Storage system and method for vertical farming

Abstract

The present invention relates to an automated storage and retrieval system (1) comprising a storage container (106), an illuminable storage grid (500), a support displacement system (700) and a container handling device (200, 300, 400). The system is configured to enable the container handling device (200, 300, 400) to move between a first position above or on the illuminable storage grid (500) and a second position outside the horizontal perimeter of the illuminable storage grid (500).

Description

[Technical field]

[0001] The present invention relates to an illuminable storage grid for storing and cultivating crops, an automated storage and retrieval system for retrieving crops from / into such a storage grid, and a method thereof. [Background technology]

[0002] FIG. 1 discloses a prior art automated storage and retrieval system 1 having a framework structure 100, and FIGS. 2, 3 and 4 disclose three different prior art container handling devices 200, 300, 400 suitable for operating on such a system 1.

[0003] The framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106, also known as bins, are stacked on top of each other to form stacks 107. The members 102 may typically be made of metal, for example extruded aluminum profiles.

[0004] The framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged over the top of the framework structure 100 on which a plurality of container handling devices 200, 300, 400 can operate for raising the bins 106 from the storage columns 105, lowering the bins 106 into the storage columns, and also for transporting the bins 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide the movement of the container handling devices 200, 300, 400 in a first direction X over the top of the framework structure 100, and a second set of parallel rails 111 arranged at right angles to the first set of rails 110 for guiding the movement of the container handling devices 200, 300, 400 in a second direction Y perpendicular to the first direction X. The containers 106 stored in the columns 105 are accessed by the container handling devices 200, 300, 400 through access openings 115 in the rail system 108. The container handling devices 200, 300, 400 are able to move laterally above the storage columns 105, i.e. in a plane parallel to the horizontal XY plane.

[0005] The uprights 102 of the framework structure 100 can be used to guide the bins during lifting and lowering of the bins into the column 105. The stack 107 of bins 106 is typically self-supporting.

[0006] Each prior art container handling device 200, 300, 400 comprises a handling device body / carriage 201, 301, 401 and first and second sets of wheels 202a, 202b, 302a, 302b, 402a, 402b that allow lateral movement of the container handling device 200, 300, 400 in the X and Y directions, respectively. In Figures 2, 3 and 4, two wheels of each set are fully visible. The first set of wheels 202a, 302a, 402a are arranged to engage two adjacent rails of the first set of rails 110, and the second set of wheels 202b, 302b, 402b are arranged to engage two adjacent rails of the second set of rails 111. At least one of the sets of wheels 202a, 202b, 302a, 302b, 402a, 402b can be raised and lowered so that the first set of wheels 202a, 302a, 402a and / or the second set of wheels 202b, 302b, 402b can engage with the respective set of rails 110, 111 at any one time.

[0007] Each prior art container handling device 200, 300, 400 also comprises a lifting device 303, 403 for the vertical transport of the bins 106, for example a lifting device for raising the bins 106 from the storage column 105 and lowering the bins 106 into the storage column. The lifting device 303, 403 comprises one or more gripping / engagement devices 404 adapted to engage with the bins 106, which can be lowered from the vehicle 200, 300, 400 such that the position of the gripping / engagement device 404 relative to the vehicle 200, 300, 400 can be adjusted in a third direction Z perpendicular to the first direction X and the second direction Y. The gripping device 404 of the container handling device / vehicle 400 in the form of multiple claws is shown in FIG. 4. The lifting device of the container handling device 200 is located in the vehicle body 201 and is therefore not shown.

[0008] Conventionally, and for purposes of this application, Z=1 identifies the top layer available for bins below the rails 110, 111, i.e., the layer immediately below the rail system 108, Z=2 identifies the second layer below the rail system 108, and Z=3 identifies the third layer. In the exemplary prior art disclosed in FIG. 1, Z=8 identifies the bottom layer of bins. Similarly, X=1···n and Y=1···n identify the position of each storage column 105 in the horizontal plane. Thus, by way of example, using the Cartesian coordinate system X, Y, Z shown in FIG. 1, the bin identified as 106′ in FIG. 1 can be said to occupy storage position X=17, Y=1, Z=6. The container handling device 200, 300, 400 can be said to move at layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. Thus, the bins shown in FIG. 1 extending above the rail system 108 are also said to be located at layer Z=0.

[0009] The storage volume of the framework structure 100 is often referred to as a grid, and the possible storage locations within this grid are referred to as storage cells. Each storage column may be identified by a location in the X and Y directions, while each storage cell may be identified by a container number in the X, Y and Z directions.

[0010] Each of the prior art container handling devices 200, 300, 400 includes a storage compartment or space for receiving and storing the bins 106 as they are transported across the rail system 108. The storage space may include a cavity disposed internally within the body 201, 301, 401, as present in Figures 2 and 4, and as also described in, for example, WO 2015 / 193278 A1 and WO 2019 / 206487 A1, the contents of which are incorporated herein by reference.

[0011] 3 shows an alternative configuration of a container handling device / vehicle 300 having a cantilever structure. Such a vehicle is described in detail, for example, in Norwegian Patent No. 317366, the contents of which are also incorporated herein by reference.

[0012] 2 may have a footprint covering an area having dimensions in the X and Y directions approximately equal to the lateral extent of the storage column 105, for example as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" may mean "horizontal."

[0013] Alternatively, the cavity container handling device / vehicle 400 may have a footprint larger than the lateral area defined by the storage column 105, as shown in Figures 1 and 4, for example, as disclosed in WO 2014 / 090684 A1 (Patent Document 3) or WO 2019 / 206487 A1.

[0014] Rail systems 108 typically include rails with grooves along which the vehicle wheels run. Alternatively, the rails may include upwardly projecting elements, and the vehicle wheels may include flanges to prevent derailment. The grooves and upwardly projecting elements are collectively known as tracks. Each rail may include a single track, or each rail 110, 111 may include two parallel tracks. In other rail systems 108, each rail in one direction (e.g., the X direction) may include one track, and each rail in the other orthogonal direction (e.g., the Y direction) may include two tracks. Each rail 110, 111 may also include two track members fixed to each other, each track member providing one of the pair of tracks provided by each rail.

[0015] WO 2018 / 146304 A1, the contents of which are incorporated herein by reference, shows an exemplary configuration of a rail system 108 comprising rails and parallel tracks in both the X and Y directions.

[0016] In the framework 100, the majority of the columns 105 are storage columns 105, i.e. columns 105 where the bins 106 are stored in stacks 107. However, some columns 105 may have other purposes. In FIG. 1, columns 119 and 120 are such dedicated columns used by the container handling devices 200, 300, 400 to drop off and / or pick up the bins 106, so that they can be transported to an access station (not shown) where they can be accessed from outside the framework 100 or transferred to the outside or inside of the framework 100. In the art, such positions are usually called "ports" and the columns where the ports are located may be called "port columns" 119, 120. The transport to the access station may be in any direction, i.e. horizontal, inclined and / or vertical. For example, bins 106 may be placed in random or dedicated columns 105 within the framework structure 100 and then picked up by any container handling device and transported to port columns 119, 120 for further transport to an access station. Transport from the port to the access station may require movement along a variety of different orientations by means such as delivery vehicles, dollies or other transport lines. Note that the term "inclined" refers to transport of bins 106 having a general transport direction somewhere between horizontal and vertical.

[0017] In FIG. 1 , the first port column 119 may be, for example, a dedicated drop-off port column at which the container handling devices 200, 300, 400 can drop off bins 106 to be transported to an access or transfer station, and the second port column 120 may be a dedicated pick-up port column at which the container handling devices 200, 300, 400 can pick up bins 106 transported from an access or transfer station.

[0018] An access station may typically be a picking or stocking station where product articles are removed from or placed into the bins 106. At a picking or stocking station, the bins 106 are not typically removed from the automated storage and retrieval system 1, but are returned to the framework structure 100 again once they have been accessed. Ports may also be used to transfer bins to other storage facilities (e.g., to other framework structures, or to other automated storage and retrieval systems), to transport vehicles (e.g., to trains or trucks), or to production facilities.

[0019] A conveyor system comprising conveyors is typically used to transport the bins between the port columns 119, 120 and the access stations.

[0020] If the port columns 119, 120 and the access stations are located at different levels, the conveyor system may include a lifting device having a vertical component for vertically transporting the bins 106 between the port columns 119, 120 and the access stations.

[0021] The conveyor system may be configured to transport the bins 106 between different framework structures, for example as described in WO 2014 / 075937 A1, the contents of which are incorporated herein by reference.

