Multi-temperature storage system

Abstract

The present invention relates to a multi-temperature storage system (1), comprising: A) a grid framework structure (14) configured to support a robotic load handling device (30) thereon, wherein the grid framework structure (14) comprises: i) a track system (4) comprising a plurality of tracks (22) arranged in a grid pattern comprising a plurality of grid cells (17); and iii) a support framework structure (3) for supporting the track system (4) above ground level to create a storage space comprising a plurality of storage columns (5), wherein each storage column (5) is configured, in use, to store a stack (12) of multi-temperature storage containers (10) such that a robotic load handling device (30) operable on the track system (4) can lift one or more containers (10) from the stack (12) in the storage column (5) through the grid cells (17), wherein a portion of the storage system (1) is contained within an enclosure (6), and the enclosure (6) is configured to allow the robotic load handling device (30) to access the enclosure (6). a temperature control system (50) having an opening (7) above the track system (4) for allowing a robotic load handling device (30) to enter and exit the enclosure (6); B) a temperature control system (50) including an air inlet (51) for drawing fluid from the enclosure (6), a temperature control unit (52) for heating or cooling the fluid to a temperature-controlled fluid, and an exhaust outlet (53) for providing the temperature-controlled fluid into the enclosure (6) such that the enclosure (6) has a temperature that is different from a temperature outside the enclosure (6); and C) at least one air curtain unit (54) disposed above the track system (4), wherein the at least one air curtain unit (54) is configured to recirculate the temperature-controlled fluid from the enclosure (6) and provide an air curtain (55) over the opening (7) of the enclosure (6) to substantially contain the temperature-controlled fluid within the enclosure (6) and to allow a robotic load handling device (30) to enter and exit the enclosure (6) on the track system (4).

Description

[Technical field]

[0001] The present invention relates to a storage and retrieval system comprising a grid framework structure for handling storage containers or receptacles stacked in the grid framework structure and one or more robotic load handling devices operable on the grid framework structure, and more particularly to a multi-temperature storage system for storage and retrieval of goods and items at different temperatures. [Background technology]

[0002] Storage systems 1 comprising a three-dimensional storage grid framework structure within which storage containers / receptacles / totes are stacked on top of each other are well known. PCT Publication No. WO2015 / 185628A (Ocado) describes a known storage and fulfilment or distribution system in which a stack of receptacles or containers are arranged within a grid framework structure. The receptacles or containers are accessed by remotely operable load handling devices on trucks located on top of the grid framework structure. A system of this type is illustrated diagrammatically in Figures 1 to 3 of the accompanying drawings.

[0003] As shown in Figures 1 and 2, stackable containers, known as storage receptacles or containers 10, are stacked on top of one another to form a stack 12. The stack 12 is arranged in a grid framework structure 14 in a warehouse or manufacturing environment. The grid framework structure is made up of a number of storage or grid columns. Figure 1 is a schematic perspective view of the grid framework structure 14, and Figure 2 is a top view showing the stack 12 of receptacles 10 arranged within the grid framework structure 14. Each receptacle 10 typically holds multiple product items (not shown), which may be the same or may be different product types depending on the application.

[0004] In particular, the grid framework structure 14 comprises a plurality of vertical uprights or upright members or columns 16 that support horizontal grid members 18, 20. A first set of parallel horizontal grid members 18 are arranged perpendicular to a second set of parallel horizontal grid members 20 to form a grid structure or grid 15 comprising a plurality of grid cells 17. Each grid cell in the grid framework structure has at least one grid column for storing a stack of containers. For the avoidance of doubt, the term "grid framework structure" is used to mean a three-dimensional structure within which storage containers are stored, and the terms "grid structure" and "grid" are used interchangeably to mean a two-dimensional structure in a substantially horizontal plane on which load handling devices operate. The grid cells have openings to allow the load handling devices to lift containers or storage receptacles through the grid cells. In the grid structure, the first set of parallel horizontal grid members 18 intersect with the second set of parallel horizontal grid members at nodes. The grid structure is supported by upright members 16 at each of the nodes or at the points where the grid members intersect, so that the upright members are interconnected at their top ends by the intersecting grid members. The grid members 16, 18, 20 are typically fabricated from metal and are typically welded or bolted together, or a combination of both. The storage receptacles or containers 10 are stacked between the upright members 16 of the grid framework structure 14, so that the upright members 16 prevent horizontal movement of the stack 12 of receptacles 10 and guide vertical movement of the storage receptacles 10. The top level of the grid framework structure 14 includes rails or tracks 22 arranged in a grid pattern across the top of the stack 12 to define a track system 4. Additionally, referring to FIG. 3, the rails 22 support a plurality of load handling devices 30.The track system comprises a first set 22a of parallel rails 22 for guiding movement of the robotic load handling device 30 in a first direction (e.g., X direction) across the top of the grid framework structure 14, and a second set 22b of parallel rails 22 arranged perpendicular to the first set 22a for guiding movement of the load handling device 30 in a second direction (e.g., Y direction) perpendicular to the first direction. In this manner, the rails 22 enable movement of the robotic load handling device 30 laterally in two dimensions in the horizontal XY plane, such that the load handling device 30 can be moved to a position above any of the stacks 12.

[0005] The tracks or rails may be separate components from the grid members (sometimes referred to as "track supports"), or alternatively, the tracks are integral to the grid members as a unit, i.e. form part of the grid members. For example, each of the first and second sets of horizontal grid members 18, 20 of the grid structure may function as a track support, and the first and second sets of tracks of the track system may be mounted to the grid structure to guide a load handling device in two dimensions over the grid structure. In the illustrated example, the tracks are mounted to the horizontal grid members 18, 20 such that the horizontal grid members 18, 20 function as track support members, and the grid structure may be defined as a track support structure. In view of this definition, the horizontal grid members 18, 20 are also referred to as track support members, i.e. a first set of track support members extending in a first direction, and a second set of track support members extending in a second direction. The track support members form a grid structure or grid 15, which is also referred to as a track support system.

[0006] A known load handling device, also known as a bot 30, shown in Figures 4 and 5, is described in PCT Patent Publication No. WO2015 / 019055 (Ocado), incorporated herein by reference, comprising a car body 32, where each load handling device 30 covers only a single grid space or grid cell of a grid framework structure 14. Here, the load handling device 30 comprises a wheel assembly comprising a first set of wheels 34 consisting of a pair of wheels on the front of the car body 32 and a pair of wheels 34 on the rear of the car body 32 for engaging a first set of rails or tracks to guide movement of the device in a first direction, and a second set of wheels 36 consisting of a pair of wheels 36 on either side of the car body 32 for engaging a second set of rails or tracks to guide movement of the device in a second direction. Each of the sets of wheels is driven to enable movement of the vehicle in the x and y directions along the rails, respectively. One or both sets of wheels can be moved vertically to lift each set of wheels off its respective rail, thereby allowing the vehicle to move in a desired direction on the grid structure, e.g., in the X or Y direction.

[0007] The load handling device 30 is equipped with a lifting device or crane mechanism for lifting the storage container from above. The crane mechanism comprises a winch tether or cable 38 wound on a spool or reel (not shown) and a gripping device 39 in the form of a lifting frame. The lifting device extends vertically and comprises a set of lifting tethers 38 (one tether near each of the four corners of the gripping device) near or connected to the four corners of the lifting frame 39, also known as the gripping device, for releasable connection to the storage container 10. The gripping device 39 is configured to releasably grip the top of the storage container 10 to lift it from a stack of containers in a storage system of the type shown in Figures 1 and 2.

[0008] The wheels 34, 36 are arranged at the bottom around the periphery of a cavity or recess known as the container receiving recess or container receiving space 41. The recess is sized to accommodate the container 10 when it is lifted by the crane mechanism as shown in Figures 5(a and b). When in the recess, the container is lifted off the rails underneath so that the vehicle can move laterally to a different location. Upon reaching the target location, for example another stack, an access point in a storage system or a belt conveyor, the receptacle or container can be lowered from the container receiving portion and released from the gripping device. The container receiving space may comprise a cavity or recess located within the vehicle body, for example as described in WO2015 / 019055 (Ocado Innovation Limited). Alternatively, the vehicle body of the load handling device may comprise a cantilever as taught in WO2019 / 238702 (Autostore Technology AS), in which case the container receiving space is located below the cantilever of the load handling device. In this case, the gripping device is lifted by the cantilever so that it can engage a container and lift it out of the stack into the container receiving space below the cantilever.

[0009] To ensure the stability of the grid framework structure, prior art storage systems rely heavily on various supports and braces located within or at least partially along the periphery of the grid framework structure. However, using various supports and braces to stabilize the grid framework structure from internal and external forces is disadvantageous for several reasons. The grid framework structure occupies space or area that could be utilized to store containers, preventing optimal use of the space or area available for container storage. The need for support structures can limit the options available for positioning the grid framework structure, as any auxiliary grid support structure often requires connection to surrounding structures, such as the interior walls of a building. Requiring support structures to stabilize the grid framework structure is generally not cost effective and occupies useful storage space.

[0010] WO2019 / 101367 (Autostore Technology AS) teaches a free-standing storage grid that requires less extensive auxiliary grid support structures by integrating the grid support structure into the storage grid structure. The grid support structure is composed of four storage columns interconnected by a plurality of vertically inclined support struts. The profile of the storage columns has a cross-section with a hollow central section and four corner sections, each corner section with two vertical receptacle guide plates for accommodating the corners of a storage receptacle. The support struts have a width that allows them to fit between two parallel guide plates so as not to impair the storage column's ability to accommodate a stack of containers or storage receptacles.

[0011] To erect grid framework structures in the art, multiple vertical uprights are individually positioned one at a time on the ground in a grid-like pattern. Assembling the individual vertical uprights together one at a time is sometimes referred to as "stick-built" construction. The "stick-built" approach to assembling grid framework structures requires that numerous time-consuming adjustments be made for reliable operation of the robotic load handling device on the truck. The height of the vertical uprights, and hence the level of the grid installed thereon, is adjusted by one or more adjustable feet at the base or bottom end of each of the vertical uprights. Subgroups of vertical uprights are braced together to provide structural stability to the grid framework structure. The vertical uprights are interconnected at their top ends by grid members such that the grid members adopt the same grid pattern as the vertical uprights, i.e., the vertical uprights support the grid members at the points or nodes where each of the grid members intersect in the grid pattern. For purposes of this description, the points or junctions where the grid members intersect or interconnect constitute the nodes of the grid structure and correspond to the areas where the grid structure is supported by the vertical uprights. The resulting grid framework structure can be thought of as a free-standing rectilinear collection of upright columns supporting a grid formed from intersecting horizontal grid members, i.e., a four-walled framework.

[0012] The arrangement of the vertical uprights provides a plurality of vertical storage columns for storing one or more containers in a stack. The vertical uprights serve to guide the gripping device of a lifting mechanism as it engages a container in the grid framework structure and is lifted towards a load handling device operable on the grid. The size of the grid framework structure, and hence the ability to store containers containing different items or stock keeping units (SKUs), is highly dependent on the number of vertical uprights over a given footprint of the grid framework structure. However, one of the largest bottlenecks in building a fulfillment or distribution center is the erection of the grid framework structure. The time and cost to assemble the grid framework structure accounts for a large portion of the time and cost to build a fulfillment or distribution center. The largest and most time-consuming operation involves erecting the vertical uprights individually and fastening the grid structure to the vertical uprights.

[0013] WO2019 / 157197 (Alert Innovation Inc.) attempts to address this problem by providing an automated fulfillment system that includes a plurality of storage modules, each of which includes a pair of shelf modules with a number of defined storage locations for storing containers, also known as totes. The pair of shelf modules are spaced apart from one another to allow a mobile robot to pass between the pair of shelf modules to retrieve or deliver inventory from or to the storage locations. However, the automated storage system taught in WO2019 / 157197 (Alert Innovation Inc.) does not provide a high density storage system as taught in WO2015 / 185628A (Ocado) because the shelf modules take up valuable storage space.

