Rechargeable power source for baggage handling device

Abstract

To provide a thermal management system of a rechargeable power source of a baggage handling device.SOLUTION: A baggage handling device for lifting and moving one or a plurality of containers stacked in a storage system of a grid framework structure comprises: a cassette for storing a rechargeable power source for supplying power to a drive mechanism; and a temperature control device for maintaining a temperature of the rechargeable power source within a predetermined temperature range in response to a signal from a temperature sensor.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to the field of luggage handling equipment for handling storage containers or receptacles in a storage system comprising a grid framework structure and stacked containers, and more particularly to a thermal management system for a rechargeable power supply of the luggage handling equipment. [Background technology]

[0002] An order fulfillment or warehousing facility typically includes a receiving operation for receiving shipments of inventory from various vendors and storing the received inventory in an inventory. An order fulfillment or warehousing facility typically includes a storage system or automated storage system with a three-dimensional storage grid structure, in which storage containers / receptacles are stacked on top of each other, as is well known. PCT Publication No. WO 2015 / 185628 A (Ocado) describes a known storage and fulfillment system in which stacks of receptacles or containers are arranged within a grid framework structure. The receptacles or containers are accessed by baggage handling equipment operating on tracks mounted on the grid framework structure. A storage system (1) of this type is shown schematically in Figures 1 to 3 of the accompanying drawings.

[0003] As shown in Figures 1 and 2, stackable containers known as receptacles 10 are stacked on top of one another to form stacks 12. The stacks 12 are placed within a grid framework structure 14 within a warehouse or manufacturing environment. The grid framework is made up of a plurality of storage rows or grid rows. Each grid within the grid framework structure has at least one grid row for storage of stacks of containers. Figure 1 is a schematic perspective view of the grid framework structure 14.

[0004] The grid framework structure 14 includes a plurality of upright members 16 supporting horizontal members 18, 20. A first set of parallel horizontal members 18 are arranged perpendicular to a second set of parallel horizontal members 20 to form a plurality of horizontal grid structures supported by the upright members 16. The members 16, 18, 20 are typically fabricated from metal. The containers 10 are stacked between the members 16, 18, 20 of the grid framework structure 14 such that the grid framework structure 14 prevents horizontal movement of the stack 12 of containers 10 and guides vertical movement of the containers 10.

[0005] The top level of the grid framework structure 14 includes rails 22 arranged in a grid pattern with a plurality of grid cells 17 to define a grid structure 15 across the top of the stack 12. Figure 2 is a top view of a single grid cell 17 of the grid structure showing the stack 12 of containers 10 arranged within the framework structure 14. Each container 10 typically holds multiple product items (not shown), which may be the same or different product types within the containers 10, depending on the application.

[0006] 3 , the rails 22 support a plurality of luggage handling devices 30. A first set 22a of parallel rails 22 guides movement of the robotic luggage handling devices 30 in a first direction (e.g., the X direction) across the top of the grid framework structure 14, and a second set 22b of parallel rails 22, disposed perpendicular to the first set 22a, guides movement of the robotic luggage handling devices 30 in a second direction (e.g., the Y direction) perpendicular to the first direction. In this manner, the rails 22 enable movement of the robotic luggage handling devices 30 laterally in two dimensions in the horizontal XY plane such that the luggage handling devices 30 can be moved to a position above any of the stacks 12.

[0007] 4 comprises vehicles 32 and is described in PCT Patent Publication No. WO2015 / 019055 (Ocado), which is incorporated herein by reference, with each luggage handling apparatus 30 encompassing only one grid space of the grid framework structure 14. Here, the luggage handling apparatus 30 comprises a wheel assembly comprising a first set of wheels 34 consisting of a pair of wheels on the front of the vehicles 32 and a pair of wheels 34 on the rear of the vehicles 32 for engaging a first set of rails or tracks to guide movement of the apparatus in a first direction, and a second set of wheels 36 consisting of a pair of wheels 36 on either side of the vehicles 32 for engaging a second set of rails or tracks to guide movement of the apparatus in a second direction.

[0008] The load handling apparatus shown in Figures 5(a and b) is equipped with a lifting or crane apparatus to lift a storage container from above. The lifting apparatus includes a set of lifting tethers 38 extending vertically and connected to the four corners of a lifting frame 39, also known as gripping apparatus (one tether near each of the four corners of the gripping apparatus), for releasable connection to the storage container 10. The gripping apparatus 39 is configured to releasably grasp the top of the storage container 10 to lift it from a stack of containers in a storage system of the type shown in Figures 1 and 2.

[0009] Although not shown in FIGS. 1-3 , the luggage handling device 30 is powered by an onboard rechargeable battery during operation. Examples of rechargeable batteries include lithium-ion batteries, nickel-cadmium batteries, nickel-metal hydride batteries, lithium-ion polymer batteries, thin-film batteries, and smart battery carbon foam-based lead-acid batteries. The battery is recharged while the luggage handling device 30 operates on the grid framework structure via a charging station. The charging station is typically an L-shaped structure secured adjacent to the grid framework structure and extending above the regular grid cells at the edge of the grid structure. The charging station includes a charging head with charging contacts fixed in place relative to the charging station. The charging head is attached to one arm of the L-shaped structure so that the charging head is suspended above at least two grid spaces of the grid framework. The luggage handling device may be charged by being commanded to move to a grid cell above which the charging head is installed. As the luggage handling device moves into the grid cell, contact is made between a charging contact pad on the top surface of the luggage handling device and the charging contacts of the charging head. An electrical charge is applied to the luggage handling device from the charging contacts through charging contact pads mounted on the top surface of the luggage handling device.

[0010] Because the items stored in the containers may include a variety of food and grocery items of a perishable nature that require storage at strict storage temperatures, the baggage handling equipment is operable on a grid framework structure under strict temperature conditions. The different storage temperatures include ambient-controlled, refrigerated, and frozen temperatures. The frozen temperatures range from substantially −25° C. to substantially 0° C., more preferably from substantially −21° C. to substantially −18° C.; the frozen temperatures range from substantially 0° C. to substantially 4° C., preferably from substantially 0° C. to substantially 5° C.; and the ambient-controlled temperatures range from substantially 4° C. to substantially 21° C., preferably from substantially 18° C. As a result, charging of the batteries may occur under various temperature conditions depending on whether the charger is located in the ambient, refrigerated, or frozen zone of the procurement center.

[0011] During battery charging, a portion of the current from the charging station is converted into thermal energy. This thermal energy must be dissipated outside the battery; otherwise, heat will accumulate and increase the battery's temperature. If the charging station delivers a charge greater than 150 amps at 48 volts, control over the battery's temperature takes priority over preventing thermal runaway. When a large amount of heat is dissipated, the battery's temperature exceeds its normal temperature range, degrading its performance and ultimately shortening its cycle life. For example, one of the most common types of batteries used to deliver power to drive wheels and lifting drives in baggage handling equipment is the lithium-ion battery. Such batteries have the ability to create their own internal supply of oxygen when overheated. More specifically, oxygen is liberated from the anode at high temperatures, which is primarily composed of cobalt or nickel-cobalt oxide. Because both oxygen and fuel are available internally to the cells, a fire can start within one or more of the battery cells. Unless the fire is extinguished, it will continue until all of the combustible material within the battery is depleted.

[0012] One of the contributing factors for battery heating while being charged is its internal resistance. Higher internal resistance of a battery causes it to heat up during charging, and the heat can cause damage leading to safety issues. Low internal resistance allows the battery to deliver high current on demand, while high internal resistance limits the current and reduces the voltage on the load. A battery's internal resistance is highly temperature-dependent and increases as the ambient temperature decreases. This is because low temperatures slow down the electrochemical reactions occurring within the battery, thus causing a decrease in the mobility of ions in the electrolyte. Because load handling equipment can operate within refrigerated or frozen zones in procurement centers, heating of batteries not only during charging but also during discharge is an increasingly serious problem when operating on a grid structure, shortening the battery's effective cyclic life. Various attempts have been made in the art to mitigate this heating of batteries, which can lead to thermal runaway. Thermal runaway refers to a situation in which the internal temperature of a battery increases to a high temperature, e.g., 200°C or higher, due to some reason such as an internal short circuit or overcharging, which accelerates the chemical reaction within the battery and accelerates the temperature rise inside the battery cells.

[0013] One solution proposed in the art is to reposition one or more batteries within the body of the baggage handling device to effectively dissipate heat to the surroundings, particularly during charging. WO 2019 / 206440 (Autostore Technology AS) teaches a container handling vehicle for picking up storage containers from a three-dimensional grid of a lower storage system, comprising: a first set of wheels arranged on opposing portions of the vehicle body for moving the vehicle along a first direction (X) on a rail system in a grid; and a second set of wheels arranged on opposing portions of the vehicle body for moving the vehicle along a second direction (Y) on the rail system in the grid, the second direction (Y) being perpendicular to the first direction (X). The vehicle body has walls on all sides, forming a quadrilateral footprint and a first and second section arranged side by side such that the center point of the first section is located off-center relative to the center point of the footprint formed by the vehicle body, the size ratio of the footprint of the first section to the footprint of the second section being at least 2:1, the first section configured to house a storage container, and the second section including at least a first battery. The second section is more open to allow cooling of the battery and motor. However, arranging the first and second sections side by side, thereby making the first section equal to the size of a single grid cell, meant that the second section extended beyond the footprint of the first section. Because the footprint of the first section occupies a single grid cell, the total footprint of the vehicle extends beyond a single grid cell.

[0014] During operation on the grid structure, the baggage handling device travels at a speed of as much as 4 m / s, and travels at a speed of 2 m / s on the grid structure. 2The heating of the battery during charging and the heavy load during discharge can also accelerate the load. Therefore, the positioning of the battery within the body of the luggage handling device has an impact on the stability of the luggage handling device on the grid structure. With a weight as high as 30 kg, the positioning of the battery has an impact on the center of gravity (CoG) of the luggage handling device. A high CoG reduces the stability of the luggage handling device on the grid structure. WO 2019 / 206440 (Autostore Technology AS) alleviated this problem by increasing the footprint of the luggage handling device so that the battery extends over a single grid cell of the grid structure by mounting the battery externally or to the side of the container receiving space of the body of the luggage handling device. The increased footprint of the luggage handling device improves the stability of the luggage handling device, and the positioning of the battery allows heat to dissipate from the battery.

