Combined power and data unit for storage and retrieval systems and

Abstract

A method of providing software updates for a loading processing device for use in a storage and retrieval system, the storage and retrieval system comprising: a first set of parallel tracks extending in an X-direction, and a second set of parallel tracks extending in a Y-direction, the second set of parallel tracks being transverse to the first set of parallel tracks in a substantially horizontal plane, forming a grid pattern comprising a plurality of grid spaces; the method comprises the steps of: transmitting computer-readable code to a combined power and data unit, the combined power and data unit comprising a rechargeable power source and a data storage module, such that the computer-readable code is stored in the data storage module; the combined power and data unit is connected to an interface of the loading processing device so that a local processing unit of the loading processing device can access the computer-readable code stored in the data storage module.

Description

Technical Field

[0001] The present invention relates to automated storage and retrieval systems, equipment, and methods for operating automated storage and retrieval systems. More specifically, but not exclusively, the present invention relates to high density or volumetric storage systems using combined power and data units. The combined power and data unit relates to an electric load handling device operating on an automated storage and retrieval system. In addition, tools for local data transfer from the load handling device and for storing and transferring computer readable code are provided. Background Art

[0002] EP 1037828 B1 (Autostore) describes a system in which stacks of containers are arranged in a frame structure. Figures 1 to 4 of the accompanying drawings schematically illustrate a system of this type. A robotic load handling device can be controllably moved around the stack on a track system on the uppermost surface of the stack.

[0003] UK patent application number GB2520104A (Ocado Innovation Limited) describes a load handling apparatus in which each robotic load handler covers only one grid space, thereby enabling a high density of load handlers - and therefore a high throughput - for a system of a particular size.

[0004] In the known robotic picking systems described above, robotic load handling devices are controllably moved around on top of a stack on a track system forming a grid. A given load handling device lifts a box from the stack, the lifted container containing the stock items required to fulfil a customer order. The container is taken to a picking station where the required stock items can be manually removed from the box and placed in a delivery container which forms part of the customer order and is manually filled for dispatch at the appropriate time. At the picking station, the items may also be picked by an industrial robot suitable for such operations, such as the industrial robot described in UK patent application number GB2524383B (Ocado Innovation Limited).

[0005] As shown in Figures 1 and 2, stackable storage containers, referred to as boxes 9, are stacked on top of each other to form stacks 11. The stacks 11 are arranged in frames 3, 5, 7 in a warehouse or manufacturing environment. Figure 1 is a schematic perspective view of a frame 3, 5, 7, and Figure 2 is a top view showing a single stack 11 of boxes 9 arranged in a frame 3, 5, 7. Each box 9 typically holds a plurality of products or inventory items, and depending on the application, the inventory items in the box 9 can be the same, or can be different product types. In addition, the box 9 can be physically subdivided to accommodate several different inventory items.

[0006] The top layer of the frame 3, 5, 7 includes a track structure 13 or tracks 13 arranged in a grid pattern on top of the stack 11. The track structure 13 supports a plurality of robotic load handling devices 31. A first set of parallel tracks 17 guides movement of the load handling devices 31 in a first direction (X) on top of the frame 3, 5, 7, while a second set of parallel tracks 19 arranged perpendicular to the first set 17 guides movement of the load handling devices 31 in a second direction (Y) perpendicular to the first direction. In this way, the tracks 17, 19 allow the load handling devices 31 to move two-dimensionally in the XY plane so that the load handling devices 31 can be moved to a position above any stack 11.

[0007] FIG3 shows a plurality of load handling devices 31 moving on top of the storage structure 1. As shown in detail in FIG4, each load handling device 31 includes a body 33 arranged to travel in the X and Y directions on the track structure 13 above the stack 11. A first set of wheels 35 is arranged to engage with two adjacent tracks of the first set of tracks 17. Similarly, a second set of wheels 37 is arranged to engage with two adjacent tracks of the second set of tracks 19. Each set of wheels 35, 37 can be raised and lowered so that either the first set of wheels 35 or the second set of wheels 37 engages with the respective set of tracks 17, 19 at any one time. In this way, one or more robotic load handling devices 31 can be moved around on the track structure 13 under the control of a centralized control utility (not shown).

[0008] Each robotic load handling device 31 is provided with a lifting tool 39 for lifting one or more boxes 9 from the stack 11 to access the required product. In this way, multiple products can be accessed from multiple locations in the grid and stack at any one time.

[0009] Figures 1 and 3 show boxes 9 in stacks 11 within a storage system. It will be appreciated that there may be a large number of boxes 9 in any given storage system, and that many different items may be stored in the boxes 9 in the stacks 11. Within a single stack 11, each box 9 may contain a different category of inventory items.

[0010] In one system described above and further described in UK patent application number GB2517264A (Ocado Innovation Limited) incorporated herein by reference, the storage system comprises a series of boxes which may further comprise a delivery container DT containing a customer order or may further comprise a box containing stock items awaiting picking. These different boxes and combinations thereof may be accommodated in the storage system and accessed by the robotic load handling device 31 described above.

[0011] In this specification, the terms "box," "container," and "storage container" are used interchangeably to refer to the same entity.

[0012] As described in WO2019215221 (Ocado), the load handling equipment is typically powered by batteries during operation, and the batteries are recharged at a charging station when the robotic load handling equipment operates on a grid frame structure. The charging station is fixed to a structure proximate to the grid frame structure and extends to a nominal grid cell at the edge of the grid structure. The robotic load handling equipment can be charged by being instructed to move to the charging station grid cell. Contact is made between charging contact pads on the top surface of the robotic load handling equipment and the charging station. The charge is transferred to the robotic load handling equipment via the contact pads. Additionally, during charging, the contact can be used for data transmission. WO'221 provides a charging unit for a robotic load handling equipment, wherein the robotic load handling equipment operates on top of a grid frame. The charging unit includes a plurality of shaped parts arranged to interface with a lifting element of the robotic load handling equipment, and a power transmission tool arranged to transmit power to the robotic load handling equipment.

[0013] In a system that recharges load handling devices, typically each load handling device may spend 5% to 6% of its time at a charging station. Reducing the amount of time each load handling device spends at a charging station can improve the efficiency of the system: leaving more time for the load handling devices to perform load handling operations; while reducing the number of charging stations required.

[0014] In a system where each grid has hundreds or thousands (in some cases tens of thousands) of robots or load handling devices and each load handling device collects a large amount of data logs, it should be understood that typical data transmission systems, such as RF communication systems, etc., may not provide enough bandwidth for all robots to always transmit detailed log information in real time through the wireless communication system. In addition, reducing the amount of time spent at the charging station may result in insufficient time to complete the data transmission.

[0015] EP3325228B1 (Boston Dynamics Inc.) discloses a battery and hard drive exchange station for a robot. The battery pack may include rechargeable batteries and a local data storage component. During operation, sensor data is acquired by the mobile robotic device and transmitted to the local data storage component. At the battery exchange station, the battery pack containing the batteries and the local data storage component with the sensor data are transmitted to the battery exchange station. The mobile robotic device receives a second battery pack from the battery exchange station to continue operation.

[0016] It is in this context that the present invention is designed.

[0017] It should be understood that although the systems, devices, methods, and computer programs described herein are described using a grocery system as an embodiment, the automated or semi-automated storage and retrieval system is not limited to systems dedicated to groceries. For example, this technology can be applied to transportation, baggage handling, vehicle parking, indoor or hydroponic greenhouses and farming, modular buildings, self-service storage facilities, freight handling, transportation dispatch yards, manufacturing facilities, pallet handling, package sorting, airport logistics (ULD) and integrated logistics, etc., just to name a few possible applications. It should be understood that different types of storage and retrieval systems will have different technical requirements.

[0018] The claimed systems, apparatus, methods and computer programs are directed to providing improvements related to rechargeable power supplies and data transfer for robots operating on storage and retrieval systems. Summary of the invention

[0019] Aspects of the invention are set out in the accompanying claims.

[0020] A method for providing software updates to a load handling device used in a storage and retrieval system, the storage and retrieval system comprising: a first set of parallel tracks extending in an X direction, and a second set of parallel tracks extending in a Y direction, the second set of parallel tracks being transverse to the first set of parallel tracks in a substantially horizontal plane to form a grid pattern including a plurality of grid spaces; The method comprises the following steps: transmitting the computer readable code to a combined power and data unit, the combined power and data unit comprising a rechargeable power source and a data storage module such that the computer readable code is stored in the data storage module; The combined power and data unit is connected to an interface of the onboard processing device so that a local processing unit of the onboard processing device can access the computer readable code stored in the data storage module.

[0021] Connecting the combined power and data unit to the interface of the load handling device may include plugging the combined power and data unit into the load handling device. The interface of the load handling device may provide an electrical coupling between the rechargeable power source and the load handling device so that the rechargeable power source can provide power to enable the load handling device to move on the track system.

[0022] The rechargeable power source and data storage module are combined into a single unit, namely a combined power and data unit. At the exchange station, the combined power and data unit can be removed from the load handling device and replaced with a replacement / second combined power and data unit. The combined power and data unit can include a mechanical release mechanism to facilitate removal of the combined power and data unit from the load handling device and / or the exchange station.

[0023] It should be understood that the power source is rechargeable, and therefore in this specification, the terms "power source" and "rechargeable power source" are used interchangeably.

[0024] The rechargeable power source may include a battery or a supercapacitor. Examples of rechargeable batteries include lithium-ion batteries, nickel-cadmium batteries, nickel-metal hydride batteries, lithium-ion polymer batteries, lithium-titanium oxide batteries, thin-film batteries, and smart battery carbon foam-based lead-acid batteries.

[0025] Generally, the data storage module can be divided into a local data storage component, a component for computer readable code, and / or a component for other data uses.

[0026] It will be appreciated that loading the computer readable code onto the combined power and data unit will reduce the need to communicate the computer readable code over the wireless communication channel, thereby freeing up more wireless bandwidth. In addition, it will be appreciated that using the combined power and data unit to transfer data to and from the loading processing device can significantly reduce the overall load on the wireless communication channels within the system.

[0027] The computer readable code may include an operating file, computer executable instructions, software, firmware, data, one or more data parameters, and / or updates of the computer readable code, as described in detail below.

[0028] The computer readable code may include computer executable instructions such that a local processing unit of the load processing device executes the computer executable instructions to control the operation of the load processing device.

[0029] The computer readable code may include one or more data parameters accessed by a local processing unit of the load handling device during operation of the load handling device.

[0030] One or more data parameters may include one or more operating limits (e.g., speed, acceleration, deceleration, torque, power, voltage, current) for components of the load handling equipment. One or more data parameters may include a grid map data file. The grid map data file may be used by the load handling equipment to perform integrity checks on movement commands received by the load handling equipment from the system controller. For example, to avoid obstacles or restricted areas on the grid. Obstacles may be permanent (e.g., columns in a building where the storage system is located) or temporary (e.g., portions of a track structure that are closed for maintenance). The grid map data file may also contain information about grid edges or boundaries. It should be understood that the grid map data file may change for a number of reasons, such as due to routine maintenance of the grid, or due to stranded load handling equipment awaiting recovery from the grid. Additionally or alternatively, the grid map data file may provide data for navigation calculations.

[0031] One or more data parameters may include a speed limit or acceleration limit for the load handling equipment, such as a maximum linear speed at which the load handling equipment can move on the track system (e.g. 4 m / s), or a maximum acceleration of the load handling equipment on the track system (e.g. 2 m / s²). One or more data parameters may include a speed limit or torque limit for one or more electric motors that power the load handling equipment. One or more data parameters may include other parameter limits for other components of the load handling equipment.

[0032] In some embodiments, the computer readable code may include both computer executable instructions and one or more data parameters. For example, the computer readable code may include computer executable instructions for controlling a motor (driving the wheels of the load handling device) and data parameters including speed limits and / or torque limits for the motor (driving the wheels of the load handling device).

[0033] The method may include the further step of the loading processing device transferring some or all of the computer readable code from the data storage module of the combined power and data unit to the data storage medium of the loading processing device.

[0034] The loading processing device may further include a data storage medium contained in the loading processing device, wherein the local processing unit is configured to establish a data channel between the data storage medium and the data storage module so that when the combined power and data unit is connected to the interface of the loading processing device, the computer readable code stored in the data storage module is transmitted to the data storage medium. The local processing unit may be arranged to read and update the computer readable code of the loading processing device from the computer readable code stored in the data storage module. In this way, the local processing unit can update the loading processing device through the combined power and data storage unit, rather than through the communication network of the system. The computer readable code stored in the data storage module may include one or more new versions of a portion of the computer readable code, and one or more new versions will be deployed to the loading processing device. In this way, the loading processing device can be updated by a new version of the computer readable code used by the local processing unit of the loading processing device. The new version or updated version of the computer readable code loaded into the data storage module of the combined power and data unit will be deployed to the loading processing device connected to the combined power and data unit. The new or updated version of the computer readable code can be deployed immediately upon connecting the combined power and data unit to the interface of the load processing device, or alternatively, the local processing unit of the load processing device can be instructed to wait until a signal is received from the system controller and then deploy the new or updated version of the portion of the computer readable code, as described below.

[0035] A checksum, cyclic redundancy code (CRC), or similar download integrity verification may be performed on all files downloaded from the combined power and data unit to the loading processing device.