[0014] The storage system may be used to store goods that require an environment with a controlled temperature, for example, refrigerated or frozen goods. WO2016193419 (Ocado) discloses a storage system comprising one or more heaters and / or one or more chillers for generating a temperature-controlled gas, one or more fans for circulating the temperature-controlled gas through the storage system, and a plenum for receiving the temperature-controlled gas. The storage system provides a simple way to regulate the temperature of goods in the storage system.

[0015] WO22053372 discloses a grid storage system comprising an under-stack void extending beneath a stack of storage containers, a number of air inlets into the under-stack void between the stacks of storage containers, and at least one column free of storage containers and positioned between the storage columns for providing a ventilation column, the ventilation column comprising a fan, a number of duct walls surrounding the ventilation column defining a duct having a first end adjacent to the horizontal rail and a second end adjacent to the under-stack void, the fan being configured to circulate gas through the multiple air inlets, the under-stack void and through the duct along the side of the stack. The ventilation column can be used to distribute temperature-controlled gas, thus ensuring a uniform temperature throughout the storage system.

[0016] In some cases, goods of different temperatures are required, for example, refrigerated goods and ambient goods. Separate storage systems may be provided for goods of different temperatures, for example, ambient storage systems for ambient goods and refrigerated storage systems for refrigerated goods. Separate storage systems can accommodate different temperature requirements, but have the drawback of occupying more space than a single storage structure, which is especially problematic for small venues. As consumer demand for rapid fulfillment of orders increases, small venues are becoming more important.

[0017] In other cases, a single storage system may include separate sections for storing items at different temperatures within the same grid framework structure. These systems require some type of insulating or thermal barrier between the sections to maintain the temperature differential. The need for goods to pass through a thermal barrier creates a pinch point or limitation in customer order throughput.

[0018] WO2019001816 (AutoStore) discloses a system comprising at least two different temperature zones arranged horizontally relative to a storage grid, wherein the storage grid comprises a thermal barrier arranged in at least one of the temperature zones and dividing the at least two temperature zones, an access point accessible from one temperature zone on one side of the thermal barrier, and an elevator for raising and lowering storage containers between a transfer zone in the storage grid for transporting the storage containers between the elevator and a port column of the storage grid accessible to one or more container handling vehicles in another temperature zone on the other side of the thermal barrier.

[0019] Although the above system allows for the transport of containers between different temperature zones, the elevators are a pinch point or limiting factor with respect to the speed of transport of goods, thus limiting the efficiency of order picking and the efficiency of the overall system.

[0020] WO2015124610 (AutoStore) discloses a refrigerated storage system comprising a grid structure of storage cells. Each cell is configured to receive a vertical stack of storage containers. A remotely operated vehicle is configured to travel at a top level of the grid structure and to receive containers from the storage cells at the top level of the grid structure. Insulation is provided between at least a section of the grid structure and the remotely operated vehicle, said section of the grid structure having a lower temperature than that of the remotely operated vehicle. An insulating cover is provided above the top level of the grid structure and within which the remotely operated vehicle can travel.

[0021] This storage system has the disadvantage that the insulating cover, which is required to prevent heat loss from the grid structure, prevents access to the containers below. To remove a container, the insulating cover must first be moved to another cell in the grid, either by the same vehicle (in which case operation of the storage system is slowed down) or by a different vehicle (in which case more vehicles are needed to perform the same operation). In either case, the storage system operates less efficiently and customer order throughput is reduced. Summary of the Invention

[0022] The present invention has mitigated the above problems by isolating at least a portion of the storage and retrieval system with an enclosure for storing items or goods, e.g., grocery items, at different temperatures. The enclosure has an opening that allows a robotic load handling device operable in the storage and retrieval system to move between the enclosure and the exterior of the enclosure. The enclosure can be connected to a chiller system to maintain a temperature inside the enclosure at a lower temperature than the exterior or outside temperature of the enclosure. For example, the chiller system can maintain a temperature inside the enclosure to provide a refrigerated zone, e.g., within a temperature range of 4°C to 8°C. Similarly, the chiller system can maintain a temperature inside the enclosure to provide a freezer zone, e.g., within a temperature range of -18°C to -22°C. Similarly, the enclosure can be connected to a heating system to maintain a temperature inside the enclosure at a higher temperature than the exterior or outside temperature of the enclosure. The enclosure can be thermally insulated to reduce the transfer of heat into and / or out of the enclosure.

[0023] To prevent or substantially reduce the transfer of heat into an opening of an enclosure, the present invention provides at least one air curtain unit that provides an air curtain across the opening. The at least one air curtain unit uses a fan to push a curtain of air in a downward direction across the opening. The pushed air creates an invisible barrier that helps control temperature by preventing hot or cold air from entering the enclosure at the opening. The air curtain is advantageous over having a physical door to enter the enclosure because a physical door creates a bottleneck on the grid framework structure as one or more robotic load handling devices must wait to enter and exit the enclosure through the physical door to retrieve and / or place items or goods stored at different temperatures.

[0024] To meet the demand for items or goods stored at different temperatures, conventionally, storage and retrieval systems for storing items or goods at different temperatures are housed in separate temperature-controlled rooms or buildings. The separate rooms have their own dedicated grid framework structures for storing storage containers in stacks and one or more robotic load handling devices operable on the grid framework structures to store and / or retrieve the storage containers. The separate rooms allow the temperature inside the rooms to be controlled, for example, via separate cooling facilities. This configuration allows the one or more robotic load handling devices operable on their respective grid framework structures to operate at their optimal capacity.

[0025] However, a problem with this arrangement is that there may be overcapacity in one or more storage and retrieval systems that hold items or goods at different temperatures. This problem is exacerbated as a result of different seasonal events, such as summer and winter months, where the demand for refrigerated items may exceed the demand for warmer items. This inefficiency in storing and retrieving items becomes more severe when trying to serve a market where there is a demand for convenience items or goods. This is especially the case when an order comprises a small number of common staple items, e.g., bread or milk, and may also include impulse buying behavior of customers who have a tendency to purchase goods without prior planning. When customers make such purchasing decisions on the spur of the moment, it is usually driven by emotions and sensations, i.e., making unplanned purchases. Convenience stores, which typically stock a wide range of everyday items such as coffee, groceries, snack foods, confectionery, soft drinks, tobacco products, over-the-counter drugs, toiletries, newspapers, and magazines, tend to be in the best locations to serve such impulse markets. With the increase in the convenience store market and impulse buying, this creates a need for a storage and retrieval system that can address the above problems. Therefore, there is a need for a storage and retrieval system that allows goods or items stored at different temperatures to be stored in and / or retrieved from a single storage and retrieval system.

[0026] The present invention provides a multi-temperature storage system, comprising: A) a grid framework structure configured to support a robotic load handling device thereon, where the grid framework structure comprises: i) a track system comprising a plurality of tracks arranged in a grid pattern comprising a plurality of grid cells; ii) a support framework structure for supporting the track system above ground level to create a storage space comprising a plurality of storage columns, each storage column configured to store a stack of storage containers such that, in use, a robotic load handling device operable on the track system can lift one or more containers from the stack in the storage column through the grid cells; a portion of the multi-temperature storage system is contained within an enclosure having an opening above the track system to allow a robotic load handling device to enter and exit the enclosure; B) a temperature control system including an inlet for drawing fluid from the enclosure, a temperature control unit for heating or cooling the fluid to a temperature controlled fluid, and an outlet for providing the temperature controlled fluid into the enclosure such that the enclosure has a temperature different from the temperature outside the enclosure; C) at least one air curtain unit disposed above the track system, where the at least one air curtain unit is configured to recirculate temperature-controlled fluid from the enclosure to provide an air curtain over an opening of the enclosure to substantially contain the temperature-controlled fluid within the enclosure and to allow a robotic load handling device to enter and exit the enclosure on the track system; A multi-temperature storage system is provided, comprising:

[0027] For purposes of definition, the term "fluid" is broadly interpreted to include air, but may include other fluids, e.g., other gases. The term "air curtain" should not be interpreted as limiting the fluid to air. The air curtain not only serves to contain the temperature-controlled fluid within the enclosure, but more importantly, allows one or more robotic load handling devices to easily enter and exit the enclosure, since the air curtain does not present a physical barrier for the movement of one or more robotic load handling devices through the opening of the enclosure. This, in turn, allows one of the robotic load handling devices to retrieve one or more storage containers from inside the enclosure and move the storage containers to a location outside the enclosure, e.g., into a room temperature region. As a result, different temperature regions can coexist in a single storage and retrieval system, since they share the same track system, and hence the robotic load handling devices operating on the track system.

[0028] Optionally, the multi-temperature storage system comprises: a) a wheel assembly for guiding a load handling device on a track system; b) a container receiving space located above the track system; c) a lifting device configured to lift the storage container from the stack into the container receiving space; The robotic load handling device includes:

[0029] Optionally, the temperature control system comprises a chiller system and the temperature control unit comprises a chiller unit such that the temperature inside the enclosure is lower than the temperature outside the enclosure. Optionally, the temperature control system comprises a heating system and the temperature control unit comprises a heating unit, e.g., an electric heating element, such that the temperature inside the enclosure is higher than the temperature outside the enclosure. Providing a heating system connected to the enclosure allows the storage system to store items or goods, e.g., hot food, at a temperature higher than room temperature.

[0030] The ability to share load handling devices between different temperature zones helps smooth out fluctuations in demand for ambient and refrigerated products. In the event of a sudden surge in demand for refrigerated products (e.g., a customer impulse buys ice cream on a particularly sunny bank holiday weekend), load handling devices from the ambient temperature zone of the storage system outside the enclosure can be redeployed to the refrigerated temperature zone inside the enclosure, thus increasing capacity and throughput of customer orders. Similarly, in the event of lower customer demand for refrigerated goods and higher demand for ambient goods, load handling devices in the refrigerated temperature zone of the storage system can be relocated to the ambient zone, thereby increasing capacity and throughput of customer orders. The air curtains enable this redistribution of load handling devices because the track system is shared between different temperature zones, so that the load handling devices can easily pass through the air curtains when needed.

[0031] Preferably, at least one air curtain unit has an air intake extending into the enclosure and an exhaust with a nozzle configured to direct temperature-controlled fluid downward into the enclosure. Because the temperature-controlled fluid (e.g., air) for generating the air curtain is recirculated from the temperature-controlled fluid in the enclosure, which is cooled to a temperature for storing items or goods in a refrigerated environment, it is important that the air curtain does not strike storage containers outside the enclosure storing items or goods in a normal temperature environment, as this could damage the items or goods. Optionally, the nozzle is configured to direct the temperature-controlled fluid in an inclined direction (e.g., at a small angle from vertical) downward toward the enclosure. For example, the nozzle can include one or more movable baffles that control the direction of the flow of the air curtain.

[0032] Optionally, the opening of the enclosure extends across at least one direction of the grid framework structure, i.e. across multiple grid cells of the track system, such that at least one air curtain unit is configured to provide an air curtain across at least one direction of the grid framework structure. For example, the at least one direction across the grid framework structure can be across the grid framework structure in a first direction and / or a second direction, the second direction being perpendicular to the first direction. Depending on the size of the opening of the enclosure, optionally, the at least one air curtain unit comprises multiple air curtain units arranged side by side. Multiple air curtain units can be arranged side by side to provide an air curtain that can extend across multiple grid cells across the track system. Edges of adjacent air curtains can partially overlap to reduce or eliminate any gaps between air curtains from adjacent air curtain units.

