embodiment, the frame or arm of the container lifting tool 39 may protrude horizontally from the body 33 of the load handling device 31, and the belt / reel 41 may be arranged at corresponding positions on the protruding frame / arm and configured to be raised and lowered from those positions to raise and lower the container into the container receiving space 49 adjacent to the body 33. The height at which the frame / arm is mounted on the body 33 of the load handling device 31 and protrudes from the body 33 may be selected to provide a desired effect. For example, it may be preferred that the frame / arm protrude at a high level on the body 33 of the load handling device 31 to allow a larger container (or multiple containers) to be lifted into the container receiving space below the frame / arm. Alternatively, the frame / arm may be arranged to protrude lower along the body 33 (but still high enough to accommodate at least one container between the frame / arm and the track structure 13) to keep the center of mass of the load handling device 31 low when the load handling device 31 is loaded with containers.

[0048] Figure 4 and Figure 5The specific embodiment of the load handling device shown in shows a load handling device 31 having a body 33 that is generally box-shaped, having four side walls and a top wall, and the components of the load handling device 31 are housed within the body 33. In other embodiments, the body 33 may include an open frame or skeleton structure, and the components of the load handling device 31 are supported within or on the open frame or skeleton structure.

[0049] In order to enable the load handling device 31 to move in the first direction and the second direction on the different wheels 35, 37, the load handling device 31 includes a wheel positioning mechanism for selectively engaging the first set of wheels 35 with the first set of tracks 17 or engaging the second set of wheels 37 with the second set of tracks 19. The wheel positioning mechanism is configured to raise and lower the first set of wheels 35 and / or the second set of wheels 37 relative to the body 33, thereby enabling the load handling device 31 to be selectively moved in the first direction or the second direction across the tracks 17, 19 of the lattice frame structure 1.

[0050] The wheel positioning mechanism may include one or more linear actuators, rotating components or other means for raising and lowering at least one set of wheels 35, 37 relative to the body 33 of the load handling device 31 to remove at least one set of wheels 35, 37 from and contact the tracks 17, 19. In some embodiments, only one set of wheels is configured to be raised and lowered, and the action of lowering one set of wheels may be effective to lift the other set of wheels off the corresponding tracks, while the action of raising one set of wheels may be effective to lower the other set of wheels into contact with the corresponding tracks. In other embodiments, both sets of wheels may be raised and lowered, which advantageously means that the body 33 of the load handling device 31 remains substantially at the same height, so the weight of the body 33 and components mounted thereon does not need to be raised and lowered by the wheel positioning mechanism.

[0051] The drive mechanism 38 for driving the wheel assembly 34 and the container lifting tool 39 can be powered by the main rechargeable power source 53.

[0052] In some embodiments, the grid frame structure 1 may include one or more port columns or vertical chutes to facilitate the entry or removal of storage containers from the grid frame structure. The port column occupies a grid cell 14, which is bounded at four corners by four vertical columns 3 of the grid frame structure 1. Vertical guides may be provided to guide the storage container 9 in a vertical direction. In order to remove the storage container 9 from the grid frame structure 1, the load handling device 31 carrying the storage container 9 in its container receiving space 49 travels to the grid cell 14 at the top of the port column and lowers the storage container 9 downward until the storage container 9 reaches the bottom of the port column. The container engagement assembly 43 of the load handling device 31 is then disengaged from the storage container 9 and lifted back into the body 33 of the load handling device. The storage container 9 at the bottom of the port column may then be removed, for example, by a conveyor belt or vehicle or a human operator.

[0053] To bring the storage container 9 into the grid frame structure 1, the same operation is used in reverse. The storage container 9 is brought to the bottom of the port column (e.g., by a conveyor belt or vehicle or a human operator). The load handling device 31 travels to the grid cell on top of the port column and lowers its container engagement assembly 43 down the port column. The container engagement assembly engages the storage container, and the container lifting tool 39 lifts the storage container 9 up through the port column and into the container receiving space 49 of the load handling device 31. The load handling device then travels on the track structure to bring the storage container to its destination location in the grid frame structure. Container lifting tools

[0054] Figure 6 A container lifting tool 39 is shown as known in the art and includes a container engagement assembly 43 (also referred to as a gripper device) for releasably connecting to an underlying storage container 9, and a drive mechanism 38 for raising and lowering the container engagement assembly 43. The drive mechanism 38 may be the same drive mechanism for driving both the wheel assembly 34 and the container lifting tool 39, or a separate drive mechanism may be used.

[0055] To raise and lower the container engagement assembly 43, a drive mechanism 38 known in the art includes a set of lifting belts or belts 41 extending in a vertical direction between the container engagement assembly 43 and the drive mechanism 38. For maximum stability and load capacity, four lifting belts 41 wound on separate reels 82 are generally shown extending between the drive mechanism 38 and each corner of the container engagement assembly 43. In an exemplary embodiment of the present invention, the container engagement assembly 43 is formed as a frame having four corner sections, a top side 88 and a bottom side 90 (see FIG. Figure 7). In order to grasp the container 9, the container engagement assembly 43 includes four positioning pins or guide pins 80 near or at each corner of the container engagement assembly 43, which cooperate with corresponding cutouts or holes (not shown) formed at the four corners of the container 9. Four gripper elements 84 are arranged on the bottom side of the container engagement assembly 43 to engage with the edge of the container 9 (see Figure 7 and Figure 8 ). The locating pins 80 help to properly align the gripper element 84 with the corresponding holes or openings in the edge of the container 9. Figure 7 In the particular embodiment shown, each retainer element 84 includes a pair of wings that are foldable so as to be received in corresponding holes or openings 86 in the edge of the container 9 (see Figure 6 ), and an open or enlarged configuration having in at least one dimension a size greater than the hole 86 in the rim of the container 9 so as to lock onto the container (see Figure 6 ). The wings are actuated into the open and closed configurations by a suitable actuation mechanism connected to a drive gear, but other actuation mechanisms known in the art for actuating the gripper elements are also suitable for use with the present invention. Figure 7 In the particular embodiment shown, the head of at least one of the wings includes a plurality of teeth that mesh with a drive gear such that when the gripper element 84 is actuated by the actuation mechanism, rotation of the drive gear causes the pair of wings to rotate from a closed or folded configuration to an open, enlarged configuration ( Figure 7 and 8 ). When in the folded or closed configuration, the holder element 84 is sized to be received in a corresponding hole 86 in the edge of the container 9, such as Figure 6 The foot of each of the pair of wings includes a stop 89, such as a boss, so that when received in a corresponding hole 86 in the rim of the container 9, the stop 89 engages with the underside of the rim when in the expanded open configuration to lock onto the container when the container engagement assembly 43 is rolled up toward the container receiving space 49 of the load handling device 31. Power Bank

