Automated storage and retrieval system having a container transport device, and method thereof

Abstract

The present invention relates to an automatic storage and retrieval system comprising a first space, a second space, a wall separating the storage system into the first and second spaces, a container transport passage extending through the wall, and a container carrier disposed within the passage for the transfer of at least one storage container through the passage. The container transport passage is adapted to hold and transport storage containers between the first and second spaces and extends below the level of the rail system. The present invention also relates to a container transport device and a method of using the system and device.

Description

Technical Field

[0001] The present invention relates to an automatic storage and retrieval system, a container handling device using such a system, and a method for transferring storage containers via the container handling device.

Background Art

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

[0003] The framework structure 100 includes upright members 102 and a storage volume 104 having storage rows 105 arranged in rows between the upright members 102. In these storage rows 105, storage containers 106, also known as bins, are stacked on top of each other to form a stack 107. The members 102 can typically be made from metal, for example, extruded aluminum profiles.

[0004] The framework structure 100 of the automatic storage and retrieval system 1 includes a rail system 108 disposed across the upper part of the storage volume 104. On the rail system 108, a plurality of container handling devices 200, 300, 400 can be operated to lift the bin 106 out of the storage row 105, lower the bin 106 into the storage row 105, and also transfer the bin 106 above the storage row 105. The rail system 108 includes a first set 110 of parallel rails disposed across the upper part of the framework structure 100 to guide the movement of the container handling devices 200, 300, 400 in a first direction X, and a second set 111 of parallel rails disposed perpendicular to the first set 110 of parallel rails to guide the movement of the container handling devices 200, 300, 400 in a second direction Y perpendicular to the first direction X. The containers 106 stored within the row 105 are accessed by the container handling devices 200, 300, 400 through access openings 112 within the rail system 108. The container handling devices 200, 300, 400 can move laterally above the storage row 105, that is, within a plane parallel to the horizontal X - Y plane.

[0005] The upright members 102 of the framework structure 100 can be used to guide the bin during the lifting of the bin 106 out of the row 105 and the lowering of the bin into it. The stack 107 of bins 106 is typically self - supporting.

[0006] Each of the prior art container handling devices 200, 300, 400 includes a handling device main body / vehicle main body 201, 301, 401 and first and second sets of wheels 202a, 202b, 302a, 302b, 402a, 402b, and the first and second sets of wheels enable lateral movement of the container handling devices 200, 300, 400 in the X direction and the Y direction, respectively. In FIGS. 2, 3, and 4, the two wheels within each set are fully visible. The first sets of wheels 202a, 302a, 402a are arranged to engage two adjacent rails of the first set of parallel rails 110, and the second sets of wheels 202b, 302b, 402b are arranged to engage two adjacent rails of the second set of parallel rails 111. At least one of the sets of wheels 202a, 202b, 302a, 302b, 402a, 402b can be lifted and lowered so that the first sets of wheels 202a, 302a, 402a and / or the second sets of wheels 202b, 302b, 402b can engage the respective sets of rails 110, 111 at any point in time.

[0007] Each of the prior art container handling devices 200, 300, 400 also includes lifting devices 303, 403 for vertical transfer of the bin 106 (e.g., lifting the bin 106 from the storage row 105 and lowering the bin 106 therein). The lifting devices 303, 403 include one or more gripping / engaging devices 404 adapted to engage the bin 106, and the gripping / engaging devices 404 can be lowered from the vehicles 200, 300, 400 such that the position of the gripping / engaging devices 404 relative to the vehicles 200, 300, 400 can be adjusted in a third direction Z that is perpendicular to the first direction X and the second direction Y. The gripping device 404 of the container handling device / vehicle 400 in the form of a plurality of claws is shown in FIG. 4. The gripping device of the container handling device 200 is located within the vehicle main body 201 and thus is not shown.

[0008] Conventionally, and for the purposes of the present application, Z = 1 is the topmost layer available for the bins below the rails 110, 111, i.e., the layer immediately below the rail system 108, Z = 2 is the second layer below the rail system 108, Z = 3 identifies the third layer, and so on. In the exemplary prior art disclosed in FIG. 1, Z = 8 identifies the bottommost layer of bins. Similarly, X = 1...n and Y = 1...n identify the positions of each storage column 105 in the horizontal plane. As a result, by way of example, using the Cartesian coordinate system X, Y, Z shown in FIG. 1, the bin identified as 106' in FIG. 1 can be said to occupy the storage position X = 17, Y = 1, Z = 6. The container handling devices 200, 300, 400 can be said to proceed within the layer Z = 0, and each storage column 105 can be identified by its X and Y coordinates. Thus, the bins shown in FIG. 1 that extend above the rail system 108 are also said to be arranged within the layer Z = 0.

