System and method for performing measurements in storage container

Abstract

The invention discloses a system and method for performing measurements in a storage container. The storage containers are stored in an automated storage system, the automated storage system comprising a frame structure forming a three-dimensional storage grid structure for storing the storage containers, the grid structure forming vertical storage columns having identical horizontal areas defined by the dimensions of access openings of the vertical storage columns, a track system disposed on the frame structure defines the perimeter of each access opening at the top of each storage row, the track system providing an available route for container handling vehicles to load and transport storage containers into and out of the storage row, each vehicle including a vehicle controller in communication with a central computer controlling the operation of the storage system, in the system, a container handling platform of a container handling vehicle includes a measuring device that performs measurements in a container, and also includes a communication device that communicates the measured data to a central computer.

Description

[0001] This application is a divisional application. The application number of the parent application is 202180011379.4, the application date is January 27, 2021, and the name of the invention is "System and method for performing measurements in storage containers." Technical Field

[0002] The present invention relates to a system and method for performing measurements in an automated warehousing system, and more particularly, to a system and method for performing measurements while a container handling vehicle is loading and unloading a container. Background Art

[0003] Figure 1 A typical prior art automated storage and retrieval system 1 having a frame structure 100 is disclosed. 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 the storage columns 105 store storage containers 106, also referred to as boxes, which are stacked in sequence 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 the storage grid 104 generally does not otherwise support the storage containers 106 when they are stacked.

[0006] The automated storage and retrieval system 1 includes a rail system 108, which is arranged in a grid-like manner across the top of the storage grid 104, and a plurality of container handling vehicles 201, 301 are operated on the rail system 108 to lift and lower storage containers 106 into and out of the storage rows 105, and to transport storage containers 106 over the storage rows 105. The rail system 108 includes a first set of parallel rails 110, which are arranged to guide the container handling vehicles 201, 301 to move across the top of the frame structure 100 in a first direction X, and a second set of parallel rails 111, which are 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 over which the container handling vehicles 201 , 301 can move transversely on the storage row 105 , ie in a plane parallel to the horizontal XY plane.

[0007] Each prior art container handling vehicle 201, 301 comprises a vehicle body 201a, 301a, and a first set of wheels 201b, 301b and a second set of wheels 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 The two wheels of each set are fully visible. The first set of wheels 201b, 301b is arranged to engage with two adjacent tracks of the first set of tracks 110, and the second set of wheels 201c, 301c is arranged to engage with two adjacent tracks of 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, 301c can engage with the corresponding set of tracks 110, 111 at any one time.

[0008] Each prior art container handling vehicle 201, 301 further includes a container handling platform 401 (not shown) for vertically transporting storage containers 106, such as lifting storage containers 106 from storage rows 105 and lowering storage containers 106 into storage rows 105. The container handling platform 401 includes one or more gripping / engaging devices (not shown) adapted to engage storage containers 106, and the gripping / engaging devices can be lowered from the vehicle 201, 301 such that the position of the gripping / engaging devices 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 chamber or storage space for receiving and storing a storage container 106 when transporting the storage container 106 across the rail system 108. The storage space may include a central cavity disposed within the vehicle body 201a, as Figure 2 shown and, for example, as described in WO2015 / 193278A1, the content of which is incorporated herein by reference.

[0010] Figure 3 An alternative configuration of the container handling vehicles 201, 301 with a cantilever structure is shown. Such vehicles are described in detail, for example, in NO317366, the content of which is also incorporated herein by reference.

[0011] Figure 2 The central cavity container handling vehicle 201 shown in may have a coverage area that covers an area dimensioned in the X and Y directions generally equal to the lateral extent of the grid column 112, i.e., the extent of the grid column 112 in the X and Y directions, for example, as described in WO2015 / 193278A1, the content of which is incorporated herein by reference. The term "lateral" as used herein may refer to "horizontal".

[0012] Alternatively, the central cavity container handling vehicle 101 may have a coverage area greater than the lateral area defined by the grid column 112, for example, as disclosed in WO2014 / 090684A1.

[0013] In the X and Y directions, adjacent grid cells are arranged to be in contact with each other such that there is no space between them.

[0014] In the storage grid 104, most of the grid columns 112 are storage columns 105, i.e., storage containers 106 are stored in the grid columns 105 in the stacks 107. However, the grid 104 typically has at least one grid column 112 that is not used to store storage containers 106, but rather includes a location for a container handling vehicle 201, 301 to unload and / or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside the grid 104 or 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 a random or dedicated grid column 112 within the storage grid 104 and then picked up by any container handling vehicle 201, 301 and transported to a port 119, 120 for further transport to a storage and retrieval station. Note that the term "inclined" refers to a general direction of transport for the storage containers 106 that is somewhere between horizontal and vertical.

