Measurement system and method for monitoring automatic storage and retrieval system

Abstract

The present disclosure relates to a measurement system for monitoring at least one atmospheric condition in an automated storage and retrieval system, comprising a frame structure forming a three-dimensional storage grid structure for storing storage containers for storing articles, the measurement system comprises: at least one box-shaped measurement unit for storage in a three-dimensional storage grid structure, where the box-shaped measurement unit comprises: measurement equipment for measuring at least one atmospheric condition around the box-shaped measurement unit within the grid structure; a transmitter for transmitting measurement data to a computer system; at least one power source; and the data recorder is used for recording measurement data. The present disclosure also relates to a method for monitoring at least one atmospheric condition in an automated storage and retrieval system, as well as a measurement system and method for monitoring an automated storage and retrieval system. According to the invention, the accurate indication number of the stored article can be obtained without turning to an expensive scheme which needs expensive equipment or a large number of reforms.

Description

[0001] This application is a divisional application of the Chinese invention patent application "System and method for monitoring atmospheric conditions in an automatic storage and retrieval system" with an application date of January 27, 2021, a priority date of January 31, 2020 and an application number of 202180011960.6. Technical Field

[0002] The present invention relates to a system and method for performing measurements in an automatic storage and retrieval system, and in particular, to a measurement system and method for monitoring an automatic storage and retrieval system, and more particularly, to a measurement system and method for monitoring atmospheric conditions in an automatic storage and retrieval system. Background Art

[0003] Figure 1 A common prior art automatic storage and retrieval system 1 is disclosed, which has a frame structure 100 and Figure 2 and Figure 3 Two different prior art container handling vehicles 201 , 301 suitable for operating on such a system 1 are disclosed.

[0004] The frame structure 100 includes a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102. The members 102, 103 may be generally made of metal, such as extruded aluminum profiles.

[0005] The frame structure 100 defines a storage grid 104 that includes storage columns 105 arranged in rows, wherein storage containers 106 (also referred to as boxes) of the storage columns 105 are stacked one on top of another to form a stack 107. The storage grid 104 prevents horizontal movement of the stack 107 of storage containers 106 and guides vertical movement of the containers 106, but generally does not otherwise support the storage containers 106 when stacked.

[0006] The automated storage and retrieval system 1 includes a rail system 108 arranged in a grid pattern across the top of the storage 104, and a plurality of container handling vehicles 201, 301 operate on the rail system 108 to lift storage containers 106 from and lower storage containers 106 into the storage row 105, and to transport storage containers 106 over the storage row 105. The rail system 108 includes a first set of parallel rails 110 arranged to guide the container handling vehicles 201, 301 to move in a first direction X across the top of the frame structure 100; and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide the container handling vehicles 201, 301 to move in a second direction Y perpendicular to the first direction X. In this way, the rail system 108 defines a grid row 112 above which the container handling vehicles 201, 301 can move laterally over the storage row 105 (i.e., in a plane parallel to the horizontal XY plane).

[0007] Each prior art container handling vehicle 201, 301 includes a body 201a, 301a and a first set of wheels and a second set of wheels 201b, 301b, 201c, 301c, which enable the container handling vehicle 201, 301 to move laterally in the X direction and the Y direction, respectively. Figure 2 and Figure 3 , both wheels in each set are fully visible. The first set of wheels 201b, 301b is arranged to engage with two adjacent tracks in the first set of tracks 110, and the second set of wheels 201c, 301c is arranged to engage with two adjacent tracks in the second set of tracks 111. Each set of wheels 201b, 301b, 201c, 301c can be raised and lowered so that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301 can engage with the corresponding set of tracks 110, 111 at any time.

[0008] Each prior art container handling vehicle 201, 301 also includes a lifting device (not shown) for vertically transporting storage containers 106, such as lifting storage containers 106 from storage columns 105 and lowering storage containers 106 into storage columns. The lifting device includes one or more clamping / engaging devices (not shown) that are suitable for engaging storage containers 106 and can be lowered from the vehicle 201, 301 so that the position of the clamping / engaging device relative to the vehicle 201, 301 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y.

[0009] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and loading storage containers 106 when transporting storage containers 106 on the rail system 108. The storage space may include a cavity centrally disposed within the vehicle body 201a, such as Figure 2 As shown and as described in, for example, WO 2015 / 193278 A1, the content of which is incorporated herein by reference.

[0010] Figure 3 An alternative configuration of a container handling vehicle 301 having a cantilever structure is shown. Such a vehicle is described in detail in, for example, NO 317,366, the contents of which are also incorporated herein by reference.