[0009] The storage volume of the framework structure 100 is often referred to as a storage grid 104, and the possible storage positions within this storage volume 104 are referred to as storage cells. Each storage column can be identified by its position in the X and Y-directions, while each storage cell can be identified by its container number in the X-, Y-, and Z-directions.

[0010] Each prior art container handling device 200, 300, 400 includes a storage compartment or space for receiving and storing the bin 106 when transferring the bin 106 across the rail system 108. The storage space can include a cavity arranged internally within the vehicle bodies 201, 301, 401, as presented in FIGS. 2 and 4 and, for example, as described in WO 2005 / 193278 A1 and WO 2009 / 206487 A1, the contents of which are incorporated herein by reference.

[0011] Figure 3 shows an alternative configuration of a container handling device / vehicle 300 with a cantilever structure. Such a vehicle is described in detail, for example, in No. 317366 (the content of which is also incorporated herein by reference).

[0012] The central cavity type vehicle 200 shown in Figure 2 may generally have an occupancy area covering an area with dimensions in the X and Y directions equal to the lateral extent of the storage row 105, for example, as described in No. WO2005 / 193278A1 (the content of which is incorporated herein by reference). As used herein, the term "lateral" may mean "horizontal".

[0013] Alternatively, the cavity container handling device / vehicle 400 may have an occupancy area larger than the lateral area defined by the storage row 105, as shown in Figures 1 and 4, for example, as disclosed in No. WO2004 / 090684A1 (Patent Document 1) or No. WO2009 / 206487A1 (Patent Document 2).

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

[0015] WO 2008 / 146304 A1 (the content of which is incorporated herein by reference) illustrates an exemplary configuration of a rail system 108 having rails and parallel tracks in both the X and Y directions.

[0016] In the framework structure 100, most of the columns 105 are storage columns 105, i.e., the columns 105 where the bins 106 are stored in the stack 107. However, some columns 105 may have other purposes. In FIG. 1, the columns 119 and 120 are such special-purpose columns that are used by the container handling devices 200, 300, 400 to drop off and / or pick up the bins 106 so that the bins 106 can be transferred to an access station (not shown) accessible from the outside of the framework structure 100, or so that the bins 106 can be transported inside and outside the framework structure 100. In the art, such locations are typically referred to as "ports", and the columns where the ports are located may be referred to as "port columns" 119, 120. The transfer to the access station can be in any direction that is horizontal, inclined, and / or vertical. For example, the bin 106 is installed in a random or dedicated column 105 within the framework structure 100 and then picked up by any container handling device and transferred to the port columns 119, 120 for further transfer to the access station. The transfer from the port to the access station may require movement along various different directions by means such as a delivery vehicle, a trolley, or other transfer lines. It should be noted that the term "inclined" means the transfer of the bin 106 having a general transfer direction at any location between horizontal and vertical.

[0017] In FIG. 1, the first port column 119 can be a dedicated drop-off port column where the container handling devices 200, 300, 400 can drop off the bins 106 to be transferred to an access or transport station, and the second port column 120 can be a dedicated pick-up port column where the container handling devices 200, 300, 400 can pick up the bins 106 transferred from an access or transport station.

[0018] The access station can typically be a pick-up or storage station, where product items are removed from or positioned within bin 106. At the pick-up or storage station, bin 106 is not normally removed from the automated storage and retrieval system 1, but when accessed, is returned back into the framework structure 100. The ports can also be used to transport the bins to another storage facility (e.g., another framework structure or another automated storage and retrieval system), a transfer vehicle (e.g., a train or a carrier), or a production facility.

[0019] A conveyor system with conveyors is typically employed to transfer the bins between port rows 119, 120 and the access station.

[0020] If port rows 119, 120 and the access station are located at different levels, the conveyor system can include a lifting device with vertical components for vertically transferring bin 106 between port rows 119, 120 and the access station.