[0056] The present invention provides a mobile power source 51 configured to charge a load handling device 31. The mobile power source 51 includes a housing 57 configured to be received in a container receiving space 49 of the load handling device 31 and an auxiliary rechargeable power source 55 accommodated in the housing 57. One or more auxiliary rechargeable power sources 55 can be provided in the same mobile power source 51. The housing 57 includes one or more engagement features. The engagement features of the mobile power source 51 are configured to engage with an engagement tool of a container engagement assembly 43 of the load handling device 31. Therefore, the mobile power source 51 can be lifted into the container receiving space 49 of the load handling device 31 in a manner similar to the storage container 9 described above.

[0057] The load handling device 31 comprises a primary rechargeable power source 53, which may be a rechargeable battery or a supercapacitor or any other suitable rechargeable power source 53. One or more than one primary rechargeable power source 53 may be provided in the same load handling device 31.

[0058] When the mobile power source 51 is lifted into the container receiving space 49 of the load handling device 31 by the container lifting tool 39, the mobile power source 51 can charge the load handling device 31. More specifically, the auxiliary rechargeable power source 55 in the mobile power source 51 can charge the main rechargeable power source 53 in the load handling device. The housing 57 includes a power transmission tool configured to transmit power from the auxiliary rechargeable power source 55 in the mobile power source 51 to the main rechargeable power source 53 in the load handling device 31 when the mobile power source 51 is received in the container receiving space 49 of the load handling device 31.

[0059] Fig. 9 The load handling device 31 and the mobile power source 51 are shown. The load handling device 31 includes a main rechargeable power source 53 and a container receiving space 49, which is located in Fig. 9 The load handling device 31 includes a container engagement tool 39, which includes a container engagement assembly 43, which is configured to be raised or lowered by four straps or bands 41. The mobile power supply 51 includes a housing 57 and an auxiliary rechargeable power source 55, the latter of which is Fig. 9 The container engagement assembly 43 of the load handling device 31 is configured to engage with the mobile power source 51 , specifically, engage with the housing 57 of the mobile power source 51 .

[0060] The mobile power source 51 may be a dedicated storage container 9 adapted or configured for charging purposes. The mobile power source 51 may be the same size as other storage containers 9 in the grid frame structure 1 for storing products and dock with the load handling device 31 in the same manner.

[0061] It is advantageous for the auxiliary rechargeable power source 55 of the mobile power source 51 to be of a lower voltage than the main rechargeable power source 53 in the load handling device 31 because this means that there will be no reverse flow of power from the load handling device 31 to the mobile power source 51 . Supercapacitors as an auxiliary rechargeable power source

[0062] In some embodiments, the auxiliary rechargeable power source 55 in the power bank 51 may be a supercapacitor or a component of a supercapacitor.

[0063] Supercapacitors tend to operate at low voltages, typically around 3 volts. To achieve higher voltages, and thus higher energy storage capacity, multiple supercapacitors can be connected in series. For example, if the auxiliary rechargeable power source 55 has a rated voltage of 48V, 16 3V supercapacitors can be arranged in series to achieve the same voltage as the auxiliary rechargeable power source 55.

[0064] Alternatively, a DCDC converter can be used to convert the voltage of the supercapacitor assembly to an appropriate voltage to charge the auxiliary rechargeable power source 55. For example, a boost converter can be used to increase the voltage of the supercapacitor to operate in a constant current mode. The constant current mode is suitable for fast charging.

[0065] In addition to the advantage of a lower voltage in the power bank 51 preventing reverse flow of power, in a specific embodiment where the auxiliary rechargeable power source 55 in the power bank 51 is a supercapacitor or an assembly of supercapacitors and the main rechargeable power source 53 in the load handling device 31 is a battery, a lower voltage is preferred due to the relative shapes of the discharge curves. Fig.10 Typical discharge curves for batteries and supercapacitors are shown. The discharge curve for supercapacitors is linear for constant current loads and is a square root relationship of the state of charge, and the discharge curve for batteries is nonlinear, with a relatively flat section followed by a sharp drop. When the load handling device is charged by the mobile power supply 51, the supercapacitor in the mobile power supply 51 discharges (the supercapacitor voltage drops) as the battery in the load handling device 31 charges (the battery voltage rises). When the supercapacitor voltage drops below the battery voltage, charging stops. Boosting the voltage of the supercapacitor enables the use of a larger portion of the supercapacitor's operating range.

[0066] The controller of the DCDC boost converter control sets the current and voltage targets (e.g., the voltage target may be the nominal voltage of the rechargeable power source 55 in the load handling device 31). As the supercapacitor discharges and its voltage drops, the current increases. The limiting factor on how low the supercapacitor voltage can drop is the current through the supercapacitor; too high a current can cause overheating problems. In practice, the boost control attempts to meet the target voltage, but is constrained by the current once the low supercapacitor voltage is reached. A much higher proportion of the supercapacitor's operating range can be used with the DCDC converter.

[0067] To achieve higher power density and higher energy storage capacity, multiple supercapacitors can be connected in parallel. The main advantage of parallel connection is that it is easier to monitor the voltage of the supercapacitors to ensure that none of them is allowed to operate above the rated voltage - when connected in parallel, the voltage only needs to be monitored at two locations, while when connected in series, the voltage needs to be monitored at each point between consecutive supercapacitors in the chain.

[0068] Supercapacitor voltages need to be carefully managed to ensure that the voltages remain balanced – if a supercapacitor is operated above its rated voltage, the supercapacitor can easily be damaged.

