storage tank

Abstract

The present disclosure relates to a method of operating a robot arranged to lift, carry and lower a storage bin, the method comprising moving the robot along a track grid of a storage grid having a fire, above the fire.

Description

Technical Field

[0001] This disclosure relates to a storage box, a robot, a storage grid, and a method of operating the same. Background Technology

[0002] Traditional storage solutions typically involve arranging goods on rows of shelves within a warehouse. The shelf location of each item is recorded in an inventory list, and goods are retrieved from the shelves by pickers. As goods enter and leave the warehouse, the shelves are replenished as needed, and the inventory list is updated.

[0003] Robotic pickers and automated inventory management systems can assist warehouse staff. Automated transport systems can also be implemented in traditional warehouse facilities to move goods from their storage locations to picking and / or packing stations.

[0004] An alternative to traditional warehouse installations is an automated storage and retrieval system (AS / RS), in which robots retrieve items from recorded locations within the warehouse and deliver them to packing stations or ports. This system reduces or eliminates the space required to navigate between rows of shelves to access inventory, thus eliminating the need for wide aisles within the warehouse. One example of such a system involves arranging goods in boxes or containers configured to be stacked side-by-side within a three-dimensional grid (or storage grid). A track system with a track grid is arranged on top of the grid, along which robotic container handling vehicles configured to lift containers from the grid can travel. The container handling vehicles are configured to transport containers from the grid and deliver them to ports or stations at the periphery of the grid, allowing the goods inside the containers to be picked up and packed.

[0005] Because of the dense, three-dimensional nature of the storage grid, fires occurring within it can be difficult to extinguish, as fires at the grid's center are not easily accessible. In the event of a fire, the storage system must either shut down (and thus halt the movement of its robots), or move its robots away from the fire to prevent them from fueling the flames and / or being damaged by the fire, or by fire suppressants (such as water or foam) applied to the storage grid to inhibit / extinguish the fire.

[0006] Because the top of the grid needs to remain unobstructed for the robot to traverse the track system, any sprayers or similar devices need to be located above the storage grid and above the grid, above the space for the robot to travel through. One approach is to use ceiling-mounted sprayers that disperse water onto the storage grid due to the vertical spacing between them. Summary of the Invention

[0007] One or more aspects of the invention described in this application are set forth in the claims. Attached Figure Description

[0008] The present disclosure will now be described in more detail with reference to several exemplary embodiments illustrated in the accompanying drawings, in which: Figure 1 A perspective view of a storage system including a grid and multiple robotic container handling vehicles configured to retrieve and / or rearrange goods stored within the grid is shown. Figure 2 It shows Figure 1 A top view of the system; Figure 3A It shows that it is suitable for use in Figure 1 Side view of the first robotic container handling vehicle used in the system; Figure 3B It shows that it is suitable for use in Figure 1 Side view of the second robotic container handling vehicle used in the system; Figure 3C yes Figure 3B A three-dimensional side view of the robot; Figure 4 A computing device for implementing the operations described herein is shown; Figure 5 The storage box in the first configuration is shown; Figure 6 The second configuration is shown. Figure 5 Storage box; Figure 7 It shows crossing Figure 5 The cross-section of the storage box; Figure 8 It is a flowchart of a method for operating a robot; and Figure 9 A top view of the storage grid is shown; and Figure 10 This is a flowchart of the method for operating the storage grid. Detailed Implementation

[0009] In general, this disclosure relates to a method in which a robot is intentionally moved above / above a fire. The robot's presence above the fire within a storage grid can itself reduce the oxygen supply to the fire. The robot can directly deliver or release extinguishing agents above the fire, thereby achieving highly precise fire suppression with less collateral damage compared to sprayers. The extinguishing agent can be contained in storage containers (fire extinguishing boxes), which the robot can retrieve like conventional storage containers, and the extinguishing agent can be released by lowering such fire extinguishing boxes by the robot. In this configuration, robots typically used for moving storage containers do not require significant (or complete) modification to perform fire suppression tasks.

