Power and Data Composite Unit of Storage and Retrieval System and Related Devices

Abstract

A method of performing a software update on a cargo handling device for use in a storage and retrieval system, the storage and retrieval system comprising a first set of parallel tracks extending in the X direction and a second set of parallel tracks extending in the Y direction crossing the first set in a substantially horizontal plane to form a grid pattern comprising a plurality of grid spaces; the method comprising the steps of transferring computer-readable code to a power and data composite unit, the power and data composite unit comprising a rechargeable power source and a data storage module such that the computer-readable code is stored in the data storage module; and connecting the power and data composite unit to an interface of the cargo handling device such that a local processing unit of the cargo handling device has access to the computer-readable code stored in the data storage module.

Description

Technical Field

[0001] The present invention relates to an automated storage and retrieval system, a device, and a method of operating an automated storage and retrieval system. More particularly, but not exclusively, it relates to high density or cube storage systems using power and data composite units. The power and data composite units are related to powering load handling devices operating in an automated storage and retrieval system. It is also related to providing means for local data transfer from the load handling devices and for storing and transferring computer-readable codes.

Background Art

[0002] EP1037828B1 (Autostore) describes a system in which stacks of containers are arranged within a frame structure. This type of system is schematically shown in FIGS. 1 to 4 of the accompanying drawings. A robotic load handling device is controllably movable around the stack on the topmost track system of the stack.

[0003] The load handling device is described in UK Patent Application No. 2520104A (Ocado Innovation Limited), and each robotic load handling machine only covers one lattice space, thereby enabling densification of the load handling machines and thus high throughput of a system of a given size.

[0004] In the known robot picking system described above, the robot pallet handling device is controllably moved around the top of the stack on an orbital system forming a grid. A given pallet handling device lifts a bin from the stack, and the lifted container contains the inventory items necessary to fulfill a customer order. The container is transported to a picking station where the required inventory items can be manually removed from the bin and placed into a shipping container, which forms part of the customer order and is manually packed for shipping at the appropriate time. At the picking station, items may also be picked by an industrial robot suitable for such operations, as described, for example, in UK Patent Application No. 2524383B (Ocado Innovation Limited).

[0005] As shown in FIGS. 1 and 2, stackable storage containers known as bins 9 are stacked one on top of the other to form a stack 11. The stack 11 is disposed within frameworks 3, 5, 7 in a warehouse environment or a manufacturing environment. FIG. 1 is a schematic perspective view of the frameworks 3, 5, 7, and FIG. 2 is a top view showing a single stack 11 of bins 9 disposed within the frameworks 3, 5, 7. Each bin 9 typically holds a plurality of products or inventory items, and the inventory items within a bin 9 may be the same or different product types depending on the application. Further, the bin 9 may be physically further divided to accommodate a plurality of different inventory items.

[0006] At the top height of frameworks 3, 5, and 7, there is an orbital structure 13, i.e., a rail, arranged in a grid pattern across the entire upper part of stack 11. The orbital structure 13 supports a plurality of robot load handling devices 31. A first set of parallel rails 17 guides the movement of the load handling device 31 in a first direction (X) across the upper part of frameworks 3, 5, and 7, and a second set of parallel rails 19 arranged perpendicular to the first set 17 guides the movement of the load handling device 31 in a second direction (Y) perpendicular to the first direction. In this way, rails 17 and 19 enable the load handling device 31 to move in two dimensions within the X-Y plane so that the load handling device 31 can be moved to any position above stack 11.

[0007] Figure 3 shows a plurality of load handling devices 31 moving across the top of storage structure 1. As shown in detail in Figure 4, each load handling device 31 includes a body 33 arranged to travel in the X and Y directions on the orbital structure 13 above stack 11. A first set of wheels 35 is arranged to engage two adjacent rails of the first set of rails 17.

[0008] Similarly, a second set of wheels 37 is arranged to engage two adjacent rails of the second set of rails 19. Each set of wheels 35, 37 can be raised and lowered so that either the first set of wheels 35 or the second set of wheels 37 is always engaged with the respective sets of rails 17, 19 at any given time. In this way, one or more robot load handling devices 31 can move around the orbital structure 13 under the control of a centralized control utility (not shown).

[0009] Each robot load handling device 31 includes lifting means 39 for lifting one or more bins 9 from stack 11 to access the required product. In this way, multiple products can always be accessed from multiple positions within the grid and stack at any given time.

[0010] Figures 1 and 3 show bins 9 of stack 11 within a storage system. It should be understood that any given storage system may have a number of bins 9 and that many different items may be stored in the bins 9 of stack 11. Each bin 9 may contain inventory items of different categories within a single stack 11.

[0011] In one system described above and further described in UK Patent Application No. 2517264A (Ocado Innovation Limited), which is incorporated herein by reference, the storage system may further comprise a delivery container DT containing customer ordered items or may further comprise a series of bins, some of which may contain bins awaiting picking. These different bins and their combinations are housed within the storage system and may be accessed by the robotic pallet handling device 31 as described above.

[0012] As used herein, the terms "bin", "container", and "storage container" are used interchangeably to refer to the same entity.

[0013] As described in WO2019215221 (Okado), typically, a load handling device is driven by a battery during operation, and that battery is recharged at a charging station while the robotic load handling device is operating in a grid framework structure. The charging station is fixed to a structure adjacent to the grid framework structure and extends at the edge of the grid structure over a nominal grid cell. The robotic load handling device can be charged by being instructed to move to a charging station grid cell. Contact is made between a charging contact pad on the upper surface of the robotic load handling device and the charging station. Electric charge is supplied to the robotic load handling device through the contact pad. Additionally, this contact may also be used for data transfer during charging. WO2019215221 presents a charging unit for a robotic load handling device operating at the top of a grid framework. This charging unit comprises a plurality of shaped parts arranged to align with a lifting element of the robotic load handling device and power transfer means arranged to transfer power to the robotic load handling device.

[0014] In a system where load handling devices are recharged, typically, each load handling device can spend from 5% to 6% of its time at a charging station. Reducing the amount of time each load handling device spends at a charging station can provide an efficiency improvement to the system by giving the load handling device more time to perform load handling operations and by reducing the number of charging stations required.

[0015] In a system that has hundreds, and in some cases thousands, of bots or load handling devices per cell, and where each load handling device collects large data logs, it should be understood that typical data transfer systems, such as RF communication systems, may not provide all bots with sufficient bandwidth to always transmit detailed log information in real time through a wireless communication system. Further, reducing the amount of time spent at a charging station may leave insufficient time for complete data transfer.

[0016] EP3325228B1 (Boston Dynamics) discloses a battery and hard drive exchange station for robots. The battery pack may include a rechargeable battery and a local data storage device component. During operation, sensor data is acquired by a mobile robot device and transferred to the local data storage device component. At the battery exchange station, the battery pack containing the battery and the local data storage device data component with sensors are transferred to the battery exchange station. To continue operation, a second battery pack from the battery exchange station is received by the mobile robot device.

[0017] The present invention was devised in view of such a background.

[0018] The systems, devices, methods, and computer programs described herein are described using a foodstuff system as an example, but it should be understood that automatic or semi-automatic storage and retrieval systems are not limited to systems for foodstuffs. For example, the present technology can be applied to, to name a few possible applications, maritime shipping, baggage handling, vehicle parking, indoor or hydroponic greenhouses and agriculture, modular buildings, trunk room facilities, cargo handling, transportation yards, manufacturing facilities, pallet handling, parcel sorting, airport logistics (ULD) and general logistics. It should be understood that different types of storage and retrieval systems have different technical requirements.

[0019] The claimed systems, devices, methods, and computer programs achieve improvements related to rechargeable power sources and data transfer for bots operating in storage and retrieval systems. SUMMARY OF THE INVENTION

[0020] Aspects of the invention are set out in the appended claims. Method A method of performing a software update on a load handling device for use in a storage and retrieval system, the storage and retrieval system comprising a first set of parallel tracks extending in the X direction and a second set of parallel tracks extending in the Y direction crossing the first set in a substantially horizontal plane to form a grid pattern comprising a plurality of grid spaces, the method comprising transferring computer-readable code to a power and data composite unit, the power and data composite unit comprising a rechargeable power source and a data storage module such that the computer-readable code is stored in the data storage module, connecting the power and data composite unit to an interface of the load handling device such that a local processing unit of the load handling device has access to the computer-readable code stored in the data storage module and comprising.

[0021] Connecting the power and data composite unit to the interface of the load handling device may comprise inserting the power and data composite unit into the load handling device. The interface of the load handling device may electrically couple the rechargeable power source to the load handling device such that the rechargeable power source can supply power to enable the load handling device to move on the track system.

[0022] The rechargeable power source and the data storage module are combined as a single unit, i.e., as a power and data composite unit. At the exchange station, the power and data composite unit can be removed from the cargo handling device and replaced with a replacement / second power and data composite unit. The power and data composite unit may include a mechanical release mechanism that enables the power and data composite unit to be removed from the cargo handling device and / or the exchange station.

[0023] Since the power source is rechargeable, it should be understood that the terms "power source" and "rechargeable power source" are used interchangeably herein.

[0024] The rechargeable power source may include a battery or a supercapacitor. Examples of rechargeable batteries include lithium-ion batteries, nickel-cadmium batteries, nickel-metal hydride batteries, lithium-ion polymer batteries, lithium titanium oxide, thin-film batteries, and smart battery carbon foam-based lead batteries.

[0025] Typically, the data storage module may be divided into a local data storage device component, a component for computer-readable code, and / or other components for other data applications.

[0026] It should be understood that loading computer-readable code into the power and data composite unit relaxes the requirements for transmitting computer-readable code through a wireless communication channel, making additional wireless bandwidth available. Further, it should also be understood that using the power and data composite unit to transfer data to and from the cargo handling device can significantly reduce the overall load on the wireless communication channels within the system.

[0027] The computer-readable code may comprise operation files, computer-executable instructions, software, firmware, data, one or more data parameters, and / or updates to the computer-readable code, as will be described in more detail later.

[0028] The computer-readable code may comprise computer-executable instructions such that a local processing unit of the load handling device executes the computer-executable instructions to control the operation of the load handling device.

[0029] The computer-readable code may comprise one or more data parameters that are accessed by a local processing unit of the load handling device during operation of the load handling device.

[0030] One or more data parameters may comprise one or more operating limits of components of the load handling device (e.g., speed, acceleration, deceleration, torque, power, voltage, current). One or more data parameters may comprise a grid map data file. The grid map data file may be used by the load handling device to perform a completeness check of movement commands received from a system controller by the load handling device. For example, to avoid obstacles or exclusion areas on the grid. Obstacles may be permanent (e.g., columns of a building where a storage system is located) or temporary (e.g., a portion of a track structure closed for maintenance). The grid map data file may also include information regarding the edges or boundaries of the grid. It should be understood that the grid map data file may change for several reasons, for example, for periodic maintenance of the grid or for a load handling device that has become immobile waiting to resume from the grid. Additionally, or alternatively, the grid map data file may provide data for navigation calculations.

[0031] One or more data parameters may include the speed limit or acceleration limit of the load handling device, e.g., the maximum linear speed (e.g., 4 m / s) at which the load handling device can move on the track system, or the maximum acceleration (e.g., 2 m / s 2 ) of the load handling device on the track system. One or more data parameters may include the speed limit or torque limit of one or more electric motors that supply power to the load handling device. One or more data parameters may include other parameter limits for other components of the load handling device.

[0032] In some examples, the computer-readable code may include both computer-executable instructions and one or more data parameters. For example, the computer-readable code may include computer-executable instructions for controlling a motor that drives the wheels of the load handling device, along with data parameters that include the speed limit and / or torque limit of the motor that drives the wheels of the load handling device.

[0033] The method may further include the step of the load handling device transferring some or all of the computer-readable code from the data storage module of the power and data composite unit to the data storage medium of the load handling device.

[0034] The cargo handling device can further include a data storage medium housed within the cargo handling device, and the local processing unit is configured to establish a data channel between the data storage medium and the data storage module such that when the power and data composite unit is connected to the interface of the cargo handling device, the computer-readable code stored in the data storage module is transferred to the data storage medium. The local processing unit can be configured to read and update the computer-readable code of the cargo handling device from the computer-readable code stored on the data storage module. In this way, the local processing unit can update the cargo handling device from the power and data storage composite unit rather than through the communication network of the system. The computer-readable code stored in the data storage module can include one or more new versions of a portion of the computer-readable code to be deployed on the cargo handling device. In this way, the cargo handling device can be updated with a new version of the computer-readable code used by the local processing unit of the cargo handling device. The new or updated version of the computer-readable code loaded into the data storage module of the power and data composite unit is deployed on the cargo handling device to which the power and data composite unit is connected. The new or updated version of the computer-readable code can be deployed as soon as the power and data composite unit is connected to the interface of the cargo handling device, or alternatively, the local processing unit of the cargo handling device can be instructed to wait until it receives a signal from the system controller before deploying a new or updated version of a portion of the computer-readable code, as described below.

[0035] For all files downloaded from the power and data composite unit to the cargo handling device, a checksum, cyclic redundancy check (CRC), or similar verification of download integrity can be performed.