[0021] The conveyor system can be arranged to transport bin 106 between different framework structures, as described, for example, in WO2004 / 075937A1, the content of which is incorporated herein by reference.

[0022] When a bin 106 stored within one of the columns 105 disclosed in FIG. 1 is to be accessed, one of the container handling devices 200, 300, 400 is instructed to retrieve the target bin 106 from its location and transfer it to the drop-off port column 119. This operation involves moving the container handling device 200, 300, 400 to a location above the storage column 105 where the target bin 106 is positioned and using the lifting device of the container handling device 200, 300, 400 to retrieve the bin 106 from the storage column 105 and transfer the bin 106 to the drop-off port column 119. If the target bin 106 is located deep within the stack 107 (i.e., one or more other bins 106 are positioned above the target bin 106), the operation also involves temporarily moving the bins positioned above prior to lifting the target bin 106 from the storage column 105. Sometimes in the art, this step, also referred to as "digging," can be performed using the same container handling device that is subsequently used to transfer the target bin to the drop-off port column 119 or using one or more other cooperating container handling devices. Alternatively, or in addition, the automated storage and retrieval system 1 can have container handling devices 200, 300, 400 that are specifically specialized for the task of temporarily removing the bin 106 from the storage column 105. Once the target bin 106 is removed from the storage column 105, the temporarily removed bin 106 can be repositioned within the original storage column 105. However, the removed bin 106 can alternatively be transferred to another storage column 105.

[0023] When bin 106 is to be stored within one of the columns 105, one of the container handling devices 200, 300, 400 is instructed to pick up bin 106 from the pickup port column 120 and transfer it to a location above the storage column 105 where it is to be stored. After any target bin 106 located at or above the target position within stack 107 has been removed, the container handling devices 200, 300, 400 position bin 106 at the desired location. The removed bin 106 is then either lowered back into storage column 105 or can be transferred to another storage column 105.

[0024] To monitor and control the automated storage and retrieval system 1 so that the desired bin 106 can be delivered to the desired location at the desired time without the container handling devices 200, 300, 400 colliding with each other, for example, to monitor and control the location of each bin 106 within the framework structure 100, the contents of each bin 106, and the movement of the container handling devices 200, 300, 400, the automated storage and retrieval system 1 comprises a control system 700, which is typically computerized and typically includes a database for keeping track of the bins 106.

[0025] Automated storage and retrieval systems such as those described above are typically constructed to operate within an area at ambient temperature, for example, about 20°C. However, for certain types of products, the optimal storage temperature can be different. For example, it may be desirable to store food at refrigerated temperatures (typically 1 - 4°C) or at frozen temperatures (typically below - 18°C or below - 20°C).

[0026] Furthermore, there may be situations where the automated storage and retrieval system should be surrounded by an atmosphere different from the ambient atmosphere (for example, to create an inert atmosphere and / or to create an atmosphere with a specific humidity level and / or to create an atmosphere that reduces the risk of fire ignition by reducing the oxygen concentration in the ambient atmosphere).

[0027] Automated storage and retrieval systems having different temperature zones and in which the temperature can be controlled are known. For example, Patent Publication No. WO2015 / 124610A1 describes a system for receiving and storing processed refrigerated and frozen food products using a plurality of container handling vehicles that are operated on a rail system. In this prior art solution, bins are stacked below a common rail system within two different storage volumes separated by walls. The container handling vehicles are enabled to move freely above the two storage volumes at an operating temperature such as room temperature.

[0028] One disadvantage of this prior art solution is that the container handling vehicle is exposed to a colder temperature when bins are stored or retrieved in the colder zone. This can result in the formation of condensation and cause malfunctions in electronic equipment.

[0029] The prior art storage system described in Patent Publication No. WO2019 / 001816A1 shows a system with different temperature zones and means for transferring containers between the different temperature zones. To reduce the temporary loading of cold air onto the container handling vehicle, the solution includes an elevator that enables the lowering and raising of bins between access points to the transport zone.

[0030] However, this solution is complex and costly.

[0031] Storage facilities in which the oxygen concentration can be reduced to prevent the start of a fire are described in the article "WagnerImpulse" in the magazine "The Wagner Group Customer magazine" (March 2018). The low oxygen concentration is obtained by pushing air with reduced oxygen into the entire storage facility.