[0033] The air curtains provide an invisible barrier to prevent heat flow into the enclosure, but optionally the enclosure is insulated to reduce or prevent heat transfer through the walls of the enclosure. Optionally, the enclosure has a lower portion below the track system and an upper portion above the track system, the lower portion of the enclosure comprising insulated solid wall panels. Optionally, one or more of the insulated solid wall panels comprise structural insulation panels comprising an insulating core sandwiched between at least two layers of structural boards, such that the insulated solid wall panels are load-bearing walls within the grid framework structure. The at least two layers of structural boards may comprise magnesium oxide.

[0034] To provide insulation to a top of the enclosure above the track system, optionally the enclosure comprises a hood providing a covering to a top of the enclosure. Optionally, the top of the enclosure comprises an insulating cover having a top wall and downwardly extending side walls, e.g., opposing side walls. Preferably, at least one of the downwardly extending side walls comprises an opening. Optionally, the insulating cover comprises an insulating blanket. An advantage of using an insulating blanket to provide insulation to the top of the enclosure is that the insulating blanket is flexible and suitable for the inlet and / or exhaust of the temperature control system to extend through the insulating cover.

[0035] To provide an air curtain across the opening of the enclosure, preferably at least one air curtain unit is mounted adjacent the opening. Optionally, the temperature control system comprises one or more ducts extending from the inlet to the outlet through the temperature control unit to circulate temperature-controlled fluid from the temperature control unit into the enclosure through the outlet. Optionally, the temperature control system comprises one or more fans for drawing fluid from the enclosure through the inlet. Optionally, the outlet comprises at least one diffuser for distributing the temperature-controlled fluid throughout the interior space of the enclosure.

[0036] Optionally, the multi-temperature storage system further comprises at least one inventory handling station disposed below the track system, one or more of the grid cells of the track system defining a port for delivering and picking up storage containers to and from the inventory handling station. By using an enclosure with an opening with an invisible insulating barrier provided by an air curtain, one of the advantages of using the same track system extending through different temperature regions of the storage system, and thus being able to have the track system extend through the opening, is that different temperature regions of the storage system can share the same inventory handling station. In other words, the same inventory handling station can be used to fulfill customer orders with items or goods stored in the enclosure, e.g., refrigerated items, and items or goods stored outside the enclosure, e.g., ambient items. From this, a robotic load handling device operable on the track system extending through the opening of the enclosure can retrieve storage containers from inside the enclosure and move the storage containers to the inventory handling station outside the enclosure. Similarly, a robotic load handling device operable on a track system outside the enclosure can pick up a storage container stored outside the enclosure and move the storage container to the same inventory handling station. The inventory handling station can be a pick station and / or a stock station. Ideally, the inventory handling station is located outside the enclosure, below the track system, e.g., in a room temperature environment, since the air space within the enclosure can be refrigerated to store refrigerated items or goods. This allows personnel at the inventory handling station to work in a more comfortable working environment.

[0037] Typically, separate areas are provided by incorporating mezzanines supported by vertical beams between adjacent grid framework structures, which are generally stand-alone structures. The mezzanines provide tunnels for housing, for example, one or more inventory handling stations. However, the problem with this configuration is that no two grid framework structures are the same size, and the size and layout of the grid framework structure is highly dependent on the footprint of the building or distribution center in which the grid framework structure is housed. Incorporating a mezzanine within the grid framework structure would add another layer of complexity to the grid framework structure and eliminate any flexibility in the design of the storage and retrieval system comprising the grid framework structure and the inventory handling stations.

[0038] Towards increasing the modularity of the storage system, instead of incorporating a mezzanine in the grid framework structure, optionally the multi-temperature storage system further comprises a second support framework structure and a support platform for supporting the second support framework structure. The support platform is elevated above ground level by a plurality of legs to define an area below the support platform for accommodating the inventory handling station. The support platform provides a separate area below the support platform for accommodating the inventory handling station. The support platform can be provided up to the support framework structure to provide an area below the support platform for accommodating the inventory handling station. Optionally, the second support framework structure is disposed below the track system such that the track system extends continuously across the support framework structure and the second support framework structure. The support platform can be used to emulate a mezzanine in the grid framework structure such that a plurality of stacks of storage containers can be stored in a storage column above the support platform, the storage column above the support platform being provided by the second support framework structure. Thus, during use, a robotic load handling device operable on a track system can move from an area in the enclosure to an area above the inventory handling station, where storage containers picked up by the robotic load handling device can be unloaded into the inventory handling station via a delivery port in the track system.

[0039] The supporting framework structure may comprise a plurality of upright columns or uprights to form a plurality of storage columns for storing a plurality of storage containers in a stack, as discussed above in the introduction to this patent specification, however, to increase the modularity of the storage system, optionally, the supporting framework structure may comprise a plurality of prefabricated modular panels arranged in a three dimensional grid pattern comprising a first set of parallel prefabricated modular panels extending in a first direction and a second set of parallel prefabricated modular panels extending in a second direction to define a plurality of grid cells.

[0040] To achieve the three-dimensional grid pattern of the support framework structure, each of the prefabricated modular components is planar, and therefore the prefabricated modular components may also be known as prefabricated modular panels. Constructing the support framework structure from prefabricated modular panels differs from the "stick-built" approach. In the "stick-built" method of constructing the support framework structure, individual vertical uprights are first erected one at a time to form a plurality of storage columns for storing a plurality of storage containers in a stack. A track system is mounted to the plurality of vertical uprights by interconnecting the top ends of the vertical uprights with a plurality of intersecting track support members in a grid pattern forming a track support structure with a plurality of grid cells or grid spaces. Alternatively, the support framework structure can be formed from a plurality of prefabricated modular panels arranged in a three-dimensional grid pattern with a plurality of grid cells. Each of the plurality of grid cells provided by the three-dimensional grid pattern defines a storage space for storing one or more stacks of storage containers.

[0041] The prefabricated modular panels are load-bearing in the sense that when assembled together to form a supporting framework structure, they provide a load-bearing structure to support one or more load handling devices that travel on a track system mounted to the supporting framework structure.

[0042] The use of prefabricated modular panels to erect the grid framework structure allows it to be assembled at a much faster rate than the traditional "stick-built" approach, where individual vertical uprights are first erected one at a time on the floor and track support members are installed on top of the vertical uprights. The modular construction of the support framework structure with each of the prefabricated modular panels extending in a single plane also facilitates the ability to flat-pack the support framework structure for transportation. Prefabrication of the modular panels allows for the rapid assembly of the support framework structure on-site or in-building. This has the advantage that the support framework structure can be constructed in an existing vacant building or warehouse.

[0043] Since each grid cell of the supporting framework structure defines a storage space for storing one or more stacks of storage containers, preferably the grid pattern arrangement of the prefabricated modular panels is such that each grid cell of the supporting framework structure is sized to support a subset of a plurality of grid cells of the track system, said subset comprising two or more grid cells of the track system. Each grid cell of the supporting framework structure thus functions as a storage column for storing two or more stacks of storage containers. This allows a robotic handling device operable on the track system to position itself above a grid cell of the track system and retrieve or lower a storage container from a stack stored within the storage column of the supporting framework structure.

[0044] Optionally, one or more of the plurality of prefabricated modular panels comprises a prefabricated braced frame, the prefabricated braced frame comprising a plurality of parallel uprights extending in a common vertical plane and connected together by one or more braced members in the common vertical plane of the plurality of parallel uprights. Each of the prefabricated braced frames can be envisioned as a panel frame, such that a support framework structure is formed from an assembly of panel frames. The braced panel frames, when assembled together in a three-dimensional grid array, form a stable three-dimensional grid framework structure. The structural integrity of the three-dimensional support framework structure allows one or more crash barriers to be installed directly on the support framework structure, rather than on a separate support structure. Optionally, at least one of the plurality of prefabricated modular panels can comprise at least one of the insulated solid wall panels, since the insulated solid wall panels can be load-bearing, e.g., can comprise structural insulated panels.

[0045] Optionally, the grid framework structure further comprises a track support structure in a horizontal plane and supported by the supporting framework structure, said track support structure comprising a first set of parallel track support members extending in a first direction and a second set of parallel track support members extending in a second direction, the second direction being substantially perpendicular to the first direction such that the first and second sets of parallel track support members are arranged in a grid pattern comprising a plurality of grid cells or grid spaces. The track system is mounted to the track support structure such that grid cells of the track system correspond to grid cells of the track support structure.

[0046] In addition to prefabricating the support framework structure from a plurality of modular panels to facilitate easy transport and assembly of the support framework structure, the track support structure may also be modularized to allow the track support structure to be flat-packed to facilitate easy transport and assembly. Optionally, the track support structure comprises a plurality of prefabricated modular sub-track support structures assembled together to form the track support structure, each of the plurality of prefabricated modular sub-track support structures comprising two or more grid cells. Preferably, each of the prefabricated modular sub-track support structures comprises a portion of a first set of track support members extending in a first direction and a portion of a second set of track support members extending in a second direction.

[0047] Typically, multiple rail or track sections are required to build a track or rail. The more rail or track sections required to build a track, the more complicated the assembly of the track system becomes. In many cases, there is a two-to-one relationship between the number of rail or track sections or segments at each node or intersection of the track support members in the track support structure, in the sense that more than one rail or track section is connected together at each node of the track support structure. For example, in WO2018 / 146304 (Autostore Technology AS), when making an intersection between a first set of rails or tracks and a second set of rails or tracks, the second set of rails or tracks all comprise recesses in which the first set of rails or tracks can be placed.

[0048] In addition, multiple different sized track or rail sections are connected together in a track system to provide multiple rectangular or square grid cells. For example, for each grid cell, there is a rail or track section that extends in one direction for a length and another track or rail section that extends in a second direction for a different length. The different lengths of the rail or track sections meet at nodes in the track system where they intersect. The need to have different lengths of the rail or track sections complicates the assembly of the track or rail sections in a grid pattern. This requires a track or rail that uses a small number of rail or track sections when assembling the track system.

[0049] Optionally, the track system comprises a plurality of interconnected modular track sections, each track section of the plurality of interconnected modular track sections comprising substantially vertical elements to provide a track surface extending in a first direction and a second direction. In other words, each of the plurality of track sections may be cross-shaped and have a first track section element extending in a first direction and a second track section element intersecting the first track section element and extending in a second direction. By having a track system in which each track section of the plurality of track sections is formed as a single body or unitary body to provide a transversely extending track surface or path, the number of track sections required to build a track is reduced compared to prior art track systems, thereby simplifying the layout of the track sections on the track support structure. For example, there may be a one-to-one relationship between each of the plurality of track sections and each single node in the track support structure in the sense that only a single track section is required at each node of the track support structure. A "node" in the track support structure is a point where a first and second set of parallel track support members intersect in a grid pattern. In prior art track systems, there is a two-to-one relationship between the number of track sections and a single node in the track support structure in the sense that they have one track section extending in a first direction and another separate track section extending in a second direction.

[0050] Ideally, the surface of a track system mounted on a grid structure is continuous and substantially smooth to prevent undesirable heave impacts on the wheels of load handling devices moving on the track system. It is believed that the areas of the track system most prone to this heave of the wheels of the load handling devices are where track sections meet at nodes in the track system. This is the area of ​​the track system where track support members cross or join.

[0051] Typically in the art, to ensure that the track system is level and to compensate for uneven floors, the level of a track support structure mounted to a vertical upright is adjusted by having an adjustable leveling foot at the base or bottom end of the vertical upright with a threaded shaft that can be extended or retracted relative to the base of the vertical upright. The need to adjust the level of the track support structure can be due, in part, to vertical displacement of the interconnected track support members when they intersect at the top ends of the vertical uprights, i.e., at the nodes of the track support structure.

[0052] In prior art track systems, when one or more track sections mounted on track support members meet at a node of the track system, such vertical displacement of the underlying track support member at the node creates an undesirable edge or step that is transmitted to the track section mounted thereon, which is then prone to being struck by the wheels of a load handling device as it moves on the track.