[0011] Figure 2 The central cavity container handling vehicle 201 shown may have a footprint that covers an area whose dimensions in the X and Y directions are generally equal to the lateral extent of the grid columns 112 (i.e., the extent of the grid columns 112 in the X and Y directions), such as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" may refer to "horizontally".

[0012] Alternatively, as disclosed, for example, in WO 2014 / 090684 A1, the center cavity container handling vehicle 101 may have a footprint that is larger than the lateral area defined by the grid columns 112 .

[0013] In the X direction and the Y direction, adjacent grid cells are arranged to be in contact with each other so that there is no space therebetween.

[0014] In the storage grid 104, most of the grid columns 112 are storage columns 105 (i.e., grid columns 105 in which storage containers 106 are stored in stacks 107). However, the grid 104 typically has at least one such grid column 112 that is not used to store storage containers 106, but which includes a location where a container handling vehicle 201, 301 can drop off and / or pick up a storage container 106 so that the storage container can be transported to an access station (not shown), where the storage container 106 can be accessed from outside the grid 104 or the storage container can be transferred out of or into the grid 104. Such locations are typically referred to in the art as "ports," and the grid columns 112 in which the ports are located can be referred to as "port columns" 119, 120. Transportation to the access station can be in any direction, i.e., horizontal, inclined, and / or vertical. For example, storage containers 106 may be placed in random or dedicated grid columns 112 within storage grid 104, then picked up by any container handling vehicle and transported to ports 119, 120 for further transport to access stations. Note that the term "inclined" means that the overall transport direction of transport of storage containers 106 is between horizontal and vertical.

[0015] when Figure 1When a storage container 106 stored in the disclosed grid 104 is to be accessed, one of the container handling vehicles 201, 301 is instructed to retrieve the target storage container 106 from the storage container's position in the grid 104 and transport the storage container to the drop-off port 119. This operation involves moving the container handling vehicle 201, 301 to a grid position above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using a lifting device (not shown) of the container handling vehicle 201, 301, and transporting the storage container 106 to the drop-off port 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, the operation also involves temporarily moving the storage container 106 located above before lifting the target storage container 106 from the storage column 105. This step, which is sometimes referred to in the art as "digging," can be performed using the same container handling vehicle that is subsequently used to transport the target storage container 106 to the drop port 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have a container handling vehicle that is specifically designed for the task of temporarily removing a storage container 106 from a storage column 105. After the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container 106 can then be relocated to the original storage column 105. Alternatively, however, the removed storage container 106 can be relocated to another storage column.

[0016] When a storage container 106 is to be stored in the grid 104, one of the container handling vehicles 201, 301 is instructed to pick up a storage container 106 from the pick port 120 and transport the storage container to a grid position above the storage row 105 where it will be stored. After any storage container 106 located at or above the target position within the storage row stack 107 has been removed, the container handling vehicle 201, 301 positions the storage container 106 at the desired location. The removed storage container 106 may then be lowered back into the storage row 105 or repositioned to another storage row.

[0017] Figure 4A delivery vehicle is described. The delivery vehicle includes a base having a wheel arrangement identical to that on a container handling vehicle. The wheel base unit is characterized by having a wheel arrangement having a first set of wheels for moving in a first direction on a track grid (i.e., any one of a top track grid and a transfer track grid) and a second set of wheels for moving in a second direction perpendicular to the first direction. Each set of wheels includes two pairs of wheels arranged on opposite sides of the wheel base unit. In order to change the direction in which the wheel base unit can travel on the track grid, a set of wheels is connected to a wheel displacement assembly. The wheel displacement assembly can lift and lower a set of wheels connected relative to another set of wheels so that only a set of wheels traveling in a desired direction contacts the track grid. The wheel displacement assembly is driven by an electric motor. In addition, two electric motors powered by a rechargeable battery are connected to these sets of wheels so that the wheel base unit moves in a desired direction. The size of the horizontal periphery of the wheel base unit is set to be accommodated in a horizontal region defined by the grid cells of the track grid so that two wheel base units can pass each other on any adjacent grid cells of the track grid. In other words, the wheel base unit can have a coverage area (i.e., the extent in the X and Y directions) that is generally equal to the horizontal area (i.e., the extent in the X and Y directions) of the grid unit, such as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0018] The problem with the prior art solutions is that if perishable items are stored, it is necessary to measure the freshness of the product and the state of the items stored. However, there are problems in obtaining an accurate indication of the items without having to resort to expensive solutions requiring expensive equipment or extensive modifications. Therefore, the object of the present invention is to solve these problems. Summary of the invention

[0019] In one aspect, the present invention relates to a measuring system for monitoring atmospheric conditions in an automatic storage and retrieval system, the measuring system having: a frame structure, the frame structure including a plurality of upright members and a plurality of horizontal members supported by the upright members and defining a storage grid, the storage grid including storage columns arranged in rows, wherein the storage containers of the storage columns are stacked one on top of another to form a stack; and at least one container handling vehicle having at least one rechargeable power source and a lifting frame with a gripper for handling containers for storing items, wherein the measuring system includes a box-shaped measuring unit having the same size and features as the container for storing items, however, the box-shaped measuring unit also includes measuring equipment for measuring at least one atmospheric condition, a transmitter for transmitting measurement data to a computer system, at least one rechargeable power source and includes a data logger for recording the measurement data.