[0069] Thus, an assembly of supercapacitors may include supercapacitors connected in series or in parallel or both. For example, an assembly of supercapacitors may include a string of supercapacitor elements connected in series, where each element of the string is composed of several parallel capacitors. This arrangement combines the advantages of increased voltage with the ease of monitoring the voltage on each element of the string to ensure that no supercapacitor is operated above its rated voltage. This arrangement is Fig.11 Shown in.

[0070] The term "supercapacitor" is used broadly to encompass any capacitor technology. Examples include capacitor, supercapacitor, ultracapacitor, lithium capacitor, electrochemical double layer capacitor, electric double layer capacitor, pseudocapacitor, or hybrid capacitor. Batteries as an auxiliary rechargeable power source

[0071] In other embodiments, the auxiliary rechargeable power source 55 in the mobile power source 51 may be a rechargeable battery. Batteries have the advantage of high energy density and thus can be used to fully charge the load handling device 31 from a low charge level to a fully charged state using one mobile power source 51.

[0072] Examples of rechargeable batteries include, but are not limited to, lithium-ion batteries, lithium-ion polymer batteries, lithium-air batteries, lithium-iron batteries, lithium iron phosphate batteries, lead-acid batteries, nickel-cadmium batteries, nickel-metal hydride batteries, nickel-zinc batteries, sodium-ion batteries, sodium-air batteries, thin-film batteries, smart batteries, and carbon foam-based lead-acid batteries.

[0073] Other rechargeable power supply technologies are also suitable for use with the present invention. Although specific examples of rechargeable batteries and supercapacitors are described, any suitable rechargeable power supply may be used.

[0074] Similarly, the main rechargeable power source 53 in the load handling device 31 may be a rechargeable battery, a supercapacitor, or any other suitable rechargeable power source. Charging the load handling unit

[0075] The power transmission means 59 of the mobile power source 51 is configured to transmit power from the mobile power source 51 to the load processing device 31 so as to charge the load processing device 31. This can be achieved by at least one coupling element. In some embodiments, the at least one coupling element includes a primary charge providing element 62 on the mobile power source 51. The primary charge providing element 62 is configured to transmit power to the charge receiving element 65 on the load processing device 31 so as to charge the main rechargeable power source 53 in the load processing device 31. The primary charge providing element 62 and the charge receiving element 65 can take any suitable form as long as power can be transmitted-for example, power can be transmitted through contacts or wirelessly.

[0076] In the case where electric power is transmitted through contacts, the primary charge providing element 62 on the mobile power supply 51 includes a primary charge providing contact 62, and the charge receiving element 65 on the load processing device 31 includes a charge receiving contact 65, which enables electric power to be transmitted through contact between the primary charge providing contact 62 and the charge receiving contact 65.

[0077] Fig.12 An embodiment of a load handling device 31 and a mobile power source 51 is shown, wherein power is transmitted via contacts. The load handling device 31 includes a main rechargeable power source 53 electrically connected to the charge receiving contacts 65 and a container engagement assembly 43 that can be raised or lowered by four straps 38. The container engagement assembly 43 includes an engagement tool 42 for engaging with the mobile power source 51.

[0078] The mobile power source 51 includes an auxiliary rechargeable power source 55 electrically connected to the primary charge supply contacts 62 and a housing 57. The housing 57 includes an engagement feature 44 for engaging with the engagement tool 42 of the load handling device 31.

[0079] To charge the load handling device 31, the container engagement assembly 43 is lowered by the four belts 38. The engagement tool 42 on the container engagement assembly 43 engages with the engagement feature 44 of the mobile power source 51. Once engaged, the mobile power source 51 is lifted into the container receiving space 49 of the load handling device 31. Once the mobile power source 51 is lifted into the container receiving space 49, the primary charge supply contacts 62 contact the charge receiving contacts 65 of the load handling device 31, and power is transferred from the mobile power source 51 to the load handling device 31. Power is transferred from the main rechargeable power source 55 of the mobile power source 51 to the rechargeable power source 53 of the load handling device 31 via the primary charge supply contacts 62 of the mobile power source 51 and the charge receiving contacts 65 of the load handling device 31.

[0080] In some embodiments, control signals may be transmitted between the load handling device 31 and the mobile power supply 51. These signals may be transmitted using the same primary charge supply contacts 62 and charge receiving contacts 65, or may be transmitted using different contacts or connectors. If different connectors are used, a connection block may be provided on both the load handling device and the mobile power supply, the connection block on the mobile power supply 51 including the primary charge supply contacts 62 and the control contacts or connector, and the connection block on the load handling device 31 including the charge receiving contacts 65 and the control contacts or connector. Alternatively, the control signals may be transmitted wirelessly.

[0081] When the primary charge supply element 62 and the charge receiving element 65 include primary charge supply contacts 62 and charge receiving contacts 65, respectively, contact status monitoring may be advantageous. An auxiliary pin or signal pin may be used for primary contact status monitoring to monitor how charge is being transferred and stop charging if any potential problems (e.g., wiring or overheating problems) are detected.

[0082] In the case where power is transmitted wirelessly, the primary charge providing element 62 on the mobile power supply 51 includes a wireless charge transmitter, and the charge receiving element 65 on the load processing device 31 includes a wireless charge receiver, which enables power to be wirelessly transmitted from the wireless charge transmitter to the wireless charge receiver. Control signals can also be transmitted wirelessly. For example, near field communication (NFC) can be used in conjunction with wireless charging. Charging via stacks in storage columns

[0083] When positioned in a stack 11 in a grid frame structure 1, a power bank 51 can be charged from another power bank 51 below it in the stack 11. A power bank 51 at the bottom of a stack 11 can be charged from a base charging plate 67 located at the bottom of the battery stack 11.

[0084] The base charging plate 67 provides a scalable solution. The base charging plate 67 can be used to charge a single power bank 51 or an entire stack of power banks 51. The advantage of charging a stack of power banks 51 simultaneously is space efficiency: an entire stack of power banks 51 can be charged simultaneously while occupying only one grid space or footprint of a grid cell 14. This provides much higher efficiency than using a charging station on a rail system 13: with a charging station, only one load handling device 31 can be charged at a time, and the space below the grid cell 14 where the charging station is located is effectively "dead space" because the storage column 10 below the grid cell 14 is inaccessible.