[0036] The transfer of power and / or data within the cargo handling device can be by wireless transmission. The cargo handling device can overwrite the computer-readable code stored in the data storage medium of the cargo handling device with the computer-readable code transferred from the data storage module of the power and data composite unit. In some examples, the entire computer-readable code stored in the data storage medium of the cargo handling device can be overwritten with the computer-readable code transferred from the data storage module of the power and data composite unit. In other examples, one or more portions of the computer-readable code stored in the data storage medium of the cargo handling device can be overwritten with the computer-readable code transferred from the data storage module of the power and data composite unit.

[0037] The memory system can further comprise one or more exchange stations, and the exchange station or each exchange station is configured to connect the power and data composite unit to the interface of the cargo handling device or to remove the power and data composite unit from the interface of the cargo handling device, and this method comprises a further step of transmitting computer-readable code to the exchange station such that the computer-readable code can be transferred to the data storage module of the power and data composite unit connected to the exchange station.

[0038] In some examples, the computer-readable code can be transmitted from the system controller to the exchange station. In other examples, the computer-readable code can be transmitted manually to the exchange station, for example, by a human operator.

[0039] The advantage of the step of connecting the power supply and data composite unit to the interface of the cargo handling device is that the amount of time the cargo handling device spends waiting at the charging station or the replacement station can be significantly reduced. The cargo handling device does not need to wait at the station while the rechargeable power supply is being recharged. The cargo handling device also does not need to wait at the replacement station while data is being transferred between the cargo handling device. Instead, the cargo handling device simply moves to the replacement station when the power supply and data composite unit is out of power, depleted, or when the local data storage device component is approaching the upper limit of its storage capacity, replaces the power supply and data composite unit with a "refreshed" power supply and data composite unit, and simply returns to operation on the track structure.

[0040] The memory system can further include a system controller configured to send computer-readable code to its replacement station or each replacement station, and this method includes a further step of the system controller preventing the local processing unit of the cargo handling device from accessing the computer-readable code until a predetermined condition is met. For example, the system controller can permit the local processing unit to access the computer-readable code when a predetermined condition is met, such as at a predetermined time, or when all cargo handling devices in the system have been provided with the computer-readable code, or in response to a specific event.

[0041] The computer-readable code may comprise one or more data parameters with a predetermined timestamp at a point in time when the relevant part of the computer-readable code can be accessed by the local processing unit of the cargo handling device. When the current time reaches the predetermined timestamp, the relevant part of the computer-readable code can be accessed simultaneously by all the cargo handling devices in the storage and retrieval system, and changes can be made simultaneously in all the cargo handling devices. The cargo handling device may comprise a communication module configured to receive communication information from a system controller such that one or more parts of the computer-readable code are accessed by the local processing unit of the cargo handling device in response to receiving a control message from the system controller.

[0042] This method may further comprise the step of the cargo handling device overwriting the computer-readable code stored in the data storage medium of the cargo handling device in response to receiving a control message from the system controller. Cargo handling device A cargo handling device for use in a storage and retrieval system is provided, the storage and retrieval system comprising a first set of parallel tracks extending in the X direction and a second set of parallel tracks extending in the Y direction crossing the first set in a substantially horizontal plane to form a grid pattern comprising a plurality of grid spaces, a plurality of stacks of storage containers placed below the tracks and arranged such that each stack is placed within the footprint of a single grid space and comprising a drive assembly configured to move the cargo handling device on one of the sets of parallel tracks, a lifting mechanism configured to lift the storage container from the stack, and a communication module for receiving data from and / or transmitting data to the system controller. and a communication module for receiving data from the system controller and / or for transmitting data to the system controller. A local processing unit communicating with a communication module, i) Connecting to a power and data composite unit comprising a rechargeable power source and a data storage module, ii) Electrically coupling to the rechargeable power source such that, during use, the drive assembly is powered by the rechargeable power source, and iii) An interface configured to communicate with the data storage module, wherein, the data storage module comprises computer-readable code, and the local processing unit is configured to access the computer-readable code during use.

[0043] The interface for connecting to the power and data composite unit may comprise inserting the power and data composite unit into a load handling device.

[0044] The drive assembly may enable the load handling device to move in the x and y directions to any available grid cell position on the track. Both a first set of parallel tracks extending in the x direction and a second set of parallel tracks extending in the y direction may sometimes be referred to as an orbital system or grid. At the grid cell position, the load handling device may remove a container from or deposit a container onto the stack. In this way, items are stored and retrieved in a storage and retrieval system. The communication module may communicate with a system controller that instructs the movement and lifting performed by the load handling device.

[0045] The interface may be a receptacle or slot configured to receive a power and data composite unit. The load handling device may comprise a plurality of slots that are electrically and mechanically compatible with the power and data composite unit for receiving the power and data composite unit. In this way, the load handling device can have a longer operating time before it is necessary to go to the exchange station. Alternatively, the load handling device may remain powered by the first power and data composite unit, for example, while the second power and data composite unit is being replaced.

[0046] The receptacle may be disposed on the upper part of the housing or framework of the load handling device. In this way, the receptacle can be easily accessed from outside the load handling device by a human operator or a robotic arm designed to replace the power and data composite unit. By placing the power and data composite unit on top of the load handling device, the lower part of the load handling device can be reserved for receiving and holding a container lifted from the stack. It should be understood that the receptacle may be placed within or on any accessible part of the load handling device.

[0047] The receptacle may comprise a mechanical release mechanism that is adapted to the mechanical release mechanism of the power and data composite unit to enable the power and data composite unit to be removed from the load handling device. This mechanical release mechanism holds the power and data composite unit within the receptacle when the load handling device is not at the exchange station and prevents the power and data composite unit from falling out of the receptacle when the load handling device is moving on the grid.

[0048] The load handling device may further comprise means for detecting a continuous power supply within the receptacle.

[0049] A continuous power supply can be detected as a voltage within a specified range, for example, without interruption for a specified period. When this is detected, the load handling device can turn on or restart the power supply.

[0050] The receptacle can include a light source unit for identifying the position of the power and data composite unit.

[0051] The receptacle can include one or more light source units for displaying a visible signal to a human operator or a replacement station. This light source unit can guide the removal / insertion of the power and data composite unit. One or more light source units can display a predefined coded signal, for example, using color modulation and / or amplitude modulation. A specific optical signal can distinguish a specific receptacle. In this way, a human operator or a robotic arm at the replacement station can be guided to the correct empty slot within the replacement station.

[0052] The load handling device can be semi-autonomous and receive instructions from the system controller via communication means. The local processing unit can operate the drive assembly and the lifting mechanism. The local processing unit may also be described as a local control unit.

[0053] Computer-executable instructions can include firmware or software. Firmware is software that has the specific purpose of controlling hardware. For example, the computer-executable instructions can include load handling device control software for controlling one or more parts of a load handling device (such as a lifting mechanism or a drive assembly). The components and subsystems of the load handling device (such as a lifting mechanism and / or a drive assembly and / or other components) can be powered by one or more electric motors, and the computer-executable instructions can include load handling device motor drive control software for controlling the one or more electric motors. The computer-executable instructions can include load handling device communication software for controlling the transmission of data from the communication module of the load handling device to the system controller and / or the reception of data from the system controller to the communication module of the load handling device.

[0054] The computer-executable instructions can include instructions for controlling the drive assembly of the load handling device, instructions for controlling the wheels of the load handling device to enable the load handling device to move on the track structure, and / or instructions for controlling the travel direction of the load handling device by controlling which set of wheels engages with the tracks of the track system. The computer-executable instructions can also be used to control other components of the load handling device, for example, to control the lifting mechanism to lift a container from a stack or lower a container onto a stack.

[0055] The local processing unit can be configured to selectively execute computer-executable instructions stored either in the data storage module of the power and data multiplexing unit or in the data storage medium of the load handling device during use.

[0056] The computer-readable code may comprise computer-executable instructions for controlling the lifting mechanism.

[0057] The computer-readable code may comprise computer-executable instructions for controlling a communication module that receives data from and / or transmits data to a system controller.

[0058] The load handling device may further comprise a wheel assembly driven by a drive assembly, the wheel assembly comprising a first set of wheels for engaging a first set of tracks to guide movement of the load handling device in a first direction and a second set of wheels for engaging a second set of tracks to guide movement of the load handling device in a second direction, and the computer-readable code may comprise computer-executable instructions for controlling the drive mechanism of the wheel assembly.

[0059] The load handling device may further comprise a steering mechanism configured to selectively engage the first set of wheels with the first set of tracks and the second set of wheels with the second set of tracks, and the computer-readable code comprises computer-executable instructions for controlling the operation of the steering mechanism.

[0060] The computer-readable code may comprise one or more data parameters, and the local processing unit may be configured to access one or more of the data parameters during operation of the load handling device in use.

[0061] The one or more data parameters may comprise a grid map data file for determining one or more paths across the track structure of the load handling device.

[0062] The local processing unit may be configured to overwrite, during use, the computer-readable code stored in the data storage medium of the cargo handling device with the computer-readable code transferred from the data storage module of the power and data multiplexing unit.

[0063] The cargo handling device may further comprise one or more position sensors configured to sense one or more position markers on the track system, and the computer-readable code may include data obtained from the one or more position sensors such that the position of the cargo handling relative to the track system can be controlled based on the obtained position sensor data.

[0064] The computer-executable instructions may include a position controller related to controlling the position of the cargo handling relative to the track system based on one or more position sensors.

[0065] One or more position markers may comprise RFID tags. During use, the position sensor detects the position markers on the track. The position controller uses the information from the sensors to determine whether the actual position of the cargo handling device is deviated from the expected / nominal position on the track (for example, the nominal / expected position of the cargo handling device may be directly above the grid cell ready to lift the storage container). Then, the position controller can calculate the position adjustment required to move the cargo handling device to the nominal / expected position, and accordingly, instruct the cargo handling device to adjust its position.

[0066] The cargo handling device may further comprise one or more sensors for recording diagnostic data, and the computer-readable code comprises the stored diagnostic data. Alternatively, the local processing unit may be configured to store the diagnostic data in the data storage module.

[0067] The cargo handling device may further comprise means for writing one or more diagnostic logs to a data storage module. As described above, the cargo handling device may collect data logs (e.g., diagnostic data or diagnostic logs). The diagnostic logs may be written to the local storage device component of the data storage module. Detailed logs may be required to diagnose faults, analyze and improve performance, and analyze and improve the reliability of the cargo handling device and other cargo handling devices operating within the system.

[0068] Furthermore, it should be understood that for substantially each of the cargo handling devices, for substantially all times, by being able to access the detailed logs, the performance of individual cargo handling devices can be compared with other cargo handling devices.

[0069] Typically, during the operation of moving on the grid, the cargo handling device may collect data logs (e.g., diagnostic logs). The data can be generated from sensors of the cargo handling device (e.g., temperature sensors, position sensors, and accelerometers). Also, the data can be collected from the power source (e.g., data from the battery management system). Error logs from the cargo handling device can also be collected and stored. Such detailed diagnostic logs may not be available in real time using a typical data transfer system (e.g., an RF communication system) because a large amount of data may require a bandwidth greater than what the data transfer system can provide. Instead, these diagnostic logs may be stored in the data storage module of the power and data composite unit. Thus, when the power and data composite unit is removed from the cargo handling device, the diagnostic logs are also removed. The cargo handling device can further comprise a charge receiving connector configured to connect to the corresponding connector of the power and storage device composite unit when connected to the interface, and this charge receiving connector configured to receive power by being electrically coupled to a power source and to interface with a data storage module configured to interface with a data storage module

[0070] Advantageously, the charge receiving connector serves two functions simultaneously. That is, the same connector can receive charge and transfer data. The data can be transferred bi-directionally. For example, computer-readable code can be transferred from the power and data composite unit's data storage module to the data storage medium in the cargo handling device, and diagnostic data can be transferred from the data storage medium in the cargo handling device to the data storage module in the power and data composite unit.

[0071] A high-speed data link (e.g., USB 2.0 capable of providing a transfer speed of 480 Mbit / sec) may be required. The data storage module may comprise one or more USB flash memory sticks that are widely and inexpensively available and designed for hot-swap connection.

[0072] The charge receiving connector can comprise a power connector, a ground connector, and a differential pair of data connectors, and the corresponding connectors on the power and data composite unit can comprise a corresponding power connector, a ground connector, and a corresponding differential pair of data connectors. The charge receiving connector and / or the corresponding connectors on the power and data composite unit can comprise a shield for protecting the connectors from electromagnetic interference. Exchange station In another aspect, an exchange station is provided for connecting / disconnecting the power and data composite unit to / from the cargo handling device as defined herein, the exchange station comprising an actuator configured to releasably hold and move the power and data composite unit It includes an interface arranged to connect to a power and data composite unit, and this interface is arranged to establish a data channel with the power and data composite unit in order to receive data from the data storage module of the power and data composite unit connected to the interface and / or transfer data to the data storage module. The switching station is configured to update the computer-readable code in the data storage module when the power and data composite unit is connected to the interface.