[0032] The article does not present any solution for maintaining such low oxygen concentrations over a long period of time, such as several days. For example, the article does not show any way in which a storage system can be operated to transfer bins in and out of the storage system without increasing the oxygen concentration. Such operation would necessitate frequent exposure of the storage system to ambient air.

[0033] The aim of the present invention is to provide an automated storage and retrieval system, and a method of operating such a system that solves or at least alleviates one or more of the aforementioned problems associated with the use of prior art warehouse systems.

[0034] The aim of the present invention is also to provide a solution that enables the handling of bins within a storage system located within a space having an environment different from the surrounding environment.

Prior Art Documents

Patent Documents

[0035]

Patent Document 1

Patent Document 2

Summary of the Invention

Means for Solving the Problems

[0036] The present invention is described and characterized in the independent claims, while the dependent claims describe other preferred / optional features.

[0037] In a first aspect, the present invention relates to an automated storage and retrieval system, which comprises a first space, a second space, a wall separating the storage system into the first space and the second space, a container transport passage extending through the wall, and a container platform disposed within the passage for the transfer of at least one storage container through the passage. The container transport passage is adapted to hold and transport storage containers between the first space and the second space and extends below the level of the rail system, preferably at a level immediately below the rail system.

[0038] The warehouse system may comprise a first storage volume disposed within the first space and enabling the storage of storage containers in a vertical stack, a rail system disposed at least above the location where the storage containers will be stored, a first container handling vehicle configured to lift a storage container from the first storage volume, transfer the storage container along the rail system, and lower the storage container into the container transport passage, and a container transfer device configured to lift a storage container from the container transport passage and transfer the storage container to another location.

[0039] The rail system may comprise a first set of rails and a second set of rails oriented at right angles to the first set of rails, the intersection of the rails forming a grid of grid cells defining grid openings through which the first container handling vehicle can raise and / or lower a storage container. The rail system may continue into the second space.

[0040] The container platform is disposed within the container transport passage, supports at least one storage container within the container transport passage, and is configured to move within the container transport passage between a first position within the first space and a second position within the second space of the automated storage and retrieval system.

[0041] The boundary of the container transport passage can be set by a tunnel, as will be further detailed below.

[0042] The first space can be an enclosed space, for example, a space delimited by walls, i.e., three other vertical walls, a roof, and a floor, thereby enabling the avoidance of unintentional heat and / or gas leakage to or from the surroundings.

[0043] In an exemplary configuration, the container platform is part of a container transport device, and the container transport device comprises components that define a tunnel arranged to define a container transport passage. The tunnel is configured to enable the movement of the inner container platform when transferring at least one storage container between the first space and the second space. Further, the tunnel and the container platform are configured such that the first space and the second space are closed off from each other when the container platform is disposed within at least one of the first position or the second position. The container transport passage thus has a vertical cross-sectional area that enables the storage container to be transferred by the container platform.

[0044] The tunnel can comprise a central frame portion extending through the wall. Such a central frame portion can further comprise a roof aligned or substantially aligned with a horizontal rail system. The central frame portion can also comprise two vertical side walls oriented along a first set of rails.

[0045] The tunnel can comprise a first frame portion disposed within the first space vertically below the rail system and horizontally adjacent to the central frame portion, and a second frame portion disposed within the second space horizontally adjacent to the central frame portion. The central frame portion, the first frame portion, and the second frame portion are vertically positioned below the rail system. To enable the transport of the storage container to and from the inside and outside of the container transport passage, each of the first and second transport structures comprises an opening towards the rail system.

[0046] In another exemplary configuration, the container platform comprises a platform base for supporting the storage container and one or more platform side surfaces oriented parallel to the central plane of the wall and positioned at the edge of the platform base. The container platform may also comprise a seal disposed at the upper edge of the container platform such that the seal contacts at least the upper components of the tunnel when the container platform is moving within the tunnel. For example, the seal may extend around at least a portion of the perimeter of the platform. Alternatively, or in addition, such a seal may be coupled to the inner surface of the tunnel.

[0047] In yet another exemplary configuration, the container platform and / or the tunnel comprise an insulating material for reducing the thermal conductivity at at least one location between the first space and the second space through the container transport passageway. Examples of such insulating materials are polystyrene, fiberglass, mineral wool, cellulose, and / or polyurethane foam.

[0048] In yet another exemplary configuration, the width of the container platform is equal to n times the width of the grid cell, where n is a positive integer.

