System and method for executing measurement in storage container

Abstract

To provide a system and a method for executing measurement in an automatic storage system.SOLUTION: Disclosed is a system for executing measurement in each storage container for storing an item. Each storage container is stored in an automatic storage system provided with a skeletal structure forming a three-dimensional storage grid structure for storing each storage container. The grid structure forms vertical storage columns each having the same horizontal area defined by the size of an access opening part of each vertical storage column. A rail system is arranged on the skeletal structure defining the circumference of each access opening part on each storage column. The rail system provides passages utilizable for container handling vehicles. Each container handling vehicle handles each storage container, and transfers the same to each storage column, and from each storage column. Each vehicle comprises a vehicle controller (230) communicating with a central computer system for controlling the operation of the storage system.SELECTED DRAWING: None

Description

[Technical Field]

[0001] The present invention relates to a system and method for performing measurements in an automated storage system, and more particularly to a system and method for performing measurements while containers are being handled by a container handling vehicle. [Background technology]

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

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

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

[0005] The automated storage and retrieval system 1 comprises a rail system 108 arranged in a grid pattern across the top of the storage 104, on which a plurality of container handling vehicles 201, 301 are operated to lift storage containers 106 from, lower storage containers 106 into, and transport storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 arranged across the top of the frame structure 100 to guide movement of the container handling vehicles 201, 301 in a first direction X, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 201, 301 in a second direction Y that is perpendicular to the first direction X. In this manner, the rail system 108 defines grid columns 112 above which the container handling vehicles 201, 301 can move laterally (i.e., in a plane parallel to the horizontal XY plane) above the storage columns 105.

[0006] Each prior art container handling vehicle 201, 301 includes a carbody 201a, 301a and first and second sets of wheels 201b, 301b, 201c, 301c, respectively, that allow lateral movement of the container handling vehicle 201, 301 in the X and Y directions. Two wheels in each set are fully visible in Figures 2 and 3. The first set of wheels 201b, 301b are positioned to engage two adjacent rails of the first set of rails 110, and the second set of wheels 201c, 301c are positioned to engage two adjacent rails of the second set of rails 111. Each set of wheels 201b, 301b, 201c, 301c can be raised and lowered so that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c can be engaged with the respective set of rails 110, 111 at any one time.

[0007] Each prior art container handling vehicle 201, 301 also includes a container handling platform 401 (not shown) for vertical transportation of storage containers 106, e.g., lifting storage containers 106 from storage columns 105 and lowering storage containers 106 therein. The container handling platform 401 includes one or more gripping / engaging devices (not shown) adapted to engage storage containers 106, which can be lowered from the vehicle 201, 301 so that the position of the gripping / engaging devices relative to the vehicle 201, 301 can be adjusted in a third direction Z that is orthogonal to the first direction X and the second direction Y.

[0008] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and housing the storage containers 106 as they are transported across the rail system 108. The storage space may include a centrally located cavity within the vehicle body 201 a, as shown in FIG. 2 and described, for example, in WO 2015 / 193278 A1 (Patent Document 1, the contents of which are incorporated herein by reference).

[0009] 3 shows an alternative configuration of a container handling vehicle 201, 301 with a cantilever structure. Such a vehicle is described in detail, for example, in No. 317366, the contents of which are also incorporated herein by reference.

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

[0011] Alternatively, the central cavity container handling vehicle 101 may have a footprint area that is larger than the lateral area defined by the grid columns 112, for example as disclosed in WO2014 / 090684A1.

[0012] In the X and Y directions, neighboring grid cells are placed in contact with each other so that no space exists between them.

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

[0014] 1 is to be accessed, one of the container handling vehicles 201, 301 is commanded to retrieve the target storage container 106 from its position in the grid 104 and transport it to the unloading port 119. This operation involves moving the container handling vehicle 201, 301 to a grid location above the storage column 105 in which the target storage container 106 is located, using the container handling platform 401 (not shown) of the container handling vehicle 201, 301 to retrieve the storage container 106 from the storage column 105, and transporting the storage container 106 to the unloading port 119. If the target storage container 106 is located deep within the stack 107 (i.e., with one or more other storage containers 106 positioned above the target storage container 106), the operation also involves temporarily moving the upper-positioned storage container 106 prior to raising the target storage container 106 out of the storage column 105. This step, sometimes referred to within the art as "mining," may be performed using the same container handling vehicle 201, 301 subsequently used to transport the target storage container 106 to the unloading port 119, or using one or more other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have a container handling vehicle specifically dedicated to the task of temporarily removing the storage container 106 from the storage column 105. Once the target storage container 106 is removed from the storage column 105, the temporarily removed storage container 106 can be repositioned in the original storage column 105. However, the removed storage container 106 may alternatively be transferred to another storage column.