[0020] The measuring equipment may be a temperature sensor, a humidity sensor and / or at least one gas detector. In addition, the box-shaped measuring unit may have measuring equipment on all sides of the box-shaped measuring unit. In addition, different equipment may be provided on different sides of the box-shaped measuring unit or not all sides may have measuring equipment.

[0021] In the measurement system, a box-shaped measurement unit may have an RFID reader on one side.

[0022] In addition, the box-shaped measuring unit can be provided with a removable cover for access to the measuring equipment inside the box-shaped measuring unit. The main rechargeable power supply of the box-shaped measuring unit can be arranged in the cover of the box-shaped measuring unit. In order to keep the cover in place on the box of the box-shaped measuring unit, the cover can be equipped with a set of clamps to clamp the box of the box-shaped measuring unit. These clamps can be remotely controlled by a central computer system.

[0023] Furthermore, the at least one rechargeable power source of the measuring system can be charged via an interface of the lifting frame of the container handling vehicle.

[0024] In an alternative solution, the measurement system may be provided with a backup rechargeable power supply inside the box-shaped measurement unit. The backup power supply may be adapted to provide power to the measurement equipment inside the box-shaped measurement unit when the cover is removed.

[0025] In an alternative solution, a plurality of box-shaped measurement units are arranged in the storage system and these box-shaped measurement units can communicate with other box-shaped measurement units in the same automated storage system.

[0026] Another aspect of the present invention relates to a method for monitoring atmospheric conditions in an automatic storage system, which includes a three-dimensional grid of an underlying storage system; at least one container handling vehicle having at least one rechargeable power supply; and a lifting frame having a first set of grippers, the first set of grippers being used to handle containers for storing items, wherein the method includes the following steps: arranging a box-shaped measuring unit in the three-dimensional grid, the box-shaped measuring unit including equipment for measuring atmospheric conditions around the box-shaped measuring unit; recording data collected by the measuring equipment inside the box-shaped measuring unit; and transmitting the measurement data to a central computer system.

[0027] Furthermore, at least one rechargeable power source of the box-shaped measuring unit can be charged via the lifting frame of the container handling vehicle. In this solution, the rechargeable power source of the container handling vehicle is used to supplement the rechargeable power source of the box-shaped measuring unit.

[0028] Furthermore, a set of grippers for the cover of the box-shaped measuring cell can be remotely controlled by a central computer system.

[0029] Furthermore, in the cover-removed state, the backup power supply can direct power to the box-shaped measuring unit and connect to the measuring equipment.

[0030] In an alternative solution, the measurement data collected by the measurement equipment can be transferred from the box-shaped measurement unit to a container handling vehicle when the vehicle carries the box-shaped measurement unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are for the purpose of facilitating the understanding of the present invention. The drawings illustrate embodiments of the present invention, which will now be described by way of example only, in which:

[0032] Figure 1 It is a stereogram of the framework structure of the automatic storage and retrieval system of the prior art.

[0033] Figure 2 is a perspective view of a prior art container handling vehicle having a centrally disposed cavity for carrying a storage container therein.

[0034] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever arm for carrying a storage container underneath.

[0035] Figure 4 is a side view of a delivery vehicle.

[0036] Figure 5 is a side view of a storage system with storage containers, wherein a container handling vehicle transports box-shaped measuring units into the storage system.

[0037] Figure 6 is a side view of a storage system with storage containers, wherein a container handling vehicle places a box-shaped measurement unit at a strategic location in the storage unit.

[0038] Figure 7 is a side view of a storage system with storage containers, wherein a container handling vehicle places a box-shaped measurement unit at a strategic location in the storage unit.

[0039] Figure 8 is a flow chart describing steps in a process of an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. It should be understood, however, that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings.

[0041] The frame structure 100 of the automatic storage and retrieval system 1 is based on the above combined Figure 1The described prior art frame structure 100 is constructed, ie, having a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102, and further, the frame structure 100 includes a first upper rail system 108 in the X-direction and the Y-direction.