[0085] The power bank 51 may use a dedicated charging stack with the base charging plate 67 permanently fixed to the ground at the bottom of the stack 11. Alternatively, to allow for greater flexibility, the stack 11 may be dual-purpose and may be used for charging or storage. In some embodiments, the base charging plate 67 may be removable so that the storage column 10 may be used as a dedicated charging column (with the base charging plate 67) for a stack of power banks 51, or the storage column 10 may be used to store storage containers 9 with products to be stored with the base charging plate 67 removed. In other embodiments, when the stack 11 is not needed for charging, the stack 11 may be used for storage with the storage containers 9 stacked on top of the base charging plate 67.

[0086] The auxiliary rechargeable power source 55 in the mobile power source 51 can be continuously replenished while in the stack 11 .

[0087] To facilitate charging in the stack 11, the power transmission tool 59 performs the functions of allowing the mobile power source 51 to receive power and allowing the mobile power source 51 to provide power to the load handling device 31. The power transmission tool 59 includes at least one electrical coupling element, and in addition to at least one electrical coupling element including the primary charge providing element 61, additional electrical coupling elements may be provided to facilitate the mobile power source 51 to receive power from the base charging plate 67, and / or to provide power to another mobile power source 51 and / or to receive power from another mobile power source 51.

[0088] Fig.13 An embodiment of a mobile power source 51 configured to be charged in a stack 11 is shown. Fig.12 In the embodiment of the present invention, the mobile power supply 51 includes an auxiliary rechargeable power supply 55 and a housing 57 electrically connected to the primary charge providing contact 62. The mobile power supply 51 further includes a primary charge receiving contact 63, through which the mobile power supply 51 can receive charge from the base charging plate 67.

[0089] In addition to the primary charge supply contacts 62 for charging the load handling device 31 and the primary charge receiving contacts 63 for receiving charge from the base charging plate 67, the mobile power source 51 also includes secondary charge supply contacts 64 and secondary charge receiving contacts 66 for supplying charge to and receiving charge from another mobile power source 51 in the stack 11. In some embodiments, the primary 62, 63 and secondary 64, 66 charge supply / receiving contacts may be separate components, while in other embodiments, the primary 62, 63 and secondary 64, 66 charge supply / receiving contacts may be the same component. Fig.13In the illustrated embodiment, the primary charge providing contact 62 and the secondary charge providing contact 64 are identical, i.e., one charge providing contact implements both the primary function of charging the load handling device 31 and the secondary function of charging another mobile power source 51 above the stack. Similarly, the primary charge receiving contact 63 and the secondary charge receiving contact 66 are identical, i.e., one charge receiving contact implements both the primary function of receiving charge from the base charging plate 67 and the secondary secondary function of receiving charge from another mobile power source 51 below the stack.

[0090] In the illustrated embodiment, the primary and secondary charge supply contacts 62, 64 are located on the top of the upper surface of the mobile power source 51, while the primary and secondary charge receiving contacts 63, 66 are located on the lower side of the bottom surface of the mobile power source 51. When the mobile power source 51 is charged in the stack 11, the secondary charge supply contact 64 engages with the secondary charge receiving contact 66 of the mobile power source 51 directly above (vertically adjacent to) the mobile power source 51 in the stack 11, and the secondary charge receiving contact 66 of the mobile power source 51 engages with the secondary charge supply contact 64 of another mobile power source 51 directly below (vertically adjacent to) the mobile power source 51 in the stack 11. Therefore, the mobile power source 51 can simultaneously receive power from the mobile power source 51 below and supply power to the mobile power source 51 above in the stack 11.

[0091] Fig.14 An embodiment of a mobile power supply 51 and a base charging plate 67 is shown. The base charging plate 67 includes charge supply contacts 68 configured to engage with the primary charge receiving contacts 63 of the mobile power supply 51. The charge supply contacts 68 of the base charging plate 67 are located on top of the upper surface of the base charging plate 67 so that the charge supply contacts 68 of the base charging plate 67 are aligned and engaged with the primary charge receiving contacts 63 located on the underside of the bottom surface of the mobile power supply 51.

[0092] Fig.15An embodiment of a stack 11 having a base charging plate 67 and three mobile power supplies 51 is shown. In the following description, the three mobile power supplies 51 are defined as a first mobile power supply 51a, a second mobile power supply 51b, and a third mobile power supply 51c. Reference numerals a, b, and c will be used to represent the first, second, and third mobile power supplies 51 and their components, respectively. The first mobile power supply 51a is located at the center of the stack 11. The second mobile power supply 51b is located at the bottom of the stack 11, directly below the first mobile power supply 51a. The third mobile power supply 51c is located at the top of the stack 11, directly above the first mobile power supply 51a. Each of the first, second, and third mobile power supplies 51a, 51b, 51c includes a secondary charge providing contact 64a, 64b, 64c located on the upper surface of the corresponding mobile power supply 51a, 51b, 51c, and a secondary charge receiving contact 66a, 66b, 66c located on the lower side of the lower surface of the corresponding mobile power supply 51a, 51b, 51c.

[0093] The first mobile power source 51a receives power from the second mobile power source 51b directly below the first mobile power source 51a in the stack 11. More specifically, the secondary charge receiving contacts 66a of the first mobile power source 51a receive power from the secondary charge providing contacts 64b of the second mobile power source 51b.

[0094] The first mobile power source 51a transmits power to the third mobile power source 51c directly above the first mobile power source 51a in the stack 11. More specifically, the secondary charge supply contact 64a of the first mobile power source 51a transmits power to the secondary charge receiving contact 66c of the third mobile power source 51c. Therefore, the first mobile power source 51a located at the center of the stack 11 simultaneously receives power from the second mobile power source 51b and supplies power to the third mobile power source 51c. Power is transmitted upward through the stack of mobile power sources 51.

[0095] The second mobile power source 51b at the bottom of the stack 11 receives power from the base charging plate 67. More specifically, the primary charge receiving contacts 63b of the second mobile power source 51b receive power from the charge providing contacts 68 of the base charging plate 67. In the illustrated embodiment, the primary charge receiving contacts 63b and the secondary charge receiving contacts 66b of the second mobile power source are the same contacts.