[0053] The problem of misalignment of track support members at the joints where they meet at the nodes can be exacerbated when the supporting framework structure is assembled from a plurality of prefabricated braced frames as defined in the present invention. Because the plurality of prefabricated braced frames are assembled together by connecting one of the uprights of the prefabricated braced frames with one of the uprights of the adjacent prefabricated braced frames, the joints where the uprights of adjacent prefabricated braced frames join or meet are susceptible to misalignment. This can result in misalignment of the joints or connections between adjacent prefabricated modular subgrid structures on the supporting framework structure, leaving a physical step or bump that is transferred to the overlying track system.

[0054] Applicant has recognized that by devising a track section element that covers the areas of the track support structure that are most susceptible to this variation in the height displacement of the track support members, i.e., the nodes of the track support structure, the impact of the up and down swing of the wheels of the load handling device as it moves on the track / grid structure is reduced. In other words, the track section of the present invention hides any imperfections or edges of the underlying track support members that occur primarily at the nodes where the track support members cross or meet together, and transfers the joints where adjacent track sections meet to areas of the track support structure that are less susceptible to such height variations. Areas of the track support structure that are less susceptible to such height variations as a result of adjacent track support members are along the length of the track support members, and more specifically, are between or in between adjacent or neighboring nodes of the track support structure. Preferably, a plurality of track sections are assembled into the track system such that adjacent modular track sections in the track system cross between areas of the track support structure where the first and second sets of track support members cross or meet in a grid pattern.

[0055] To further mitigate the bobbing of the wheels of the robotic load handling device, preferably the track sections are connected by joints with tapered edges. For the purposes of the present invention, the term "joint" is broadly interpreted to mean the abutting ends of adjacent track sections. The ends where adjacent track sections meet are cut or formed so that they are mitered together. Preferably the track sections are connected by joints with tapered edges. Before the wheels of the load handling device roll completely over the edge of the track section element, a part of the wheel is already in contact with the mitered edge of the track section element of the adjacent track section. This provides a gradual transition of the track joint, preventing a larger part of the wheel from hitting the edge of the joint, further mitigating the impact of this bobbing and reducing any noise and vibration of the wheels of the load handling device compared to a joint cut at a right angle to the direction of movement of the load handling device on the track. Optionally, each of the plurality of interconnected modular track sections is formed from a plastic material. The use of plastic materials to make the track sections allows the track sections to be made to tighter tolerances than can be achieved by extrusion alone. The use of plastic materials to make the track sections of the present invention allows the track sections to be injection molded. Unlike extrusion, injection molding allows parts to be formed to very tight tolerances, eliminating or reducing the need to perform excessive machining on the finished part. Additionally, injection molding allows one or more features to be built into the track with precise or intricate detail, which is essential for guiding the wheels of a load handling device on the track without the possibility of derailment.

[0056] To prevent the gripping device of the robotic load handling device and any storage containers attached thereto from swinging when lifted through the grid cells of the track system, the grid framework structure further comprises a number of guides extending vertically between the grid structure and the floor. The guides are arranged in a pattern to accommodate the storage containers in a stack between the guides and to guide the storage containers through the grid cells. Unlike the vertical uprights of prefabricated modular panels, which are mostly load-bearing, the guides are intended to guide the gripping device and / or storage containers through the grid cells of the track system. Removing the load-bearing function of the guides allows the guides to provide some resiliency when guiding the storage containers through the grid cells of the track system. Conventionally, the vertical uprights have a load-bearing function to support the track system and to guide the storage containers through the grid cells. However, due to the different lengths of the lifting tethers that suspend the gripping device from the body of the robotic load handling device, if the storage container is not properly oriented when it is lifted, in the sense that one or more corners of the storage container are dropped, there is a risk that the storage container may get stuck or become stuck between the vertical uprights due to the stiffness of the vertical uprights that support the track system. By removing this load-bearing capacity, the guides can be made more flexible and can provide some elasticity to provide some resilience if the storage container gets stuck in the guides. This elasticity allows the guides to deflect to accommodate any improper orientation of the storage container as it is raised and lowered through the grid framework structure. The elasticity of the guides is such that they are stiff enough to properly guide the storage container through the grid cells, but not too stiff to provide some resilience to prevent the storage container from getting stuck or stuck between the guides.

[0057] Preferably, each guide of the plurality of guides comprises two vertical container guide plates extending between the grid structure and the floor for accommodating corners of the storage container, the two vertical container guide plates being configured to accommodate the corner sections of the gripping device and / or storage container, such that four guides would be required to accommodate the four corner sections of a standard storage container, which is generally rectilinear in shape.

[0058] To provide a lightweight and high strength metal guide, optionally at least a portion of the two vertical container guide plates are textured by continuously cold rolling a pattern into the two vertical plates. Incorporating a texture pattern into the guide improves the structural integrity of the guide. One example of a lightweight steel formed by a cold rolling process is ultraSTEEL® from Hadley Group, UK. Optionally, the texture comprises indentations or serrations. To reduce friction between the gripping device of the robotic load handling device and / or storage container and the surface of the guide, optionally each guide of the plurality of guides comprises a running surface for engaging with the gripping device of the robotic load handling device, the running surface being substantially smooth. The use of textured cold rolled steel is not limited to guides, but can be used to make any part of the support framework structure. For example, prefabricated modular panels can be made from a cold roll forming process, for example, using ultraSTEEL®.

[0059] Optionally, the plurality of guides comprises four guides, the four guides being symmetrically positioned about a center point defined by the four guides such that the four guides are positioned to guide corners of four adjacent storage containers. The center point may be a cap plate used to secure the plurality of guides together such that the plurality of guides may be positioned about the cap plate.

[0060] Although it is not necessary to engage or accommodate all four corners of a storage container along the guides as the container is lifted by the lifting mechanism of the load handling device towards the grid structure, in another embodiment of the invention, the guides are arranged to guide one or more containers in a stack only along a pair of diagonally opposed corners of the one or more containers. This provides a level of lateral stability in the X and Y directions to the gripping device and / or storage container as the storage container is lifted along the diagonally opposed guides. By guiding the gripping device and / or the storage container attached thereto only by the diagonally opposed guides, the number of guides required to guide the gripping device and / or the storage container attached thereto is reduced. In practice, the guides can be arranged at alternating nodes in a first direction (e.g., x direction) and a second direction (e.g., y direction) such that one or more containers are stacked between two guides only at the diagonally opposed corners of the storage container.

[0061] In a further aspect of the invention, the enclosure comprises a plurality of enclosures for enclosing respective portions of the multi-temperature storage system, each enclosure of the plurality of enclosures comprising: i) respective openings for allowing a robotic load handling device to enter and exit the respective enclosures; ii) respective temperature control systems comprising respective inlets for drawing fluid from the respective enclosures, respective temperature control units for cooling the fluid to a temperature controlled fluid, and respective exhausts for providing the temperature controlled fluid into the respective enclosures such that the respective enclosures have a lower temperature than the temperature outside the respective enclosures; iii) at least one respective air curtain unit disposed above the track system, where the at least one respective air curtain unit is configured to recirculate temperature-controlled fluid from the respective enclosure to provide a respective air curtain over an opening of the respective enclosure to substantially contain the temperature-controlled fluid within the respective enclosure and to allow a robotic load handling device to enter and exit the respective enclosure on the track system; It is designed to be equipped with the following:

[0062] By enclosing different parts of the storage system with multiple enclosures, each of the multiple enclosures having its own dedicated temperature control system, e.g., chiller system or heating system, such that the multiple enclosures share a common track system, the storage system according to the present invention is capable of storing items that are sensitive to different temperatures, e.g., refrigerated and / or frozen items and / or heated items. For example, a first enclosure can be configured to store items at refrigerated temperatures and a second enclosure can be configured to store items at freezing temperatures. An air curtain in each of the multiple enclosures provides invisible insulation to allow one or more robotic load handling devices to enter and exit the respective enclosure. Depending on the items required to fulfill one or more customer orders, one or more robotic load handling devices operable on the track system can visit one or more of the multiple enclosures to retrieve one or more storage containers from their respective enclosures and deliver the one or more storage containers to an inventory handling station. Because multiple enclosures share a common inventory handling station, a greater percentage of customer orders comprising different temperature sensitive items can be fulfilled by a single storage system. A storage system can include multiple inventory handling stations to fulfill multiple customer orders.

[0063] Optionally, the enclosure may have two or more openings to allow a robotic load handling device to enter the enclosure at one end of the enclosure and exit the enclosure through another end of the enclosure configured, for example, as a tunnel. Each of the two or more openings in the enclosure may have its own dedicated air curtain to provide an invisible insulating barrier to contain the temperature controlled fluid within the enclosure.

[0064] Further features and aspects of the present invention will become apparent from the following detailed description of illustrative embodiments which proceeds with reference to the drawings. [Brief description of the drawings]

[0065] [Figure 1] FIG. 1 is a schematic diagram of a grid framework structure according to a known system. [Diagram 2] 2 is a schematic diagram of a top view showing a stack of containers arranged within the supporting framework structure of FIG. 1. [Diagram 3] FIG. 1 is a schematic diagram of a known storage system for load handling devices operating on a grid framework structure. [Figure 4] FIG. 2 is a schematic perspective view of a load handling device showing a lifting device gripping a container from above. [Diagram 5] 5 is a schematic perspective cutaway view of the load handling device of FIG. 4 showing (a) a container accommodated within a container receiving space of the load handling device and (b) the container receiving space of the load handling device; [Figure 6] FIG. 1 is a schematic perspective view of a multi-temperature storage system according to the present invention. [Figure 7] 1 is a flow chart illustrating fluid flow in a storage system. [Figure 8] FIG. 2 is a perspective cross-sectional view of an enclosure of a multi-temperature storage system. [Figure 9]FIG. 1 is a schematic diagram of a load handling device passing through an air curtain. [Figure 10] FIG. 2 is a schematic diagram of an air curtain unit. [Figure 11] FIG. 1 is a perspective view of a support framework structure according to the present invention. [Figure 12] FIG. 2 is a perspective view of covering at least one exterior wall of a supporting framework structure according to the present invention. [Figure 13] FIG. 13 is a perspective view showing each of the grid cells of the supporting framework structure and a top view of the grid cells of the nested track system. [Figure 14] FIG. 11 is a perspective view showing the installation of track sections to grid members or track supports of a grid structure according to the present invention; [Figure 15] FIG. 1 is a side view of an enclosure of a multi-temperature storage system having a platform and a pick station. [Figure 16] FIG. 1 is a perspective view of an enclosure of a multi-temperature storage system having a platform and a pick station. [Figure 17] FIG. 13 is a plan view of a guide having a container guide plate incorporating a textured pattern. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0066] The present invention is devised against known features of storage systems such as the grid framework structure and load handling devices described above with reference to Figures 1-5. Figure 6 illustrates a multi-temperature storage system 1 according to an embodiment of the present invention. The multi-temperature storage system 1 comprises a grid framework structure 14 comprising a track system 4 comprising a first set of tracks 22a extending in a first direction and a second set of tracks 22b extending in a second direction. The tracks 22a, 22b of the track system are arranged in a grid pattern comprising a plurality of grid cells 17. The track system 4 is supported on top of a supporting framework structure 3. The supporting framework structure 3 creates a storage space beneath the track system 4 comprising a plurality of storage columns 5. Each storage column 5 is configured to store a stack of storage containers (not shown).