[0042] The frame structure 100 further comprises storage compartments in the form of a storage row 105 arranged between the components 102 , 103 , wherein storage containers 106 can be stacked in the form of stacks 107 within the storage row 105 .

[0043] The frame structure 100 may have any size. In particular, it should be understood that the frame structure may be larger than Figure 1 The frame structure disclosed in is wider and / or longer and / or deeper. For example, the frame structure 100 can have a horizontal range of more than 700x700 columns and a storage depth of more than 12 containers.

[0044] Figure 2 is an alternative configuration of the container handling vehicle 201 which has a central cavity solution.

[0045] Figure 3 An alternative configuration of a container handling vehicle 301 is shown, the container handling vehicle having a cantilever structure.

[0046] Figure 4 A delivery vehicle is described. The delivery vehicle includes a base having the same wheel arrangement as a container handling vehicle. The wheel base unit is characterized by having a wheel arrangement having a first set of wheels for moving in a first direction on a track grid (i.e., any one of a top track grid and a transfer track grid) and a second set of wheels for moving in a second direction perpendicular to the first direction. Each set of wheels includes two pairs of wheels arranged on opposite sides of the wheel base unit. In order to change the direction in which the wheel base unit can travel on the track grid, a set of wheels is connected to a wheel displacement assembly. The wheel displacement assembly can lift and lower a set of wheels connected relative to another set of wheels so that only the wheel set traveling in the desired direction contacts the track grid. The wheel displacement assembly is driven by a motor. In addition, two motors powered by a rechargeable battery are connected to these sets of wheels to move the wheel base unit in the desired direction. The size of the horizontal periphery of the wheel base unit is set to be accommodated in a horizontal area defined by the grid cells of the track grid so that two wheel base units can pass each other on any adjacent grid cells of the track grid. In other words, the wheel base unit may have a footprint (ie, extent in the X and Y directions) that is substantially equal to the horizontal area (ie, extent in the X and Y directions) of the grid unit.

[0047] Now refer to Figures 5 to 8 One embodiment of the automated storage and retrieval system according to the present invention is discussed in more detail.

[0048] Figures 5 to 7 is a side view of a storage system with storage containers, wherein a container handling vehicle transports a box-shaped measurement unit 501 into the storage system, places the box-shaped measurement unit at a predetermined position within the storage system, and then leaves. The predetermined position is a position where the box-shaped measurement unit 501 can have the greatest effect in detecting anomalies within the storage system. The position can be at a certain height in the storage system (e.g., toward the top portion or upper portion of the storage system or toward the bottom portion or lower portion of the storage system) and / or at a certain distance from other box-shaped measurement units 501 in the storage system (e.g., so that the problem location within the storage system forms a triangle).

[0049] In addition, the location can be to detect specific atmospheric conditions (such as specific gases). Since some of the gases produced by decomposing or rotting food items are lighter than air, and some are heavier than air, the location where the box-shaped measurement unit 501 is placed in order to detect decomposition substances is critical. One gas produced by rotting food is methane. Methane is lighter than air and will therefore move upward. Therefore, the sensor for measuring methane should be placed as high as possible in the storage system. Other gases released during food decay are carbon dioxide and hydrogen sulfide. In these cases, the gas is heavier than air and will gather at the bottom, so the sensors for detecting carbon dioxide and hydrogen sulfide should therefore be placed as low to the ground as possible.

[0050] In addition, since cold air is heavier than warm air, it is beneficial to place the box-shaped measuring unit 501 high or low in the stack of containers according to the content you want to detect. For example, if it is intended to ensure that the storage device does not become too hot, it is critical that the box-shaped measuring unit 501 is placed in the hottest place of the air, that is, on the top of the stack of containers. However, if the present invention is to ensure that the storage device does not become too cold, the box-shaped measuring unit 501 needs to be placed at the bottom of the stack of containers. If it is necessary to ensure that the storage facility is within a certain temperature span, a box-shaped measuring unit 501 can be set on the top of the stack of containers, and a box-shaped measuring unit 501 can be set at the bottom of the stack of containers. In addition, the position can be determined based on the proximity to other box-shaped measuring units 501, so that the exact location of the problem can be better identified or to ensure that the box-shaped measuring unit 501 can communicate with each other using, for example, a short-range radio network (such as Bluetooth).

[0051] The box-shaped measuring unit 501 includes a measuring device. The measuring device can be a temperature sensor, a humidity sensor, a gas detector or any other type of sensor for measuring the atmospheric state around the box-shaped measuring unit 501. The detector can detect evidence of decomposition of perishable items or whether there is a problem with the atmospheric state of the stored items. The sensor can be arranged on one side or multiple sides of the box-shaped measuring unit 501. In a preferred embodiment, a sensor can be arranged on each side of the box-shaped measuring unit 501. This makes it possible to detect on which side of the box-shaped measuring unit 501 there is a sign of a problem with the atmospheric state of the storage system or the items stored in the container. If more than one container is stored in the storage system, the result from a separate box-shaped measuring unit 501 can be used to find out the exact location of the problem in the grid. If two or more box-shaped measuring units 501 can detect, for example, which side of the box there is a specific gas, the central computer system can determine that there is a problem somewhere between the two or more boxes.