[0015] Therefore, there is a need for a luggage handling device that does not suffer from the above problems while still having a footprint that occupies a single grid cell.

[0016] This application claims priority to UK Patent Application Nos. GB2001012.0, filed January 24, 2020, GB2003101.9, filed March 4, 2020, and GB2017241.7, filed October 30, 2020, the contents of which are incorporated herein by reference. Summary of the Invention

[0017] Applicant has realized that by incorporating an integrated thermal management system with the rechargeable power source, the temperature of the cells of the rechargeable power source can be controlled to be within a predetermined range that will mitigate possible thermal runaway. More particularly, the present invention provides a luggage handling apparatus or robotic luggage handling apparatus for lifting and moving one or more containers stacked in a storage system comprising a grid framework structure supporting a plurality of tracks arranged in a grid pattern to define a grid structure above one or more stacks of containers, the grid structure comprising a plurality of grid cells, and the luggage handling apparatus comprising: A) a drive mechanism operatively arranged to move the load handling device on the grid structure; B) i) a container receiving space located above the track; ii) a lifting device comprising a lifting drive assembly and a gripping device configured, in use, to releasably grasp a container and lift the container from the stack and into the container receiving space; iii) a cassette containing a rechargeable power source for powering the drive mechanism; A vehicle body that accommodates the Equipped with Here, the luggage handling device or robotic luggage handling device includes a thermal management system including a temperature sensor and at least one temperature regulator configured to maintain the temperature of the rechargeable power source within a predetermined temperature range in response to a signal from the temperature sensor.

[0018] By incorporating the thermal management system of the present invention, which includes a temperature sensor and at least one temperature regulator, into a luggage handling apparatus, the temperature of the rechargeable power source can be adjusted by the at least one temperature regulator to be within a predetermined temperature range. The luggage handling apparatus includes a wheel assembly, which includes a first set of wheels consisting of a pair of wheels on the front of the vehicle body and a pair of wheels on the rear of the vehicle body for engaging with a first set of rails or tracks to guide movement of the apparatus in a first direction, and a second set of wheels consisting of pairs of wheels on both sides of the vehicle body for engaging with a second set of rails or tracks to guide movement of the luggage handling apparatus in a second direction. Optionally, the temperature sensor includes one or more temperature sensors. Optionally, the predetermined temperature range is between 20°C and 40°C. Optionally, the temperature sensor includes a thermal imaging camera, e.g., an infrared camera, within the vehicle body that detects infrared energy emitted by the rechargeable power source. Optionally, the temperature sensor includes a thermistor, e.g., an NTC thermistor or a PTC thermistor, or a thermocouple, e.g., a K-type thermocouple. To maintain the temperature of the rechargeable power supply, the at least one temperature adjustment device preferably includes at least one cooling fan, the speed of which is adjustable to control the delivery of cool air to the rechargeable power supply.

[0019] Preferably, the cassette includes a thermal management system. Optionally, the thermal management system is integrated into the cassette. For purposes of the present invention, the term "cassette" encompasses a stand-alone case or enclosure. By encapsulating the rechargeable power source within the cassette along with a temperature sensor and at least one temperature regulator, the temperature of the rechargeable power source can be maintained within a predetermined temperature range in response to a signal from the temperature sensor. The rechargeable power source of the present invention includes a built-in thermal management system that eliminates the need to install the rechargeable power source in several areas of the vehicle body to achieve heat dissipation. This lowers the center of gravity of the luggage handling device, thereby improving the flexibility with which the cassette of the present invention can be installed or mounted within the vehicle body to improve the stability of luggage handling devices operable on a grid structure. For example, the cassette of the present invention can be incorporated between other electronics, auxiliary components, and / or hardware components of a luggage handling device that would not have been considered practical due to heat dissipation, such as between lift drive assemblies, or even between control units of the luggage handling device, without affecting the performance of those components within the luggage handling device. The cassette itself may be a stand-alone device such that power from the rechargeable power source can provide power to the at least one temperature regulator and / or temperature sensor, or the at least one temperature regulator and / or temperature sensor may be powered by a separate auxiliary power source housed either within the cassette or external to the cassette.

[0020] Furthermore, the use of cassettes to house the rechargeable power sources allows the baggage handling device to not be limited to any one type of rechargeable power source, and can include rechargeable power cells from different manufacturers, as well as allow different combinations of different types of rechargeable power cells to be incorporated into one housing or cassette. Preferably, the cassette includes one or more vents, e.g., one or more openings in at least one wall of the cassette. For example, a cooling fan can be configured to draw cool air through one or more vents in the cassette. Alternatively, the cooling fan can be configured to draw cool air into the interior of the cassette space, and warm air is pushed out through the one or more vents. Optionally, the at least one cooling fan includes a first cooling fan for supplying cool air to the interior space of the cassette and a second cooling fan for drawing warm air from the interior space of the cassette.

[0021] To facilitate heat dissipation from the rechargeable power supply, the cassette further comprises a heat sink thermally coupled to the rechargeable power supply, the heat sink comprising a plurality of heat dissipation fins, and wherein the at least one cooling fan is configured to blow cool air across the heat dissipation fan. Preferably, the cassette comprises walls on all sides, and wherein the at least one cooling fan is attached to at least one of the walls of the cassette.

[0022] Because the internal resistance of the battery increases in the refrigerated or frozen zone of the procurement center, the temperature control device preferably includes at least one heating element in proximity to the rechargeable power source contained within the cassette. The at least one heating element provides heat to increase the temperature of the cells of the rechargeable power source, thus lowering its internal resistance. Typically, the internal resistance of the battery changes rapidly at temperatures below 0°C in the refrigerated and frozen zones of the procurement center. Optionally, the at least one heating element is a heating pad. For example, the rechargeable power source can be mounted on a heating pad so that heat from the heating pad is thermally conducted to warm the rechargeable power source.

[0023] The cassette itself may be a stand-alone device such that the temperature of the rechargeable power source can itself be regulated by powering at least one temperature regulation device in response to a signal from a temperature sensor. Alternatively, the at least one temperature regulation device and / or temperature sensor can be powered by a separate auxiliary power source housed either within the cassette or external to the cassette. Combining the heating and / or cooling capabilities of the rechargeable power source in one device allows the cassette of the present invention to be formed as a stand-alone device separate from other auxiliary components of the luggage handling apparatus.

[0024] Preferably, the at least one temperature control device comprises at least one thermoelectric device. The at least one thermoelectric device is contained within the cassette in proximity to the cells of the rechargeable power source. Preferably, the at least one thermoelectric device comprises at least one Peltier element having a heat-absorbing surface and a heat-emitting surface facing each other. An advantage of Peltier elements over other temperature control devices is that they can operate without the use of a coolant or any moving parts. As known in the art, when an electric current is passed through two dissimilar metals or semiconductors (n-type and p-type) connected to each other at two junctions (Peltier junctions), a temperature difference is established between the opposing surfaces of the Peltier element. The Peltier element has a heat-absorbing surface, also known as the cooling side, where heat is absorbed, and a heat-emitting surface, also known as the heating side, where heat is generated. The heat-absorbing surface provides the cooling surface as it absorbs heat dissipated from the rechargeable power source. Conversely, the heat-emitting surface of the Peltier element provides heat to the rechargeable power source. Preferably, the at least one Peltier element is configured to selectively cool and / or heat the rechargeable power source by switching polarity on the Peltier junction. This allows the thermoelectric element to selectively provide heating and cooling within one area of ​​the thermoelectric element simply by switching the electrical polarity or direction of current through the at least one Peltier element. By switching the direction of the current, the at least one Peltier element allows both cooling and heating of the rechargeable power source within one area. This allows for comprehensive temperature control of the rechargeable power source to operate within its optimal operating temperature range. For example, the cassette can include a switching device for reversing the polarity of current to the at least one Peltier element.

[0025] Since the Peltier element has a heat absorbing surface and a heat emitting surface, in an alternative arrangement, preferably the at least one Peltier element comprises a first Peltier element and a second Peltier element, the first Peltier element being positioned such that the heat absorbing surface of the first Peltier element is proximate the first portion of the rechargeable power supply and the second Peltier element being positioned such that the heat emitting surface is proximate the second portion of the rechargeable power supply, the first portion and second portion of the rechargeable power supply corresponding to the first contact surface of the rechargeable power supply and the second contact surface of the rechargeable power supply, respectively.

[0026] When operated as a cooling device, the heat absorbing surface of the at least one Peltier element is thermally coupled to the rechargeable energy source such that heat from the rechargeable energy source is absorbed by the heat absorbing surface. One side effect of absorbing heat on one side of the Peltier element is that the heat is transferred to the other, opposing side of the Peltier element. Without sufficient heat dissipation from the heat emitting surface, the temperature of the heat emitting surface gradually increases, reducing the effectiveness of the Peltier element as a cooling device and, in extreme cases, resulting in damage to the at least one Peltier element. To dissipate heat from the heat emitting surface of the at least one Peltier element and maintain the effectiveness of the at least one Peltier element as a cooling device, the heat emitting surface of the at least one Peltier element is preferably thermally coupled to a heat sink. The heat sink can dissipate heat efficiently from the heat emitting surface. The heat sink can include a plurality of fins to accomplish the dissipation of heat from the heat emitting surface. Preferably, the cooling fan can be configured to blow air onto the heat sink. Alternatively, the cooling fan can blow air onto the heat-emitting surface of the at least one Peltier element to improve the efficiency of heat dissipation of the heat-emitting surface of the at least one Peltier element. Preferably, the at least one Peltier element is driven by a Peltier driver. The Peltier driver may be, for example, a simple connection between the at least one Peltier element and a rechargeable power source to provide a current source to the at least one Peltier element. Preferably, the Peltier driver includes a pulse-width modulator. The pulse-width modulator is configured to adjust the amount and / or direction of current to the at least one Peltier element, which controls the amount of heating and / or cooling of the heat-emitting surface and the heat-absorbing surface. For example, the pulse-width modulator can adjust the power to the at least one Peltier element by switching the power to the at least one Peltier element either fully on or fully off. Alternatively, or in combination, the pulse-width modulator can be configured to periodically switch the direction or polarity of the current to the at least one Peltier element.