[0010] Overview of Automated Storage and Retrieval Systems

[0011] refer to Figure 1 In the embodiment shown, the grid 100 comprises a frame consisting of a plurality of generally linear, adjacent vertical columns 102 formed between vertical frame members 104 and extending in the X direction 108 and the Y direction 110. The grid elements can be made of any suitable material; for example, the frame members can be made of extruded aluminum. Storage containers or boxes or storage bins 112 are preferably stacked on top of each other in a self-supporting manner along the Z direction 114 in the columns 102, forming storage volumes for the storage units of the respective bins 112, which extend in the X direction 108, Y direction 110, and Z direction 114.

[0012] A track system or network 116 is formed on top of grid 100 and includes pairs of vehicle tracks or rails 118a, 118b and 120a, 120b extending in the X direction 108 and Y direction 110, respectively. A robotic container handling vehicle or robot 122 (which may have a range of sizes, shapes, and functions) is set up and configured to operate on tracks 118, 120 and transport containers 112 in both the X direction 108 and Y direction 110. Robot 122 is also configured to lift / lower containers 112 from column 102 into the column in the Z direction 114, with containers 112 optionally guided by vertical frame members 104. Robot 122 accesses containers 112 via access openings 124 located above column 102 and formed between tracks 118 and 120.

[0013] Some columns 102 can be used for purposes other than storing the bins. For example, port columns 126, 128 include port columns or access columns that allow bins 112 to be moved into and / or out of grid 100. Port columns 126, 128 provide vertical channels for lifting bins 112 from ports 130, 132 or lowering bins 112 into the ports. Ports 130, 132 in Figure 1 The port is shown at the lowest horizontal level of the grid; however, the port can be located at any vertical position along the column. The corresponding port columns 126, 128 can be designated for removing (“unloading”) box 112 from grid 100 and / or returning or delivering (“picking up”) the box to the grid. Therefore, ports 130, 132 are configured to allow the removal of box 112 and the (horizontal) reintroduction of the box into the associated port column. Thus, ports 130, 132 can include a conveyor ( Figure 1 (Not shown in the image) Box 112 can be lowered onto a conveyor and transported horizontally out of the port column. Port columns 126, 128 include openings or access points through which box 112 can enter and leave the column.

[0014] Box 112 can be transported by robot 122 along the top of grid 100 to port columns 126, 128 and / or back from port columns, and from ports 130, 132 to a location outside grid 100, which may be an access station (not shown) for handling box 112 or its contents, such as a pick-up station for adding or removing contents from box 112. In an alternative example (not shown), box 112 may be transported to a port of another grid at the same or another horizontal level, or to an external facility. Transport of box 112 to and from ports 130 and 132 can be carried out by any suitable means (not shown), including conveyors, transport vehicles, lifting mechanisms, or robots.

[0015] refer to Figure 2 The illustrated embodiment provides a more detailed view of the XY configuration 200 of the track system 116 and the different types of robots 202, 204. The track system includes tracks 206, with vertical column access openings 124 defined between the tracks for accessing the bin 112. Tracks 206 can be any suitable type of track for allowing robots 202, 204 to travel along the X direction 108 and Y direction 110, including (not shown) recessed tracks for receiving wheels of a vehicle, or protruding tracks for engaging recesses of wheels. Each track 206 may include a single guide rail or multiple parallel guide rails in each of the X direction 108 and Y direction 110.

[0016] The first "cantilever" type robot 202 Figure 3A The image, shown in more detail, includes a body 300, a set of wheels 302, and a lifting device 304. The body 300 houses operating devices (not shown) for the robot 202, including a drive system, a power system, and a control system. Wheels 302 allow the robot 202 to move in one of the X and Y directions, while another set of wheels (not visible in this view) allows the robot to move in the other direction, in both cases, along corresponding tracks or rails 206. One or both sets of wheels can be raised or lowered to allow selective engagement of tracks, thereby enabling movement in the desired direction. The lifting device 304 includes a cantilever element 306 extending from the top of the body 300 in the XY plane; and a clamping device 308 capable of being raised and lowered relative to the cantilever element 306. The clamping device 308 is configured to clamp or engage the box 112, for example, via a portion of the clamping box 112, or by passively or actively engaging appropriately configured portions of the box 112.