[0022] 1 is to be accessed, one of the container handling devices 200, 300, 400 is commanded to retrieve the target bin 106 from its position and transport it to the drop-off port column 119. This action involves moving the container handling device 200, 300, 400 to a position above the storage column 105 where the target bin 106 is located, using the lifting device of the container handling device 200, 300, 400 to retrieve the bin 106 from the storage column 105 and transporting the bin 106 to the drop-off port column 119. If the target bin 106 is located deep within the stack 107, i.e., one or more other bins 106 are located above the target bin 106, the action also involves temporarily moving the bins located above before lifting the target bin 106 from the storage column 105. This step, sometimes referred to in the art as "digging," can be performed using the same container handling device that is later used to transport the target bin to the drop-off port column 119, or using one or more other cooperating container handling devices. Alternatively, or in addition, the automated storage and retrieval system 1 can have a container handling device 200, 300, 400 dedicated to the task of temporarily removing the bin 106 from the storage column 105. Once the target bin 106 is removed from the storage column 105, the temporarily removed bin 106 can be relocated to the original storage column 105. However, the removed bin 106 can alternatively be relocated to another storage column 105.

[0023] If a bin 106 is to be stored in one of the columns 105, one of the container handling devices 200, 300, 400 is commanded to pick up the bin 106 from the pickup port column 120 and transport it to a position above the storage column 105 where it is to be stored. After any bin 106 positioned at or above the target position in the stack 107 is removed, the container handling device 200, 300, 400 positions the bin 106 in the desired position. The removed bin 106 can then be placed back into the storage column 105 or transferred to another storage column 105.

[0024] To monitor and control the automated storage and retrieval system 1, for example, the position of each bin 106 within the framework structure 100, the contents of each bin 106, and the movements of the container handling devices 200, 300, 400 so that the container handling devices 200, 300, 400 can deliver the desired bins 106 to the desired locations at the desired times without colliding with each other, the automated storage and retrieval system 1 includes a control system 700 that is typically computerized and typically includes a database for tracking the bins 106.

[0025] Figure 5 shows the height H f , width W f and length L f 1 shows an example of crop 80 stored in a bin 106 having a

[0026] Vertical farming with cubic storage systems is known. An example of such a storage system is described in EP 3326552 A1, where bins with plants / crops are arranged in stacks and individual bins can be removed or inserted by a baggage handling device operating on rails on top of the storage grid. The prior art system also includes a lighting system, which comprises a controller and a lighting device arranged above each bin. The controller can control the spectrum of the emitted light. A similar prior art system with stacked bins is disclosed in EP 3282830 A1.

[0027] With regard to vertical farming, a storage system with a stack 107 of bins 106 is technically challenging since optimal cultivation of the plants / crops 80 in the bins 106 requires not only daily light and dark cycles but also a regular supply of water. Furthermore, due to the compactness of the stack 107 in prior art storage systems such as that shown in Figure 1, maintenance of equipment related to lighting and / or irrigation may prove difficult.

[0028] For the purposes of this discussion, vertical farming is defined as plants / crops growing in beds or areas stacked at a height, thereby conserving space for growth.

[0029] It is an object of the present invention to provide an automated storage and retrieval system using the concept of vertical farming that is able to provide illumination to the contents of storage containers.

[0030] It is therefore another object of the present invention to provide an automatic storage and retrieval system that combines traditional storage of storage containers with storage that allows illumination of plants / crops within the storage containers, thereby allowing simulation of daylight variations of the plants / crops in their natural habitat.

[0031] It is yet another object of the present invention to provide an automated storage and retrieval system that allows for storage of storage containers in a compact storage configuration as aforesaid while also allowing for cultivation of plants / crops within the storage containers.

[0032] It is yet another object of the present invention to provide an automated storage and retrieval system that allows easy access and handling of plants / crops in individual storage containers.

[0033] It is yet another object of the present invention to provide an automated storage and retrieval system which allows for maintenance of associated equipment without the need to shut down operations.

[0034] It is yet another object of the present invention to provide an automated storage and recovery system that allows adapted cultivation of different types of plants / crops.

[0035] Yet another object of the present invention is to provide an automated storage and retrieval system that allows optimized conditions for illumination of plants / crops in the storage containers.

[0036] Hereinafter, "plants" or "crops" should be interpreted broadly to include any hydroponic system of herbs, medicinal plants, ornamental and general crops / plants, algae, etc. Storage of hydroponic systems in storage containers may also be envisaged. [Prior art documents] [Patent documents]

[0037] [Patent Document 1] International Publication No. 2015 / 193278 [Patent Document 2] International Publication No. 2019 / 206487 [Patent Document 3] International Publication No. 2014 / 090684 Summary of the Invention [Means for solving the problem]

[0038] The invention is set out in the independent claims, while the dependent claims set out particular optional features of the invention.

[0039] In a first aspect, the invention relates to an automated storage and retrieval system comprising a storage container / article holder, an illuminable storage grid, a support displacement system and a container handling device.

[0040] The illuminable storage grid comprises horizontally displaceable container supports, each container support being arranged with a vertical offset ΔdV with respect to an adjacent container support and configured to support a plurality of storage containers, at least one of which is an illuminable container support configured to illuminate an area below and / or above, the illuminable container support having at least one opening configured to allow passage of at least one of the storage containers (i.e. having the size of at least the largest horizontal cross section of the storage container). Each horizontally displaceable container support may be further divided into two or more horizontally displaceable container support subsets. The vertical offset is at least the height of the storage container to be stored. Furthermore, the container supports are preferably arranged parallel to one another. In a preferred configuration, at least 50%, more preferably at least 75%, e.g. all container supports except the lowest container support, are illuminable container supports.

[0041] The support displacement system is configured to horizontally displace one or more of the container supports and / or the subset, for example configured to displace all container supports except the lowermost container support and / or all container supports except the uppermost container support and / or all of the illuminatable container supports.

[0042] The container handling device is configured to move, preferably only horizontally, between a first position above or on the illuminable storage grid and a second position outside the horizontal perimeter of the illuminable storage grid. The handling device comprises a lifting device configured to releasably grab and lift at least one of the storage containers from one of the container supports. The handling device may be, for example, a gantry crane or a ceiling-suspended wheeled vehicle or crane. During cultivation of the plants / crops, the first and second positions may simulate daytime and nighttime storage, respectively.

[0043] The system may also comprise a control system configured to monitor and control the movement of at least the container handling devices, preferably other systems such as a support displacement system and / or a lighting system.

[0044] It should be noted that an article holder should hereinafter be interpreted as any supporting object capable of supporting or holding plants / crops, including rectangular shaped containers, trays, containers with missing sides, etc. All types of article holders will hereinafter be referred to as storage containers.

[0045] Containers having an open structure (e.g., where some or all of the sides are absent and / or have holes and / or are in the form of a mesh) also allow for illumination of the upper area of ​​the container, even in configurations where the illumination source is positioned below the container.

[0046] The storage system offers a solution for vertical farming, with the possibility of selective lighting and allowing easy and quick access to individual crops to be transported in and out of the storage area.

[0047] In an exemplary configuration, the illuminable storage grid includes a rail system comprising a first set of parallel rails extending in a first direction X and a second set of parallel rails extending in a second direction Y perpendicular to the first direction X. The first and second sets of rails form a grid pattern comprising adjacent grid cells, each grid cell comprising a grid opening defined by a pair of adjacent rails of the first set of rails and a pair of adjacent rails of the second set of rails. The rail system is aligned along a first vertical offset V that is at least a maximum height of the storage containers to be stored. r1 and disposed above and adjacent to the uppermost horizontally displaceable container support. Further, the container handling device may be configured to move horizontally in a first direction X and a second direction Y on the rail system and lift the storage container through the grid opening by use of a lifting device. A grid cell is defined herein by a first set of pairs of rails and a perpendicular second set of pairs of rails, thereby defining a grid opening. Each rail may include a single track or dual tracks. The size of the rail system may be greater than or equal to the container support along at least one major horizontal direction (X or Y).

[0048] It should be noted that the grid-based rail system described above is similar to the conventional storage grid rail system described in connection with FIG.

[0049] However, in contrast to prior art rail systems, the rail system of this particular configuration may further include a lighting system that allows illumination of the area below, i.e., within the storage container supported on the uppermost container support or on a subset of the container supports.

[0050] In another exemplary configuration, each container support is individually displaceable in the first X-direction and / or the second Y-direction a distance corresponding to a distance of n grid cells, where n is an integer greater than or equal to 1.

[0051] Further, the openings of each container support may be distributed with an offset corresponding to 2n+1 grid cells in the second direction Y, where n is an integer greater than or equal to 1.

[0052] Note that the container supports are not only displaceable a distance of n grid cells, but are also configured to move a set distance / spacing equal to this grid cell distance.

[0053] In yet another exemplary configuration, the system includes moving, at least occasionally during operation of the system, the storage container between the illuminable storage grid and a further storage area provided below the second location. Thus, the system may comprise one or more stacks of storage containers suitable for growing crops, the stacks being located outside the horizontal perimeter of the illuminable storage grid and the second location being above the stacks.

[0054] In this particular configuration where the storage containers are stored in a stack, the shape of the storage containers should preferably be rectangular.