[0027] In all of the different options for varying the temperature of the rechargeable power source, a controller is coupled to the temperature sensor and at least one temperature adjustment device to define a thermal management system, and the controller is configured to provide a control signal to the at least one temperature adjustment device in response to a signal from the temperature sensor to adjust a temperature reading from the temperature sensor within a predetermined temperature range. More specifically, the signal from the temperature sensor is feedback to the controller to control the at least one temperature adjustment device. The controller may be referred to as a feedback controller.

[0028] If the at least one temperature adjustment device is a fan, the controller controls the operation and / or speed of the fan in response to a temperature reading from the temperature sensor being outside a predetermined temperature range. Similarly, the controller can be configured to adjust current to the at least one Peltier element in response to a signal from the temperature sensor indicating a temperature outside the predetermined temperature range. For example, the controller can control the direction of current flow through the at least one Peltier element and / or the duration of current flow through the at least one Peltier element in response to a signal from the temperature sensor indicating a temperature above or below the predetermined temperature range. The controller sends control signals to the Peltier driver to drive activation of the at least one Peltier element. If the Peltier driver includes a pulse width modulator, the controller is configured to control the "pulsing" and / or duration (i.e., duty cycle) of current flow through the at least one Peltier element to control the amount of cooling and heating of the heat-absorbing and heat-emitting surfaces of the at least one Peltier element, respectively. Preferably, the controller comprises a PI or PID controller configured to regulate the temperature reading of the temperature sensor to be within a predetermined temperature range, i.e. to a set temperature value.

[0029] Preferably, the controller can be housed within the cassette. Alternatively, the at least one temperature control device can be controlled externally to the cassette through a suitable communications port. For example, in addition to power terminals attached to the cassette, where a DC supply has a + terminal and a - terminal for electrically coupling to an electrical load, a third communications port can be configured to receive signals from an external controller. Preferably, the third communications port on the cassette provides signals to the controller regarding the status or condition of the rechargeable power supply.

[0030] Preferably, the rechargeable power source comprises at least one of a battery and / or a capacitor, each of the at least one battery and / or capacitor comprising a plurality of cells. Preferably, the battery is a lithium-ion battery comprising a stack of lithium-ion cells, each of the stack of lithium-ion cells being electrically connected together.

[0031] The present invention provides a first set of tracks and a second set of tracks running transversely to the first set of tracks in a substantially horizontal plane to form a grid pattern comprising a plurality of grid spaces or grid cells; a plurality of stacks of containers positioned under a first set of tracks and a second set of tracks, wherein each stack of containers occupies a single grid space or grid cell; a robotic load handling apparatus as described in the present invention, arranged to traverse along a first set of tracks and a second set of tracks over a plurality of grid spaces or grid cells such that when positioned above a stack of containers occupying said grid spaces or grid cells, the lifting device is configured to lift at least one container from said stack of containers; An automated storage system is provided.

[0032] The terms baggage handling device and robotic baggage handling device are used interchangeably in the description to refer to the same features.

[0033] Further features and aspects of the present invention will be apparent from the following detailed description of an illustrative embodiment that proceeds with reference to the drawings. [Brief explanation of the drawings]

[0034] [Figure 1] 1 is a schematic diagram of a grid framework structure according to known systems; [Figure 2] 2 is a schematic diagram of a top view showing a stack of containers arranged within the framework structure of FIG. 1; [Figure 3] 1 is a schematic diagram of a known storage system for baggage handling equipment operating on a grid framework structure; [Figure 4] 1 is a schematic perspective view of a cargo handling apparatus showing a lifting device gripping a container from above; [Figure 5] 5(a) is a schematic perspective cutaway view of the luggage handling device of FIG. 4 showing the container receiving space of the luggage handling device, and FIG. 5(b) is a schematic perspective cutaway view of the luggage handling device of FIG. 4 showing the container that houses the container receiving space of the luggage handling device. [Figure 6] 1 is a perspective view of a luggage handling device according to an embodiment of the present invention showing a battery-receiving space. [Figure 7] 1 is a perspective side view of a luggage handling apparatus according to an embodiment of the present invention; [Figure 8] 1 is a perspective top view of a load handling device showing the placement of a battery and a lift drive assembly according to an embodiment of the present invention; [Figure 9] FIG. 2 is a perspective top view of a mounting tray that supports the battery and lift drive assembly of the present invention. [Figure 10] FIG. 10 is a perspective side view of a battery and lift drive assembly installation according to an embodiment of the present invention. [Figure 11] FIG. 1 is a perspective view of a battery cassette according to one embodiment of the present invention. [Figure 12] FIG. 10 is a perspective view of a battery cassette according to another embodiment of the present invention. [Figure 13]2 is a schematic diagram of an example battery cassette containing battery cells, according to one embodiment of the present invention. [Figure 14] 1 is a simplified block diagram of a thermal management system for a battery according to one embodiment of the present invention; [Figure 15] FIG. 4 is a simplified block diagram of a thermal management system for a battery according to another embodiment of the present invention. [Figure 16] 1 is a simplified block diagram of a thermal management system incorporating Peltier elements, in accordance with one embodiment of the present invention; [Figure 17] 2 is a schematic diagram of a luggage handling apparatus showing the location of a battery cassette within a vehicle body, according to an embodiment of the present invention; [Figure 18] 10 is a diagram showing the location of the center of mass of a luggage handling device relative to the intersection plane of the luggage handling device on the grid structure. [Figure 19] 1 is a schematic diagram of a luggage handling apparatus showing a chassis for mounting a wheel assembly according to one embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0035] FIG. 6 shows a perspective side view of a luggage handling apparatus 130 according to one embodiment of the present invention, and FIG. 7 shows a rear view of the luggage handling apparatus 130. For purposes of illustrating the present invention, the bulk of the luggage handling apparatus' auxiliary components, such as auxiliary electronic components, and the drive assembly for moving the luggage handling apparatus on the track are not shown to clarify the location of the battery within the body of the luggage handling apparatus. The luggage handling apparatus 130 shown in FIGS. 6 and 7 includes a vehicle body 132 mounted on a wheel assembly 134, the vehicle body 132 including a first set of wheels for guiding the luggage handling apparatus in a first direction on the track and a second set of wheels for guiding the luggage handling apparatus in a second direction on the track. The vehicle body 132 includes side panels 136 and a top panel 138. In certain embodiments of the present invention, the vehicle body 132 defines a footprint that occupies or is within a single grid cell of a grid structure.

[0036] As discussed in the introduction to the patent, the first set of wheels includes a first pair of wheels at the front of the vehicle body and a pair of wheels at the rear of the vehicle body 132. The first set of wheels is positioned to engage with a first set of tracks or rails. The second set of wheels includes a pair of wheels on either side of the vehicle body for engaging with a second set of tracks. The first set of wheels and the second set of wheels are configured to selectively disengage from the first set of tracks and the second set of tracks by moving vertically, thereby allowing the load handling device 130 to move in a desired direction on the grid structure, i.e., in the X and Y directions on the grid structure.

[0037] Illustrated in the schematic diagrams of FIGS. 6-8 are a lifting drive assembly 140 for hoisting the gripping device 139 onto the body 132 of the load handling device 130, and a battery 142 for powering the lifting drive assembly 140 and the wheel assembly 134. The lifting drive assembly includes a motor 140 configured to raise and lower the gripping device 139. In particular embodiments of the present invention, the lifting drive assembly motor 140 is a single motor, but is not limited to a single motor. The lifting device or mechanism further includes a hoisting assembly 144 including a first pair 146 and a second pair 148 of winches or spools. The first and second pairs 146, 148 of winches or spools separately carry a lifting tether 150 attached to the gripping device 139. As can be seen in FIG. 8, the first and second pairs 146, 148 of winches are mounted spaced apart within the vehicle body 132 to define a battery-receiving space for accommodating the battery 142 of the present invention. For purposes of describing the present invention, the container-receiving space 152 for storing the container below the battery 142 will be referred to as the first space, and the space for storing the battery of the present invention will be referred to as the second space 142b. The gripping device 139 is configured to grasp the top of the container and lift the container from a stack of containers in a storage system of the type shown in Figures 1 and 2. Generally, the gripping device 139 is configured as a frame, and four lifting tethers are secured to each corner of the gripping device as shown in Figure 5. A first pair of lifting tethers is attached to one side of the gripping device 139 and is wound on a first pair of winches 146, and a second pair of lifting tethers is attached to the other side of the gripping device 139 and is wound on a second pair of winches 148. For purposes of the present invention, the phrase "footprint occupying a single grid cell" is interpreted to mean that the footprint of the luggage handling equipment does not extend into adjacent grid cells in the sense that the wheels of the luggage handling equipment are tracked around the periphery of a single grid cell 10 (see Figure 2) so that the gripping devices of the luggage handling equipment can descend into the single grid cell and retrieve containers stored in the grid row.The containers are stored in a container receiving space within the vehicle body of the luggage handling device, which is clearly shown in Figure 5.

