An elongate frame member

Abstract

The present disclosure relates to an elongated frame member for use in a framework of an automated storage and retrieval system. The framework defines a plurality of storage columns for receiving stacks of storage containers. The elongated frame member comprises a conduit for transporting a fluid and at least one outlet at a longitudinal surface of the elongated frame member. Each outlet is in communication with the conduit. The outlets are arranged to deliver the fluid from the conduit into the automated storage and retrieval system. The conduit is housed within the elongated frame member.

Description

Technical Field

[0001] This disclosure relates to an elongated frame member. More specifically, the invention relates to an elongated frame member used in the frame structure of an automated storage and retrieval system, and a method for delivering fluid to the automated storage and retrieval system. 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 inventory, and goods are retrieved from the shelves by a goods picker. The shelves are replenished and inventory is updated as needed when goods enter and leave the warehouse.

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

[0004] An alternative to traditional warehouse setups is an automated storage and retrieval system (AS / RS), in which robots retrieve items from their recorded locations within the warehouse and transport them to packing stations or ports. Such systems can reduce or eliminate the space required to navigate between rows of shelves to access inventory, thus eliminating the need for wide aisles within the warehouse. An example of such a system involves arranging goods in boxes or containers configured to be stacked side-by-side within a three-dimensional grid. A track system 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 to ports or stations at the periphery of the grid, allowing the goods within the containers to be picked up and packed.

[0005] As a safety measure, warehouses typically include fire detection and extinguishing systems. Detection systems detect conditions indicating the presence of a fire in the warehouse, such as smoke or heat. In response, the detection system triggers alarms and / or extinguishing systems. Traditional warehouse extinguishing systems consist of ceiling sprinklers that supply extinguishing agents downwards into the warehouse. In Europe, the configuration and operation of these ceiling sprinklers are governed by European standard EN 12845:2015, which specifies the maximum clearance between storage locations and ceiling sprinklers, as well as the minimum dimensions of storage blocks and aisles. When triggered, an alarm can summon firefighters to the warehouse to use fire hoses to spray extinguishing agents directly at the fire from warehouse aisles.

[0006] However, existing fire suppression systems may not be easily improved for automated storage and retrieval systems that include three-dimensional grids.

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

[0008] This disclosure will now be described in more detail with reference to several exemplary embodiments shown in the accompanying drawings, in which: Figure 1 A perspective view of a storage system is shown, which includes a grid and multiple robotic container handling vehicles configured to retrieve and / or rearrange goods stored within the grid. 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 5A It shows that it is suitable for use in Figure 1 A side view of the frame components used in the system; Figure 5B It shows that it is suitable for use in Figure 1 A three-dimensional diagram of the frame components used in the system; Figure 5C It shows Figure 5A The enlarged portion of the frame components; Figure 5D It shows Figure 5B The enlarged portion of the frame components; Figure 6 It shows that it is suitable for use in Figure 1 Another framework component used in the system; Figure 7 It shows things like Figure 1 The cross-section of the system's storage system; Figure 8 It shows that it is suitable for use in Figure 1 The storage columns used in the system; Figure 9 It shows a method suitable for delivering fluid to Figure 1 The flowchart of the system's method.

[0009] Figure 10 It shows that it is suitable for use in Figure 1 The cross-section of the storage system used in the system; Figure 11 It shows Figure 10 A magnified partial view of the system's orbit; and Figure 12 It shows that according to Figure 10 A flowchart of a method for manufacturing a storage system. Detailed Implementation

[0010] In general, this disclosure relates to an elongated frame member suitable for use in the frame of an automated storage and retrieval system (also referred to as a storage system). The frame defines a storage column for receiving stacks of storage containers. The frame member includes a conduit housed within it. The conduit is adapted to transport fluid. The frame member is elongated in dimension, i.e., its length is greater than its width. The longitudinal surface (the surface parallel to the elongated axis of the frame member) includes at least one outlet in fluid communication with the conduit, such that when the frame member is installed in the automated storage and retrieval system, the at least one outlet supplies fluid from the conduit to the automated storage and retrieval system.

[0011] Therefore, within the framework of an automated storage and retrieval system, this elongated frame member allows fluid to be supplied directly to the storage columns of the automated storage and retrieval system via an outlet. Thus, the effect of this frame member is that fluid can be easily introduced into the densely packed containers of the automated storage and retrieval system, since externally supplied fluid cannot access these containers. For example, if the fluid is a fire extinguishing agent, the frame member acts as a fire extinguishing system, which is more suitable for densely packed automated storage and retrieval systems because externally supplied fire extinguishing agents cannot access these containers. For example, this elongated frame member thus provides an improvement over ceiling sprinklers, from which fluid may not be able to quickly reach each container, especially those centered towards the densely packed three-dimensional grid. Therefore, this elongated frame member addresses the need for alternative fire extinguishing solutions in automated storage and retrieval systems.

[0012] Furthermore, this elongated frame member serves as a central hub for supplying fluid to automated storage and retrieval systems. This is because the conduits are housed within the elongated frame member. For example, when the outlets are in fluid communication with the conduits, they can be positioned in any direction around the frame member, toward any column of the storage and retrieval system, without the need for piping to be arranged around the frame member. Therefore, the outlets can supply fluid equally in all directions around the frame member without additional piping. Because piping does not need to be attached to or arranged around the frame member, the frame member described herein makes the manufacture of automated storage and retrieval systems, including fire suppression systems, simpler, easier, and less expensive.

[0013] Overview of Automated Storage and Retrieval Systems

[0014] refer to Figure 1In the embodiment shown, the grid 100 comprises a frame formed by a plurality of substantially linear adjacent vertical columns 102, which are formed between vertical frame members 104 and extend in the X and Y directions 108, 110. The grid elements can be made of any suitable material; for example, the frame members can be formed from extruded aluminum. Storage containers or boxes 112 are stacked one on top of another in the storage columns 102 in the Z direction 114, preferably stacked in a self-supporting manner, thereby forming storage volumes for storage units of the respective boxes 112 extending in the X, Y, and Z directions 108, 110, 114.

[0015] 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 and Y directions 108, 110, respectively. A robotic container handling vehicle or robot 122 is provided, which may have various sizes, shapes, and functions, and is configured to run on tracks 118, 120 and transport boxes 112 in both the X and Y directions 108, 110. Robot 122 is also configured to lift / lower boxes 112 from column 102 in the Z direction 114, with boxes 112 optionally guided by vertical frame members 104. Robot 122 approaches boxes 112 via access openings 124 formed above column 102 and between tracks 118, 120.

[0016] Some columns 102 can be used for alternative purposes beyond bin storage. For example, port columns 126, 128 include ports 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 raising bins 112 from or lowering bins 112 into one or more ports 130, 132. Ports 130, 132... Figure 1 The diagram shows the port at the lowest 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 assigned for removing (“unloading”) box 112 from grid 100 and / or returning or conveying (“picking up”) the box to the grid. Therefore, ports 130, 132 are configured to allow box 112 to be removed and (horizontally) reintroduced 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 enters and exits the column.

[0017] Box 112 can be transported by robot 122 along the top of grid 100 to and / or from port columns 126, 128, 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 alternative examples (not shown), box 112 can be transported to a port of another grid at the same or another level, or to an external facility. Transport of box 112 to and from ports 130, 132 can be carried out by any suitable means (not shown), including conveyors, transport vehicles, elevators, or robots.

[0018] refer to Figure 2 The illustrated embodiment provides a more detailed view of the XY configuration 200 of the track system 116 and the various types of robots 202, 204. The track system includes tracks 206 that define vertical column access openings 124 for accessing the bin 112. Tracks 206 can be of any suitable type for allowing robots 202, 204 to travel in the X and Y directions 108, 110, including (not shown) recessed tracks for receiving vehicle wheels, or raised tracks for engaging wheel recesses. Each track 206 may include a single track or multiple parallel tracks in each of the X and Y directions 108, 110.