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

[0016] A problem with prior art solutions is that when perishable items are present in storage, there is a need to measure the freshness of the product and the conditions in which the items are stored. However, problems exist with obtaining more accurate readings of the items without having to turn to expensive equipment or expensive solutions that require extensive rebuilding. Therefore, it is an object of the present invention to solve the stated problem. [Prior art documents] [Patent documents]

[0017] [Patent Document 1] International Publication No. 2015 / 193278 Summary of the Invention [Means for solving the problem]

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

[0019] In one aspect, the present invention relates to a system for performing measurements on storage containers for storing items, the storage containers being stored in an automated storage system comprising a skeletal structure forming a three-dimensional storage grid structure for storing the storage containers, the grid structure forming vertical storage columns each having a horizontal area defined by the size of an access opening to the vertical storage columns between rails of a rail system, the rail system being disposed on the skeletal structure and providing available paths for container handling vehicles, the container handling vehicles handling the storage containers and transferring the storage containers to and from the storage columns, each vehicle comprising a vehicle controller in communication with a central computer system that controls operation of the storage system, and the container handling platforms of the container handling vehicles comprising measurement equipment configured to perform measurements on the containers and further comprising communication means configured to communicate measurement data to the computer system.

[0020] Further, the central computer system or climate control system or container handling vehicle has a computer system configured to analyze the measurements and compare them to one or more predetermined threshold levels representing acceptable temperature, moisture, gas, and appearance, and the central computer system is configured to store the measurements along with the identification of the container.

[0021] Furthermore, the container handling platform is connected to the container handling vehicle using bands that are controlled by electric motors to enable it to be lifted and lowered, and the ropes, bands, or wires used to raise and lower the container handling platform include electrical wires to transmit power and enable communication between the container handling platform and the container handling vehicle.

[0022] The container handling platform also includes temperature measurement equipment, moisture detectors, gas detectors, and cameras, and the container handling platform includes a UV light source for killing bacteria and mildew on the surfaces of items within the container, and the container handling platform includes a UV light source for detecting bacteria and mildew on the surfaces of items within the container.

[0023] The container handling platform also includes at least one rechargeable power source for powering the measurement equipment, and the container handling platform and the container handling vehicle include optical communication equipment for communicating data therebetween.

[0024] 1. A container handling vehicle for handling containers for storing items, wherein the storage containers are stored within an automated storage system comprising a skeletal structure forming a three-dimensional storage grid structure for storing the storage containers, the grid structure forming vertical storage columns each having a horizontal area defined by the size of an access opening to the vertical storage columns between rails of a rail system, the rail system being disposed on the skeletal structure and providing available paths for the container handling vehicles, which handle the storage containers and transfer the storage containers to and from the storage columns, each vehicle comprising a vehicle controller in communication with a central computer system that controls operation of the storage system, and the container handling platforms of the container handling vehicles comprising measurement equipment configured to perform measurements on the containers and further comprising communication means configured to communicate measurement data to the computer system.