[0015] When you want to access the Figure 1104, one of the container handling vehicles 201, 301 is instructed to retrieve the target storage container 106 from its position in the grid 104 and deliver it to the unloading port 119. This operation includes moving the container handling vehicle 201, 301 to a grid position above the storage row 105 in which the target storage container 106 is located, retrieving the storage container 106 from the storage row 105 using the container handling platform 401 (not shown) of the container handling vehicle 201, 301, and delivering the storage container 106 to the unloading port 119. If the target storage container 106 is located deep in the stack 107, that is, 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 row 105. This step, sometimes referred to in the art as "digging," may be performed with the same container handling vehicle 201, 301 that is subsequently used to deliver the target storage container 106 to the discharge port 119, or with one or more other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have a container handling vehicle dedicated to the task of temporarily removing a storage container 106 from a storage row 105. Once the target storage container 106 has been removed from a storage row 105, the temporarily removed storage container 106 may be relocated to the original storage row 105. Alternatively, however, the removed storage container 106 may be relocated to another storage row.

[0016] When storage containers 106 are stored in the grid 104, one of the container handling vehicles 201, 301 is instructed to pick up the storage container 106 from the loading port 120 and transport it to a grid position above the storage row 105 in which the storage container 106 is to be stored. The container handling vehicle 201, 301 positions the storage container 106 at the desired location after removing any storage container 106 located at or above the target location within the storage row stack 107. The removed storage container 106 can then be dropped back into the storage row 105 or relocated to another storage row.

[0017] A problem with prior art solutions is that if there are perishable items in storage, it is necessary to measure the freshness of the product and the condition in which the items are stored. However, it is a problem to obtain accurate readings of the items without resorting to expensive solutions requiring expensive equipment or extensive reconstruction. Therefore, the object of the present invention is to solve the above mentioned problem. Summary of the invention

[0018] The invention is set forth and characterized in the independent claims, while the dependent claims describe further characteristics of the invention.

[0019] In one aspect, the present invention relates to a system for performing measurements in storage containers for storing items, the storage containers being stored in an automated storage system, the automated storage system comprising a frame structure forming a three-dimensional storage grid structure for storing the storage containers, wherein the grid structure forms vertical storage columns, each vertical storage column having a horizontal area defined by the size of an access opening to the vertical storage columns between rails leading to a rail system, and the rail system being disposed on top of the frame structure, the rail system providing an available route for container loading and unloading vehicles to load and unload and transport storage containers in and out of the storage columns, each vehicle comprising a vehicle controller communicating with a central computer system for controlling the operation of the storage system, and wherein the system further comprises a container loading and unloading platform for the container loading and unloading vehicles, the container loading and unloading platform comprising a measuring device configured to perform measurements in the container, and further comprising a communication device configured to transmit the measurement data to the computer system.

[0020] Furthermore, the central computer system or the environmental atmosphere control system or the container handling vehicle has a computer system configured to analyze the measurements and compare them to one or more predefined threshold levels representing acceptable temperature, humidity, gas and visual appearance, and the central computer system is configured to store the measurements together with the ID of the container.

[0021] Furthermore, the container loading platform is connected to the container loading vehicle by belts which are controlled so that the container loading platform can be raised and lowered by a motor, wherein the ropes, belts or wires for raising and lowering the container loading platform include wires for transmitting power and achieving communication between the container loading platform and the container loading vehicle.

[0022] The container loading and unloading platform includes a temperature measuring device, a humidity detector, a gas detector and a camera, and the container loading and unloading platform includes a UV light source for killing bacteria and mold on the surface of items in the container, and the container loading and unloading platform includes a UV light source for detecting bacteria and mold on the surface of items in the container.

[0023] Furthermore, the container handling platform comprises at least one rechargeable power source to power the measuring device, and wherein the container handling platform and the container handling vehicle comprise optical communication equipment for transmitting data therebetween.

[0024] A container loading and unloading vehicle for loading and unloading containers for storing items, the storage containers being stored in an automated storage system, the automated storage system comprising a frame structure forming a three-dimensional storage grid structure for storing storage containers, wherein the 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 columns between rails leading to a rail system, and wherein the rail system is disposed on top of the frame structure, the rail system providing an available route for the container loading and unloading vehicle to load and unload and transport storage containers in and out of the storage columns, each vehicle comprising a vehicle controller communicating with a central computer system for controlling the operation of the storage system, wherein the container loading and unloading platform of the container loading and unloading vehicle comprises a measuring device configured to perform measurements in the container, and the container loading and unloading platform further comprises a communication device configured to transmit the measurement data to the computer system.