[0019] The first "cantilever" type robot 202 Figure 3A The diagram is shown in more detail and includes a body 300, a set of wheels 302, and a lifting device 304. The body 300 contains operating equipment (not shown) for the robot 202, which includes a drive system, a power system, and a control system. The wheels 302 allow the robot 202 to move in one of the X and Y directions, and an additional set of wheels (not visible in this view) allows movement in the other direction, both along corresponding tracks or rails 206. One or both sets of wheels can be raised or lowered to allow selective engagement of tracks for movement in the desired direction. The lifting device 304 includes a cantilever element 306 extending in the XY plane from the top of the body 300, and a gripping device 308 capable of being raised and lowered from the cantilever element 306. The gripping device 308 is configured to grip or engage a box 112; for example, by gripping a portion of the box 112, or by passively or actively engaging a suitable configuration portion of the box 112.

[0020] 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 inner cavity 310 is located within the main body 300, and a lifting device 312 including a clamping device (not shown) is located within this inner cavity. In this case, the main body 300 includes the robot's operating equipment and storage space for one or more boxes 112 for use, for example, when transporting the boxes 112.

[0021] Figure 3C It shows Figure 3B A stereoscopic side view of the robot, in which one can see Figure 3B The first set of wheels, 302. Mentioned above but not mentioned in... Figure 3B The additional set of wheels shown in Figure 3C The wheel 303 is shown in the middle. The additional set of wheels 303 is arranged perpendicular to the first set of wheels 302 to allow the robot 204 to move in the X and Y directions via the first set of wheels and the second set of wheels 302 and 303, respectively. Figure 3C The first set of wheels and the second set of wheels 302, 303 shown can be configured to independently lower to engage with the track (and conversely raise to disengage from the track), thereby allowing the robot 202 to traverse... Figure 2 The track arrangement shown moves in both the X and Y directions. Although Figure 3C The 3D diagram shown has Figure 3B Robot 204, but it should be understood that a similar vertical wheel arrangement can be applied to Figure 3A Robot 202.

[0022] Control and monitoring system

[0023] The control and monitoring of the automated storage and retrieval system (including monitoring and storing box positions, controlling box delivery, retrieval and transport, and robot path planning and collision avoidance) is handled by, for example, Figure 4 The control system shown communicates with the robot and / or other controllable system components. 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 form all or part of a computer-implemented method, or a system configured to perform the methods described herein.

[0024] 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 a set of instructions can be executed to cause the computing device to perform any or more of the methods described herein. In some implementations, the computing device may be connected (e.g., networked) to other machines in a local area network, 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 illustrated, the term "computing device" should also be understood to include any set of machines (e.g., computers) that individually or collectively execute one or more sets of instructions to perform any or more of the methods described herein.

[0025] The example processing system 400 includes a processor 402, 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.), static memory 406 (e.g., flash memory, static random access memory (SRAM), etc.), and secondary memory (e.g., data storage device 418), which communicate with each other via a bus 430.

[0026] 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.

[0027] The processing system 400 may also include a network interface device 408. The processing system 400 may also include any of the following devices: 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).

[0028] 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, for a particular server-side computer device used only for its processing capabilities and not required 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.

[0029] 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.

[0030] 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 storage, magnetic tape, removable computer disk, random access memory (RAM), read-only memory (ROM), rigid disk, or optical disk, such as CD-ROM, CD-R / W, or DVD.

[0031] A computer program can be executed by processor 402 to perform the functions of the system and methods described herein.

[0032] In implementation, the modules, components and other features described herein may be implemented as discrete components or integrally formed within the functionality of hardware components such as ASICs, FPGAs, DSPs or similar devices.

[0033] A "hardware component" is a tangible (e.g., non-transitory) physical component (e.g., a group or more processors) capable of performing certain operations and which can be configured or arranged in a particular physical manner. A hardware component may include a dedicated circuit system or logic permanently configured to perform certain operations. A hardware component may be or include dedicated processors, such as field-programmable gate arrays (FPGAs) or ASICs. A hardware component may also include programmable logic or circuit systems temporarily configured by software to perform specific operations.

[0034] 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 specific operations described herein.

[0035] Furthermore, modules and components can be implemented as firmware or functional circuitry systems 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 transmitted on a machine-readable medium or otherwise embodied in such media).

[0036] Operation of the automatic storage and retrieval system

[0037] 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) for easy identification. The database of the processing system 400 stores the location of each box 112 associated with its unique identifier and optionally stores the contents of that box. When a box 112 is moved (e.g., when it is removed from the grid 100), the database is updated to record the change in its location.

[0038] When it is desired to retrieve box 112 from grid 100, under the control of processing system 400, robots 202 and 204 are guided via track system 116 to vertical column 102, which includes storage units. Box 112 is positioned in the storage unit according to a database, and lifting devices 304 and 312 (depending on robot type) are positioned above the corresponding access opening 124, which is adjacent to or below robots 202 and 204. Robots 202 and 204 lower gripping device 308, which engages, grips, and lifts box 112. 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, then robots 202, 204, or multiple robots possibly dedicated to this task, are controlled in a "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 conveyed at ports 130, 132 of pick-up port columns 126, 128 for storage in grid 100, gripped and lifted by robots 202, 204, and conveyed to the desired storage unit, whereby, if necessary, the boxes above the desired location are repositioned as discussed above.

[0039] Specific improvements to frame components

[0040] refer to Figure 5A and Figure 5B The frame member 502 (also called a support element) is depicted in both the side view and the perspective view. The frame member 502 is suitable for... Figure 1 The frame of the automated storage and retrieval system. Frame member 502 may also be referred to as a fluid supply frame member to distinguish it from the other frame members 104 of the frame. As shown, frame member 502 is elongated. That is, the length of the frame member in the longitudinal direction is longer than its width in the transverse direction perpendicular to the longitudinal direction. This longitudinal direction can be considered as an elongated or elongated direction and can extend parallel to the longitudinal or elongated axis. Similarly, the transverse direction can be any dimension extending radially from the longitudinal or elongated axis, for example, in a plane transverse to the longitudinal or elongated axis.

[0041] Frame member 502 houses conduit 504, which is suitable for conveying fluids such as extinguishing agents or environmental compositions containing, for example, carbon dioxide, water vapor, or mist. Conduit 504 may have a polygonal or circular cross-section. Alternatively, the cross-section may take any other regular or irregular shape. Generally, the cross-section of conduit 504 may conform to the external cross-section of frame member 502 to facilitate fabrication and maximize the fluid volume within conduit 504. Conduit 504 may extend through a portion or the entire elongated length of frame member 502. A conduit 504 extending the entire elongated length allows conduit 504 to supply fluid to the entire vertical column in an automated storage and retrieval system. On the other hand, a conduit 504 extending through a portion of frame member 502 allows fluid to be directed to specific sections of vertical column 102, such as the lower section that is not easily accessible to firefighters.

[0042] Fluid is supplied to the frame member 502 through a fluid supply pipe 506 (e.g., a distributor pipe) in communication with conduit 504. Figure 5A and Figure 5B As depicted, the fluid supply pipe 506 may be located at the base of the frame member 502, at the floor of the automated storage and retrieval system, or below it. However, the fluid supply pipe may also be located at the top, upper, or middle level of the frame member.

[0043] The frame member 502 also includes at least one outlet 508 on its longitudinal surface (e.g., on or therein). The longitudinal surface is a surface of the frame member 502 extending in an elongated direction, parallel to the longitudinal axis of the elongated frame member 502. When the frame member is arranged in an automated storage and retrieval system, the elongated direction can be vertical (e.g., in…). Figure 1 (as shown in the Z direction 114). Alternatively, this elongated direction can be horizontal (e.g., by...). Figure 1 (Any direction within the plane defined by X and Y directions 108, 110 as shown).