[0052] In addition to the measuring equipment, the box-shaped measuring unit 501 also comprises at least one rechargeable power source and at least one form of communication equipment.

[0053] In an alternative solution, the box-shaped measurement unit 501 includes a top portion and a bottom portion. The top portion acts as a cover for the bottom portion. The total size of the top portion and the bottom portion can be the same as the size of a common storage container in a storage system. The top portion can be used as a cover to keep the equipment inside the box safe. In addition, the cover can include a rechargeable power supply to power the equipment in the box-shaped measurement unit 501.

[0054] By having a rechargeable power source in the cover of the box-shaped measuring unit 501, the power source can be changed without having to remove the box-shaped measuring unit 501 from the storage device. The bottom portion of the box-shaped measuring unit 501 can have an auxiliary rechargeable power source, which helps to maintain the operation of the box-shaped measuring unit 501 until a new cover is placed on the bottom portion of the box-shaped measuring unit 501. The top portion and the bottom portion of the box-shaped measuring unit 501 can be held together by a second set of grippers. The second set of grippers makes it possible to lift the top portion and the bottom portion of the box-shaped measuring unit 501 only by connecting the first set of grippers to the top portion. The second set of grippers is arranged in the top portion of the box-shaped measuring unit 501, and they are the same as the first set of grippers on the lifting platform of the container handling vehicle. This ensures that the top portion and the bottom portion of the box-shaped measuring unit 501 can be lifted by a common container handling vehicle without having to add additional equipment for carrying the box-shaped measuring unit 501 to the container handling vehicle.

[0055] Figure 8is a flow chart describing the steps in the process of a preferred embodiment of the present invention. A container handling vehicle places a box-shaped measurement unit 501 in a storage grid. After the box-shaped measurement unit 501 has been placed in the storage grid, it begins to collect information (measurement data) through the measurement equipment set in the box-shaped measurement unit 501. If the box-shaped measurement unit 501 is connected to a network (such as Wi-Fi), the collected information is sent to a computer system. The computer system can be used only to track the measurements of the box-shaped measurement unit 501 and analyze the results. And based on the results, it can instruct the central computer system to perform certain actions, such as searching for containers with potential problems in a certain area of ​​the storage system or warning of temperature rise or drop.

[0056] If the box-shaped measuring unit 501 is not connected to the network, the data can be stored in the data logger in the box-shaped measuring unit 501 and when the box-shaped measuring unit 501 is connected to the network again, it is transferred to the central computer system. If the box-shaped measuring unit 501 is not connected to the network for more than a predetermined period of time, when the lifting platform of the container handling vehicle is attached to the box-shaped measuring unit 501, when the container handling vehicle carries the box-shaped measuring unit 501, the data can be uploaded to the computer system, and the stored measurement data from the measuring equipment can be transferred to the container handling vehicle, which can send it to the computer system again. The lifting platform of the container handling vehicle can have an interface that is connected to the box-shaped measuring unit 501 and can therefore be transferred. The reason why the box-shaped measuring unit 501 is disconnected from the network may be that the transmitter or communication equipment in the box-shaped measuring unit 501 is damaged. If this is the case, the container handling vehicle can transport the box-shaped measuring unit 501 to a service station for repair. In addition, the box-shaped measuring unit 501 includes at least one rechargeable power supply. The rechargeable power supply can be one or more batteries or capacitors.

[0057] When the power supply is low, a message is sent to the central computer system that the battery needs to be charged. The central computer system commands the container handling vehicle to pick up the box-shaped measurement unit 501 and transport it to the charger. After charging is completed, the box-shaped measurement unit is transported back to the storage system.

[0058] If the box-shaped measuring unit 501 consists of a top part and a bottom part, the top part is transported to the charger and a new top part with a fully charged rechargeable power source is placed on the bottom part of the box-shaped measuring unit 501. In this solution, the box-shaped measuring unit 501 does not need to be transported away from its location in the storage facility, and thus it can continuously keep measuring and transmit data. If the box-shaped measuring unit is to be moved to another location in the storage facility, at least one rechargeable power source can be charged via the lifting platform of the container handling vehicle.