[0067] In a particular embodiment of the invention shown in FIG. 6, the support framework structure comprises a plurality of prefabricated modular panels arranged in a grid pattern, the details of which are described briefly below and fully in PCT application WO2022034195A1 in the name of Ocado Innovation Ltd and incorporated herein by reference. This grid framework structure described in WO2022034195A1 addresses the problem of time and cost to assemble by providing a support framework structure comprising a plurality of prefabricated modular panels arranged in a three-dimensional grid pattern to define a plurality of grid cells. Each of the grid cells of the support framework structure is sized to support two or more grid cells of the grid structure. The grid framework structure is formed from fewer structural components while maintaining the same structural integrity as the typical "stick-built" grid framework structure described above, and is much faster and cheaper to build.

[0068] 11 is an example of a track support structure 2 and a supporting framework structure 3 for supporting a track system 4. The supporting framework structure 3 is fabricated from an assembly of prefabricated modular panels 60 to create one or more storage spaces 61. Each of the one or more storage spaces 61 is sized to store multiple stacks 12 (not shown) of storage containers 10, commonly known as storage bins.

[0069] Prefabrication of modular panels involves assembling and fastening together separate components of the supporting framework structure 3 prior to erecting the supporting framework structure 3. There are a number of ways this can be accomplished. In one example, prefabrication of modular panels can be achieved through additive manufacturing, e.g., 3D printing. The 3D printed modular panels can then be assembled into the supporting framework structure. In some examples, prefabrication of modular panels involves prefabricating subgroups of uprights together to form a prefabricated braced frame that facilitates ease of assembly of the supporting framework structure. Further details of the assembly of the prefabricated braced frame are discussed below.

[0070] The same prefabrication principles can be applied to the grid framework structure 14 and the track system for guiding the robotic load handling device 30 on the grid framework structure 14. A variety of lightweight materials can be used for prefabrication of the modular panels. These include, but are not limited to, metal, plastic, or fiber-reinforced composite materials. One of the important features of the prefabricated modular panels is that fewer components are required to assemble the supporting framework structure, and the prefabricated modular panels can be flat-packed to facilitate ease of transportation. Another important feature of the prefabricated modular panels that make up the supporting framework structure is that the prefabricated modular panels are planar, in the sense that each of the prefabricated modular panels lies in its respective plane. The planar configuration of the prefabricated modular panels allows multiple prefabricated modular panels to be arranged in a grid pattern with multiple grid cells or grid spaces. For example, the plurality of prefabricated modular panels may include a first set of parallel prefabricated modular panels extending in a first direction and a second set of parallel prefabricated modular panels extending in a second direction, the second direction being substantially perpendicular to the first direction.

[0071] In the example illustrated in FIG. 11, the prefabricated modular panels 60 forming the supporting framework structure 3 are each configured as a prefabricated braced frame or panel comprising a plurality of uprights braced together by one or more bracing members extending between the uprights. Not all of the prefabricated modular panels in the supporting framework structure are prefabricated braced frames as illustrated in FIG. 11, and the prefabricated modular panels may be a combination of one or more of the prefabricated braced frames and one or more of another type of prefabricated modular panels, for example 3D printed panels. However, in the particular embodiment of the invention illustrated in FIG. 11, each of the prefabricated modular panels 60 is a prefabricated braced frame comprising a plurality of uprights braced together by one or more bracing members. The bracing allows subgroups of uprights to be assembled together prior to being assembled into the supporting framework structure.

[0072] To allow the prefabricated braced frames to be flat-packed for ease of transportation, the uprights of each of the prefabricated braced frames extend in a common plane and are secured together by one or more bracing members. The one or more bracing members connecting the uprights are in the same plane as the uprights, so that each of the prefabricated braced frames is planar. Each upright of the uprights may be an I- or H-shaped solid support beam with opposing beam flanges to allow the uprights to be braced together by one or more bracing members.

[0073] A plurality of prefabricated braced frames in the supporting framework structure 3 are arranged in a grid pattern comprising a plurality of grid cells 63 as best seen in Figures 11 and 12, such that the grid cells 63 of the supporting framework structure act as storage columns for storing one or more stacks of storage containers or vessels. In order to reduce the number of components of the supporting framework structure and hence increase the speed at which the supporting framework structure can be erected, the grid cells 63 of the supporting framework structure are sized to support a plurality of grid cells 17 of the grid 15. In other words, the ratio of the number of grid cells 17 of the grid 15 per grid cell 63 of the supporting framework structure 3 is X:1, where X is any integer greater than 1, i.e., each of the grid cells 63 of the supporting framework structure 3 is sized to support a subset of the plurality of grid cells 17 of the grid 15, the subset comprising two or more grid cells 17 of the grid 15.

[0074] FIG. 12 is a perspective view of a grid framework structure 14 comprising the support structure 3 of FIG.

[0075] In the example shown in Figure 12 and the top view of the grid framework structure in Figure 13, the plurality of grid cells 63 of the supporting framework structure 3 are decomposed such that there are 12 grid cells 17 of the grid 15 for each grid cell 63 of the supporting framework structure 3. Thus, each of the grid cells 63 of the supporting framework structure 3 provides a storage space for storing 12 stacks of storage containers. The plurality of grid cells 63 of the supporting framework structure 3 shown in Figures 12 and 13 create a plurality of storage spaces for storing a plurality of stacks of storage containers within each of the storage spaces of the supporting framework structure.

[0076] The support framework structure 3 shown in Figures 11, 12, and 13 is not limited to prefabricated braced frames, but may be applied to any prefabricated modular panels, including but not limited to 3D printed prefabricated modular panels, i.e., the first and second subsets of prefabricated modular panels are arranged such that the first and second subsets of prefabricated modular panels in the first and second directions are offset by at least one grid cell.

[0077] The support framework structure is not limited to the support framework structures discussed in WO2022034195A1, but can include other types of support grid framework structures. For example, the support framework structure can be a "stick-built" design with upright members 16 supporting horizontal grid members 18, 20, as described above.

[0078] The movement of the robotic load handling device 30 is guided on the supporting framework structure by a track system 4 .

[0079] To provide an uninterrupted track surface on the grid structure, the track system 4 comprises a plurality of interconnected modular track sections 65, each track section 65 of the plurality of track sections being formed as a single unitary body. Adjacent track sections are arranged to meet between the nodes 42 of the grid 15, i.e., at points 43 between the intersections of the tracks (see FIG. 14). The unitary formation allows for a one-to-one relationship to exist between each track section 65 and each of the nodes 42 of the grid structure, in the sense that only a single track section occupies a single node of the grid structure, rather than at least two track sections as found in the prior art grid structures described above. In the particular embodiment shown in FIG. 14, each track section 65 has a connecting portion or element 66 that extends towards the underlying (grid member) track supports 18, 20 to provide a track surface extending in a first direction and a second direction, i.e., each track section 65 is cross-shaped with a connecting portion or element 154 extending in a transverse direction. For purposes of the present description, the connectors or track section elements 66 may be referred to as “branches” that extend transversely from the nodes 42 .

[0080] A plurality of track sections 65 are mounted to an underlying grid structure or track supports 18, 20 to provide a continuous, uninterrupted track surface between adjacent track sections for one or more load handling devices to travel on the grid structure 15. The distal ends 45 of the connecting portions or elements (branches) 66 of adjacent track sections meet substantially midway or at midpoints between adjacent nodes 42 of the grid structure 15, i.e., meet or join at midpoints between adjacent track intersections. This has the advantage of reducing the number of differently shaped track sections required to assemble track for a substantial portion of the grid structure, i.e., eliminating the "jigsaw" effect where track sections have specific locations in the track, thereby reducing the time to assemble track on the grid structure. In addition, fewer tool designs are required to mold the track sections of the present invention compared to prior art tracks, so tooling costs for manufacturing the track sections will be significantly reduced.

[0081] As explained above, the storage containers 10 are guided by the vertical uprights 16 of the grid framework structure when lifted by the gripping device 39. The vertical uprights 16 are arranged in a grid pattern to provide a plurality of storage columns 5 for the storage containers 10 to be stored in the stacks 12. Conventionally, the vertical uprights 16 have structural load-bearing components and guide the storage containers 10 through the grid cells 17. Since the load-bearing capacity of the support framework structure 3 is mostly transferred to the prefabricated modular panels 60, which are mostly prefabricated braced frames, the storage system 1 may include guides 8 that extend substantially vertically between the track system 4 and the floor. Because of this, the guides 8 are not required to be load-bearing as in the stick-built support framework structure 3. Thus, thinner flexible uprights can be used as guides since they are not required to be load-bearing.

[0082] The flexible guides 8 allow for misalignment of the storage containers 10 as they are raised and lowered in the storage column 5. With rigid guides 8, if the storage containers 10 are misaligned as they are raised and lowered (e.g., if the cables 38 lowering the gripping devices 39 have different lengths, or if one of the cables extends further than the other cables so that the storage containers 10 are not level), the storage containers can easily get stuck between the guides 8. With flexible guides 8, the guides have some elasticity and can therefore deflect to allow for misalignment of the storage containers 10 without getting stuck. Thus, the likelihood of the storage containers 10 getting stuck due to being misaligned in their storage column 5 is reduced. The guides 8 are arranged in a grid pattern at some or all of the corners of the storage column 5. The stacks 12 of storage containers 10 in the storage column 5 are thus arranged between the guides 8. The guides 8 are for guiding the storage container 10 as it is lifted from its position in the stack, upward through the grid cells 17, and into the container receiving space 41 of the load handling device 30. Similarly, the guides guide the storage container 10 as it is lowered from the container receiving space 41 of the load handling device 30, through the grid cells 17, to its position in the stack 12.

[0083] In some examples, the guide 8 includes two vertical container guide plates 90 extending between the track system 4 and the floor for accommodating corners of the storage container 10. The container guide plates 90 engage the corners of the storage container 10 and help to guide the storage container 10 vertically as it is being raised and lowered by the load handling device 30.

[0084] FIG. 17 illustrates a guide 8 in which a portion of the container guide plate 90 is formed of steel with a pattern or texture formed by continuous cold rolling of the steel. The application of the pattern hardens the material and improves the material properties. An example of such a material is ultraSTEEL®. The use of this material helps to improve the material properties of the guide 8, for example increasing the modulus or stiffness of the guide 8, so that less material can be used, thus saving weight and cost. The pattern or texture can be any suitable pattern or texture, for example a regular pattern of dimples or jagged edges. The effect of the pattern or texture is to reduce the thickness of material required to achieve the required structural strength, thus reducing the use of material. This increases the stiffness and bending resistance of the guide without increasing the mass of the material used.

[0085] If the entire surface of the guide 8 were formed from ultraSTEEL® or another textured material, any portion of the pattern protruding from the surface could impede the smooth running of the storage containers 10 along the guide 8. To solve this problem, in some cases, a vertical container guide plate is provided with a substantially smooth running surface 91 for engaging the storage containers 10 and / or gripping devices 39, and an outer surface 92 formed from a textured or patterned material. Thus, the portions 91 of the container guide plate in direct contact with the storage containers 10 and / or gripping devices 39 are substantially smooth and do not impede the movement of the storage containers 10 and / or gripping devices 39 up and down the guide 8, while the portions 92 of the container guide plate not in direct contact with the storage containers 10 and / or gripping devices 39 are textured or patterned, from which the guide 8 benefits from increased strength.

[0086] 17, the guide 8 comprises four pairs of container guide plates 90. The container guide plates 90 are attached to one or more frames 93 that hold the four pairs of container guide plates 90 together to form the guide 8. The guide 8 can thus guide four storage containers 10 at each of the four corners of the guide 8, with each storage container 10 guided by one of the four pairs of container guide plates 90.

[0087] The gripping device 39 may be provided with corner members 94 that reinforce the corners (vertical edges) of the gripping device and stand up from the gripping device to ensure a smooth run of the gripping device up and down the guide 8. In the particular example illustrated in FIG. 17, the corner members 94 contact the smooth running surface 91 of the guide 8 and ensure that the guide 8 does not contact the body of the gripping device 39 itself, but only the corner members 94. A robotic load handling device 30 operable on the track system 4 is capable of lifting one or more containers 10 from a stack 12 in the storage column 5 through the grid cells 17. To store items and goods at different temperatures, a portion of the storage system 1 is housed within an enclosure 6. The enclosure 6 provides a volume within the enclosure 6 that can be temperature controlled.