[0049] In yet another exemplary configuration, the container platform comprises transfer means for enabling horizontal movement of the container platform between a first position and a second position.

[0050] In yet another exemplary configuration, the container platform comprises a platform base for supporting the storage container, and the transfer means comprise wheels or a caterpillar belt disposed on or below the platform base, thereby enabling the container platform to move along the container transport passageway, for example, along a track.

[0051] In yet another exemplary configuration, the container platform comprises a sensor configured to detect the position of the container relative to the platform container transport passageway / tunnel. The sensor may alternatively, or in addition, be disposed on the tunnel and may communicate with the transfer means of the container platform in a signal communication.

[0052] In yet another exemplary configuration, the transfer means comprises wheels that enable the platform to move along the container transport passage / tunnel, the container transport device comprises a track or rail extending between a first position and a second position, and the track and / or the wheels are configured such that the wheels are guided by the track during movement.

[0053] In yet another exemplary configuration, the container transport device comprises a transmission belt extending between a first position and a second position, a drive motor configured to rotate the transmission belt, and a track or rail extending between the first position and the second position, and the track / rail and the transfer means (e.g., wheels or a caterpillar belt) are configured such that when the drive motor rotates the transmission belt, the transfer means is guided by the track / rail.

[0054] In yet another exemplary configuration, the transmission belt of the container transport device is disposed below the base of the platform within the container transport passage.

[0055] In yet another exemplary configuration, the container transport device comprises a power source configured to provide power to the drive motor. The power source may comprise a battery disposed on at least one of the container platform and the tunnel. Alternatively, or in addition, the power source may comprise a power conductor.

[0056] In yet another exemplary configuration, the rail system continues into a second space. Further, in this configuration, the container transfer device is a second container handling vehicle configured to transfer a storage container from the container transport passage along the rail system within the second space.

[0057] In yet another exemplary configuration, the automated storage and retrieval system includes a second storage volume contained within a second space and enabling storage of storage containers in a vertical stack. The container transport passageway thus extends through a wall between the first storage volume and this second storage volume. Further, the rail system extends above the second storage volume and / or the container transport passageway.

[0058] In yet another exemplary configuration, the container transport passageway and / or the tunnel are positioned such that a central plane of the wall intersects a central plane of the container transport passageway / tunnel.

[0059] In yet another exemplary configuration, the container transport passageway is configured, for example, to hold a plurality of storage containers simultaneously in a stack. In the latter case, any tunnel is arranged at the uppermost part of the container transport passageway. The container transport passageway is likewise increased in volume (and any increase in container platform size) to accommodate a plurality of storage containers.

[0060] In yet another exemplary configuration, the automated storage and retrieval system includes a cooling unit configured to provide a temperature within a first space that is different from a temperature within a second space. Further, the wall comprises a heat insulating material and can reduce the heat conductivity between the first space and the second space. With respect to the container platform and / or the tunnel, the heat insulating material can be, for example, polystyrene, fiberglass, mineral wool, cellulose, polyurethane foam, or a combination thereof. Certain configurations have the advantage of enabling storage of products for which the optimal storage temperature can differ from the ambient temperature.

[0061] On a second aspect, the invention relates to a container transport device for transporting storage containers between a first space having a first temperature and a second space having a second temperature different from the first temperature. Alternatively or additionally, the first space and the second space can have first and second gases / gas mixtures and / or first and second pressures.

[0062] The container handling device can be configured as a separate unit that can be connected between a first storage volume and a second storage volume (e.g., as a retrofit).

[0063] Such a container handling device is therefore easy to install and enables the transfer of containers between spaces with different environments that maintain and ensure low or no heat and / or gas leakage.

[0064] On a second side, the container handling device comprises a tunnel configured to enable the transfer of storage containers between a first space and a second space, and a container platform disposed within the tunnel. The device may also comprise drive means configured to enable controlled movement of the container platform within the tunnel.

[0065] The container platform and / or the tunnel comprise heat insulating material and, when installed within the automatic storage and retrieval system on the first side of the present invention, can reduce the heat conductivity between the first space and the second space. When installed, the tunnel extends through the wall.