[0025] 1. A method for performing measurements on storage containers for storing items, the storage containers being stored in an automated storage system comprising a skeletal structure forming a three-dimensional storage grid structure for storing the storage containers, the grid structure forming vertical storage columns each having a horizontal area defined by the size of an access opening to the vertical storage columns between rails of a rail system, the rail system being disposed on the skeletal structure and providing available paths for container handling vehicles, the container handling vehicles handling the storage containers and transferring the storage containers to and from the storage columns, each vehicle comprising a vehicle controller in communication with a central computer system that controls operation of the storage system, the method comprising the steps of: handling the container using a container handling platform of the container handling vehicle; performing measurements on the container using equipment mounted on the container handling platform; transmitting the measurement data to the central computer system; analyzing the transmitted measurement data; The present invention provides, for example, the following items. (Item 1) 1. A system for performing measurements in a storage container (106) for storing items, comprising: The storage containers (106) are stored in an automated storage system that includes a skeleton structure (100) that forms a three-dimensional storage grid structure (104) for storing the storage containers (106); the grid structure (104) forms vertical storage columns (105), each of said vertical storage columns (105) having a horizontal area defined by the size of an access opening to the vertical storage column (105) between the rails of the rail system; the rail system (108) is disposed on the framework structure (100), the rail system (108) provides an available route for container handling vehicles (201), the container handling vehicles (201) handle the storage containers (106) and transport the storage containers (106) to and from the storage columns (105), each vehicle (201) having a vehicle controller in communication with a central computer system that controls the operation of the storage system; The system is further characterized in that the container handling platform 401 of the container handling vehicle (201, 301) comprises a measurement device configured to perform measurements on the container, and further comprises communication means configured to communicate measurement data to a computer system. (Item 2) Item 10. The system of item 1, wherein the central computer system is configured to analyze the measurements and compare them to one or more predetermined threshold levels representing acceptable temperature, moisture, gas, and appearance. (Item 3) Item 1. The system of item 1, wherein the climate control system is configured to analyze the measurements and compare them to one or more predetermined threshold levels representing acceptable temperature, moisture, gases, and appearance. (Item 4) Item 1, wherein the container handling vehicle (201, 301) has a computer system configured to analyze the measurements and compare them to one or more predetermined threshold levels representing acceptable temperature, moisture, gas, and appearance. (Item 5) 3. The system of claim 1 or 2, wherein the central computer system is configured to store the measurements together with the identity of the container (106). (Item 6) 4. The system of claim 1, 2, or 3, wherein the container handling platform (401) is connected to the container handling vehicle (201, 301) using a band (402) that enables it to be raised and lowered by an electric motor. (Item 7) Item 7. The system of item 6, wherein the ropes, bands, or wires used to raise and lower the container handling platform (401) comprise electric wires (610), which transmit power and enable communication between the container handling platform (401) and the container handling vehicles (201, 301). (Item 8) 8. The system according to any one of items 1-7, wherein the container handling platform (401) is equipped with temperature measuring equipment, moisture detectors, gas detectors, and cameras. (Item 9) 9. The system according to any one of items 1-8, wherein the container handling platform (401) is equipped with a UV light source for killing bacteria and mildew on the surfaces of the items in the container. (Item 10) 10. The system according to any one of items 1-9, wherein the container handling platform (401) is equipped with a UV light source for detecting bacteria and mildew on the surface of the items in the container. (Item 11) 11. The system according to any of items 1-10, wherein the container handling platform (401) is equipped with at least one rechargeable power source for powering the measuring equipment (607, 608, 609). (Item 12) 12. The system according to any one of items 1-11, wherein the container handling platform (401) and the container handling vehicle (201, 301) are equipped with optical communication equipment for transmitting data therebetween. (Item 13) A container handling vehicle (201, 301) for handling a container for storing items, The storage containers (106) are stored in an automated storage system having a skeleton structure (100) that forms a three-dimensional storage grid structure (104) for storing the storage containers (106); the grid structure (104) forms vertical storage columns (105), each of said vertical storage columns (105) having a horizontal area defined by the size of an access opening to the vertical storage column (105) between the rails of the rail system; the rail system (108) is disposed on the framework structure (100), the rail system (108) provides an available route for the container handling vehicles (201), the container handling vehicles (201) handle the storage containers (106) and transport the storage containers (106) to and from the storage columns (105), each vehicle (201) having a vehicle controller in communication with a central computer system that controls the operation of the storage system; A container handling vehicle (201, 301), characterized in that the container handling platform (401) of the container handling vehicle (201, 301) is equipped with measurement equipment configured to perform measurements on the containers, and further comprises communication means configured to communicate measurement data to a computer system. (Item 14) 1. A method for performing measurements in a storage container (106) for storing items, comprising: The storage containers (106) are stored in an automated storage system having a skeleton structure (100) that forms a three-dimensional storage grid structure (104) for storing the storage containers (106); the grid structure (104) forms vertical storage columns (105), each of said vertical storage columns (105) having a horizontal area defined by the size of an access opening to the vertical storage column (105) between the rails of the rail system; the rail system (108) is disposed on the framework (100) and provides an available route for container handling vehicles (201) that handle the storage containers (106) and transport the storage containers (106) to and from the storage columns (105), each vehicle (201) having a vehicle controller (230) in communication with a central computer system that controls the operation of the storage system; The method comprises: handling a container (106) using a container handling platform (401) of a container handling vehicle (201, 301); performing measurements on the container using equipment mounted on the container handling platform (401); transmitting the measurement data to the central computer system; analyzing the transmitted measurement data; instructing said container handling vehicle (201, 301) to transport said container to a predetermined destination dependent on the results of said analysis; transporting the container to a next destination using the container handling vehicle (201, 301); A method comprising: (Item 15) Item 15. The method according to item 14, wherein the measuring equipment on the container handling platform (401) performs measurements of temperature, moisture, and gas levels within the container, and a camera is used for visual inspection of the product. (Item 16) 16. The method of claim 14 or 15, wherein the central computer system is configured to store the measurements together with the identity of the container on which the measurements are performed. (Item 17) 15. The method according to item 14, wherein the container handling platform (401) is raised and lowered by ropes, bands or wires (402) which are raised and lowered by electric motors. (Item 18) Item 15. The method of item 14, wherein at least one rechargeable power source within the container handling platform (401) powers measurement equipment (607, 608, 609) on the container handling platform (401). (Item 19) 15. The method of claim 14, wherein the at least one rechargeable power source within the container handling platform (401) is charged when the platform is in its uppermost position. (Item 20) Item 15. The method according to item 14, wherein the container handling platform (401) and the container handling vehicles (201, 301) use light as a means for communication. (Item 21) Item 15. The method of claim 14, wherein the container handling platform (401) receives energy and communications via a cable (610) embedded within the rope, band, or wire (402) used to raise and lower the container handling platform (401). [Brief explanation of the drawings]