[0017] The second "internal cavity" type robot 204 is in Figure 3BAs shown in more detail below, and as an alternative to a cantilever lifting system, an internal cavity 310 is located within the body 300, and a lifting device 312 including a clamping device (not shown) is positioned within this internal cavity. In this case, the body 300 includes the robot's operating equipment and storage space for one or more boxes 112 for use, for example, during transport of the boxes 112.

[0018] Figure 3C It shows Figure 3B A stereoscopic side view of the robot, in which you can see Figure 3B The first set of wheels, 302. Mentioned above but not mentioned in... Figure 3B Another set of wheels shown in Figure 3C The first set of wheels 302 is shown as wheel 303. Another set of wheels 303 is arranged perpendicular to the first set of wheels 302 to allow the robot 204 to roll along the X and Y directions using the first set of wheels 302 and the second set of wheels 303, respectively. Figure 3C The first set of wheels 302 and the second set of wheels 303 shown can be configured to independently lower and engage with the track (or raise and disengage from the track) to allow the robot 202 to traverse. Figure 2 The track device shown moves along the X and Y directions. Although Figure 3C The 3D diagram shown is Figure 3B Robot 204, however, should be understood that a similar arrangement of vertical wheels can also be applied. Figure 3A Robot 202 in the middle.

[0019] Control and monitoring systems

[0020] The control and monitoring of the automated storage and retrieval system (including monitoring and storing the location of the boxes and controlling the delivery, retrieval, and transportation of the boxes, as well as robot route planning and collision avoidance) is handled by Figure 4 The control system shown communicates with the robot and / or other controllable system components to perform the control. This control can be performed locally or remotely and can be implemented by a processing system, such as a computing device. Therefore, the methods described herein can constitute all or part of a computer-implemented method, or a system configured to perform the methods described herein.

[0021] refer to Figure 4 A processing system 400 suitable for performing the methods described herein will now be described. Figure 4A block diagram of one implementation of a processing system 400 is shown, which takes the form of a computing device within which an instruction set can run to cause the computing device to perform any or more methods described herein. In some implementations, the computing device may be connected to (e.g., networked to) other machines in a local area network (LAN), intranet, extranet, or the Internet. The computing device may operate at the capacity of a server or client machine in a client-server network environment, or at the capacity of a peer-to-peer machine in a peer-to-peer (or distributed) network environment. The computing device may be a personal computer (PC), tablet computer, set-top box (STB), personal digital assistant (PDA), cellular phone, networked home appliance, server, network router, switch, or bridge, or any machine capable of executing a set of instructions (sequentially or otherwise) specifying the actions to be taken by the machine. Furthermore, although only a single computing device is shown, the term "computing device" should also be understood to include any collection of machines (e.g., computers) that individually or collectively execute one or more instruction sets to perform any or more methods described herein.

[0022] An exemplary processing system 400 includes a processor 402, a main memory 404 (e.g., read-only memory (ROM), flash memory, dynamic random access memory (DRAM) such as synchronous DRAM (SDRAM) or Rambus DRAM (RDRAM), etc.), a static memory 406 (e.g., flash memory, static random access memory (SRAM), etc.), and a secondary memory (e.g., a data storage device 418), which communicate with each other via a bus 430.

[0023] Processor 402 represents one or more general-purpose processors, such as microprocessors, central processing units, etc. More specifically, processor 402 may be a Complex Instruction Set Computing (CISC) microprocessor, a Reduced Instruction Set Computing (RISC) microprocessor, a Very Long Instruction Word (VLIW) microprocessor, a processor implementing other instruction sets, or a processor implementing combinations of instruction sets. Processor 402 may also be one or more special-purpose processors, such as application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), network processors, etc. Processor 402 is configured to execute processing logic (instruction 422) to perform the operations and steps described herein.