[0073] Connecting / disconnecting the power and data composite unit to / from the load handling device may include inserting / removing the power and data composite unit into / from the load handling device. The interface may take the form of a plug and a socket, that is, the interface may be a recess, or a receptacle, or a socket into which the power and data composite unit can be inserted. Alternatively, the interface may take other suitable forms and is not limited to the power and data composite unit to be inserted or received by the interface. For example, the power and data composite unit may include a socket, and the interface of the switching station may include a plug that can be inserted into the socket of the power and data composite unit. For all embodiments described herein, any suitable form of interface can be used, and it is not required that one part should be inserted into the other part. To avoid misunderstanding, the term "inserted into" in this specification is not limited to an interface of the plug and socket type where one part is inserted into the other part, and should be interpreted as applicable to any type of interface.

[0074] The interface can be configured to be electrically coupled to the power of the power and data composite unit when it is connected to rechargeable power in the interface for charging.

[0075] In some cases, the exchange station is configured to recharge the power and data composite unit at the same time as updating the computer-readable code. The advantage of this device is convenience. The reason is that the power and data composite unit remains at the exchange station until it becomes fully rechargeable and can be connected to the interface of another load handling device. A further advantage of the exchange station also being a charging station is that the power and data composite unit does not need to be transported to another location for charging, resulting in a simple system with fewer stations and eliminating the need for a means of transportation between the exchange station and another charging station. The exchange and charging composite station also has the advantage of reducing the fire risk. The reason is that since the rechargeable power source of the power and data composite unit is always connected to the interface, it is possible to monitor to ensure that conditions (such as temperature) remain stable, and also because all fire prevention measures can be concentrated in one place.

[0076] In other cases, it is also possible for the power and data composite unit to be exchanged at the exchange station and then transported to another charging station for recharging. The advantage of charging at another charging station is that the throughput of the load handling device at the exchange station is very fast, and the power and data composite unit only needs to occupy a short interface time to receive the updated computer-readable code and stay at the exchange station instead of occupying the time interface required for recharging.

[0077] The exchange station can be provided with a socket device having one or more sockets arranged to hold and accommodate a corresponding number of power and data composite units, and the one or more sockets are configured to be electrically coupled to a rechargeable power source and to interface with a data storage module.

[0078] The switching station is installed above or adjacent to the track structure to connect / disconnect the power and data composite unit to / from the load handling device operating on the track structure.

[0079] The actuator may be able to reach or extend to a load handling device that is placed on the track structure, adjacent to the switching station, and accesses the power and data composite unit. Further, the actuator may be able to reach or extend to a socket device for holding and storing the power and data composite unit.

[0080] When not in use, the actuator may be arranged to provide a clearance between the switching station and the load handling device operating on the track system.

[0081] The actuator may comprise a robotic arm. The robotic arm may have an end portion of an arm tool, also known as an end effector, which end portion may be a gripper designed to securely grip the power and data composite unit. Any suitable end effector capable of holding and moving the power and data composite unit may be used.

[0082] If the power and data composite unit has a mechanical release mechanism, the actuator may be able to release the mechanical release mechanism of the power and data composite unit in order to remove the power and data composite unit from the load handling device or socket.

[0083] The end effector may have a special keyed finger for operating the mechanical release mechanism to enable the power and data composite unit to be removed from the container handling device and from the socket of the switching station.

[0084] The actuator may comprise gripper fingers having a pressure sensor or a contact sensor. The pressure sensor or the contact sensor may be used to ensure a good grip before the power and data composite unit is removed from the load handling device or the socket.

[0085] The power and data composite unit may be recharged to replenish the power while being held in the socket via an electrical coupling.

[0086] The interface may further comprise a charge supply connector configured to connect to a corresponding connector of the power and memory device composite unit when connected to the interface, and this charge supply connector is configured to be electrically coupled to and supply power to a rechargeable power source, and interface with a data storage module to transfer computer-readable code. Similar to the charge receiving connector of the load handling device described above, the charge supply connector can perform two functions simultaneously. That is, the same connector can supply charge and transfer data. Data can be transferred bidirectionally. For example, computer-readable code can be transferred from an exchange station to the power and data composite unit, and diagnostic data can be transferred from the power and data composite unit to the exchange station.

[0087] A high-speed data link (e.g., USB 2.0 capable of providing a transfer speed of 480 Mbit / s) may be required. The data storage module may comprise one or more USB flash memory sticks that are widely and inexpensively available and designed for hot-swap connection. The charge supply connector may comprise a power connector, a ground connector, and a differential pair of data connectors, and the corresponding connectors on the power and data composite unit may comprise a corresponding power connector, a ground connector, and a corresponding differential pair of data connectors. The charge supply connector and / or the corresponding connectors on the power and data composite unit may comprise a shield for protecting the connectors from electromagnetic interference.

[0088] The corresponding connectors on the power and memory device composite unit may be configured to interface with both the charge supply connector within the interface of the exchange station and the charge receiving connector on the cargo handling device.

[0089] The interface may be configured to receive diagnostic data from the data storage module of the power and data composite unit when the power and data composite unit is connected to the interface.

[0090] Data from the data storage module (e.g., from the local storage device component of the data storage module) may be transferred or downloaded when the power and data composite unit is connected to the interface (e.g., held within a socket), and / or computer-readable code may be uploaded to the data storage module.

[0091] The interface with the data storage module may be arranged to receive data or transfer data between the interface and the data storage module.

[0092] When a sensor on the cargo handling device collects diagnostic data, the diagnostic data can be transferred to the system controller of the exchange station when the power supply and data multiplexing unit are removed from the cargo handling device and inserted into the socket of the exchange station to recharge the power supply and transfer the data.

[0093] The interface with the data storage module may be a high-bandwidth data connection (such as an optical fiber connection, or an Ethernet® connection, or the USB2.0 connection described above). Alternatively, the transfer means may be a LiFi device. The data can be transferred by any suitable means.

[0094] The transfer of power and / or data at the exchange station may be wireless.

[0095] The exchange station may further include a communication module configured to receive and / or transmit data signals between the system controller and / or the local processing unit of the cargo handling device.

[0096] When the local data is downloaded through the interface, the exchange station may send the data to the system controller. In this way, the diagnostic logs and other data collected by the cargo handling device can be transferred from the cargo handling device to the system controller.

[0097] Since the number of exchange stations can be proportional to the number of cargo handling devices, the number of connection parts or interfaces for downloading can be proportional to the number of cargo handling devices. The system can provide sufficient data bandwidth so that detailed technical diagnoses can be created for all cargo handling devices operating within the system, downloaded at the exchange station, stored centrally, and analyzed by the system controller, and can be recorded for all times when the system is operating.

[0098] On the other hand, one or more versions of computer-readable code can be uploaded to a data storage module that is ready when the power and data composite unit is redeployed.

[0099] It should be understood that the rechargeable power source of the power and data composite unit is recharged simultaneously with data transfer. The transmission and reception of data between the data storage module can be performed simultaneously with recharging the rechargeable power source.

[0100] The data signal received from the system controller and / or local processing unit comprises instructions for replacing the power and data composite unit of the load handling device. Instructions for replacing the power and data composite unit can be issued from the system controller or from an individual load handling device (e.g., depending on the charge level of the rechargeable power source that has dropped below a predetermined charge threshold and the load handling device that needs to replace the depleted rechargeable power source with a recharged power source).

[0101] The local processing unit can monitor the rechargeable power source of the inserted power and data composite unit. When the power of the rechargeable power source is insufficient and is insufficient enough to justify replacing the rechargeable power source while leaving a safety margin to avoid the load handling device becoming inoperable due to power shortage, the local processing unit can guide the load handling device to the replacement station to alternate the power and data composite unit.

[0102] Furthermore, the local processing unit can monitor the local data storage device component of the data storage module. When the local data storage device component is approaching its storage capacity, the local processing unit can guide the load handling device to the replacement station to alternate the power and data composite unit.

[0103] Alternatively, the local processing unit may receive instructions from the system controller via the communication module. Depending on the situation, the system controller may, due to the need to update the computer-readable code of the cargo handling device, induce the cargo handling device to the replacement station.

[0104] In this way, the cargo handling device can be induced to the replacement station by its own local processing unit or by the system controller.

[0105] The socket device may comprise a container housed below a rack or grid.

[0106] The socket device can be in any form within the reach of the actuator arm. For example, the socket device can be a shelf-like device with compartments or sockets for receiving power and data composite units. In another example, the socket device can have a series of compartments on a rotating carousel or loop similar to a paternoster lift device. In this way, when needed, an empty compartment can be presented to the actuator arm ready to receive a power and data composite unit, or a compartment ready to be connected to a cargo handling device with a rechargeable power source and an updated data storage module may be presented.

[0107] When the socket device is installed in a container housed under the grid, the container can be, for example, a fire-resistant tote or container. The fire-resistant tote or container can be of the type that can be lifted and moved by a cargo handling device operating on the grid. In this way, the replenished socket device container can be transported to a location adjacent to the replacement station.

[0108] The exchange station may further include a sensor for detecting the placed cargo handling device. The exchange station may further include a control unit. In this way, the control unit can command the robotic arm to remove the power and data composite unit from the cargo handling device when the cargo handling device arrives at the exchange station. The sensor may include a vision system.

[0109] Furthermore, the sensor system may be able to detect that the power of the cargo handling device has been turned off, for example, from the absence of light on the control panel of the cargo handling device. In this way, the exchange station can wait until it is safe to remove the power and data composite unit from the cargo handling device.

[0110] Each socket may include a light source unit for identifying the position of the power and data composite unit.

[0111] The light source unit may be similar to that of the receptacle of the cargo handling device and may operate similarly. The light source unit may display a signal visible to the actuator. The light source unit may guide the removal / insertion of the power and data composite unit into / from the socket. One or more light source units may display a predefined encoded signal using, for example, color modulation and / or amplitude modulation. Specific light signals can distinguish specific sockets. In this way, the actuator can be guided to the correct socket and / or the power and data composite unit ready for deployment.

[0112] It should be understood that there may be a potential fire risk in charging at the exchange station and in rechargeable power sources such as rechargeable batteries.

[0113] Therefore, the exchange station may further include a fire heat sensor, a smoke sensor, and / or a fire detection sensor.

[0114] These may be attached either together with sensors for detecting the cargo handling devices or to each socket. The sensors may provide data to an exchange station controller or a system controller.

[0115] The exchange station may further comprise a fire extinguishing device.

[0116] Again, these may be attached either together with sensors for detecting the cargo handling devices or to each socket. The fire suppression device may comprise, for example, means for dispersing fire extinguishing foam.

[0117] The exchange station may be covered with a fire-resistant material, i.e., substantially surrounded by a fire wall.

[0118] The exchange station may be temperature-controlled, i.e., the temperature of the exchange station is regulated.

[0119] Again, these may be attached either together with sensors for detecting the cargo handling devices or to each socket. Temperature control may be used as a means to minimize potential fire risks. Further, temperature control may also be used to facilitate optimal charging conditions for the power supply.

[0120] The communication module can receive instructions from the system controller for replacing the power supply and data composite unit of the cargo handling device, or the communication module can receive instructions for replacing the power supply and data composite unit of the cargo handling device from the cargo handling device.

[0121] In this way, the exchange station can operate under the control of the system controller, or the exchange system and the cargo handling device can operate semi-autonomously without direct control from the system controller.

[0122] The actuator can be guided by one or more of the following: (a) one or more cameras that provide two-dimensional images, (b) two or more cameras that provide three-dimensional images, (c) a laser, an extremely high frequency (EHF) radar device, or an ultrasonic depth detection device for providing or supplementing three-dimensional images, (d) optical detection devices or ranging devices and techniques used to create or supplement three-dimensional images, (e) laser imaging, detection, and / or ranging devices and techniques for creating or supplementing three-dimensional images, (f) 3D laser scanning devices and / or techniques for creating or supplementing three-dimensional images, and / or (g) extremely high frequency (EHF) radar, or ultrasonic scanning devices, 3-D scanning devices, and techniques for creating or supplementing three-dimensional images, to remove / insert the power and data composite unit.

[0123] The exchange station may have several systems to assist the operation of the actuator. A camera or other sensor may be equipped with specific lighting means or other means for generating guidance and / or control of the actuator and the gripper.

[0124] The load handling device can be moved to and instructed to stay at the exchange station grid cell.

[0125] The exchange station grid cell can be specifically allocated for the exchange of the power and data composite unit.

[0126] It should be understood that if the load handling device has multiple slots for the power and data composite unit, the exchange station may replace only one of the power and data composite units, or the exchange station may replace multiple power and data composite units.

[0127] Power and data composite units in a state of low power or full data storage capacity are inserted into any available socket of the exchange station for recharging and / or the data log is downloaded and erased and / or computer-readable code can be written to the data storage module.

[0128] When selecting a second power and data composite unit for insertion into the load handling device, the exchange station may determine that it is not necessary to make the most recently charged power and data composite unit available until a parameterized time period after charging to provide a monitoring period for the thermal state of the electrical energy storage unit for safety reasons.

[0129] Thus, when the load handling device goes to the exchange station, one or more power and data composite units are exchanged for a power and data composite unit including a recharged power source and a data storage device with the log file erased. While the power source is being recharged at the exchange station, the data stored in the data storage module is downloaded through a high-bandwidth network connection.