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

[0027] [Figure 1] FIG. 1 is a perspective view of the skeletal structure of a prior art automated storage system. [Figure 2] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers. [Figure 3] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever beam underneath for carrying storage containers. [Figure 4] FIG. 4 is a side view of a container handling vehicle with a cantilevered solution for carrying containers using its container handling platform. [Figure 5]FIG. 5 is a side view of a container handling vehicle with a central cavity solution that uses its container handling platform to carry containers. [Figure 6] FIG. 6 is a side view of a container handling vehicle with a cantilever support solution with the container handling platform shown in detail. [Figure 7] FIG. 7 is a side view of a container handling vehicle with a central cavity solution with its container handling platform shown in detail. [Figure 8] FIG. 8 is a side view of an alternative solution to the present invention in which the container handling platform is supplied with power and communications via wires that are fitted within the wires, bands, or ropes for raising or lowering the container handling platform. [Figure 9] FIG. 9 is a side view of an alternative solution to the present invention in which the container handling platform is supplied with power and communications via wires that are fitted within the wires, bands, or ropes for raising or lowering the container handling platform. [Figure 10] FIG. 10 is a side view of a container handling vehicle with a container handling platform equipped with an extendable probe with a sensor at its bottom end that can be lowered into a container. [Figure 11] 11A and 11B are top and side views of a container with a tunnel-like section within the container through which a probe with a sensor at the bottom end can be lowered into the bottom of the container without the contents of the container interfering with the probe. DETAILED DESCRIPTION OF THE INVENTION

[0028] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings, in which it should be understood, however, that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

[0029] The skeleton structure 100 of the automated storage and retrieval system 1 is constructed by the prior art skeleton structure 100 described above in connection with FIG. 1 (i.e., several upright members 102 and several horizontal members 103 supported by the upright members 102), and further, the skeleton structure 100 is provided with a first upper rail system 108 in the X and Y directions.

[0030] The skeleton structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102, 103, with storage containers 106 being stackable in stacks 107 within the storage columns 105.

[0031] Skeleton structure 100 can be of any size. In particular, it should be understood that skeletal structure can be significantly wider and / or longer and / or deeper than that disclosed in Figure 1. For example, skeletal structure 100 can have a horizontal extent of greater than 700 x 700 columns and a storage depth of greater than 12 containers.

[0032] The container handling vehicle has a lifting frame for holding the container when the container handling vehicle is handling the container. The lifting frame can be a container handling platform 401 that, in addition to holding the container, also functions as a lid covering the top of the container.

[0033] FIG. 2 is an alternative solution for a container handling vehicle 201 with a central cavity solution.

[0034] FIG. 3 shows an alternative configuration of a container handling vehicle 301 with a cantilever construction.

[0035] Figure 4 is a side view of a container handling vehicle 201, 301 with a cantilevered solution for carrying containers using its container handling platform 401. The container handling platform 401 of the container handling vehicle 201, 301 holds containers in place using a pair of grippers. The grippers, and the raising and lowering of the container handling platform 401, are controlled by a central computer system.

[0036] Figure 5 is a side view of a container handling vehicle 201, 301 with a central cavity solution that carries containers using its container handling platform 401. The container handling platform 401 of the container handling vehicle 201, 301 uses a pair of grippers to hold containers in place. The grippers, and the raising and lowering of the container handling platform 401, are controlled by a central computer system.

[0037] FIG. 6 is a side view of a container handling vehicle 201, 301 with a cantilever support solution, with the container handling platform 401 shown in detail, according to one embodiment of the present invention. In this solution, communication between the container handling vehicle 201, 301 and the container handling platform 401 of the container handling vehicle 201, 301 is performed using wireless communication. This can be in the form of a short-range wireless communication network such as Bluetooth® or Zigbee®, or it can be a long-range wireless communication network such as Wi-Fi, or it can be optical communication such as Li-Fi. A central computer system commands the container handling platform 401 when to grip and release. In addition to this command, the computer system on the container handling vehicle 201, 301 tells the container handling platform 401 when to start taking measurements. The results of the measurements are transmitted to the computer system on the container handling vehicle. The container handling vehicle 201, 301 further transmits the information to a computer system that stores and analyzes information from all the container handling vehicles. The computer system makes decisions based on the analyzed information from the container handling vehicles. These decisions are transmitted to a central computer system which in turn notifies the container handling vehicles. In an alternative solution, all information is transmitted to a central computer system and all analysis is performed there.