[0024] The processing system 400 may also include a network interface device 408. The processing system 400 may also include any one of a video display unit 410 (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)), an alphanumeric input device 412 (e.g., a keyboard or a touch screen), a cursor control device 414 (e.g., a mouse or a touch screen), and an audio device 416 (e.g., a speaker).

[0025] Obviously, Figure 4 Some features of the processing system 400 shown may be absent. For example, the processing system 400 may not require a display device 410 (or any associated adapter). This may be the case, for example, with a particular server-side computer device that is only used for its processing capabilities and does not need to display information to a user. Similarly, a user input device 412 may not be necessary. In its simplest form, the processing system 400 includes a processor 402 and main memory 404.

[0026] Data storage device 418 may include one or more machine-readable storage media (or more specifically, one or more non-transitory computer-readable storage media) 428 storing one or more instruction sets 422 embodying any or more of the methods or functions described herein. The instructions 422 may also reside wholly or at least partially within main memory 404 and / or processor 402 during execution by processing system 400, which also constitute computer-readable storage media 428.

[0027] The various methods described herein can be implemented by a computer program. A computer program may include computer code arranged to instruct a computer to perform one or more of the various methods described herein. The computer program and / or code for performing such methods may be provided to a device, such as a computer, on one or more computer-readable media or more generally on a computer program product. The computer-readable media may be transient or non-transient. One or more computer-readable media may be, for example, an electronic system, a magnetic system, an optical system, an electromagnetic system, an infrared system, or a semiconductor system, or a propagation medium for data transmission, such as for downloading code via the Internet. Alternatively, one or more computer-readable media may take the form of one or more physical computer-readable media, such as semiconductor or solid-state memory, magnetic tape, removable computer floppy disk, random access memory (RAM), read-only memory (ROM), rigid disk, or optical disk, such as CD-ROM, CD-R / W, or DVD.

[0028] A computer program can be run by processor 402 to perform the functions of the systems and methods described herein.

[0029] In implementation, the modules, components, and other features described herein may be implemented as discrete components or integrated into the functionality of hardware components such as ASICs, FPGAs, DSPs, or similar devices.

[0030] A "hardware component" is a tangible (e.g., non-transitory) physical component (e.g., a group or more processors) capable of performing a specific operation and which can be configured or arranged in a specific physical manner. A hardware component may include dedicated circuitry or logic permanently configured to perform a specific operation. A hardware component may be a dedicated processor, or may include dedicated processors such as field-programmable gate arrays (FPGAs) or ASICs. A hardware component may also include programmable logic or circuitry temporarily configured by software to perform a specific operation.

[0031] Therefore, the phrase “hardware component” should be understood to encompass tangible entities that can be physically constructed, permanently configured (e.g., hardwired) or temporarily configured (e.g., programmed) to operate in a particular manner or perform the particular operations described herein.

[0032] Furthermore, modules and components can be implemented as firmware or functional circuitry within a hardware device. Additionally, modules and components can be implemented as any combination of hardware devices and software components, or solely as software (e.g., code stored in or otherwise embodied in a machine-readable medium or transmission medium).

[0033] Operation of the automatic storage and retrieval system

[0034] In operation, each box 112 is assigned a unique identifier, which can be marked on the box 112 using a computer-readable identifier (e.g., a barcode, quick-response code, or RFID tag) to simplify identification of the box 112. The database of the processing system 400 stores the location of each box 112 associated with the unique identifier and optionally stores the contents of that box. When a box 112 is moved (e.g., when it is removed from grid 100), the database is updated to record the change in its location.

