System and method for harvesting energy from container handling vehicles

Abstract

To provide a system and method for harvesting energy from a suitable container handling vehicle.SOLUTION: A container handling vehicle of the invention for handling storage containers in a three-dimensional grid of a lower storage system, comprises: at least one lifting device for lifting the storage container from the lower storage system and lowering the storage container into the lower storage system, the lifting device comprising a lifting frame for gripping the storage container, a winch system for lifting and lowering the lifting frame, a motor for driving the winch system, and a driver circuit having a controller for controlling the motor; and at least a first rechargeable power source and a second rechargeable power source for providing power to the motor, wherein the driver circuit further comprises a regenerative energy circuit configured to capture energy from the motor when the lifting frame is lowered into the storage system.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a system and method for harvesting energy from container handling vehicles that are powered by rechargeable batteries and that load storage containers within a three-dimensional grid of an underlying storage system, and more particularly to a system and method for harvesting energy from container handling vehicles that are powered by rechargeable power sources and that load storage containers within a three-dimensional grid of an underlying storage system, the charge levels of which are monitored and controlled. [Background technology]

[0002] FIG. 1 discloses a typical prior art automated storage and retrieval system 1 having a framework structure 100, and FIGS. 2 and 3 disclose two different prior art container handling vehicles 201, 301 suitable for operating on such a system 1.

[0003] The frame structure 100 comprises a number of upright members 102 and a number of horizontal members 103 supported by the upright members 102. The members 102, 103 are typically made from metal and may be, for example, extruded aluminum profiles.

[0004] The framework structure 100 defines a storage grid 104 comprising storage columns 105 arranged in rows in which storage containers 106, also known as bins, are stacked on top of each other to form stacks 107. The storage grid 104 prevents horizontal movement of the stacks 107 of storage containers 106 and guides vertical movement of the containers 106, but does not typically support the storage containers 106 when otherwise stacked.

[0005] The automated storage and retrieval system 1 comprises a rail system 108 arranged in a grid pattern across the top of the storage grid 104, on which a plurality of container handling vehicles 201, 301 are operated to lift storage containers 106 from, lower storage containers 106 into, and transfer storage containers 106 up the storage rows 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 201, 301 in a first direction X across the top of the framework 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 201, 301 in a second direction Y perpendicular to the first direction X. The rail system 108 thus defines a grid row 112 on which the container handling vehicles 201, 301 can move laterally over the storage row 105, ie in a plane parallel to the horizontal XY plane.

[0006] Each prior art container handling vehicle 201, 301 comprises a vehicle body 201a, 301a, a first set of wheels 201b, 301b enabling lateral movement of the container handling vehicle 201, 301 in the X direction, and a second set of wheels 201c, 301c enabling lateral movement of the container handling vehicle 201, 301 in the Y direction. In Figures 2 and 3, two wheels in each set are fully visible. The first set of wheels 201b, 301b is arranged to engage two adjacent rails of the first set of rails 110, and the second set of wheels 201c, 301c is arranged to engage two adjacent rails of the second set of rails 111. Each set of wheels 201b, 301b, 201c, 301c can be raised and lowered so that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c can be engaged with the respective set of rails 110, 111 at any one time.

[0007] Each prior art container handling vehicle 201, 301 also comprises a lifting device 302 for vertical transfer of the storage container 106, e.g., for lifting the storage container 106 from the storage row 105 and lowering the storage container 106 into the storage row 105. The lifting device comprises one or more gripping / engagement devices (not shown) adapted to engage the storage container 106, and the gripping / engagement devices can be lowered from the vehicle 201, 301 such that the position of the gripping / engagement devices relative to the vehicle 201, 301 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y.

[0008] Each prior art container handling vehicle 201, 301 comprises a storage compartment or space for receiving and storing the storage containers 106 as they are transported across the rail system 108. The storage space may comprise a centrally arranged cavity within the vehicle body 201a, as shown in FIG. 2 and described, for example, in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference.

[0009] 3 shows an alternative configuration of a container handling vehicle 301 having a cantilever structure. Such a vehicle is described in detail, for example, in No. 317366, the contents of which are also incorporated herein by reference.