[0036] The power and / or data storage within the load handling device may be performed by wireless transmission. The load handling device may overwrite the computer readable code stored in the data storage medium of the load handling device with the computer readable code transmitted from the data storage module of the combined power and data unit. In some embodiments, all of the computer readable code stored in the data storage medium of the load handling device may be overwritten by the computer readable code transmitted from the data storage module of the combined power and data unit. In other embodiments, one or more portions of the computer readable code stored in the data storage medium of the load handling device may be overwritten by the computer readable code transmitted from the data storage module of the combined power and data unit.

[0037] The storage system may further include one or more switching stations, the switching station or each switching station being configured to connect the combined power and data unit to an interface of a loading processing device, or to remove the combined power and data unit from an interface of the loading processing device, and the method includes a further step of transferring the computer readable code to the switching station so that the computer readable code can be transmitted to a data storage module of the combined power and data unit connected to the switching station.

[0038] In some embodiments, the computer readable code may be delivered to the exchange station from the system controller. In other embodiments, the computer readable code may be delivered to the exchange station manually, for example, by a human worker.

[0039] An advantage of the step of connecting the combined power and data unit to the interface of the loading handling device is that the amount of time spent by the loading handling device waiting at a charging station or a swapping station can be significantly reduced. The loading handling device does not need to wait at the station while the rechargeable power source is recharged. The loading handling device also does not need to wait at the swapping station while data is transferred to and from the loading handling device. Instead, when the combined power and data unit is low on power, exhausted, or the local data storage component is near full capacity, the loading handling device can simply move to the swapping station, swap out the combined power and data unit and replace it with a "refurbished" combined power and data unit, and resume operations on the track structure.

[0040] The storage system may further comprise a system controller configured to communicate the computer readable code to the or each switching station, the method comprising the further step of the system controller preventing the local processing units of the load handling devices from accessing the computer readable code until a predetermined condition is satisfied. For example, the system controller may allow the local processing units to access the computer readable code once the predetermined condition is satisfied, such as at a predetermined time, or when all load handling devices in the system are provided with the computer readable code, or in response to a particular event.

[0041] The computer readable code may include one or more data parameters, the one or more data parameters including a predetermined timestamp at which an associated portion of the computer readable code is accessible by a local processing unit of a load handling device. When a current time reaches the predetermined timestamp, the associated portion of the computer readable code is simultaneously accessible by all load handling devices in the storage and retrieval system to enable changes to be deployed to a fleet of load handling devices simultaneously. The load handling device may include a communication module configured to receive communications from a system controller such that in response to receiving control information from the system controller, one or more portions of the computer readable code are accessible by a local processing unit of the load handling device.

[0042] The method may include the further step of, in response to receiving the control information from the system controller, the loading processing device overwriting the computer readable code stored in the data storage medium of the loading processing device. Loading and handling equipment

[0043] A load handling device for use in a storage and retrieval system is provided, the storage and retrieval system comprising: a first set of parallel tracks extending in an X direction, and a second set of parallel tracks extending in a Y direction, the second set of parallel tracks being transverse to the first set of parallel tracks in a substantially horizontal plane to form a grid pattern including a plurality of grid spaces; A stack of containers, the stack of containers being located below the track and arranged so that each stack is within the footprint of a single grid space; a load handling device comprising: a drive assembly configured to move the load handling device on one of the sets of parallel tracks; a lifting mechanism configured to lift the storage container from the stack; a communication module, the communication module being used to receive data from the system controller and / or transmit data to the system controller; A local processing unit, the local processing unit communicates with the communication module; Interface, the interface is configured as: i) connected to a combined power and data unit, the combined power and data unit comprising a rechargeable power source and a data storage module; ii) electrically coupled to a rechargeable power source so that, in use, the drive assembly is powered by the rechargeable power source; and iii) communicating with a data storage module; wherein, The data storage module includes computer readable code; The local processing unit is configured to access the computer readable code in use.

[0044] Connecting to the interface of the combined power and data unit may include plugging the combined power and data unit into a loading processing device.

[0045] The drive assembly may allow the load handling device to move in the x and y directions to any available grid unit position on the track. The first set of parallel tracks extending in the x direction and the second set of parallel tracks extending in the y direction may be collectively referred to as a track system or grid. At the grid unit position, the load handling device may retrieve a container from a stack or deposit a container into a stack. In this manner, items are stored and retrieved in the storage and retrieval system. The communication module may communicate with a system controller that directs the movement and lifting performed by the load handling device.

[0046] The interface may be a socket or slot configured to receive a combined power and data unit. The load handling device may include a plurality of slots for receiving the combined power and data unit, the plurality of slots being electrically and mechanically compatible with the combined power and data unit. In this manner, the load handling device may have a longer operating time before requiring a visit to an exchange station. Alternatively, for example, the load handling device may remain powered by a first combined power and data unit while a second combined power and data unit is replaced.

[0047] The receptacle may be located in an upper portion of the housing or frame of the load handling device. In this manner, a human operator or a robotic arm designed to replace the combined power and data unit may easily access the receptacle from the exterior of the load handling device. By locating the combined power and data unit in the upper portion of the load handling device, the lower portion of the load handling device may be left free to receive and accommodate a container that has been lifted from the stack. It should be understood that the receptacle may be located in or on any accessible portion of the load handling device.

[0048] The receptacle may include a mechanical release mechanism that is compatible with the mechanical release mechanism of the combined power and data unit to allow the combined power and data unit to be removed from the load handling device. The mechanical release mechanism may hold the combined power and data unit in the receptacle when the load handling device is not in the switching station and prevent the combined power and data unit from falling out of the receptacle when the load handling device is moved on the grid.

[0049] The load handling apparatus may further comprise means for detecting continued power in the socket.

[0050] For example, continuous power supply can be detected as a voltage within a specific range that is uninterrupted for a specific time. Once detected, the load handling equipment can be turned on or restarted.

[0051] The receptacle may include an optical unit for locating the combined power and data unit.

[0052] The socket may include one or more light units for displaying a signal visible to a human operator or visible to a switching station. The light unit may guide the removal / insertion of a combined power and data unit. The one or more light units may display a pre-arranged coded signal, for example using color and / or amplitude modulation. A specific light signal may identify a specific socket. In this way, a human operator or a robotic arm at a switching station may be guided to the correct vacant slot in the switching station.

[0053] The load handling equipment may be semi-automatic, receiving instructions from the system controller via a communication tool. The local processing unit may operate the drive assembly and the lifting mechanism. The local processing unit may also be described as a local control unit.

[0054] Computer executable instructions may include firmware or software. Firmware is software for a specific purpose of controlling hardware. For example, computer executable instructions may include load handling equipment control software for controlling one or more components of the load handling equipment (e.g., a lifting mechanism or a drive assembly). The components and subsystems of the load handling equipment may be powered by one or more motors (e.g., a lifting mechanism and / or a drive assembly and / or other components), and the computer executable instructions may include load handling equipment motor drive control software for controlling one or more motors. Computer executable instructions may include load handling equipment communication software, which is used to control data transmission from a communication module of the load handling equipment to a system controller, and / or data reception from a system controller to a communication module of the load handling equipment.

[0055] The computer executable instructions may include instructions for controlling a drive assembly of the load handling apparatus, instructions for controlling wheels of the load handling apparatus to enable the load handling apparatus to move on a track structure, and / or instructions for controlling the direction of travel of the load handling apparatus by controlling which set of wheels engages the tracks of the track system. The computer executable instructions may also be used to control other components of the load handling apparatus, such as controlling a lifting mechanism to lift a container from a stack or lower a container to a stack.

[0056] The local processing unit may be configured to selectively execute, in use, instructions stored in a data storage module of the combined power and data unit or in a data storage medium on which the processing device is mounted.

[0057] The computer readable code may include computer executable instructions for controlling the lifting mechanism.

[0058] The computer readable code may include computer executable instructions for controlling a communication module that receives data from the system controller and / or transmits data to the system controller. The load handling device may further include a wheel assembly driven by the drive assembly, the wheel assembly including a first set of wheels for engaging with a first set of tracks to guide movement of the load handling device in a first direction, and a second set of wheels for engaging with a second set of tracks to guide movement of the load handling device in a second direction, wherein the computer readable code may include computer executable instructions for controlling a drive mechanism of the wheel assembly.

[0059] The load handling apparatus may further include a direction changing mechanism configured to selectively engage the first set of wheels with the first set of tracks and the second set of wheels with the second set of tracks, wherein the computer readable code includes computer executable instructions for controlling operation of the direction changing mechanism.

[0060] The computer readable code may include one or more data parameters and the local processing unit may be configured to, in use, access one or more of the data parameters during operation of the load processing device.

[0061] The one or more data parameters may include a grid map data file for defining one or more paths on the track structure for loading handling equipment.

[0062] The local processing unit may be configured to, in use, overwrite computer readable code stored in the data storage medium of the onboard processing device with computer readable code transferred from the data storage module of the combined power and data unit.

[0063] The loading handling equipment may further include one or more position sensors configured to sense one or more position markers on the rail system, wherein the computer readable code may include data acquired from the one or more position sensors so that the position of the loading handling equipment relative to the rail system can be controlled based on the acquired position sensor data.

[0064] The computer executable instructions may include a position controller associated with controlling a position of the load handling equipment relative to the track system based on one or more position sensors.

[0065] The one or more position markers may include an RFID tag. In use, the position sensor detects the position marker on the track. The position controller uses the information from the sensor to determine whether the actual position of the load handling equipment deviates from the expected / nominal position on the track (for example, the nominal / expected position of the load handling equipment may be directly above the grid cell where the storage container is to be lifted). The position sensor may then calculate any required position adjustments to move the load handling equipment to the nominal / expected position and instruct the load handling equipment to adjust its position accordingly.

[0066] The load handling device may further comprise one or more sensors for recording diagnostic data, wherein the computer readable code comprises the stored diagnostic data.Alternatively, the local processing unit may be configured to store the diagnostic data in the data storage module.

[0067] The load handling device may further include a tool for writing one or more diagnostic logs to the data storage module. As described above, the load handling device may collect data logs, such as diagnostic data or diagnostic logs. The diagnostic logs may be written to the local storage component of the data storage module. Detailed logs may be required to diagnose faults, analyze and improve performance, and analyze and improve the reliability of the load handling device and other load handling devices operating in the system.

[0068] Furthermore, it will be appreciated that for substantially each of the load handling devices, a detailed log is accessible at substantially all times and the performance of a single load handling device can be compared to other load handling devices.

[0069] Typically, during the mobile operation on the grid, the load handling device can collect data logs, such as diagnostic logs. The data can be generated by sensors on the load handling device, such as temperature sensors, position sensors, and accelerometers. In addition, data from the power supply, such as data from the battery management system, can be collected. Error logs from the load handling device can also be collected and stored. Since a large amount of data may require a bandwidth that exceeds the bandwidth that the data transmission system can provide, such detailed diagnostic data may not be acquired using a typical data transmission system (such as an RF communication system). These diagnostic logs can instead be stored in a data storage module of the combined power and data unit. Therefore, when the combined power and data unit is removed from the load handling device, the diagnostic log is also removed. The load handling device may further include a charge receiving connector, which is configured to connect to a corresponding connector on the combined power and storage unit when connected to the interface, and the charge receiving connector is configured to: electrically coupled to a power source and receiving power from the power source; and Connected to the data storage module.

[0070] Advantageously, the charge receiving connector performs both functions simultaneously, i.e., the same connector can both receive charge and transmit data. Data can be transmitted in both directions; for example, computer readable code can be transmitted from a data storage module in the combined power and data unit to a data storage medium in the loading processing device, and diagnostic data can be transmitted from a data storage medium in the loading processing device to a data storage module in the combined power and data unit.

[0071] A high-speed data link may be required, such as USB 2.0, which is capable of providing a transfer speed of 480 megabytes per second. The data storage module may include one or more USB flash memory sticks, which are widely and inexpensively available and designed for hot-plug connections. The charge receiving connector may include a power connector, a ground connector, and a differential pair of data connectors, and the corresponding connector on the combined power and data unit may include a corresponding power connector, a ground connector, and a corresponding differential pair of data connectors. The charge receiving connector and / or the corresponding connector on the combined power and data unit may include a shield to protect the connector from electromagnetic interference. Exchange Station

[0072] In another aspect, there is provided a switching station for connecting / disconnecting a combined power and data unit to / from a load handling device as defined herein, the switching station comprising: an actuator configured to releasably hold and move the combined power and data unit; as well as an interface, the interface being arranged to be connected to the combined power and data unit, the interface being arranged to establish a data channel with the combined power and data unit to receive data from a data storage module of the combined power and data unit connected to the interface and / or to transmit data to a data storage module of the combined power and data unit connected to the interface; Therein, the switching station is configured to update the computer readable code in the data storage module when the combined power and data unit is connected to the interface.

[0073] Connecting the combined power and data unit to / disconnecting the combined power and data unit from the loading handling device may include inserting the combined power and data unit into / removing the combined power and data unit from the loading handling device. The interface may be in the form of a plug and a socket, i.e., the interface may be a recess or a socket or a socket into which the combined power and data unit may be inserted. Alternatively, the interface may be in any other suitable form and is not limited to inserting or receiving the combined power and data unit into the interface. For example, the combined power and data unit may include a socket, and the interface of the exchange station may include a plug that may be inserted into the socket of the combined power and data unit. For all specific embodiments described in this specification, any suitable form of interface may be used, and it is not required that one part must be inserted into another part. For the avoidance of doubt, the term "insert" in this specification should be interpreted as applicable to any type of interface and is not limited to a plug and socket style interface in which one part is inserted into another part.