[0035] When box 112 needs to be retrieved from grid 100, under the control of processing system 400, robots 202 and 204 are routed via track system 116 to vertical column 102 including storage units. Box 112 is positioned at this storage unit according to a database, and lifting devices 304 and 312 (depending on robot type) are positioned above the corresponding access opening 124, adjacent to or below robots 202 and 204. Robots 202 and 204 lower gripping device 308, which engages, grips, and lifts box 112 to robots 202 and 204. Robots 202 and 204 then transport box 112 to, for example, unloading port columns 126 and 128 for delivery to ports 130 and 132 for further processing outside grid 100. If the target or designated box 112 is located below other boxes in the stack, robots 202, 204, or multiple robots possibly dedicated to this task, are controlled during the "digging" operation to temporarily or permanently lift and reposition the boxes above the target box 112 in sequence to retrieve the target box. It should be understood that other operations related to box 112 can be performed in a similar manner. For example, box 112 can be delivered to ports 130, 132 of pick-up port columns 126, 128 for storage in grid 100, gripped and lifted by robots 202, 204, and delivered to the desired storage unit, whereby, if necessary, boxes located above the desired position can be repositioned as discussed above.

[0036] Fire extinguisher

[0037] Figure 5 A storage tank 502 in a first configuration is shown. The storage tank 502 is arranged to hold extinguishing agent and can therefore be described as a "fire extinguishing box". The fire extinguishing box 502 is arranged to be gripped by a gripping device of a robot (such as robot 202 or 204), and its overall dimensions can be set according to the storage tank 112 and may have corresponding features such as: guides for guiding the gripping device onto the storage tank when it is lowered onto the fire extinguishing box; and an engagement portion 506 arranged on the top surface 504 of the fire extinguishing box 502 for releasably engaging with one or more gripping elements of the gripping device. The top surface 504 of the fire extinguishing box 502 may be closed to facilitate downward guidance of the extinguishing agent during release, and / or to help act as a heat insulation / fireproof barrier for the robot when the robot and the fire extinguishing box 502 are positioned above a fire. As another possibility, the top surface 504 of the fire extinguishing box 502 may have one or more openings to allow access to the interior of the fire extinguishing box 502 from above, which may be necessary for the operator of the storage grid.

[0038] Fire extinguishing box 502 also has a fire extinguishing agent release mechanism 508, which is arranged to release the fire extinguishing agent through one or more openings at the bottom of the fire extinguishing box 502 when triggered. Figure 5 (Not shown in the image) releases the extinguishing agent held by the extinguishing container 502. In this case, the extinguishing agent release mechanism 508 has a protruding arm 510 that can be in a ready position relative to the rest of the extinguishing container 502 (not shown in the image). Figure 5 (as shown) and the trigger position relative to the rest of the fire extinguishing box 502 ( Figure 6 The protruding arm 510 moves between its ready and triggered positions to activate the extinguishing agent release mechanism 508. The movement of the protruding arm 510 between its ready and triggered positions can be achieved by the protruding arm 510 interacting with the support member or track of the storage grid as it lowers and abuts against it. This can occur, for example, when the robot is positioned above a vertical column (as is the case for lowering a regular storage box into the vertical column) and then moves the extinguishing agent release mechanism 508 between the two positions. Figure 5 The robot is lowered into the grid in direction A), thereby bringing the protruding arm 510 into contact with the grid's support members or track 512. With this arrangement, the robot, configured to raise and lower the storage box, can perform firefighting tasks without modification.

[0039] Figure 7 A cross-section through fire extinguishing container 502 is shown. Fire extinguishing container 502 is arranged to hold extinguishing agent 702 (shown in dashed lines because the fire extinguishing container can be manufactured and sold separately from extinguishing agent 702), which can be in gaseous, liquid, foam, powder, and / or solid form. The extinguishing agent can be any material suitable for suppressing or extinguishing fire. Non-limiting examples of materials used for extinguishing agents include: water, carbon dioxide, oxygen reducing agents, sodium bicarbonate, potassium bicarbonate, potassium chloride, and perfluorohexanoic acid. Figure 7 In one example, an optional guide or nozzle 704 is provided to direct the extinguishing agent downward when the extinguishing agent 702 is released, and the extinguishing agent can be held in the extinguishing chamber 502 in a compressed / pressurized state.