[0044] Each outlet 508 communicates with conduit 504 and is arranged to allow fluid to be delivered from conduit 504 to the environment surrounding frame member 502. This environment may be an automated storage and retrieval system. For example, when used in the frame of grid 100, each outlet 508 of frame member 502 may be arranged to allow fluid to be delivered to a storage column adjacent to that frame member 502 in an automated storage and retrieval system. Outlets 508 thus allow fluid to be supplied from conduit 504 into grid 100, particularly to the inner portions of the grid that are not easily directly accessible to firefighters. Therefore, when the fluid is a extinguishing agent, this elongated frame member addresses the need for an alternative fire extinguishing solution in an automated storage and retrieval system.

[0045] Multiple outlets 508 may be distributed along the longitudinal surface of the frame member 502. This distribution is longitudinal along the frame member 502 parallel to its elongated axis. The distribution does not need to be uniform. For example, multiple outlets 508 may be present at one location along the frame member (such as the upper position or upper half of the frame member when viewed relative to an automated storage and retrieval system), rather than at another location along the frame member (such as the lower position or lower half of the frame member opposite the upper position). When multiple outlets 508 are present at the upper position rather than the lower position, gravity may drag fluid delivered from the outlets 508 to the top of the storage column towards the bottom of the storage column. Alternatively, multiple outlets 508 may be uniformly distributed along the longitudinal surface to provide uniform distribution of fluid delivery to adjacent storage columns. Multiple outlets 508 may be distributed in a manner less than or equal to the storage container stacking interval. The storage container stacking interval corresponds to the height of each storage container arranged in a stack. Therefore, the stacking interval is the periodic distance between each storage container when the storage containers are arranged in a stack. Therefore, when the storage container stack is received in the storage column, each storage container provides at least one outlet 508. In this configuration, the outlet 508 is capable of reliably introducing fluid into each storage container of the stack.

[0046] like Figures 5A to 5D As shown, each outlet 508 may include a plurality of outlet holes 510a, 510b, 510c distributed around the lateral periphery of the frame member 502. The lateral periphery is the periphery of a lateral section of the frame member 502, wherein the lateral section is a planar section cut perpendicular to the elongated axis of the frame member. Each outlet hole 510a, 510b, 510c may be positioned to deliver fluid from the conduit 504 to a corresponding section around the lateral periphery of the frame member. Each outlet hole 510a, 510b, 510c may be positioned, for example, facing the corresponding section. Here, these corresponding sections include regions that project radially from a portion of the periphery of the lateral section in a direction perpendicular to the elongated axis. In other words, the corresponding section includes a portion of the surrounding environment visible (e.g., within its field of view) of the corresponding outlet hole 510a, 510b, 510c. The various sections may not be mutually exclusive. For example, portions of the surrounding environment may exist in multiple sections. Each of the various sections may be combined to surround the entire lateral periphery of the frame member 502. That is, these corresponding sections can be combined to include the area projected radially from the entire perimeter of the transverse section. Combining the corresponding sections to surround the entire transverse perimeter allows the frame members to deliver fluid to all their adjacent storage columns.

[0047] The effect of positioning the outlet holes 510a, 510b, and 510c to deliver fluid from the conduit 504 to the corresponding section surrounding the entire lateral perimeter is that the frame member 502 can deliver fluid to each adjacent storage column. If the frame member 502 is arranged adjacent to a specific number of storage columns, the outlet 508 may include a corresponding number (the same number) of outlet holes 510a, 510b, and 510c. Therefore, each outlet hole 510a, 510b, and 510c can be positioned to deliver fluid from the conduit 504 to the corresponding section in the direction of the corresponding storage column. Thus, when included in the frame, each outlet hole 510a, 510b, and 510c can have a field of view including the corresponding storage column.

[0048] like Figure 5A and Figure 5B As depicted, frame member 502 may include supports 512 for holding or guiding adjacent stacks of storage containers. The supports may act against corresponding supports on opposing frame members adjacent to the same storage column to hold the stack of storage containers between them. Similarly, supports may be used for guiding... Figures 3A to 3C The gripping devices of robots 202 and 204 are shown. As depicted, multiple gaps can be provided through these supports to allow fluid to flow from the outlet to the corresponding adjacent storage container. These gaps may correspond to corresponding sections surrounding the lateral periphery of the frame members discussed herein.

[0049] Figure 5C and Figure 5D Depicting Figure 5A and Figure 5B The enlarged portion of the frame member 502 depicted includes an outlet 508 having outlet holes 510a, 510b, and 510c. For ease of illustration, Figure 5C and Figure 5D Support 512 is not depicted. As shown, frame member 502 includes spacers 514 to allow additional equipment to be accommodated around conduit 504, within the frame member, or around the frame member. The spacers may also divide the perimeter of the cross section according to the number and location of outlet orifices 510a, 510b, 510c to allow for directional fluid supply.

[0050] Outlet 508 may additionally include nozzle 516. The nozzle is the outlet of outlet 508, allowing the outlet to guide and / or disperse fluid output. When the fluid is an extinguishing agent, the nozzle may be an extinguishing nozzle, i.e., a nozzle suitable for delivering the extinguishing agent. Extinguishing nozzles may include spray nozzles. Multiple spray nozzles are arranged to atomize the fluid into droplets and thereby distribute the fluid over a larger surface area within adjacent storage columns. Types of spray nozzles include atomizing nozzles, surface impact nozzles, fine mist nozzles, spray heads, etc. Spray nozzles can atomize the fluid into droplets using a dispersing element at or near their orifice. This allows the extinguishing agent to diffuse better into adjacent storage columns, increasing the surface area covered by the extinguishing agent and thus improving the extinguishing effect of the frame member 502.

[0051] In some instances, outlet 508 may include an actuable valve arranged to selectively isolate conduit 504 from the environment surrounding frame member 502. This valve thus allows fluid to be selectively delivered from conduit 504 into the automated storage and retrieval system. The actuable valve may include a passive actuator (e.g., a passively actuated valve) arranged to automatically actuate in response to an actuation condition. For example, when the fluid is a fire extinguishing agent, the actuation condition may be a fire-indicating condition, such as the presence of smoke, an elevated ambient temperature in grid 100, or (detected using, for example, a camera combined with machine vision technology) a flame. Alternatively, the actuable valve may include an active actuator arranged to actuate in response to a signal. When the fluid is a fire extinguishing agent, this signal may originate from the fire detection system of the automated storage and retrieval system.

[0052] For example, the fire suppression nozzle may include a sprinkler head having a fusible element configured to actuate at a predetermined temperature. Such sprinkler heads are particularly useful in passive fire suppression systems because they do not rely on active fire detection signals. Passive fire suppression systems are especially advantageous in the automated storage and retrieval systems described herein because they avoid the need to install active fire detectors throughout the grid, which can be complex and / or expensive.

[0053] In these examples, the fusible element is an actuable valve. In its unactuated state, the fusible element rests in the orifice of the spray head, thus isolating the conduit 504 from the surrounding environment. The fusible element is actuated by melting. For example, the fusible element may melt in response to a temperature rise around the frame member 502 to a predetermined temperature. In some examples, the fusible element may include a housing having a melting point lower than the predetermined temperature, such that the fusible element melts by melting. In other examples, the fusible element may include a fragile, liquid-containing bulb configured to break at a predetermined temperature. The predetermined temperature may depend on the contents of the automated storage and retrieval system and the ambient temperature. For example, the predetermined temperature may be calculated based on the flammability or flash point of the goods stored in the container or box 112. The predetermined temperature may be at least 20°C or at least 40°C higher than the ambient temperature of the automated storage and retrieval system. The predetermined temperature may be at least 30°C, at least 50°C, or at least 70°C.