[0074] The interface may be configured to electrically couple to a power source of the combination power and data unit when the combination power and data unit is connected to the interface to charge the rechargeable power source.

[0075] In some cases, the swap station is configured to recharge the combined power and data unit at the swap station while the computer readable code is being updated. An advantage of this arrangement is convenience, as the combined power and data unit will remain at the swap station until recharging is complete and ready for connection to an interface of another load handling device. Another advantage of the swap station being a charging station is that the combined power and data unit does not need to be transported to another location for charging, which results in a simplified system with fewer stations and no need for transportation between the swap station and the separate charging station. The combined swap and charging station also has the advantage of reducing the risk of fire, as the rechargeable power source in the combined power and data unit is always connected to the interface, which can be monitored to ensure that conditions (e.g., temperature) remain stable, and all fire prevention measures can be centralized in one location.

[0076] In other cases, the combined power and data unit may be exchanged at an exchange station and then recharged during transport to a separate charging station. The advantage of charging at a separate charging station is that the throughput of the load handling equipment at the exchange station is faster; the combined power and data unit only needs to occupy the interface briefly at the exchange station to receive the updated computer readable code, rather than occupying the interface for the time required for recharging.

[0077] The exchange station may include a socket arrangement including one or more sockets arranged to hold and store a corresponding number of combined power and data units, the one or more sockets being configured to electrically couple to a rechargeable power source and interface with a data storage module.

[0078] The switching station is located on or adjacent to the track structure for connecting / disconnecting the combined power and data unit to / from load handling equipment operating on the track structure.

[0079] The actuator can reach or extend to a loading handling device located on the track structure, adjacent to the exchange station, and access the combined power and data unit. In addition, the actuator can reach or extend to a socket arrangement for holding and storing the combined power and data unit.

[0080] When not in use, the actuator may be positioned to provide clearance between the exchange station and load handling equipment operating on the track system.

[0081] The actuator may include a robotic arm. The robotic arm may have an end of arm tool, also referred to as an end effector, which may be a gripper designed to tightly grip the combined power and data unit. Any suitable end effector capable of holding and moving the combined power and data unit may be used.

[0082] If the combination power and data unit has a mechanical release mechanism, the actuator may release the mechanical release mechanism of the combination power and data unit to remove the combination power and data unit from the loading processing device or from the receptacle.

[0083] The end effector may have special fingers with keys to operate a mechanical release mechanism to allow the combined power and data unit to be removed from the container handling device and from the receptacle of the exchange station.

[0084] The actuator may include a gripping jaw with a pressure sensor or contact sensor. The pressure sensor or contact sensor may be used to ensure a good grip before the combined power and data unit is removed from the loading handle or receptacle.

[0085] While the combined power and data unit is held in the receptacle via the electrical coupling, it may be recharged to recharge the power supply.

[0086] The interface may further include a charge providing connector configured to connect to a corresponding connector on the combined power and storage unit when the combined power and storage unit is connected to the interface, the charge providing connector configured to: electrically coupled to a rechargeable power source and providing power to the rechargeable power source; and The computer is connected to the data storage module and transmits computer readable code to the data storage module.

[0087] Similar to the charge receiving connector on the load handling device described above, the charge providing connector is capable of performing two functions simultaneously, i.e., the same connector can both provide charge and transmit data. Data can be transmitted in both directions; for example, computer readable code can be transmitted from the switching station to the combined power and data unit, and diagnostic data can be transmitted from the combined power and data unit to the switching station.

[0088] A high speed data link may be required, such as USB 2.0 which is capable of providing a transfer speed of 480 megabytes per second. The data storage module may include one or more USB flash memory sticks, which are widely and inexpensively available and designed for hot-plug connections. The charge providing connector may include a power connector, a ground connector, and a differential pair of data connectors, and the corresponding connector on the combined power and data unit may include a corresponding power connector, a ground connector, and a corresponding differential pair of data connectors. The charge providing connector and / or the corresponding connector on the combined power and data unit may include a shield to protect the connector from electromagnetic interference.

[0089] The corresponding connector on the combined power and storage unit may be configured to interface with both a charge providing connector in the interface of the exchange station and a charge receiving connector on the load handling device.

[0090] The interface may be configured to receive diagnostic data from a data storage module of the combination power and data unit when the combination power and data unit is connected to the interface.

[0091] When the combined power and data unit is connected to the interface (eg, held in a socket), data from the data storage module (eg, from a local storage component of the data storage module) may be transferred or downloaded and / or computer readable code may be uploaded to the data storage module.

[0092] The interface with the data storage module may be arranged to receive data from the data storage module or to transmit data to the data storage module.

[0093] Where sensors on the load handling equipment collect diagnostic data, the diagnostic data may be transmitted to a system controller at the switching station when the combined power and data unit is removed from the load handling equipment and placed into a receptacle at the switching station for recharging power and transferring data.

[0094] The interface to the data storage module may be a high bandwidth data connection, such as a fiber optic connection, an Ethernet connection, or a USB 2.0 connection as described above. Alternatively, the transmission means may be a LiFi arrangement. Data may be transmitted by any suitable means.

[0095] The transmission of power and / or data at the switching station may be wireless.

[0096] The exchange station may further include a communication module configured to receive data signals from and / or transmit data signals to the system controller and / or a local processing unit on the load handling equipment.

[0097] Once the local data is downloaded at the interface, the switching station can pass the data to the system controller. In this way, diagnostic logs and other data collected by the load handling equipment can be transferred from the load handling equipment to the system controller.

[0098] Since the number of switching stations can be proportional to the number of load handling devices, the number of connections or interfaces for downloading can be proportional to the number of load handling devices. The system can provide sufficient data bandwidth so that for all load handling devices operating in the system, detailed technical diagnostics can be created, downloaded at the switching stations, stored centrally, analyzed by the system controller, and recorded at all times the system is in operation.

[0099] At the same time, one or more versions of the computer readable code may be uploaded to the data storage module, ready for use when the combined power and data unit is redeployed.

[0100] It should be understood that, while data is being transferred, the rechargeable power source of the combined power and data unit is recharged. While the rechargeable power source is being recharged, data transfer to / received from the data storage module may occur simultaneously.

[0101] The data signal received from the system controller and / or the local processing unit includes an instruction to replace the combined power and data unit in the load handling device. The instruction to replace the combined power and data unit may be issued by the system controller or by an individual load handling device (e.g., in response to the charge level of the rechargeable power source being below a predetermined charge threshold and the load handling device requiring the depleted rechargeable power source to be replaced with a rechargeable power source).

[0102] The local processing unit can monitor the rechargeable power source of the inserted combined power and data unit. When the rechargeable power source is low, and typically low enough to require replacement of the rechargeable power source, a safety margin is provided to avoid stranding the load handling equipment due to low power, and the local processing unit can direct the load handling equipment to a switching station to replace the combined power and data unit.

[0103] In addition, the local processing unit can monitor the local data storage components of the data storage module. When the capacity of the local data storage components is approaching, the local processing unit can direct the load processing equipment to the exchange station to replace the combined power and data unit.

[0104] Alternatively, the local processing unit may receive instructions from the system controller via the communication module.In some cases, the system controller may direct the load handling device to the exchange station because the computer readable code on the load handling device needs to be updated.

[0105] Thereby, the load handling equipment can be directed to the exchange station by its own local processing unit or by the system controller.

[0106] The socket arrangement may include: racks or containers stored below the grid.

[0107] The socket arrangement may take any form that is within reach of the actuator arm. For example, the socket arrangement may be a shelf arrangement with compartments or sockets for receiving the combined power and data unit. In another embodiment, the socket arrangement may include a series of compartments on a rotating conveyor or loop, similar to a Paternosterlift arrangement. In this way, when needed, an empty compartment can be presented to the actuator arm ready to receive the combined power and data unit, or a compartment can be presented with a combined power and data unit with a recharged power supply and updated data storage module, ready to be connected to the load handling equipment.

[0108] If the socket arrangement is located in a container stored below the grid, the container may be, for example, a refractory box or container. The refractory box or container may be of a type that can be lifted and moved by a load handling device operating on the grid. In this way, a container of a filled socket arrangement may be brought to a location adjacent to the exchange station.

[0109] The exchange station may further include a sensor to detect the parked load handling device. The exchange station may further include a control unit. In this way, the control unit may command the robotic arm to remove the combined power and data unit from the load handling device when the load handling device arrives at the exchange station. The sensor may include a vision system.

[0110] In addition, the sensor system can detect that the load handling device has been shut down, such as by the absence of light on the control panel of the load handling device. In this way, the exchange station can wait until it is safe to remove the combined power and data unit from the load handling device.

[0111] Each socket may include an optical unit for locating the combined power and data unit.

[0112] The light unit may be similar to the light unit that loads the processing device socket and operates in a similar manner. The light unit may display a signal visible to the actuator. The light unit may guide the removal / insertion of the combined power and data unit to the socket. One or more light units may display a pre-arranged coded signal, for example using color and / or amplitude modulation. A specific light signal may identify a specific socket. In this way, the actuator may be guided to the correct socket and / or deploy the prepared combined power and data unit.

[0113] It should be understood that charging at a swap station and rechargeable power sources such as rechargeable batteries may pose a potential fire risk.

[0114] Accordingly, the exchange station may further include fire heat sensors, smoke sensors and / or fire detection.

[0115] These may be fitted with sensors for detecting load handling equipment, or these may be fitted to each socket. The sensors may provide data to the switching station controller or system controller.

[0116] The exchange station may further include fire suppression equipment.

[0117] Again, these may be fitted with sensors for detecting load handling equipment, or these may be fitted to each socket. Suppression equipment may include means for releasing fire extinguishing foam, for example.

[0118] The exchange station may be clad in fire resistant material or substantially surrounded by fire resistant barriers.

[0119] The exchange station may be temperature controlled, or wherein the exchange station may be temperature regulated.

[0120] Again, these could be fitted with sensors for detecting load handling equipment, or these could be fitted to each socket. Temperature control could be used as a way to minimise potential fire risks. Additionally, temperature control could help provide optimal charging conditions for the power source.

[0121] The communication module may receive instructions from the system controller to replace the combined power and data unit in the load handling device, or wherein the communication module receives instructions from the load handling device to replace the combined power and data unit in the load handling device.

[0122] In this manner, the exchange station may be operated under the control of the system controller, or the exchange system and load handling equipment may be operated semi-automatically without direct control of the system controller.

[0123] The actuator can be guided by one or more of the following to remove / insert the combined power and data unit: (a) one or more cameras providing two-dimensional images; (b) two or more cameras providing three-dimensional images; (c) laser, extremely high frequency (EHF) radar equipment or ultrasonic depth sounding equipment to provide or supplement three-dimensional images; (d) light detection or ranging equipment and technology to create or supplement three-dimensional images; (e) laser imaging, detection and / or ranging equipment and technology to create or supplement three-dimensional images; (f) 3D laser scanning equipment and / or technology to create or supplement three-dimensional images; and / or (g) extremely high frequency (EHF) radar or ultrasonic scanning equipment and technology and 3D scanning equipment and technology to create and supplement three-dimensional images.

[0124] The exchange station may have several systems to assist in the operation of the actuators. Cameras or other sensors may include specific lighting tools or other tools to generate guidance and / or control of the actuators and grippers.

[0125] The load handling equipment may be directed to move to and park at a switching station grid unit. The switching station grid unit may be specifically allocated for replacing a combined power and data unit.

[0126] It should be understood that if the load handling device has more than one slot for a combined power and data unit, the exchange station may replace only one of the combined power and data units, or the exchange station may replace more than one combined power and data unit. A low charge / full data storage combined power and data unit may be placed in any vacant socket at the exchange station for recharging, and / or downloading and clearing data logs, and / or writing computer readable code to the data storage module.

[0127] When selecting a second combined power and data unit for insertion into the loading handling device, the switching station may decide, for safety reasons, that the most recently charged combined power and data unit will not be selected until after it becomes available and a parameterized time period after charging in order to allow time for monitoring the thermal state of the electrical energy storage.

[0128] Thus, when the load handling device visits the exchange station, one or more combined power and data units are replaced with a combined power and data unit with a recharged power source and a data storage device whose log files have been cleared. While the power source is recharged at the exchange station, the data stored in the data storage module is downloaded via the high bandwidth grid connection.

[0129] The load handling equipment may be shut down upon reaching the exchange station grid cell.

[0130] Thus, the load handling equipment can be shut down prior to replacing the combined power and data unit.

[0131] The loading processing device may automatically power on upon detecting the second combined power and data unit.

[0132] Power on can occur after detecting the continuous power supply in the tank, wherein the continuous power supply has a voltage in a specific range that is uninterrupted for a specific time. In this way, the load handling equipment can be quickly ready to return to lifting operations and manipulation on the grid.

[0133] The actuator may be instructed to remove and replace a specific combination power and data unit.

[0134] The actuator may be directed to a specific socket or receptacle by one or more light units.

[0135] The robot arm may be guided to the correct empty slot in the exchange station by one or more light units, which are capable of displaying a pre-arranged coded signal, for example using color and amplitude modulation.