[0010] 2 may have a footprint covering an area having dimensions in the X and Y directions generally equal to the lateral extent of grid columns 112, i.e., the extent of grid columns 112 in the X and Y directions, as described, for example, in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" may mean "horizontal."

[0011] Alternatively, the central hollow container handling vehicle 201 may have a footprint larger than the lateral area defined by the grid columns 112, for example as disclosed in WO2014 / 090684A1.

[0012] In the X and Y directions, neighboring grid cells are arranged to touch each other so that there is no space between them.

[0013] In the storage grid 104, the majority of the grid rows 112 are storage rows 105, i.e., grid rows 105 in which storage containers 106 are stored in stacks 107. However, the grid 104 will typically have at least one grid row 112 that is not used to store storage containers 106, but that comprises a location where a container handling vehicle 201, 301 can deliver and / or receive a storage container 106 so that the storage container 106 can be transferred to an access station (not shown) where it can be accessed from outside the grid 104 or transported in and out of the grid 104. Within the art, such a location is typically referred to as a "port" and the grid row 112 in which the port is located may be referred to as a "port row" 119, 120. Transfer to the access station may be in any direction, horizontal, diagonal, and / or vertical. For example, storage containers 106 may be placed in random or dedicated grid rows 112 within the storage grid 104 and then picked up by any container handling vehicle and transported to ports 119, 120 for further transport to an access station. Note that the term "diagonal" refers to the transport of storage containers 106 having a general transport orientation somewhere between horizontal and vertical.

[0014] When a storage container 106 stored within the grid 104 disclosed in FIG. 1 is to be accessed, one of the container handling vehicles 201, 301 is commanded to remove the target storage container 106 from its position within the grid 104 and transfer it to the transfer port 119. This operation involves moving the container handling vehicle 201, 301 to a grid location above the storage row 105 where the target storage container 106 is located, using a lifting device (not shown) of the container handling vehicle 201, 301 to remove the storage container 106 from the storage row 105 and transfer the storage container 106 to the transfer port 119. If the target storage container 106 is located deep within the stack 107, i.e., with one or more other storage containers 106 positioned above the target storage container 106, the operation also involves temporarily moving the storage container located above prior to lifting the target storage container 106 from the storage row 105. This step, sometimes referred to within the art as "searching," may be performed using the same container handling vehicle that is subsequently used to transfer the target storage container to the delivery port 119, or using one or more other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have a container handling vehicle specifically dedicated to the task of temporarily removing a storage container from the storage row 105. Once the target storage container 106 is removed from the storage row 105, the temporarily removed storage container may be repositioned in the original storage row 105. However, the removed storage container may alternatively be relocated to another storage row.

[0015] When a storage container 106 is to be stored in the grid 104, one of the container handling vehicles 201, 301 is commanded to receive the storage container 106 from the receiving port 120 and transport the storage container 106 to a grid location above the storage row 105 where it is to be stored. After any storage container located at or above the target location in the storage row stack 107 is removed, the container handling vehicle 201, 301 positions the storage container 106 in the desired location. The removed storage container can then be lowered back into the storage row 105 or relocated to another storage row.

[0016] To monitor and control the automated storage and retrieval system 1, e.g., to monitor and control the location of each storage container 106 within the grid 104, the contents of each storage container 106, and the movements of the container handling vehicles 201, 301 so that the desired storage containers 106 can be delivered to the desired locations at the desired times without the container handling vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 includes a control system, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0017] Capturing energy from an electric motor while it is working in reverse is a known concept. This is called regenerative braking and is an energy recovery mechanism that slows down an object (such as a car) by converting its kinetic energy into electrical energy. The captured electrical energy can be stored in a rechargeable power source such as a battery or capacitor. By using regenerative braking and storing the generated electrical energy in the rechargeable power source, the operating time of the rechargeable power source is extended until it must be recharged.

[0018] The preferred rechargeable power source used to power the vehicle is a lithium-ion battery. Lithium-ion batteries are preferred due to their high energy density and low self-discharge. Furthermore, they can be recharged multiple times with little loss of charge capacity.

[0019] However, a problem with lithium-ion batteries is that they must be charged correctly. Lithium-ion batteries can be a safety hazard because they contain a flammable electrolyte. Battery cells that are charged too quickly can cause a short circuit, leading to explosions and fires. Additionally, if a lithium-ion battery is overcharged, lithium ions can build up on the anode as metallic lithium. This is called lithium plating. Lithium plating degrades the life and durability of the battery. This can also lead to short circuits, which again can lead to fires. Overcharging lithium-ion batteries is a known problem when using regenerative braking in vehicles.