[0130] The load handling device can turn off the power when it arrives at the exchange station grid cell.

[0131] Thus, the load handling device can turn off the power before the power and data composite unit is exchanged.

[0132] The load handling device can automatically turn on the power when a second power and data composite unit is detected.

[0133] The power-on can be performed after detecting continuous power within a slot where the voltage is within a specific range without interruption for a specific time. Thus, the load handling device can be ready to immediately resume lifting operations and operations on the grid.

[0134] The actuator can be instructed to remove and replace a particular power and data composite unit.

[0135] The actuator can be guided by one or more light source units to a particular socket or receptacle.

[0136] The robotic arm can be guided to the correct empty slot in the exchange station by one or more light source units that can display a predefined coded signal, for example, using color modulation and amplitude modulation.

[0137] In this way, the amount of time spent at the exchange station by each load handling device is typically less than substantially 1% of its total operating time, thereby reducing the number of required power stations and the total number of load handling devices that need to operate on the grid to obtain a given throughput of the system, and further, the number of required power stations can be reduced.

[0138] Furthermore, the data files used by each of the real-time software of the load handling devices can be updated from time to time. System A storage and retrieval system is provided, which a first set of parallel tracks extending in the X direction and a second set of parallel tracks extending in the Y direction crossing the first set in a substantially horizontal plane to form a grid pattern with a plurality of grid spaces, a plurality of stacks of storage containers placed under the tracks and arranged such that each stack is placed within the footprint of a single grid space, one or more load handling devices as defined herein, a system controller comprising a system data storage medium storing computer-readable code for controlling the operation of the load handling devices on the tracks. Comprising an exchange station as defined herein, the exchange station further comprises a communication module configured to receive data signals from a system controller and / or to transmit data signals to a system controller, and the exchange station is installed on or adjacent to a track and is configured to connect / disconnect a power and data composite unit to / from an interface of one or more cargo handling devices. The computer-readable code stored on the system data storage medium is transmitted by the system controller to the exchange station via the communication module.

[0139] The cargo handling device may be semi-autonomous and typically operates on a grid structure powered by a rechargeable power source as discussed above.

[0140] The exchange station may be installed on the grid and / or at the edge or periphery of the grid. Alternatively, the exchange station may be installed on the grid structure itself. In this way, the exchange station is accessible from the cargo handling device operating on the grid, and the first replaceable unit, i.e., the power and data composite unit, can be removed from the cargo handling device and replaced with a similar second power and data composite unit. The number of exchange stations arranged on the grid system may be determined by the number of cargo handling devices operating on the grid and / or by the typical runtime before the rechargeable power source is depleted.

[0141] The system controller may guide or control the cargo handling device operating on the grid. The system controller may comprise one or more system control units. The system controller may control the cargo handling device via communication means.

[0142] When the power source of a particular cargo handling device is depleted, the cargo handling device may be guided to the exchange station to replace the power source.

[0143] At the exchange station, the removed power supply and data composite unit can be recharged and the diagnostic log can be downloaded. When the diagnostic log is downloaded, the diagnostic log can be erased from the data storage module so that the power supply and data composite unit can be prepared to be deployed as a replacement power supply and data composite unit.

[0144] At the exchange station, the power supply and data composite unit can be further prepared for redeployment by uploading computer-readable code. The uploaded computer-readable code can include one or more new versions of the computer-readable code already present in the data storage module.

[0145] As described above, the update can be installed according to computer-readable code comprising implementation instructions. Some operation files substantially update the firmware of the cargo handling device when the power supply and data composite unit is inserted into the receptacle of the cargo handling device, and the implementation of some firmware updates can be delayed until communication information is received from the system controller.

[0146] One or more cargo handling devices may comprise a plurality of cargo handling devices, and each local processing unit of the plurality of cargo handling devices is configured to execute instructions stored in the data storage module in response to a communication signal from the system controller.

[0147] In some cases, "backward-incompatible changes" must be made so that all cargo handling devices are updated together. This requires that all cargo handling devices have a copy of the new version of the operation file.

[0148] Previously, the system was stopped so that the cargo handling devices were upgraded simultaneously.

[0149] The computer-readable code can comprise instructions for performing an update to a load handling device into which a power and data composite unit is inserted, the update being instructed to be performed substantially when the power and data composite unit is inserted, or the update being instructed to be performed when a communication signal from a system controller is received.

[0150] The system controller can provide a communication signal to a plurality of load handling devices to perform an update across an entire group of load handling devices according to the stored computer-readable code.

[0151] Thus, the computer-readable code can include information instructing the load handling device to automatically update to a particular new version of software and data files when the computer-readable code is first read, or the computer-readable code can include information instructing the container handling device to wait to be instructed via wireless communication before updating to a particular new version of software and data files. Accordingly, software changes can be made individually or all at once to prevent "breaking compatibility" changes.

[0152] In addition, this enables "breaking compatibility" changes to be made more quickly compared to conventional wired updates, since all load handling devices within the system can receive a copy of the upgrade after a single trip to the exchange station.

[0153] In this way, the cargo handling device can be individually updated when the power and data composite unit is replaced, or a group of cargo handling devices can be updated together when each cargo handling device within the group receives an updated version of the computer-readable code via the power and data composite unit requested by the system controller. The group of cargo handling devices can comprise all the cargo handling devices operating on the track structure or all the cargo handling devices within the storage and retrieval system.

[0154] For example, if a portion of the track structure is to be closed for maintenance, the grid map data file may need to be updated simultaneously for all the cargo handling devices on the track system. When going to the exchange station, each cargo handling device is provided with an updated grid map data file and an operation file including an instruction to wait for a signal from the system controller before switching to using the updated grid map data file. When all the cargo handling devices receive the updated grid map data file and the operation file including the instruction to wait for a signal before updating, a signal from the system controller can be transmitted simultaneously to all the cargo handling devices to instruct all the cargo handling devices to start using the new version of the grid map data file. In this way, it can be seen that all the cargo handling devices can avoid the portion of the track system that is closed for maintenance without the need to stop the operation of the cargo handling devices.

[0155] A computer program is provided that comprises instructions for causing a computer to execute this method when the program is executed by the computer.

[0156] Next, the above and other aspects of the present invention will be described by way of example only with reference to the accompanying drawings.

Brief Description of the Drawings

[0157]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5a

Figure 5b

Figure 6a

Figure 6b

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

[0158] In the figures, similar features are denoted by similar reference numerals as appropriate.

[0159] The following embodiments represent preferred examples of how the present invention can be implemented, but these are not necessarily the only examples of how this can be achieved. These examples are described in sufficient detail to enable those skilled in the art to practice the present invention. Other examples may be utilized and structural changes may be made without departing from the scope of the present invention as defined in the appended claims. Further, directional reference numerals and other terms having an implied orientation are provided as examples to assist the reader's understanding of the specific examples described herein. These should not be read as requirements or limitations regarding the position, orientation, or use of the present invention, unless specifically recited in the appended claims. Similarly, connection references (e.g., attachment, coupling, connection, joining, fixing, etc.) should be construed broadly and may include intermediate members between the connection of elements and relative movement between elements. Thus, a connection reference does not necessarily infer that two elements are directly connected and in a fixed relationship with each other, unless specifically recited in the appended claims. Similarly, expressions such as "movement in the n direction" and any equivalent expression where n is one of x, y, or z mean movement in any direction (i.e., toward the positive end of the n axis or toward the negative end of the n axis), substantially along the n axis, or parallel to the n axis.

[0160] As described above, FIG. 1 shows the storage structure 1 of the storage and retrieval system. The storage structure 1 includes a framework having an upright member 3 and horizontal members 5 and 7 supported by the upright member 3. The horizontal members 5 extend parallel to each other in the X-axis direction shown in the figure. The horizontal members 7 extend parallel to each other and to the y-axis shown in the figure and intersect the horizontal members 5. The upright members 3 extend parallel to each other and to the z-axis shown in the figure and intersect the horizontal members 5 and 7. The horizontal members 5 and 7 form a grid pattern that defines a plurality of grid cells 14. In the example shown in the figure, the storage container 9 is arranged as a stack 11 under the grid cell 14 defined by the grid pattern (one stack 11 of the container 9 for each grid cell 14).

[0161] As an alternative to the upright member 3 that supports the horizontal members 5 and 7 described with reference to FIG. 1, in other examples, the horizontal members can be supported by a support framework structure comprising a plurality of prefabricated modular panels arranged in a grid pattern, the details of which are described in PCT application WO2022034195A1. The storage structure described in WO2022034195A1 addresses the issues of assembly time and cost by implementing 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 dimensioned to support two or more grid cells of the track structure. This storage structure, although formed from fewer structural components, maintains the same structural integrity as the above-described typical "site-assembled" storage structure 1 and is very fast and inexpensive to construct. In the present invention, any suitable support framework structure can be used. FIG. 2 shows an enlarged plan view of a portion of the track structure 13 that forms part of the storage structure 1 shown in FIG. 1 and is installed at the top of the horizontal members 5 and 7 of the storage structure 1 shown in FIG. 1. The track structure 13 can be provided by the horizontal members 5 and 7 themselves (e.g., formed on the surfaces of the horizontal members 5 and 7), or by one or more additional components attached to the top of the horizontal members 5 and 7. The illustrated track structure 13 comprises an x-direction track 17 and a y-direction track 19, i.e., a first set of tracks 17 extending in the x direction and a second set of tracks 19 extending in the y direction that intersect the tracks 17 of the first set of tracks 17. The tracks 17 and 19 define an opening 15 at the center of the grid cell 14. The opening 15 is dimensioned such that a container 9 installed below the grid cell 14 can move up and down through the opening 15. The x-direction tracks 17 are provided as pairs separated by channels 21, and the y-direction tracks 19 are provided as pairs separated by channels 23. Other arrangements of the track structure may also be possible.

[0162] Figure 3 shows a plurality of load handling devices 31 that move to the top of the storage structure 1 shown in Figure 1. The load handling device 31, sometimes also called a robot or bot, comprises a set of wheels for engaging with a corresponding x-direction track 17 or y-direction track 19 to enable the bot 31 to travel across the track structure 13 and reach a specific grid cell 14. The pair of illustrated tracks 17, 19 separated by channels 21, 23 enables the bots 31 to occupy (or pass by) adjacent grid cells 14 without colliding with each other.

[0163] As shown in Figure 4, the bot 31 comprises a body 33 to which one or more components are attached to enable the bot 31 to perform its intended functions. These functions can include the bot 31 moving across the storage structure 1 on the track structure 13 and the bot 31 being able to pick up or deposit the container 9 at specific locations defined by the grid pattern, and raising or lowering the container 9 (e.g., from or to the stack 11).

[0164] The illustrated bot 31 comprises a drive assembly that includes a first set of wheels 35 and a second set of wheels 37 that are attached to the body 33 of the bot 31 and enable the bot 31 to move in the x-direction and y-direction along the tracks 17, 19, respectively. In particular, two wheels 35 are provided on the short side of the bot 31 visible in Figure 4, and another two wheels 35 are provided on the opposite short side of the bot 31. The wheels 35 are rotatably attached to the body 33 of the bot 31 to engage with the track 17 and enable the bot 31 to move along the track 17. Similarly, two wheels 37 are provided on the long side of the bot 31 visible in Figure 4, and another two wheels 37 are provided on the opposite long side of the bot 31. The wheels 37 are rotatably attached to the body 33 of the bot 31 to engage with the track 19 and enable the bot 31 to move along the track 19.

[0165] The robot 31 also includes a lifting mechanism 39 configured to raise and lower the container 9. The illustrated lifting mechanism 39 includes four tethers 41 connected to a gripping device 43 at its lower end. The tethers 41 may be in the form of cables, ropes, tapes, or any other form of tether having the physical characteristics necessary to lift the container 9. The gripping device 43 includes a gripping mechanism configured to engage a functional portion of the container 9. For example, the container 9 may include one or more openings on its upper surface that the gripping mechanism can engage. Alternatively or in addition, the gripping mechanism may be configured to hook the container 9 under a rim or lip of the container 9 and / or to clamp or grip the container 9. The tethers 41 may be wound up or let down as needed to raise or lower the gripping device 43. One or more motors or other means may be provided to wind up or let down the tethers 41 or to control the same.

[0166] As can be seen in FIG. 5, the body 33 of the illustrated bot 31 has an upper portion 45 and a lower portion 47. The upper portion 45 is configured to house one or more operating components (not shown), such as components of the lifting mechanism (e.g., a motor), wireless communication components, etc. The lower portion 47 is disposed below the upper portion 45. The lower portion 47 includes a container receiving space or cavity for receiving at least a portion of the container 9 lifted by the lifting mechanism 43. The container receiving space is dimensioned such that a sufficient portion of the container 9 can fit inside the cavity so that the bot 31 can move across the uppermost track structure 13 of the storage structure 1 without the lower surface of the container 9 catching on the track structure 13 or other portions of the storage structure 1. When the bot 31 reaches its intended destination, the lifting mechanism 43 controls the tether 41 to lower the gripping device 43 and the corresponding container 9 from the cavity to the intended position. The intended position can be the stack 11 of containers 9 or the exit point of the storage structure 1 (or, if the bot 31 is moving to collect containers 9 for storage in the storage structure 1, the entry point of the storage structure 1). In the illustrated example, the upper portion 45 and the lower portion 47 are separated by a physical partition, but in other examples, the upper portion 45 and the lower portion 47 may not be physically divided by a particular component or portion of the body 33 of the bot 31.