[0136] In this way, the amount of time each load handling equipment spends at the exchange station can typically be significantly less than 1% of its total operating time, thereby reducing the number of power stations required, reducing the number of load handling equipment required to operate on the grid for a given system throughput, which in turn further reduces the number of power stations required.

[0137] Additionally, data files used by the real-time software of the load handling equipment may be updated from time to time. system

[0138] A storage and retrieval system is provided, the storage and retrieval system comprising: a first set of parallel tracks extending in an X direction, and a second set of parallel tracks extending in a Y direction, the second set of parallel tracks being transverse to the first set of parallel tracks in a substantially horizontal plane to form a grid pattern including a plurality of grid spaces; a stack of a plurality of storage containers, the stack of a plurality of storage containers being located beneath the track and arranged such that each stack is within the footprint of a single grid space; one or more load handling equipment as defined herein; a system controller including a system data storage medium storing computer readable code to control the operation of the on-track load handling equipment; and An exchange station as defined herein, the exchange station further comprising a communication module configured to receive data signals from a system controller and / or transmit data signals to a system controller, the exchange station being located on or adjacent to the track and configured to connect / disconnect the combined power and data unit to / from an interface of one or more load handling devices; The computer readable code stored in the system data storage medium is transmitted to the switching station through the system controller via the communication module.

[0139] The load handling device may be semi-automatic and, as mentioned above, is typically powered by a rechargeable power source to operate on a grid structure.

[0140] The exchange stations may be located on the grid, and / or at the edge or periphery of the grid. Alternatively, the exchange stations may be located on the grid structure itself. In this manner, the exchange stations may be accessible by load handling equipment operating on the grid, and a first replaceable or combined power and data unit may be removed from the load handling equipment and replaced with a similar second combined power and data unit. The number of exchange stations arranged on the grid system may be determined based on the number of load handling equipment operating on the grid, and / or based on the typical operating time before the rechargeable power source is exhausted.

[0141] The system controller may direct or control the load handling equipment operating on the grid. The system controller may include one or more system control units. The system controller may control the load handling equipment via a communication means.

[0142] When the power supply in a particular load handling device is exhausted, the load handling device may be directed to a swap station to have the power supply replaced.

[0143] At the exchange station, the removed combined power and data unit can be recharged and the diagnostic log can be downloaded. Once the diagnostic log is downloaded, the diagnostic log can be cleared from the data storage module so that the combined power and data unit is ready for deployment as a replacement combined power and data unit.

[0144] At the exchange station, the combined power and data unit may be further prepared for redeployment by uploading computer readable code. The uploaded computer readable code may include one or more new versions of computer readable code already present in the data storage module.

[0145] As described above, updates may be installed according to computer readable code including deployment instructions. Some operating files may update the firmware of the loading processing device substantially when the combined power and data unit is plugged into the receptacle of the loading processing device, while deployment of some firmware updates may be delayed until information is received from the system controller.

[0146] The one or more load handling devices may include a plurality of load handling devices, wherein a local processing unit of each load handling device in the plurality of load handling devices is configured to execute instructions stored in the data storage module in response to a communication signal from the system controller.

[0147] In some instances, a "breaking change" must be deployed so that all load handling devices are updated together, which requires that all load handling devices have a copy of the new version of the operating file.

[0148] Previously, the system would be paused to allow the load handling equipment to be upgraded simultaneously.

[0149] The computer readable code may include instructions for deploying updates to a loading processing device into which the combined power and data unit is inserted, the updates being instructed to be deployed substantially upon insertion of the combined power and data unit, or the updates being instructed to be deployed upon receipt of a communication signal from a system controller.

[0150] The system controller may provide communication signals to the plurality of load handling devices to deploy updates among the group of load handling devices in accordance with the stored computer readable code.

[0151] Thus, the computer readable code may contain information instructing the load handling device to automatically update to a specific new version of the software and data files when the computer readable code is first read; or the computer readable code may contain instructions instructing the container handling device to wait until a command is received via wireless communication before updating to a specific new version of the software and data files. Accordingly, software changes may be deployed individually, or may be deployed together at the same time to prevent "breaking changes".

[0152] Additionally, "breaking changes" can be implemented more quickly than through traditional methods of wired updates because all load handling devices in the system can receive upgraded copies after a single visit to the exchange station.

[0153] In this manner, load handling devices may be updated individually when the combined power and data unit is replaced, or groups of load handling devices may be updated together whenever each load handling device in the group receives an updated version of the computer readable code via the combined power and data unit upon request by the system controller. The group of load handling devices may include a fleet of load handling devices operating on a track structure, or a fleet of load handling devices within a storage and retrieval system.

[0154] For example, in the event that a portion of a track structure is about to be closed for maintenance, it may be necessary for all load handling equipment on the track system to update the grid map data file simultaneously. Upon visiting the exchange station, each load handling equipment is provided with the updated grid map data file and an operating file containing instructions to wait for a signal from the system controller before switching to use the updated grid map data file. Once all load handling equipment have received the updated grid map data file and the operating file containing instructions to wait for a signal before updating, a signal from the system controller may be simultaneously transmitted to all load handling equipment, instructing all load handling equipment to begin using the new version of the grid map data file. In this way, all load handling equipment will know to avoid the portion of the track system that is closed for maintenance without suspending operation of the load handling equipment.

[0155] A computer program is provided comprising instructions which, when the program is executed by a computer, cause the computer to perform the method. BRIEF DESCRIPTION OF THE DRAWINGS

[0156] These and other aspects of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which: FIG1 is a schematic perspective view of a grid storage structure and a container; FIG2 is a schematic plan view of a track on top of the storage structure of FIG1; FIG3 shows a loading handling device on top of the storage structure of FIG1 ; FIG4 is a schematic perspective view of a single load handling apparatus with the lifting mechanism in a lowered configuration; 5a and 5b show schematic cross-sectional views of the load handling apparatus of FIG. 4 with the lifting mechanism in a raised configuration ( FIG. 5a ) and a lowered configuration ( FIG. 5b ); Figure 6 a and 6b show schematic diagrams of an open frame or skeleton modular structure for loading and handling equipment; Figure 7 is a schematic diagram of a load handling device, wherein the load handling device has a slot for receiving a combined battery and a data unit; Figure 8 A schematic perspective view of an exchange station adjacent to a grid is shown; Fig. 9 Shows Figure 8 Floor plan of the exchange station; Fig.10 The arrangement of sockets for a switching station is shown; Fig.11 is a schematic diagram of a load handling device into which a combined power and data unit is inserted; Fig.12 is a schematic diagram of a load handling device into which a combined power and data unit is inserted, wherein the load handling device has a data storage medium; Fig.13 is a schematic diagram of a loading handling device wherein a charge receiving connector is connected to a corresponding connector in an inserted combined power and data unit; Fig.14 A schematic diagram showing a combined power and data module plugged into a socket at a switching station; Fig.15 A schematic diagram showing a combined power and data module connected to a charge providing connector in a socket at a switching station; Fig.16 A schematic diagram showing a storage and retrieval system with a storage structure, load handling equipment and an exchange station; and Fig.17 is a flow chart schematically illustrating a method of updating computer readable code in a load handling device.

[0157] In the drawings, like features are indicated by like reference numerals where appropriate. DETAILED DESCRIPTION

[0158] The following specific embodiments represent preferred embodiments of how the present invention may be implemented, but they are not necessarily the only embodiments for implementing the present invention. These embodiments will be described in sufficient detail to enable a person skilled in the art to implement the present invention. Other embodiments may be adopted and structural changes may be made without departing from the scope of the present invention as defined by the appended claims. In addition, directional references and any other terms implying orientation are given by way of example to help the reader understand the specific embodiments described in this application. Unless expressly provided in the appended claims, they should not be considered as requirements or limitations, especially with respect to the position, orientation or use of the present invention. Similarly, connection references (such as attachment, coupling, connection, convergence, fastening, etc.) should be understood broadly and may include intermediate members between connecting elements and relative movement between elements. Therefore, unless expressly provided in the appended claims, connection references do not necessarily mean that two elements are directly connected and fixed relative to each other. Similarly, expressions such as "movement in the n direction" and any similar expressions are intended to indicate movement in any direction substantially along the n axis or parallel to the n axis (i.e., toward the positive end of the n axis or toward the negative end of the n axis), where n is one of x, y or z.

[0159] As described above, FIG. 1 illustrates a storage structure 1 of a storage and retrieval system. The storage structure 1 includes a frame including upright members 3 and horizontal members 5, 7 supported by the upright members 3. The horizontal members 5 extend parallel to each other and to the x-axis as shown. The horizontal members 7 extend parallel to each other and to the y-axis as shown, and extend transversely to the horizontal members 5. The upright members 3 extend parallel to each other and to the z-axis as 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 14. In the illustrated embodiment, the storage containers 9 are arranged in stacks 11 below the grid cells 14 defined by the grid pattern, with each grid cell 14 having a stack 11 of containers 9.

[0160] As an alternative to the support of the horizontal members 5 and 7 by the upright members 3 as described with reference to Figure 1, in other embodiments, the horizontal members may be supported by a supporting frame structure, wherein the supporting frame structure includes a plurality of prefabricated modular panels arranged in a grid pattern, and the details of the supporting frame structure are described in PCT application WO2022034195A1. By providing a supporting frame structure including a plurality of prefabricated modular panels arranged in a three-dimensional grid pattern to define a plurality of grid cells, the storage structure described in WO2022034195A1 solves the problem of time and cost required for assembly. Each of the grid cells of the supporting frame structure is sized to support two or more grid cells of the rail system. The storage structure is formed by fewer structural components, but still maintains the same structural integrity as the conventional "stick-built" storage structure 1 described above, and is built faster and at a lower cost. Any suitable supporting frame structure can be used in the current invention. FIG2 shows a large-scale plan view of a portion of a track structure 13, wherein the track structure 13 forms part of the storage structure 1 shown in FIG1 and is located on top of the horizontal members 5, 7 of the storage structure 1 shown in FIG1. ​​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 track structure 13 shown 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 and transverse to the tracks 17 of the first set of tracks 17. The tracks 17, 19 define a hole 15 located at the center of the grid unit 14. The size of the hole 15 is designed to allow the container 9 located below the grid unit 14 to be lifted and lowered through the hole 15. The x-direction tracks 17 are separated by channels 21 and arranged in pairs, and the y-direction tracks 19 are separated by channels 23 and arranged in pairs. Other arrangements of the track structure are also possible.

[0161] Figure 3 shows a plurality of load handling devices 31 moving on top of the storage structure 1 shown in Figure 1. The load handling devices 31, which may also be referred to as robots or robot programs, are provided with sets of wheels to engage with corresponding x-direction or y-direction tracks 17, 19 to enable the robots 31 to travel on the track structure 13 and reach specific grid cells 14. The illustrated pairs of tracks 17, 19 separated by channels 21, 23 allow the robots 31 to occupy (or pass each other) adjacent grid cells 14 without colliding with each other.

[0162] As shown in Fig. 4, the robot 31 includes a body 33 in or on which is mounted one or more components that enable the robot 31 to perform its intended functions. These functions may include moving through the storage structure 1 on the track structure 13 and raising or lowering the container 9 (e.g., from or toward the stack 11) so that the robot 31 can retrieve or deposit the container 9 in a specific location defined by the grid pattern.

[0163] The robot 31 shown includes a drive assembly including first and second sets of wheels 35, 37 mounted on a body 33 of the robot 31 and enabling the robot 31 to move along tracks 17 and 19 in the x and y directions, respectively. Specifically, two wheels 35 are provided on the shorter side of the robot 31 visible in FIG. 4, while another two wheels 35 are provided on the opposite shorter side of the robot 31. The wheels 35 engage with the track 17 and are rotatably mounted on the body 33 of the robot 31 to allow the robot 31 to move along the track 17. Similarly, two wheels 37 are provided on the longer side of the robot 31 visible in FIG. 4, while another two wheels 37 are provided on the opposite longer side of the robot 31. The wheels 37 engage with the track 19 and are rotatably mounted on the body 33 of the robot 31 to allow the robot 31 to move along the track 19.

[0164] The robot 31 also includes a lifting mechanism 39 configured to raise and lower the container 9. The lifting mechanism 39 shown includes four tethers 41 connected to a gripping device 43 at its lower end. The tethers 41 can be in the form of cables, ropes, belts, or any other form of tethers having the physical properties required to lift the container 9. The gripping device 43 includes a gripping mechanism configured to engage with a feature of the container 9. For example, the container 9 can be provided with one or more holes on its upper side that can engage with the gripping mechanism. Alternatively or additionally, the gripping mechanism can be configured to hook under the edge or lip of the container 9, and / or clamp or grab the container 9. The tethers 41 can be wound up or down as needed to raise or lower the gripping device 43. One or more motors or other tools can be provided to affect or control the upward or downward winding of the tethers 41.