[0038] The battery 142 shown in FIG. 8 is positioned within the second space defined by the first pair 146 and the second pair 148 of winches. The battery 142 is backed toward one of the side walls 136 of the vehicle body 132 such that the battery 142 is partially positioned between the first pair 146 and the second pair 148 of winches, more specifically, between a single winch or spool of the first pair 146 of winches and a single winch of the second pair of winches 148. This allows the battery to be easily replaced through one of the side walls of the vehicle body 132. In the particular embodiment shown in FIG. 8, the battery 142 is backed toward either the front or rear wall of the vehicle body 132. Furthermore, the location of the battery 142 above the first space 152 within the vehicle body 132 and partially between the first pair 146 and the second pair 148 of winches lowers the center of gravity of the luggage handling apparatus, thus improving the stability of the luggage handling apparatus on the grid structure. This is particularly beneficial when the vehicle body of the luggage handling device defines a footprint that occupies a single grid cell. Further details of the location of the battery within the vehicle body, which affects the center of gravity or mass of the luggage handling device, are discussed below.

[0039] The battery 142 of the present invention is secured within the vehicle body 132 by being mounted to a tray or subframe 154 shown in FIGS. 9 and 10. To balance the weight of the battery 142 within the luggage handling apparatus and thus improve the stability of the luggage handling apparatus, the use of a tray 154 for mounting the battery 142 allows the weight of other auxiliary or hardware components to counterbalance the battery within the luggage handling apparatus. In certain embodiments of the present invention, the battery 142 and the lift drive assembly 140 are mounted adjacent to each other on opposite ends of the tray 154 so that the weight of the battery 142 counterbalances (countersbalances) the weight of the lift drive assembly 140. The lift drive assembly 140 in certain embodiments of the present invention includes a single hoist motor. Balancing the weight of the battery 142 and the weight of the lift drive assembly 140 within the luggage handling apparatus 130 helps stabilize the luggage handling apparatus in an upright position on the track.

[0040] As also shown in Figures 9 and 10, and more particularly in Figures 11 and 12, the batteries are housed within a case or cassette 143. The use of a cassette 143 to house the batteries provides flexibility for housing different types of battery cells from various manufacturers, such that the batteries are not limited to one particular manufacturer and / or size and / or shape of battery. The outer walls of the cassette 143 are sized and shaped to fit into a second space above the container-receiving space within the vehicle body, while the interior space or cavity of the cassette can be adapted to house different types and / or shapes of batteries or other rechargeable power sources. For example, the exterior shape and / or size can be standardized, but the interior space or cavity of the cassette 143 can be made flexible.

[0041] Additionally, the cassette 143 of the present invention may also house a thermal management system for regulating the temperature of the batteries housed within the cassette, details of which are discussed below. Examples of cassettes 143 of the present invention for housing batteries are shown in Figures 11 and 12. In both examples, the cassette or case 143 includes top and bottom walls 156 and side walls 158. The cassette 143 may be fabricated as a single body or as separate pieces bonded together. Optionally, the cassette 143 is formed from a plastic material.

[0042] The side walls 158 include front and rear walls arranged to provide a rectangular footprint. In the specific embodiment of the invention shown in FIGS. 11 and 12 , the front or rear wall of the cassette includes at least two terminals 160 corresponding to a positive DC terminal and a negative DC terminal. The at least two terminals 160 are electrically coupled to the stack of battery cells in the cassette and are positioned to electrically mate with complementary shaped electrical connectors in the vehicle body. Positioning the at least two terminals on the front or rear of the cassette allows the cassette to be slid into the vehicle body from one of the sides of the vehicle body 132 rather than being lowered from the top of the vehicle body. This allows the batteries to be easily swapped or replaced by simply removing one of the vehicle body's side panels and sliding the cassette 143 into a second space between the winch or spool of a lifting mechanism. The at least two terminals 160 are shown as two male portions configured to be received into at least two correspondingly shaped female mating portions in the vehicle body. However, the present invention is not limited to having male mating portions on the cassette 143 arranged to electrically mate with female mating portions on the vehicle body, as the reverse arrangement is applicable in the present invention when there are male mating portions in the vehicle body configured to electrically mate with female mating portions on the front wall of the cassette 143. To help guide the at least two electrical terminals into engagement with the electrical connector in the vehicle body, one or more guides 162 can be attached to the front or rear wall of the cassette that are received into correspondingly shaped recesses in the vehicle body. The one or more guides 162 can include tapered ends to assist in proper positioning of the at least two terminals 160 for engagement with the electrical connector in the vehicle body.

[0043] When installing or replacing the cassette 143 from the luggage handling device 130, the operator simply removes one of the vehicle body's side panels. If a cassette is already installed in the luggage handling device's body, the operator removes the existing cassette by pulling on either the front or rear face of the cassette, depending on whether the electrical connector is located at the front or rear of the cassette, to slide the cassette 143 from its seating area in the second space. The front face is the first face of the cassette, and the rear face opposite the front face is defined as the second face of the cassette. The cassette is preferably mounted on rails or tracks within the vehicle body to allow the cassette to be easily slid out. The cassette's seating area within the vehicle body is more clearly seen in FIG. 9. A freshly charged battery is installed into the second space by pushing the cassette along the rails so that the electrical terminals on the second face, which include the electrical connector, engage with complementary shaped electrical connectors in the vehicle body. Side loading of the cassette allows the batteries to be easily replaced.

[0044] Batteries can generate a certain amount of heat whether the battery is in a charging or discharging state. When the heat generated is large, the battery's temperature exceeds the normal optimal temperature range, resulting in reduced battery performance and, ultimately, a reduced cycle life. Because the battery's internal resistance (ESR) increases at low temperatures, the problem of heat dissipation during battery charging is exacerbated in refrigerated and / or frozen zones of procurement centers, where temperatures can reach minus 18°C. Charging can involve delivering a current of approximately 160 amps through the battery at 48 volts. Therefore, a small increase in the battery's internal resistance results in a large amount of heat being generated. For purposes of this invention, the ideal temperature range for optimal battery performance is in the region of 20°C to 40°C. Because the battery's operating temperature affects its optimal performance, heat dissipated from other auxiliary electrical components within the vehicle body will also affect the battery's operating temperature. As a result, batteries have traditionally been confined to the exterior walls of the vehicle body, or, as discussed in WO 2019 / 206440 (Autostore Technology AS), laterally mounted on the sides of the container receiving space to allow heat from the batteries to dissipate to the outside surroundings, thereby preventing excessive thermal runaway during charging. Because batteries represent a significant proportion of the weight of the luggage handling equipment, the location of the batteries within the vehicle body also has an impact on the stability of the luggage handling equipment in an upright position on the grid. Therefore, a balance must be struck between ensuring that the battery's operating temperature is within the operable range in which the batteries perform optimally and the stability of the luggage handling equipment in an upright position on the grid structure. Ideally, optimal placement of auxiliary and / or hardware components based on their individual weights is a priority to improve the stability of the luggage handling equipment. The ability to locate the batteries between other auxiliary electrical and hardware components within the vehicle body of the luggage handling equipment is made possible in the present invention by integrating a thermal management system with a temperature control device within the battery. Cassette 143 provides a cavity for encapsulating the battery along with an integrated thermal management system with a temperature control device.

[0045] In certain embodiments of the present invention, the term "battery" encompasses one or more battery cells electrically connected together to form a battery pack. Batteries include, but are not limited to, any rechargeable power source. Examples of rechargeable power sources are lithium-ion batteries, nickel-cadmium batteries, nickel-metal hydride batteries, lithium-ion polymer batteries, thin-film batteries, and smart battery carbon foam-based lead-acid batteries. The present invention is not limited to batteries; other rechargeable power sources capable of storing charge and delivering power to a motor, such as capacitors, supercapacitors, or a combination of batteries and supercapacitors (hybrid systems), are applicable in the present invention. In certain embodiments of the present invention, for purposes of describing the present invention, the rechargeable power source will be discussed in terms of batteries.

[0046] Not shown in FIGS. 11 and 12 is that the cassette wall includes one or more vent holes. The vent holes allow cool air to circulate through the interior space of the cassette 143. The one or more vents may include one or more inlet vents and one or more outlet vents. Cool air is drawn in through the one or more inlet vents, and warm air is exhausted through the one or more outlet vents. The cassette interior space may optionally include one or more channels (not shown) to allow air to flow through a serpentine path around the cassette interior space to maximize airflow around the battery cells and thus maximize surface area exposure of the circulating air that removes heat from the batteries. For example, cool air can enter the batteries through at least one inlet vent of the cassette and flow along the cassette interior space or cavity, and warm air is removed by exiting at least one outlet vent. The at least one inlet vent and outlet vent can be formed in any of the cassette walls, such as the bottom and top walls. One or more walls of the cassette can be perforated to provide inlet and / or outlet vents. Airflow channels can be incorporated into the cassette to allow airflow to be directed through a serpentine path around the battery cells.

[0047] To achieve better cooling of the batteries, the thermal management system includes a temperature control device for adjusting the temperature of the cassette's internal space. By adjusting the temperature of the cassette's internal space, the temperature of the batteries can be adjusted to their optimal performance. In a specific embodiment of the present invention, the temperature control device includes a fan. Through the rotation of the fan, air is accelerated through the cassette's internal space so that the air quickly removes heat generated within the battery pack. This allows the battery cells to operate within a stable temperature range and extend the service life of the battery cells within the battery pack. For the purposes of the present invention, the ideal temperature range for optimal battery performance is 20°C to 40°C. In a specific embodiment of the present invention shown in Figures 11 and 12, one or more cooling fans 164, 166 are attached to the front wall of the cassette to circulate air through the cassette's internal space. In the embodiment shown in Figure 11, two fans, namely, the first fan 164 and the second fan 166, are attached to the cassette wall. A first fan 164 optionally draws cool air into the interior space of cassette 143a, and a second fan 166 draws warm air from the interior space of cassette 143b to the external surrounding area. The first and second fans 164, 166 also improve air flow around the interior spaces of the cassettes so that the airflow quickly removes heat generated within the battery packs.