[0066] In an exemplary configuration of the second side, the tunnel comprises a central frame portion with a tunnel roof, a first frame portion disposed horizontally adjacent to the central frame portion, and a second frame portion disposed horizontally adjacent to the central frame portion on the opposite side of the first frame portion. Each of the first and second frame portions comprises an opening extending horizontally that enables a storage container to be lifted therethrough. The opening can be aligned with the tunnel roof of the central frame portion and enable a storage container to be lifted therethrough.

[0067] In another exemplary configuration of the second side, the container platform comprises a seal disposed on an upper edge of the container platform such that the seal contacts an inner boundary of the tunnel including the inner surface of the tunnel roof when the container platform is moving within the tunnel. Alternatively, or in addition, such a seal can be fixed to the inner boundary.

[0068] In another exemplary configuration of the second side, the container platform comprises a sensor configured to detect the position of the container platform relative to the tunnel. Alternatively, or in addition, such a sensor may be disposed on the tunnel.

[0069] In a third aspect, the invention relates to a method of transporting a storage container between a first space and a second space within an automated storage and retrieval system as described above with respect to the first aspect of the invention.

[0070] The method comprises - moving the container platform into the first space so that a first container handling vehicle can place a storage container into the container platform; - lifting a storage container stored within a first storage volume using a lifting device forming part of the first container handling vehicle; - transporting the storage container to a position directly above the container platform using the container handling vehicle; - installing the storage container into the container platform through a grid opening of the rail system using the lifting device; - moving the container platform into the second space so that the storage container is accessible for a container transfer device; - lifting the storage container from the container platform using the container transfer device; - transporting the storage container to another location within the second space using the container transfer device and may include.

[0071] In another exemplary process of the third aspect, the container transfer device is a second container handling vehicle configured to transfer at least one of the storage containers along a rail system. Further, the automated storage and retrieval system includes a second storage volume contained within the second space and enabling storage of the storage containers in a vertical stack. Transfer of the storage containers to another location within the second space is effected along a rail system extending into the second space above the second storage volume. Alternatively or in addition, the container transfer device can be a crane.

[0072] In this exemplary process, the method can also include the step of placing a storage container on a stack within the second storage volume.

[0073] In addition to providing a solution for solving or at least alleviating the problems described above and enabling handling of storage containers within an automated storage and retrieval system located within a space having an environment different from the surrounding environment, at least some of the exemplary configurations have the following additional advantages. - Providing an automated storage and retrieval system that enables safe long-term storage of biological species and / or fresh food - Providing an automated storage and retrieval system that prevents condensation of electronic equipment within the container handling vehicle during transport of the storage containers between zones / spaces - Providing an automated storage and retrieval system that significantly reduces the risk of fire initiation within or on the storage system during operation

Brief Description of the Drawings

[0074] The following drawings depict embodiments of the invention by way of example only and are attached to facilitate understanding of the invention.

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Figure 1

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Figure 2

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Figure 3

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Figure 4

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Figure 5

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Figure 6

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Figure 7

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Figure 8

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Figure 9

[0084] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted therein. Further, even if some of the features are described in relation to only the storage system, the container transport device, or the platform, it is clear that they are equally valid with respect to the related method, and vice versa.

[0085] FIG. 5 shows a side view of the automated storage and retrieval system 1 according to the present invention. The positive X, Y, and Z-directions are oriented from left to right, out of the drawing, and top to bottom of the drawing, respectively.

[0086] The system 1 of the present invention is divided into a first space 2 and a second space 3 by a partition wall 6 and a bin transport passage 40 (container transport passage). Both the first space 2 and the second space 3 include storage volumes 104, 104' having a common floor 7. The storage space defined by each storage volume 104, 104' includes bins 106 (storage containers) in a vertical stack 107, as described in connection with the prior art system of FIG. 1.

[0087] The rail system 108 extends above all three spaces 2, 3, 40 as described in connection with the prior art system of FIG. 1. A part of the storage system 1 within the second space 3 also includes one or more port rows 119 for the drop-off or pick-up of bins 106 to be transferred to / from the access station 150. Further handling of the bins 106 outside the storage system 1 can be carried out by an operator 151 (a robotic operator and / or a human operator).

[0088] The bin transport passage 40 in FIG. 5 is shown with a depth that allows only one bin 106. However, the bin transport passage 40 can be configured to receive stacks of bins 107 with a depth greater than one bin 106 (e.g., a depth extending to several (e.g., two or three) bin depths, or a depth extending even to the common floor 7).