[0025] A method for performing measurements in a storage container for storing items, the storage containers being stored in an automated storage system, the automated storage system comprising a frame structure forming a three-dimensional storage grid structure for storing the storage containers, wherein the grid structure forms vertical storage columns, each vertical storage column having a horizontal area defined by the size of an access opening to the vertical storage columns between rails leading to a rail system, and wherein the rail system is disposed on top of the frame structure, the rail system providing an available route for container handling vehicles to load and unload and transport storage containers in and out of the storage columns, each vehicle comprising a vehicle controller that communicates with a central computer system that controls the operation of the storage system, and wherein the method comprises the following steps: loading and unloading containers using a container loading and unloading platform of a container handling vehicle, performing measurements in the container using equipment attached to the container loading and unloading platform, transmitting measurement data to the central computer system, analyzing the transmitted measurement data, instructing the container handling vehicle to transport the container to a predetermined destination depending on the analysis results, and transporting the container to a next destination using the container handling vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] It should be understood that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

[0027] Figure 1 It is a perspective view of the framework structure of the prior art automated storage and retrieval system.

[0028] Figure 2 is a perspective view of a prior art container handling vehicle having a centrally disposed cavity for carrying a storage container therein.

[0029] Figure 3is a perspective view of a prior art container handling vehicle having a cantilever for carrying a storage container underneath.

[0030] Figure 4 is a side view of a container handling vehicle having a cantilever solution for carrying containers using its container handling platform.

[0031] Figure 5 is a side view of a container handling vehicle having a central cavity solution for carrying containers using its container handling platform.

[0032] Figure 6 is a side view of a container handling vehicle with a cantilever solution, showing the container handling platform in detail.

[0033] Figure 7 is a side view of a container handling vehicle with a central cavity solution, with its container handling platform shown in detail.

[0034] Figure 8 is a side view of an alternative embodiment of the present invention in which the container handling platform is powered and communicates via wires embedded in the wires, straps or ropes used to raise and lower the container handling platform.

[0035] Fig. 9 is a side view of an alternative embodiment of the present invention in which the container handling platform is powered and communicates via wires embedded in the wires, straps or ropes used to raise and lower the container handling platform.

[0036] Fig.10 is a side view of a container handling vehicle having a container handling platform including an extendable probe having a sensor at a lowermost end which can be lowered into a container.

[0037] Fig.11A and Fig. 11B are top and side views of a container having a passage therein, wherein a probe having a sensor at the lowermost end can be lowered into the bottom of the container without the contents of the container obstructing the probe. DETAILED DESCRIPTION

[0038] 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.

[0039] The framework structure 100 of the automated storage and retrieval system 1 is based on the above combination Figure 1 The frame structure 100 of the prior art is constructed of a plurality of vertical members 102 and a plurality of horizontal members 103 supported by the vertical members 102 , and the frame structure 100 further includes a first upper rail system 108 along the X direction and the Y direction.

[0040] The frame structure 100 further comprises a storage compartment in the form of a storage row 105 arranged between the components 102 , 103 , wherein storage containers 106 can be stacked in the storage row 105 to form a stack 107 .

[0041] The frame structure 100 may be of any size. In particular, it will be appreciated that the frame structure may be larger than Figure 1 The structures disclosed in the invention are much wider and / or longer and / or deeper. For example, the frame structure 100 may have a horizontal extent of greater than 700×700 rows and a storage depth of greater than 12 containers.

[0042] The container handling vehicle has a lifting frame for holding the container when the container handling vehicle loads and unloads the container. The lifting frame can be a container loading and unloading platform 401, which in addition to holding the container also serves as a cover covering the top of the container.

[0043] Figure 2 An alternative to the container handling vehicle 201 with a central cavity solution.

[0044] Figure 3 An alternative configuration of a container handling vehicle 301 having a cantilever structure is shown.

[0045] Figure 4 : is a side view of a container handling vehicle 201, 301 with a cantilever solution, which carries a container using its container handling platform 401. The container handling platform 401 of the container handling vehicle 201, 301 uses a pair of grippers to hold the container in place. The lifting and lowering of the grippers and the container handling platform 401 are controlled by a central computer system.

[0046] Figure 5 It is a side view of a container handling vehicle 201, 301 with a central cavity solution, carrying a container using its container handling platform 401. The container handling platform 401 of the container handling vehicle 201, 301 uses a pair of grippers to hold the container in place. The lifting and lowering of the grippers and the container handling platform 401 are controlled by a central computer system.