[0020] An alternative rechargeable power source is a capacitor, preferably a supercapacitor. They have the advantage that they can rapidly take up large amounts of charge without the risk of overcharging. However, the problem with capacitors is that they have a low energy density and that they have a high level of internal leakage current. As a result, the capacitor must be frequently charged to keep its charge level, requiring many capacitors to be able to provide the amount of power required to operate the container handling vehicle. This also requires a lot of space and unnecessary weight.

[0021] It may be desirable to use regenerative braking in the system illustrated in Figures 1-3 to regenerate energy, for example when a container handling vehicle lowers a lifting frame into an underlying storage grid. It is an object of the present invention to overcome the above mentioned problems of battery damage and to ensure that regenerative braking does not overcharge the battery. [Prior art documents] [Patent documents]

[0022] [Patent Document 1] International Publication No. 2015 / 193278 [Patent Document 2] International Publication No. 2014 / 090684 Summary of the Invention [Means for solving the problem]

[0023] The present invention is set out and characterized in the independent claims, while the dependent claims describe further characteristics of the invention.

[0024] The present invention is defined by a container handling vehicle for handling storage containers within a three-dimensional grid of a lower storage system, comprising at least one lifting device for lifting the storage containers from the lower storage system and lowering the storage containers into the lower storage system, the lifting device comprising a lifting frame for gripping the storage containers, a winch system for lifting and lowering the lifting frame, a motor for driving the winch system, and a driver circuit having a controller for controlling the motor, and at least a first rechargeable power source and a second rechargeable power source for providing power to the motor, the driver circuit further comprising a regenerative energy circuit configured to capture energy from the motor when the lifting frame is lowered into the storage system, the driver circuit configured to control the captured energy and direct the captured energy to the rechargeable power source according to a pre-set level of charge in the rechargeable power source.

[0025] The harvested energy is directed to either the first rechargeable power source or the second rechargeable power source. In a preferred embodiment of the invention, the first rechargeable power source is a rechargeable battery and the second rechargeable power source may be a capacitor. The capacitor may be a supercapacitor.

[0026] Supercapacitors are divided into two different categories, one called double layer capacitors, which use electrostatic charge storage, and the other called pseudocapacitors, which use electrochemical charge storage. A further subcategory is the hybrid capacitor, which uses both electrostatic and electrochemical storage capacitance.

[0027] To track the charge levels of the two rechargeable power sources of the present invention, the driver circuit communicates with a charge sensor connected to the first rechargeable power source and / or the second rechargeable power source. The charge sensor tracks the charge capacity of the rechargeable power sources and communicates its reading to the driver circuit, which in turn determines where the captured energy is directed. The energy is directed to one of the two rechargeable power sources according to the level of charge of the two rechargeable power sources.

[0028] If the rechargeable battery is a lithium-ion battery, its charge capacity is best maintained if the battery is kept within 25% to 75% of its charge capacity. Therefore, to best maintain the life of the battery, the charge of the battery should be kept below 75% and above 25% of its charge capacity. Thus, when the battery has a charge level below 75%, the captured energy is directed to the lithium-ion battery. When the battery charge is above 75%, the captured energy is directed to the capacitor.

[0029] Alternatively, safeguards are built into the system to avoid the build-up of lithium plating: if the battery is in danger of being overcharged, a driver circuit directs the captured energy to a capacitor.

[0030] In one embodiment of the present invention, the container handling vehicle replaces its battery when it is discharged below a predefined level. This reduces the downtime of the container handling vehicle at near zero. However, the empty battery and the fully charged battery may not always be located at the same charging station. Therefore, to move the container handling vehicle from the delivery charging station to the receiving charging station, the container handling vehicle uses power from the capacitor. Therefore, it is necessary to ensure that the capacitor has enough stored energy to steer the vehicle between the two charging stations. As a result, if it is determined that the charge level of the capacitor has dropped below a set threshold level, the harvested energy can be directed to the capacitor.