[0059] The box-shaped measurement unit 501 may have measurement equipment on all sides. This allows tracking changes in atmospheric conditions on all sides of the box-shaped measurement unit 501. In addition, the exact location where detected signs of item deterioration are present in the storage system can be better pinpointed. If more than one box-shaped measurement unit 501 is present in the storage system, the combined results from all box-shaped measurement units 501 can detect deteriorating items before other items in the storage system are damaged.

[0060] A solution for tracking changes in atmospheric conditions in a storage system is to record the measurement data from the measurement equipment together with a timestamp and transmit the recorded measurement data to a computer system. The timestamp makes it possible to track the development of the measurement data over time. In order to be able to locate the problematic area in the storage system, the ID of the sensor or measurement equipment can also be recorded. The ID of the sensor or measurement equipment makes it possible to determine which box-shaped measurement unit 501 it is, and since the system always knows the position of any box-shaped measurement unit 501 in the system, the position of the spoiled item can be known. In addition, if there is more than one box-shaped measurement unit 501, the combined results of the measurements from all the individual box-shaped measurement units 501 together with the timestamp allow the computer system to determine the exact location of the problem in the system.

[0061] However, in order to get the most accurate possible measurement results, it is important that the system knows the direction in which the box-shaped measuring unit 501 is facing in the storage grid. The ID of the sensor only gives information that there is a problem in the vicinity of the sensor, it does not tell in which direction the sensor is pointing. However, there are several ways that can be used to find out the direction in which the box-shaped measuring unit 501 is facing.

[0062] One way is to monitor the direction in which the box-shaped measuring unit enters the storage system. Since container handling vehicles can only move in two directions and since they cannot turn, the direction of the box-shaped measuring unit will not change as long as the box-shaped measuring unit 501 is in the storage grid. However, if the box-shaped measuring unit 501 is transported out of the storage system, such as when charging or in the case of repairs at a service station, the direction of the box-shaped measuring unit 501 may change, and the direction in which the box-shaped measuring unit 501 enters the storage system must be recorded and entered into the computer system again.

[0063] Another way to know the direction that the box-shaped measuring unit 501 faces is in the form of an ID tag at one end of the storage system. The box-shaped measuring unit 501 has a reader on one side, and if it faces a marker, it can detect the marker, and if the box-shaped measuring unit 501 cannot detect the marker, it faces another direction. Since the container and the box-shaped measuring unit 501 are all rectangular, they can only be stored in two directions. The ID tag, which can be the form of the box-shaped measuring unit 501, can communicate with an RFID tag, for example, that is arranged on a specific position in the storage system. The box-shaped measuring unit 501 can have an RF reader on one side, and whether it gets a result or not, the direction of the box-shaped measuring unit 501 can be determined, because if a result is obtained, the box-shaped measuring unit 501 faces one direction, and if no result is obtained, the box-shaped measuring unit faces another direction.

[0064] Alternatively, in the case where there are regularly spaced box-shaped measurement units 501 in the storage system, it is possible to detect where there is a problem if the sensors in more than one box-shaped measurement unit 501 give a result. If more than one box gives a result, it is not necessary to know the direction of the box-shaped measurement unit 501, because it can be said with certainty that if two box-shaped measurement units 501 placed close together both give an indication, the problem item is somewhere between two or more units.

[0065] In yet another alternative solution, the box-shaped measuring units themselves can communicate with each other using a short-range telecommunications network (e.g., Bluetooth). If one of the box-shaped measuring units gets an indication of something, the box-shaped measuring unit can communicate with the surrounding box-shaped measuring units and tell them to take measurements to see if they get an indication. If one of the surrounding box-shaped measuring units gets an indication, the problem is somewhere between the two box-shaped measuring units. However, this solution requires that a considerable number of box-shaped measuring units 501 be provided in the storage system so that more than one box-shaped measuring unit 501 is required to detect something, and the distances between the box-shaped measuring units 501 must be very close together.

[0066] Reference Numbers List

[0067] ( Figure 1-Figure 7 ):

[0068] 100 Frame structure

[0069] 102 Vertical members of frame structure

[0070] 103 Horizontal members of frame structures

[0071] 104 Storage Grid

[0072] 105 Storage Rows

[0073] 106 Storage Container

[0074] Specific location of 106' storage container

[0075] 107 Stacking

[0076] 108 Track System

[0077] 110 Parallel tracks in the first direction (X)

[0078] 110a The first track in the first direction (X)

[0079] 110b The second track in the first direction (X)

[0080] 111 Parallel tracks in the second direction (Y)

[0081] 111a The first track in the second direction (Y)

[0082] 111b The second track in the second direction (Y)

[0083] 112 Access opening

[0084] 119 First port column

[0085] 120 Second port column

[0086] 201 Prior Art Storage Container Vehicles

[0087] 201a Storage container vehicle body

[0088] 201b Driving device / wheel device in the first direction (X)