[0048] Also shown in FIG. 11 are one or more ducts 168, 170 mounted on the wall of cassette 143a and having openings that direct or channel airflow through the vents upon rotation of fans 164, 166. Fans 164, 166 are mounted on ducts 168, 170 such that air entering the fans is forced through the vents by being channeled through one or more of the ducts. Similarly, warm air drawn by the fans is channeled through the ducts and exits the fans. For purposes of this description, a fan for drawing cool air into the ducts is referred to as an inlet fan, and a fan for drawing warm air from the ducts is referred to as an outlet fan. As shown in FIG. 11, inlet fan 164 and outlet fan 166 are each mounted on the ducts such that air is channeled through the ducts. Optionally, the inlet fan and outlet fan can each be mounted in series with the ducts.

[0049] The one or more ducts also allow air to be drawn from or exhausted to different parts of the vehicle body. For example, if cool air is drawn into the interior space of cassette 143a, the ducting can extend to draw air from the cooler section of the vehicle body, i.e., away from the electrical and electronic auxiliary components. This prevents warm air from being drawn into one or more of the inlet vents. Similarly, for the outlet vents, the ducting can be shaped to exhaust warm air into an area of ​​the vehicle body away from heat-sensitive electronic components, such as a processor or controller. This is possible if a fan is installed in series with the ducting.

[0050] The one or more pipes can be separately attached to the cassette. Alternatively, the one or more pipes can be integrally formed with the cassette as a single or integral body. While the inlet fan is configured to draw cool air into the cassette's interior space and the outlet fan is configured to extract warm air from the cassette's interior space, the reverse is also applicable to the present invention, where the inlet fan draws warm air into the cassette's interior space and the outlet fan exhausts cool air from the cassette's interior space. For example, in a refrigerated or freezer zone of a procurement center, warm air taken from a warm area of ​​the vehicle body can be used to raise the temperature of the batteries to their optimal temperature range, i.e., between 20°C and 40°C. Heat dissipated from the lifting mechanism and / or drive assembly and / or auxiliary electronic component motors can be harvested or used to warm the batteries to their optimal temperature range. The direction of rotation of the inlet and outlet fans is optionally reversible, such that their role of drawing or exhausting air from the cassette's interior space can be reversed depending on the air temperature within different parts of the vehicle body. For example, different parts of the vehicle body can be heated or cooled compared to other parts within the body depending on whether the duct openings are near auxiliary electronic components or motors. The direction of rotation of one or more fans can be reversed depending on whether cool air needs to be drawn into or expelled from the interior space of the cassette.

[0051] While the particular embodiment shown in FIG. 11 depicts two fans mounted on the front wall of the cassette, a single fan 172 can be used to circulate cool air through the interior space of cassette 143b, shown in the schematic cross-sectional views of FIGS. 12 and 13. Here, the single fan 172 mounted on the wall of cassette 143b draws cool air from the external surroundings into the interior space of the cassette, where cool air is circulated to regulate the temperature of the battery cells 141, and warm air is exhausted through one or more vent holes 174. As also shown in FIG. 13 and as can be seen in FIG. 11, multiple battery cells 141 are assembled one on top of the other in a stack and electrically connected to each other either in series or parallel. When connected in series, the positive terminal of one battery cell is connected to the negative terminal of the next battery cell, such as to position the battery cells in the stack. The link between the electrical connections of adjacent battery cells is provided by a bus bar 176, which may comprise a conductor such as copper. Each of the battery cells 141 is spaced apart to allow airflow between the battery cells. For example, one or more spacers (not shown) can be disposed between each of the battery cells. The battery cells are held together in the stack by bus bars 176. Battery cells 141 are shown as elongated battery cells. However, the present invention is not limited to the battery cells being elongated cells, but rather may be cylindrical cells assembled together and contained within cassettes 143b.

[0052] To facilitate heat dissipation from the battery cells 141, a heat sink (not shown) can be thermally coupled to the battery to transfer generated heat from the battery to the external surroundings. The heat sink is typically made of aluminum or copper and can include fins to dissipate generated heat from the battery cells. To further facilitate heat dissipation from the heat sink, one or more fans can direct cool air over the fins of the heat sink, or alternatively, a separate cooling fan can be attached to the heat sink, and more particularly to the fins of the heat sink, to increase the flow of cool air around the fins.

[0053] While certain embodiments describe a temperature control device as a fan, other temperature control devices for regulating the temperature of the battery are applicable to the present invention. In addition to cooling the battery, the converse is true in cold environments, such as within a refrigerated or frozen zone of a procurement center, where the battery temperature, especially during charging, may drop too low to prevent optimal performance of the battery. One or more heating elements, e.g., electrical heating elements, can be used to raise the temperature of the battery within a predetermined temperature range corresponding to the battery's operable temperature range, i.e., between 20°C and 40°C. For example, the heating element may be a heating pad.

[0054] To provide both cooling and / or heating, the temperature control device may be a thermoelectric converter comprising one or more Peltier elements that generate heat and / or cooling based on electrical current passing through the Peltier elements. Briefly, a Peltier element provides both thermoelectric cooling and heating and typically comprises two unique semiconductors, one n-type and one p-type. The alternating p-type and n-type semiconductor pillars are placed thermally in parallel with each other and electrically in series, then bonded on each side with a thermally conductive plate, usually ceramic, eliminating the need for a separate insulator. When a voltage is applied to the free ends of the two semiconductors, there is a DC current flow across the semiconductor junction, which causes a temperature difference. The side with the cooling plate absorbs heat, which is then carried by the semiconductor to the other side of the device; i.e., the side with the cooling plate moves heat from one side (the heat-absorbing side) to the other side (the heat-emitting side), so that the heat-absorbing side becomes cooler and the heat-emitting side becomes hotter. The polarity on the Peltier element is reversible so that current flows in the opposite direction, thus reversing the heat-absorbing and heat-emitting sides of the Peltier element. The Peltier element can draw power from a battery or a separate power source. This allows the same Peltier element to provide both heating and cooling for the battery cell.

[0055] When used as a cooling device, the surface of one or more battery cells is placed in thermal contact with the heat-absorbing surface of the Peltier element. Conversely, when used as a heating device, the surface of one or more battery cells is placed in thermal contact with the heat-emitting surface of the Peltier element. In the specific embodiment of the present invention shown in FIG. 13 , two Peltier elements, a first Peltier element 178 and a second Peltier element 180, are positioned on the left and right sides of the battery stack and are shown in direct contact with the battery stack to provide both heating and / or cooling of the battery stack. For example, the first Peltier element 178 can be positioned with its heat-absorbing surface in thermal contact with the battery stack to provide cooling of the battery stack, and the second Peltier element 180 can be positioned with its heat-emitting surface in thermal contact with the battery stack to provide heating of the battery stack. Heating and / or cooling of the battery stack is not limited to two Peltier elements and can be provided by a single Peltier element if heating and / or cooling is provided by reversing the polarity of current through the single Peltier element, i.e., by use of an appropriate switch.

[0056] Because the ability to remove heat from the heat-emitting side of the Peltier element improves the effectiveness of the Peltier element to cool the battery, one or more fans can direct cool air toward the heat-emitting side to encourage the heat-absorbing side of the Peltier element to remain cool. Additionally, a heat sink can be attached to the heat-emitting side of the Peltier element to effect heat dissipation from the heat-emitting side. To further encourage heat dissipation from the heat-emitting side, one or more cooling fans can remove heat from the heat sink attached to the heat-emitting side of the Peltier element.

[0057] The amount of heating or cooling of the battery can be controlled by the magnitude or duration of the current through the Peltier element. For example, by switching power to the Peltier element either fully on or fully off, and thus pulsing current through the Peltier element, the heating or cooling of the respective heat-emitting and heat-absorbing sides can be adjusted. The Peltier element can be driven by a Peltier driver. The Peltier driver can be a voltage source, a current source, a relay, or a transistor. A relay or transistor is used to switch power to the Peltier element either fully on or fully off. Alternatively, a pulse-width modulator (PWM) can be used to adjust the switching of power to the Peltier element either on or off. The PWM output signal can consist of a periodic square wave with a variable "on time." This "on time," when expressed as a percentage of the period of the square wave, is known as the duty cycle. The power to the Peltier element can be adjusted by varying the duty cycle of the square wave. Further details of the Peltier element's ability to regulate the temperature of the battery are discussed below.

[0058] Returning to the components of the thermal management system not shown in FIG. 13 , the thermal management system includes one or more temperature sensors disposed within the cassette near the batteries, more particularly between the battery cells, to measure the temperature of the batteries. Signals from the one or more temperature sensors are read by a temperature reader and used to adjust a temperature control device. The temperature reader 204 reads and interprets temperature indications provided by the one or more temperature sensors 202 and generates a temperature signal, which is fed back to a controller 208 shown in FIG. 14 . The temperature sensor 202 may be any type of temperature measurement known in the art for measuring the temperature of a rechargeable power source, in this case, a battery. For example, the temperature sensor may be, but is not limited to, a thermistor, such as an NTC or PTC thermistor, or a thermocouple, such as a K-type thermocouple. Also shown in FIG. 13 is a thermal management system 179 including a controller for controlling at least one temperature control device 172 housed within the cassette. However, the controller need not be housed within the cassette but could be housed within the main body of the luggage handling device. A communications port (not shown) may be present on the cassette for communicatively coupling with a controller external to the cassette.

[0059] FIG. 14 shows a simplified block diagram of a thermal management system 200 according to a first embodiment of the present invention. The output from a temperature sensor 202 is fed back to a temperature reader 204, which interprets the output to provide a temperature signal. The temperature signal provides an indication of the battery's temperature. One or more temperature sensors 202 can be disposed between battery cells to provide a more accurate measurement of the battery's temperature. The temperature reader 204 sends the temperature signal to a controller 208, which uses the temperature signal to drive a temperature regulator 206 to regulate the battery's temperature within a predetermined temperature range. The predetermined range is within the battery's working range, i.e., between 20°C and 40°C. Above 40°C, the battery's ability to retain a charge decreases. One or more flags can be set up to notify a user when the battery's temperature is outside its ideal working range. For example, one or more flags can be set up where the controller 208 notifies an operator when a temperature reading from one or more temperature sensors 202 reaches 65°C, an indication of overheating, and 80°C, an indication of thermal runaway. On the cooler side, the controller can notify an operator when a temperature reading from a temperature sensor records a reading of -80°C, indicating a possible failure as a result of battery electrolyte freezing.