[0031] The present invention further relates to a method for harvesting energy when a container handling vehicle handles storage containers within a three dimensional grid of a lower storage system, the vehicle comprising: a vehicle body having at least a first set of wheels for moving the container handling vehicle in a first direction; at least one rechargeable battery and at least one capacitor; a control system for controlling the charge levels of the rechargeable battery and the capacitor; and at least one lifting device for lifting the storage container from the lower storage system and lowering the storage container into the lower storage system, the lifting device comprising a lifting frame for gripping the storage container, a winch system for lifting and lowering the lifting frame, a motor for driving the winch system, and a driver circuit having a controller for controlling the motor; connecting a motor for harvesting energy and a regenerative charging circuit to the lifting device; lowering the lifting device into the underlying storage system; directing the harvested energy to a rechargeable battery and / or a capacitor using a control system; It is defined by a method including:

[0032] In a further alternative embodiment of the present invention, energy is also captured from the deceleration of the container handling vehicle itself.

[0033] An advantage of the present invention is that it provides optimal maintenance of the rechargeable power source whilst at the same time ensuring optimal storage of energy captured whilst the container handling vehicle is in operation. [Brief description of the drawings]

[0034] The following drawings are included to facilitate an understanding of the invention, and illustrate embodiments of the invention which are herein described by way of example only.

[0035] [Figure 1] FIG. 1 is a perspective view of a grid of a prior art automated storage and retrieval system.

[0036] [Diagram 2] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for containing a storage container therein.

[0037] [Diagram 3] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever for containing a storage container underneath.

[0038] [Figure 4] FIG. 4 is a box diagram of how the different parts of the system are connected according to one preferred embodiment of the present invention.

[0039] [Diagram 5] FIG. 5 is a flow chart of a process according to one embodiment of the present invention in which generated energy is directed to either of the rechargeable power sources according to a pre-set capacity level.

[0040] [Figure 6]FIG. 6 is a flow chart of a process according to one embodiment of the invention in which generated energy is directed to a capacitor when a rechargeable battery is at 100% of its current charge level. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0041] In the following, the invention will be discussed in more detail with reference to the accompanying drawings, in which it will be understood, however, that the drawings are not intended to limit the invention to the subject matter depicted.

[0042] A typical prior art automated storage and retrieval system involving a framework structure 100 was described in the Background section above.

[0043] The container handling vehicle rail system 108 allows the container handling vehicle 201 to move horizontally between different grid locations, each grid location being associated with a grid cell.

[0044] In FIG. 1, the storage grid 104 is shown with a height of eight grid cells. However, it should be understood that the storage grid 104 can in principle be of any size. The storage grid 104 can be significantly wider and / or longer than that disclosed in FIG. 1. For example, the grid 104 can have a horizontal extent of more than 700×700 storage rows 105. Also, the grid 104 can be significantly deeper than that disclosed in FIG. 1. For example, the storage grid 104 can be more than 12 grid cells deep, i.e., in the Z direction shown in FIG. 1.

[0045] The container vehicle 201 can be of any type known in the art, for example any one of the automated container handling vehicles disclosed in WO2014 / 090684A1, NO317366, or WO2015 / 193278A1. Methods and control systems for controlling that prior art system are well known.

[0046] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for containing a storage container therein.

[0047] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever for containing a storage container underneath.

[0048] FIG. 4 is a box diagram of how the different parts of the system are connected according to a preferred embodiment of the present invention. The motor 407 and the regenerative charging circuit for capturing energy capture energy due to regenerative braking. In the present invention, regenerative braking can occur when the lifting frame is lowered downwards. Due to the weight of the lifting frame, both with and without the container attached, gravity pulls the lifting frame downwards without the motor 407 doing any work. Thus, kinetic energy is generated from the change in potential energy. The kinetic energy resulting from the lifting frame being lowered into the lower storage system forces the rotor of the electric motor 407 to rotate. This rotation allows the electric motor 407 to operate as a generator. The motor 407 can then capture energy by converting the kinetic energy of the rotor into electrical energy. This electrical energy can again be stored in a rechargeable power source.