[0047] Figure 6 is a side view of a container handling vehicle 201, 301 with a cantilever solution, in which a container loading platform 401 according to an embodiment of the present invention is shown in detail. In this solution, wireless communication is used for communication between the container handling vehicle 201, 301 and the container loading platform 401 of the container handling vehicle 201, 301. This can be in the form of a short-range radio communication network, such as Or Zigbee, or it can be a long-distance radio communication network such as Wi-Fi, or it can be optical communication such as Li-Fi. The central computer system tells the container loading and unloading platform 401 when to grab and when to release. In addition to the command, the computer system on the container handling vehicle 201, 301 tells the container loading and unloading platform 401 when to start performing measurements. The results of the measurements are transmitted back to the computer system on the container handling vehicle. The container handling vehicle 201, 301 also transmits information to the computer system, which stores and analyzes information from all container handling vehicles. The computer system makes decisions based on the analyzed information from the container handling vehicles. These decisions are transmitted to the central computer system, which again notifies the container handling vehicles. In an alternative, all information is transmitted to the central computer system and all analysis is performed at the central computer system.

[0048] exist Figure 6 In the embodiment, there is a container loading and unloading vehicle 201, 301 with a cantilever solution. In this solution, the container 106 is lifted near the body of the container loading and unloading vehicle. The container loading and unloading platform 401 of this solution is attached to the container loading and unloading vehicle 201, 301 by a set of belts, wires, ropes or belts 402. These belts, wires, ropes or belts 402 are attached to the motor. This ensures the lifting and lowering of the container loading and unloading platform 401. The container loading and unloading platform 401 includes a set of grippers for gripping the container 106. In addition, measuring devices 607, 608, 609 such as temperature measuring devices, humidity detectors, gas detectors and cameras are attached to the container loading and unloading platform 401. At each corner of the container loading and unloading platform 401, there are guide rods. These guide rods are used to correctly position the lifting frame to lift the container 106. On the upper side of the container loading and unloading platform 401, there are two charging points for charging the rechargeable power supply in the container loading and unloading platform 401. In addition to this there is a transmitter for sending the measurements to the container handling vehicle from the container loading platform 401. The rechargeable power supply powers the measuring devices 607, 608, 609, the gripper, the transmitter device and optionally a UV light source for killing bacteria and mold on the surface of the items.

[0049] When the container loading platform 401 is in its uppermost position, the rechargeable power source on the container loading platform 401 is charged by at least one rechargeable power source of the container loading vehicle.

[0050] Figure 7is a side view of a container handling vehicle 201, 301 with a central cavity solution, in which a container loading platform 401 according to an embodiment of the present invention is shown in detail. In this solution, wireless communication is used for communication between the container handling vehicle 201, 301 and the container loading platform 401 of the container handling vehicle 201, 301. This may be in the form of a short-range radio communication network, such as Or Zigbee, or it may be a long-distance radio communication network such as Wi-Fi, or it may be optical communication such as Li-Fi. The computer system on the container handling vehicle 201, 301 tells the container handling platform 401 when to grab and when to release. In addition to the command, the computer system on the container handling vehicle 201, 301 tells the container handling platform 401 when to start performing measurements. The results of the measurements are transmitted back to the computer system on the container handling vehicle. The container handling vehicle 201, 301 further transmits the information to the computer system, which stores and analyzes the information from all container handling vehicles. The computer system makes decisions based on the analyzed information from the container handling vehicles. These decisions are transmitted to the central computer system, which again notifies the container handling vehicles. In an alternative, all information is transmitted to the central computer system, and all analysis is performed at the central computer system.

[0051] In the accompanying drawings, there is a container handling vehicle 201, 301 with a central cavity solution. In this solution, the container 106 is lifted into the central cavity of the body of the container handling vehicle. The container loading platform 401 of this solution is attached to the container handling vehicle 201, 301 by a set of wires, ropes or belts 402. These wires, ropes or belts 402 are attached to rollers driven by motors. Coordinated winding and unwinding ensure the lifting and lowering of the container loading platform 401 in a horizontal configuration. The container loading platform 401 includes a set of grippers for gripping the container 106. In addition, there are measuring devices 607, 608, 609 attached to the container loading platform 401. At each corner of the container loading platform 401, there are guide rods. These guide rods are used to correctly position the lifting frame to lift the container. On the upper side of the container loading platform 401, there are two electrodes 601 for charging the rechargeable power source in or on the container loading platform 401. In addition to this there is a transmitter for sending the measurements to the container handling vehicle from the container loading platform 401. The rechargeable power supply powers the measuring devices 607, 608, 609, the gripper, the transmitter device and optionally a UV light source for killing bacteria and mold on the surface of the items.