[0088] The temperature within the enclosure 6 is controlled by a temperature control system 50, which includes a temperature control unit 52. The temperature within the enclosure 6 may be controlled to be higher or lower than the temperature outside the enclosure 6. In some examples, the temperature control system 50 is a heating system and the temperature control unit 52 is a heating unit and the temperature within the enclosure 6 may be controlled to be higher than the temperature outside the enclosure 6. In other examples, the temperature control system 50 is a chiller system and the temperature control unit 52 is a chiller unit and the temperature within the enclosure 6 may be controlled to be lower than the temperature outside the enclosure 6.

[0089] For example, the enclosure 6 may be heated by a heating system 50. The heating system 50 comprises an air inlet 51 for drawing air from the enclosure 6, a heating unit 52 for heating the air, and an exhaust 53 for discharging the heated air back into the enclosure 6. The heated air is circulated within the enclosure 6 and heated each cycle through the heating unit 52, so that a constant (warmer) temperature within the enclosure 6 is maintained.

[0090] For example, if the storage system is used to grow plants or other organisms, it may be necessary to heat a section of the storage system 1 inside the enclosure 6. Different plants or organisms with the same storage system 1 may have different requirements for different growing conditions. The use of a multi-temperature storage system allows different parts of the storage system to provide different environmental conditions. For example, plants or other organisms that require higher temperatures for growth can be stored inside the enclosure 6 heated to a higher temperature, and plants or other organisms that require lower temperatures for growth can be stored outside the enclosure 6 at ambient temperatures.

[0091] In another example, the enclosure 6 may be cooled by a chiller system 50. The chiller system 50 includes an air inlet 51 for drawing air from the enclosure 6, a chiller unit 52 for cooling the air, and an exhaust 53 for discharging the cool air back into the enclosure 6. The cool air is circulated within the enclosure 6 and cooled with each cycle through the chiller unit 52, thus maintaining a constant (cooler) temperature within the enclosure 6.

[0092] 7 is a flow chart that illustrates, in a schematic manner, the flow of air through the enclosure 6. Air within the enclosure 6 is circulated, with air being drawn from within the body of the enclosure 6 into an air inlet 51 and then directed into a temperature control unit 52. The air is then heated or cooled by the temperature control unit 52 and then discharged back into the enclosure 6 via an exhaust 53. Ducting or piping 58 carries the heated or cooled air from the temperature control unit to the exhaust. One or more fans 59 (not shown) are used to draw air through the temperature control unit 52 via the air inlet 51 and push the heated or cooled air along the ducting 58 to the exhaust 53.

[0093] The following description refers to an embodiment in which temperature control system 50 is a chiller system and temperature control unit 52 is a chiller unit, and the temperature inside enclosure 6 is controlled to a refrigerated temperature that is lower than the temperature outside enclosure 6. This example is not intended to be limiting, and in other examples, the temperature inside enclosure 6 may be higher than the temperature outside enclosure 6.

[0094] In the particular embodiment shown in FIG. 8, one or more ducts 58 extend through the interior space of the enclosure 6 via apertures in the enclosure 6. To circulate the refrigerated air in the enclosure 6, the exhaust vent 53 can include one or more diffusers 67 that serve to diffuse the refrigerated air in the enclosure 6. The exhaust vent 53 shown in FIG. 8 is positioned above a portion of the grid framework structure 14 housed within the enclosure 6 such that the refrigerated air enters the grid framework structure 14 from above, permeates through the multiple storage containers 10 stored in a stack 12 in the grid framework structure 14, and refrigerates the contents of the storage containers 10. The air is then drawn through the inlet 51 toward the bottom or base of the enclosure 6 below the track system 4, and returns through the chiller unit 52 such that the refrigerated air flows from the inlet 51 to the exhaust vent 53 in a continuous cycle as the air maintains the temperature in the enclosure 6 at a controlled temperature, i.e., refrigerated temperature (4° C.-8° C.). Although this particular embodiment is described with respect to chilled air, other temperature controlled fluids (heated or chilled) are also applicable to the present invention.

[0095] The intake 51 and exhaust 53 of the chiller system 50 are positioned so that air flows in a downward direction within the enclosure 6, although the reverse is also possible, where the exhaust 53 faces toward the bottom of the enclosure 6 below the track system 4 and the intake 51 faces toward the top of the enclosure 6 above the track system 4, so that refrigerated air flows from the bottom of the enclosure 6 and moves in an upward direction toward the intake 51 above the track system 4.

[0096] Although the specific examples describe the temperature within the enclosure being controlled to provide storage for refrigerated goods, i.e., 4°C to 8°C, the invention is not limited to storage of refrigerated goods within the enclosure, but may be other temperature control ranges, for example, the freezer temperature range (-18°C to -22°C) or even higher than ambient temperatures. The important point here is that the enclosure 6 provides a temperature controlled environment for storage of temperature sensitive items or goods.

[0097] The enclosure 6 is cooled such that the temperature inside the enclosure 6 is lower than the temperature outside the enclosure 6. The temperature outside the enclosure 6 may be at room temperature or even lower than the temperature inside the enclosure 6. The enclosure 6 is insulated to reduce the transfer of heat through the walls of the enclosure 6 such that the temperature inside the enclosure 6 is different from the temperature outside the enclosure 6. The insulation may include various physical insulation boards including, but not limited to, insulation boards, thermal blankets, and the like. The insulation extends from below the track system 4 to an area above the track system 4 to allow one or more robotic load handling devices 30 operable on the track system 4 to move on the tracks 22 within the enclosure 6. Further details of the types of insulation used to insulate the enclosure 6 according to embodiments of the invention are discussed below.

[0098] To allow one or more robotic load handling devices 30 to enter and exit the enclosure 6 on the track system 4, the enclosure 6 includes an opening 7 above the track system 4 such that the track system 4 extends continuously through the opening 7. To limit or prevent refrigerated air in the enclosure 6 from escaping through the opening 7 of the enclosure 6 and / or heat from entering the enclosure 6 through the opening 7, the opening 7 includes an air curtain 55 across the opening 7 to contain the cooled air inside the enclosure 6 while allowing the load handling devices 30 to enter and exit the enclosure 6 through the air curtain 55. The air curtain 55 is generated by one or more air curtain units 54, which draw air from within the enclosure 6 and emit a constant flow of air that moves downwardly from the air curtain unit 54 to the track system 4.

[0099] An air curtain (also known as an air door or invisible door) is a controlled flow of air across an opening that creates an air seal that separates different environments while allowing uninterrupted traffic flow and unobstructed visibility through the opening.

[0100] The operation of the air curtain unit 54 is described below. Upon power-up, air is introduced into the air curtain unit 54 through the intake 56. The air is then accelerated by the fan. This fast moving air is directed into a plenum, which allows for an even distribution of the air along the length of the elongated discharge nozzle 57. Airfoil-shaped vanes or baffles 68 in the nozzle 57 create an even airflow with minimal turbulence. The air discharged through the nozzle 57 creates a jet toward the floor.

[0101] The air curtain 55 across the opening 7 can be envisioned as an invisible insulating barrier between the inside and outside of the enclosure 6. Since the temperature of the air curtain 55 is determined by the temperature of the air inside the enclosure 6, it is important that the air flow from the air curtain unit 54 does not strike any part of the grid framework structure 14 outside the enclosure 6 as this could damage the goods or items stored in the storage container 10 outside the enclosure 6. To redirect the air flow from the air curtain 55 towards the enclosure 6, the wing vanes or baffles 68 can be oriented such that the jet of air from the air curtain unit 54 flows towards the inside of the enclosure 6. As a result, the air curtain 55 assumes an orientation that is inclined downward from the air curtain unit 54 towards the inside of the enclosure 6. The air curtain unit 54 has an intake 56 extending into the enclosure 6 so that refrigerated air from inside the enclosure 6 is recirculated through the air curtain unit 54 and back into the enclosure 6, and an exhaust outlet adjacent to the opening 7 of the enclosure 6.

[0102] FIG. 9 illustrates the load handling device 30 passing through the air curtain 55 generated by the air curtain unit 54. The load handling device can pass directly through the air curtain 55 without any obstruction or any need to change course or reduce the speed of the load handling device 30, so that the load handling device 30 can quickly and efficiently enter and exit the enclosure 6 along the track system 4 through the air curtain 55. In the process of passing through the air curtain 55, the air flow is blocked by the load handling device 30. The air curtain effectively forms a seal around the load handling device 30 while it passes through the curtain 55. FIG. 10 illustrates the air curtain unit 54 with an air intake 56 and an elongated nozzle 57 that generates the air curtain 55.

[0103] The number of robotic load handling devices 30 that can simultaneously move through the enclosure 6, and therefore the efficiency with which multiple storage containers 10 can be removed from an area within the enclosure 6, depends highly on the size and / or width of the opening 7 in the enclosure 6. For example, the opening 7 may extend across multiple grid cells 17, allowing multiple robotic load handling devices 30 operable on the track system 4 to remove multiple storage containers 10 stored in the enclosure 6.

[0104] 8, the opening 7 extends across the width of the track system 4, allowing multiple robotic load handling devices 30 to move between the inside and outside of the enclosure 6. To provide an air curtain 55 that extends across multiple grid cells 17, the air curtain 55 is provided by multiple air curtain units 54 arranged side-by-side, each of the multiple air curtain units 54 providing at least a portion of the air curtain 55 that extends across the opening 7 of the enclosure 6. Preferably, edges of adjacent curtains overlap to provide a continuous air curtain 55 that extends across the opening 7 of the enclosure 6. Enclosures and Insulation

[0105] 8 illustrates the inside of the enclosure 6. The portion of the multi-temperature storage system 1 inside the enclosure 6 is divided into a lower portion 70 below the track system 4 and an upper portion 71 above the track system 4. The load handling device 30 operates in the upper portion 71 on the track system 4. The lower portion 70 is occupied by a stack 12 of storage containers 10.

[0106] The track system 4 is supported by a supporting framework structure 3. The supporting framework structure 3 may be integral with the supporting framework structure 3 that supports the track system 4 on the outside of the enclosure 6 or alternatively, separate supporting framework structures 3 may be provided inside and outside the enclosure 6. The track system 4 extends through an opening 7 in the enclosure 6 and over the supporting framework structure(s) 3 both inside and outside the enclosure 6 such that the load handling device 30 can freely enter and exit the enclosure 6 on the track system 4, i.e. the track system 4 extends from inside the enclosure 6 to outside the enclosure 6.

[0107] The walls extend above the track system 4 to the roof to form an enclosure 6 having an opening 7 above the track system 4. A lower portion 70 of the enclosure 6 encloses a portion of the storage system, i.e., the plurality of storage columns 5 are surrounded by walls along all four sides of the lower portion 70 of the enclosure 6. The plurality of storage columns 5 surrounded by the enclosure 6 is a subset of the total number of storage columns in the grid framework structure. The walls surrounding the lower portion 70 extend upwardly above the track system 4 to enclose an upper portion 71 of the enclosure 6. The upper portion 71 of the enclosure 6 has an opening 7 on one side of the enclosure 6 for the load handling device 30 to enter and exit the enclosure 6.

[0108] The upper part 71 of the enclosure 6 is formed by the walls of the enclosure 6 that extend above the track system 4. The walls of the enclosure 6 extend from the floor of the building housing the storage system to the roof of the enclosure 6. One of the walls in the upper part 71 is absent to form an opening 7. In the illustrated example, one wall above the track system 4 is not present in its entirety, but in other examples, part of one wall may be absent, or more than one wall above the track system 4 may be absent in part or in its entirety. The walls forming the enclosure 6 completely surround a portion of the storage system 1, except for the opening 7, through which the load handling device 30 can freely enter and exit the enclosure 6 on the track system 4.