[0049] A driver circuit 404 attached to the controller controls the motor 407. The driver circuit 404 further comprises a regenerative energy circuit 403. The regenerative energy circuit 403 is configured to harvest electrical energy generated by the motor 407. The driver circuit 404 further directs the harvested energy to either the first rechargeable power source or the second rechargeable power source according to the level of charge in the rechargeable power source. To track the charge levels of the rechargeable power sources, charge sensors 401, 402 are attached to the first and second rechargeable power sources 405, 406. The charge sensors 401, 402 communicate the charge levels of the first and second rechargeable power sources 406 to the driver circuit 404.

[0050] In a preferred embodiment of the present invention, the first rechargeable power source 405 can be a rechargeable battery 405. The rechargeable battery 405 can be a lithium ion battery. The second rechargeable power source 406 can be a capacitor 406. The capacitor 406 can be a supercapacitor.

[0051] Any other type of rechargeable battery and capacitor may be used.

[0052] FIG. 5 is a flow chart of a process according to an embodiment of the invention in which harvested energy is directed to either of the rechargeable power sources depending on an algorithm that determines when to charge the lithium ion battery and when to charge the capacitor.

[0053] The driver circuit 404 includes a regenerative energy circuit 403. The regenerative energy circuit 403 draws energy from the motor during regenerative braking.

[0054] The charge sensors 401, 402 are connected to either of the rechargeable power sources 405, 406. The charge sensors 401, 402 read the charge level of the power sources 405, 406. This information is communicated to the driver circuit 404.

[0055] In one embodiment of the invention, the delivery charging station is a charging station where the container handling vehicle deposits its discharged battery, and the receiving charging station is a charging station where the container handling vehicle receives its charged battery.

[0056] Based on information transmitted from the charging sensors 401, 402 to the driver circuit 404 and information regarding the distance to the nearest handover charging station and the nearest receiving charging station as well as information regarding the next operational task, the harvested energy is transmitted to either the first rechargeable power source or the second rechargeable power source to ensure that the container handling vehicle has sufficient power to either perform the next operational task or drive to the charging station. Alternatively, the harvested energy can be split between the two rechargeable power sources.

[0057] The algorithm that determines whether the harvested energy should be transmitted to the first rechargeable power source or the second rechargeable power source is, in one embodiment, based on pre-set charge levels of the first and second rechargeable power sources.

[0058] In one embodiment of the invention, the decision to direct the harvested energy to either the battery or the capacitor, or to both, is based on information received by the driver circuit. The information is collected from a charge sensor attached to either of the rechargeable power sources. The charge sensor delivers information on what charge level the two power sources are at. The main objective of the system is to ensure that the lithium ion battery is not overcharged or damaged through charging too much and too fast, exposing it to the risk of fire or explosion. However, there is a further objective to ensure that the battery has enough power to get the container handling vehicle to the transfer charging station, and that the capacitor has enough energy to ensure that the container handling vehicle can get from the transfer charging station to the receiving charging station.

[0059] To make these decisions, the container handling vehicle must know at all times the charge levels of the two rechargeable power sources, the distance to the nearest handover charging station and the distance to the nearest receiving charging station, and the next task of operation. Other information used in the algorithm may include the distance to the next pick-up point for the container and the distance between the pick-up and hand-over points for the container, as well as the depth to which the container handling vehicle needs to explore and the weight of the container that needs to be lifted and transferred.

[0060] Information regarding the charge level of the rechargeable battery is provided by a charge sensor connected to both the lithium-ion battery and the capacitor. Information regarding the closest handover charging station and the closest receiving charging station is provided to the container handling vehicle by a central computer system, for example through Wi-Fi® communication. Information regarding the next task of operation is also provided by the central computer system.

[0061] The central computer system transmits information regarding the next task of the operation, and the container handling vehicle calculates whether it can engage in the next task based on the given information and the information collected by the charging sensor. If the container handling vehicle can engage in the next task, the container handling vehicle communicates to the central computer system that it is engaged in the next task of the operation. However, if the container handling vehicle cannot engage in the next task of the operation, the container handling vehicle communicates to the central computer system that it needs to change the battery.

[0062] If the container handling vehicle has too low a charge level on the battery to undertake the next task of operation, but has a high charge level on the capacitor, the container handling vehicle decides to change the battery.

[0063] Alternatively, when the container handling vehicle ensures that the batteries have enough power to complete the task, a capacitor can be used to charge the batteries and the energy captured from the lowering of the lifting frame can be used to charge the capacitor.