[0055] The stack may be made horizontally stable by providing a storage column of upright members to support the stack.

[0056] Furthermore, the height of the stack is preferably less than the height of the rail system, which preferably extends above the stack.

[0057] In yet another exemplary configuration, the at least one illuminable container support may comprise a container support frame and a plurality of lighting units supported within the container support frame, with the storage container being supported above each of the plurality of lighting units, e.g., on a support structure extending the horizontal space defined by the container support frame. Such a support structure may have an illumination-transmitting structure, e.g., an open structure having a plurality of openings and / or transparent material. Each lighting unit may comprise an illumination source configured to illuminate the adjacent surroundings, in particular the area below.

[0058] Furthermore, each lighting unit may be supported by the container support frame, e.g. via said support structure, so that it can be removed by a container handling device. The lighting units may comprise grippable structures, such as openings or recesses arranged on their edges to allow a lifting device of the container handling device to releasably couple with the lighting units. The cross-sectional area of ​​the lighting units is equal to or less than the cross-sectional area of ​​the storage container. The horizontal shape of the lighting units is preferably equal to or similar to the horizontal shape of the storage container.

[0059] Additionally, each lighting unit may comprise a lighting unit frame having a downward facing underside on which the illumination source is located, thereby enabling downlighting to storage containers located below.

[0060] Furthermore, the lighting unit may comprise a power connector configured to receive power from the lighting power source and to provide the received power to the lighting source. The power connector is preferably disposed on a lower surface of the lighting frame and may comprise one or more spring-loaded connectors.

[0061] In yet another exemplary configuration, each horizontally displaceable container support may have a primary direction in a first direction X and an orthogonal second direction Y, and is configured as a matrix of container spaces with a plurality of container spaces disposed in the first direction X and a plurality of container spaces disposed in the second direction Y, and a lighting unit is positioned within each container space to support a storage container.

[0062] In yet other exemplary configurations, each horizontally displaceable container support may have a plurality of openings configured to permit passage of at least one of the storage containers. Thus, each opening may have at least the maximum horizontal cross-section of the container to be stored. The plurality of openings may be separated by equal distances in one or both major directions, for example, by one, two, or three container spaces.

[0063] In yet other exemplary configurations, the support displacement system may include a displacement mechanism enabling displacement of one or more of the container supports in at least one primary direction Y, and a remote controlled motor operably coupled to the displacement mechanism. Alternatively, if each horizontally displaceable container support is further divided into two or more horizontally displaceable container support subsets, the displacement mechanism may be configured to displace each subset. The displacement mechanism may be at least one of a linear actuator, a gear wheel drive, a chain drive, and a belt drive.

[0064] In yet another exemplary configuration, the illuminable storage grid may include a ventilation system for directing the flow of air or any other cooling gas between the multiple container supports.

[0065] In yet another exemplary configuration, the ventilation system includes a vertical offset ΔdV,V between the container supports. r1 Preferably, the storage grid further comprises a plurality of ventilation fans disposed at least partially within the storage grid. It is also preferred that the plurality of ventilation fans are disposed on one or more vertical sides of the illuminable storage grid.

[0066] In yet other exemplary configurations, each storage container can include vertical sidewalls displaying one or more translucent areas, such as openings or translucent material, thereby allowing light to enter from the side to aid in the cultivation of crops / plants.

[0067] The invention also relates to a method for storing and retrieving storage containers with crops / plants for cultivation from an illuminable storage grid of an automated storage and retrieval system as previously described.

[0068] At least one illuminable container support of the illuminable storage grid preferably comprises a plurality of lighting units capable of supporting storage containers and a container support frame framing the lighting units. Furthermore, each lighting unit may comprise an illumination source configured to illuminate a volume adjacent to (and preferably directly below) the lighting unit. The lighting units are preferably removably positioned within the frame on a transparent support structure.

[0069] The method includes the following steps. A. Moving a container handling device to a first position, in which a lifting device of the container handling device is positioned vertically aligned above a target storage container supported on an uppermost container support, or, if the target storage container is located on one of the container supports below the uppermost container support, is positioned vertically aligned above an opening of the uppermost container support that is positioned horizontally closest to the target storage container. B. If the target storage container is not positioned vertically aligned below the opening of the uppermost container support and below the opening of any container support disposed therebetween, displacing the container supports by use of a support displacement system such that the target storage container is vertically aligned below the opening of the uppermost container support and below the opening of any container support (if any) disposed between the container support supporting the target storage container and the uppermost container support. Thus, the displacement can be any combination of container supports so long as the aforesaid result is achieved. C. Lowering, grasping and lifting the target storage container by use of a lifting device. D. Moving the container handling device with the target storage container to a second position.

[0070] In an exemplary method, an illuminable storage grid of an automated storage and retrieval system includes a rail system including a first set of parallel rails extending in a first direction X and a second set of parallel rails extending in a second direction Y perpendicular to the first direction X, the first and second sets of rails forming a grid pattern including adjacent grid cells, each grid cell including a grid opening defined by a pair of adjacent rails of the first set of rails and a pair of adjacent rails of the second set of rails.

[0071] The rail system has a first vertical offset V that is at least the maximum height of the storage containers (106) to be stored. r1 The container handling device is disposed above and adjacent to the uppermost horizontally displaceable container support and is configured to move horizontally in a first direction X and a second direction Y on the rail system and to lift the storage container through the grid openings by use of a lifting device.

[0072] Each container support may be individually displaceable in a first X-direction and / or a second Y-direction a distance corresponding to a distance of n grid cells, where n is an integer greater than or equal to 1. The size of the rail system may be greater than or equal to the container supports along at least one main horizontal direction (X or Y). The rail system is similar to the rail system described in relation to FIG.

[0073] The automated storage and retrieval system of the exemplary method also includes a stack of storage containers located outside the horizontal perimeter of the illuminable storage grid, the second location being above the stack. Further, the height of the stack is less than the height of the rail system, the rail system extending above the stack, or in the case of multiple stacks, above at least a portion, preferably all, of the stack. The system may include upright members, such that the stack of storage containers is horizontally stabilized.

[0074] Further, the openings of each container support may be distributed with an offset corresponding to 2n+1 grid cells in the second direction Y, where n is an integer greater than or equal to 1.

[0075] An exemplary method is - moving the container handling device with the target storage container along the rail system to a second position directly above the stack; - storing the target storage container on the stack; Includes.

[0076] In another exemplary method, the method comprises: - moving a target storage container between said first position above or on an illuminable storage grid, where any crops stored in the target storage container are illuminated for a predetermined period of time by at least one illuminable container support, and said second position, preferably located above a stack of storage containers; - moving the target storage container from either the first location or the second location to an access station for further transport outside of the automated storage and retrieval system; Includes.

[0077] Step B of yet another exemplary method involves equal, preferably simultaneous, displacement of at least one container support disposed above a container support supporting the target storage container.

[0078] Retrieving the storage container from the second location and storing the target storage container at the first location may proceed in a manner equivalent or similar to that described above.

[0079] In a particular exemplary method of retrieving storage containers stored in a stack below the second location, a container handling device is operated on the rail system and the method may proceed as follows: A'. Moving the container handling device to a second position, where a lifting device of the container handling device is positioned in vertical alignment above a target storage container on the target stack, and if the target storage container is located deeper within the target stack, i.e., one or more other storage containers are positioned above the target storage container, using the lifting device to temporarily move the upper positioned storage container before lifting the target storage container from the target stack. B'. Lift the target storage container from the target stack. C'. The container handling device, together with the target storage container, is moved to a first position, in which the lifting device of the container handling device is positioned vertically aligned above the empty storage space on the uppermost container support, or, if the empty storage space is located on one of the container supports below the uppermost container support, is positioned vertically aligned above the opening of the uppermost container support that is positioned horizontally closest to the empty storage space. D'. If the empty storage space is not positioned vertically aligned below the opening of the uppermost container support and below the opening of any container support disposed therebetween, displacing the container supports by use of a support displacement system such that the empty storage space is vertically aligned below the opening of the uppermost container support and below the opening of any container support (if any) disposed between the container support with the empty storage space and the uppermost container support. Thus, the displacement can be any combination of container supports so long as the above result is achieved. E'. Lower the target storage container into the empty storage space and release grip on the target storage container.

[0080] The invention also relates to a further method for storing and retrieving storage containers with crops for cultivation from the aforementioned automated storage and retrieval system which may be implemented in combination with the aforementioned method.

[0081] In a further system of the method, the at least one illuminable container support comprises a container support frame and a plurality of lighting units on which the storage containers can be supported.

[0082] Each lighting unit may be removably positioned on a support structure within the container support frame, or may be removably coupled to the support frame itself, and comprises an illumination source configured to illuminate a volume below the lighting unit.