[0096] Fig.15 The arrow on the top indicates the direction of power transmission. Power is transmitted upward from the base charging plate 67 through each mobile power source 51 in turn, and each mobile power source 51 in the stack 11 receives power from below and transmits power upward to the mobile power source 51 above in the stack 11.

[0097] exist Figures 12 to 15In the illustrated embodiment, the charge supply contacts 68 of the base charging plate 67 have the same design as the primary and secondary charge supply contacts 64, 66 of the mobile power source 51, and the primary and secondary charge receiving contacts 63, 66 of the mobile power source 51 have the same design as the charge receiving contacts 65 of the load handling device 31. When the mobile power source 51 is in the stack 11, the electrical contacts are aligned horizontally. Thus, the mobile power source 51 is interchangeable and can receive power from the base charging plate 67 or from another mobile power source 51 below in the stack 11, and can provide charge to the load handling device 31 or another mobile power source 51 above in the stack 11.

[0098] In other embodiments, the mobile power supply 51 may be provided with a separate primary charge supply contact 62 for charging the load processing device 31 and a separate secondary charge supply contact 64 for charging another mobile power supply 51, rather than a single charge supply contact that simultaneously performs both functions.

[0099] exist Figures 12 to 15 In the illustrated embodiment, power is transmitted via contact between a charge providing contact and a charge receiving contact. In other embodiments, the power transmission means 59 may include other means for transmitting power, such as by wireless power transmission. Positioning and distribution of charging columns

[0100] In large storage systems, multiple dedicated charging stacks may be required to ensure that enough mobile power sources 51 are provided to keep all load handling devices 31 charged without the need for external chargers.

[0101] The charging stacks may be evenly distributed throughout the grid frame structure 1 to ensure that the load handling device 31 can be located anywhere on the track system 13 and is never too far from a charging post. Alternatively, the charging stacks may be located near the port post so as to reduce the travel time of the load handling device 31. Alternatively, the charging stacks may be located further away from the port post so that the load handling device 31 being charged can be charged without obstructing the path of the load handling device 31 that is fulfilling a customer order, and / or to allow storage posts 10 closer to the port post row to be used for storage containers 9 so as to efficiently use the available space and minimize the distance between the port post and the storage container 9 to be picked up by the load handling device 31. Alternatively, the charging stacks may be located at the edge of the grid frame structure 1 so that the base charging plate 67 of the charging stacks can be easily accessed for maintenance. The positioning and distribution of the charging stacks throughout the grid frame structure 1 may be any of the above, or any combination of the above. The optimal positioning and distribution of the charging stacks may depend on the size and layout of the grid frame structure 1, the number of load handling devices 31, and the throughput rate of customer orders. Bypass charging

[0102] In some embodiments, the above-described charging method may be bypassed, wherein power is transferred upward through the stack of Power Banks 51 in the stack 11 by each Power Bank 51 charging the Power Bank 51 above it in the stack. This enables Power Banks 51 in the stack 11 but not at the bottom of the stack 11 to be charged directly from the base charging plate 67, rather than from the Power Bank 51 directly below in the stack 11. This may be useful if, for example, the Power Bank 51 at the top of the stack 11 needs to be charged first, such as if the load handling device 31 urgently needs to be charged and does not want to wait until the entire stack of Power Banks 51 in the stack 11 is fully charged.

[0103] Bypass charging can work through the same electrical contacts as above, where power is transferred from the charge providing element 68 on the base charging plate 67 or the secondary charge providing element 64 on another power bank 51 directly below in the stack 11 to the secondary charge receiving element 66 of the power bank 51. Each power bank 51 can be provided with a bypass mechanism that directs power from the primary 63 or secondary 66 charge receiving element to the secondary charge providing element 64 while bypassing the rechargeable power source 55 in the power bank 51. Thus, power can be transferred from the base charging plate 67 at the bottom of the stack 11 to the power bank 51 through the chain of charge receiving elements 63, 66 and secondary charge providing elements 64 of all the power banks 51 in the stack to the power bank 51 at the top of the stack. The rechargeable power source 55 in the power bank 51 at the top of the stack is charged without first charging the rechargeable power sources 55 of all the other power banks 51 below the stack.

[0104] In some embodiments, a bypass mechanism in the power bank 51 can divert current received from the base charging plate 67 or from a power bank 51 below in the stack 11 so that a portion of the current is used to charge the auxiliary rechargeable power source 55 in the power bank 51, and the remainder of the current is transmitted to the power bank 51 above in the stack 11. Thus, the power bank 51 can simultaneously charge and transfer power upward in the stack 11. Bus bar charging

[0105] Optionally, as an alternative or in addition to the base charging plate 67, a busbar may be provided for charging the mobile power supplies 51 in the charging stack. Optionally, the busbar may be integrated into the upright members 3 of the grid frame structure 1. Each mobile power supply 51 in the stack 11 may be in contact with the busbar, so any mobile power supply 51 may be charged directly from the busbar, regardless of the position of the mobile power supply in the stack 11. A control system is provided to control how much current each mobile power supply 51 draws from the busbar. The busbar has the advantage of complete flexibility in charging; any mobile power supply 51 at any position in a dedicated charging stack 61 may be charged.

[0106] The busbars can be used for rapid charging using higher currents than charging through the base charging plate 67 or from another power bank 51 as described above. Rapid charging can be provided by a buck converter in constant current mode, converting the higher voltage supply at the busbars of the stack 11 to a lower voltage for charging the power bank 51.

[0107] The power bank 51 may be provided with separate electrical contacts to facilitate charging from a bus located on the side of the power bank 51 .

[0108] Rapid charging is particularly effective where the auxiliary rechargeable power source 55 in the power bank 51 is a supercapacitor, since supercapacitors can accept higher currents than rechargeable batteries. Control System

[0109] One or more control systems may be provided to perform functions including, but not limited to, controlling the movement of the load handling device 31 on the track system 13, tracking the charge level of the main rechargeable power source 53 in the load handling device 31, tracking the charge level of the auxiliary rechargeable power source 55 in the mobile power source 51, identifying where the load handling device 31 should go on the track system 13 when charging, controlling when and how the mobile power source 51 is removed from the grid frame structure 1, controlling a bypass mechanism of the mobile power source 51, and controlling how much current the mobile power source 51 can draw from the busbar. These operations may be performed by the same control system or by different control systems.