[0038] FIG. 6 shows a container handling vehicle 201, 301 with a cantilever support solution. This solution allows the container 106 to be elevated adjacent to the main body of the container handling vehicle. The container handling platform 401 of this solution is attached to the container handling vehicle 201, 301 by a set of straps, wires, ropes, or bands 402. These straps, wires, ropes, or bands 402 are attached to an electric motor, which ensures the elevation and lowering of the container handling platform 401. The container handling platform 401 is equipped with a set of grippers for grasping the container 106. There are also measuring devices 607, 608, 609, such as temperature measuring devices, moisture detectors, gas detectors, and cameras, attached to the container handling platform 401. At each corner of the container handling platform 401, there are guide rods. These guide rods are used to accurately position the lifting frame for lifting the container 106. There are two charging points above the container handling platform 401 for charging the rechargeable power supply on the container handling platform 401. In addition, there is a transmitter for transmitting measurements from the container handling platform 401 to the container handling vehicles. The rechargeable power supply powers the measurement devices 607, 608, 609, the grippers, the transmitter devices, and optionally a UV light source for killing bacteria and mildew on the surfaces of the items.

[0039] The rechargeable power source on the container handling platform 401 is charged by at least one rechargeable power source on a container handling vehicle when the container handling platform 401 is at its highest position.

[0040] FIG. 7 is a side view of a container handling vehicle 201, 301 with a central cavity solution, with its container handling platform 401 shown in detail, according to one embodiment of the present invention. In this solution, communication between the container handling vehicle 201, 301 and the container handling platform 401 of the container handling vehicle 201, 301 is performed using wireless communication. This can be in the form of a short-range wireless communication network such as Bluetooth® or Zigbee®, or it can be a long-range wireless communication network such as Wi-Fi, or it can be optical communication such as Li-Fi. A computer system on the container handling vehicle 201, 301 commands the container handling platform 401 when to grasp and release. In addition to this command, the computer system on the container handling vehicle 201, 301 tells the container handling platform 401 when to begin taking measurements. The results of the measurements are transmitted to the computer system on the container handling vehicle. The container handling vehicle 201, 301 further transmits information to a computer system that stores and analyzes information from all container handling vehicles. The computer system makes decisions based on the analyzed information from the container handling vehicles. These decisions are transmitted to a central computer system which again notifies the container handling vehicles. In an alternative solution, all information is transmitted to a central computer system and all analysis is performed in the central computer system.

[0041] In the drawings, there is a container handling vehicle 201, 301 with a central cavity solution. In this solution, the container 106 is raised into the central cavity of the main body of the container handling vehicle. The container handling platform 401 of this solution is attached to the container handling vehicle 201, 301 by a set of wires, ropes, or bands 402. These wires, ropes, or bands 402 are attached to drums driven by electric motors. Coordinated winding and unwinding ensures the raising and lowering of the container handling platform 401 in a horizontal configuration. The container handling platform 401 is equipped with a set of grippers for grasping the container 106. Furthermore, there are measuring devices 607, 608, 609 attached to the container handling platform 401. There are guide rods at each corner of the container handling platform 401. These guide rods are used to accurately position the lifting frame for raising the container. Above the container handling platform 401 there are two electrodes 601 for charging a rechargeable power supply in or on the container handling platform 401. In addition there is a transmitter for transmitting measurements from the container handling platform 401 to the container handling vehicle. This rechargeable power supply powers the measurement devices 607, 608, 609, the grippers, the transmitter device and optionally a UV light source for killing bacteria and mildew on the surface of the items.

[0042] 8 is a side view of an alternative solution to the present invention in which the container handling platform 401 is supplied with power and communications via electrical wires 610 that are embedded within the lifting wires, bands, or ropes 402. These electrical wires 610 are not only for providing power to both the grippers and measuring devices 607, 608, 609, but can also be data wires for communicating data to and from the grippers and measuring devices 607, 608, 609.

[0043] The central computer system commands the container handling platform 401 when to grip and when to release. In addition to this command, the central computer system tells the container handling platform 401 when to start taking measurements. The results of the measurements are transmitted either to the specific computer system or to the central computer system. The wires, ropes, or bands 402 connecting the container handling vehicles to the container handling platform 401 are fitted with electrical wires 610 to both transmit information and distribute power to perform all tasks.

[0044] The container handling vehicles 201, 301 transmit measurement data to a computer system that stores and analyzes information from all the container handling vehicles. The computer system makes decisions based on the analyzed information from the container handling vehicles. These decisions are transmitted to a central computer system, which again notifies the container handling vehicles. These decisions can be where to transport the container 106. If the container items in the container 106 are damaged, the container 106 is transported to an area where the damaged items can be properly disposed of. If the items are OK, they are transported back into the storage grid or to a port for further distribution. Optionally, a decision can be to use UV light to kill bacteria and mildew. In an alternative solution, all information is transmitted to the central computer system, and all analysis is performed there.