[0109] The enclosure 6 illustrated in Figure 8 is insulated. An air curtain 55 extends across the opening 7 of the enclosure 6 to maintain a temperature differential between the inside and outside of the enclosure 6.

[0110] One or more exterior walls of the supporting framework structure 3 in the lower portion 70 can be covered with an insulating solid wall panel 72 to encapsulate the interior space of the supporting framework structure 3. In some examples, the insulating solid wall panel 72 forms part of the enclosure 6. The insulating solid wall panel 72 provides a thermal barrier to prevent heat from escaping from the interior space of the supporting framework structure 3 in the lower portion 70 of the enclosure. When the contents of the storage container 10 are temperature sensitive, such as grocery items, the insulating solid wall panel 72 encapsulating the exterior wall of the supporting framework structure 3 has the advantage of reducing the transfer of heat between the interior and exterior of the lower portion 70 of the enclosure 6. For example, the interior space of the enclosure 6 can be a refrigerated zone operating within a temperature range of substantially 0° C. to substantially 5° C., or a freezer zone operating within a temperature range of substantially −25° C. to substantially 0° C., preferably substantially −21° C. to substantially −18° C.

[0111] To maintain a temperature differential between the inside and outside of the enclosure 6 , all four sides of the support structure 3 in the lower portion 70 of the enclosure may be covered with insulating solid wall panels 72 .

[0112] Additionally, the floor of the enclosure 6 may be insulated to reduce heat transfer between the enclosure 6 and the ground. Any suitable type of thermal barrier may be used, for example, insulated floor tiles, or insulated carpet, or insulated panels.

[0113] When the supporting framework structure 3 in the lower portion 70 of the enclosure 6 is formed from prefabricated modular panels 60, one or more of the insulated solid wall panels 72 may comprise a structural insulation panel. A structural insulation panel is both load-bearing and has insulating properties. A structural insulation panel may comprise an insulating core sandwiched between at least two layers of structural boards. Because the structural insulation panel is load-bearing, it may form part of the supporting structure 3, rather than a cladding on the outside that has no load-bearing function. This has the advantage of reducing the cost, complexity, and time required to build a storage system, since the structural insulation panel is one piece that serves two functions (providing structural support and insulation).

[0114] In the example illustrated in FIG. 8, the enclosure is substantially rectangular with two long sides and two short sides. However, the enclosure does not necessarily have to be substantially rectangular, and other shapes of the enclosure are entirely acceptable for the present invention. The lower part 70 of the enclosure comprises a support structure 3 formed from prefabricated modular panels 60 and structural insulation panels. All of the prefabricated modular panels 60 extend in the same direction (first direction) between the two long sides of the enclosure 6 and parallel to the two short sides of the enclosure 6. The majority of the structural insulation panels extend in a second direction that is perpendicular to the first direction and parallel to the long sides of the enclosure 6. The structural insulation panels form the two long sides of the enclosure 6, and the prefabricated modular panels 60 extend between the structural insulation panels along the two long sides of the enclosure 6. Additional structural insulation panels extend in the first direction to form the two short sides of the enclosure 6. From this, the structural insulation panels extend along all four sides of the enclosure 6, enclosing the space within the enclosure and helping to maintain the temperature differential between the inside and outside of the enclosure 6.

[0115] In the particular example illustrated in Figure 8, the chiller system intake 51 is located below the track system 4 in the lower portion 70 of the enclosure. The intake 51 extends from the enclosure 6 through the structural insulation panels into a chiller unit 52 located outside the enclosure 6. Refrigerated air from the chiller unit 52 is directed into the enclosure 6 via ducting 58. The ducting 58 comprises a substantially vertical portion located outside the enclosure and a substantially horizontal portion that extends through the insulation blanket into the enclosure 6.

[0116] An insulating cover 73 is provided on the top 71 of the enclosure. The insulating cover 73 may take any suitable form and may be made of any suitable insulating material. For example, the insulating cover may comprise an insulating solid panel or an insulating blanket. In the example illustrated in FIG. 8 , the insulating cover 73 in the top 71 of the enclosure 6 comprises a top wall 74 and four downwardly extending side walls 75 on four sides of the track system 4. The downwardly extending side walls on the sides of the top adjacent a portion of the storage system 1 outside the enclosure 6 comprise openings 7.

[0117] In some examples, the insulating cover 73 comprises an insulating blanket, which has the advantage of being flexible and easily adaptable to different sizes and shapes of storage systems without requiring custom design of an insulating cover for each individual storage system.

[0118] The insulation blanket can be attached to the roof of the building or to a separate structure by any suitable attachment means. For example, one or more struts can be mounted to the roof of the building. The struts can be unistruts, with one or more threaded holes into which one or more dropshafts can be screwed. A second unistrut is attached directly below, and the insulation blanket is clamped between the two struts. A diffuser 67 mounted to the ceiling can pass through one or more apertures in the insulation blanket to allow the diffuser 67 access to the inside of the enclosure 6 while providing a heat seal around the diffuser 67.

[0119] As an alternative or addition to the insulating cover 73 comprising one or more insulating blankets, the ducting 58 used to circulate refrigerated air from the chiller unit 52 may be insulated and form part of the insulating cover 73. To form the insulating ducting, insulation may be provided around the outside of the ducting 58. The insulating ducting may form part or all of the top wall 74 and / or the downwardly extending side wall 75 of the insulating cover 73. This configuration has the advantage of being easier to assemble and of reduced cost and complexity. The insulating ducting serves two functions: providing a path for recirculating fluid in the chiller system 50 and insulating the enclosure 6 to maintain a temperature difference between the inside and outside of the enclosure 6. In some examples, the insulating ducting may be used in combination with an insulating blanket to form the insulating cover 73.

[0120] To fulfill customer orders, Figs. 15 and 16 illustrate a multi-temperature storage system 1 having an inventory handling station 9 located below a track system 4. Storage containers are transported to and from the inventory handling station 9 by port columns 84. A port column 84 is a storage column 5 that is not used to store containers 10 and comprises a location where a load handling device 30 can drop off and / or pick up a storage container or container 10 from the inventory handling station 9. The port column 84 corresponds to a grid cell 17 where a storage container 10 is dropped off or picked up by a load handling device 30. Depending on whether the port is located to drop off or pick up storage containers 10, the grid column in which the port is located can be referred to as a "delivery column" located at a drop-off port and a "take-out column" located at a pick-up port.

[0121] Inventory handling station 9 is located below track system 4. To create space for inventory handling station 9, storage system 1 includes a support platform 81 elevated above ground level by a number of legs 82 so as to define an area 83 below support platform 81.

[0122] 15 and 16, this area 83 beneath the support platform 81 is used to house the inventory handling station 9. In other examples, a variety of other stations and service areas may be housed within the space 83. For example, the space 83 may house a charging station for charging rechargeable sources that power the load handling devices 30 on the track system 4, a service station for performing routine maintenance on the load handling devices 30, or other stations.

[0123] To increase the storage capacity of the grid framework structure 14, the storage system 1 further comprises a second supporting framework structure 80 mounted on top of and supported by the supporting platform 81. The supporting platform 81 may be supported by a number of purlins beneath the supporting platform 81 to increase the structural rigidity of the supporting platform 81 to support a number of storage containers 10 in a number of stacks 12 thereon. The second supporting framework structure 80 may be separate from the supporting framework structure 3 in the remainder of the storage system 1 or may be integrated into the same structure. The second supporting framework structure 80 may be a stick-built structure, or a modular structure comprising prefabricated modular panels 60 as described above, or any other suitable supporting structure. The second supporting framework structure 80, like the supporting framework structure 3, is used to store the stacks 12 of storage containers 10.

[0124] The track system 4 extends continuously across the supporting framework structure 3 and the second supporting framework structure 80. This allows the load handling device 30 to travel on the track system 4 on both the supporting framework structure 3 and the second supporting framework structure 80. The shared track system 4 thus enables the load handling device 30 to transport the storage containers 10 in the stacks 12 to and from the inventory handling station 9 on both the supporting framework structure 3 and the second supporting framework structure 80.

[0125] The support platform 81 performs a similar function as mezzanines in prior art storage systems. Typical mezzanines have the problem of being costly and time-consuming to build, as they require custom design for each site and careful matching of dimensional tolerances is required. The support platform 81 has the advantage of being faster to build and easily adaptable to different sizes and layouts of the storage system 1, especially in storage systems 1 where the second support structure 80 comprises prefabricated modular panels 60. The support platform 81 may be a modular support platform with standard size modules, allowing any size of support platform 81 to be selected to fit the available site. Similarly, the support platform 81 may be of any required height (the height of the support legs 82 can be adjusted). This allows the support platform 81 to be easily and quickly built for any site without the need for custom design. The support platform 81 is provided up to and abuts the support framework structure 3.

[0126] In the example illustrated in Figures 15 and 16, the second supporting framework structure 80 is a modular structure comprising prefabricated modular panels 60. The advantage of using prefabricated modular panels 60 for the supporting framework structure 80 is that the system becomes even more modular as both the second supporting framework structure 80 and the support platform 81 are modular. No custom design is required and a storage system of any desired size and layout can be assembled quickly and cost effectively.

[0127] Compared to storage systems known in the art where temperature sensitive items are generally fulfilled separately from non-temperature sensitive items, an advantage of the multi-temperature storage system 1 for fulfilling customer orders, particularly grocery items, is that different items can be fulfilled at a single location. In use, when fulfilling a grocery item or basket of items comprising both temperature sensitive and non-temperature sensitive items, the track system 4 is common to both the inside and outside grid framework structures 14 of the enclosure 6, so that one or more robotic load handling devices 30 operable on the track system 4 can be instructed to remove temperature sensitive items from inside the enclosure 6 and move the storage container 10 to an inventory handling station 9, where the items in the storage container 10 can be picked to fulfill a portion of the customer order. Similarly, one or more robotic load handling devices 30 can be instructed to remove the storage container 10 from the non-temperature sensitive area of ​​the grid framework structure 14 outside the enclosure 6 and transport the storage container 10 to the inventory handling station 9 to complete the customer order. To increase efficiency for fulfilling multiple customer orders, the multi-temperature storage system 1 can include multiple inventory handling stations 9, each capable of fulfilling a different customer order.

[0128] Although certain embodiments are described with a single enclosure 6, the present invention is not limited to a single enclosure 6. For example, a multi-temperature storage system 1 according to the present invention may comprise a plurality of enclosures 6, each of which may have its own respective opening 7, a chiller system 50 as described above, and at least one air curtain unit 54 for generating an air curtain 55 across the respective opening 7 of the enclosure 6. The track system 4 is shared between the plurality of enclosures 6, i.e., the track system 4 extends continuously through the plurality of enclosures 6, such that a robotic load handling device 30 operable on the track system 4 may enter different ones of the plurality of enclosures 6.

[0129] One way to achieve this is by having one or more of the multiple enclosures 6 include more than one opening 7, such as an entrance to the enclosure 6 and an exit for exiting the enclosure 6. In some examples, the entrance and exit can be provided by a single opening 7 in the enclosure 6, while in other examples, the entrance and exit can be provided by separate openings 7 in the enclosure 6. When the entrance and exit are provided by separate openings 7, the openings 7 can be located on the same side of the enclosure 6 or on different sides of the enclosure 6. For example, one or more of the multiple enclosures 6 can function as a tunnel so that the robotic load handling device 30 can travel through the enclosure 6 on its way to the inventory handling station 9. Each of the openings 7 of the enclosure 6 can be insulated from the outside environment by a respective air curtain 55 as discussed above on the entrance to the enclosure 6 and by another air curtain 55 on the exit from the enclosure 6. Each of the multiple enclosures 6 can provide for storage of goods or items at different and / or the same temperatures as each other. For example, a first enclosure 6 may be configured to provide storage of goods or items in a refrigerated temperature range, and a second enclosure 6 may be configured to provide storage of goods or items in a freezer temperature range.