[0054] Figure 6 Another exemplary frame member 602 with an alternative outlet 608 is shown. Frame member 602 is also suitable for... Figure 1 The frame of the automated storage and retrieval system. Frame member 602 includes components related to... Figures 5A to 5D The frame member 502 depicted in the image shares many common features. A description of these common features is provided below. Figures 5A to 5D Statement. For example, Figure 6 The frame member 602 shown is elongated and fluid-supplying. Furthermore, similar to frame member 502, frame member 602 may also include at least some of the following: a conduit 604 housed within the frame; a supply pipe (not shown) for supplying fluid to frame member 602; and at least one outlet 608 at or on its longitudinal surface, including a plurality of outlet holes 610a. Figure 6 (Only one outlet hole is shown in the diagram); and a support 612 for holding adjacent stacks of storage containers.

[0055] However, at least one outlet 608 of the frame member 602 includes a vent 616. As shown, the vent 616 may be configured as an opening (e.g., a hole, orifice, slit, or crack). When the frame member 602 is used in the frame of an automated storage and retrieval system, the vent 616 provides direct fluid communication between the conduit 604 and the grid. Therefore, the vent may not include an actuable valve or nozzle. Consequently, the frame member 602 is easier to implement and is particularly useful for delivering gaseous and ambient media to automated storage and retrieval systems. For example, if the fluid contains a gaseous (or clean) extinguishing agent, the frame member 602 can charge the grid of the automated storage and retrieval system with the extinguishing agent to extinguish the fire by asphyxiation. This charging can be triggered at a location remote from the frame member 602, in response to which the gaseous extinguishing agent can be supplied to the supply conduit of the frame member 602. Therefore, the frame member 602 is particularly suitable for remotely triggered fire extinguishing systems.

[0056] Alternatively, frame member 602 can be used to supply gas to a vertical farming setup. Vertical farming is the practice of growing crops in vertically stacked layers. Vertical farming takes place in environments with high carbon dioxide and / or humidity, and possibly in environments rich in nutrients. These environments promote fertilization and efficient crop growth. In the storage system described herein, vertical farming can be carried out by growing crops in a stack of storage containers or boxes 112. However, due to the high density of boxes in such a system, there are problems in providing ventilation to boxes 112 located in the core of grid 100. To address this problem, frame member 602 can also be used to ventilate the boxes located in the core of grid 100. Thus, conduit 604 can be supplied with an ambient medium containing, for example, carbon dioxide, water vapor, or mist. The water vapor or mist can be nutrient-rich to act as fertilizer. The ambient medium can contain a composition of more than 50%, 60%, 75%, 80%, 85%, 90%, or 95% carbon dioxide. The ambient medium can be pure carbon dioxide. The environmental medium is then delivered to the storage system via at least one vent 616, thereby maintaining a high carbon dioxide and / or nutrient-rich environment in the grid 100 and promoting effective crop growth.

[0057] Improved frame components in the grid of the automated storage and retrieval system

[0058] Reference Figure 7 In the automated storage and retrieval system, frame 702 is defined by frame members. At least a subset of the frame members may be fluid supply frame members, such as those described herein. Figures 5A to 6 Those described. Therefore, at least a subset of the frame members accommodate corresponding conduits for conveying fluid and include at least one outlet at their respective longitudinal surfaces.

[0059] For example, Figure 7The portion of the grid 700 depicted includes fluid supply frame members 704a and 704b, which serve as vertical frame members or components. Six storage columns 706a, 706b, 706c, 706d, 706e, and 706f, defined by frame 702, are also shown. However, Figure 7 The portion of grid 700 depicted in the text can be... Figure 1 The portion of grid 100 of the automatic storage and retrieval system shown includes more than six storage columns.

[0060] Fluid supply frame members 704a and 704b are positioned in grid 700 such that their respective outlets are arranged to deliver fluid from their respective conduits to the corresponding columns of the automated storage and retrieval system. Each fluid supply frame member is adjacent to at least one column of the storage and retrieval system. Figure 7 In grid 700, fluid supply frame member 704a is adjacent to storage columns 706a, 706b, 706c, and 706d, and fluid supply frame member 704b located at the edge of grid 700 is adjacent to storage columns 706e and 706f. Fluid supply frame member 704b may not be located at the edge of the grid and may be adjacent to two other storage columns (not shown). Other frame members of frame 702 may not include outlets (such as...). Figure 7 (as depicted in the text), and therefore it is not fluid-supply.

[0061] Therefore, fluid can be supplied from the corresponding outlet holes in the fluid supply frame member 704a to each of the storage columns 706a, 706b, 706c, 706d. Similarly, fluid can be supplied from the corresponding outlet holes in the fluid supply frame member 704b to each of the storage columns 706e, 706f. Here, each outlet hole can be positioned in the frame 702 to supply fluid to a corresponding section around the lateral periphery of the corresponding fluid supply frame member 704a, 704b. Thus, each corresponding section can correspond to an adjacent storage column. In this way, each fluid supply frame member 704a, 704b can be arranged adjacent to multiple storage columns, and the outlets of the corresponding fluid supply frame members 704a, 704b can include a corresponding number of outlet holes. Thus, each outlet hole can be positioned facing a corresponding adjacent storage column and thereby supplying fluid to the adjacent storage column accordingly.

[0062] Therefore, by housing conduits within the fluid supply frame members 704a, 704b, each fluid supply frame member can act as a central hub for supplying fluid to the storage columns of the automated storage and retrieval system. More specifically, the outlets and outlet orifices of the fluid supply frame members 704a, 704b can be positioned at any angle around the conduits. These outlets and outlet orifices can thus guide fluid flow toward any column without the need for piping arrangements around the frame members. This allows for easier, cheaper, and simpler manufacturing of the frame members 704a, 704b. This also allows for easier, cheaper, and simpler manufacturing of the grid 700, as the fluid supply frame members 704a, 704b can be installed in the same manner as any other frame member without the need for additional piping arrangements. Thus, the system described herein can be installed to deliver fluid to the grid without the need for complex piping arrangements around the frame.

[0063] exist Figure 1 , Figure 2 and Figure 7 In the description, the storage columns are set in a quadrilateral manner. That is, in the top view, each column has a quadrilateral perimeter and is adjacent to four other columns at each of its four edges. Each column is also adjacent to four frame members at each of its four corners. Thus, each frame member is adjacent to four storage columns. In these examples, the outlet holes of the fluid supply frame members 704a and 704b can be positioned to deliver fluid to each adjacent storage column by delivering fluid to the corresponding quadrant around the lateral perimeter. However, in other examples, the storage columns can be set in a different manner. For example, the storage columns can be set in a triangular manner, such that each column has a triangular perimeter and is adjacent to three other columns at each of its three edges. Alternatively, the storage columns can be set in a hexagonal manner, such that each column has a hexagonal perimeter and is adjacent to six other columns at each of its six edges. The outlet holes of the fluid supply frame members 704a and 704b can therefore be positioned according to the storage column setting arrangement, such that fluid can be delivered to each adjacent storage column of the fluid supply frame members 704a and 704b.

[0064] Figure 7 The portion of the grid 700 depicted includes six storage columns 706a, 706b, 706c, 706d, 706e, and 706f, and two fluid supply frame members 704a and 704b (which can be as follows) Figure 5A , Figure 5B , Figure 5C , Figure 5D and / or Figure 6 (As described in the text). However, fluid supply frame components may also exist. Figure 1Throughout the entire grid 100. For example, each frame member, or substantially every frame member, of grid 100 may be a fluid supply frame member. Alternatively, a subset of the frame members of grid 100 may be fluid-supplying. In some instances, grid 100 may consist of repeating cells of storage columns. Here, each cell includes a fluid supply frame member and at least one column, the fluid supply frame member being arranged to supply fluid to that at least one column. The arrangement of the fluid supply frame members to deliver fluid to the column can be determined by the distribution of outlet holes around the lateral periphery of the fluid supply frame members. For example, each outlet hole may be positioned to deliver fluid from a pipe to a section around the lateral periphery of the column corresponding to (e.g., facing) the cell including the fluid supply frame member. Thus, the fluid supply frame members are distributed such that fluid can be delivered to each (e.g., each) column of the grid. By assembling the grid in repeating cells, grid fabrication can be simplified and fluid can be reliably distributed throughout the storage volume. In some instances, a cell may include multiple fluid supply frame members as a redundancy measure to increase reliability.