[0110] To ensure that the load handling device 31 is charged when necessary, the control system can monitor the charge state of the load handling device 31 and the mobile power source 51. This can be achieved in several different ways. For example, the load handling device 31 and the mobile power source 51 can send a signal indicating the charge state to the control system.

[0111] Alternatively, the control system may ensure that a given power bank 51 is allowed to charge for a predetermined length of time before being used again to charge the load handling device 31. A power bank 51 that is not fully charged will still be able to deliver a partial charge to the load handling device 31. If the load handling device 31 is not fully charged after being charged from a power bank 51, the load handling device 31 may communicate with the control system to require further charging, and the control system may then direct the load handling device 31 to pick up another power bank 51.

[0112] Alternatively, the power banks 51 may communicate their state of charge to the control system via the base charging plate 67 directly or via other power banks 51 in the stack 11 above the base charging plate 67. The control system may select the power bank 51 with the highest state of charge or the power bank 51 that has been charged the longest to charge the next load handling device 31 that needs to be charged.

[0113] The control system may also monitor the condition of the electrical contacts, for example to detect problems with the wiring or overheating. Size, capacity and type of storage containers

[0114] The mobile power supply 51 may have the same height as the storage container 9. Alternatively, the height of the mobile power supply 51 may be shorter than the storage container 9, in which case a greater number of mobile power supplies 51 may be assembled in the stack 11. For example, if the height of the mobile power supply 51 is half that of the storage container 9, twice the number of mobile power supplies 51 as the storage containers 9 in the stack 11 may be assembled in the stack 11.

[0115] In order to provide greater flexibility in charging, the system can be provided with power banks 51 having different energy storage capacities. For example, two capacities of power banks 51 can be provided: a first capacity power bank 51 having a higher storage capacity and a second capacity power bank 51 having a lower storage capacity. The two capacities of power banks 51 can be stored in different stacks 11, or stored together in the same stack 11. When the load handling device 31 needs to be fully charged, the first capacity power bank 51 can be used. The second capacity power bank 51 is used for lower charging requirements, such as when the load handling device 31 needs to be partially charged, or for shorter charging opportunities, such as when the load handling device 31 only has a short charging time before its next operation is required. The main advantage of providing different capacity power banks 51 with different energy storage capacities is the flexibility of charging: whether the load handling device 31 needs to be partially charged or fully charged, there will be a power bank 51 available to deliver the appropriate amount of charge, and the full capacity of the power bank 51 can be used.

[0116] In some embodiments, the two capacities of the power bank 51 have different sizes. The first capacity power bank 51 has the same size as the standard storage container 9, while the second capacity power bank 51 is half the height of the standard storage container 9. The second capacity power bank 51 contains fewer auxiliary rechargeable power sources 55 than the first capacity, and therefore requires less space to package the auxiliary rechargeable power sources 55 and other components. Since the shorter power bank 51 takes up less space, more power banks can be stored in the stack 11. This allows the possibility of providing more power banks 51 than required for the number of load handling devices 31 in the system, thereby allowing more load handling devices 31 to be charged during quiet times.

[0117] Alternatively or additionally, power banks 51 of different energy storage types may be provided. For example, a first type of power bank 51 may be provided with a supercapacitor as the main rechargeable power source 55, which has the advantages of high power density and fast charging rate. A second type of power bank 51 may be provided with one or more batteries as the main rechargeable power source 55, which has the advantage of higher energy storage capacity. This provides additional flexibility in charging: if the load handling device 31 requires a fast charge, it can pick up the first type of power bank 51 and charge quickly from the supercapacitor power source, and when the load handling device 31 requires a slower charge or a larger charge, it can pick up the second type of power bank 51 and charge more slowly from the battery power source.

[0118] It should be understood that many different combinations of different capacities, sizes, types, and charging speeds of the power banks 51 are possible. All power banks 51 dock with the load handling device 31 in the same manner as a standard storage container 9, and all power banks 51 dock with each other and with the base charging plate 67 in the same manner. Ambient temperature

[0119] The storage and retrieval system may have different sections that operate at different temperatures in order to store products with different temperature requirements. For example, the storage and retrieval system may have a section for goods at ambient temperature, a section for refrigerated goods at lower temperatures, and a section for frozen goods.

[0120] In embodiments where the auxiliary rechargeable power source 55 in the power bank 51 is a battery and the ambient temperature is low, there are further considerations. For example, if the battery is cold, it needs to be preheated by slowly charging until the battery cells reach a certain positive temperature, after which the battery cells can be charged more quickly. Therefore, in areas with lower ambient temperatures, the load handling device 31 may hold the power bank 51 for a longer period of time. Therefore, in low temperature areas, a greater number of power banks 51 may be provided. Method of charging the power supply

[0121] Fig.16 is a flow chart illustrating a method of charging the main rechargeable power source 53 in the load handling device 31. For example, if the main rechargeable power source 53 is depleted and no longer has sufficient charge to power the drive mechanism 38 of the load handling device 31, it may be necessary to charge the main rechargeable power source 53.

[0122] In a first step 100, the load handling device 31 picks up the power bank 51 and lifts it into the container receiving space 49 of the load handling device 31. In some embodiments, the load handling device 31 can take the power bank 51 to different parts of the grid. The load handling device 31 can be moved to a currently unused part of the track system 13, for example to avoid other load handling devices 31 that are retrieving storage containers 9 to fulfill customer orders. Alternatively, specific charging areas can be set up on the track system 13. In some embodiments, these specific charging areas can be located near data exchange points (e.g., li-fi) so that the load handling device 31 can upload data or download updates while charging.

[0123] The load handling devices 31 may take advantage of charging opportunities that do not reduce the time available to perform operations on the grid frame structure 1. For example, the load handling devices 31 may access the mobile power source 51 while moving to a different portion of the track system 13 in preparation for performing another operation, or while waiting for other load handling devices 31 to remove a storage container 9 above a target storage container 9 in the stack 11, or when there is a lull in the need for the load handling devices 31 to retrieve a storage container 9.