[0165] As shown in FIG5 , the body 33 of the robot 31 shown has an upper portion 45 and a lower portion 47. The upper portion 45 is configured to accommodate one or more operating components (not shown), such as components of a lifting mechanism (e.g., a motor), wireless communication components, etc. The lower portion 47 is arranged below the upper portion 45. The lower portion 47 includes a container receiving space or cavity for accommodating at least a portion of the container 9 that has been lifted by the lifting mechanism 43. The size of the container receiving space is designed so that the container 9 can be fully loaded inside the cavity so that the robot 31 can move through the track structure 13 on the top of the storage structure 1 without the lower side of the container 9 being stuck on the track structure 13 or on another part of the storage structure 1. When the robot 31 has reached its intended destination, the lifting mechanism 43 controls the tether 41 to lower the gripping device 43 and the corresponding container 9 from the cavity to the intended location. The intended location may be a stack 11 of containers 9 or an exit point of the storage structure 1 (or, if the robot 31 has moved and collected containers 9 for storage in the storage structure 1, an entry point of the storage structure 1). Although in the illustrated embodiment, the upper and lower portions 45 , 47 are separated by a physical divider, in other embodiments, the upper and lower portions 45 , 47 may not be physically separated by a particular component or portion of the body 33 of the robot 31 .

[0166] The container receiving space of the robot 31 may not be within the body 33 of the robot 31. For example, the container receiving space may instead be adjacent to the body 33 of the robot 31, such as in a cantilever arrangement, with the weight of the container to be lifted being balanced with the weight of the body 33 of the robot 31. In such a specific embodiment, the frame or arm of the lifting mechanism 43 may protrude horizontally from the body 33 of the robot 31, and the tether 41 may be arranged at corresponding positions on the protruding frame / arm and configured to be raised and lowered from these positions to raise and lower the container to the container receiving space adjacent to the body 33. The height at which the frame / arm is mounted on the body 33 of the robot 31 and the height at which it protrudes from the body 33 of the robot 31 can be selected to achieve the desired effect. For example, it is preferred for the frame / arm to protrude at a high level of the body 33 of the robot 31 to allow a larger container (or multiple containers) to be raised into the container receiving space below the frame / arm. Alternatively, the frame / arm may be arranged to protrude lower below the body 33 (but still high enough to accommodate at least one container between the frame / arm and the track structure 13) to maintain the center of gravity of the robot 31 when the robot 31 is loaded with a container.

[0167] In order to enable the robot 31 to move in the first and second directions with different wheels 35, 37, the drive assembly further 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 selectively move on the tracks 17, 19 of the storage structure 1 in the first direction or the second direction.

[0168] 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 robot 31 to disengage and engage at least one set of wheels 35, 37 with the tracks 17, 19. In some embodiments, only one set of wheels is configured to be raised and lowered, and the act of lowering one set of wheels may effectively lift the other set of wheels off the corresponding tracks, while the act of raising one set of wheels may effectively 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 robot 31 remains substantially at the same height, so the weight of the body 33 and the weight of components mounted on the body 33 do not need to be raised and lowered by the wheel positioning mechanism.

[0169] Figure 6 6a and 6b illustrate an open frame or skeleton modular structure 60 for an alternative load handling apparatus. Figure 6 a shows a skeleton structure for loading and handling equipment, while Figure 6 b shows a simplified model version of this structure, with the blocks forming a vertically stacked layer structure.

[0170] Four modular sections 61a, 61b, 61c, 61d are shown in the stack. Each of the four modular sections - the first 61a, the second 61b, the third 61c and the fourth modular section 61d can provide one or more functional characteristics of the load handling equipment. For the purpose of this application, the first modular section 61a is at the bottom of the load handling equipment 60, and the fourth modular section 61d is at the top of the load handling equipment 60.

[0171] Layers 62a, 62b, 62c may be defined as spaces between each of the modular sections 61a, 61b, 61c, 61d. Each of the layers 62 may carry at least a portion of one or more of the functional components of the load handling apparatus 60. It should be understood that the number or location of the layers 62a, 62b, 62c is not limited to Figure 6Rather than being shown as a layer defined by four modular sections 61a, 61b, 61c, 61d in (a) and (b), any number of modular sections 61 may be included to provide additional layers and capacity for housing the functional characteristics of the processing equipment 60. It will be appreciated that functional characteristics may be shared by several layers.

[0172] The modular sections 61a, 61b, 61c, 61d are constructed by connecting adjacent connected blocks in the same horizontal plane by one or more connecting elements to form an open rectangular frame. The blocks may be fixedly connected, or the blocks may be removably connected. Each layer is an open rectangular frame formed by connecting or linking together corner brackets, wherein each corner bracket is shown as Figure 6 b. Vertically adjacent modular sections are connected together by connecting vertically adjacent connecting blocks to form an open frame or skeleton structure 60. Corner brackets in a single modular section 61a, 61b, 61c, 61d can be indirectly connected to other brackets in between corner brackets by additional connecting elements, such as Figure 6 A bracket for module parts 61c and 61d is shown in a. Hence, the term "connected" may mean directly connected and / or indirectly connected.

[0173] The connecting element may be a connecting rod or a connecting tube for connecting adjacent connecting blocks together. The connecting rod may be solid or hollow.

[0174] The open frame structure 60 is a three-dimensional structure defining a volume having an upper portion, tier 62c, typically housing a power source, a control unit, a reel carrying lifting tethers, etc., and a lower portion, tier 62a, housing the container being lifted.

[0175] The structural integrity of the open frame structure 60 should be sufficient to support the different functional characteristics of the loading handling equipment and have sufficient bending stiffness when the loading handling equipment operates on the grid structure. Various materials can be used in the manufacture of the connecting rod or connecting tube. This includes but is not limited to metal or polymer or ceramic or a combination thereof. In order to reduce the weight of the loading handling equipment and have the necessary structural performance to support the different functional components of the loading handling equipment, optionally, the connecting rod connecting adjacent corner brackets together is composed of carbon fibers combined with a polymer matrix (referred to as carbon fiber rods or CF rods). In order to help form the construction of the rectangular frame of the modular parts 61a, 62b, 62c, each connecting block in the connecting blocks of one or more than one modular part in the modular part includes an opening or socket for inserting the connecting rod. The connecting rod is fixed to the connecting block by a joint. In the modular part, various joints can be used to fix the connecting rod to the corner bracket. This includes various fasteners, glue, welding, etc.

[0176] The same corner bracket used to connect to two other corner brackets in a single modular section can be used to vertically connect adjacent rectangular frames together to form layers 62a, 62b, 62c. The corner brackets of vertically adjacent rectangular frames can be mounted to the same vertical connecting elements at each corner of the open frame structure 60, so that the vertical connecting elements extend through the corner brackets of multiple vertically adjacent rectangular frames. In this way, each of the corners of the open frame structure 60 can share the same or common vertical connecting elements. It should be understood that the above-mentioned type of storage and retrieval system can be operated by loading handling equipment in teams. The teams can be homogeneous, or the teams can be different types of loading handling equipment. The loading handling equipment described in conjunction with Figures 4-6 are some embodiments of the type of loading handling equipment.

[0177] Fig.11 A schematic diagram of a load handling device 31 is shown with a combination power and data unit 52 inserted. The load handling device 52 includes a socket 50 for receiving the combination power and data unit 52. The socket 50 is externally accessible to facilitate insertion and retrieval of the combination power and data unit 52. As described above, the combination power and data unit 52 includes a rechargeable power source 55 (e.g., a rechargeable battery) and a data storage module 56 that includes data associated with a computer readable code 58.

[0178] The load handling device 31 includes a communication module 53 for receiving data from the system controller and / or transmitting data to the system controller. The communication module 53 can transmit information about the current state of the load handling device 31 (e.g., current position and any error data) to the system controller. The communication module 53 can receive data and instructions from the system controller, such as instructions to navigate to a specific grid cell 14 or retrieve a specific container 9. Data can be transmitted and / or received by the communication module in a wireless manner.

[0179] The load handling device 31 includes a local processing unit 54. The local processing unit 54 controls the operation of the load handling device 31 and communicates with the communication module 53. For example, the local processing unit 54 may control the drive assembly, wheels, turning mechanism, lifting mechanism and / or other components of the load handling device.

[0180] The receptacle 50 of the loading handling device includes means for electrically coupling to a combined power and data unit 52 received within the receptacle 50. The electrical coupling may be accomplished by one or more physical connectors, such as contact pads or wires, or by wireless transmission means, such as inductive charging.

[0181] The socket 50 includes a data interface for transmitting data to and / or receiving data from a data storage module 56 of a combined power and data unit 52 received within the socket 50. Data transmission can be achieved through one or more physical connectors (e.g., a USB cable or other data cable), or through wireless transmission means.

[0182] The combined power and data unit 52 includes a rechargeable power source 55 (e.g., a rechargeable battery) and a data storage module 56. The data storage module 56 includes a computer readable code 57 for controlling the operation of the load handling device 31. The local processing unit 54 is configured to access the computer readable code 57, for example, to control the operation of the load handling device 31 on the track structure 13.

[0183] In the illustrated embodiment, the interface between the load handling device 31 and the combined power and data unit 52 is a socket 50, but in other embodiments, other forms of interfaces may be used. In other embodiments, the interface between the combined power and data unit and the load handling device may take any suitable form, and does not necessarily require the combined power and data unit to be plugged into a socket or slot in the load handling device. Although this particular embodiment shows a load handling device 31 with a single socket 50 for a single combined power and data unit 52, in other embodiments, the load handling device may be provided with more than one socket 50.

[0184] Fig.12 A schematic diagram of a loading processing device 31 into which a combined power and data unit 52 is inserted is shown, wherein the loading processing device 31 includes a data storage medium 58. The data interface is configured to transfer data between the data storage medium 58 of the loading processing device 31 and the data storage module 56 of the combined power and data unit 52, wherein the combined power and data unit 52 is inserted into the socket 50 of the loading processing device 31.

[0185] The data storage module 58 includes computer readable code 57a. When the combined power and data unit 52 is received in the socket 50 of the loading processing device, the computer readable code 57 in the data storage module can be used to update the computer readable code 57a in the data storage medium of the loading processing device. For example, the process of updating the computer readable code can include copying new computer readable code 57 to the data storage medium 58, or copying an updated version 57 of the existing computer readable code 57a to the data storage medium 58.

[0186] In this embodiment, the data storage module 56 includes a local data storage component 59 for storing data logs in the data storage module 56 of the combined power and data unit 52. Data logs (e.g., data collected by sensors (not shown) on the load handling device 31) can be transferred from the data storage medium 58 to the local data storage component 59. In this way, when the combined power and data unit 52 is exchanged for another combined power and data unit at the exchange station, the data logs are removed from the load handling device 31. The data logs can be downloaded at the exchange station and removed from the local data storage component 59.

[0187] Fig.13 A schematic diagram of a loading handling device 31 is shown, wherein a charge receiving connector 63 is connected to a corresponding connector 64 in a combined power and data unit 52. The charge receiving connector 63 receives power from the corresponding connector 64 of the combined power and data unit 52, and the power is provided to the drive components of the loading handling device 31, and possibly to other components of the loading handling device 31. The charge receiving connector 63 may also receive data from and / or transmit data to the corresponding connector 64 of the combined power and data unit 52. Data logs may be transferred from the loading handling device 31 to the data storage module 56, and / or in the other direction, updates of the computer readable code may be transferred from the data storage module 56 to the loading handling device 31. The charge receiving connector 63 and the corresponding connector 64 engage with each other, providing both an electrical coupling between the rechargeable power source 55 in the combined power and data module 55 and the loading handling device 31, and a data interface between the data storage module 56 and the loading handling device 31.

[0188] The charge receiving connector may include a power connector, a ground connector, and a differential pair of data connectors, and the corresponding connector on the combined power and data unit may include a corresponding power connector, a ground connector, and a corresponding differential pair of data connectors. The charge receiving connector and / or the corresponding connector on the combined power and data unit may include a shield to protect the connector from electromagnetic interference. Any suitable data connector may be used, such as a USB connector.

[0189] The charge receiving connector 63 may be configured to engage with the corresponding connector 64 when the combined power and data unit 52 is inserted into the receptacle 50 of the loading processing device 31 .

[0190] Figure 7 A schematic diagram of a load handling device 31 is shown having a socket or slot 50 for receiving a combined power and data unit 52. The load handling device 31 may be of the type shown in FIGS. 1-5 having a "body" for housing functional components, or may be a Figure 6 The type shown has only a skeleton frame for attaching functional components. The load handling device 31 has a lower part 47 for receiving the lifted container, and an upper part 45 for accommodating the functional systems. The load handling device 31 is supported by a first set of wheels 35 and a second set of wheels 37 for movement on the track structure of the storage cube. The load handling device 31 may also accommodate a lifting mechanism, a local control unit and a communication module and other functional components or systems.

[0191] The functional system housed in the upper portion 45 of the loading handling device 31 includes one or more socket slots 50 for receiving a combined power and data unit 52. Figure 7 As shown, the upper portion 45 includes two sockets or slots 50 - a first slot 50a and a second slot 50b. Slot 50a is occupied by a combined power and data unit 52, while slot 50b is vacant. It should be understood that both slots 50a and 50b can be occupied by respective combined power and data units 52. In this way, as shown, the loading processing device 31 can carry two combined power and data units 52. Each socket is arranged to be electrically coupled to the power supply of the inserted combined power and data unit 52, and each socket is also arranged to interface with the data storage module of the inserted combined power and data unit 52.

[0192] The combined power and data unit 52 is configured to provide power sufficient to operate the drive assembly, wheels 35 , 37 , lift mechanism, and communications module, as well as other functional systems of the load handling apparatus 31 .