[0065] For example, refer to Figure 7 The unit may include a fluid supply frame member 704a and adjacent storage columns 706a, 706b, 706c, and 706d, wherein the fluid supply frame member 704a is arranged to deliver fluid to all storage columns 706a, 706b, 706c, and 706d. This unit can be... Figure 1 The grid 100 shown is repeated in at least a portion or area. This portion or area of ​​the grid 100 may include the inner columns of the grid, but not the outermost column layer.

[0066] When the fluid is a extinguishing agent, a portion or zone of the grid may include storage columns in which flammable goods are stored. As used herein, goods are considered flammable if their flash point in an automated storage and retrieval system is more than 50°C below ambient temperature, or if their flash point is at or below 60°C, more than or below 50°C, more than or below 40°C, or more than or below 30°C. When the fluid is a extinguishing agent, the grid may include multiple zones, each of which may store goods with different flammability or may otherwise be vertically positioned as a buffer zone. The system may also include a fire detection system arranged to identify zones in which a fire is detected. When a fire is detected in a zone of the grid, all fluid supply frame members within that zone can be actuated, and fluid can be delivered to that zone of the grid. Thus, the fire is localized and prevented from spreading to other zones without flooding the entire grid with extinguishing agent (and potentially damaging a large quantity of stored goods). When the fluid is an ambient medium, this portion of the grid may include storage columns containing vertical farms.

[0067] Generally, the support elements are distributed such that each column (or the entire grid) in a portion of the grid can be supplied with fluid by at least one support element. Therefore, each fluid supply frame member can be positioned to deliver fluid to a different storage column. For example, each fluid supply frame member can be arranged such that at least one of its outlets is positioned to deliver fluid to a different storage column, respectively.

[0068] Refer again Figure 7 The automated storage and retrieval system may further include a fluid source 708 and a distributed network of pipes 710a, 710b, and 710c connected thereto. The fluid source 708 may include a fluid reservoir containing fluid to be delivered from the conduit to the automated storage and retrieval system. Alternatively, the fluid source 708 may be external to the automated storage and retrieval system, in which case the distributed network of pipes 710a, 710b, and 710c may terminate at a hose interface (…). Figure 7 At (not shown), an external fluid source can be supplied to the hose interface by, for example, firefighters.

[0069] As described herein, a fluid can be an extinguishing agent, i.e., any reagent (liquid, gas, powder, or otherwise) suitable for a fire extinguishing system, or an environmental medium suitable for vertical agriculture. These categories are not mutually exclusive; for example, an environmental medium can also be an extinguishing agent. When a fluid is an extinguishing agent, it can contain at least one of the following: dry chemical extinguishing agents, such as monoammonium phosphate, sodium bicarbonate, potassium bicarbonate, or potassium chloride; foam extinguishing agents, such as aqueous film-forming foam, film-forming fluoroprotein, or compressed air foam; wet chemical extinguishing agents, such as potassium acetate, potassium carbonate, or potassium citrate; clean extinguishing agents (or inert gas extinguishing agents), such as halogens, carbon dioxide, or inert gases; dry powder extinguishing agents, such as sodium chloride; condensing aerosol extinguishing agents; water; and / or any other suitable extinguishing agent. Dry chemical extinguishing agents, foam extinguishing agents, and dry powder extinguishing agents extinguish fires by forming a barrier between the fuel in the flame and the oxygen source in the atmosphere. Wet chemical extinguishing agents similarly form a soap film on the fuel. Clean or gaseous extinguishing agents and condensing aerosol extinguishing agents replace oxygen in the environment surrounding the flame with carbon dioxide or other inert gases. When used as extinguishing agents, water cools the burning material. Preferably, the extinguishing agent includes foam extinguishing agents.

[0070] The network of pipes 710a, 710b, and 710c is arranged to transport fluid from the fluid supply unit 708 to the grid 700. For example... Figure 7 As shown, the piping network may include a feed pipe 710a communicating with parallel distribution pipes 710b, 710c. The feed pipe 710a supplies fluid from the fluid supply unit 708 to the distribution pipes 710b, 710c. The distribution pipes 710b, 710c then distribute the fluid to corresponding conduits in at least one fluid supply frame member. Figure 7 As shown, the distribution pipes can be arranged to distribute fluid to rows of fluid supply frame members of grid 700, and the distribution pipes can be located below grid 700. For example, the distribution pipes can be located below the base plate of grid 700, which provides a flat base for the grid, thereby increasing the stability of the stack of storage containers in columns 706a, 706b, 706c, 706d, 706e, and 706f. Alternatively, these distribution pipes can be integrally formed within horizontal frame members or components at the top of the grid.

[0071] In some instances, fluid source 708 is arranged to supply pressurized fluid to a network of pipes 710a, 710b, 710c. For example, the fluid source may include a pre-pressurized tank. Alternatively, fluid source 708 may include a pressure booster arranged to selectively pressurize the fluid. Thus, fluid source 708 may be arranged to introduce pressurized fluid into the conduit of each fluid supply frame member 704a, 704b. By supplying pressurized fluid to the piping network, the actuable valve at the outlet of the fluid supply frame member does not need to push the fluid upon actuation. Instead, the actuable valve only needs to open to deliver fluid to an automated storage and retrieval system. This simplifies the actuation mechanism at the fluid supply frame member, which simplifies the assembly of the fluid supply frame members disposed within the grid 700, thereby simplifying the manufacture of the grid 700.

[0072] In some embodiments, at least one main valve may be provided in the network of pipes 710a, 710b, 710c. These main valves are actuable to allow fluid to selectively flow from the fluid supply section 708 through the network of pipes 710a, 710b, 710c and into the piping of the fluid supply frame member. In some instances, the main valve may be provided in the fluid supply frame member instead of an actuable valve. Thus, the main valve provides central actuation, and when actuated or triggered, the main valve fills the network of pipes 710a, 710b, 710c with fluid. Central actuation allows for remote triggering of fluid delivery, which is particularly suitable for remotely triggered fire suppression systems.

[0073] As described herein, a fluid supply frame member can deliver fluid to multiple storage columns via an outlet comprising orifices distributed around the lateral periphery of the fluid supply frame member. Therefore, fewer fluid supply frame members are required to achieve fluid delivery to each storage column of the grid. In instances where the fluid comprises a fire extinguishing agent, fewer fluid supply frame members are required to deliver the fire extinguishing agent to any storage column of the grid. Thus, a fire extinguishing system capable of reaching every compartment in an automated storage and retrieval system can be implemented with fewer fluid supply frame members. In this way, the fire extinguishing system can be installed into existing automated storage and retrieval systems with minimal complexity. Similarly, in instances where the fluid is an ambient medium, fewer fluid supply frame members are required to deliver the ambient medium to any storage column. Furthermore, when the network of pipes 710a, 710b, 710c comprises pressurized fluid, the reduction in the number of fluid supply frame members advantageously reduces the drop in fluid pressure during delivery to the automated storage and retrieval system (e.g., its multiple zones), thereby reducing the amount of pressure required for effective fluid delivery.

[0074] Figure 8 It shows the applicability Figure 1 The storage column 800 of the automated storage and retrieval system is shown. Column 800 is depicted as having a stack of storage containers. Column 800 is defined by a frame 802. Column 800 is similar to... Figure 7 Columns 706a, 706b, 706c, 706d, 706e, and 706f are described. However, in column 800, a fluid supply frame member 804 is provided as a horizontal component of frame 802. The fluid supply frame member 804 may be as described regarding... Figure 5A , Figure 5B , Figure 5C , Figure 5D and / or Figure 6 As described, when the fluid supply frame member 804 is a horizontal member, the fluid supply frame member 804 may be located at the top of the column. In other instances, the horizontal fluid supply frame member 804 may be located at the bottom or middle layer of the column. In some instances, the fluid supply frame member may provide both horizontal and vertical members as a frame for an automated storage and retrieval system.