[0167] The container receiving space of the bot 31 may not be within the body 33 of the bot 31. Instead, for example, the container receiving space may be adjacent to the body 33 of the bot 31, for example, by a cantilever device that cancels out the weight of the container to be lifted by the weight of the body 33 of the bot 31. In such an embodiment, the frame or arm of the lifting mechanism 43 may project horizontally from the body 33 of the bot 31, and the tether 41 may be disposed at respective locations on the projecting frame / arm and configured to be raised and lowered from these locations to raise and lower the container to and from the container receiving space adjacent to the body 33. The height at which the frame / arm is attached and projects from the body 33 of the bot 31 may be selected to obtain the desired effect.

[0168] For example, it may be preferable for the frame / arm to project at a high level on the body 33 of the bot 31 in order to enable a larger container (or containers) to be lifted into the container receiving space under the frame / arm. Alternatively, the frame / arm may be arranged to project below the body 33 (but high enough to accommodate at least one container between the frame / arm and the track structure 13) in order to keep the center of gravity of the bot 31 low when a container is loaded on the bot 31.

[0169] To enable the bot 31 to move in the first and second directions by means of separate wheels 35, 37, the drive assembly further comprises a wheel positioning mechanism for selectively engaging a first set of wheels 35 with a first set of tracks 17 or a second set of wheels 37 with a second set of tracks 19. This wheel positioning mechanism is configured to raise and lower at least one set of wheels 35 and / or 37 relative to the body 33 of the bot 31, thereby enabling the load handling device 31 to selectively move in either the first or second direction across the tracks 17, 19 of the storage structure 1.

[0170] The wheel positioning mechanism may include one or more linear actuators, rotary components or other means for raising and lowering at least one set of wheels 35, 37 relative to the body 33 of the bot 31 in order to, and to disengage, at least one set of wheels 35, 37 from contact with the tracks 17, 19. In some examples, only one set of wheels is configured to be raised and lowered, and the action of lowering one set of wheels can effectively lift and disengage the other set of wheels from the corresponding track, and the action of raising one set of wheels can effectively lower the other set of wheels into contact with the corresponding track. In other examples, both sets of wheels can be raised and lowered, and advantageously, the body 33 of the bot 31 will remain at substantially the same height, and thus the weight of the body 33 and the components attached thereto need not be raised and lowered by the wheel positioning mechanism.

[0171] Figures 6a and 6b show an open frame or skeletal module structure 60 for an alternative load handling device. Figure 6a shows the skeletal structure for load handling, and Figure 6b shows a simplified model version of the structure having a block structure forming a vertically stacked layer structure.

[0172] Four module parts 61a, 61b, 61c, 61d are shown in a stack. Each of the four module parts, the first module part 61a, the second module part 61b, the third module part 61c and the fourth module part 61d, may provide one or more of the functional characteristics of the load handling device. For the purposes of the discussion herein, the first module part 61a is at the bottom of the load handling device 60 and the fourth module part 61d is at the top of the load handling device 60.

[0173] Layers 62a, 62b, 62c may be defined as the spaces between respective ones of the module parts 61a, 61b, 61c, 61d. Each of the layers 62 may convey at least a portion of one or more of the functional components of the load handling device 60. The number and location of the layers 62a, 62b, 62c are not limited to the layers defined by the four module parts 61a, 61b, 61c, 61d shown in FIGS. 6(a) and 6(b), and it should be understood that any number of module parts 61 may be included to obtain additional layers and volumes for the functional characteristics of the load handling device 60. It should be understood that the functional characteristics may be the number of shared layers.

[0174] The module parts 61a, 61b, 61c, 61d are constructed by connecting adjacent connection blocks in the same horizontal plane by one or more connection elements for forming an open rectangular frame. The blocks may be fixedly connected, or the blocks may be connected movably. Each layer is an open rectangular frame formed by connecting or coupling corner brackets, and each corner bracket is shown as a connection block in FIG. 6b. The vertically adjacent module parts are connected by connecting vertically adjacent connection blocks for forming an open frame or a framework structure 60. The corner brackets of a single module part 61a, 61b, 61c, 61d may be indirectly connected to other brackets in the middle of the corner brackets by additional connection elements illustrated in FIG. 6a for the module parts 61c, 61d, for example. Thus, the term "connected" may mean directly and / or indirectly.

[0175] The connection element may be a connection rod or a connection tube for connecting adjacent connection blocks. The connection rod may be solid or hollow.

[0176] The open frame structure 60 is a three-dimensional structure defining a volume that usually has an upper layer 62c for accommodating a power supply, a control unit, a spool holding a lifting tether, etc., and a lower layer 62a for accommodating a lifted container.

[0177] The structural integrity of the open frame structure 60 should be sufficient not only to support the different functional characteristics of the load handling device, but also to have sufficient bending stiffness when the load handling device is operating on the lattice structure. Various materials can be used to manufacture the connecting rods or tubes. These include, but are not limited to, metals or polymers or ceramics, or combinations thereof. Optionally, the connecting rods that connect adjacent corner brackets are composed of carbon fibers bonded in a polymer matrix (known as carbon fiber or CF rods) in order to reduce the weight of the load handling device and have the structural properties necessary to support the different functional components of the load handling device. Each of one or more connection blocks of the module part is provided with an opening or socket for inserting a connecting rod in order to assist the structure of the rectangular frame forming the module parts 61a, 62b, 62c. The connecting rod is fixed to the connection block by a joint. Various joints can be used to fix the connecting rod to the corner brackets of the module part. These include various fasteners, adhesives, welding, etc.

[0178] The same corner brackets for connecting to two other corner brackets of a single module portion can be used to vertically connect adjacent rectangular frames to form layers 62a, 62b, 62c. The corner brackets of vertically adjacent rectangular frames can be attached to the same vertical connection element at each corner of the open frame structure 60 such that the vertical connection element extends through the corner brackets of a plurality of vertically adjacent rectangular frames. As a result, each corner of the open frame structure 60 can share the same or a common vertical connection element. It should be understood that a storage and retrieval system of the type described above can be operated by a group of load handling devices. The group can be homogeneous or the group can be of various types of load handling devices. The load handling devices described in connection with FIGS. 4-6 are some examples of types of load handling devices.

[0179] FIG. 11 shows a schematic view of a load handling device 31 into which a power and data composite unit 52 is inserted. The load handling device 52 includes a receptacle 50 for receiving the power and data composite unit 52. The receptacle 50 is externally accessible to facilitate insertion and removal of the power and data composite unit 52. As described above, the power and data composite unit 52 includes a rechargeable power source 55 (e.g., a rechargeable battery) and a data storage module 56 that stores data associated with the computer-readable code 58.

[0180] The cargo handling device 31 includes a communication module 53 for receiving data from the system controller and / or for transmitting data to the system controller. The communication module 53 can transmit information regarding the current state of the cargo handling device 31 (e.g., current position and any error data) to the system controller. The communication module 53 can receive data and instructions from the system controller (e.g., an instruction to move to a specific grid cell 14 or an instruction to retrieve a specific container 9). The data can be transmitted and / or received wirelessly by the communication module.

[0181] The cargo handling device 31 includes a local processing unit 54. The local processing unit 54 controls the operation of the cargo handling device 31 and communicates with the communication module 53. For example, the local processing unit 54 can control the drive assembly, wheels, steering mechanism, lifting mechanism, and / or other components of the cargo handling device.

[0182] The receptacle 50 of the cargo handling device includes means for electrically coupling to a power and data composite unit 52 received within the receptacle 50. This electrical coupling can be achieved by one or more physical connectors (e.g., contact pads or cables) or by wireless transfer means (e.g., inductive charging).

[0183] The receptacle 50 includes a data interface for transferring data to and / or receiving data from a data storage module 56 of the power and data composite unit 52 received within the receptacle 50. This data transfer can be achieved by one or more physical connectors (e.g., a USB cable or other data cable) or by wireless transfer means.

[0184] The power supply and data composite unit 52 includes a rechargeable power supply 55 (e.g., a rechargeable battery) and a data storage module 56. The data storage module 56 includes computer-readable code 57 for controlling the operation of the cargo handling device 31. The local processing unit 54 is configured to access the computer-readable code 57, for example, to control the operation of the cargo handling device 31 on the track structure 13.

[0185] The interface between the illustrated example of the cargo handling device 31 and the power supply and data composite unit 52 is the receptacle 50. However, in other examples, other forms of interfaces can be used. In other examples, the interface between the power supply and data composite unit and the cargo handling device can take any suitable form and does not necessarily require the power supply and data composite unit to be inserted into a receptacle or slot of the cargo handling device. In this specific example, a cargo handling device 31 including a single receptacle 50 for a single power supply and data composite unit 52 is shown. However, in other examples, the cargo handling device can include multiple receptacles 50.

[0186] FIG. 12 shows a schematic view of a cargo handling device 31 into which the power supply and data composite unit 52 is inserted. The cargo handling device 31 includes a data storage medium 58. The data interface is configured to transfer data between the data storage medium 58 of the cargo handling device 31 and the data storage module 56 of the power supply and data composite unit 52 inserted into the receptacle 50 of the cargo handling device 31.

[0187] The data storage medium 58 comprises a computer-readable code 57a. When the power supply and data composite unit 52 is received within the receptacle 50 of the cargo handling device, the computer-readable code 57 within the data storage module can be used to update the computer-readable code 57a of the data storage medium of the cargo handling device. For example, the process of updating the computer-readable code can comprise copying the new computer-readable code 57 to the data storage medium 58, or copying an updated version 57 of the existing computer-readable code 57a.

[0188] In this example, the data storage module 56 comprises a local data storage device component 59 for storing data logs in the data storage module 56 of the power supply and data composite unit 52. Data logs (such as data collected by sensors (not shown) on the cargo handling device 31) can be transmitted from the data storage medium 58 to the local data storage device component 59. In this way, when the power supply and data composite unit 52 is replaced with another power supply and data composite unit at the exchange station, the data log is removed from the cargo handling device 31. The data log can be downloaded at the exchange station and removed from the local data storage device component 59.

[0189] FIG. 13 shows a schematic view of a load handling device 31 in which a charge receiving connector 63 is connected to a corresponding connector 64 of a power and data composite unit 52. The charge receiving connector 63 receives power from the corresponding connector 64 of the power and data composite unit 52, and this power is supplied to the drive assembly of the load handling device 31 and, in some cases, also to other components of the load handling device 31. The charge receiving connector 63 can also receive and / or transmit data to and from the corresponding connector 64 of the power and data composite unit 52. A data log can be transferred from the load handling device 31 to the data storage module 56 and / or, in the other direction, an update of the computer-readable code can be transferred from the data storage module 56 to the load handling device 31. The charge receiving connector 63 and the corresponding connector 64 engage with each other to realize both the electrical coupling between the rechargeable power source 55 of the power and data composite module 55 and the load handling device 31 and the data interface between the data storage module 56 and the load handling device 31.

[0190] The charge receiving connector can comprise a power connector, a ground connector, and a differential pair of data connectors, and the corresponding connector on the power and data composite unit can comprise corresponding power and ground connectors and a corresponding differential pair of data connectors. The charge receiving connector and / or the corresponding connector on the power and data composite unit can comprise a shield for protecting the connector from electromagnetic interference. Any suitable data connector, such as a USB connector, can be used.

[0191] The charge receiving connector 63 can be configured to engage with the corresponding connector 64 when the power and data composite unit 52 is inserted into the receptacle 50 of the load handling device 31.

[0192] Figure 7 shows a schematic view of a load handling device 31 having a receptacle or slot 50 for receiving a power and data composite unit 52. The load handling device 31 may be of the type shown in FIGS. 1 - 5 having a "body" for housing functional components, or of the type shown in FIG. 6 having merely a skeletal frame for attaching functional components. The load handling device 31 has a lower part 47 for receiving a lifted container and an upper part 45 for housing a functional system. The load handling device 31 is supported by a first set of wheels 35 and a second set of wheels 37 for moving on the orbital structure of a storage cube. The load handling device 31 may also house a lifting mechanism, a local control unit and a communication module, as well as other functional components or systems.

[0193] The functional system housed in the upper part 45 of the load handling device 31 comprises one or more receptacle slots 50 for receiving the power and data composite unit 52.

[0194] As shown in FIG. 7, the upper part 45 comprises two receptacles or slots 50, namely a first slot 50a and a second slot 50b. Slot 50a is occupied by a power and data composite unit 52 and slot 50b is empty. It should be understood that both slots 50a and 50b may be occupied by respective power and data composite units 52. In this way, as shown, the load handling device 31 may carry two power and data composite units 52. Each receptacle is arranged to be electrically coupled to the power supply of the inserted power and data composite unit 52, and each receptacle is also arranged to interface with the data storage module of the inserted power and data composite unit 52.