[0052] Figure 84 is a side view of an alternative embodiment of the present invention, in which the container loading and unloading platform 401 is powered and communicated through wires 610 embedded in the wires, belts or ropes used for lifting 402. These wires 610 can be data wires that can be used to power the grippers and measuring devices 607, 608, 609 and can also be used to transmit data from and to the grippers and measuring devices 607, 608, 609.

[0053] The central computer system tells the container handling platform 401 when to grab and when to release. In addition to the command, the central computer system tells the container handling platform 401 when to start performing measurements. The results of the measurements are transmitted back to a specific computer system or central computer system. The wires, ropes or straps 402 that connect the container handling vehicle to the container handling platform 401 have wires 610 embedded in them for transmitting information and distributing power in order to perform all tasks.

[0054] The container handling vehicles 201, 301 transmit the measurement data to a computer system that stores and analyzes information from all container handling vehicles. The computer system makes decisions based on the analyzed information from the container handling vehicles. These decisions are transmitted to the central computer system, which again informs the container handling vehicles. These decisions can be where to transport the container 106. If the container items in the container 106 are damaged, the container 106 is transported to an area where the damaged items can be properly handled. If the items are fine, they are transported back to the storage grid or to a port for further distribution. Optionally, the decision can be to use UV light to kill bacteria and mold. In an alternative, all information is transmitted to the central computer system and all analysis is performed at the central computer system.

[0055] exist Figure 8In the embodiment, there is a container handling vehicle 201, 301 with a cantilever solution. The body of the container handling vehicle 201, 301 includes all the equipment required for the container handling vehicle 201, 301 to operate on the storage system. The container loading platform 401 of this solution is attached to the container loading vehicle 201, 301 by a set of belts, wires, ropes or belts 402. These belts, wires, ropes or belts 402 are attached to the motor. This ensures the lifting and lowering of the container loading platform 401. The container loading platform 401 includes a set of grippers for gripping the container 106. In addition, there are measuring devices 607, 608, 609 attached to the container loading platform 401. At each corner of the container loading platform 401, there are guide rods. These guide rods are used to correctly position the lifting frame to lift the container 106. On the upper side of the container loading platform 401, there are two electrodes 601 for charging the rechargeable power supply in the container loading platform 401. In addition to this there is a transmitter for sending the measurements to the container handling vehicle from the container loading platform 401. The rechargeable power supply powers the measuring devices 607, 608, 609, the gripper, the transmitter device and optionally a UV light source for killing bacteria and mold on the surface of the items.

[0056] Fig. 9 is a side view of another alternative embodiment of the present invention, in which the container handling platform 401 is powered and communicates via wires 610 embedded in the wires, straps or ropes 402 that raise and lower the container handling platform 401. These wires 610 can be data wires used both to power the grippers and measuring devices 607, 608, 609 and to transmit data to and from the grippers and measuring devices 607, 608, 609.

[0057] The computer system on the container handling vehicle 201, 301 tells the container handling platform 401 when to grab and when to release. In addition to the command, the computer system on the container handling vehicle 201, 301 tells the container handling platform 401 when to start performing measurements. The measurement structure is transmitted back to the computer system on the container handling vehicle. The lines from the container handling vehicle and the container handling platform 401 are embedded with lines for both transmitting information and distributing power in order to perform all tasks.

[0058] The container handling vehicles 201, 301 transmit information to a computer system that stores and analyzes information from all container handling vehicles. The computer system makes decisions based on the analyzed information from the container handling vehicles. These decisions are transmitted to a central computer system, which again informs the container handling vehicles. In an alternative, all information is transmitted to a central computer system and all analysis is performed at the central computer system.

[0059] exist Fig. 9 In the embodiment, there is a container handling vehicle 201, 301 with a cantilever solution. The body of the container handling vehicle 201, 301 includes all the equipment required for the container handling vehicle 201, 301 to operate in the storage system. The container loading platform 401 of this solution is attached to the container loading vehicle 201, 301 by a set of belts, wires, ropes or belts 402. These belts, wires, ropes or belts 402 are attached to the motor. This ensures the lifting and lowering of the container loading platform 401. The container loading platform 401 includes a set of grippers for gripping the container 106. In addition, there are measuring devices 607, 608, 609 attached to the container loading platform 401. At each corner of the container loading platform 401, there are guide rods. These guide rods are used to correctly position the lifting frame to lift the container 106. On the upper side of the container loading platform 401, there are two electrodes 601 for charging the rechargeable power supply in the container loading platform 401. In addition to this there is a transmitter for sending the measurements to the container handling vehicle from the container loading platform 401. The rechargeable power supply powers the measuring devices 607, 608, 609, the gripper, the transmitter device and optionally a UV light source for killing bacteria and mold on the surface of the items.