[0075] Such as about Figure 5A , Figure 5B , Figure 5C , Figure 5D and / or Figure 6 The fluid supply frame member 804 under discussion includes an outlet 806, which includes at least one outlet orifice. Here, the outlet orifice is positioned to deliver fluid to a section surrounding a lateral perimeter facing the column. For example, the outlet orifice may be directed to face the column such that when fluid is introduced from the orifice, gravity will cause the fluid to be dragged down the column.

[0076] like Figure 8 As shown, the automatic storage and retrieval system may further include a fluid source 808 and a distributed network of pipes 810a, 810b, and 810c connected thereto. The distributed network of fluid source 808 and pipes 810a, 810b, and 810c is shown in reference [reference needed]. Figure 7 As described in the corresponding components, except Figure 8 The distribution pipes 810b and 810c are not located below the grid 700, but extend perpendicularly to the fluid supply pipe 804 at the top of the grid.

[0077] Methods for delivering fluids to automated storage and retrieval systems

[0078] Figure 9 The text describes the delivery of fluids to an automated storage and retrieval system (as described in the context of...). Figure 1 The flowchart illustrates an exemplary method for an automated storage and retrieval system. As described herein, the fluid may be a fire extinguishing agent, such as any reagent (liquid, gas, powder, or others) suitable for suppressing fires and used in fire extinguishing systems, or an environmental medium suitable for vertical agriculture.

[0079] When the fluid is a fire extinguishing agent, the method may optionally begin at step S100, in which the presence of a fire is detected in the automated storage and retrieval system. A fire detection system can be used within or at the location of the automated storage and retrieval system to detect the fire. Such a fire detection system is operable to detect conditions indicating a fire in the automated storage and retrieval system. Conditions indicating a fire may be the presence of smoke or an elevated temperature. In some instances, the fire detection system may include an aspiration system, and detecting the presence of a fire may include detecting the presence of smoke. In some instances, step S100 may include detecting the presence of a fire in a specific storage column of the automated storage and retrieval system via active fire detection.

[0080] Next, the method proceeds to step S105, in which fluid is supplied to a system housed in an automated storage and retrieval system (such as...). Figure 1 The system shown herein has conduits within its frame members. Here, the frame members are as described herein. Figure 5A , Figure 5B , Figure 5C , Figure 5D or Figure 6 The automatic storage and retrieval system may include, as described in any of the above, and may include, as per the description of Figure 7 The described portion of grid 700, and / or as per... Figure 8 Column 800 is described herein. As described herein, the fluid can be supplied from a fluid source and via a distributed network of pipes to the conduit.

[0081] Next, the method proceeds to step S110, wherein fluid is delivered from a conduit to an automated storage and retrieval system via at least one outlet on the longitudinal surface of the elongated frame member. When the fluid includes a fire extinguishing agent and the outlet includes a fire extinguishing nozzle, fluid is delivered from the conduit to the automated storage and retrieval system in response to the presence of a fire in the automated storage and retrieval system.

[0082] In these examples, the presence of a fire can actuate a passively actuated valve at the outlet. A passively actuated valve is a valve that actuates automatically in response to an actuation condition. Therefore, when the fluid is a fire extinguishing agent, the actuation condition can be a condition indicating a fire, such as the presence of smoke, an increase in ambient temperature within the grid, or flames. As an example, this passively actuated valve can be a fusible element in a sprinkler head. This fusible element actuates the sprinkler head at a predetermined temperature. Thus, the fire extinguishing agent is delivered from the conduit to the automated storage and retrieval system via the actuated sprinkler head.

[0083] Alternatively, the presence of a fire can be detected as in step S100. For example, a fire can be detected in an automated storage and retrieval system, at which point fluid can be supplied in step S105 to corresponding conduits within multiple elongated frame members housed in the frame of the automated storage and retrieval system. Here, fluid can be delivered to multiple storage columns in the automated storage and retrieval system. Alternatively, detecting the presence of a fire in step S105 can include detecting the presence of a fire in a specific storage column of the automated storage and retrieval system. This can be achieved using active local fire detection devices, such as fire detectors within each column. In these instances, the frame members from which fluid is delivered are arranged adjacent to the specific storage column.

[0084] As described above, fluid flow can be actuated in response to detection from a fire detection system. The fire detection system can be any suitable fire detection system, such as a heat sensor or a smoke detector. In such instances, the system is equipped with a valve located within or in fluid communication with conduits in one or more of these elongated frame members, and the valve is configured to be actuated in response to detection indicating a fire condition. Actuation of the valve can include moving the valve from a closed position (where fluid flow is blocked) to an open position (where fluid flow is not blocked). Therefore, the valve can operate in a manner similar to a fusible element disposed at an outlet of the elongated frame member.

[0085] The valve can be positioned anywhere along the conduit, such as at the inlet of conduit 1004 or at the outlet manifold of fluid source 1008. Now refer to Figure 10Three valves 1014a, 1014b, and 1014c are located at the respective inlet ends of conduit 1004. As shown, conduit 1004 is routed into a horizontal component of the frame located at the top of the storage grid, and each conduit is configured to deliver fluid along a row in the storage grid to one or more specific storage columns. It will be understood that in any instance herein, the specific configuration and arrangement of conduit 1004 can be fully customized within the 3D boundaries of the frame component, such that conduit 1004 can be individually guided to any specific area of ​​the storage grid. As shown, conduit 1004 is supplied via a network of pipes 1010 connected to fluid source 1008, which can be configured similarly to that described above with respect to fluid source 708.

[0086] Valves 1014a, 1014b, and 1014c can be actuated independently of each other. Therefore, if, for example, a fire-indicating condition is detected from a fire detection sensor located in that specific area of ​​the storage grid, the corresponding valve for that area of ​​the storage grid is actuated, and extinguishing agent is delivered. Thus, valves 1014a, 1014b, and 1014c concentrate the delivery of extinguishing agent to critical areas of the storage grid for direct and effective fire suppression, while also minimizing damage to stored goods (e.g., water damage) in other lower-risk areas of the storage grid.

[0087] The examples described herein can also be used to direct extinguishing agents to robotic vehicles operating on a track system above storage columns. For example, such as Figure 10 As shown, the storage grid may include a fluid delivery device (or “fire station”) 1050 extending from the frame to a location above a track system 116 formed on top of the storage column 1006. According to any example described herein, the fluid delivery device 1050 includes an elongated frame member 1002 housing a conduit 1004. By extending the frame member 1002 to the area above the track system and providing the upper fluid delivery device 1050, a direct combustion or smoldering robot can be repositioned or directed to a staging area directly below and / or adjacent to the frame member 1002 for direct delivery of extinguishing agent to the robot vehicle. For example, once a fire condition indicating a fire in or on the robot is detected, the robot can be repositioned to station 1050 to mitigate and extinguish the fire, and fluid is delivered from the fluid delivery device 1050 (e.g., after actuation of valve 1014a) and to the robot.

[0088] The fluid delivery device 1050 extends sufficiently above the height of the track system 116, allowing the robotic vehicle to be positioned below or near the station 1050 in its parking area. For example, as Figure 10As shown, the frame member 1002 can be attached to the outer perimeter of the grid so that the guide rail 118 of the track system 116 is not obstructed.

[0089] Figure 10 The fire station 1050 is large enough to accommodate a single "cantilever" robot. However, it should be understood that the station can be configured to any suitable size or shape as needed to accommodate one or more robots of different sizes. For example, the station 1050 can extend across the length of the grid and can be supplied by multiple conduits 1004 and frame members 1002, thereby effectively providing a comprehensive fluid delivery system capable of submerging the robot in any or all areas of the track system 116.