[0064] If the container handling vehicle has a low charge level on the capacitor but a high charge level on the battery, the container handling vehicle can direct the energy captured from the lowering of the lifting frame to the capacitor. Alternatively, the battery can be used to replenish the capacitor.

[0065] If the container handling vehicle has a high charge level on the battery and a high charge level on the capacitor, the captured energy can be split between the two rechargeable power sources. The split between the amount to be sent to the battery and the amount to be sent to the capacitor is done at the current charge level of each power source. In one embodiment of the invention, the charge level of the battery should be kept within the range of 25% to 75% of the full charge level.

[0066] If the battery's charge level falls below 25% of full charge capacity, the battery may be changed or captured energy may be directed to the battery to ensure it remains within its best operating range. If the battery's charge level is within 25%-75% of full charge capacity, captured energy may be directed to the battery to keep it within its best operating range. If the battery's charge level is above 75% of full charge level, captured energy may be sent to a capacitor.

[0067] Alternatively, if the charge levels of the two rechargeable power sources are at their full current charge levels, the container handling vehicle may decide not to capture energy generated from the lowering of the lifting frame.

[0068] If the container handling vehicle has low charge on the battery and low charge on the capacitor, the container handling vehicle will ensure that the capacitor has enough energy to steer from one charging point to another. Alternatively, if the battery has enough power left to ensure that the container handling vehicle can steer to the nearest handover charging station, the battery can be used to fully charge the capacitor.

[0069] The objective is to ensure that the combined power of the two rechargeable power sources has sufficient power at all times to transport a container handling vehicle to the nearest delivery charging station and from the nearest delivery charging station to the nearest receiving charging station.

[0070] The rules regarding when to charge the rechargeable battery and when to charge the capacitor set forth above are not meant to be exclusive but are meant as an example set of rules, other rules may be used and are within the scope of the present invention.

[0071] FIG. 6 is a flow chart of a process according to one embodiment of the invention in which captured energy is directed to capacitor 406 when rechargeable battery 405 is at 100% of its current charge level.

[0072] As described above, if a lithium-ion battery is overcharged, lithium ions can accumulate on the anode as metallic lithium, which is called lithium plating. Lithium plating degrades the life and durability of the battery. Lithium plating can lead to short circuits, which can also lead to fires.

[0073] Therefore, safety measures are built into the system to avoid the build-up of lithium plating. If the battery is in danger of being overcharged, the driver circuit 404 directs the captured energy to the capacitor 406.

[0074] A battery is fully charged when it is at 100% of its current charge level. To overcharge it would be to attempt to charge the battery when it is at 100% of its current charge level. A battery's charge level may decrease over its life. However, 100% of its current charge level should be considered the maximum charge level it can withstand any given time.

[0075] In one embodiment of the invention, the battery can be used to charge the capacitor 406 when the charge level of the capacitor 406 falls below a set level for transporting the container handling vehicle between one charging station and another. [Explanation of symbols]