[0124] In a second step 102, the power bank 51 charges the main rechargeable power source 53 of the load handling device 31. The auxiliary rechargeable power source 55 in the power bank 51 can be selected to have the advantage of high power density (e.g., supercapacitors), so charging occurs in a relatively short time. This reduces or eliminates the need for downtime when charging. Depending on the capacity and charge state of the main rechargeable power source 53 of the load handling device 31, more than one power bank 51 may be required to fully charge the main rechargeable power source 53 in the load handling device 31.

[0125] Alternatively, the auxiliary rechargeable power source 55 in the mobile power source 51 may be selected to have the advantage of high energy density (e.g., a rechargeable battery). This may have the advantage that a single mobile power source 51 can provide a full charge to the main rechargeable power source 53 of the load handling device 31.

[0126] In a third step 104, the load handling device 31 returns the mobile power source 51 to a stack 11 in the grid frame structure 1. This may be the same stack 11 where the mobile power source 51 was previously located, or a different stack 11.

[0127] In a fourth step 106 , the auxiliary rechargeable power source 55 in the mobile power source 51 is charged in the grid frame structure 1 .

[0128] Fig.17 is a flow chart illustrating a method in which a first load handling device 31 brings a mobile power source 51 to a predetermined location and then a second load handling device 31 is charged from the mobile power source 51. Likewise, for example, the main rechargeable power source 53 of the second load handling device 31 may need to be charged if the main rechargeable power source 53 is partially depleted and no longer has sufficient charge to power the drive mechanism 38 of the second load handling device 31 to move to another mobile power source 51 or charging station.

[0129] In a first step 110 , the first load handling device 31 picks up the mobile power source 51 and lifts it into the container receiving space 49 of the first load handling device 31 .

[0130] Optionally, in the second step 112 , the mobile power source charges the first load processing device 31 .

[0131] In a third step 114, the first load handling device 31 brings the mobile power source 51 to a predetermined location in the grid frame structure 1. The predetermined location may be a grid cell located adjacent to or near the second load handling device 51. Advantageously, the method allows the second load handling device 31 to easily reach the mobile power source 51 without having to travel to another mobile power source or charging station that is remotely located, such as on a different portion of the track structure 13. For example, if the main power source 53 of the second load handling device 31 is partially depleted and only has enough power to travel a short distance, the second load handling device 31 may be able to travel to the predetermined location rather than being stranded on the track system 13 because it does not have enough power to travel to another mobile power source 51 or charging station.

[0132] In a fourth step 116, the second load handling device 31 picks up the mobile power source 51. The predetermined location may be selected to be adjacent to or close to the second load handling device 31 so that the second load handling device 31 does not have to travel far.

[0133] In the fifth step 118 , the mobile power source 51 charges the second load processing device.

[0134] The method may further include the following steps (not shown): the second load handling device returns the mobile power source to the stack in the grid frame structure, and the mobile power source is charged in the grid frame structure.

[0135] An advantage of mobile power supplies 51 is that they are a cheaper solution than charging or swapping stations for the main rechargeable power source 53 and can be fitted into existing grid frame structures 1 without the need for special equipment which significantly reduces available storage space.

[0136] Another advantage is that it is straightforward to service and maintain the mobile power source 51. A mobile power source 51 that requires maintenance can be picked up by the load handling device 31 and removed from the grid frame structure 1, in which case it can be taken to a maintenance area. definition

[0137] In this document, "movement in the n direction" (and related language), where n is one of x, y, and z, is intended to mean movement in either direction (i.e., toward the positive end of the n axis or toward the negative end of the n axis) generally along or parallel to the n axis.

[0138] In this document, "connected" and its derivatives are intended to include both direct and indirect possibilities of connection. For example, "x is connected to y" is intended to include the possibility that x is directly connected to y without intermediate components, as well as the possibility that x is indirectly connected to y through one or more intermediate components. In the event that a direct connection is intended, the words "directly connected", "directly connected" or similar words will be used. Similarly, the word "supported" and its derivatives are intended to include both direct and indirect possibilities of contact.

[0139] For example, "x supports y" is intended to include the possibility that x directly supports and directly contacts y without intermediate components, as well as the possibility that x indirectly supports y by contacting one or more intermediate portions of x and / or y. The word "mounted" and its derivatives are intended to include both direct and indirect mounting possibilities. For example, "x is mounted on y" is intended to include the possibility that x is directly mounted on y without intermediate components, as well as the possibility that x is indirectly mounted on y via one or more intermediate components.

[0140] In this document, the word "comprise" and its derivatives are intended to have an inclusive rather than exclusive meaning. For example, "x includes y" is intended to include the possibility that x includes one and only one y, multiple y, or one or more than 10 y and one or more other elements. Where an exclusive meaning is intended, the language "x consists of y" will be used, meaning that x includes only y and nothing else.

[0141] In this document, the term "fully charged" as applied to a rechargeable power source means that the rechargeable power source is supplied with its rated charge. For a battery, this means that the battery voltage is the rated voltage. The term "depleted" as applied to a rechargeable power source means that a predetermined residual charge is left in the rechargeable power source. For a battery, this means that the battery voltage has dropped below the rated voltage to a predetermined residual voltage.

Claims

1. A mobile power source (51) for charging a load processing device (31), the mobile power source comprising: Auxiliary rechargeable power source (55); and at least one power transfer tool (59) electrically connected to the auxiliary rechargeable power source; Wherein, the at least one power transfer tool is configured to be electrically coupled to a load handling device so as to transfer power from the auxiliary rechargeable power source to the load handling device.

2. The mobile power source (51) according to claim 1, wherein: The at least one power transmission tool (59) includes at least one electrical coupling element, and the at least one electrical coupling element includes a primary charge providing element (61), and the primary charge providing element is configured to electrically couple the mobile power source to the load processing device (31).

3. A mobile power source (51) according to any one of the preceding claims, wherein: The mobile power source includes a housing (57) configured to be received within the load handling device (31).

4. The mobile power source (51) according to claim 3, wherein: The housing (57) includes one or more engagement features (44) configured to be engaged by the load handling device (31).

5. The mobile power source (51) according to claim 3 or 4, wherein: The housing (57) includes a base, side walls, and an opening for receiving the auxiliary rechargeable power source (55).