[0060] In response to the signal from the temperature sensor 202, the controller 208 can then instruct one or more temperature regulators 206 to regulate the temperature of the battery. As discussed above, the temperature regulators 206 may be one or more fans, one or more heating elements, and / or one or more thermoelectric converters, e.g., Peltier elements, to maintain the temperature of the battery within an operable range. The controller 208 may be any processing device known in the art. Typical examples include, but are not limited to, a microprocessor. The processor may be communicatively coupled to a computer-readable medium, such as a memory device. The memory may be any storage device generally known in the art, including, but not limited to, RAM, computer-readable media, magnetic storage media, optical storage media, or other electronic storage media usable to store data and instructions accessed by the processor. The one or more processors of the controller may execute instructions stored in the ROM and / or RAM to regulate the temperature of the battery in response to the temperature signal from the temperature reader 204. The controller 208 forms part of the thermal management system 200 of the present invention and therefore may be included within the cassette or external to the cassette, for example, within the body of the luggage handling device. For example, the thermal management system may include a communications module capable of communicating wirelessly over a network. The network may include a local area network (LAN), a wide area network (WAN), or any other type of network. Temperature signals and commands for adjusting the temperature control device 208 may be sent wirelessly over the network to an externally located controller. The controller may be included with the vehicle body or, alternatively, may be separate from the vehicle body.In addition to the at least two charge-receiving terminals discussed above, there may be a third connection on the vehicle body communicatively coupled to the temperature reader 204 and the temperature regulator 206 for communicating and receiving signals related to the battery's health as well as communicating signals related to the battery's temperature, and receiving signals from the controller 208 to operate the at least one temperature regulator 206. The controller may comprise a PID (proportional, integral, derivative) controller or a PI (proportional, integral) controller to regulate the temperature of the battery within a set temperature value by controlling the operation of the at least one temperature regulator.

[0061] In a first embodiment of the present invention, the controller 208 is configured to activate the temperature regulator 206 in response to the temperature signal from the temperature reader 204 being outside the operational temperature range. For example, if the temperature is high, the controller activates the operation of one or more cooling fans until the battery temperature drops within the operational range. As discussed above, the controller can control the speed and direction of the fan rotation to control the degree of cooling to the batteries contained within the cassette. A heat sink can be used in combination with the fan to promote heat dissipation from the batteries. Conversely, if the battery temperature is too low, the controller 208 can activate a heating element to increase the battery temperature. The controller can instruct the activation of multiple temperature regulators shown in FIG. 15 to regulate the battery temperature. These include, but are not limited to, one or more fans, heating elements, and / or one or more thermoelectric converters (Peltier elements). The controller can include a PID (proportional, integral, and derivative) controller to regulate the battery temperature to a predetermined setpoint temperature value.

[0062] 15, the thermal management system 201 is shown to include a first temperature regulator 206 and a second temperature regulator 207. The first temperature regulator 206 may be a cooling fan, and the second temperature regulator 207 may be a heating element. A controller 208 can regulate the temperature of the battery within an operable range by controlling the operation of one or more fans and / or heating elements.

[0063] FIG. 16 is an adaptation of a simplified block diagram of the thermal management system shown in FIGS. 14 and 15 , in which at least one temperature adjustment device of the thermal management system 300 comprises a Peltier element 306. In the particular embodiment shown in FIG. 16 , the heat-absorbing side 312 or cooling side of the Peltier element 306 is in direct contact with a rechargeable power source 314, e.g., a battery, such that heat generated by one or more battery cells of the battery is thermally conducted to the heat-absorbing side of the Peltier element 306. The physical contact between the battery and the heat-absorbing side of the Peltier element helps keep the battery cool. In another embodiment of the invention, a conductive plate (not shown) can be disposed between the heat-absorbing side 312 of the Peltier element 306 and the battery 314. The controller 308 is configured to control a Peltier driver 316 to drive the at least one Peltier element 306. The Peltier driver 316 can be a voltage source, a current source used to drive the at least one Peltier element or a connection to a power source of a battery or another power source. The cooling of the heat absorbing surface can be controlled by switching on and off power to the at least one Peltier element 306. As discussed above, the Peltier driver 316 can include a pulse wave modulator (PWM) to generate pulses of power to drive the at least one Peltier element 316 and thereby regulate the cooling of the heat absorbing surface. The duty cycle (the "on" time of the Peltier element) of the square wave generated by the PWM can be varied by a controller to vary the power to the at least one Peltier element. The longer the duty cycle, the greater the cooling effect of the heat absorbing surface, as the heat absorbing surface remains cool for a longer period of time, and therefore, during battery cooling. Similarly, the frequency of the square wave controls the number of "cooling bursts" from the Peltier element and, therefore, the cooling of the battery. The controller 308 can be instructed to vary the duty cycle and / or the frequency of the duty cycle of the signal from the PWM to regulate the temperature of the battery. The controller may include a PID or PI controller to vary the duty cycle and / or frequency of the signal from the PWM so that the temperature of the battery drops to within a predetermined set temperature value.

[0064] As heat is conducted from the heat absorbing side of the at least one Peltier element to the heat emitting side, heat can optionally be removed from the heat emitting side 310 by being placed in thermal contact with a heat sink. Additionally, the heat emitting side 310 of the at least one Peltier element can be disposed in the path of air blown by one or more fans, thus assisting the heat absorbing side of the at least one Peltier element to more efficiently cool the battery.

[0065] Not shown in FIG. 16 is that the polarity of the current through the at least one Peltier element can be reversed (the direction of the current is reversed) so that the heat-absorbing side becomes the heat-emitting side to cause battery heating. This is particularly true in the refrigeration or freezer section of a procurement center. Similar to the heat-absorbing side (cooling side), the controller controls the Peltier driver to adjust the current to the at least one Peltier element to regulate the heating of the battery. Reversing the direction of the current through the at least one Peltier element allows a single element to perform both cooling and heating of the battery in response to a temperature signal from a temperature reader. Switching the polarity of the at least one Peltier element can be accomplished using a relay or other suitable switch.

[0066] However, battery heating and cooling can be provided by two separate Peltier elements: a first Peltier element for cooling the battery and a second Peltier element for heating the battery. An advantage of having a first Peltier element and a second Peltier element for both heating and cooling the battery is that the effectiveness of heating or cooling at least one Peltier element can be improved by treating both sides of the Peltier element. In the case of cooling, the heat-absorbing side can be improved by treating the heat-emitting side to draw heat away from the heat-emitting side, e.g., a sink and / or fan. Similarly, the heat-emitting side, which warms the battery, can be improved by insulating the heat-absorbing side.

[0067] The present invention can also utilize the Seebeck effect of the thermoelectric converter to determine the temperature of the battery. The current generated as a result of the temperature difference between the heat-emitting and heat-absorbing sides of the thermoelectric converter can be used to determine the temperature of the battery, i.e., the temperature difference across the semiconductor. One side of the thermoelectric element can be exposed to ambient temperature, and the opposing side of the thermoelectric converter can be in thermal contact with the battery. The temperature difference between the opposing sides of the thermoelectric converter generates a current at the junction of the thermoelectric converter, which is read by a temperature reader to determine the temperature of the battery.

[0068] While certain embodiments of the present invention describe a thermal management system as integrated into a cassette housing a rechargeable power source, the temperature of the rechargeable power source can be controlled externally to the cassette. In another embodiment of the present invention, the thermal management system can be integrated into the vehicle body of the luggage handling device. For example, the temperature sensor can include an infrared camera mounted within the vehicle body and configured to determine the temperature of the rechargeable power source by detecting infrared energy emitted from the rechargeable power source. Temperature readings from the infrared camera can be used by a controller to activate one or more temperature adjustment devices described above in response to the temperature signal being outside a predetermined temperature range.

[0069] The thermal management system of the present invention can be powered by a rechargeable power source. Alternatively, the thermal management system of the present invention can be powered by power delivered by a charging station whenever the rechargeable power source of the luggage handling device is being charged at the charging station. Power to the thermal management system includes, but is not limited to, a temperature regulator and / or a temperature sensor and / or controller. The charging station includes a charging head configured to cooperate with a charging point on the luggage handling device. When the luggage handling device moves into the grid cell where the charging station is installed, contact is made between a charging contact pad on the upper surface of the luggage handling device and the charging contacts of the charging head. Electric charge is applied to the luggage handling device from the charging contacts through the charging contact pad mounted on the upper surface of the luggage handling device. During charging of the rechargeable power source, electric charge is applied to the thermal management system of the present invention to power the components of the thermal management system. Typically, the charging station delivers approximately 160 amperes of electric charge at 48 volts. The likelihood of thermal runaway in a rechargeable power source is higher when the battery is charging than when the battery is discharging during operation of baggage handling equipment on a grid structure. The internal resistance of a rechargeable power source, particularly a battery, changes with temperature, increasing at low temperatures. The likelihood of heating during battery charging is greater in the refrigerated and / or frozen sections of a procurement center than in any other area of ​​the procurement center. In a worst-case scenario, this would lead to thermal runaway and possible decomposition of battery components. The thermal management system of the present invention becomes even more important during battery charging. During charging of a rechargeable power source at a charging station, the thermal management system of the present invention can be used to monitor the temperature status of the battery and activate one or more of the temperature regulators if the temperature of the rechargeable power source falls outside a predetermined temperature range. To preserve charge in the rechargeable power source, charge from the charging station can be used to deliver power to the thermal management system. Charge can be siphoned from the charge delivered to the rechargeable power source.Alternatively, a separate charge collector with at least two (positive and negative) charge collector contacts that cooperate with corresponding charge providing contacts at the charging station to supply power to the thermal management system can be incorporated on the vehicle body.