[0089] 201c Driving device / wheel device in the second direction (Y)

[0090] 301 Prior Art Cantilever Storage Container Vehicle

[0091] 301a Storage container vehicle body

[0092] 301b driving device in the first direction (X)

[0093] 301c driving device in the second direction (Y)

[0094] X first direction

[0095] Y Second direction

[0096] Z third direction

[0097] 500 Container Handling Platform

[0098] 501 Box Measurement Unit

Claims

1. A measurement system for monitoring at least one atmospheric condition in an automatic storage and retrieval system, the automatic storage and retrieval system comprising a frame structure forming a three-dimensional storage grid structure for storing storage containers for storing items, wherein: The measurement system comprises: at least one box-shaped measurement unit for storing in said three-dimensional storage grid structure, Wherein, the box-shaped measuring unit comprises: a measuring device for measuring said at least one atmospheric condition surrounding said box-shaped measuring unit within said three-dimensional storage grid structure; a transmitter for transmitting measurement data to a computer system; at least one power source; and A data logger for recording said measured data.

2. The measurement system according to claim 1, wherein: The at least one power source is charged via an interface located in a container handling platform of the container handling vehicle.

3. The measurement system according to claim 1, wherein: The measuring equipment is a temperature sensor, a humidity sensor and / or at least one gas detector.

4. The measurement system according to claim 1, wherein: The box-shaped measuring cell has a UVC light source on the bottom that points downwards.

5. The measuring system according to claim 1, wherein: The container handling platform of the container handling vehicle is configured to receive measurement data from the box-shaped measurement unit and transmit the measurement data to the computer system.

6. The measuring system according to claim 1, wherein: The box-shaped measurement unit is adapted to communicate with other box-shaped measurement units in the same automatic storage system.

7. The measurement system according to claim 6, wherein: A plurality of similar box-shaped measurement units are adapted to communicate with each other via a short-range wireless communication network.

8. The measurement system according to claim 6, wherein: The box-shaped measurement unit is adapted to communicate with the computer system using a long-range wireless communication network.

9. The measuring system according to claim 8, wherein: The box-shaped measurement units are configured to transmit measurement data to each other using a short-range wireless network.

10. The measurement system according to claim 1, wherein: The box-shaped measuring cell has one or more measuring devices of the same type on all sides of the box-shaped measuring cell.

11. The measurement system according to claim 1, wherein: The three-dimensional storage grid structure forms vertical storage columns, each vertical storage column having a horizontal area defined by the size of an access opening of the vertical storage column, and wherein a rail system is arranged on the frame structure, the rail system defining the periphery of each access opening on the top of each storage column, the rail system providing an available route for container handling vehicles to carry the storage containers to and from the storage columns, and at least one of the container handling vehicles having at least one rechargeable power source and a container handling platform having a first set of grippers for carrying the storage containers.

12. A method for monitoring at least one atmospheric condition in an automated storage and retrieval system, the automated storage and retrieval system comprising a frame structure forming a three-dimensional storage grid structure for storing storage containers for storing items, wherein: The method comprises the following steps: - placing a box-shaped measurement unit in the three-dimensional storage grid structure, wherein the box-shaped measurement unit comprises: a measuring device for measuring said at least one atmospheric condition around said box-shaped measuring unit, A transmitter for transmitting the measurement data to a computer system, at least one power supply, and a data logger for recording said measurement data; - recording measurement data on the data logger, the measurement data being generated by the measurement equipment located inside the box-shaped measurement unit; and - transmitting said measurement data to said computer system.

13. The method of claim 12, comprising charging the at least one power source of the box-shaped measurement unit via an interface of a container handling platform of a container handling vehicle.

14. The method according to claim 12, comprising a holder remotely controlled by means of the computer system and comprised in the cover of the box-shaped unit.

15. The method of claim 14, comprising directing power from a backup power supply to the measurement equipment of the box-shaped measurement unit when the cover is removed.

16. The method of claim 12, comprising transferring the measurement data from the box-shaped measurement unit to the container handling vehicle by means of a first set of grippers of a container handling platform of the container handling vehicle.

17. A measurement system for monitoring an automatic storage and retrieval system, the automatic storage and retrieval system comprising a frame structure forming a three-dimensional storage grid structure for storing storage containers for storing items, wherein: The measurement system comprises: at least one box-shaped measurement unit for storing in said three-dimensional storage grid structure, Wherein, the box-shaped measuring unit comprises: a measuring device for measuring the state in the three-dimensional storage grid structure; a transmitter for transmitting measurement data to a computer system; at least one power source; and A data logger for recording said measured data.