[0193] The data interface is arranged to read and update the firmware of the loading processing device from the data storage module of the inserted combined power and data unit 52. The firmware update may include the operation files stored by the storage module of the inserted combined power and data unit 52. In addition, when operating on the grid, the operation data and sensor data may be collected and stored in the inserted combined power and data unit 52 or written to the inserted combined power and data unit 52 through the data interface.

[0194] The operational data files may include one or more of the following: (a) a grid map data file, (b) loading processing equipment control software, (c) loading processing equipment motor drive control software, or (d) loading processing equipment communication software.

[0195] The load handling equipment motor drive control software may be firmware or software that controls a drive assembly of the load handling equipment, such as driving wheels of the load handling equipment so that the load handling equipment can move on a track structure. The drive assembly may include one or more motors controlled by the load handling equipment motor drive control software. The operation file may control the speed, torque, power or direction of one or more motors. The operation file may include instructions for trajectory generation, i.e., software configured to generate a trajectory of velocity and acceleration relative to time to define the motion of the load handling equipment when it moves to another grid cell on the track system, and instructions for converting a linear velocity / acceleration requirement of the load handling equipment into a speed / torque / power required to be achieved by one or more motors.

[0196] The load handling equipment communication software controls the transmission and receipt of data from the load handling equipment to the system controller.

[0197] The load handling device control software may be firmware or software that controls other parts of the load handling device. For example, the operation file may be set to control the direction of travel of the load handling device by activating a direction-changing mechanism and / or a wheel positioning mechanism. The operation file may control the wheel positioning mechanism to selectively engage the first wheel 35 with the first set of tracks 17 by lowering the first set of wheels 35 relative to the body 33 so that the first set of wheels 35 engages with the first set of tracks 17 and the load handling device 31 is able to move in a first direction on the track system. In other embodiments of the load handling device control firmware, the operation file may be firmware that controls the load handling device 31 to lift a container from a stack or lower a container onto a stack, for example, by controlling the rising or falling speed of the container when it is lifted or lowered, and by controlling the clamping mechanism on the clamping device to engage or release the container. The operation file may be firmware that controls the position of the load handling device relative to the track system based on one or more position sensors, and the one or more position sensors are configured to sense one or more identifications on the track system.

[0198] Although the slot 50 is shown as being located in the upper portion 45 of the loading handling device 31 and being arranged to be substantially horizontal, the compartment / slot 50 can be located at any externally accessible location within the loading handling device 31, any externally accessible location on the loading handling device 31, or any externally accessible location attached to the loading handling device 31.

[0199] The slot 50 may optionally include a locking mechanism for releasably locking the combined power and data unit 52 in the holder 50 .

[0200] When the power supply of the inserted combined power and data unit 52 is low, or when the data storage capacity of the inserted combined power and data unit 52 is approaching, the load handling device 31 can be instructed to move to the switching station 70 grid unit. The instructions can come from a local control unit belonging to the load handling device 31 itself, or the instructions can come from a central control unit at the core of the storage and retrieval system.

[0201] Figure 8 and 9 An exemplary switching station 70 is shown in the form of a robotic arm 71, which is located on a platform 72 adjacent to the periphery of a portion of the track structure 13. The robotic arm 71 includes a base at one end and an actuator 73 at the other end. By mounting the base on the platform 72, the base is fixed relative to the track structure 13. The actuator 73 is shown in the form of a clamp for physically grasping the combined power and data unit 52; however, the actuator 73 can take any form suitable for releasably retaining the combined power and data unit 52. The actuator 73 includes a pair of clamping members that can be selectively moved between a clamping position and a release position, the clamping position is used to retain the combined power and data unit 52, and the release position is used to release the combined power and data unit 52. The base and actuator 73 are connected by a series of links and joints. The joint is configured to give the desired degrees of freedom to the robot 71 so that it can remove the combined power and data unit 52 from the slot 50 and place the combined power and data unit 52 in the designated area, and / or pick up a replacement combined power and data unit 52 from the designated area and insert it into the slot 50. In this illustrated embodiment, the robot 71 is a 6-axis robot (i.e., the joint provides six degrees of freedom), which makes relatively complex movements possible, thereby providing flexibility in the relative positioning between the loading and handling equipment 31, the robot 71 and the designated area. Figure 8 In the embodiment shown, the trough 50 is arranged substantially vertically, with an entrance from the top of the loading and handling device 31.

[0202] The robot arm 71 is configured to replace the combined power and data unit 52 of the load handling device 31, which is located on the designated grid unit 14 adjacent to the robot arm 71. During the replacement of the combined power and data unit 52 (including the period of removing the combined power and data unit 52 that is low in power and / or has reached the upper limit of capacity, the period of inserting the replacement combined power and data unit 52, and the period in between), the load handling device 31 remains on the designated grid unit 14a.

[0203] Depending on the size and configuration of the robot arm 71, the robot arm 71 may be configured to interact with the load handling device 31 at any one of a plurality of designated grid cells 14 located near the robot arm 71. In other words, Figure 8As shown, the actuator 73 of the robot 71 can be moved to the sockets 50 of two or more stationary load handling devices 31 located near the robot 71. This allows the robot 71 to continue to perform replacement of the combined power and data unit 52 even if the load handling device 31 fails and blocks one of the designated grid cells 14.

[0204] In some embodiments, a sensor ring 74 may be provided that is located above the robotic arm 71 and extends at least partially above a designated grid cell 14. The sensor ring 74 has a vision system and is capable of detecting when the load handling device 31 is parked on a designated grid cell 14. In addition, the sensor ring 74 is capable of detecting when the load handling device 31 is closed, thereby ensuring safe removal of the combined power and data unit 52. Once closed, the vision system can locate the combined power and data unit 52 and is used to direct the actuator 73 to grasp the combined power and data unit 52 and move it to a designated area. To replace the combined power and data unit 52, the vision system can locate an empty socket 50 and is used to direct the actuator 73 carrying the replacement combined power and data unit 52 to insert the combined power and data unit 52 into an unoccupied socket 50.

[0205] The sensor ring 74 may also house sensors and equipment used to control the environment surrounding the exchange station 70 (eg, temperature control), as well as sensors and equipment used to detect and suppress fires.

[0206] It should be understood that the robot arm 71 may also be located on the track structure 13 itself, for example on the grid cells 14 of the track structure 13, rather than on a platform adjacent to the periphery of the track structure 13.

[0207] Rather than a single robot 71 that performs both removal and insertion operations, a first robot 71 may be provided to remove a combined power and data unit 52 from a socket 50, and a second robot 71 may be provided to insert a replacement combined power and data unit 52 into the socket 50. Such an arrangement may make power supply replacement faster and more efficient, because a replacement combined power and data unit 52 may be inserted into the socket 50 immediately after the low / full combined power and data unit 52 is removed, without having to wait until the first robot 71 places the low / full combined power and data unit 52 in a designated area and picks up the replacement combined power and data unit 52. The first robot 71 and the second robot 71 may be configured to perform removal and insertion operations, respectively, while the load handling device 31 remains on the same grid unit 14a.

[0208] The robot arm 71 is not limited to having a base 72 that is fixed relative to the track structure 13. Instead, the base 72 can be configured to move relative to the track structure 13. For example, the base 72 can include wheels or other drive means. This allows the robot arm 71 to perform power supply replacement (removal and / or insertion) on a plurality of different grid units 14 (e.g., rows of grid units 14). The base 72 can be configured to move adjacent to the periphery of the track structure 13, or the base 72 can be configured to move on a track of the track structure 13 itself (e.g., in the X and / or Y direction).

[0209] The robot 71 is not limited to a 6-axis robot. At a minimum, the robot 71 includes an actuator 73 that is movable relative to the load handling device 31 to allow the robot 71 to remove and insert the combined power and data unit 52. To provide more complex movements, the robot 71 may include more degrees of freedom, for example, the robot 71 may be a 2-axis, 3-axis, 4-axis, or 5-axis robot. The robot 71 may also include more than six degrees of freedom, such as a 7-axis robot. In other arrangements, the robot may be replaced by an actuator operating on a Cartesian bar and cable system.

[0210] Fig.14 A schematic diagram of a combined power and data module 52 plugged into a socket 81 at a switching station 70 is shown. Although in the illustrated embodiment, the interface between the switching station and the combined power and data unit takes the form of a socket into which the combined power and data unit can be inserted, in other embodiments, other forms of interfaces may be used. Although in the illustrated embodiment, only one socket 81 is provided, in other embodiments, the switching station may be provided with multiple sockets 81. The socket 81 is accessible from the outside so that the combined power and data unit 52 can be easily removed or inserted. Although in the illustrated embodiment, the socket 81 is accessible from the outside from the side of the switching station 70 so that the combined power and data unit 52 can be inserted or removed in a horizontal direction, in other embodiments, one or more sockets 81 are accessible from different directions.

[0211] The exchange station is provided with an actuator 84 (e.g., a robotic arm) that is capable of removing the combined power and data unit 52 from the socket 50 of the load handling device 31 and placing the combined power and data unit 52 into the socket 81 of the exchange station. Conversely, the actuator 84 can remove the combined power and data unit 52 from the socket 81 of the exchange station and place the combined power and data unit 52 into the socket 50 of the load handling device 31. Therefore, when the load handling device 31 approaches the exchange station 70, the actuator 84 can remove the combined power and data unit 52 currently inserted in the load handling device 31 and replace it with a new combined power and data unit 52. In this way, the load handling device 31 can be provided with a fully charged combined power and data unit 52 so that it can continue to operate on the rail system 13. As will be described in more detail below, the actuator can be a robotic arm with an end effector that is configured to grip and hold the combined power and data unit 52.

[0212] The exchange station also includes a communication module 85 capable of receiving data signals from and / or transmitting data signals to the system controller and / or a local processing unit on the load handling equipment.

[0213] When the combined power and data unit 52 is inserted into the socket 81, the socket 81 is electrically coupled to the combined power and data unit 52 so that power can be transferred to charge the rechargeable power source 55 in the combined power and data unit 52. The socket 81 is also configured to establish a data channel with the combined power and data unit 52 so that data can be transferred between the data storage module 56 and the socket 81. Data can be transferred in both directions: the data log from the data storage module 56 (in this embodiment, the data log stored in the local data storage component 59) can be transferred from the data storage module to the socket. Conversely, updated operating files (such as new operating files or updated versions of existing operating files) can be transferred from the socket to the data storage module 56.

[0214] In the illustrated embodiment, the combined power and data unit 52 is recharged at the exchange station while data is being transferred, so the combined power and unit remains at the exchange station until it is fully recharged and ready to be inserted into another load handling device. In other embodiments, the two functions may be separate, i.e., data may be transferred at the exchange station 70, and then the combined power and data unit 52 may be transferred to another charging station for recharging.

[0215] Fig.15A schematic diagram of a combined power and data module 52 is shown, wherein the combined power and data module 52 is connected to a charge providing connector 86 in a socket 81 at a switching station 70. The combined power and data unit 52 includes a corresponding connector 64 configured to engage with the charge providing connector 86 of the socket 81. The corresponding connector 64 on the combined power and storage unit 52 is connected to the charge providing connector 86 of the socket 81. Fig.13 The corresponding connectors 64 shown are identical. In other words, the corresponding connector 64 is able to interface both with the charge supply connector 63 in the socket 81 of the exchange station 70 and with the charge receiving connector 63 on the load handling device 31 .

[0216] When the combined power and data unit 52 is plugged into the receptacle 81, the charge providing connector 86 in the receptacle 81 of the switching station 70 provides both an electrical coupling between the receptacle and the rechargeable power source 55 of the combined power and data unit, and a data interface between the data storage module 56 and the receptacle 81. Similar to the charge receiving connector on the loading handling device described above, the charge providing connector is capable of performing both functions simultaneously, i.e., the same connector can both provide charge and transmit data. Data can be transmitted in both directions; for example, the computer readable code 57 or updates to the computer readable code can be transmitted from the switching station 70 to the combined power and data unit 52, and diagnostic data or data logs can be transmitted from the combined power and data unit 52 to the switching station 70.

[0217] Fig.10 A socket arrangement 80 is shown for storing the combined power and data unit 52 in the above system. The socket arrangement 80 includes a plurality of holders 81, each of which is configured to receive the combined power and data unit 52. Although in this illustrated embodiment, the holders 81 take the form of individual compartments within the structure, the holders 81 may take any form suitable for receiving the combined power and data unit 52, such as a rack, a shelf, a container, etc.

[0218] The socket arrangement 80 may be located on a platform 72 adjacent to the perimeter of the track structure 13, such as in a designated area, so that the socket arrangement 80 is accessible by a robotic arm 71 operating in the exchange station 70. The exchange device 70 is configured to remove a low / full combined power and data unit 31 from a load handling device 31 and place it in one of the vacant holding portions 81. The exchange device 70 is further configured to retrieve a replacement combined power and data unit 52 from an occupied holding portion 81 and place it in an empty power compartment 50 of the load handling device. The socket arrangement 80 may be used, for example, with a 6-axis robotic arm, such as Figure 8 and 9 The robotic arm 71 shown in FIG.