[0040] Figure 7 The extinguishing agent release mechanism 508 also includes a connecting member 706, which is arranged to apply upward (along) force to the protruding arm 510 when it is in the ready position. Figure 7 When the force is applied in the direction of arrow B, the force is transmitted to cause the extinguishing agent 702 to be released through the nozzle 704 and via one or more openings 708 in the bottom of the extinguishing box 502.

[0041] The extinguishing agent release mechanism 508 can be arranged such that its protruding arm 510 has another storage position (storage position, not shown), which may be necessary for storing the stack of fire extinguishing boxes 502 within the vertical column of the storage grid; otherwise, the protruding arm 510 might protrude up to / beyond the frame of the vertical column, thereby obstructing the vertical passage of the fire extinguishing box or even triggering the extinguishing agent release mechanism. The extinguishing agent release mechanism can be arranged such that when the fire extinguishing box 502 with its protruding arm 510 in the storage position is raised above the grid, the protruding arm 510 automatically moves from its storage position to its ready position. This can be achieved by a spring mechanism in which the protruding arm 510 slides against a portion of the frame while within the vertical column, and / or by an actuator to move the protruding arm between the storage position and the ready position.

[0042] As an option, the fire extinguishing box can be arranged such that it cannot be fully lowered, or lowered beyond the position where the extinguishing agent release mechanism 508 is triggered. This can be achieved by a stop (not shown) arranged to prevent the protruding arm 510 from rotating beyond its triggered position, thereby causing the protruding arm 510 to act as a stop itself when in the triggered position, interacting with the support / track 512 to prevent further lowering of the fire extinguishing box. Additionally or alternatively, the fire extinguishing box itself can have one or more stops or lips arranged to interact with the grid and prevent further lowering of the fire extinguishing box. This can help keep the fire extinguishing box away from the fire and reduce the possibility of the fire extinguishing box itself becoming fuel for the fire. As an option, the fire extinguishing box is non-flammable.

[0043] Although the fire extinguishing box with a purely mechanical extinguishing agent release mechanism has been described above, other mechanisms may be used alternatively or as alternatives. For example, electrical mechanisms for actuating motors, solenoids, electromagnets, or valves may be arranged so that the extinguishing agent is released from the fire extinguishing box upon triggering.

[0044] Similarly, the triggering of the fire extinguishing agent release mechanism is not necessarily caused by the mechanical interaction of two objects (support / track 512 and protruding arm 510). Triggering can occur based on electrical, optical, or magnetic sensors / actuators. Examples include: Hall effect sensors arranged to detect the magnetic field of the support / track or fire extinguishing box, which may be present due to the presence of an adjacent permanent magnet or an energized electromagnet; electromagnets held by the support / track and arranged to trigger the fire extinguishing agent release mechanism when energized; electrical contactors arranged to connect or disconnect the circuitry for triggering the fire extinguishing agent release mechanism; and / or LED / photodiode devices for connecting or disconnecting the optical circuitry for triggering the fire extinguishing agent release mechanism.

[0045] Although the extinguishing agent release mechanism can be arranged to be triggered when the extinguishing box is lowered toward the grid, it can also be triggered in other ways, such as by a robot providing an electrical trigger signal to the extinguishing box via a gripping device, and / or by a wireless trigger signal.

[0046] Although the fire extinguishing box has been described above with reference to a form very similar to a conventional storage box, it may alternatively take other forms that can be held by clamping devices, examples of which include cage-like, tubular, and plate-like forms.