18. The measurement system according to claim 17, wherein: The at least one box-shaped measuring unit is used to detect anomalies within the storage and retrieval system.

19. The measurement system according to claim 17, wherein: The measuring equipment is a temperature sensor, a humidity sensor and / or at least one gas detector.

20. The measurement system of claim 17, wherein: The at least one box-shaped measuring unit is located at a predetermined position within the storage and retrieval system to measure a state at the predetermined position.

21. The measurement system according to claim 20, wherein: The predetermined position is located at an upper portion of the storage and retrieval system.

22. The measurement system of claim 20, wherein: The predetermined position is located in the lower part of the storage and retrieval system.

23. The measurement system of claim 17, comprising a plurality of box-shaped measurement cells, the plurality of box-shaped measurement cells including the at least one box-shaped measurement cell, wherein: The box-shaped measuring unit is positioned to triangulate problematic locations within the storage and retrieval system.

24. A method for monitoring an automated storage and retrieval system, the storage and retrieval system comprising a frame structure forming a three-dimensional storage grid structure for storing storage containers for storing items, wherein: The method comprises the following steps: - placing a box-shaped measurement unit in the three-dimensional storage grid structure, wherein the box-shaped measurement unit comprises: a measuring device for measuring the state in the three-dimensional storage grid structure, A transmitter for transmitting the measurement data to a computer system, at least one power supply, and a data logger for recording said measurement data; - recording measurement data on the data logger, the measurement data being generated by the measurement equipment located inside the box-shaped measurement unit; and - transmitting said measurement data to said computer system.

25. The method according to claim 24, wherein: Placing the box-shaped measurement unit in the three-dimensional storage grid structure includes placing the box-shaped measurement unit in an upper portion of the storage and retrieval system.

26. The method according to claim 24, wherein: Placing the box-shaped measurement unit in the three-dimensional storage grid structure includes placing the box-shaped measurement unit in a lower portion of the storage and retrieval system.

27. The method according to claim 24, wherein: The measuring equipment is a temperature sensor, a humidity sensor, a gas detector for detecting gases lighter than air and / or a gas detector for detecting gases heavier than air.

28. The method of claim 24, wherein: Placing a box-shaped measurement unit in the three-dimensional storage grid structure includes placing a plurality of box-shaped measurement units including the box-shaped measurement unit into position to triangulate problematic locations within the storage and retrieval system.

29. A measurement system for monitoring an automated storage and retrieval system, the storage and retrieval system comprising a frame structure forming a three-dimensional storage grid structure for storing storage containers for storing items, wherein: The measurement system comprises: at least one box-shaped measurement unit for storing in said three-dimensional storage grid structure, Wherein, the box-shaped measuring unit comprises: a measuring device for measuring a state in the three-dimensional storage grid structure; a transmitter for transmitting measurement data to a computer system; at least one power source; a data logger for recording said measurement data; and An RFID reader located on at least one side is used to read an RFID tag placed at a specific position in the storage and retrieval system to determine the orientation of the box-shaped measuring unit.

30. A measurement system for monitoring an automatic storage and retrieval system, the automatic storage and retrieval system comprising a frame structure forming a three-dimensional storage grid structure for storing storage containers for storing items, wherein: The measurement system comprises: at least one box-shaped measurement unit for storing in said three-dimensional storage grid structure, Wherein, the box-shaped measuring unit comprises: box; build; a measuring device for measuring a state in the three-dimensional storage grid structure; a transmitter for transmitting measurement data to a computer system; at least one power source; and A data logger for recording said measured data.

31. The measurement system of claim 30, wherein: The cover and the box of the box-shaped measuring unit are held together by a set of clamps.

32. The measurement system of claim 31, wherein: The set of grippers of the box-shaped measurement unit is remotely controlled by the computer system.

33. The measurement system of claim 31, wherein: The set of grippers is mounted to the cover of the box-shaped measurement cell.

34. The measurement system of claim 30, wherein: The cover and the box of the box-shaped measurement unit include electrical connections for transferring power between the cover and the box.

35. The measurement system of claim 30, wherein: The main rechargeable power source of the box-shaped measuring unit is arranged in the cover of the box-shaped measuring unit.

36. The measurement system of claim 34, further comprising a backup rechargeable power source disposed inside the box-shaped measurement unit.

37. The measurement system of claim 36, wherein: The backup power supply is adapted to provide power to the measuring equipment of the box-shaped measuring unit.

38. The measurement system of claim 30, wherein: The cover can be lifted by a container handling vehicle of the automated storage and retrieval system, and wherein the box can be lifted by a container handling vehicle of the automated storage and retrieval system directly or via the cover.

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