[0219] The holding portion 81 includes a charging tool for charging the combined power and data unit 52 when the combined power and data unit 52 is received in the holding portion. For example, the power holding portion may include an electrical connector (not shown) that is configured to be coupled to the electrical connector of the combined power and data unit 52. In addition, the holding portion 81 includes a data interface for downloading a diagnostic log from a storage component. The diagnostic log is then transmitted to the system controller and the diagnostic log is cleared from the combined power and data unit. Similarly, updated operating files are uploaded to the combined power and data unit 52 for deployment to the loading handling device 31 when the refreshed combined power and data unit 52 is inserted into the loading handling device 31. The transmission of power and / or data within the loading handling device can be wireless.

[0220] Optionally, the socket arrangement 80 is accessible from the rear side to allow the combined power and data unit 52 to be inserted into or removed from the socket arrangement 80 from the rear side. The rear side is defined as the side of the storage station facing away from the track structure 13. The rear side of the socket arrangement 80 can face a maintenance area accessible by human personnel. This arrangement allows the combined power and data unit 52 to be removed from the power storage station by human personnel (e.g., for maintenance) without placing the personnel in an area where potentially dangerous equipment (e.g., track structure 13, load handling equipment 31, exchange station 70, etc.) is present, or without shutting down potentially dangerous equipment.

[0221] The location of the above-mentioned socket arrangement is not limited to being adjacent to the periphery of the track structure 13. The socket arrangement may be located at any other suitable location accessible by the actuator of the robot arm, such as on the track structure 13 itself.

[0222] The retaining portion 81 of the socket arrangement 80 may optionally include a locking mechanism for releasably locking the combined power and data unit 52 in the retaining portion 81 , similar to the locking mechanism for releasably locking the combined power and data unit 52 in the power supply compartment 50 .

[0223] The socket arrangement 80 may optionally include a refractory cladding 83 surrounding the retaining portion 81 .

[0224] The outlet arrangement 80 may optionally include a sensor and device ring 82 similar to the ring 74 described above for the switching station 70 .

[0225] The outlet arrangement 80 may also include a power monitoring system to monitor the charge status of the power supplies within the holding portion 81. The control system may use this information to determine which occupied holding portion of which switching device 70 the replacement combined power and data unit should be retrieved from.

[0226] Fig.16A schematic diagram of a storage and retrieval system is shown with a storage structure 1, a load handling device 31 and an exchange station 70. This figure illustrates some embodiments of the communication between the different aspects of the system.

[0227] The updated computer readable code may be provided by the system controller to the switching station 70. Once the updated computer readable code has been provided to the switching station, each time the combined power and data unit 52 is replaced at the switching station, the switching station may provide the updated computer readable code when the combined power and data unit is connected to the interface of the switching station.

[0228] In some cases, the computer readable code may include a new file or a new version of an existing file that needs to be deployed to all load handling devices on the track system simultaneously, as described above, i.e., the load handling devices are instructed to wait for a signal from the system controller before starting to use the updated computer readable code. This may occur in the event of a "major change". The system controller may send instructions to deploy the updated computer readable code to all load handling devices simultaneously.

[0229] The system controller or a separate load handling device 31 may send a communication signal to the exchange station to replace the combined power and data unit. The communication signal received by the exchange station from the system controller and / or the load handling device may include an instruction to replace the combined power and data unit in the load handling device. The instruction to replace the combined power and data unit may be issued from the system controller. This may occur, for example, when the system controller determines that a particular load handling device needs to update its computer readable code, that is, the combined power and data unit in the load handling device does not have the latest version of the computer readable code. The instruction may be issued from the separate load handling device, for example, in response to the charge level of the rechargeable power source being below a predetermined charge threshold and the load handling device needing to replace the power source with a rechargeable power source, or when there is insufficient space in the data storage module to store more data logs from sensors on the load handling device.

[0230] Fig.17A method of updating computer readable code in a load handling device is schematically illustrated, for example when the computer readable code changes and the updated computer readable code needs to be deployed to a storage and retrieval system. In step 100, the computer readable code is transmitted from the system controller to an exchange station. In a storage and retrieval system including a plurality of exchange stations, the same computer readable code may be delivered to all exchange stations simultaneously. In step 101, the computer readable code is transmitted from the exchange station to a combined power and data unit at the exchange station. In step 102, the combined power and data unit (now containing the updated computer readable code) is connected to an interface of the load handling device at the exchange station. Over a period of time, steps 101 and 102 will ensure that the computer readable code is uploaded to all combined power and data units in the storage and retrieval system, and eventually, the updated computer readable code will be provided to all load handling devices in the storage and retrieval system. In step 103, the computer readable code is transmitted from the combined power and data unit to a data storage medium in the load handling device. This step 103 is optional; in some embodiments, a local processing unit of the load handling device may access the computer readable code from the combined power and data unit rather than from the data storage medium. At step 104, a communication signal is sent from the system controller to a load handling device in the storage and retrieval system, the communication signal carrying instructions for deploying the updated computer readable code. At step 105, the local processor of the load handling device accesses the computer readable code and begins using the updated version. As described above, the method step of the system controller sending a communication signal to the load handling device helps coordinate the simultaneous deployment of computer readable code (e.g., updated data parameters or new instructions that may be a "breaking change"). Alternatively, the local processing unit of the load handling device can directly access the computer readable code, thereby skipping steps 102 or 103 and proceeding directly to step 105, as indicated by the arrow on the right side of the flow chart.

[0231] The above description of the specific embodiments of the present invention is for the purpose of illustration and description only. It is not intended to be exhaustive or to limit the present invention to the precise form disclosed. Changes and modifications may be made without departing from the scope of the present invention as defined by the claims. limited

[0232] In this document, the term "movement in the n-direction" (and related expressions) is intended to express movement in any direction substantially along or parallel to the n-axis (i.e., toward the positive end of the n-axis or toward the negative end of the n-axis), where n is one of x, y, and z.

[0233] In this document, the word "connect" and its derivatives are intended to include the possibility of direct connection and indirect connection. For example, "x is connected to y" is intended to include the possibility of x being directly connected to y without intermediate components, and the possibility of x being indirectly connected to y with one or more intermediate components. When direct connection is intended, the words "directly connected", "directly connected" or similar words are used. Similarly, the word "support" and its derivatives are intended to include the possibility of direct contact and indirect contact. For example, "x supports y" is intended to include the possibility of x directly supporting and directly contacting y without intermediate components, and the possibility of x indirectly supporting y with one or more intermediate components contacting x and / or y. The word "mounted" and its derivatives are intended to include the possibility of direct mounting and indirect mounting. For example, "x is mounted on y" is intended to include the possibility of x being directly mounted on y without intermediate components, and the possibility of x being indirectly mounted on y with one or more intermediate components.

[0234] In this document, the word "comprise" and its derivatives are intended to have an open-ended meaning rather than a closed-ended meaning. For example, "x includes y" is intended to include the possibility that x includes one and only one y, multiple ys, or one or more than one y and one or more than one other element. When a closed-ended meaning is intended, "x consists of y" will be used to indicate that x includes only y and nothing else.

[0235] In this document, "controller" is intended to include any hardware suitable for controlling (e.g., providing instructions to) one or more other components. For example, a processor, which is equipped with one or more memories and appropriate software to process data related to the component or components and send appropriate instructions to the component(s) to enable the component(s) to perform its intended function(s).

[0236] The present invention may also be described with reference to the following numbered clauses: 1. A storage and retrieval system, the storage and retrieval system comprising: a storage structure, the storage structure comprising a track structure, the track structure comprising a first set of tracks and a second set of tracks, the first set of tracks extending along a first direction, the second set of tracks extending along a second direction, the second direction being substantially perpendicular to the first direction to form a grid pattern defining a plurality of grid cells; a plurality of stacks of containers, the plurality of stacks of containers being arranged within the storage structure, each stack being arranged below a grid unit; one or more load handling devices, the one or more load handling devices being configured to move horizontally on the track structure; one or more switching stations located on or adjacent to the track structure for removing / inserting combined power and data units from / into the one or more load handling devices; and A system controller, wherein said combined power and data units each comprise: a power source, wherein the power source is rechargeable at the exchange station; and A data storage module includes a local data storage component and operation files, wherein one or more operation files are provided by the system controller and stored in the data storage module at the switching station.

[0237] 2. The storage and retrieval system of clause 1, wherein the operational data file comprises one or more of the following: (a) Grid map data file, (b) loading and handling equipment control software, (c) load handling equipment motor drive control software, or (d) Loading processing equipment communication software.

[0238] 3. A storage and retrieval system according to any of clauses 1-2, wherein the one or more operation files include instructions for deploying updates to a load processing device into which the combined power and data unit is inserted, The updates are deployed as directed substantially when the combined power and data unit is inserted, or, The update is instructed to be deployed upon receipt of a communication signal from the system controller.

[0239] 4. A storage and retrieval system according to any of clauses 1 to 3, wherein the system control unit provides a communication signal to a plurality of load handling devices to deploy updates among the group of load handling devices according to the stored operational file.

[0240] 5. A load handling device for lifting and moving containers in a storage and retrieval system according to any of clauses 1 to 4, the load handling device comprising: a drive assembly configured to horizontally move the load handling device on the track structure; a lifting mechanism configured to lift the container from the stack; a communication module; and A receptacle is configured to removably receive a combination power and data unit, wherein the receptacle is externally accessible and configured to be electrically coupled to the power source and to interface with the data storage module.

[0241] 6. The load handling apparatus of clause 5, further comprising means for detecting continued power in said socket.

[0242] 7. Load handling device according to any of clauses 5-6, wherein the socket comprises an optical unit for locating the combined power and data unit.

[0243] 8. A load handling device according to any of clauses 5 to 7, further comprising a local control unit for operating the load handling device according to the operation data file.

[0244] 9. A load handling device according to any of clauses 5 to 8, further comprising means for writing one or more diagnostic logs to said data storage module.

[0245] 10. A switching station for use in a storage and retrieval system according to any of clauses 1 to 4, the switching station being used to remove / insert a combined power and data unit, the switching station comprising: an actuator that releasably holds and moves a combination power and data unit including a power source and a data storage module; a socket arrangement, the socket arrangement comprising one or more sockets arranged to hold and store a corresponding number of combined power and data units, the one or more sockets being configured to be electrically coupled to the power source and to interface with the data storage module; and A communication module is configured to receive and transmit data signals with the controller.

[0246] 11. The exchange station of clause 10, wherein the interface to the data storage module is arranged to receive data from the data storage module or to transmit data to the data storage module.

[0247] 12. An exchange station according to any of clauses 10-11, wherein the socket arrangement comprises: a rack or a container stored below the grid.

[0248] 13. An exchange station as described in any of clauses 10-12, further comprising a sensor for detecting parked load handling equipment.

[0249] 14. A switching station as claimed in any of clauses 10 to 13, wherein each socket comprises an optical unit for positioning the combined power and data unit.

[0250] 15. An exchange station as described in any of clauses 10-14, further comprising a fire heat sensor, a smoke sensor and / or a fire detection.

[0251] 16. An exchange station as described in any of clauses 10-15, further comprising fire suppression equipment.

[0252] 17. An exchange station as described in any of clauses 10 to 16, wherein the exchange station is encased in a fire resistant material or is substantially surrounded by fire resistant partitions.

[0253] 18. An exchange station according to any of clauses 10 to 17, wherein the exchange station is temperature controlled, or wherein the exchange station is temperature regulated.

[0254] 19. A switching station according to any of clauses 10-18, wherein the communication module receives instructions from the system controller to replace a combined power and data unit in a load handling device, Or wherein the communication module receives instructions from a load handling device to replace a combined power and data unit in the load handling device.

[0255] 20. A switching station as claimed in any of clauses 10 to 19, wherein the actuator is directed to remove / insert the combined power and data unit by one or more of: (a) one or more cameras providing a two-dimensional image; (b) two or more cameras providing three-dimensional images; (c) Laser, extremely high frequency (EHF) radar equipment or ultrasonic depth sounding equipment to provide or supplement three-dimensional images; (d) Light detection or ranging equipment and techniques for creating or supplementing three-dimensional images; (e) Laser imaging, detection and / or ranging equipment and techniques to create or supplement three-dimensional images; (f) 3D laser scanning equipment and / or technology to create or supplement three-dimensional images; and / or (g) Extremely high frequency (EHF) radar or ultrasonic scanning equipment and technology and 3D scanning equipment and technology to create and supplement three-dimensional images.

[0256] 21. A method of exchanging data between one or more load handling devices according to any of clauses 5-9 at an exchange station according to any of clauses 10-20, said one or more load handling devices operating on a storage and retrieval system according to any of clauses 1-4, said method comprising the steps of: navigating load handling equipment to exchange station grid cells; At the switching station grid unit, the actuator receives instructions to remove a first combined power and data unit from the load handling device and insert the first combined power and data unit into a receptacle; and The actuator receives instructions to remove the second combined power and data unit from the receptacle and insert the second combined power and data unit into the loading processing device.

[0257] 22. The method of clause 21, wherein the load handling equipment is powered off when it reaches the exchange station grid unit.

[0258] 23. A method as described in any of clauses 21-22, wherein the load handling device automatically powers on upon detecting the second combined power and data unit.

[0259] 24. A method as described in any of clauses 21-23, wherein the actuator is instructed to remove and replace a specific combined power and data unit.

[0260] 25. A method according to any of clauses 21 to 24, wherein the actuator is directed to a specific socket or receptacle by one or more light units.

[0261] 26. A computer program comprising instructions which, when said program is executed by a computer, cause said computer to carry out the method according to any of clauses 21-25.