[0060] In a preferred embodiment of the present invention, the container loading platform 401 includes at least one sensor. At least one sensor can be used to measure the temperature in the container 106, and in addition, the sensor can be used to detect the presence of gases released during food decay. This gas can be methane. Other gases released during food decay are carbon dioxide and hydrogen sulfide. In the case of carbon dioxide and hydrogen sulfide, they are heavier than air and will therefore accumulate at the bottom of the container 106. Therefore, sensors for sensing carbon dioxide and hydrogen sulfide can be attached to the probe 1001 that is lowered into the container 106. Alternatively, there can be holes in the side or bottom of the container 106, and the sensors can be inserted into these holes. In another scheme, there can be slits or channels, for example along the edge of the container 106, where the probe 1001 can be lowered into the bottom of the container 106, and the contents of the container 106 will not hinder the probe 1001. In addition, there can be a detector to detect humidity. The presence of moisture is due to the fact that during the decomposition of the food, the cells of the food are destroyed and the liquid in the cells leaks out.

[0061] The other measuring devices 607, 608, 609 may be cameras. The camera may take pictures of the observation container 106 in order to detect if there are any signs of food decomposition. The camera may be a normal camera that takes color images in order to detect if there are spots on the food. For example, brown spots on bananas, or surface discoloration due to mold. Alternatively, a camera that takes images using ultraviolet light may be used to detect mold. It is also possible to use UV light to kill bacteria on food. There is also the possibility of using UV light to kill mold. Therefore, the container loading and unloading platform 401 may have a UV light source that can be used to detect the decomposition of food and to kill bacteria and mold on food and in the container 106. The difference between using a UV light source to detect decay and kill bacteria and mold is the wavelength of the light and the power of the light source. UVC light in the range of 280nm to 100nm is used to kill bacteria and mold. To achieve the desired effect, the area only needs to be exposed for a few seconds at a distance of a few centimeters. For example, exposure for about 10 seconds at a distance of about 25cm to 30cm. It should be understood that this is an example of distance and exposure time, and variations in time and distance will be apparent to those skilled in the art. However, the longer an area is exposed to UVC light, the more effective it is and will kill more types of bacteria and mold. In one embodiment of the present invention, the contents of container 106 may be exposed to UV light as long as container 106 is carried by a container handling vehicle.

[0062] Black light can be used to detect attenuation. Black light uses UVA light with a wavelength of 315nm to 400nm. When bacteria and mold are exposed to black light, the bacteria and mold will glow on the image.

[0063] Fig.101 is a side view of a container handling vehicle 201, 301 having a container loading platform 401 including an extendable probe 1001. At the lowermost end of the extendable probe 1001 there is a sensor. The sensor can be used to detect carbon dioxide and hydrogen sulfide. When a container 106 is attached to the container loading platform 401, the probe 1001 is lowered into the container 106. The sensor detects whether carbon dioxide or hydrogen sulfide is present in the container 106. The measurement data is sent to a computer system for analysis. The result of the analysis gives an indication of the state of the contents in the container 106. Depending on the quality of the contents, the container 106 is either transported for proper disposal or transported back to a storage grid or port for further distribution.

[0064] Fig.11A and Fig. 11B 1001 . The following are top and side views of a container 106 having a passage in the container 106 with a sensor at the lowermost end of a probe 1001 that can be lowered into the bottom of the container 106 without the contents of the container 106 obstructing the probe 1001. The passage can be in the form of a cylinder with an opening at either end. The lowermost end of the cylinder 1101 is placed at a distance from the bottom of the container 106. The distance is at least sufficient to ensure that the sensor at the lower end of the probe 1001 can protrude further downward than the lowermost end of the cylinder 1101.

[0065] When the container loading platform 401 is connected to the slot 1102 of the container 106, the probe 1001 is lowered into the cylinder 1101 and the sensor performs measurements. Data from the measurements are transmitted from the container loading platform 401 to the container loading vehicle. In a preferred embodiment, data from the measurements are transmitted from the container loading vehicle 201, 301 to a computer system. In an alternative embodiment of the invention, a computer system on the container loading vehicle 201, 301 performs an analysis of the measurement data and transmits the analysis results to a central computer system.