Claims

1. A multi-temperature storage system (1), comprising: A) a grid framework structure (14) configured to support a robotic load handling device (30) thereon, said grid framework structure (14) comprising: i) a track system (4) comprising a plurality of tracks (22) arranged in a grid pattern comprising a plurality of grid cells (17); ii) a supporting framework structure (3) for supporting said track system (4) above ground level to create a storage space comprising a plurality of storage columns (5), each storage column (5) configured, in use, to store a stack (12) of storage containers (10) such that said robotic load handling device (30) operable on said track system (4) is capable of lifting one or more containers (10) from a stack (12) in the storage column (5) through grid cells (17); a portion of the multi-temperature storage system (1) is housed within an enclosure (6) having an opening (7) above the track system (4) for allowing a robotic load handling device (30) to enter and exit the enclosure (6); B) a temperature control system (50) comprising an inlet (51) for drawing a fluid from said enclosure (6), a temperature control unit (52) for heating or cooling said fluid to a temperature controlled fluid, and an outlet (53) for providing said temperature controlled fluid into said enclosure (6) such that said enclosure (6) has a temperature different from the temperature outside said enclosure (6); C) at least one air curtain unit (54) disposed above said track system (4), wherein said at least one air curtain unit (54) is configured to recirculate said temperature-controlled fluid from said enclosure (6) to provide an air curtain (55) over said opening (7) of said enclosure (6) to substantially contain said temperature-controlled fluid within said enclosure (6) and to allow said robotic load handling device (30) to enter and exit said enclosure (6) on said track system (4); A multi-temperature storage system (1).

2. 2. The multi-temperature storage system (1) of claim 1, wherein the temperature control system (50) comprises a chiller system (50) and the temperature control unit (52) comprises a chiller unit (52) such that a temperature inside the enclosure (6) is lower than a temperature outside the enclosure (6).

3. 2. The multi-temperature storage system (1) of claim 1, wherein the temperature control system (50) comprises a heating system (50) and the temperature control unit (52) comprises a heating unit (52) such that a temperature inside the enclosure (6) is higher than a temperature outside the enclosure (6).

4. The multi-temperature storage system (1) of any one of claims 1 to 3, wherein at least one of the air curtain units (54) has an air intake (56) extending into the enclosure (6) and an exhaust outlet with a nozzle (57) configured to direct the temperature-controlled fluid downwardly into the enclosure (6).

5. 5. The multi-temperature storage system (1) of claim 4, wherein the nozzle (57) is configured to direct the temperature-controlled fluid in a downwardly inclined direction towards the enclosure (6).

6. 6. A multi-temperature storage system (1) as claimed in any one of claims 1 to 5, wherein the openings (7) in the enclosure (6) extend across at least one direction of the grid framework structure (14) such that at least one of the air curtain units (54) is configured to provide an air curtain (55) across at least one direction of the grid framework structure (14).

7. The multi-temperature storage system (1) of claim 6, wherein the at least one air curtain unit (54) comprises a plurality of air curtain units (54) arranged side by side.

8. A multi-temperature storage system (1) according to any one of claims 1 to 7, wherein the enclosure (6) is insulated.

9. 9. The multi-temperature storage system (1) of claim 8, wherein the enclosure (6) has a lower portion (70) below the track system (4) and an upper portion (71) above the track system (4), the lower portion (70) of the enclosure (6) comprising a plurality of insulated solid wall panels (72).

10. 10. The multi-temperature storage system (1) of claim 9, wherein one or more of the plurality of insulated solid wall panels (72) comprises a structural insulated panel comprising an insulating core sandwiched between at least two layers of structural board.

11. 11. The multi-temperature storage system (1) of claim 9 or 10, wherein the upper portion (71) of the enclosure (6) comprises an insulating cover (73) having a top wall (74) and a downwardly extending side wall (75).

12. The multi-temperature storage system (1) according to claim 11, wherein at least one of the downwardly extending side walls (75) comprises the opening (7).

13. 13. The multi-temperature storage system (1) of claim 12, wherein at least one said air curtain unit (54) is installed adjacent to said opening (7).

14. The multi-temperature storage system (1) of any one of claims 11 to 13, wherein the insulating cover (73) comprises an insulating blanket.

15. The multi-temperature storage system (1) according to any one of claims 11 to 14, wherein the inlet (51) and the outlet (53) of the temperature control system (50) extend through the insulating cover (73).

16. 16. The multi-temperature storage system (1) of any one of claims 8 to 15, wherein the supporting framework structure (3) comprises a plurality of prefabricated modular panels (60) arranged in a three dimensional grid pattern comprising a first set of parallel prefabricated modular panels extending in a first direction and a second set of parallel prefabricated modular panels extending in a second direction to define a plurality of grid cells (63).

17. 17. The multi-temperature storage system of claim 16, wherein each of the grid cells of the supporting framework structure is sized to support a subset of a plurality of the grid cells of the track system, the subset comprising two or more grid cells of the track system.

18. 18. The multi-temperature storage system (1) of claim 16 or 17, wherein at least one of the plurality of prefabricated modular panels (60) comprises at least one of the plurality of insulated solid wall panels (72).

19. 19. The multi-temperature storage system (1) of any one of claims 1 to 18, wherein the grid framework structure (14) further comprises a track support structure (2) in a horizontal plane and supported by the supporting framework structure (3), the track support structure (2) comprising a first set of parallel track support members (18) extending in a first direction and a second set of parallel track support members (20) extending in a second direction, the second direction being substantially perpendicular to the first direction such that the first and second sets of parallel track support members are arranged in a grid pattern comprising a plurality of grid cells (17) or grid spaces, and the track system (4) is mounted to the track support structure (2) such that the grid cells (17) of the track system correspond to the grid cells (17) of the track support structure (2).

20. 20. The multi-temperature storage system (1) of claim 19, wherein the track support structure (2) comprises a plurality of prefabricated modular sub-track support structures (64) assembled together to form the track support structure (2), each of the plurality of prefabricated modular sub-track support structures (64) comprising two or more grid cells (17).

21. 21. The multi-temperature storage system (1) of claim 20, wherein each of the prefabricated modular sub-track support structures (64) comprises a portion of the first set of track support members (18) and a portion of the second set of track support members (20).

22. 22. The multi-temperature storage system (1) of any one of claims 19 to 21, wherein the track system (4) comprises a plurality of interconnected modular track sections, each track section (65) of the plurality of interconnected modular track sections comprising a substantially vertical element (66) to provide a track surface extending in the first direction and in the second direction.

23. 23. The multi-temperature storage system (1) of claim 22, wherein a plurality of the track sections (65) are assembled in the track system (4) such that adjacent modular track sections (65) in the track system (4) intersect between areas of the grid framework structure (14) where the first set (18) and second set (20) of track support members intersect or meet in the grid pattern.

24. 24. The multi-temperature storage system (1) of claim 23, wherein adjacent modular track sections (66) are connected together by joints with tapered edges.

25. A multi-temperature storage system (1) according to any one of claims 22 to 24, wherein each of the plurality of interconnected modular track sections (65) is formed from a plastic material.

26. The multi-temperature storage system (1) of any one of claims 1 to 25, wherein the temperature control system (50) comprises one or more ducts (58) extending from the air inlet (51) to the air outlet (53) through the temperature control unit (52) to circulate the temperature-controlled fluid from the temperature control unit (52) into the enclosure (6) through the air outlet (53).

27. 27. The multi-temperature storage system (1) of claim 26, wherein the temperature control system (50) comprises one or more fans (59) for drawing the fluid from the enclosure (6) through the inlet (51).

28. 28. A multi-temperature storage system (1) according to claim 26 or 27, wherein the exhaust outlet (53) comprises at least one diffuser (67).

29. A multi-temperature storage system (1) as described in any one of claims 1 to 28, further comprising a plurality of guides (8) extending substantially vertically between the track system (4) and a floor, the plurality of guides (8) being arranged in a pattern for accommodating a plurality of stacks (12) of storage containers (10) between the plurality of guides (8) and guiding the plurality of storage containers (10) through grid cells (17).

30. 30. The multi-temperature storage system (1) of claim 29, wherein the plurality of guides (8) are arranged to guide one or more storage containers (10) into a stack (12) along a pair of diagonally opposed corners of the one or more storage containers (10).

31. A multi-temperature storage system (1) as described in claim 29 or 30, wherein each guide (8) of the plurality of guides comprises two vertical container guide plates (90) extending between the track system (4) and the floor for accommodating corners of a storage container (10).

32. 32. The multi-temperature storage system (1) of claim 31, wherein each guide (8) of the plurality of guides comprises ultraSTEEL®.

33. 33. A multi-temperature storage system (1) as described in claim 31 or 32, wherein at least a portion of the two perpendicular container guide plates (90) are textured by continuously cold rolling a pattern into the two perpendicular container guide plates (90).

34. 34. The multi-temperature storage system (1) of claim 33, wherein the texture comprises dimples or indentations.

35. The multi-temperature storage system (1) of any one of claims 31 to 34, wherein each guide (8) of the plurality of guides (8) comprises a running surface (91) for engaging with a gripping device (39) of the robotic load handling device (30), the running surface (91) being substantially smooth.

36. The multi-temperature storage system (1) of any one of claims 31 to 35, wherein the plurality of guides (8) comprises four guides (8), the four guides (8) being symmetrically arranged around a central point defined by the four guides (8) such that the four guides (8) are arranged to guide the corners of four adjacent storage containers (10).

37. A multi-temperature storage system (1) as described in any one of claims 1 to 36, further comprising at least one inventory handling station (9) arranged below the track system (4), one or more of the grid cells (17) of the track system (4) defining ports for delivering storage containers to and picking up from the inventory handling station (9).

38. 38. A multi-temperature storage system (1) as described in claim 37, further comprising a second supporting framework structure (80) and a support platform (81) for supporting said second supporting framework structure (80), said support platform (81) being elevated above ground level by a plurality of legs 82 so as to define an area (83) below said support platform (81) for accommodating said inventory handling stations (9).

39. 39. The multi-temperature storage system (1) of claim 38, wherein the second supporting framework structure (80) is disposed below the track system (4) such that the track system (4) extends continuously across the supporting framework structure (3) and the second supporting framework structure (80).

40. The enclosure (6) comprises a plurality of enclosures (6) for enclosing respective portions of the multi-temperature storage system (1), each of the plurality of enclosures (6) comprising: i) a respective opening (7) for allowing a robotic load handling device (30) to enter and exit each of said enclosures (6); ii) respective temperature control systems (50) comprising a respective inlet (51) for drawing fluid from each of said enclosures (6), a respective temperature control unit (52) for heating or cooling said fluid to a temperature-controlled fluid, and a respective outlet (53) for providing said temperature-controlled fluid into each of said enclosures (6) such that each of said enclosures (6) has a temperature different from the temperature outside each of said enclosures (6); iii) at least one respective air curtain unit (54) disposed above said track system (4), wherein said at least one respective air curtain unit (54) is configured to recirculate said temperature-controlled fluid from each of said enclosures (6) and provide a respective air curtain (55) over said openings (7) of each of said enclosures (6) to substantially contain said temperature-controlled fluid within each of said enclosures (6) and to allow said robotic load handling devices (30) to enter and exit each of said enclosures (6) on said track system (4); A multi-temperature storage system (1) according to any one of the preceding claims, comprising:

41. 41. A multi-temperature storage system (1) as claimed in claim 40, wherein the temperatures within each of the enclosures (6) of the plurality of enclosures (6) are different from each other.

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