6. A mobile power source (51) according to claim 5, when dependent on claim 4, wherein: The engagement feature (44) includes one or more holes in a side wall of the housing (57).

7. A mobile power source (51) according to any one of the preceding claims, wherein: The auxiliary rechargeable power source (55) in the mobile power source includes one or more supercapacitors.

8. The mobile power source (51) according to claim 7, wherein: The one or more supercapacitors include a plurality of supercapacitor elements connected in series, wherein each supercapacitor element includes a plurality of supercapacitors connected in parallel.

9. A mobile power source (51) according to any one of the preceding claims, wherein: The auxiliary rechargeable power source (55) includes a rechargeable battery.

10. The mobile power source (51) according to any one of the preceding claims, wherein: The mobile power supply further comprises a voltage converter for converting a voltage from the auxiliary rechargeable power source (55) in the mobile power supply so as to charge the load processing device (31).

11. The mobile power source (51) according to claim 10, wherein: The voltage converter includes a DCDC boost converter.

12. The mobile power source (51) according to any one of claims 2 to 11, wherein: The at least one electrical coupling element further comprises a secondary charge providing element (64) for electrically coupling with a vertically adjacent mobile power source in the stack (11), such that, when arranged in a stack of mobile power sources, electrical power can be transferred from the mobile power source to the vertically adjacent mobile power source.

13. The mobile power source (51) according to any one of claims 2 to 12, wherein: The at least one electrical coupling element further includes a secondary charge receiving element (66) for electrically coupling with a vertically adjacent mobile power source in the stack, such that, when arranged in a stack of mobile power sources, power can be transferred from the vertically adjacent mobile power source to the mobile power source.

14. A load processing device (31), comprising: 1) a main rechargeable power source (53); 2) a container receiving space (49), the container receiving space (49) being configured to receive a mobile power source (51) as claimed in any one of the preceding claims; 3) a container lifting device (39), the container lifting device (39) comprising a container engaging assembly (43) configured to engage with the mobile power source and a drive mechanism (38) configured to lift the mobile power source into the container receiving space, Wherein, the load handling device is configured to receive power from the mobile power source when the mobile power source is received in the container receiving space of the load handling device.

15. The load handling device according to claim 14, wherein: The container receiving space (49) includes a charge receiving element (65) for receiving power from the mobile power source (51) to charge the main rechargeable power source (53).

16. A load handling device (31) according to claim 14 or 15, when dependent on claim 3, wherein: The container engagement assembly (43) includes one or more clamps, and the housing (57) is configured to be clamped by the clamps.

17. A storage and retrieval system comprising: A) Grid frame structure (1), including: i) a track system (13), the track system (13) comprising a plurality of tracks (17, 19) arranged in a grid pattern; ii) a supporting frame structure (2), said supporting frame structure (2) supporting said track system; and iii) a plurality of stacks (11) of storage containers (9), the plurality of stacks (11) of storage containers (9) being arranged in a plurality of storage columns (10) located below the rail system; B) The load handling device (31) of any one of claims 14 to 16, wherein the container receiving space (49) is further configured to receive a storage container, the container engagement assembly (43) is further configured to engage with the storage container, and the drive mechanism (38) is further configured to lift the storage container from one of the plurality of stacks into the container receiving space; Wherein, one or more storage containers in the stack is a mobile power source (51) as claimed in any one of claims 1 to 13.

18. A storage and retrieval system according to claim 17, when dependent on claim 3, wherein: The housing (57) has substantially the same dimensions as the storage container (9).

19. A storage and retrieval system according to claim 17 or 18, wherein: One or more of the storage columns (10) include a charging surface, which includes a charge providing element (68) for charging the mobile power source (51) when the charging surface is electrically coupled to the mobile power source.

20. The storage and retrieval system of claim 19, wherein: The charging surface includes a base charging plate (67), such that when the power bank is mounted on the base charging plate, the power bank (51) is electrically coupled to the base charging plate.

21. The storage and retrieval system of claim 19, wherein: The charging surface includes a bus bar (73) extending upwardly along the storage column (10), so that the bus bar is electrically coupled to the side of the mobile power supply (51).

22. A storage and retrieval system according to any one of claims 19 to 21, wherein: The at least one electrical coupling element of the mobile power source (51) further comprises a primary charge receiving element (63), wherein the primary charge receiving element (63) is configured to receive power from the charge providing element (68) of the charging surface.

23. A storage and retrieval system according to any one of claims 14 to 22, when dependent on claims 12 and 13, the storage and retrieval system includes a plurality of mobile power sources (51) arranged in a stack (11), wherein the corresponding secondary charge providing and receiving elements (64, 66) of the mobile power sources are electrically coupled to each other in the stack to transfer charge between vertically adjacent mobile power sources in the stack.

24. A method for transmitting power to a load handling device (31) operating in a storage and retrieval system as claimed in any one of claims 17 to 23, the method comprising the steps of: a) moving the load handling device on the track system (13) to a position above the stack (11) including the mobile power source (51); b) using a container lifting device (39) to lift the mobile power source into a container receiving space (49) of the load handling device, so that at least one power transmission tool (59) is electrically coupled to a charge receiving element (65) of the load handling device, so that power is transmitted from the auxiliary power source (55) in the mobile power source to the main rechargeable power source (53) of the load handling device.

25. The method according to claim 24, further comprising the steps of: c) The load handling device returns the mobile power source to the stack in the grid frame structure.

26. The method according to claim 25, further comprising the steps of: d) The mobile power source is charged in the stack of the grid frame structure (1).

27. A method for transmitting power to a load handling device (31) operating in a storage and retrieval system as claimed in any one of claims 17 to 23, wherein: The storage and retrieval system comprises a first load handling device and a second load handling device, and the method comprises the following steps: a) the first load handling device is moved on a rail system (13) to a position above the stack (11) including the mobile power source (51); b) using a container lifting device (39) to lift the mobile power source into a container receiving space (49) of the first load handling device; c) the first load handling device moves to a predetermined position on the rail system; d) the first load handling device returns the mobile power source to the stack below the target location in the grid frame structure; e) The second load handling device lifts the mobile power source into the container receiving space so that power is transferred from the auxiliary power source (55) in the mobile power source to the main rechargeable power source (53) of the second load handling device.

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