[0070] Combinations of the different temperature regulators discussed above can be used to control the temperature of the rechargeable power source. For example, a Peltier element can be used in combination with one or more cooling fans. The one or more temperature sensors can be thermocouples or thermistors or other temperature sensors based on the semiconductor thermocouple Seebeck effect, as commonly known in the art or discussed above. The temperature reader can be integrated into the controller, where a voltage signal from the temperature sensor is interpreted by the controller to provide a temperature reading. Stability of baggage handling equipment When operating on a grid structure, the baggage handling device can reach speeds of up to 2 m / s 2The luggage handling device can accelerate and reach a maximum speed of 4 m / s. Furthermore, the luggage handling device can change direction in both the X and Y directions on the grid structure, which can sometimes be sudden. Therefore, it is essential that the luggage handling device be stable on the grid structure, as the forces encountered during acceleration and changes in direction on the grid structure can cause the luggage handling device to topple. To increase the stability of the luggage handling device, the center of mass of the luggage handling device is kept as low as possible. Various means of achieving a low center of mass exist in the art. These include increasing the footprint of the luggage handling device's body beyond the dimensions of a single grid cell to extend into adjacent grid cells for battery placement, which represents a large proportion of the weight of the luggage handling device relative to the side of the container receiving space. However, a problem with luggage handling devices whose body footprint occupies the space of a single grid cell of the grid structure (so-called single-cell luggage handling devices) is that the luggage handling device is relatively unstable on the grid structure. The instability problem is exacerbated when the battery becomes larger, as the center of mass is elevated, i.e., the center of gravity is higher. When the luggage handling device is affected by a gravitational field, the center of mass is equal to the center of gravity of the luggage handling device. Therefore, the locations of the center of mass and the center of gravity are the same.

[0071] In a specific embodiment of the present invention relating to Figures 6-10 and 17-19, the cassette 143 of the present invention is positioned within the vehicle body 132 so that the center of mass 320 of the luggage handling apparatus (indicated by a dot in Figure 17) is within the space occupied by the cassette. For purposes of the present invention, the measurement of the center of mass is made relative to the center point of the vehicle body. In three dimensions, the center point of the luggage handling apparatus, represented by Cartesian coordinates X, Y, Z shown in Figures 17 and 18, is 0, 0, 0. The location of the center of mass is shown in Figure 18 as a small dot 320 along the intersection of two perpendicular planes that pass through the body of the luggage handling apparatus. As shown in Figure 17, for purposes of the present description, the Y direction extends vertically along the Y axis. The X and Z directions extend transversely within the horizontal plane. Thus, the coordinate in the Y direction determines whether the center of mass is above or below the first space—the first space being the container receiving space. The labeling of the X, Y, and Z axes is shown in FIG. 17 but may be different, for example the Z axis may be the Y axis, in which case the coordinate in the Z direction determines the position of the center of mass in the vertical direction.

[0072] In a specific embodiment of the present invention, a cassette 143 containing a rechargeable power source is installed directly above the first space 152 for storing a container. By positioning the cassette directly above the first space 152 for storing a container, the center of mass 322 of the luggage handling device is located within the second space 142b that stores the cassette. Although not completely located, the cassette is directly above the first space, improving the stability of a single-cell luggage handling device operable on a grid structure. By positioning the battery directly above the first space, substantially centered between the opposing side walls of the vehicle body, shifts in the center of mass of the luggage handling device when the luggage handling device is carrying a payload are less dramatic.

[0073] Table 1 below shows the coordinates of the center of mass of the luggage handling device, defined by the displacement of the center of mass from the center point of the luggage handling device. In a specific embodiment of the present invention, the mass of the cassette containing the batteries ranges from 30 kg to 35 kg. Position 1 in Table 1 represents the center of mass of the luggage handling device without the cassette. In a specific embodiment of the present invention, the center of mass of the luggage handling device without the cassette is within the first space for storing the container. Therefore, the luggage handling device is more stable without the cassette. Although the mass of the cassette when installed within the vehicle body raises the center of mass and therefore affects the stability of the luggage handling device, the specific location of the cassette, substantially centered between the opposing side walls of the vehicle body, reduces this effect. In a specific embodiment of the present invention, the cassette is installed substantially centered between the opposing side walls of the vehicle body and mounted on a tray immediately above the first space described with reference to Figures 6-10. When the cassette is installed in the vehicle body, the location of the center of mass, indicated by the Y coordinate from positions 2 and 3 in Table 1, moves to the second space, i.e., into the second space immediately above the first space. When the luggage handling device is carrying a payload, as indicated by position 4 in Table 1, the location of the center of mass moves downward. In this case, the location of the center of mass moves to the first space, making the luggage handling device more stable on the grid structure. Therefore, the center of mass of the luggage handling device changes between being in the second space and being in the first space, depending on whether the luggage handling device is carrying a container along with the payload. By locating the center of mass in the battery-receiving space (second space), the stability of the luggage handling device is therefore determined by the location of the battery in the vehicle body. Placing the battery as low as possible in the vertical direction, determined by the Y coordinate, improves the stability of the luggage handling device on the grid structure. Because the first space is configured to house the container during operation of the load handling device within the storage system, in certain embodiments of the present invention, the battery is positioned above and in close vertical proximity to the first space, i.e., directly above the first space. Movement or adjustment of the center of mass is minimized by locating the battery directly above the first space.This reduces the impact on the instability of the luggage handling equipment when installing the battery within the vehicle body. In certain embodiments of the present invention, installing the battery directly above the first space changes the center of mass to the second space, i.e., the battery-receiving space.

[0074] To further improve the stability of the luggage handling apparatus on the grid structure, the luggage handling apparatus includes a lower portion and an upper portion. The cassette is mounted within the upper portion of the luggage handling apparatus, and a wheel assembly including a first set and a second set of wheels is mounted within the lower portion of the luggage handling apparatus. The luggage handling apparatus 230 further includes a chassis or frame including a weight 234 within the lower portion of the luggage handling apparatus. In a specific embodiment of the present invention, the weight 234 is a wheel mounting plate. The first and second sets of wheels 134 are mounted to the wheel mounting plate 234 shown in FIG. 19. The wheel mounting plate 234 is fabricated so that the weight of the chassis or frame is concentrated toward the lower portion of the luggage handling apparatus. Although not shown in FIG. 19, the vehicle body includes side panels attached to the chassis.

[0075] In the particular embodiment of the invention shown in FIG. 19, the wheel mounting plate 234 represents a separate component of the vehicle body 232 and comprises a heavy metal plate, for example, by increasing the thickness and / or type of material used to fabricate the wheel mounting plate. The wheel mounting plate 234 shown in FIG. 19 comprises a first pair and a second pair of opposing metal plates for mounting the first and second sets of wheels 134, 135, respectively. The weight of the wheel mounting plate is greater than the weight of the cassette 143 housing the rechargeable power source. By concentrating the weight of the luggage handling apparatus 230 toward a lower portion of the luggage handling apparatus, for example, at the base or bottom of the luggage handling apparatus, the stability of the luggage handling apparatus is improved, compensating for the weight of the cassette above the first space within the single-cell luggage handling apparatus.

[0076] Alternatively, the chassis or frame of the load handling apparatus comprises an upper portion and a lower portion, the cassette 143 is mounted within the upper portion of the chassis and the wheel assembly is mounted within the lower portion of the chassis, and the mass of the chassis within the lower portion is greater than the mass of the chassis within the upper portion.

[0077] While the stability of the luggage handling apparatus in Figures 6-10 and 17-19 is described with respect to a cassette-accommodated rechargeable power source, the same effect can be achieved when the rechargeable power source is installed solely above the first space so that its center of mass is within the second space. That is, the second space is not limited to housing only cassettes, but may be solely a rechargeable power source. As discussed above, the rechargeable power source may be a battery or a supercapacitor, or both. While the description refers to a cassette, a battery alone may represent a significant proportion of the weight of the luggage handling apparatus and thus affect the stability of the luggage handling apparatus if the footprint of the luggage handling apparatus occupies a single grid cell. Therefore, having a center of mass within the second space for housing a cassette also applies when the second space is housed by a battery.

[0078] [Table 1]

[0079] Further aspects of the present invention may be described with reference to the following numbered clauses:

[0080] Clause 1. A load handling apparatus 30 for lifting and moving one or more stacked containers 10 within a storage system comprising a grid framework structure 14 supporting a plurality of tracks 22 arranged in a grid pattern to define a grid structure 15 above one or more stacks 12 of containers, the grid pattern comprising a plurality of grid cells 17, each of the one or more stacks of containers 12 being located within the footprint of only a single grid cell 17, the load handling apparatus 30 comprising: A) a drive mechanism operatively arranged to move the load handling device 30 on the grid structure 15; B) a vehicle body 132 having a footprint that, in use, substantially occupies only a single grid cell 17 within the storage system; and said vehicle body 132: i) a rechargeable power supply 142 for powering the drive mechanism; ii) the first space 152 and the second space 142b, the first space 152 being configured to house the container 10, and the rechargeable power source 142 being housed within the second space 142b; iii) a lifting device comprising a lifting drive assembly 140 and a gripping device 39 configured, in use, to releasably grasp the container 10 and lift the container 10 from the stack 12 into the first space 152; Accommodates Equipped with Here, the rechargeable power source 142 is positioned above the first space 152 such that the center of mass of the luggage handling device is within the second space 142b.

[0081] Clause 2. The luggage handling apparatus 30 of Clause 1, wherein the center of mass 320 of the luggage handling apparatus 30 is offset from the center point of the luggage handling apparatus 30 by a range of -10 mm to -13 mm in the X direction, a range of 440 mm to 490 mm in the Y direction, and a range of 4.5 mm to 6 mm in the Z direction.

[0082] Clause 3. The luggage handling apparatus 30 of Clause 2, wherein the first space 152 houses the container 10 such that the center of mass 320 of the luggage handling apparatus 30 is displaced away from a center point of the luggage handling apparatus by -12 mm to 13 mm in the X direction, by 470 mm to 475 mm in the Y direction, and by 5.0 mm to 5.6 mm in the Z direction.