[0090] Alternatively, station 1050 can be positioned at a distance from storage column 1004, allowing the combustion robot to be isolated from storage column 1006 to minimize the risk of fire spread. In this instance, the frame's track system 116 similarly extends to allow the robot to travel from storage column 1006 to station 1050.

[0091] Improved frame components

[0092] In some existing storage grids, the frame members are typically hollow and not fluid-tight, allowing fluid to drain from the frame members. Therefore, to create conduits suitable for transporting extinguishing agents (e.g., water), as discussed herein, it may be necessary to specially manufacture frame members with integrated conduits to retain and transport water. This can be achieved using methods known in the art, such as welding or sealing the frame members to prevent unwanted leaks.

[0093] Alternatively, the conduits for the frame members can be provided by inserting pipes or hoses through the hollow interior of the frame, such that the pipes extend through one or more frame members of the storage grid. In this way, the pipes are housed within the respective frame members and thus provide conduits for transporting fluid. This can be done as needed by using one or more of the multiple pipes 1004 to facilitate the delivery of fluid to multiple or all areas of the storage grid.

[0094] like Figure 11 As shown, the pipe 1004 is provided with an outlet 1108b that is in fluid communication with the outlet 1108a of the elongated frame member, thereby allowing fluid to be transported through the pipe 1004 out of the frame member 1002 and into the storage column 1006 of the grid.

[0095] In such an example, outlet 1108 may resemble any of those described herein. For instance, outlet 1108 may include a nozzle to facilitate the injection of fluid into a segment of the storage grid. This can be achieved, for example, by inserting a nozzle extending through both an outlet in frame member 1002 and a corresponding outlet in conduit 1004, such that fluid flows directly from conduit 1004 through the nozzle and into the storage grid.

[0096] In other instances, such as Figure 11 As shown, outlet 1108 may include orifices 1108a, 1108b in both pipe 1004 and the frame member 1002 housing the pipe, allowing fluid to exit the frame at a desired location within the storage grid (i.e., without the need for nozzles). Furthermore, since the frame member 1002 is hollow, fluid can exit through orifice 1108b of the pipe, through the frame member 1002, and through any orifice 1108a in the frame member without requiring perfect alignment with the corresponding outlet. In either case, orifices provide reduced system complexity, easier manufacturing, and reduced material requirements. If suitable orifices are not already provided on the corresponding components, orifices can be drilled in the pipe and frame member at desired locations within the grid to provide outlets. In some instances, drilling after the pipe has been inserted into the frame member necessarily facilitates alignment of the pipe orifice with the frame member orifice. Similarly, nozzles can be inserted into aligned orifices.

[0097] Advantageously, systems and methods as described herein can be readily manufactured or “modified” to existing or already assembled storage grids by inserting pipes into the frame to serve as conduits for elongated frame members. In particular, by means of, Figure 11 The uppermost horizontal frame member shown (i.e., via the elongated track member 1100) supplies conduits and can be manufactured without substantial disassembly to access the interior of the constructed grid frame. This simplifies the manufacturing process and / or improves retrofitting capabilities. However, it should be understood that the conduits can be housed within and through the horizontal and / or vertical frame members to be at any area or depth where the grid is stored, and can also be installed prior to assembling the frame.

[0098] Figure 12A method for manufacturing or modifying an automated storage and retrieval system is illustrated. The method includes, at step S200, obtaining a conduit (of a storage grid frame) and one or more elongated frame members, which have already been provided with outlets (e.g., orifices) or subsequently provided with outlets. At step S205, the conduit is inserted through one or more elongated frame members, thereby forming a conduit housed within the frame members. At step S210, the method includes drilling a hole through the conduit and frame members to provide an outlet. This allows the conduit to be in fluid communication with the storage system and can facilitate the injection of fluid into the storage column. Drilling can be performed simultaneously once the conduit is housed within the frame members. Simultaneous drilling advantageously provides simple alignment of the outlets of the conduit and frame members if the conduit fits tightly within or remains in place within the frame members. At step S215, the conduit is connected to a fluid supply unit such that the conduit is arranged to deliver the fluid to the automated storage and retrieval system via the outlet. It should be noted that although the method is shown in this order, the steps are freely reordered without significant impact on the final product (e.g., drilling can be performed before or after the conduit insertion). Step S210 is omitted when drilling is performed before step S205 or when the pipe and frame components have pre-existing outlets / orifices. Conversely, when performing step S210, the pipe and frame components may be provided in step S200 without forming any outlets / orifices therein.

[0099] More generally, the conduits and elongated frame members described herein can be fitted within the storage grid at any preferred area of ​​the grid, such as a “high-risk” area, thus providing a high degree of system customizability. Furthermore, standard overhead sprinklers may not be effective in suppressing fires deep within the storage grid because the fire is “masked” by the upper storage containers in the storage columns. Some warehouses may also have very high ceilings, which can pose challenges when installing a suitable overhead sprinkler system. However, by using frame members integrated with the storage grid to direct fluid directly into the storage columns or onto robots, as described herein, fluid can be delivered and concentrated at target locations within the grid to more effectively extinguish or suppress fires.

[0100] Other examples

[0101] Further examples of the systems and methods disclosed herein include the following numbered clauses: Clause 1. An elongated frame member for use in a frame of an automated storage and retrieval system, the frame defining a plurality of storage columns for receiving stacks of storage containers, wherein the elongated frame member comprises: Conduit, used to transport fluids; and At least one outlet is located on the longitudinal surface of the elongated frame member, and each outlet communicates with a conduit. The outlet is arranged to deliver fluid from the conduit to an automated storage and retrieval system, and The conduit is housed within the elongated frame member.

[0102] Clause 2. The elongated frame member according to Clause 1, wherein the outlet comprises a plurality of outlet holes distributed around the transverse periphery of the elongated frame member.

[0103] Clause 3. The elongated frame member according to Clause 2, wherein each outlet orifice is positioned to deliver fluid to a corresponding section surrounding the transverse perimeter.

[0104] Clause 4. The elongated frame member according to Clause 3, wherein the frame member, when included in the frame, is arranged adjacent to a plurality of storage columns, and the outlet includes a corresponding number of outlet holes.

[0105] Clause 5. An elongated frame member according to any of the preceding clauses, wherein the fluid includes a fire extinguishing agent and the outlet includes a fire extinguishing nozzle.

[0106] Clause 6. The elongated frame member pursuant to Clause 5, wherein the fluid comprises at least one of the following: carbon dioxide, dry chemical extinguishing agent, foam extinguishing agent, wet chemical extinguishing agent, clean extinguishing agent, dry powder extinguishing agent, condensing aerosol extinguishing agent, inert gas extinguishing agent and / or water.

[0107] Clause 7. An elongated frame member pursuant to Clause 5 or Clause 6, wherein the fire extinguishing nozzle includes a spray head comprising a fusible element configured to actuate the spray head at a predetermined temperature.

[0108] Clause 8. An automated storage and retrieval system comprising a frame defining a plurality of storage columns for receiving a stack of storage containers, wherein the frame includes at least one elongated frame member in accordance with any of the preceding clauses.

[0109] Clause 9. An automated storage and retrieval system pursuant to Clause 8, comprising a plurality of elongated frame members, wherein each respective elongated frame member is positioned to deliver the fluid to a different storage column.

[0110] Clause 10. The automated storage and retrieval system pursuant to Clause 8 or Clause 9 also includes a fluid source arranged to introduce pressurized fluid into a conduit in each elongated frame member.

[0111] Clause 11. An automated storage and retrieval system according to any one of Clauses 8 to 10, wherein at least one elongated frame member includes at least one vertical member of the frame and / or at least one horizontal member of the frame.