[0195] The power and data composite unit 52 is configured to supply sufficient power to operate the drive assembly of the load handling device 31, the wheels 35, 37, the lifting mechanism, the communication module, and other functional systems.

[0196] The data interface is arranged to read and update the firmware of the load handling device from the data storage module of the inserted power and data composite unit 52. The firmware update may comprise an operation file stored in the storage module of the inserted power and data composite unit 52. Further, when operating on the grid, operation data and sensor data may be collected, stored, or written to the inserted power and data composite unit 52 via the data interface.

[0197] The operation data file may comprise one or more of (a) a grid map data file, (b) load handling device control software, (c) load handling device motor drive control software, or (d) load handling device communication software.

[0198] The load handling device motor drive control software may be, for example, firmware or software for controlling the drive assembly of the load handling device to drive the wheels of the load handling device so that the load handling device can move on the track structure. The drive assembly may comprise one or more electric motors controlled by the load handling device motor drive control software. The operation file may control the speed, torque, power, or direction of one or more motors. The operation file may include software configured to generate a speed and acceleration trajectory over time for commands for track generation, i.e., to define the operation of the load handling device when moving to another grid cell on the track system, and commands to convert the linear speed / acceleration requirements of the load handling device into the speed / torque / power required from one or more motors.

[0199] The cargo handling device communication software can control the transmission and reception of data from the cargo handling device to the system controller.

[0200] The cargo handling device control software may be firmware or software for controlling other parts of the cargo handling device. For example, the operation file can be provided to control the traveling direction of the cargo handling device by operating the direction changing mechanism and / or the wheel positioning mechanism. The operation file can control the wheel positioning mechanism to selectively engage the first set of wheels 35 with the first set of tracks 17 by lowering the first set of wheels 35 relative to the main body 33 so that the first set of wheels 35 engages with the first set of tracks 17 and the cargo handling device 31 can move in the first direction across the track system. In another example of the cargo handling device control firmware, the operation file can control the cargo handling device 31 to lift a container from a stack or lower a container onto a stack by, for example, controlling the lifting or lowering speed of the container while it is being lifted or lowered, and by controlling the gripping mechanism of the gripping device to engage or release the container. The operation file can be firmware for controlling the position of the cargo handling relative to the track system based on one or more position sensors configured to sense one or more markers on the track system.

[0201] The slot 50 is shown as being disposed at the upper portion 45 of the cargo handling device 31 and being disposed substantially horizontally, but the compartment or slot 50 may be installed at any accessible position within, above, or associated with the cargo handling device 31. The slot 50 may optionally include a locking mechanism for releasably locking the power and data composite unit 52 within the holder 50.

[0202] When the power supply of the inserted power and data composite unit 52 is short of power, or when the data storage of the inserted power and data composite unit 52 is approaching the storage capacity, the cargo handling device 31 can be instructed to move to the exchange station 70 grid cell. This instruction may be from a local control unit local to the cargo handling device 31 itself, or the instruction may be from a central control unit at the center of the storage and retrieval system.

[0203] Figures 8 and 9 show an exemplary exchange station 70 in the form of a robot arm 71 installed on a platform 72 adjacent to the outer peripheral portion of a part of the track structure 13. The robot arm 71 includes a base at one end and an actuator 73 at the other end. The base is fixed to the track structure 13 by being attached to the platform 72. The illustrated actuator 73 is in the form of a gripper for physically gripping the power and data composite unit 52, but the actuator 73 can take any form suitable for releasably holding the power and data composite unit 52. The actuator 73 includes a pair of gripping members that are selectively movable between a gripping position for holding the power and data composite unit 52 and a releasing position for releasing the power and data composite unit 52. The base and the actuator 73 are connected by a series of links and joints. The joints are configured to give the robot arm 71 the desired degrees of freedom so that the robot arm 71 can take out the power and data composite unit 52 from the slot 50 and place it in a specified area, and / or pick up a replacement power and data composite unit from the specified area and insert it into the slot 50. In this illustrated example, the robot arm 71 is a six-axis robot arm (i.e., the joints provide six degrees of freedom), enabling relatively complex movements and providing adaptability with respect to the relative positioning among the load handling device 31, the robot arm 71, and the specified area. In the example shown in Figure 8, the slot 50 is arranged substantially vertically and is accessible from above the load handling device 31.

[0204] The robot arm 71 is configured to replace the power supply and data multiplexing unit 52 of the load handling device 31 installed on the designated grid cell 14 adjacent to the robot arm 71. The load handling device 31 stays in the designated grid cell 14a throughout the replacement of the power supply and data multiplexing unit 52, including the period of removing the power supply and data multiplexing unit 52 with insufficient power and / or limited capacity, the period of inserting the replacement power supply and data multiplexing unit 52, and the period in between.

[0205] Depending on the size and configuration of the robot arm 71, the robot arm 71 can be configured to interact with the load handling device 31 on any one of a plurality of designated grid cells 14 in the vicinity of the robot arm 71. In other words, the actuator 73 of the robot arm 71 can be movable to the receptacles 50 of two or more stationary load handling devices 31 in the vicinity of the robot arm 71, as shown in FIG. 8. This enables the robot arm 71 to continue to perform the replacement of the power supply and data multiplexing unit 52 even if the load handling device 31 fails and blocks one of the designated grid cells 14.

[0206] In some embodiments, a sensor halo 74 may be provided that is installed above the robotic arm 71 and extends at least partially over the designated grid cell 14. The sensor halo 74 has a vision system and can detect when the load handling device 31 is placed on the designated grid cell 14. Further, the sensor halo 74 can detect when the power of the load handling device 31 is turned off and ensure that it is safe to remove the power and data composite unit 52. When the power is turned off, the vision system can identify the location of the power and data composite unit 52 and can be used to direct the actuator 73 to grip the power and data composite unit 52 and move it to a designated area. To replace the power and data composite unit 52, the vision system can identify the location of the empty receptacle 50 and can be used to direct the actuator 73 that transports the replacement power and data composite unit 52 to insert the power and data composite unit 52 into the empty receptacle 50.

[0207] The sensor halo 74 can also house sensors and devices for controlling the environment around the exchange station 70 (e.g., for temperature control and for fire detection and suppression).

[0208] It should be understood that instead of being installed on a platform adjacent to the outer periphery of the track structure 13, the robotic arm 71 may be installed on the track structure 13 itself, for example, on the grid cell 14 of the track structure 13.

[0209] Instead of a single robot arm 71 that performs both the removal operation and the insertion operation, a first robot arm 71 can be provided to remove the power supply and data composite unit 52 from the receptacle 50, and a second robot arm 71 can be provided to insert the replacement power supply and data composite unit 52 into the receptacle 50. Such a device can provide a faster and more efficient power supply replacement. The reason is that since the first robot arm 71 does not need to wait for the power supply and data composite unit 52 with insufficient power / full to be placed in the designated area and pick up the replacement power supply and data composite unit 52, immediately after the power supply and data composite unit 52 with insufficient power / full is removed, the replacement power supply and data composite unit 52 can be inserted into the receptacle 50. The first robot arm 71 and the second robot arm 71 can be configured to perform their respective removal operations and insertion operations while the load handling device 31 remains on the same grid cell 14a.

[0210] The robot arm 71 is not limited to having a base 72 fixed to the track structure 13. Instead, the base 72 may be configured to move with respect to the track structure 13. For example, the base 72 may be provided with wheels or other driving means. This means enables the robot arm 71 to perform power supply replacement (removal and / or insertion) across a plurality of different grid cells 14 (for example, a column of grid cells 14). The base 72 may be configured to move adjacent to the outer peripheral portion of the track structure 13, or the base 72 may be configured to move on the track of the track structure 13 itself (for example, in the X and / or Y directions).

[0211] The robot arm 71 is not limited to being a six-axis robot arm. At least, the robot arm 71 includes an actuator 73 that is movable relative to the load handling device 31 in order to enable the robot arm 71 to take out and insert the power and data composite unit 52. To achieve more complex movements, the robot arm 71 may have additional degrees of freedom. For example, the robot arm 71 may be a two-axis, three-axis, four-axis, or five-axis robot arm. The robot arm 71 may also include seven or more degrees of freedom, such as a seven-axis robot arm. In other devices, the robot arm can be replaced with an actuator that operates with an orthogonal bar and cable system.

[0212] FIG. 14 shows a schematic diagram of the power and data composite module 52 inserted into the socket 81 of the exchange station 70. In the illustrated example, the interface between the exchange station and the power and data composite unit takes the form of a socket into which the power and data composite unit can be inserted. However, in other examples, other forms of interfaces can be used. In the illustrated example, only one socket 81 is provided. However, in other examples, the exchange station may include a plurality of sockets 81. The socket 81 is externally accessible so that the power and data composite unit 52 can be easily inserted or removed. In the illustrated example, since the socket 81 is externally accessible from the side of the exchange station 70, the power and data composite unit 52 can be inserted or removed horizontally. However, in other examples, one or more sockets 81 may be accessible from another direction.

[0213] The exchange station is equipped with an actuator 84 (e.g., a robot arm), which can take out the power and data composite unit 52 from the receptacle 50 of the load handling device 31 and insert the power and data composite unit 52 into the socket 81 of the exchange station. Conversely, the actuator 84 can also take out the power and data composite unit 52 from the socket 81 of the exchange station and insert the power and data composite unit 52 into the receptacle 50 of the load handling device 31. Therefore, when the load handling device 31 approaches the exchange station 70, the actuator 84 can take out the power and data composite unit 52 currently inserted in the load handling device 31 and replace it with a new power and data composite unit 52. In this way, the load handling device 31 can be equipped with a fully charged power and data composite unit 52 and can continue to operate on the track system 13. As will be described in more detail below, the actuator can be a robot arm with an end effector configured to grip and hold the power and data composite unit 52.

[0214] The exchange station also includes a communication module 85, which can receive and / or transmit data signals to and from a system controller and / or a local processing unit on the load handling device.

[0215] When the power and data composite unit 52 is inserted into the socket 81, the socket 81 electrically couples to the power and data composite unit 52 such that power can be transferred to charge the rechargeable power source 55 within the power and data composite unit 52. The socket 81 is also configured to establish a data channel with the power and data composite unit 52 such that data can be transferred between the data storage module 56 and the socket 81. Data can be transferred bi-directionally. That is, a data log from the data storage module 56 (in this example, the data log stored in the local data storage device component 59) can be transferred from the data storage module to the socket. Conversely, an updated operation file (e.g., a new operation file or an updated version of an existing operation file) can also be transferred from the socket to the data storage module 56.

[0216] In the illustrated example, the power and data composite unit 52 is recharged at the exchange station in parallel with the transfer of data, so the power and data composite unit remains at the exchange station until it is fully recharged and can be inserted into another load handling device. In other examples, these two functions can be separated. That is, data can be transferred at the exchange station 70, and then the power and data composite unit 52 can be transferred to another charging station to be recharged.

[0217] FIG. 15 shows a schematic view of the power and data composite module 52 connected to the charge supply connector 86 of the socket 81 of the exchange station 70. The power and data composite unit 52 includes a corresponding connector 64 configured to engage with the charge supply connector 86 of the socket 81. The corresponding connector 64 of the power and storage device composite unit 52 is the same corresponding connector 64 shown in FIG. 13. In other words, the corresponding connector 64 can interface with both the charge supply connector 63 of the socket 81 of the exchange station 70 and the charge receiving connector 63 of the load handling device 31.

[0218] When the power supply and data composite unit 52 is received within socket 81, the charge supply connector 86 within socket 81 of the exchange station 70 effects both an electrical coupling between the socket and the rechargeable power supply 55 of the power supply and data composite unit and a data interface between the data storage module 56 and socket 81. Similar to the charge receiving connector of the above-described cargo handling device, the charge supply connector can perform two functions simultaneously. That is, the same connector can supply charge and transfer data. The data can be transferred bidirectionally. For example, computer-readable code 57 or an update of the computer-readable code can be transferred from the exchange station 70 to the power supply and data composite unit 52, and diagnostic data or a data log can be transferred from the power supply and data composite unit 52 to the exchange station 70.

[0219] FIG. 10 shows a socket device 80 for housing the power supply and data composite unit 52 of the above-described system. The socket device 80 includes a plurality of holders 81 each configured to receive a power supply and data composite unit 52. In the illustrated example, the holder 81 is in the form of individual compartments within the structure, but the holder 81 can take any suitable form (e.g., shelf, rack, container, etc.) for receiving the power supply and data composite unit 52.

[0220] The socket device 80 can be installed, for example, on a platform 72 adjacent to the outer periphery of the track structure 13 within a designated area so that the robot arm 71 operating in the exchange station 70 can access the socket device 80. The exchange device 70 is configured to take out a power shortage / full power and data composite unit 31 from the load handling device 31 and place it in one of the empty holders 81. The exchange device 70 is further configured to take out the replacement power and data composite unit 52 from the occupied holder 81 and place it in the empty power section 50 of the load handling device. The socket device 80 can be used, for example, with a six-axis robot arm such as the robot arm 71 shown in FIGS. 8 and 9.