[0083] Clause 4. The luggage handling apparatus 30 of clause 3, wherein the container 10 is equipped with a payload having a weight of approximately 35 kg such that the center of mass 320 of the luggage handling apparatus is displaced away from a center point of the luggage handling apparatus by -10 mm to 11 mm in the X direction, by 440 mm to 450 mm in the Y direction, and by 4.5 mm to 5.0 mm in the Z direction.

[0084] Clause 5. The luggage handling device 30 of any of clauses 1 to 4, wherein the rechargeable power source 142 displaces the center of gravity 320 of the luggage handling device by 40 mm to 45 mm in the X direction, 50 mm to 60 mm in the Y direction, and 5 mm to 7 mm in the Z direction.

[0085] Clause 6. The luggage handling apparatus (30) of any of clauses 1 to 5, wherein the rechargeable power source (142) is mounted substantially centrally between a pair of opposing side walls (158) of the vehicle body (132).

[0086] Clause 7. The load handling apparatus (30) of Clause 6, wherein the lifting device comprises a first pair of spools (146) separately carrying the first pair of lifting tethers and a second pair of spools (148) separately carrying the second pair of lifting tethers, the first and second pairs of spools (146, 148) being driven by a lifting drive assembly (140) to raise or lower the gripping device (39) relative to the vehicle body (132), and wherein the first pair of spools (146) are spaced from the second pair of spools (148) to define a second space (142b) such that the rechargeable power source (142) is partially disposed between the first pair of spools (146) and the second pair of spools (148).

[0087] Clause 8. The load handling apparatus (30) of clause 7, wherein the rechargeable power supply (142) and the lifting drive assembly (140) are mounted in the same horizontal plane.

[0088] Clause 9. The load handling apparatus (30) of clauses 7 or 8, wherein the rechargeable power supply (142) and lift drive assembly (140) are mounted on the tray (154).

[0089] Clause 10. The luggage handling apparatus 30 of any of clauses 1 to 9, wherein the second space 142b is accessible from outside the vehicle body 132 such that the rechargeable power source 142 is removable from outside the vehicle body.

[0090] Clause 11. The luggage handling apparatus (30) of clause 10, wherein the rechargeable power source (142) is removable from the vehicle body (132) by pulling from the first side of the rechargeable power source (142).

[0091] Clause 12. The load handling apparatus (30) of clause 11, wherein the lifting drive assembly (140) is mounted adjacent to a second face of the rechargeable power source, the second face opposing the first face.

[0092] Clause 13. The baggage handling apparatus 30 of any of clauses 10 to 12, wherein the rechargeable power source 142 is mounted on a rail.

[0093] Clause 14. The load handling apparatus 30 of any of clauses 1 to 13, wherein the vehicle body 132 has walls on all sides and, in use, forms a quadrilateral footprint that occupies substantially only a single grid cell in the storage system.

[0094] Clause 15. The baggage handling apparatus 30 of any of clauses 1 to 14, wherein the drive assembly includes a wheel assembly 134 having a first set of wheels 34 for moving the baggage handling apparatus 30 in a first direction and a second set of wheels 36 for moving the baggage handling apparatus 30 in a second direction.

[0095] Clause 16. The load handling apparatus 30 of Clause 15, wherein the vehicle body 132 comprises a chassis having an upper portion and a lower portion, the rechargeable power source 142 mounted within the upper portion and the wheel assembly 134 mounted within the lower portion, and wherein a mass of the chassis within the lower portion of the chassis is greater than a mass of the chassis within the upper portion.

[0096] Clause 17. The load handling apparatus (30) of clause 15, wherein the chassis comprises a wheel mounting plate (234), the wheel assembly (134) is attached to the wheel mounting plate (234), and the mass of the wheel mounting plate (234) is greater than the mass of the rechargeable power source (142).

[0097] Clause 18. The load handling apparatus 30 of clause 17, wherein the wheel mounting plate 234 comprises a first pair of opposing plates and a second pair of opposing plates such that the first set of wheels 34 is mounted to the first pair of opposing plates and the second set of wheels 36 is mounted to the second set of opposing plates.

[0098] Clause 19. The baggage handling device (30) of any of clauses 1 to 18, wherein the rechargeable power source (142) comprises a plurality of rechargeable power cells electrically connected to each other and housed within a case to define a cassette (143).

[0099] Clause 20. The baggage handling apparatus (30) of clause 19, wherein the rechargeable power cell comprises a battery cell.

[0100] Clause 21. A first set of tracks 22a and a second set of tracks 22b running transversely to the first set of tracks 22a in a substantially horizontal plane to form a grid pattern 15 comprising a plurality of grid spaces or grid cells 17; a plurality of stacks of containers 12 positioned under a first set of parallel tracks 22a and a second set of parallel tracks 22b, wherein each stack of containers 12 occupies a single grid space or grid cell 17; a load handling device (30) according to any one of clauses (1) to (20) arranged to traverse along a first set (22a) of tracks and a second set (22b) of tracks over a plurality of grid spaces or grid cells (17) such that when positioned above a stack of containers (12) occupying said grid spaces or grid cells (17), the lifting device is configured to lift at least one container (10) from said stack of containers (12); A storage system comprising:

Claims

1. 1. A load handling apparatus (30) for lifting and moving one or more stacked containers (10) within a storage system comprising a grid framework structure (14) supporting a plurality of tracks arranged in a grid pattern to define a grid structure (15) above one or more stacks (12) of containers, said grid pattern comprising a plurality of grid cells (17), said load handling apparatus (30) comprising: A) a drive mechanism operatively arranged to move said luggage handling device (30) on said grid structure (15); B) i) a container receiving space (152) located above the track; ii) a lifting device comprising a lifting drive assembly (140) and a gripping device (39) configured, in use, to releasably grip a container (10) and lift said container (10) from said stack (12) into said container receiving space (152); iii) a cassette (143) containing a rechargeable power source (142) for powering said drive mechanism; A vehicle body (132) that accommodates the Equipped with wherein the luggage handling device (30) comprises a thermal management system (200) having a temperature sensor (202) and at least one temperature adjustment device (206) configured to maintain the temperature of the rechargeable power source (142) within a predetermined temperature range in response to a signal from the temperature sensor (202).

2. 2. The baggage handling apparatus (30) of claim 1, wherein the at least one temperature control device (206) comprises at least one cooling fan.

3. 3. The baggage handling apparatus (30) of claim 2, wherein the at least one cooling fan comprises a first cooling fan (164) for supplying cool air to the interior space of the cassette and a second cooling fan (166) for drawing warm air from the interior space of the cassette.

4. 4. The baggage handling device (30) of claim 2 or 3, wherein the thermal management system further comprises a heat sink thermally coupled to the rechargeable power source (142), the heat sink comprising a plurality of heat dissipation fins, and wherein the at least one cooling fan is configured to blow cool air across the heat dissipation fins.

5. 5. A load handling apparatus (30) according to any one of claims 1 to 4, wherein the cassette (143) comprises one or more vents.

6. 6. The baggage handling device (30) of claim 1, wherein the temperature control device (206) comprises at least one heating element located in proximity to the rechargeable power source (142) and contained within the cassette (143).

7. 7. The baggage handling apparatus (30) of claim 1, wherein the at least one temperature adjustment device (206) comprises at least one thermoelectric device.

8. 8. The baggage handling apparatus (30) of claim 7, wherein the at least one thermoelectric device comprises at least one Peltier element (306) having opposing heat absorbing and heat emitting surfaces.

9. 9. The baggage handling device (30) of claim 8, wherein the at least one Peltier element (306) is configured to selectively cool and / or heat the rechargeable power source (142) by switching polarity.

10. 9. The baggage handling device of claim 8, wherein the at least one Peltier element comprises a first Peltier element and a second Peltier element, the first Peltier element being positioned such that a heat absorbing surface of the first Peltier element is proximate a first portion of the rechargeable power source, and the second Peltier element being positioned such that the heat emitting surface is proximate a second portion of the rechargeable power source.

11. 11. The baggage handling device (30) of any of claims 8 to 10, wherein the heat emitting surface of the at least one Peltier element (306) is thermally coupled to a heat sink.

12. 12. The baggage handling apparatus (30) of claim 11, further comprising a fan configured to blow air across the heat sink.

13. 13. The baggage handling device (30) of any of claims 8 to 12, wherein the at least one Peltier element (306) is driven by a Peltier driver (316).

14. 14. The load handling device (30) of claim 13, wherein the Peltier driver (316) comprises a pulse width modulator for regulating current to the at least one Peltier element (306).

15. 15. The luggage handling device (30) of claim 1, wherein the thermal management system (200) further comprises a controller (208) coupled to the temperature sensor (202) and the at least one temperature adjustment device (206), the controller (208) configured to adjust the temperature reading of the temperature sensor (202) within the predetermined temperature range.

16. 16. A baggage handling device (30) as described in any one of claims 1 to 15, wherein the rechargeable power source (142) comprises at least one of a battery and / or a capacitor, each of the at least one of the batteries and / or capacitors comprising a plurality of cells.

17. a first set of tracks (22a) and a second set of tracks (22b) running transversely to the first set of tracks (22a) in a substantially horizontal plane to form a grid pattern (15) comprising a plurality of grid spaces or grid cells (17); a plurality of stacks of containers (12) positioned under said first set of tracks (22a) and said second set of tracks (22b), wherein each of said stacks of containers (12) occupies a single grid space or grid cell; 17. A cargo handling apparatus (30) according to any one of claims 1 to 16, wherein the lifting device is arranged to traverse along the first set of tracks (22a) and the second set of tracks (22b) over a plurality of grid spaces or grid cells (17) such that, when positioned above a stack of containers (12) occupying the grid spaces or grid cells (17), the lifting device is configured to lift at least one container (10) from the stack of containers (12). A storage system comprising:

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