[0066] Reference Number List

[0067] Prior art ( Figure 1 to 1 1):

[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 Column

[0073] 106 Storage Containers

[0074] Specific location of 106' storage container

[0075] 107 Stack

[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 Drive equipment / wheel setting, first direction (X)

[0089] 201c Drive equipment / wheel setting, second direction (Y)

[0090] 301 Prior Art Cantilevered Storage Container Vehicle

[0091] 301a The body of the storage container vehicle 101

[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] 401 Container loading and unloading platform

[0098] 402 straps, wires or ropes for lifting and lowering containers 601 electrodes for assisting in charging the rechargeable power source

[0099] 602 transceiver

[0100] 603 Electrode for auxiliary power charging

[0101] 604 Transceiver

[0102] 605 Guide pin

[0103] 606 Gripper Element

[0104] 607 Measuring equipment

[0105] 608 Measuring equipment

[0106] 609 Measuring equipment

[0107] 610 Wires that provide power and information to container loading and unloading platforms.

[0108] 1001 Probe descends into container.

[0109] 1101 is used to guide the probe into the cylinder at the bottom of the container.

[0110] 1102 A gripping element of a container loading and unloading platform grips a slot of a container.

Claims

1. A system for performing measurements in a storage container (106) for storing items, the system comprising container handling vehicles (201) for loading and unloading and transporting the storage containers (106) into and out of a storage train (105), each container handling vehicle (201) comprising a vehicle controller, the vehicle controller communicating with a central computer system controlling the operation of the storage system, and in, A container loading platform (401) of a container loading vehicle (201, 301) comprises a measuring device configured to perform at least temperature measurements in a container, and the container loading platform further comprises a communication device configured to transmit the measurement data to a computer system.

2. The system according to claim 1, in, The storage containers (106) are capable of being stored in an automated storage system, the automated storage system comprising a frame structure (100), the frame structure (100) forming a three-dimensional storage grid structure (104) for storing the storage containers (106), wherein the three-dimensional storage grid structure (104) forms vertical storage rows (105), each of the vertical storage rows (105) having a horizontal area, the horizontal area being defined by the size of an access opening of the vertical storage row (105) between rails leading to a rail system, and wherein the rail system (108) is disposed on top of the frame structure (100), the rail system (108) providing a usable route for container loading and unloading vehicles (201) to load and unload and transport the storage containers (106) in and out of the storage rows (105).

3. A system according to claim 1 or claim 2, in, The central computer system is configured to analyze the measurements and compare the measurements to one or more predefined threshold levels indicative of acceptable temperature, humidity, gas, and visual appearance.

4. A system according to claim 1 or claim 2, in, The environmental atmosphere control system is configured to analyze the measurements and compare the measurements to one or more predefined threshold levels indicative of acceptable temperature, humidity, gas, and visual appearance.

5. A system according to claim 1 or claim 2, in, The container handling vehicle (201, 301) has a computer system configured to analyze the measurements and compare them to one or more predefined threshold levels indicative of acceptable temperature, humidity, gas, and visual appearance.

6. The system according to claim 1 or 2, in, The central computer system is configured to store the measured values ​​together with the ID of the storage container (106).

7. The system according to claim 1 or 2, in, The container loading and unloading platform (401) is connected to the container loading and unloading vehicle (201, 301) via a belt (402), and the belt (402) enables the container loading and unloading platform to be raised and lowered by a motor.

8. The system according to claim 7, in, The rope, belt or wire used to raise and lower the container loading and unloading platform (401) comprises an electric wire (610), and the electric wire (610) is used to transmit electricity between the container loading and unloading platform (401) and the container loading and unloading vehicle (201, 301), and realize communication between the container loading and unloading platform (401) and the container loading and unloading vehicle (201, 301).

9. The system according to claim 1 or 2, in, The container loading and unloading platform (401) includes a humidity detector, a gas detector and a camera.

10. The system according to claim 1 or 2, in, The container loading and unloading platform (401) comprises a UV light source, and the UV light source is used to kill bacteria and mold on the surface of items in the container.

11. The system according to claim 1 or 2, in, The container loading and unloading platform (401) comprises a UV light source, and the UV light source is used to detect bacteria and mold on the surface of items in the container.

12. The system according to claim 1 or 2, in, The container loading and unloading platform (401) comprises at least one rechargeable power source, which is used to power the measuring equipment (607, 608, 609).

13. The system according to claim 1 or 2, in, The container loading and unloading platform (401) and the container loading and unloading vehicle (201, 301) comprise optical communication equipment for transmitting data between the container loading and unloading platform (401) and the container loading and unloading vehicle (201, 301).

14. A container handling vehicle (201, 301) for loading and unloading storage containers for storing items, the container handling vehicle (201) comprising a vehicle controller that communicates with a central computer system that controls the operation of a storage system, and in, The container handling vehicle further comprises a container handling platform (401), the container handling platform comprising a measuring device configured to perform at least temperature measurements in the storage container, and the container handling vehicle further comprises a communication device configured to transmit the measurement data to the computer system.