[0221] The holder 81 includes charging means for charging the power and data composite unit 52 when it is received in the holder. For example, the power holder may include an electrical connector (not shown) configured to couple to the electrical connector of the power and data composite unit 52. Further, the holder 81 includes a data interface for downloading a diagnostic log from the storage device component. Thereafter, the diagnostic log is transmitted to the system controller and the diagnostic log is erased from the power and data composite unit. Similarly, an updated operation file is uploaded to the power and data composite unit 52 for deployment to the load handling device 31 when the refreshed power and data composite unit 52 is inserted into the load handling device 31. The transfer of power and / or data within the load handling device may be wireless.

[0222] The socket device 80 is optionally accessible from the rear side to allow the power and data composite unit 52 to be inserted into or removed from the socket device 80 from the rear side. The rear side is defined as the side of the storage station facing away from the track structure 13. The rear side of the socket device 80 can face a maintenance area accessible to human operators. This device enables a human operator to remove the power and data composite unit 52 from the power storage station (e.g., for maintenance) without the operator being placed in an area where potentially dangerous equipment (such as the track structure 13, the load handling device 31, the exchange station 70, etc.) is located, or without having to stop the potentially dangerous equipment in some cases.

[0223] The location of the socket device described above is not limited to being adjacent to the outer periphery of the track structure 13. The socket device can be installed at any other suitable position accessible by the actuator of the robotic arm, such as on the track structure 13 itself.

[0224] The holder 81 of the socket device 80 can optionally include a locking mechanism for releasably locking the power and data composite unit 52 within the holder 81, similar to the locking mechanism for releasably locking the power and data composite unit 52 in the power compartment 50.

[0225] The socket device 80 can optionally include a fire-resistant coating 83 surrounding the holder 81.

[0226] The socket device 80 can optionally include a sensor and a device halo 82, similar to the halo 74 of the exchange station 70 described above.

[0227] The socket device 80 can also include a power monitoring system for monitoring the charging state of the power supply within the holder 81. The control system can use this information to determine which occupied holder the exchange device 70 should remove the replacement power and data composite unit from.

[0228] FIG. 16 shows a schematic diagram of a storage and retrieval system including a storage structure 1, a load handling device 31, and an exchange station 70. This figure shows some examples of communication between different aspects of the system.

[0229] The updated computer-readable code can be provided to the exchange station 70 by the system controller. When the exchange station is equipped with the updated computer-readable code, each time the power and data composite unit 52 is replaced at the exchange station, the exchange station can provide the updated computer-readable code when the power and data composite unit is connected to the interface of the exchange station.

[0230] In some cases, the computer-readable code can comprise a new file or a new version of an existing file that is required to be deployed simultaneously to all load handling devices on the track system as described above. That is, the load handling device is instructed to wait for a signal from the system controller before starting to use the updated computer-readable code. This can occur in the case of "backward-incompatible changes". The system controller can send instructions for deploying the updated computer-readable code to all load handling devices simultaneously.

[0231] Either the system controller or the individual load handling device 31 can send a communication signal to the exchange station to exchange the power and data composite unit. The communication signal from the system controller and / or the load handling device received by the exchange station may include an instruction to exchange the power and data composite unit of the load handling device. An instruction to exchange the power and data composite unit may be issued from the system controller. This may occur, for example, when the system controller determines that a particular load handling device requires an update of its computer-readable code, i.e., the power and data composite unit of the load handling device does not have the latest version of the computer-readable code. This instruction may be issued, for example, from an individual load handling device in response to the charge level of a rechargeable power source dropping below a predetermined charge threshold and the load handling device needing to exchange the power source for a recharged one, or by a data storage module that has run out of space for storing additional data logs from sensors on the load handling device.

[0232] FIG. 17 schematically shows a method for updating the computer-readable code of a load handling device when, for example, there is a change in the computer-readable code and it is necessary to store and deploy the updated computer-readable code throughout the storage and retrieval system. At step 100, the computer-readable code is transferred from the system controller to the exchange station. In a storage and retrieval system with multiple exchange stations, at that point, the same computer-readable code can be transferred to all exchange stations. At step 101, the computer-readable code is transferred at the exchange station from the exchange station to the power and data composite unit. At step 102, the power and data composite unit (here including the updated computer-readable code) is connected to the interface of the load handling device at the exchange station. Over a period of time, steps 101 and 102 ensure that the computer-readable code is uploaded to all power and data composite units of the storage and retrieval system and ultimately all load handling devices of the storage and retrieval system are equipped with the updated computer-readable code. At step 103, the computer-readable code is transferred from the power and data composite unit to the data storage medium of the load handling device. This step 103 is optional. In some examples, the local processing unit of the load handling device can access the computer-readable code from the power and data composite unit rather than from the data storage medium. At step 104, a communication signal is sent from the system controller to the load handling devices of the storage and retrieval system along with instructions for deploying the updated computer-readable code. At step 105, the local processor of the load handling device accesses the computer-readable code and begins using the updated version. As described above, the method step of the system controller sending a communication signal to the load handling device is useful for coordinating the simultaneous deployment of the computer-readable code (for example, updated data parameters or new instructions that can be "backward-incompatible changes").Alternatively, the local processing unit of the cargo handling device can also directly access the computer-readable code, thereby skipping directly from step 102 or 103 to step 105, as indicated by the arrow on the right side of the flowchart.

[0233] The above description of the embodiments of the present invention has been presented for purposes of illustration and description. The description is not exhaustive or limiting of the invention to the exact form disclosed. Modifications and variations are possible without departing from the scope of the invention as defined in the claims. Definition As used herein, the phrase "movement in the n direction" (and related expressions), where n is one of x, y, and z, means movement that is substantially along or parallel to the n axis in either direction (i.e., toward the positive end of the n axis or toward the negative end of the n axis).

[0234] As used herein, the terms "connect" and its derivatives include the possibility of direct and indirect connection. For example, "x is connected to y" includes the possibility that x is directly connected to y without intervening components and the possibility that x is indirectly connected to y using one or more intervening components. If direct connection is intended, the terms "directly connected", "direct connection" or similar terms are used. Similarly, the terms "support" and its derivatives include the possibility of direct and indirect contact. For example, "x supports y" includes the possibility that x directly supports y and is in direct contact with y without using intervening components and the possibility that x indirectly supports y using one or more intervening components that are in contact with x and / or y. The terms "attach" and its derivatives include the possibility of direct and indirect attachment. For example, "x is attached to y" includes the possibility that x is directly attached to y without using intervening components and the possibility that x is indirectly attached to y using one or more intervening components.

[0235] As used herein, the word "comprising" and its derivatives have an inclusive meaning rather than an exclusive one. For example, "x comprises y" includes the possibility that x includes only one y, a plurality of y, or one or more y and one or more other elements. When an exclusive meaning is intended, the phrase "x consists of y" is used to mean that x includes only y and nothing else.

[0236] As used herein, a "controller" includes any hardware suitable for controlling (e.g., giving instructions to) one or more other components. For example, a processor having one or more memories and suitable software for processing data related to one component or a plurality of components and sending appropriate instructions to the components to enable the components to perform their intended functions.

[0237] The present invention may also be described with reference to the following numbered clauses.

[0238] 1. A storage and retrieval system, A storage structure having an orbital structure, the orbital structure comprising a first set of orbits and a second set of orbits, the first set of orbits extending in a first direction, the second set of orbits extending in a second direction, the second direction being substantially perpendicular to the first direction to form a lattice pattern defining a plurality of lattice cells, A stack of a plurality of containers disposed within the storage structure, each stack being disposed under a lattice cell, One or more load handling devices configured to move horizontally on the orbital structure, One or more exchange stations installed above or adjacent to the orbital structure for removing / inserting a power and data composite unit from / into one or more load handling devices, And a system controller, wherein the power and data composite units each A power supply, where the power supply can be recharged at the replacement station, and a data storage module, the data storage module including a local data storage device component and operation files, where one or more operation files are provided by a system controller and stored in the data storage module at the replacement station, a storage and retrieval system.

[0239] 2. The operation data file is (a) a grid map data file, (b) cargo handling device control software, (c) cargo handling device motor drive control software, or (d) cargo handling device communication software, The storage and retrieval system according to claim 1, comprising one or more of the above.

[0240] 3. One or more operation files include instructions for performing an update on a cargo handling device into which a power supply and a data composite unit are inserted, the update is instructed to be performed substantially when the power supply and the data composite unit are inserted, or the update is instructed to be performed when a communication signal from the system controller is received. The storage and retrieval system according to any one of claims 1 to 2.

[0241] 4. The system control unit provides a communication signal to a plurality of cargo handling devices to perform an update across the entire group of cargo handling devices according to the stored operation files. The storage and retrieval system according to any one of claims 1 to 3.

[0242] 5. A cargo handling device that lifts and moves a container in the storage and retrieval system according to any one of claims 1 to 4, where the cargo handling device is A drive assembly configured to horizontally move a cargo handling device on an orbital structure, A lifting mechanism configured to lift a container from a stack, A communication module, And a receptacle configured to removably receive a power and data composite unit, wherein the receptacle is externally accessible and configured to be electrically coupled to a power supply and interface with a data storage module, a cargo handling device.

[0243] 6. The cargo handling device according to clause 5, further comprising means for detecting a continuous power supply within the receptacle.

[0244] 7. The cargo handling device according to any one of clauses 5 to 6, wherein the receptacle comprises a light source unit for identifying the position of the power and data composite unit.

[0245] 8. The cargo handling device according to any one of clauses 5 to 7, further comprising a local control unit for operating the cargo handling device according to an operation data file.

[0246] 9. The cargo handling device according to any one of clauses 5 to 8, further comprising means for writing one or more diagnostic logs to the data storage module.

[0247] 10. An exchange station for a storage and retrieval system according to any one of clauses 1 to 4 for removing / inserting a power and data composite unit, An actuator configured to releasably hold and move the power and data composite unit, the power and data composite unit comprising a power supply and a data storage module, A socket device comprising one or more sockets arranged to hold and store a corresponding number of power and data composite units, and the one or more sockets are configured to be electrically coupled to a power source and to interface with a data storage module. A communication module configured to transmit and receive data signals to and from a controller Comprising an exchange station.

[0248] 11. The exchange station according to clause 10, wherein the interface with the data storage module is arranged to receive data or transfer data between the data storage module.

[0249] 12. The exchange station according to any one of clauses 10 to 11, wherein the socket device comprises a container housed below a rack or a grid.

[0250] 13. The exchange station according to any one of clauses 10 to 12, further comprising a sensor for detecting a placed load handling device.

[0251] 14. The exchange station according to any one of clauses 10 to 13, wherein each socket comprises a light source unit for identifying the position of the power and data composite unit.

[0252] 15. The exchange station according to any one of clauses 10 to 14, further comprising a fire heat sensor, a smoke sensor, and / or a fire detection sensor.

[0253] 16. The exchange station according to any one of clauses 10 to 15, further comprising a fire extinguishing device.

[0254] 17. The exchange station according to any one of clauses 10 to 16, wherein the exchange station is covered with a fire-resistant material or substantially surrounded by a fire wall.

[0255] 18. The exchange station according to any one of clauses 10 to 17, wherein the temperature of the exchange station is controlled or the temperature of the exchange station is adjusted.

[0256] 19. The communication module receives from the system controller an instruction for replacing the power supply of the cargo handling device and the data multiplexing unit, or the communication module receives from the cargo handling device an instruction for replacing the power supply of the cargo handling device and the data multiplexing unit, the exchange station according to any one of clauses 10 to 18.

[0257] 20. The actuator is configured to take out / insert the power supply and the data multiplexing unit, (a) One or more cameras that provide two-dimensional images, (b) Two or more cameras that provide three-dimensional images (c) A laser, an extremely high frequency (EHF) radar device, or an ultrasonic depth detection device for providing or supplementing three-dimensional images, (d) A light detection device or a ranging device and techniques used for creating or supplementing three-dimensional images, (e) A laser imaging, detection, and / or ranging device and techniques for creating or supplementing three-dimensional images, (f) A 3D laser scanning device and / or techniques for creating or supplementing three-dimensional images, and / or (g) An extremely high frequency (EHF) radar, or an ultrasonic scanning device, a 3-D scanning device, and techniques for creating or supplementing three-dimensional images, The exchange station according to any one of clauses 10 to 19, guided by one or more of the above.

[0258] A method of exchanging data between one or more cargo handling devices according to any of clauses 5 to 9, operating in the storage and retrieval system according to any of clauses 1 to 4, at an exchange station according to any of clauses 10 to 20, the method comprising: moving the cargo handling device to an exchange station grid cell; at the exchange station grid cell, the actuator receiving an instruction to remove the first power and data composite unit from the cargo handling device and an instruction to insert the first power and data composite unit into a socket; the actuator receiving an instruction to remove the second power and data composite unit from the socket and an instruction to insert the second power and data composite unit into the cargo handling device and a method.

[0259] 22. The method according to clause 21, wherein the cargo handling device turns off the power when it arrives at the grid cell of the exchange station.

[0260] 23. The method according to any of clauses 21 to 22, wherein the cargo handling device automatically turns on the power when the second power and data composite unit is detected.

[0261] 24. The method according to any of clauses 21 to 23, wherein the actuator is instructed to remove and replace a specific power and data composite unit.