[0262] Alternatively, the invention may be described with reference to the following numbered clauses: A. A robotic load handling apparatus for lifting and moving containers stacked in a storage system, the storage system comprising a frame supporting a track system, the track system comprising a first set of tracks extending in a first direction and a second set of tracks extending in a second direction substantially perpendicular to the first direction and arranged in a grid pattern over the stack of containers, the robotic load handling apparatus comprising: i) a replaceable power supply box, wherein the replaceable power supply box contains a power supply; ii) a power supply compartment configured to removably receive the replaceable power supply cartridge, the power supply compartment including means for electrically coupling to the power supply; iii) a lifting device comprising a lifting drive assembly and a gripping device configured, in use, to releasably grip a container and lift the container from the stack into a container receiving space; iv) a drive mechanism operably arranged to move the robotic load handling device on the grid frame; the drive mechanism being driven by the power source, iv) a storage medium including at least one firmware associated with controlling the operation of the drive mechanism and / or the lift drive assembly; v) a control system comprising one or more processors and configured to execute instructions associated with the firmware in the storage medium to control the operation of the drive mechanism and / or the lift drive assembly; Characterized in that the robot loading and handling equipment further comprises: An auxiliary storage medium, the auxiliary storage medium being contained in the replaceable power supply box, the auxiliary storage medium including one or more updates of the firmware, and wherein the control system is configured to establish a data channel with the auxiliary storage medium so that at least one firmware associated with the operation of the drive mechanism and / or the lifting drive assembly is updated according to the one or more firmware updates of the firmware stored in the auxiliary storage medium.

[0263] B. The robotic load handling device of clause A, further comprising a wheel assembly driven by the drive assembly, the wheel assembly comprising a first set of wheels and a second set of wheels, the first set of wheels being used to engage with the first set of tracks to guide movement of the load handling device in a first direction, the second set of wheels being used to engage with the second set of tracks to guide movement of the load handling device in a second direction, wherein the second direction is transverse to the first direction; Wherein, the at least one firmware includes drive firmware associated with controlling the drive mechanism of the wheel assembly.

[0264] C. The robotic loading handling equipment of clause B, further comprising a turning mechanism configured to selectively engage the first set of wheels with the first set of tracks and to selectively engage the second set of wheels with the second set of tracks; wherein the at least one firmware includes turning firmware associated with controlling the operation of the turning mechanism.

[0265] D. The robotic load handling device of any of the preceding clauses, wherein the at least one firmware comprises a trajectory generator for generating a motion profile of the robotic load handling device on the track system.

[0266] E. The robotic load handling apparatus of clause D, wherein the trajectory generator is based on s-curve profile generation.

[0267] F. The robotic load handling apparatus of any of the preceding clauses, further comprising one or more position sensors configured to sense one or more markings on the track system; Wherein the at least one firmware includes a position controller associated with controlling a position of the robotic load handling device relative to the track system based on the one or more position sensors.

[0268] G. The robotic load handling apparatus of any of the preceding clauses, further comprising a communication module for transmitting and receiving data via a communication network; wherein the at least one firmware comprises communication firmware for controlling the transmission and reception of data via the communication network.

[0269] H. The robotic load handling apparatus of clause A, wherein the control system is configured to transfer at least a portion of a data log acquired during operation of the drive mechanism and / or the lift drive assembly to the secondary storage medium.

[0270] I. The robotic load handling apparatus of any of the preceding clauses, wherein the power source is a battery.

[0271] J. An automated storage and retrieval system, the automated storage and retrieval system comprising: i) a first set of parallel tracks extending in a first direction and a second set of parallel tracks extending in a second direction substantially perpendicular to the first direction in a grid pattern to define a track system lying in a substantially horizontal plane and comprising a plurality of grid cells, ii) a plurality of storage columns, the plurality of storage columns being located beneath the track system, each of the plurality of storage columns being located beneath a grid cell and arranged to store a stack of storage containers; iii) one or more robotic load handling devices as defined in any of clauses A to I operable on said track system.

Claims

1. A method for providing software updates to a load handling device used in a storage and retrieval system, the storage and retrieval system comprising: a first set of parallel tracks extending in an X direction, and a second set of parallel tracks extending in a Y direction, the second set of parallel tracks being transverse to the first set of parallel tracks in a substantially horizontal plane to form a grid pattern including a plurality of grid spaces; The method comprises the following steps: transmitting the computer readable code to a combination power and data unit, the combination power and data unit comprising a rechargeable power source and a data storage module, such that the computer readable code is stored in the data storage module; The combined power and data unit is connected to an interface of a load processing device so that the local processing unit of the load processing device can access the computer readable code stored in the data storage module.

2. The method according to claim 1, wherein: The computer readable code includes computer executable instructions such that the local processing unit of the load handling device executes the computer executable instructions to control the operation of the load handling device.

3. The method according to claim 1 or claim 2, wherein: The computer readable code includes one or more data parameters accessed by the local processing unit of the load handling device during operation of the load handling device.

4. The method according to any one of claims 1 to 3, wherein: The method includes the further step of the loading processing device transferring some or all of the computer readable code from the data storage module of the combined power and data unit to a data storage medium of the loading processing device.

5. The method according to claim 4, wherein: The loading processing device overwrites the computer readable code stored in the data storage medium of the loading processing device with the computer readable code transferred from the data storage module of the combined power and data unit.

6. A method according to any preceding claim, wherein: The storage and retrieval system further comprises one or more exchange stations, the exchange station or each exchange station being configured to connect the combined power and data unit to an interface of a loading handling device, or to remove the combined power and data unit from an interface of a loading handling device, the method comprising a further step of transferring a computer readable code to the exchange station so that the computer readable code can be transmitted to the data storage module of the combined power and data unit connected to the interface at the exchange station.

7. The method according to claim 6, wherein: The storage and retrieval system further comprises a system controller configured to communicate a computer readable code to the or each exchange station, the method comprising the further step of the system controller preventing the local processing unit of the load handling device from accessing the computer readable code until a predetermined condition is satisfied.

8. The method according to claim 7 as appended to claim 3, wherein: The computer readable code comprises one or more data parameters, the one or more data parameters comprising a predetermined timestamp at which an associated portion of the computer readable code is accessible by the local processing unit of the load processing device.

9. The method according to claim 7, wherein: The load handling device comprises a communications module configured, in use, to receive communications from the system controller so that in response to receiving control information from the system controller, one or more portions of the computer readable code are accessed by the local processing unit of the load handling device.

10. The method according to claim 9 as appended to claim 5, comprising the further step of, in response to receiving control information from the system controller, the loading processing device overwriting the computer readable code stored in the data storage medium of the loading processing device.

11. A load handling device for use in a storage and retrieval system, the storage and retrieval system comprising: a first set of parallel tracks extending in an X direction, and a second set of parallel tracks extending in a Y direction, the second set of parallel tracks being transverse to the first set of parallel tracks in a substantially horizontal plane to form a grid pattern including a plurality of grid spaces; a stack of a plurality of storage containers, the stack of a plurality of storage containers being located beneath the track and arranged such that each stack is within the footprint of a single grid space; The loading and handling equipment comprises: a drive assembly configured to move the load handling device on a set of parallel tracks; a lifting mechanism configured to lift the storage container from the stack; a communication module, the communication module being used to receive data from the system controller and / or transmit data to the system controller; a local processing unit, the local processing unit communicating with the communication module; interface, the interface being configured as: i) connected to a combined power and data unit comprising a rechargeable power source and a data storage module; ii) electrically coupled to the rechargeable power source so that, in use, the drive assembly is driven by the rechargeable power source; and iii) communicating with the data storage module; wherein the data storage module includes computer readable code and the local processing unit is configured to access the computer readable code in use.

12. The load handling device according to claim 11, wherein: The load processing device further includes a data storage medium communicatively coupled to the local processing unit, the data storage medium including computer readable code.

13. Load handling equipment according to claim 11 or claim 12, wherein: The computer readable code comprises computer executable instructions and the local processing unit is configured, in use, to execute the computer executable instructions to control the operation of the load handling apparatus.

14. Load handling equipment according to claim 13 as appended to claim 12, wherein: The local processing unit is configured, in use, to selectively execute computer executable instructions stored in the data storage module of the combined power and data unit or in the data storage medium of the onboard processing device.

15. Load handling equipment according to claim 13 or claim 14, wherein: The computer readable code includes computer executable instructions for controlling the lifting mechanism.

16. Load handling equipment according to any of claims 13 to 15, wherein: The computer readable code includes computer executable instructions for controlling the communication module to receive data from a system controller and / or to transmit data to a system controller.

17. The loading and handling equipment according to any of claims 13-16, further comprising a wheel assembly driven by the drive assembly, the wheel assembly comprising a first group of wheels and a second group of wheels, the first group of wheels being used to engage with the first group of tracks to guide the movement of the loading and handling equipment along the first direction, the second group of wheels being used to engage with the second group of tracks to guide the movement of the loading and handling equipment along the second direction, wherein the computer readable code comprises computer executable instructions for controlling the wheel assembly.

18. The load handling apparatus according to any of claims 13 to 17, further comprising a direction changing mechanism configured to selectively engage the first set of wheels with the first set of tracks and / or engage the second set of wheels with the second set of tracks, wherein: The computer readable code includes computer executable instructions for controlling the operation of the direction changing mechanism.

19. Load handling equipment according to any of claims 11-12, wherein: The computer readable code comprises one or more data parameters and the local processing unit is configured to, in use, access at least one of the one or more data parameters during operation of the load handling device.

20. The load handling apparatus of claim 19, wherein: The one or more data parameters include a grid map data file for determining one or more paths for the load handling equipment on the track.

21. Load handling equipment according to any of claims 12 to 20, wherein: The local processing unit may be configured, in use, to overwrite computer readable code stored in the data storage medium of the load processing device with computer readable code transferred from the data storage module of the combined power and data unit.

22. The load handling equipment according to any of claims 11-21, further comprising one or more position sensors configured to sense one or more position markers on the track, wherein: The computer readable code includes data acquired from the one or more position sensors such that a position of the load handling equipment relative to the track is controllable based on the acquired position sensor data.

23. Load handling equipment according to any of claims 11-22, further comprising one or more sensors for recording diagnostic data, wherein the computer readable code comprises the stored diagnostic data.

24. The load handling apparatus of any of claims 11-23, further comprising a charge receiving connector configured to connect to a corresponding connector on the combined power and storage unit when connected to the interface, the charge receiving connector configured to: electrically coupled to the rechargeable power source and receiving power from the rechargeable power source; and Connected with the data storage module.

25. A switching station for connecting / disconnecting a combined power and data unit to / from a load handling device as defined in any of claims 11 to 24, the switching station comprising: an actuator configured to releasably hold and move the combined power and data unit; as well as An interface, the interface being arranged to be connected to a combined power and data unit, the interface being arranged to establish a data channel with the combined power and data unit to receive data from the data storage module of the combined power and data unit connected to the interface and / or to transmit data to the data storage module of the combined power and data unit connected to the interface; wherein the switching station is configured to update the computer readable code stored in the data storage module when the combined power and data unit is connected to the interface.

26. The exchange station according to claim 25, wherein: The interface is configured to electrically couple to the rechargeable power source of the combination power and data unit when the combination power and data unit is connected to the interface so as to charge the rechargeable power source.

27. The exchange station according to claim 26, wherein: The interface further comprises a charge providing connector configured to connect to a corresponding connector on the combined power and storage unit, the charge providing connector being configured to: electrically coupled to the rechargeable power source and providing power to the rechargeable power source; and The device is connected to the data storage module and transmits computer readable code to the data storage module.

28. An exchange station according to any of claims 25 to 27, wherein: The interface is configured to receive diagnostic data from the data storage module of the combination power and data unit when the combination power and data unit is connected to the interface.

29. The exchange station according to any one of claims 25 to 28 further comprises a communication module, which is configured to receive data signals from the system controller and / or the local processing unit on the loading processing equipment and / or transmit data signals to the system controller and / or the local processing unit on the loading processing equipment.

30. The exchange station of claim 29, wherein: The data signal received from the system controller and / or the local processing unit includes instructions to replace a combined power and data unit in the load handling device.

31. A storage and retrieval system, the storage and retrieval system comprising: a first set of parallel tracks extending in an X direction, and a second set of parallel tracks extending in a Y direction, the second set of parallel tracks being transverse to the first set of parallel tracks in a substantially horizontal plane to form a grid pattern including a plurality of grid spaces; a stack of a plurality of storage containers, the stack of a plurality of storage containers being located beneath the track and arranged such that each stack is within the footprint of a single grid space; One or more load handling devices as defined in any of claims 11 to 24; a system controller including a system data storage medium storing computer readable code to control operation of said load handling equipment on said track; as well as An exchange station as defined in any of claims 25 to 30, further comprising a communication module, the communication module being configured to receive data signals from the system controller and / or transmit data signals to the system controller, the exchange station being located on or adjacent to the track and being configured to connect / disconnect a combined power and data unit to / from the one or more loading handling devices; wherein the computer readable code stored in the system data storage medium is transmitted to the exchange station by the system controller via the communication module.

32. The storage and retrieval system of claim 31, wherein: The one or more load handling devices include a plurality of load handling devices, and wherein the local processing unit of each of the plurality of load handling devices is configured to execute instructions stored in the data storage module in response to a communication signal from the system controller.

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