[0083] A further method includes the following steps. A. Moving a container handling device to a first position, in which a lifting device of the container handling device is positioned vertically aligned above the target lighting unit of the uppermost container support, or, if the target lighting unit is located on one of the container supports below the uppermost container support, is positioned vertically aligned above the opening of the uppermost container support that is positioned horizontally closest to the target lighting unit. B. If the targeted illumination unit is not positioned vertically aligned below the opening of the uppermost container support and below the opening of any container support disposed therebetween, displacing the container supports by use of a support displacement system such that the targeted illumination unit is vertically aligned below the opening of the uppermost container support and below the opening of any container support disposed between the container support with the targeted illumination unit and the uppermost container support. Thus, the displacement can be any combination of container supports so long as the above result is achieved. C. Lowering, grasping and lifting the target illumination unit by use of a lifting device. D. Moving the container handling device with the targeted illumination unit to a second position.

[0084] Any other of the above features of the above systems and methods are applicable to the further methods.

[0085] By combining the storage grid of the prior art, which allows storage by stacking storage containers, with the storage grid of the present invention described above, a storage system is achieved in which a vehicle can move storage containers with cultivation systems between a night storage grid without lighting and a day storage grid with lighting.

[0086] For example, storage containers with plants of a particular type may be removed from the night storage grid to the day storage grid to provide light / illumination for the plants for a predetermined period of time before being returned to the night storage grid again.

[0087] Thus, two different storage configurations can be used to simulate daytime and nighttime conditions.

[0088] Furthermore, when the storage containers in the night storage grid are stacked, two storage options are available, namely: - the use of a storage arrangement comprising a light-tight or nearly light-tight stack to achieve a storage with a high degree of compactness, and -The use of more open structured storage configurations that allow access to individual storage containers without the need for "digging" and allow lighting of crops within the storage containers Thus, an automated storage and retrieval system configuration is achieved that is optimized to take advantage of the

[0089] By combining a very compact stacked configuration with an open structured configuration, the overall storage volume is reduced compared to storage solutions for growing crops / plants in vertical farming using only an open structured configuration.

[0090] The system also enables easier vertical farming: for example, each plant / crop can be made available to a human or robotic operator by displacing the associated container support a sufficient distance to allow direct access by the operator within range of a robotic arm that can perform various agricultural tasks, such as watering and / or mowing.

[0091] Alternatively or additionally, the container handling device may transport storage containers, for example, by a robotic operator in or above an illuminatable storage grid at a first location to an operator for agricultural tasks such as watering and / or mowing, or to a robotic or human operator at, above or below the second location. [Brief description of the drawings]

[0092] The following drawings illustrate embodiments of the present invention and are included to facilitate the understanding of the present invention.

[0093] [Figure 1] FIG. 1 is a perspective view of a prior art automated storage and retrieval system.

[0094] [Diagram 2] FIG. 2 is a perspective view of a prior art remotely operated vehicle having a centrally located cavity for carrying a container therein.

[0095] [Diagram 3] FIG. 3 is a perspective view of a prior art remotely operated vehicle having a cantilever for carrying containers downward.

[0096] [Figure 4] FIG. 4 is a perspective view of a prior art remotely operated vehicle having an internally disposed cavity for carrying a container therein, the cavity being offset from center relative to the X direction.

[0097] [Diagram 5] FIG. 5 is a perspective view of a container suitable for storing and growing crops.

[0098] [Figure 6-1] Figure 6 is a side view of an illuminatable storage grid forming part of an automated storage and retrieval system according to one embodiment of the present invention, where Figure 6A shows the system with a target container in an initial position, an empty storage cell in an initial position, and a remote operated vehicle carrying a container to be placed in the empty storage cell, Figure 6B shows the system with an empty storage cell in a position ready to receive a container from the remote operated vehicle, Figure 6C shows the system after a container has previously been placed in the empty storage cell and the lifting device of the remote operated vehicle has been retracted above the rail system, Figure 6D shows the system with the remote operated vehicle ready to lift the target container, and Figure 6E shows the system with the target container in a position ready to be lifted. [Figure 6-2]Figure 6 is a side view of an illuminatable storage grid forming part of an automated storage and retrieval system according to one embodiment of the present invention, where Figure 6A shows the system with a target container in an initial position, an empty storage cell in an initial position, and a remote operated vehicle carrying a container to be placed in the empty storage cell, Figure 6B shows the system with an empty storage cell in a position ready to receive a container from the remote operated vehicle, Figure 6C shows the system after a container has previously been placed in the empty storage cell and the lifting device of the remote operated vehicle has been retracted above the rail system, Figure 6D shows the system with the remote operated vehicle ready to lift the target container, and Figure 6E shows the system with the target container in a position ready to be lifted.

[0099] [Figure 7] FIG. 7 is a top view of the illuminatable storage grid of FIG.

[0100] [Figure 8] FIG. 8 is a perspective view of a possible configuration of a container support subset having multiple openings / apertures.

[0101] [Figure 9] FIG. 9 is a perspective view of a lighting unit supporting a container on one side and illuminating the container's inner volume on the opposite side.

[0102] [Figure 10] FIG. 10 is a perspective view of a linear activator for displacing a container support or a subset of container supports.

[0103] [Figure 11] FIG. 11 is a top view of an illuminatable storage grid below a rail system, with all container supports of the storage grid aligned with one another with a vertical offset and aligned with the grid cells of the rail system.

[0104] [Figure 12]FIG. 12 is a side view of the illuminatable storage grid of FIG.

[0105] [Figure 13-1] FIG. 13 is a perspective view of a single illuminatable container support configured as a matrix of container spaces surrounding both sides of a row of openings arranged along the X direction, with FIGS. 13A, 13B and 13C respectively showing a container support without a container and without a lighting unit, a container support with a lighting unit and without a container, and a container support with a lighting unit and also with a container. [Figure 13-2] FIG. 13 is a perspective view of a single illuminatable container support configured as a matrix of container spaces surrounding both sides of a row of openings arranged along the X direction, with FIGS. 13A, 13B and 13C respectively showing a container support without a container and without a lighting unit, a container support with a lighting unit and without a container, and a container support with a lighting unit and also with a container.

[0106] [Figure 14] Figure 14 is a perspective view of a portion of an exemplary illuminatable storage grid, where Figure 14A shows a belt-driven support displacement device that enables displacement of the illuminatable container supports in Figure 13, and Figure 14B shows details of the container support framework rails along which the illuminatable container supports can be guided.

[0107] [Figure 15] FIG. 15 is a perspective view of a portion of an exemplary illuminable storage grid in which the container supports in all container support frameworks above the container supports of the lowest container support framework have been displaced to provide vehicle access to the lowest container.

[0108] [Figure 16]FIG. 16 is a perspective view of an automated storage and retrieval system according to one embodiment of the present invention showing an illuminatable storage configuration with displaceable container supports, a storage configuration for stacking containers on top of each other, and a common rail system that allows each remote operated vehicle access to containers stored in both storage configurations.

[0109] [Figure 17] FIG. 17 is a top view of a portion of the illuminable storage grid of FIG. 16 showing the plants / crops within each container.

[0110] [Figure 18] FIG. 18 is a perspective view of a support framework with removable lighting units and container supports having bins in which the growing systems are stored. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0111] Different alternatives are explained in more detail below with reference to the attached drawings. However, it should be understood that the drawings are not intended to limit the scope of the invention to the subject matter shown in the drawings. Moreover, even if some of the features are described only in relation to a system, it is clear that they are also valid for the method and vice versa.

[0112] The present invention relates to a system having a storage grid 500 that is used for storing and cultivating biological species such as plants / crops 80 in bins 106 .

[0113] Figure 5 shows the height H f , width W f and length L f 1 shows an example of a plant 80 stored in a bin 106 having an opening at the top and two opposing vertical sides to ensure sufficient light to allow cultivation of the plant 80. In this embodiment, the bin 106 is designed with openings at the top and two opposing vertical sides.

[0114] With particular reference to the embodiment shown in Figures 6 and 7, the storage and retrieval system 1 of the present invention having an illuminable storage grid 500 includes a container handling device in the form of a remotely operated vehicle 300 operating on a rail system 508. The rail system 508 includes a first set of parallel rails 510 arranged to guide movement of the remotely operated vehicle 300 in a first direction X throughout the storage grid 500, and a second set of parallel rails 511 arranged perpendicular to the first set of rails 510 to guide movement of the remotely operated vehicle 300 in a second direction Y perpendicular to the first direction X. Bins 106 stored within the storage grid 500 are accessed by the remotely operated vehicle 300 through grid openings 515 in the rail system 508, each grid opening 515 being surrounded by a grid cell 522. The rail system 508 is arranged in a horizontal plane P rs It extends inwards.