[0045] 8 shows a container handling vehicle 201, 301 with a cantilever support solution. The main body of the container handling vehicle 201, 301 is equipped with all the equipment required for the container handling vehicle 201, 301 to operate on the storage system. The container handling platform 401 of this solution is attached to the container handling vehicle 201, 301 by a set of straps, wires, ropes, or bands 402. These straps, wires, ropes, or bands 402 are attached to electric motors, which ensure the raising and lowering of the container handling platform 401. The container handling platform 401 is equipped with a set of grippers for gripping the container 106. There are also measuring devices 607, 608, 609 attached to the container handling platform 401. There are guide rods at each corner of the container handling platform 401. These guide rods are used to accurately position the lifting frame to lift the container 106. Above the container handling platform 401 there are two electrodes 601 for charging a rechargeable power supply within the container handling platform 401. In addition there is a transmitter for transmitting measurements from the container handling platform 401 to the container handling vehicle. This rechargeable power supply powers the measurement devices 607, 608, 609, the grippers, the transmitter device and optionally a UV light source for killing bacteria and mildew on the surface of the items.

[0046] 9 is a side view of an alternative solution to the present invention in which the container handling platform 401 is supplied with power and communication via electrical wires 610 that are fitted within the wires, bands, or ropes 402 for raising or lowering the container handling platform 401. These electrical wires 610 can be for providing power to both the grippers and measuring devices 607, 608, 609 as well as being data wires for communicating data to and from the grippers and measuring devices 607, 608, 609.

[0047] The computer system on the container handling vehicles 201, 301 commands the container handling platform 401 when to grip and when to release. In addition to this command, the computer system on the container handling vehicles 201, 301 tells the container handling platform 401 when to start taking measurements. The results of the measurements are transmitted to the computer system on the container handling vehicles. Wires from the container handling vehicles and the container handling platform 401 are intertwined, with wires for both transmitting information and distributing power to perform all tasks.

[0048] The container handling vehicles 201, 301 transmit information to a computer system that stores and analyzes information from all the container handling vehicles. The computer system makes decisions based on the analyzed information from the container handling vehicles. These decisions are transmitted to a central computer system, which again notifies the container handling vehicles. In an alternative solution, all information is transmitted to the central computer system and all analysis is performed there.

[0049] 9 shows a container handling vehicle 201, 301 with a cantilever support solution. The main body of the container handling vehicle 201, 301 is equipped with all the equipment required for the container handling vehicle 201, 301 to operate on the storage system. The container handling platform 401 of this solution is attached to the container handling vehicle 201, 301 by a set of straps, wires, ropes, or bands 402. These straps, wires, ropes, or bands 402 are attached to electric motors, which ensure the raising and lowering of the container handling platform 401. The container handling platform 401 is equipped with a set of grippers for gripping the container 106. There are also measuring devices 607, 608, 609 attached to the container handling platform 401. There are guide rods at each corner of the container handling platform 401. These guide rods are used to accurately position the lifting frame to lift the container 106. Above the container handling platform 401 there are two electrodes 601 for charging a rechargeable power supply within the container handling platform 401. In addition there is a transmitter for transmitting measurements from the container handling platform 401 to the container handling vehicle. This rechargeable power supply powers the measurement devices 607, 608, 609, the grippers, the transmitter device and optionally a UV light source for killing bacteria and mildew on the surface of the items.

[0050] In a preferred embodiment of the present invention, the container handling platform 401 comprises at least one sensor. The at least one sensor can be used to measure the temperature within the container 106, and the sensor can further be used to detect the presence of gases released during food spoilage. One such gas can be methane. Other gases released during food spoilage are carbon dioxide and hydrogen sulfide. In the case of carbon dioxide and hydrogen sulfide, they are heavier than air and therefore will collect at the bottom of the container 106. The sensor for sensing carbon dioxide and hydrogen sulfide can therefore be attached to a probe 1001 that is lowered into the container 106. Alternatively, there can be a hole in the side or bottom of the container 106 through which the sensor can be inserted. In yet another solution, for example, there can be a slit or tunnel along the edge of the container 106 so that the probe 1001 can be lowered into the bottom of the container 106 without the contents of the container 106 interfering with the probe 1001. Additionally, there can be a detector for detecting moisture. The presence of moisture is due to the fact that during food spoilage, the cells of the food break down and the fluid in the cells leaks out.