[0262] 25. The method according to any of clauses 21 to 24, wherein the actuator is guided to a specific socket or receptacle by one or more light source units.

[0263] 26. A computer program comprising instructions for causing a computer to execute the method according to any of clauses 21 to 25 when the program is executed by the computer.

[0264] Alternatively, the present invention may be described with reference to the following numbered clauses.

[0265] A robot load handling device for lifting and moving containers stacked within a storage system, comprising a framework supporting an orbital system having a first set of tracks and a second set of tracks, the first set of tracks extending in a first direction, the second set of tracks extending in a second direction, the second direction being substantially perpendicular to the first direction, disposed in a grid pattern above a stack of containers, the robot load handling device comprising i) a replaceable power cartridge for housing a power source; and ii) a power compartment configured to removably receive the replaceable power cartridge, the power compartment comprising means for electrically coupling to the power source; iii) a lifting device comprising a lifting drive assembly and a grab device configured to releasably grip a container in use and lift the container from the stack and place it in a container receiving space; iv) a drive mechanism operably arranged to move the robot load handling device on the grid framework, the drive mechanism being powered by the power source; v) a storage medium comprising at least one firmware related to controlling the operation of the drive mechanism and / or the lifting drive assembly; vi) a control system comprising one or more processors and configured to execute instructions related to the firmware in the storage medium for controlling the operation of the drive mechanism and / or the lifting drive assembly; wherein the robot load handling device A robot load handling device, characterized in that it further comprises an auxiliary storage medium housed within a replaceable power cartridge; wherein the auxiliary storage medium comprises one or more updates of firmware, and wherein the control system is configured to establish a data channel with the auxiliary storage medium such that at least one firmware related to the operation of the drive mechanism and / or the lifting drive assembly is updated from one or more updates of the firmware stored on the auxiliary storage medium.

[0266] B. It further comprises a wheel assembly driven by a drive assembly, the wheel assembly comprising a first set of wheels for engaging a first set of tracks to guide the movement of the load handling device in a first direction and a second set of wheels for engaging a second set of tracks to guide the movement of the load handling device in a second direction, wherein the second direction intersects the first direction. The robot load handling device according to clause A, wherein at least one firmware comprises drive firmware related to the control of the drive mechanism of the wheel assembly.

[0267] C. It further comprises a direction changing mechanism configured to selectively engage the first set of wheels with the first set of tracks and the second set of wheels with the second set of tracks. The robot load handling device according to clause B, wherein at least one firmware comprises direction changing firmware related to controlling the operation of the direction changing mechanism.

[0268] D. The robot load handling device according to any one of the preceding clauses, wherein at least one firmware comprises a track generator for generating a movement profile of the robot load handling device on the track system.

[0269] E. The robot load handling device according to clause D, wherein the track generator is based on S-curve profile generation.

[0270] F. Further comprising one or more position sensors configured to sense one or more markers on the track system, wherein at least one firmware comprises a position controller related to controlling the position of the robotic payload handling with respect to the track system based on the one or more position sensors, the robotic payload handling device according to any of the preceding clauses.

[0271] G. Further comprising a communication module for transmitting and receiving data through a communication network, wherein at least one firmware comprises communication firmware for controlling the transmission and reception of data through the communication network, the robotic payload handling device according to any of the preceding clauses.

[0272] H. The robotic payload handling device according to clause A, wherein the control system is configured to transfer at least a part of the data log obtained during the operation of the drive mechanism and / or the lifting drive assembly to an auxiliary storage medium.

[0273] I. The robotic payload handling device according to any of the preceding clauses, wherein the power source is a battery.

[0274] J. An automated storage and retrieval system, i) a first set of parallel tracks and a second set of parallel tracks, the first set of parallel tracks extending in a first direction, the second set of parallel tracks extending in a second direction, the second direction being substantially perpendicular to the first direction of the grid pattern for defining a track system having a plurality of grid cells on a substantially horizontal plane, ii) a plurality of storage columns disposed below the track system, each of the plurality of storage columns being disposed below a grid cell and arranged to store a stack of storage containers, iii) one or more robotic payload handling devices defined in any of clauses A to I operable on the track system An automatic storage and retrieval system comprising

Claims

1. A method for performing a software update on a cargo handling device for use in a storage and retrieval system, the storage and retrieval system comprising: a first set of parallel tracks extending in the X direction and a second set of parallel tracks extending in the Y direction crossing the first set on a substantially horizontal plane to form a grid pattern with a plurality of grid spaces; the method comprising: transferring computer-readable code to a power and data composite unit, the power and data composite unit comprising a rechargeable power source and the data storage module such that the computer-readable code is stored in the data storage module; connecting the power and data composite unit to an interface of the cargo handling device such that a local processing unit of the cargo handling device can access the computer-readable code stored in the data storage module; A method comprising.

2. The method according to claim 1, wherein the computer-readable code comprises computer-executable instructions such that the local processing unit of the cargo handling device executes the computer-executable instructions to control the operation of the cargo handling device.

3. The method according to claim 1 or claim 2, wherein the computer-readable code comprises one or more data parameters accessed by the local processing unit of the cargo handling device during operation of the cargo handling device.

4. The method according to any one of claims 1 to 3, further comprising the step of the cargo handling device transferring some or all of the computer-readable code from the data storage module of the power and data composite unit to a data storage medium of the cargo handling device.

5. The method according to claim 4, wherein the cargo handling device overwrites the computer-readable code stored in the data storage medium of the cargo handling device with the computer-readable code transferred from the data storage module of the power and data composite unit.

6. The storage and retrieval system further comprises one or more exchange stations, and the or each exchange station is configured to connect a power and data composite unit to the interface of the cargo handling device or to remove the power and data composite unit from the interface of the cargo handling device, and the method comprises the further step of transmitting the computer-readable code to the exchange station such that the computer-readable code can be transferred to the data storage module of the power and data composite unit connected to the interface at the exchange station. The method according to any one of claims 1 to 5.

7. The storage and retrieval system further comprises a system controller, the system controller is configured to transmit computer-readable code to the or each exchange station, and the method further comprises the step of the system controller preventing the local processing unit of the cargo handling device from accessing the computer-readable code until a predetermined condition is met. The method according to claim 6.

8. The computer-readable code comprises one or more data parameters comprising a predetermined timestamp at which a relevant portion of the computer-readable code can be accessed by the local processing unit of the cargo handling device. The method according to claim 7 when dependent on claim 3.

9. The cargo handling device comprises a communication module configured to receive communication information from the system controller in use such that one or more portions of the computer-readable code are accessed by the local processing unit of the cargo handling device in response to receipt of a control message from the system controller. The method according to claim 7.

10. The method further comprises the step of the cargo handling device overwriting the computer-readable code stored on the data storage medium of the cargo handling device in response to receipt of a control message from the system controller. The method according to claim 9 when dependent on claim 5.

11. A cargo handling device for use in a storage and retrieval system, wherein the storage and retrieval system comprises a first set of parallel tracks extending in the X direction and a second set of parallel tracks extending in the Y direction across the first set in a substantially horizontal plane to form a grid pattern with a plurality of grid spaces, a plurality of stacks of storage containers placed under the tracks and arranged such that each stack is placed within the footprint of a single grid space, the cargo handling device comprising a drive assembly configured to move the cargo handling device on one of the sets of parallel tracks, a lifting mechanism configured to lift a storage container from a stack, a communication module for receiving data from and / or transmitting data to a system controller, a local processing unit communicating with the communication module, i) connecting to a power and data composite unit comprising a rechargeable power source and a data storage module, ii) electrically coupling to the rechargeable power source such that, in use, the drive assembly is powered by the rechargeable power source, and iii) communicating with the data storage module an interface configured to, wherein the data storage module comprises computer-readable code, and the local processing unit is configured to access the computer-readable code in use. A cargo handling device. **Claim 12** The cargo handling device according to claim 11, further comprising a data storage medium communicatively coupled to the local processing unit, the data storage medium comprising computer-readable code. **Claim 13** The cargo handling device according to claim 11 or claim 12, wherein the computer-readable code comprises computer-executable instructions, and the local processing unit is configured to execute the computer-executable instructions to control the operation of the cargo handling device in use. **Claim 14** The load handling device according to claim 13 when dependent on claim 12, wherein the local processing unit is configured to selectively execute computer-executable instructions stored in either the data storage module of the power and data multiplexing unit or the data storage medium of the load handling device during use.

15. The load handling device according to claim 13 or claim 14, wherein the computer-readable code comprises computer-executable instructions for controlling the lifting mechanism.

16. The load handling device according to any one of claims 13 to 15, wherein the computer-readable code comprises computer-executable instructions for controlling the communication module to receive data from and / or transmit data to the system controller.

17. The load handling device according to any one of claims 13 to 16, further comprising a wheel assembly driven by the drive assembly, the wheel assembly comprising a first set of wheels for engaging a first set of tracks to guide movement of the load handling device in a first direction and a second set of wheels for engaging a second set of tracks to guide movement of the load handling device in a second direction, and the computer-readable code comprising computer-executable instructions for controlling the wheel assembly.

18. The load handling device according to any one of claims 13 to 17, further comprising a direction changing mechanism configured to selectively engage the first set of wheels with the first set of tracks and / or the second set of wheels with the second set of tracks, and the computer-readable code comprising computer-executable instructions for controlling the operation of the direction changing mechanism.

19. The load handling device according to any one of claims 11 to 12, wherein the computer-readable code comprises one or more data parameters, and the local processing unit is configured to access at least one of the one or more data parameters during operation of the load handling device during use.

20. The load handling device according to claim 19, wherein the one or more data parameters comprise a grid map data file for determining one or more paths across the path of the load handling device.

21. The load handling device according to any one of claims 12 to 20, wherein the local processing unit is configured to overwrite, during use, the computer-readable code stored in the data storage medium of the load handling device with the computer-readable code transferred from the data storage module of the power and data composite unit.

22. The load handling device according to any one of claims 11 to 21, further comprising one or more position sensors configured to sense one or more position markers on the path, wherein the computer-readable code comprises the data obtained from the one or more position sensors such that the position of the load handling relative to the path can be controlled based on the obtained position sensor data.

23. The load handling device according to any one of claims 11 to 22, further comprising one or more sensors for recording diagnostic data, wherein the computer-readable code comprises the stored diagnostic data.

24. Further comprising a charge receiving connector configured to connect to a corresponding connector of the power and storage device composite unit when connected to the interface, the charge receiving connector being electrically coupled to the rechargeable power source to receive power, and configured to interface with the data storage module. The load handling device according to any one of claims 11 to 23.

25. An exchange station for connecting / disconnecting a power and data composite unit with a load handling device according to any one of claims 11 to 24, the exchange station comprising an actuator configured to releasably hold and move the power and data composite unit. An interface arranged to be connected to the power supply and data composite unit, the interface being arranged to establish a data channel with the power supply and data composite unit for receiving data from and / or transferring data to the data storage module of the power supply and data composite unit connected to the interface, the switching station being configured to update computer-readable code stored in the data storage module when the power supply and data composite unit is connected to the interface. **Claim 26** The switching station according to claim 25, wherein the interface is configured to be electrically coupled to the rechargeable power supply of the power supply and data composite unit when it is connected to the interface for charging the rechargeable power supply. **Claim 27** The interface further comprises a charge supply connector configured to connect to a corresponding connector of the power supply and storage device composite unit, the charge supply connector being configured to be electrically coupled to and supply power to the rechargeable power supply, and being configured to interface with the data storage module to transfer computer-readable code, The switching station according to claim 26. **Claim 28** The switching station according to any one of claims 25 to 27, wherein the interface is configured to receive diagnostic data from the data storage module of the power supply and data composite unit when the power supply and data composite unit is connected to the interface. **Claim 29** The switching station according to any one of claims 25 to 28, further comprising a communication module configured to receive and / or transmit data signals between the system controller and / or a local processing unit of the cargo handling device. **Claim 30** The switching station according to claim 29, wherein the data signal received from the system controller and / or the local processing unit comprises an instruction for replacing the power supply and data composite unit of the cargo handling device. **Claim 31** A storage and retrieval system, A first set of parallel tracks extending in the X direction and a second set of parallel tracks extending in the Y direction that cross the first set in a substantially horizontal plane to form a lattice pattern with a plurality of lattice spaces. A plurality of stacks of storage containers placed under the tracks and arranged such that each stack is placed within the footprint of a single lattice space. One or more load handling devices defined in any of claims 11 to 24. A system controller comprising a system data storage medium storing computer-readable code for controlling the operation of the load handling device on the track. A storage and retrieval system comprising an exchange station defined in any of claims 25 to 30, the exchange station further comprising a communication module configured to receive data signals from and / or transmit data signals to the system controller, the exchange station being installed above or adjacent to the track and configured to connect / disconnect a power and data composite unit to / from the one or more load handling devices, wherein the computer-readable code stored in the system data storage medium is transmitted by the system controller to the exchange station via the communication module.

32. The storage and retrieval system according to claim 31, wherein the one or more load handling devices comprise a plurality of load handling devices, and wherein each local processing unit of the plurality of load handling devices is configured to execute instructions stored in the data storage module in response to a communication signal from the system controller.

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