[0115] As best shown in FIG. 6B, the bins 106 are stored on a plurality of horizontal container support frameworks 501a-501h distributed in the Z direction below the rail system 508. The horizontal container support frameworks 501a-501h are arranged in a V r1 (i.e., the offset between the lower edge of the rail system 508 and the lower edge of the uppermost skeleton 501a immediately below the rail system 508), and a vertical offset indicated by ΔdV (i.e., the average offset between the lower edges of the deeper skeletons 501b-501h).

[0116] Vertical offset V r1and each ΔdV may be selected to provide a height equal to or greater than the maximum height of one bin 106 or a stack of several bins 106 in a particular framework 501. As an example, the uppermost framework 501a may be adapted to store a stack of bins 106, and the lower frameworks 501b-501k may be adapted to store single (non-stackable) bins 106. As a further example, some or all frameworks 501 of a grid 500 may be adapted to store a stack of several bins 106. Different frameworks 501 of the same grid 500 may also be configured to store unequal numbers of stacks of bins 106. The vertical space (i.e., available height) required for one or several frameworks 501 of a grid 500 to be adapted to store one stack of several bins 106 can be gained by reducing the total number of frameworks 501 compared to a configuration of the grid 500 in which all frameworks 501 are adapted to store a single (non-stacked) bin 106.

[0117] For growing crops / plants 80, the bottom surface (i.e., on the framework 501) of such stacked bins 106 should include openings (e.g., mesh) to allow downlighting above the stack to reach the lowest crops / plants 80. In a particular scenario, the crops / plants 80 that require the most light are placed in the uppermost storage bin 106 of the stack, while the crops / plants 80 that require the least light are placed in the lowermost storage bin 106 of the stack.

[0118] 6A-6E show vertical cross-sections of the storage and retrieval system 1 with equal spacing ΔdV between the different frameworks 501, where each bin 106 is supported on a lighting unit 550 configured to provide illumination to the crops / plants 80 in the bin 106 located immediately below.

[0119] In FIG. 6A, the target bin 106′ and the empty storage space 106″ are located in different frameworks 501e, 501g. The remotely operated vehicle 300 approaching to pick up the target bin 106′ typically brings other bins 106 to be stored in the illuminatable storage grid 500. Before the remotely operated vehicle 300 can pick up the target bin 106′, the bin 106 it holds is advantageously placed in the empty storage space 106″ in the storage grid 500. As will be explained further below, access to the different frameworks 501a-501h is achieved by openings 503 present in container supports 502 that are horizontally displaceable within part or all of the framework 501.

[0120] In FIG. 6B, the container support 502 in the second, lowermost framework 501g has been moved a distance of two grid cells 502, so that the empty storage space 106″ is in a position ready to receive the bin 106 from the remotely operated vehicle 300. The empty storage space 106″ (where the bin 106 is to be placed) and the target bin 106′ are horizontally closest to the same target opening 503b′, if preferred. In this way, the vehicle 300 does not have to move between the two operations during the same exchange process. Even more preferably, the empty storage space 106″ and the target bin 106′ can be located on the same container support 502 (not shown in FIG. 6). In this way, the required movement of the lifting device 303 of the vehicle during the exchange process is kept to a minimum. The movement of the container support 502 can be performed by a support displacement device 700, such as a linear actuator (FIG. 9) and / or a belt drive system (FIG. 13).

[0121] FIG. 6C shows the storage system 1 with the bin 106 previously held by the vehicle 300 placed in the previously empty storage space 106″. Furthermore, the lifting device 303 has been vertically retracted above the container support framework 501e of the target bin 106′. As a result, the lifting device 303 has been retracted sufficiently so that the displacement of the container support 502 with the target bin 106′ can proceed until the target bin 106′ is placed below the target opening 503b′ (FIG. 6D). By retracting the lifting device 303 only just above the position of the container support framework 501e of the target bin 106′, the exchange process becomes more time-efficient.

[0122] FIG. 6D shows the storage system 1 ready to lift the target bin 106' after the vehicle 300 has placed the previously held bin 106 in the empty storage space 106'', i.e., its lifting device 303 is positioned above the framework 501e supporting the target bin 106'. The container support 502 of the empty storage space 106'' previously occupied by the bin 106 has been displaced back to its initial position. Displacement of the container support 502 of the target bin 106' can now begin to align the target bin 106' below the target opening 503b'.

[0123] FIG. 6E shows the storage system 1 with the target bin 106' positioned below the target opening 503b' (ie, in a position ready to be lifted by the lifting device 303 of the vehicle 300).

[0124] After the target bin 106' has been lifted above the container support framework 501e, the container support 502 can be displaced back to its initial position.

[0125] FIG. 6 shows an embodiment in which each bin 106 on each container support 502 is supported on a lighting unit 550 that enables illumination of the bin 106 located immediately below (i.e., located in vertical alignment on an adjacent container support 502) (except for the container support 502 of the lowermost container support framework 501h).

[0126] 7, each container support 502 of each framework 501a-501h may comprise several elongated container support subsets 502a-502d having their longitudinal direction in the Y direction and arranged parallel to one another in the X direction. The different container supports 502a-502d may be displaced in the Y direction a distance corresponding to an integer number of grid cells by using a displacement device 700.

[0127] The container support subsets 502a-502d within each framework 501a-501k display openings 503a-503c distributed along the Y direction, each opening 503a-503c having a cross-sectional area that is at least the cross-sectional area of ​​the bin 106, i.e. at least Wf x Lf (see Figure 5), to allow the passage of the bin 106.

[0128] FIG. 8 illustrates an example of a single container support subset 502b having an elongated shape, with the container support subset 502b having a length L f 102a and 102b, and has a width in the X direction that allows for the placement of a single bin 106. In this particular configuration, the Y ribs 506 extend along the entire length of the container support subset 502b, and the X ribs 505 extend along the width of the subset 502b.

[0129] Each of the lighting units 550 is removably arranged side by side between these openings 503a to 503c, and is aligned along the horizontal plane P by X-ribs 505 and Y-ribs 506 that edge the lighting units 550 along the X and Y directions. rs Such X and Y ribs 505, 506 may also preferably protrude upwardly from each of the lighting units 550 to prevent the bins 106 from moving horizontally relative to the container support 502.

[0130] Additionally, each container support 502 may include support structures 512 (FIGS. 13A and 18) disposed between the X ribs 505 and the Y ribs 506 for supporting each lighting unit 550.

[0131] 9 shows an exemplary configuration of a lighting unit 550 comprising a lighting frame 553 / LED frame 553, a plurality of graspable structures 555 in the form of openings allowing releasable grasping by corresponding claws 304, 404 forming part of the lifting device 303, 403, corner recesses 556 for receiving guide pins 363 forming part of the lifting device 303, 403, a lighting source 552 in the form of a LED bar, and a power connector 554 (see FIG. 18) for receiving external power from a lighting power source 551 in the form of one or more power bars extending along each row of the lighting units 550 in the container support 502. The power connector 554 may be a spring-loaded power connector to ensure sufficient contact pressure with the respective power bar 551. The power bar 551 may be a metal sheet of a few millimeters width, such as a 3 mm Al sheet. To ensure that the illumination sources 502 are positioned offset above their respective power bars 551, the side of the illumination frame 553 along the X direction has a U-shape with the lower surface in contact with the support structure 512 of the container support 502.

[0132] The illumination sources 552 may be incandescent bulbs, LEDs, fluorescent tubes or other light sources and are preferably configured to emit an intensity and / or wavelength that optimizes the cultivation of the crops / plants 80 in each bin 106. Optimization may involve optimizing (or at least enhancing) the intensity and / or wavelength for photosynthesis in the stored plants 80. Examples are wavelengths in the blue and / or red ranges, as described in more detail below.

[0133] The optimized intensity and / or intensity range and / or wavelength and / or wavelength range may be set by the user before and / or during illumination, the latter option requiring the illuminable container support to be configured to adjust the intensity / intensities and / or wavelength / wavelengths, for example via the control system 600.

[0134] Instead of the support structure 512, the lighting unit 550 may be supported on the lower protrusions / lips of the X-ribs and / or Y-ribs (not shown).

[0135] The container support subset 502b of FIG. 8 has openings 503a-503f along the Y direction after every third lighting unit 550. Each opening 503a-503f extends along the length L of the bin 106. f and width W f The container 300 has a width and length in the X and Y directions that are slightly larger than the width and length in the X and Y directions, respectively. A container guide structure 509 in the form of a bottomless box is fixed along the periphery of each opening 503a-503f so that the bins 106 are correctly guided through the openings 503a-503f during lifting and lowering by the respective vehicle 300.