[0051] The additional measuring devices 607, 608, 609 can be cameras. The cameras can take pictures looking into the container 106 to detect whether any signs of food spoilage are present. The cameras can be regular cameras that take color images to detect whether marks are present on the food, such as brown spots on a banana or discoloration on the surface caused by mold. Alternatively, a camera can be used that takes images using ultraviolet light to detect mold. There is also the possibility of using UV light to kill bacteria on the food. Furthermore, there is also the possibility of using UV light to kill mold. Thus, the container handling platform 401 can have a UV light source that can be used both to detect food spoilage and to kill bacteria and mold on the food and in the container 106. The difference between using a UV light source to detect spoilage and to kill bacteria and mold is the wavelength of the light and the power of the light source. UVC light with a wavelength in the 280-100 nm range is used to kill bacteria and mildew. An area only needs to be exposed for a few seconds at a distance of a few centimeters to have the desired effect. An example would be about 10 seconds of exposure at a distance of about 25-30 cm. It should be understood that these are example distances and exposure times, and variations in time and distance will be apparent to those skilled in the art. However, the longer an area is exposed to UVC light, the more effective it will be, and the more types of bacteria and mildew will be killed. In one embodiment of the present invention, items within the container 106 can be exposed to UV light as long as the container 106 is transported by a container handling vehicle.

[0052] Decay can be detected using a black light, which uses UVA light with wavelengths between 315 and 400 nm. Bacteria and mildew will glow on the image when exposed to the black light.

[0053] FIG. 10 is a side view of a container handling vehicle 201, 301 with a container handling platform 401 equipped with an extendable probe 1001. At the lowest end of the extendable probe 1001 is a sensor. This sensor can be used to detect carbon dioxide and hydrogen sulfide. The probe 1001 is lowered into the container 106 when the container 106 is attached to the container handling platform 401. The sensor detects whether carbon dioxide or hydrogen sulfide is present in the container 106. The measurement data is sent to a computer system for analysis. The results of the analysis provide an indication of the condition of the items in the container 106. Depending on the quality of the items, the containers 106 are either transported for proper disposal, or they are transported back into the storage grid or to a port for further distribution.

[0054] 11A and 11B are top and side views of a container 106 with a tunnel-like portion within the container 106, through which a probe 1001 with a sensor at its lowest end can be lowered into the bottom of the container 106 without the contents of the container 106 interfering with the probe 1001. The tunnel-like portion can have a cylindrical form with openings at both ends. The lowest end of the cylinder 1101 is positioned a distance from the bottom of the container 106. The distance is at least sufficient to ensure that the sensor at the end of the probe 1001 can protrude downward further than the lowest end of the cylinder 1101.

[0055] Once the container handling platform 401 is connected to the slot 1102 of the container 106, the probe 1001 is lowered into the cylinder 1101 and the sensor takes measurements. Data from the measurements is transmitted from the container handling platform 401 to the container handling vehicle. In a preferred embodiment, the data from the measurements is transmitted from the container handling vehicle 201, 301 to a computer system. In an alternative embodiment of the invention, the computer system on the container handling vehicle 201, 301 performs an analysis of the measurement data and transmits the results of the analysis to a central computer system.

[0056] (List of reference numbers) Conventional technology (Figure 1-11): [Table 1]

Claims

1. A container handling vehicle (201) for handling storage containers for storing items in a storage system, the container handling vehicle comprising: a vehicle controller configured to communicate with a central computer system, the central computer system configured to control operation of the storage system; a container handling platform (401) comprising measurement equipment configured to perform measurements within the container and communication means configured to communicate measurement data to a computer system; A container handling vehicle equipped with:

2. The container handling vehicle (201) is for handling storage containers (106), and the storage containers (106) are capable of being stored in an automated storage system comprising a skeletal structure (100) forming a three-dimensional storage grid structure (104) for storing the storage containers (106), the three-dimensional storage grid structure (104) forming vertical storage columns (105), each of the vertical storage columns (105) having an access opening to the vertical storage column (105) between the rails of a rail system.

2. The container handling vehicle of claim 1, wherein the rail system (108) is disposed on the framework structure (100), the rail system (108) provides an available route for a container handling vehicle (201), and the container handling vehicle (201) handles the storage container (106), transfers the storage container (106) to the vertical storage column (105), and transfers the storage container (106) from the vertical storage column (105).

3. A container handling vehicle as described in claim 1 or claim 2, wherein the measuring equipment is configured to at least measure the temperature inside the container.

4. A container handling vehicle as described in claim 1 or claim 2, wherein the central computer system is configured to analyze the measurement data and compare them with one or more predetermined threshold levels representing acceptable temperature, moisture, gas, and appearance.

5. A container handling vehicle as described in claim 1 or claim 2, comprising a computer system configured to analyze the measurement data and compare them with one or more predetermined threshold levels representing acceptable temperature, moisture, gas, and appearance.