[0112] Clause 12. A method for delivering fluid to an automated storage and retrieval system, the method comprising: A conduit supplies fluid to an elongated frame member housed within a frame of an automated storage and retrieval system, the frame defining multiple storage columns for receiving stacks of storage containers; and The fluid is delivered from the conduit to an automated storage and retrieval system via at least one outlet on the longitudinal surface of the elongated frame member.

[0113] Clause 13. The method according to Clause 12, wherein the fluid comprises a fire extinguishing agent and the outlet comprises a fire extinguishing nozzle, and the fluid is delivered from a conduit to the automated storage and retrieval system in response to the presence of a fire in the automated storage and retrieval system.

[0114] Clause 14. The method according to Clause 13 also includes detecting a fire in a specific storage column of the automated storage and retrieval system, wherein the elongated frame member is arranged adjacent to the specific storage column.

[0115] Clause 15. The method according to Clause 13, wherein at least one fire extinguishing nozzle includes a spray head that includes a fusible element configured to actuate the spray head at a predetermined temperature, and the delivery of the extinguishing agent from a conduit to an automated storage and retrieval system includes actuating the spray head.

[0116] Final Comments

[0117] It should be understood that the above description is intended to be illustrative and not restrictive. Many other embodiments will become 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 embodiments, it will be appreciated that this disclosure is not limited to the described embodiments but can be practiced with modifications and variations within the spirit and scope of the appended claims. Therefore, the specification and drawings should be viewed in an illustrative rather than restrictive sense. Consequently, the scope of this disclosure should be determined by reference to the appended claims and the full scope of equivalents to which such claims are entitled.

Claims

1. An elongated frame member for use in the frame of an automated storage and retrieval system, the frame defining a plurality of storage columns for receiving stacks of storage containers, wherein the elongated frame member comprises: A conduit, used to transport fluids; as well as At least one outlet is located on the longitudinal surface of the elongated frame member, and each outlet communicates with the conduit. The outlet is arranged to deliver fluid from the conduit to the automated storage and retrieval system, and The conduit is housed within the elongated frame member.

2. The elongated frame member according to claim 1, wherein the outlet comprises a plurality of outlet holes distributed around the lateral periphery of the elongated frame member.

3. The elongated frame member of claim 2, wherein each of the outlet holes is positioned to deliver the fluid to a corresponding section surrounding the lateral perimeter.

4. The elongated frame member of claim 3, wherein the frame member, when included in the frame, is arranged adjacent to the plurality of storage columns, and the outlet includes a corresponding number of the outlet holes.

5. The elongated frame member according to any one of the preceding claims, wherein the fluid comprises a fire extinguishing agent and the outlet comprises a fire extinguishing nozzle.

6. The elongated frame member according to claim 5, wherein the fluid comprises at least one of the following: carbon dioxide, dry chemical extinguishing agent, foam extinguishing agent, wet chemical extinguishing agent, clean extinguishing agent, dry powder extinguishing agent, condensing aerosol extinguishing agent, inert gas extinguishing agent, and / or water.

7. The elongated frame member according to claim 5 or claim 6, wherein the fire extinguishing nozzle includes a spray head, the spray head including a fusible element configured to actuate the spray head at a predetermined temperature.

8. An automated storage and retrieval system comprising a frame defining a plurality of storage columns for receiving a stack of storage containers, wherein the frame includes at least one elongated frame member according to any one of the preceding claims.

9. The automated storage and retrieval system of claim 8, comprising a plurality of elongated frame members, wherein each respective elongated frame member is positioned to deliver the fluid to a different storage column or one or more storage columns in the storage column.

10. The automated storage and retrieval system of claim 8 or claim 9 further includes a fluid source arranged to introduce pressurized fluid into the conduit of each elongated frame member.

11. The automated storage and retrieval system according to any one of claims 8 to 10, wherein at least one of the elongated frame members comprises at least one vertical member of the frame and / or at least one horizontal member of the frame.

12. The automatic storage and retrieval system according to any one of claims 8 to 11, further comprising: Fire detection system; A valve, located within or in fluid communication with the conduit of one or more of the elongated frame members, is configured to control fluid flow through the conduit; The valve is configured to move from a closed configuration to an open configuration in response to the fire detection system detecting a condition indicating a fire.

13. The automatic storage and retrieval system according to claim 12, comprising: A first fire detection system is located adjacent to the first portion of the storage column; A second fire detection system is located adjacent to the second portion of the storage column; A first valve is located within or in fluid communication with the conduit of the elongated frame member associated with the first portion of the storage column, the first valve being configured to control fluid flow through the conduit; A second valve is located within or in fluid communication with the conduit of the elongated frame member associated with the second portion of the storage column, and the first valve is configured to control the flow of fluid through the conduit. The first valve is configured to move from a closed configuration to an open configuration in response to the first fire detection system detecting a condition indicating a fire; and The second valve is configured to move from a closed configuration to an open configuration in response to the second fire detection system detecting a condition indicating a fire.

14. The automated storage and retrieval system according to any one of claims 8 to 13, wherein the conduit of one or more of the elongated frame members is formed by a conduit extending through one or more of the elongated frame members, and wherein the conduit is provided with an outlet in fluid communication with an outlet of one or more of the elongated frame members.

15. A method for delivering fluid to an automated storage and retrieval system, the method comprising: The fluid is supplied to a conduit housed within an elongated frame member of the frame of the automated storage and retrieval system, the frame defining a plurality of storage columns for receiving stacks of storage containers; as well as The fluid is delivered from the conduit to the automated storage and retrieval system via at least one outlet on the longitudinal surface of the elongated frame member.

16. The method of claim 15, wherein the fluid comprises a fire extinguishing agent and the outlet comprises a fire extinguishing nozzle, and the fluid is delivered from the conduit to the automatic storage and retrieval system in response to the presence of a fire in the automatic storage and retrieval system.

17. The method of claim 16, further comprising: A fire is detected in a specific storage column of the automated storage and retrieval system, wherein the elongated frame member is arranged adjacent to the specific storage column.

18. The method of claim 16, wherein the at least one fire extinguishing nozzle comprises a spray head, the spray head including a fusible element configured to actuate the spray head at a predetermined temperature, and delivering the fire extinguishing agent from the conduit to the automated storage and retrieval system comprises actuating the spray head.

19. A method of manufacturing an automated storage and retrieval system according to claim 14, the method comprising: Insert the pipe into one or more elongated frame members that pass through the frame, and The pipe is connected to the fluid supply unit such that the pipe is arranged to deliver the fluid to the automatic storage and retrieval system via the outlet.

20. The method of claim 19, wherein when the conduit is inserted into the one or more elongated frame members, both the conduit and the one or more elongated frame members include the outlet.

21. The method of claim 19, further comprising: After the pipe is inserted through one or more elongated frame members, a hole is drilled through the pipe and the frame members to form the outlet.

22. An automatic storage and retrieval system, the system comprising: A frame defines multiple storage columns; A track system is formed on top of the storage column; as well as A fluid delivery device extending from the frame to a position above the track system, wherein the fluid delivery device includes: a conduit for transporting fluid; And at least one outlet for delivering the fluid to a robotic vehicle operating on the orbital system.

23. The automated storage and retrieval system of claim 22, wherein the fluid delivery device comprises at least one elongated frame member according to any one of claims 1 to 3 or 5 to 7.

24. A fire extinguishing station for an automated storage and retrieval system's storage grid, wherein the fire extinguishing station comprises: The parking area is configured to be accessible by robotic vehicles that traverse a track system on the storage grid. as well as The elongated frame component includes: a conduit for conveying fluid; And at least one outlet in fluid communication with the conduit, the at least one outlet being arranged to deliver the fluid to a robotic vehicle stationed in the parking area.

25. The fire extinguishing station according to claim 24, wherein, The elongated frame member includes at least one elongated frame member according to any one of claims 1 to 3 or 5 to 7.

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