[0136] To store and retrieve a target bin 106' using the above-described embodiment, the following operations are performed, with particular reference to Figures 6D and 6E. The control system 600 calculates the coordinates [X tc ,Y tc ,Z tc ],'tc'. This position is 3xΔdV+V r1 , which corresponds to a bin 106 supported on the lighting unit 550 of a container support 502 forming part of the horizontal container support framework 501e, or on the container support subset 502a. The target bin 106 is located at a position [X tc ,Y tc +1,Z tcAll openings 503 in the storage grid 500 are initially vertically aligned, i.e., the XY position (i.e., [X tc ,Y tc +2]) is equal to the XY position of the target opening 503b' in the underlying container support framework 501b-501h. - The vehicle 300 moves in the X and Y directions using its drive means 302a, 302b (Figure 2) until its lifting device 303 is positioned directly above the target opening 503b' that is located horizontally closest to the target bin 106'. During and / or after the movement of the vehicle 300 to a position above the target opening 503b', the control system 600 sends instructions to the support displacement device 700 (see Figures 10 and 14) to displace the container supports 502 or the container support subset 502a of the container framework 501e a sufficient distance in the Y direction so that the target bin 106' is vertically aligned with the target opening 503b' of the corresponding container support 502 or container support subset 502a of the container framework 501a-501d placed above. During and / or after displacement of the container support 502 or container support subset 502a, the lifting device 303 of the vehicle 300 is actuated and lowered through the gripping opening 515 and the vertically aligned target opening 503b' until the gripping portion of the lifting device 303 is in a position to grip the target bin 106. After the target bin 106′ has been gripped by the lifting device 303 and lifted above the overlying container framework 501d, the support displacement device 700 is again actuated to move the container support 502 or the container support subset 502a to its initial Y position (i.e. position [X tc ,Y tc ,Z tc ]). - Once the target bin 106' is lifted above the rail system 508, the vehicle 300 is moved to another location on the rail system 508 (eg a dedicated port column / chute for delivery to an access station).

[0137] This exchange process has the advantage that the need for mining performed for prior art storage and recovery systems is no longer necessary.

[0138] If the storage grid 500 also includes removable lighting units 550 as described above, the same process steps can be carried out by use of the vehicles 300 to pick up or place the individual lighting units 550 .

[0139] It may also be envisaged that the lifting device 303, 403 of the vehicle 200, 300, 400 lifts both the lighting unit 550 and the bin 106 in one exchange process. For example, the gripping guide mechanism 404, 405 of the lifting device 303, 403 may be adapted to lift the bin 106 in a horizontal cross-sectional area smaller than the horizontal cross-sectional area of ​​the lighting frame 553 on which the bin 106 is supported.

[0140] The storage grid 500 of the present invention can be of any size. In particular, it is understood that the storage grid 500 can be significantly wider and / or longer and / or deeper than the sizes disclosed in the accompanying drawings. For example, the storage grid 500 can have a horizontal extent with locations of more than 700 x 700 bins, and a storage depth of more than 12 bins.

[0141] A concrete example of the displacement device 700 is shown in Fig. 10. The displacement of the container support subsets 502a-502d (individually or collectively) is achieved by mechanical linear actuators (ball screws) that convert a rotary motion into a linear motion. A threaded shaft 701b provides a helical track for a ball bearing that acts as a precision screw. The required rotation of the shaft 701b is achieved by an electric motor 702 connected to the end of one of the shafts. A stopper 701d is fixed to the opposite end of the shaft 701b. A slider 701a is coupled to the rotating shaft 701b, whereby the slider 701a moves along the shaft 701b during rotation. By attaching the slider 701a to the ends of the container supports 502a-502d, the desired displacement in the Y direction, for example a length corresponding to one or two storage cells, is achieved. The displacement mechanism 700 is supported on the storage grid 500 by a support plate 701c.

[0142] One way to install an illuminatable storage grid 500 as described above may be to remove all of the stacks of bins 106 below at least a portion of the rail system 108 of a prior art storage and retrieval system such as that shown in FIG. 1 and mount the container support framework 501, container supports 502 and displacement mechanism 700 in the empty volume.

[0143] 11-15 show a second embodiment of an illuminatable storage grid 500. FIG.

[0144] With respect to a first embodiment, the automated storage and retrieval system 1 of the present invention comprises a remote operated vehicle 300 operating on a rail system 508 having a first set of parallel rails 510 arranged to guide movement of the remote operated vehicle 300 in a first direction X over an underlying container support framework 501, and a second set of parallel rails 511 arranged perpendicular to the first set of rails 510 to guide movement of the remote operated vehicle 300 in a second direction Y perpendicular to the first direction X. Bins 106 stored within the storage grid 500 are accessed by the remote operated vehicle 300 through grid openings 515 in the rail system 508, each grid opening 515 having a The rail system 508 is bounded by a horizontal plane P defined by the X and Y directions. rs It extends inside.

[0145] As best seen in FIG. 12, which shows a side view of the second embodiment storage grid 500, the bins 106 are r1 The vertical offset and ΔdV b-j The containers are stored (for the first embodiment) on displaceable container supports 502 distributed in the Z direction below the rail system 508, with a vertical offset indicated by . Each container support 502 forms part of a respective container support framework 501.

[0146] However, in contrast to the illustrated subset of container supports in the first embodiment, each container support 502 allows for support of multiple bins 106 in both the X and Y directions. Figures 12-15 show an exemplary configuration of the second embodiment having a single container support 502 on each framework 501a-501j, each of which can be horizontally displaced by a single displacement mechanism 700.

[0147] 13A, 13B and 13C show an example of a container support 502 according to a second embodiment allowing storage of up to 16 storage bins, where FIG. 13A shows the container support 502 without bins 106 and lighting unit 550, FIG. 13B shows the container support 502 without bins 106 and with lighting unit 550, and FIG. 13C shows the container support 502 with both bins 106 (containing crops 80) and lighting unit 550. The total size of the container support 502 and the width of the X and Y ribs 505, 506 are selected such that the bins 106 are spaced apart by a distance Wr in both the X and Y directions. Each lighting unit 550 is supported on a support structure 512 that extends horizontally within the inner boundary set by the X and Y ribs 505, 506. The support structure 512 is shown in FIG. 13A as a plate with a rectangular opening. However, the support structure 512 may be any structure that provides support for the lighting unit 550 and allows for directing light to the container support 106 disposed below.

[0148] With respect to the container support subset 502b shown in Figure 8, the container supports 502 of Figures 13A-13C include a number of guide structures 509 for the openings 503. The guide structures 509 are fixed along the periphery of each opening 503a-503d to help guide the bins 106 correctly through the openings 503a-503d during lifting and lowering by the vehicle 300.

[0149] Alternatively or in addition to the support structure 512 , the X and Y ribs 505 , 506 may have a lower lip that may support a lighting unit 550 .

[0150] In the example of Figures 13A-13C, the container support 502 has a matrix of bin spaces with 4 rows and 5 columns, with one column being the centerline of the opening / aperture 503 (e.g., the four openings 503 along that column).

[0151] Alternatively, the container support 502 may have a single opening 503 that extends through all four rows. In yet another alternative configuration, the container support 502 may have a combination of openings 503 that extend through one, two or three rows.

[0152] The horizontal extent of this matrix is ​​4*L along the first direction, X. f and along the second direction Y is a distance substantially equal to 5*W f , which includes the width of one opening to allow for the swapping process described above. Any spacing Wr of the bins 106 should be added to determine the size of the matrix.

[0153] The X-ribs 505, Y-ribs 506, and any other components associated with the container support 502 may be connected to one another by fasteners, welds, a snap lock system, a tongue and groove system, or other known methods known to those of skill in the art.

[0154] FIG. 14 shows an example of a displacement mechanism 700 of the second embodiment container support 502 for horizontal displacement in the Y direction relative to the container support framework 501.

[0155] The support displacement device 700 of Fig. 14 comprises a displacement motor 702, such as an electric motor. The electric motor 702 may be arranged on the container support framework 501 by means of a bracket. The bracket may for example be connected to a vertical column 530 (see Fig. 15) of the storage grid 500.

[0156] The support displacement device 700 may comprise a rotating axle 701e configured to be driven by an electric motor 702. The rotating axle 701e is further configured to drive, i.e. displace, the displaceable container supports 502 of the framework 501 by attaching a chain or belt 701f therebetween.

[0157] The direction of displacement of the container support 502 depends on the direction of rotation of the rotating axle 701 e and therefore of the electric motor 702 .

[0158] For maintenance purposes, the components of the support displacement device 700 are preferably located in positions that are easily accessible to technicians. In particular, the electric motors 702 (or alternative drive devices) should preferably be located at the edge of each container support framework 501 and extend outside the container support framework 501. By locating the electric motors 702 of adjacent container support frameworks 501 on both sides of the container support framework 501, a lot of space is made available for technicians to install or perform maintenance on the support displacement device 700 (e.g., replace the electric motors 702).

[0159] To be displaceable along the second horizontal direction Y, each container support framework 501 may be provided with a guide track 501' oriented in the Y direction and the corresponding container support 502 may be provided with a plurality of support frame wheels 507 attached to the Y ribs 506, the wheels 507 being configured to move along the guide track 501'. In an alternative configuration, the guide track 501' may be provided on the container support 502 and the wheels 507 may be provided on the container support framework 501. As best shown in FIG. 14B, the guide track 501' may be an extruded profile.