[0047] Robot operation

[0048] Figure 8 This is a flowchart of a method for operating a robot. In step S800, the location of the fire in the storage grid is identified. This can be done manually by estimating the location by an operator, or automatically, for example, using a thermal detector or camera to determine the location. In step S805, the robot collects (retrieves, removes) the fire extinguishing box. This may involve traversing the track grid to reach the fire extinguishing box, and along the way, the robot may need to unload any storage boxes it already holds into the storage grid. In step S810, while holding the fire extinguishing box, the robot moves along the track grid to the identified location or moves vertically above the identified location. The robot being positioned directly above the fire can limit the oxygen supply to the fire, and therefore in some cases step S800 can be omitted, and the robot can instead move above the identified location without holding the fire extinguishing box. In step S815, the extinguishing agent is released from the fire extinguishing box. The extinguishing agent can fall onto the fire or be sprayed onto the fire, which may happen if the extinguishing agent is stored as a compressed gas in the fire extinguishing box. The release of the extinguishing agent can be triggered by the robot lowering the extinguishing container toward the grid to activate the extinguishing agent release mechanism. Alternatively, the release can be electrically triggered by the robot and / or control system. After the extinguishing agent release, the robot can move along the track grid away from the identified location and can repeat the process using another extinguishing container. Figure 8 The method can be repeated from step S805 if more extinguishing agent needs to be released at the identified location, or from step S800 if extinguishing agent needs to be released at another location (which may be necessary if the fire has spread).

[0049] Storage grid storage area and its operation

[0050] In the event of a fire, fire extinguisher boxes should be easily accessible so that robots can retrieve and use them to suppress / extinguish the fire. While fire extinguisher boxes can be stored in a storage grid like any other storage box, moving other boxes to retrieve them can cause delays. Therefore, it is beneficial to store fire extinguisher boxes near or on top of the grid, or in a dedicated column. However, the top cells in the storage grid are likely to be used to store the boxes that require the most frequent access. This creates a conflict between ensuring efficient and normal storage and retrieval of existing boxes and the ability to quickly retrieve fire extinguisher boxes in the event of a fire. Furthermore, since fire extinguisher boxes contain extinguishing agents when loaded, accidental release can be destructive and difficult to clean up. Therefore, it is beneficial to store fire extinguisher boxes in a dedicated holding area for later use.

[0051] Figure 9 It shows something similar to Figure 1 A top view of the system, and as Figure 2 The top view is shown in the figure, where the corresponding reference numerals indicate the corresponding features. Figure 9 The storage system 900 also has multiple storage areas 902 for storing one or more fire extinguishing boxes 904. The storage areas 902 may be located on top of the track 206, allowing the cantilever robot 202 to collect the fire extinguishing boxes without lowering their gripping devices below the track 206. Alternatively or additionally, one or more storage areas 902 may be a vertical column of one or more units in which one or more fire extinguishing boxes can be held or stacked vertically and retrieved by the cantilever robot 202 and / or the cavity robot 204. The storage area 902 may be slightly wider than the common unit if the degree to which the extinguishing agent release mechanism protrudes from the fire extinguishing box prevents the box from being stored in a common unit or if there is a risk of triggering the extinguishing agent release mechanism.

[0052] To prevent robots 202 and 204 from approaching fire extinguisher box 904 without detecting a fire, a movable physical barrier or fence 906 can be arranged to prevent robots 202 and 204 from retrieving any fire extinguisher box 904 stored in storage area 902. The barrier 906 can take any form sufficient to prevent robots from retrieving fire extinguisher box 904 from storage area 902 when the barrier 906 is in the closed position. For example, the barrier can be the entire height of the robot when in the closed position, or it can be arranged to block the wheels of robots 202 and 204 or the cantilever portion of cantilever robot 202 from passing through. If barrier 906 is used to block the wheels of cantilever robot 202 from passing through, it needs to be positioned such that the cantilever portion cannot sufficiently cross the barrier to approach the fire extinguisher box 904 in the storage area.

[0053] The barrier 906 is movable between a closed position and an open position. In the closed position, the barrier prevents robots 202 and 204 from retrieving one or more fire extinguisher boxes 904 from the storage area 906. In the open position, it does not prevent robots 202 and 204 from retrieving the fire extinguisher boxes 904 from the storage area 906. The movement of the barrier 906 between the closed and open positions can be motorized or manual, for example, by a person raising / pulling / sliding the barrier to a position that does not obstruct robots 202 and 204.