[0076] List of reference numbers Prior Art (Figures 1-4): 1. Prior Art Automated Storage and Retrieval System 100 Framework Structure 102 Upright members of framework structures 103 Horizontal members of framework structures 104 Storage Grid 105 Storage Row 106 Storage Container 106' Specific location of storage container 107 Stack 108 Rail System 110 Parallel rails in the first direction (X) 110a: first rail in a first direction (X) 110b second rail in the first direction (X) 111 Parallel rail in the second direction (Y) 111a: first rail in second direction (Y) 111b second rail in a second direction (Y) 112 Access opening 119 1st Port Row 120 Second Port Row 201 Prior Art Storage Container Vehicles 201a Vehicle body of storage container vehicle 201 201b Drive means / wheel arrangement, first direction (X) 201c Drive means / wheel arrangement, second direction (Y) 301 Prior Art Cantilever Storage Container Vehicles 301a Vehicle body of storage container vehicle 301 301b Driving means in the first direction (X) 301c Driving means in the second direction (Y) 304 Grasping Device 500 Control System 401 Charge Sensor 402 Charge Sensor 403 Regenerative Energy Circuit 404 Driver circuit 405 Rechargeable Power Supply 406 Rechargeable Power Supply 407 Motor X First Direction Y Second Direction Z third direction The present specification also provides, for example, the following: (Item 1) A container handling vehicle (201, 301) for handling storage containers (106) within a three-dimensional grid (104) of a lower storage system (1), comprising: at least one lifting device for lifting a storage container (106) from said lower storage system (1) and lowering the storage container (106) to said lower storage system (1), said lifting device comprising a lifting frame (302) for gripping the storage container (106), a winch system for lifting and lowering said lifting frame (302), a motor (407) for driving said winch system and a driver circuit (404) having a controller for controlling said motor (407); at least a first rechargeable power source (405) and a second rechargeable power source (406) for providing power to said motor (407); the driver circuit (404) further comprises a regenerative energy circuit (403) configured to capture energy from the motor (407) when the lifting frame (302) is lowered into the storage system (1), the driver circuit (404) being configured to control the captured energy and direct it to the rechargeable battery (405) and / or the capacitor (406) according to a preset level of charge in the rechargeable battery (405) and the capacitor (406). (Item 2) 2. The container handling vehicle (201, 301) according to item 1, wherein the first rechargeable power source (405) is a lithium ion battery and the second rechargeable power source (406) is a capacitor. (Item 3) The container handling vehicle (201, 301) described in item 1 or 2, wherein the driver circuit (404) is further connected to a charging sensor (401, 402) connected to the first rechargeable power source (405) and / or the second rechargeable power source (406). (Item 4) 4. The container handling vehicle (201, 301) according to item 2 or 3, wherein the driver circuit (404) is configured to direct the energy captured by the regenerative energy circuit (403) to the at least one capacitor (406) when the rechargeable battery (405) is above 75% of its full charge level. (Item 5) 4. The container handling vehicle (201, 301) according to item 2 or 3, wherein the driver circuit (404) is configured to direct the energy captured by the regenerative energy circuit (403) to the rechargeable battery (405) when the rechargeable battery (405) is below 75% of its full charge level. (Item 6) 4. The container handling vehicle (201, 301) according to item 2 or 3, wherein the driver circuit (404) is configured to direct the energy captured by the regenerative energy circuit (403) to the rechargeable battery (405) and to the at least one capacitor (406) when both of the rechargeable power sources (405, 406) are below 50% of their full charge levels. (Item 7) The container handling vehicle (201, 301) according to any one of items 1 to 6, wherein the regenerative energy circuit (403) is further configured to take in energy from a motor driving wheels of the container handling vehicle (201, 301) to generate energy when the container handling vehicle (201, 301) decelerates. (Item 8) 4. The container handling vehicle (201, 301) according to item 2 or 3, wherein the at least one capacitor (406) is a capacitor using electrochemical charge storage and / or electrostatic charge storage. (Item 9) A method for harvesting energy when a container handling vehicle (201, 301) is handling storage containers in a three-dimensional grid (104) of a lower storage system (1), the vehicle comprising: a vehicle body (201a, 301a) having at least a first set of wheels (201b, 301b) for moving the container handling vehicle (201, 301) in a first direction (X); at least a first rechargeable power source (405) and a second rechargeable power source (406); and a rechargeable battery (405) and a capacitor (406) for controlling the charge levels of the rechargeable battery (405) and the capacitor (406). and at least one lifting device for lifting a storage container (106) from said lower storage system (1) and lowering a storage container (106) to said lower storage system (1), said lifting device comprising a lifting frame for gripping a storage container, a winch system for lifting and lowering said lifting frame, a motor for driving said winch system, and a driver circuit (404) having a controller for controlling said motor (407), said method comprising: - connecting said motor (407) and said regenerative energy circuit (403) to said lifting device; - lowering said lifting device into said underlying storage system; - directing the generated energy to the rechargeable battery (405) and / or the capacitor (406) using the driver circuit (404); A method comprising: (Item 10) 10. The method according to any one of claims 1 to 9, wherein the energy captured by the regenerative energy circuit (403) is directed to the capacitor (406) when the rechargeable battery (405) is at its full current charge level. (Item 11) 11. The method according to any one of items 1 to 10, wherein the energy captured by the regenerative energy circuit (403) is directed to the rechargeable battery (405) when the rechargeable battery (405) is below 75% of its full charge level.

Claims

[Claim 1] The invention described in this specification.

Images