[0160] Figure 14A also shows a number of lighting units 550 forming part of each container support 502. As described in more detail above in relation to Figure 9, each lighting unit 550 comprises a lighting frame 553 which serves as a support for the bins 106 on the upper side of the frame, and a lighting source 552, such as an LED, located on the lower side of the frame. Thus, as the bins 106 are vertically aligned within the storage grid 500, the lighting source 552 is located immediately above each of those bins 106 located on the nearest lower container support 502, thereby providing illumination to the crops / plants 80 for cultivation.

[0161] 15 is a perspective view of the lowermost portion of the storage grid 500. In this configuration, the lowermost container support 502j is positioned so that the vehicles 200, 300, 350 positioned above it can To gain access through the vertically aligned openings 503 or through free space on the periphery of the container supports, the upper container supports 502a-502i are displaced relative to the upper container supports 502a-502i, or each of the upper container supports 502a-502i is displaced relative to the lowermost container support 502j for the same purpose.

[0162] The lowermost container support 502j or an upper container support 502a-502i may be displaced in the second direction Y by a distance corresponding to the length of an integer number of grid cells 522 (eg, one grid cell 522).

[0163] In a typical configuration, all of the container supports 502a-502j in the storage grid 500 are configured to be independently displaceable.

[0164] 15, the storage grid 500 is shown to include a number of vertical columns 530 supported by a floor or overhead support 900. Connection to the floor / platform 900 can be achieved by column brackets 535.

[0165] 16 shows a perspective side view of a storage and retrieval system 1 of the present invention having an illuminatable storage grid 500 as previously described and a second storage grid 100 in which bins 106 are stored in a number of stacks 107. Remotely operated vehicles 300 travel horizontally on a rail system 508 that extends across both types of storage grids 100, 500, thereby allowing each vehicle 300 to access any bin 106 stored in the system 1.

[0166] Within the illuminable storage grid 500, the aforementioned support displacement devices 700 are shown positioned at the end of each container support 502. In Figure 16, a total of ten container support frameworks 501a-501j are shown positioned below the rail system 508, each having one container support 502 displaceable in the Y direction. However, the system can easily be scaled up or down to other numbers of container support frameworks.

[0167] The operation of retrieving / storing bins 106 from / to the illuminable storage grid 500 of the second embodiment may proceed similarly to the first embodiment described above.

[0168] In one possible scenario, again and with particular reference to FIG. 6 , the control system 600 sends instructions to the remote operated vehicle 300 to transport a particular bin 106′ containing the plant / crop 80 from an associated container support 502e of the illuminable storage grid 500, where the plant / crop 80 is illuminated by the lighting source 552, to a position at the top of a particular stack 107 of bins 106 of the second storage grid 100.

[0169] The associated illumination source 552 may be, for example, an LED or LED bar forming part of an illumination unit 550 located immediately above the target bin 106 (ie, located in vertical alignment on the upper container support 502).

[0170] When a target bin 106' containing crops 80 is positioned on the uppermost container support 502a, the vehicle 300 can simply lift the target bin 106' through the grid opening 515 positioned immediately above (using its lifting device 303) and transport the target bin 106' to the upper grid opening 515 of a second storage grid 100 having a stack 107 of bins 106 in which the target bin 106' is to be stored.

[0171] If the target bin 106' containing the crop 80 is not positioned on the uppermost container support 502a and is not positioned immediately below one or more of the vertically aligned openings 503, the container support 502 is displaced the necessary distance along the Y direction (which in FIG. 6 corresponds to two grid cells 522) to position the target bin 106' in vertical alignment with the target openings 503' of the above-placed container supports 502a-502f.

[0172] There may not be enough space in the storage grid 500 to allow the container support 502g to be displaced in a single direction from the initial position of the container support 502 a distance corresponding to the required number of grid cells 522 (in FIG. 6, two grid cells). In this case, the target bin 106' may be retrieved by displacing all of the overlying container supports 502a-502f in one Y direction (+Y) a distance equivalent to half the length of the required number of grid cells (in FIG. 6, one grid cell to the left) and displacing the container support supporting the target bin 106' in the opposite Y direction (-Y) (in FIG. 6, one grid cell to the right).

[0173] In the above scenario, it is assumed that the vehicles 200, 300, 400 are able to move in the X and Y directions on the common rail system 508.

[0174] However, it should be noted that other configurations may be envisioned, such as a gantry crane bridging the storage grid 100,500 and / or handling devices suspended / coupled to a crane suspended from the ceiling above the storage grid 100,500. In these cases, the rail system 508 is not required.

[0175] Additionally, system 1 may include two separate rail systems, with one or more vehicles operating on each rail system. Transport of bins 106 between storage grids 100,500 may be accomplished in the latter configuration by use of an exchange mechanism, such as an on-vehicle delivery system, that allows for direct exchange between the vehicles, and / or by use of a separate exchange system, such as a crane, positioned in, near, or across the gap between storage grids 100,500.

[0176] The automated storage and retrieval system 1, comprising both an illuminable storage grid 500 with the possibility of illuminating the crops / plants 80 in the bins 106 and a second storage grid 100 for storing the bins 106 in a plurality of stacks 107, allows the bins 106 to be stored in a very compact configuration, thereby allowing the cultivation of the plants / crops 80 contained in the bins 106 while keeping the required storage space to a minimum. Thus, the control system 600 controlling the container handling devices 200, 300, 400 may be programmed to control the optimal periods for lighting and non-lighting the plants / crops 80.

[0177] 17 , which illustrates a top view of the storage and retrieval system 1, the remote operated vehicle 300 can access bins 106 housing crops / plants 80 that are placed either directly below the rail system 508 or directly below the vertically aligned openings 503. With the above-described configuration having horizontally displaceable container supports 502, the bins 106 accessible by the vehicle 300 through the vertically aligned openings 503 can be controlled via the control system 600 and the displacement mechanism 700.

[0178] Similarly, vertically aligned opening 503 allows for retrieval and installation of illuminable unit 550, for example during servicing.

[0179] 18 shows an exemplary configuration of a container support framework 501 with displaceable container supports 502 and a displacement mechanism 700 with a single displacement motor 702 driving a rotating axle 701e and a belt 701f. The container supports 502 are equipped with a number of removable lighting units 550 supporting bins 106 with crops / plants 80.

[0180] As previously mentioned, the choice of illumination source 552, the choice of intensity and / or wavelength emitted from illumination source 552, the use of illumination modifying means such as reflectors / diffusers, and the distance ΔdV,V between container support framework 501 / rail system 508 can be varied. r1 can be adjusted to optimize the cultivation of a particular crop / plant 80.

[0181] In the preceding description, various aspects of an automated storage and retrieval system having an illuminable storage grid and associated methods have been described with reference to exemplary embodiments. For purposes of explanation, specific numbers, systems and configurations have been set forth to provide a thorough understanding of the system and its operation. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the exemplary embodiments, as well as other embodiments of the systems or methods apparent to those skilled in the art to which the disclosed subject matter pertains, are deemed to be within the scope of the present invention.

[0182] (Reference Number) 1. Automatic storage and retrieval system 80 Crops / Plants / Biological Species 100 Frame structure / secondary storage grid 100a Storage space / second storage space 102 Storage grid uprights 103 Horizontal members of storage grid 105 Storage Column 106 Containers / Storage Containers / Bins 106' Specific location of container / target container / target bin Empty storage space in 106'' container / bin 107 Stack 108 Prior Art Rail System 110 Parallel rail in the first direction (X) 111 Parallel rail in the second direction (Y) 115 Grid Aperture 119 First Port Column / Drop-Off Column 120 Second Port Column / Pickup Column 200 Prior Art Container Handling Device / Remotely Operated Vehicle with Central Cavity 201 Device body / vehicle body 202a Driving means in the first direction (X) 202b Driving means in the second direction (Y) 300 Prior Art Container Handling Device / Remotely Operated Vehicle with Cantilever 301 Device body / vehicle body 302a Drive means / wheel arrangement, first direction (X) 303b Drive means / wheel arrangement, second direction (Y) 303 Lifting Device 304 Gripping element 305 Guide pin 400 Prior Art Container Handling Device / Remotely Operated Vehicle with Offset Cavity 401 Device body / vehicle body 402a Drive means / wheel arrangement, first direction (X) 402b Drive means / wheel arrangement, second direction (Y) 403 Lifting Device 404 Gripping element 405 Guide pin 500 Illuminatable Storage Grid 501 Horizontal container support structure 501' Guide Truck 501a Uppermost container support structure 501b~i Intermediate container support structure 501j Lowermost container support structure 501' Container Support Frame Rail 502, 502a~d Container support 503, 503a-f Openings / apertures (in container support 502) 503b' Target opening / aperture 505 Container Support Frame, X-direction 506 Container Support Frame, Y-direction 507 Support frame wheels (located within the track 501') 508 Rail System 509 Container guide structure (for opening / opening) 510 First set of parallel rails 511 Second set of parallel rails 512 Support structures (for container supports) 515 Grid Aperture 522 grid cells 530 Vertical Column 535 Pillar Bracket 550 Lighting System / Lighting Unit 551 Lighting power supply for lighting systems or units / power bars 552 Lighting Source / LED / LED Bar 553 Lighting Frame / LED Frame 554 Power Connector 555 Graspable Structures, Recesses / Openings 556 Guide pin recess / corner recess 600 Control System 700 Support Displacement Device 701 Displacement Mechanism 701a Slider 701b threaded shaft 701c Support Plate 701d Stopper 701e Rotating Axle 701f Belt 702 Displacement Motor 703 Bracket for Displacement Mechanism 800 Ventilation System 900 beds / platform X First Direction Y Second Direction Z third direction P rs horizontal plane W f Container / Bin Width L f Container / Bin Length H f Container / Bin Height V r1 Offset between the bottom edge of the rail system and the bottom edge of the uppermost container support framework / first vertical offset ΔdV Offset between the lower edge of the container support structure below the uppermost container structure / vertical offset