[0054] Figure 10 This is a flowchart of a method for operating a storage grid with storage areas and barriers. First, the barriers are in the closed position, and preferably, one or more fire extinguishing boxes are stored in the storage area. In step S1000, an indication that a fire has occurred in the storage grid is received. This indication may be provided manually by a person operating a fire alarm, or automatically due to the use of heat or smoke detectors or cameras to determine the presence of a fire. In step S1005, the barriers are moved to the open position. Figure 8 The method can be found in Figure 10 The steps are executed after or in partial parallel execution, wherein step S805 occurs after step S1005.

[0055] Although the above has already referenced Figure 9 The description shows three adjacent storage areas 902, but it is conceivable that the grid can have any number of storage areas arranged in any configuration. As one possibility, they can be arranged in a spaced-out configuration around the perimeter of the storage grid.

[0056] It should be understood that the above description is intended to be illustrative and not restrictive. Many other implementations will be apparent to those skilled in the art upon reading and understanding the above description. Although this disclosure has been described with reference to specific exemplary implementations, it should be recognized that this disclosure is not limited to the described implementations but can be practiced with modifications and alterations falling within the spirit and scope of the appended claims. Therefore, the specification and drawings are to be regarded in an illustrative sense and not a restrictive sense. Consequently, the scope of this disclosure should be determined by reference to the appended claims and the full scope of their equivalents.

Claims

1. A method of operating a robot, said robot being arranged to lift, carry, and lower a storage container, said method comprising: The robot is moved along the track grid of the storage grid containing the fire to a position above the fire.

2. The method according to claim 1, further comprising: The robot releases the fire extinguishing agent.

3. The method according to claim 2, further comprising: Before moving the robot over the fire, the robot collects the storage tank containing the extinguishing agent.

4. The method according to claim 3, further comprising: The robot lowers the collected storage tank toward the storage grid to release the extinguishing agent.

5. A storage tank arranged to hold extinguishing agent, the storage tank having an extinguishing agent release mechanism arranged to release the extinguishing agent held by the storage tank when triggered.

6. The storage box according to claim 5, wherein, The extinguishing agent release mechanism is arranged to be triggered when the storage tank is lowered into the storage grid. Optionally, the extinguishing agent release mechanism includes a protruding arm arranged to trigger the release of the extinguishing agent when subjected to an upward force.

7. The storage tank according to claim 5 or 6, wherein the storage tank has one or more openings at the bottom for allowing the released extinguishing agent to pass through.

8. The storage box according to any one of claims 5 to 7, wherein, The storage tank contains the extinguishing agent.

9. A robot carrying a storage box according to any one of claims 5 to 8, and the robot being arranged to travel on a track grid of a storage grid and to raise and lower the storage box relative to the storage grid.

10. A storage grid accommodating one or more storage boxes according to any one of claims 5 to 8.

11. A storage grid having a track grid on which a robot can travel, the robot being arranged to carry storage containers and lift the containers out of or lower them into the storage grid, the storage grid having: Storage area for storing one or more storage tanks containing fire extinguishing agents, and The barrier is movable between a closed position and an open position, in which the barrier prevents the robot from retrieving one or more of the storage boxes from the storage area, and in the open position, it does not prevent the robot from retrieving one or more of the storage boxes from the storage area.

12. The storage grid of claim 10, further comprising one or more storage boxes located in the storage area according to any one of claims 5 to 8.

13. A method of operating a storage grid according to claim 11 or 12, the method comprising: Received an indication that a fire had occurred in the storage grid; as well as Move the barrier from the closed position to the open position.

14. A system / apparatus arranged to perform the method according to any one of claims 1 to 4 or 13.

15. A computer-readable medium storing instructions for implementing the method according to any one of claims 1 to 4 or 13.

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