15. The container handling vehicle according to claim 14, in, The container loading and unloading vehicle is used for loading and unloading storage containers (106) that can be stored in an automated storage system, wherein the automated storage system includes a frame structure (100), wherein the frame structure (100) forms a three-dimensional storage grid structure (104) for storing the storage containers (106), wherein the three-dimensional storage grid structure (104) forms vertical storage columns (105), each of the vertical storage columns (105) having a horizontal area, wherein the horizontal area is defined by the size of an access opening of the vertical storage columns (105) between rails leading to a rail system, and wherein the rail system (108) is disposed on top of the frame structure (100), wherein the rail system (108) provides a usable route for the container loading and unloading vehicle (201) to load and unload and transport the storage containers (106) in and out of the vertical storage columns (105).

16. A method for performing measurements in a storage container (106) for storing items, the storage container (106) being stored in an automated storage system, the automated storage system comprising container handling vehicles, each container handling vehicle (201) comprising a vehicle controller (230), the vehicle controller (230) being in communication with a central computer system controlling the operation of the storage system, and in, The method comprises the following steps: Using the container loading and unloading platform (401) of the container loading and unloading vehicle (201, 301) to load and unload the storage container (106), performing at least temperature measurement in said storage container using a device attached to said container loading platform (401), · Transmitting the measurement data to the central computer system, Analyze the transmitted measurement data, instructing the container handling vehicle (201, 301) to transport the storage container to a predetermined destination depending on the results of the analysis, • Using the container handling vehicle (201, 301) to transport the storage container to the next destination.

17. The method according to claim 16, in, The storage containers (106) are capable of being stored in an automated storage system, the automated storage system comprising a frame structure (100), the frame structure (100) forming a three-dimensional storage grid structure (104) for storing the storage containers (106), wherein the three-dimensional storage grid structure (104) forms vertical storage rows (105), each of the vertical storage rows (105) having a horizontal area, the horizontal area being defined by the size of an access opening of the vertical storage row (105) between rails leading to a rail system, and wherein the rail system (108) is disposed on top of the frame structure (100), the rail system (108) providing a usable route for container loading and unloading vehicles (201) to load and unload and transport the storage containers (106) in and out of the storage rows (105).

18. A method according to claim 16 or claim 17, in, The measuring equipment on the container loading platform (401) performs the measurement of temperature, humidity and gas levels in the container, and the camera is used for visual inspection of the products.

19. The method according to claim 16 or 17, in, The central computer system is configured to store the measured values ​​together with the ID of the storage container for which the measurement was performed.

20. The method according to claim 16 or 17, in, The container loading and unloading platform (401) is raised and lowered by ropes, belts or wires (402) raised and lowered by a motor.

21. The method according to claim 16 or 17, in, At least one rechargeable power source in the container loading and unloading platform (401) supplies power to measurement equipment (607, 608, 609) on the container loading and unloading platform (401).

22. The method according to claim 16 or 17, in, When the container loading dock is in the uppermost position of the container loading dock, at least one rechargeable power source in the container loading dock (401) is charged.

23. The method according to claim 16 or 17, in, The container loading and unloading platform (401) and the container loading and unloading vehicle (201, 301) use light as a communication means.

24. The method according to claim 16 or 17, in, The container handling platform (401) receives power and communicates via cables (610) embedded in ropes, straps or wires (402) used to raise and lower the container handling platform (401).

25. A system for performing measurements in a storage container (106) for storing items, the system comprising a central computer controlling the operation of the system, and the system comprising a container handling vehicle (201), the container handling vehicle comprising a vehicle controller in communication with the central computer, in, A container loading and unloading platform (401) of a container loading and unloading vehicle (201, 301) comprises a measuring device configured to perform measurements in a container, and the container loading and unloading platform further comprises a communication device configured to transmit measurement data to a computer system, wherein the container loading and unloading platform (401) comprises a UV light source for killing bacteria and mold on the surface of items in the container.

26. A system for performing measurements in a storage container (106) for storing items, the system comprising a central computer controlling the operation of the system, and the system comprising a container handling vehicle (201), the container handling vehicle comprising a vehicle controller connected to the central computer system, and in, A container loading platform (401) of a container loading and unloading vehicle (201, 301) comprises a measuring device configured to perform measurements in a container, and the container loading platform further comprises a communication device configured to transmit the measurement data to a computer system, wherein the container loading and unloading platform (401) comprises sensors for measuring temperature and for detecting the presence of gas in the container.

27. The system according to claim 26, in, The container loading and unloading platform also includes a sensor for measuring humidity.

28. The system according to claim 26 or 27, in, The container loading and unloading platform also includes a camera.

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