Claims

1. An automatic storage and retrieval system (1), comprising: a storage container (106); an illuminable storage grid (500) comprising horizontally displaceable container supports (502; 502a-j), each of said container supports (502; 502a-j) arranged with a vertical offset (ΔdV) relative to an adjacent container support (502; 502a-j), and configured to support a plurality of said storage containers (106); at least one of the container supports (502) is an illuminatable container support (502) configured to illuminate an area below; the illuminable container support (502) has at least one opening (503a-f) configured to allow passage of at least one of the storage containers (106); an illuminatable storage grid (500); a support displacement system (700) for horizontally displacing at least one of said container supports (502); An automatic storage and retrieval system (1) comprising:

2. The automated storage and retrieval system (1) further comprises a container handling device (200, 300, 400), The container handling device (200, 300, 400) comprises: a first position above or on said illuminable storage grid (500); a second position outside the horizontal perimeter of the illuminable storage grid (500); configured to move between 2. The automated storage and retrieval system (1) of claim 1, wherein the container handling device (200, 300, 400) comprises a lifting device (303) configured to releasably grasp and lift at least one of the storage containers (106) from one of the container supports (502; 502a-j).

3. the illuminable storage grid (500) comprises a rail system (508); The rail system (508) a first set of parallel rails (510) extending in a first direction (X); a second set of parallel rails (511) extending in a second direction (Y) perpendicular to the first direction (X); Equipped with the first and second sets of rails (510, 511) form a grid pattern comprising adjacent grid cells (522), each grid cell (522) comprising a grid opening (515) defined by a pair of adjacent rails of the first set of rails (510) and a pair of adjacent rails of the second set of rails (511); The rail system (508) has a first vertical offset (V ｒ１ ) above and adjacent to the uppermost horizontally displaceable container support; 3. The automated storage and retrieval system (1) of claim 2, wherein the container handling device (200, 300, 400) is configured to move horizontally in the first direction (X) and the second direction (Y) on the rail system (508) and to lift the storage container (106) through the grid opening (515) by use of the lifting device (303, 403).

4. 4. The automated storage and retrieval system (1) of claim 3, wherein each container support (502) is individually displaceable in the first direction (X) and / or the second direction (Y) a distance corresponding to a distance of n grid cells (522), where n is an integer greater than or equal to 1.

5. the system (1) comprises a stack (107) of storage containers (106) located outside the horizontal perimeter of the illuminable storage grid (500); 3. The automated storage and retrieval system (1) of claim 2, wherein the second position is above the stack (107).

6. The illuminable storage grid (500) comprises a rail system (508); The rail system (508) a first set of parallel rails (510) extending in a first direction (X); a second set of parallel rails (511) extending in a second direction (Y) perpendicular to the first direction (X); Equipped with the first and second sets of rails (510, 511) form a grid pattern comprising adjacent grid cells (522), each grid cell (522) comprising a grid opening (515) defined by a pair of adjacent rails of the first set of rails (510) and a pair of adjacent rails of the second set of rails (511); the rail system (508) is disposed above and adjacent to the uppermost horizontally displaceable container support at a first vertical offset (V r1 ); the container handling devices (200, 300, 400) are configured to move horizontally in the first direction (X) and the second direction (Y) on the rail system (508) and to lift the storage containers (106) through the grid openings (515) by using the lifting devices (303, 403); The height of the stack (107) is less than the height of the rail system (508); 6. The automated storage and retrieval system (1) of claim 5, wherein the rail system (508) extends above the stack (107).

7. The at least one illuminable container support (502) comprises: a container support frame (505, 506); a plurality of lighting units (550) supported within the container support frame (505, 506); Equipped with a storage container (106) may be supported on each of the plurality of lighting units (550); 10. The automated storage and retrieval system (1) according to any one of the preceding claims, wherein each lighting unit (550) comprises an illumination source (552).

8. 8. The automated storage and retrieval system (1) of claim 7, wherein each lighting unit (550) is supported by the container support frame (505, 506) for removal by the container handling device (200, 300, 400).

9. 8. The automatic storage and retrieval system (1) of claim 7, wherein each lighting unit (550) comprises a lighting unit frame (553), the lighting unit frame (553) having a lower surface on which the lighting source (552) is disposed.

10. 8. The automated storage and retrieval system (1) of claim 7, wherein each lighting unit (550) comprises a graspable structure (555) configured to enable releasable coupling with the lifting device (303).

11. 8. The automatic storage and retrieval system (1) of claim 7, wherein the lighting unit (550) comprises a power connector (554), the power connector (554) being configured to receive power from a lighting power source (551) and supply the received power to the lighting source (552).

12. each horizontally displaceable container support (502) has main directions in a first direction (X) and an orthogonal second direction (Y), and is configured as a matrix of container spaces with a plurality of container spaces arranged in said first direction (X) and a plurality of container spaces arranged in said second direction (Y); 8. The automated storage and retrieval system (1) of claim 7, wherein a lighting unit (550) is positioned within each container space to support a storage container (106).

13. An automated storage and retrieval system (1) according to any one of claims 1 to 6, wherein each horizontally displaceable container support (502) displays a plurality of openings (503a-f) configured to allow passage of at least one of said storage containers.

14. The support displacement system (700) comprises: a displacement mechanism (701) that allows displacement of one or more of said container supports (502) in at least one main direction (Y); a remotely controlled motor (702) operably coupled to the displacement mechanism (701); The automatic storage and retrieval system (1) according to any one of claims 1 to 6, comprising:

15. The automatic storage and retrieval system (1) according to any one of claims 1 to 6, wherein the illuminable storage grid (500) is provided with a ventilation system (800) for guiding air flow between the plurality of container supports (502).

16. The ventilation system (800) is configured to adjust the vertical offset (ΔdV, V ｒ１ 16. The automated storage and retrieval system (1) of claim 15, further comprising a plurality of ventilation fans at least partially disposed within the storage and retrieval system (1).

17. The automated storage and retrieval system (1) according to any one of claims 1 to 6, wherein each storage container (106) comprises a vertical side wall displaying one or more openings.

18. A method for storing and retrieving storage containers (106) with crops (80) for cultivation from an illuminable storage grid of an automatic storage and retrieval system (1) according to any one of claims 2 to 6, said method comprising: A. moving the container handling device (200, 300, 400) to the first position, wherein its lifting device (303, 403) is positioned in vertical alignment above a target storage container (106') supported on an uppermost container support (502a) or above an opening (503b') of the uppermost container support (502) that is horizontally closest to the target storage container (106') if the target storage container (106') is located on one of the container supports (502b-j) below the uppermost container support (502a); B. If the target storage container (106') is not positioned vertically aligned below the opening (503b') of the uppermost container support (502a) and below the openings (503b') of any container supports (502b-j) disposed therebetween, displacing the container supports (502) so that the target storage container (106') is vertically aligned below the opening (503b') of the uppermost container support (502a) and below the openings (503b') of any container supports (502b-g) disposed between the container support (502h) supporting the target storage container (106') and the uppermost container support (502a); C. Lowering, grasping and lifting the target storage container (106') by using the lifting device (303, 403); D. moving said container handling device (200, 300, 400) together with said target storage container (106') to said second position; A method comprising:

19. The automatic storage and retrieval system (1) is as claimed in claim 6, The method comprises: moving the container handling device (200, 300, 400) along the rail system (508) with the target storage container (106') to the second position immediately above the stack (107); storing said target storage container (106') at the top of said stack (107); 20. The method of claim 18, comprising:

20. 20. The method of claim 18, wherein step B involves equal displacement of the at least one container support (502a-g) located above the container support (502h) containing the target storage container (106').

Images