6. A container handling vehicle as described in claim 1 or claim 2, wherein the central computer system is configured to store the measurement data together with the ID of the container (106).

7. A container handling vehicle as described in claim 1 or claim 2, wherein the container handling platform (401) is connected to the body of the container handling vehicle (201, 301) using a band (402) that enables it to be lifted and lowered by an electric motor.

8. A container handling vehicle as described in claim 7, wherein the ropes, bands, or wires used to raise and lower the container handling platform (401) comprise electric wires (610), which transmit power and enable communication between the container handling platform (401) and the main body of the container handling vehicle (201, 301).

9. A container handling vehicle as described in any one of claims 1 to 8, wherein the container handling platform (401) is equipped with temperature measuring equipment, a moisture detector, a gas detector, and a camera.

10. A container handling vehicle as described in any of claims 1 to 9, wherein the container handling platform (401) is equipped with a UV light source for detecting bacteria and mildew on the surface of the items within the container.

11. A container handling vehicle as described in any of claims 1 to 10, wherein the container handling platform (401) is provided with at least one rechargeable power source for powering measuring equipment (607, 608, 609).

12. A container handling vehicle as described in any of claims 1 to 11, wherein the container handling platform (401) and the container handling vehicle (201, 301) are equipped with optical communication equipment for transmitting data between them.

13. A system for performing measurements within a storage container (106) for storing items, the system comprising a container handling vehicle as described in any of claims 1 to 12 and a central computer system configured to control the operation of the storage system, the vehicle controller being configured to communicate with the central computer system.

14. The system of claim 13, further comprising storage containers (106) and an automated storage system, the automated storage system comprising a skeletal structure (100) forming a three-dimensional storage grid structure (104) for storing the storage containers (106), the three-dimensional storage grid structure (104) forming vertical storage columns (105), each of the vertical storage columns (105) having a horizontal area defined by the size of an access opening to the vertical storage column (105) between rails of a rail system, the rail system (108) being disposed on top of the skeletal structure (100), the rail system (108) providing an available route for the container handling vehicle (201), which handles the storage containers (106), transfers the storage containers (106) to the vertical storage columns (105), and transfers the storage containers (106) from the vertical storage columns (105).

15. A method for performing measurements in a storage container (106) for storing items using a container handling vehicle for handling the storage container, wherein the container handling vehicle (201) comprises a vehicle controller (230) in communication with a central computer system that controls operation of an automated storage system; The method comprises: Handling a container (106) using a container handling platform (401) of a container handling vehicle (201, 301); performing measurements within said container using equipment mounted on said container handling platform (401); transmitting the measurement data to the central computer system; analyzing the transmitted measurement data; instructing said container handling vehicle (201, 301) to transport said container to a predetermined destination dependent on the results of said analysis; transporting said container to a next destination using said container handling vehicle (201, 301); A method comprising:

16. The method of claim 15, wherein the storage containers (106) are storeable within the automated storage system comprising a skeletal structure (100) forming a three-dimensional storage grid structure (104) for storing the storage containers (106), the three-dimensional storage grid structure (104) forming vertical storage columns (105), each of the vertical storage columns (105) having a horizontal area defined by the size of an access opening to the vertical storage column (105) between rails of a rail system, the rail system (108) being disposed above the skeletal structure (100), the rail system (108) providing an available route for a container handling vehicle (201) that handles the storage containers (106), transfers the storage containers (106) to the vertical storage columns (105), and transfers the storage containers (106) from the vertical storage columns (105).

17. A method according to claim 15 or claim 16, using a container handling vehicle according to claim 1 or a system according to claim 14.

18. The method described in claim 15, wherein the equipment on the container handling platform (401) performs measurements of temperature, moisture, and gas levels within the container, and a camera is used for visual inspection of the product.

19. A method as described in claim 15 or claim 16, wherein the central computer system is configured to store the measurement data together with the ID of the container on which the measurement is performed.

20. A method as described in claim 15 or claim 16, wherein the container handling platform (401) is raised and lowered by ropes, bands, or wires (402) that are raised and lowered by electric motors.

21. A method as described in claim 15 or claim 16, wherein at least one rechargeable power source within the container handling platform (401) powers measuring equipment (607, 608, 609) on the container handling platform (401).

22. A method as described in claim 15 or claim 16, wherein at least one rechargeable power source within the container handling platform (401) is charged when the container handling platform (401) is in its uppermost position.

23. A method as described in claim 15 or claim 16, wherein the container handling platform (401) and the container handling vehicle (201, 301) use light as a means for communication.

24. A method as described in claim 15 or claim 16, wherein the container handling platform (401) receives energy and communications via a cable (610) embedded within a rope, band, or wire (402) used to raise and lower the container handling platform (401).

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