[0089] The partition wall 6 can be provided with a heat-insulating material such as polystyrene, fiberglass, mineral wool, cellulose, and / or polyurethane foam. Alternatively, or in addition, the partition wall 6 can be provided with a fire-resistant material to avoid or significantly reduce the spread of fire between the first and second spaces 2, 4. Examples of such fire-resistant materials are fire-resistant glass, concrete, gypsum, plaster, and bricks.

[0090] The storage system 1 also includes bin handling vehicles 300 (container handling vehicles) that operate on the rail system 108 in both the first and second spaces 2, 3.

[0091] In the specific exemplary configuration shown in FIG. 5, the first space 2 includes a refrigerator 4 to enable cooling of the first space 2 to a lower temperature than the second space 3, e.g., a temperature of 1 to 4 degrees Celsius or a temperature below -18 degrees Celsius.

[0092] The bin transport passage 40 is configured by the bin handling vehicle 300 to enable the pickup and drop-off of the bins 106 from both sides of the wall 6, and the bin transport passage 40 is arranged through the first and second grid grids 104, 104' immediately below the rail system 108.

[0093] In addition to the floor 7, the system 1 includes a ceiling / roof 8, a second vertical wall 9 arranged on the opposite side of the partition wall 6, and two additional front and rear walls (not shown), thereby surrounding the first space 2.

[0094] To enable the transfer of the bins 106 through the bin transport passage 40, bin transport systems 10-12, 20-26 (container transport devices) are arranged within the bin transport passage 40. Referring to FIGS. 6-8, the bin transport systems 10-12, 20-26 include a tunnel 10-12, and the tunnel 10-12 includes a duct / central frame portion / central passage 10 centered at the position of the wall 6, a first frame portion 11 arranged within the first space 2 adjacent to the duct 10, and a second frame portion 12 arranged adjacent to the duct 10 on the opposite side of the first frame portion 11. The terms "centered" and "adjacent" herein refer to positions with respect to the X-direction in FIG. 5, i.e., the horizontal / transverse direction perpendicular to the wall 6.

[0095] As best seen in FIGS. 7 and 8, the duct 10 may include a horizontal duct roof / tunnel roof 10a and two vertical duct walls / tunnel walls 10b aligned in the X-direction. Each of the first and second frame portions 11, 12 includes openings 11a, 12a directed towards the grid openings 112 in the rail system 108 to enable access for the bin handling vehicle 300 to drop off / pick up the bins 106, and up to three vertical walls 11b, 12b, and the vertical walls 11b, 12b increase the operational bin stability while receiving the bins 106 to be inserted horizontally through the duct 10.

[0096] The inner cross-sectional area of the tunnels 10 - 12 oriented in the vertical plane (i.e., parallel to the orientation of the wall 6) is large enough to allow the bin 106 to be transported within the inner cross-sectional area between the first space 2 and the second space 3.

[0097] As shown in FIGS. 5 - 9, the bin conveying system also includes a bin platform 20 having conveying means in the form of a plurality of wheels 21, and carrier conveyors 22 - 26. The carrier conveyors 22 - 26 enable controlled movement of the bin platform 20 between the first and second spaces 2, 3 through the bin conveying passage 40.

[0098] The carrier conveyors 22 - 26 may include two carrier rails 22 extending along the tunnels 10 - 12, a plurality of base plates 23 connecting the two carrier rails 22 in parallel orientation, a drive motor 24 fixed to an outer base plate 23 disposed at or near the end of the carrier rail 22, a rotary device 25 fixed to the outer base plate 23 at the opposite end of the carrier rail 22, and a transmission belt 26 surrounding and contacting the drive motor axles of the drive motor 24 and the rotary device 25. The wheels 21 of the bin platform 20 are installed within the two carrier rails 22, and the transmission belt is attached below the carrier base 20a of the bin platform 20. Thus, when the drive motor 24 is operated, the drive motor axle rotates the transmission belt 26, thereby moving the bin platform 20 between the ends of the carrier rails 22. The direction of movement of the bin platform 20 depends on the rotational direction of the shaft.

[0099] The carrier conveyors 22 - 26 may alternatively or additionally include carrier tracks 22 along which the wheels 21 are guided. Further, the wheels 21 may be replaced by other conveying means such as slide pads and / or caterpillar belts.

[0100] The plurality of base plates 23 can be replaced with a single base plate extending along the bin transport passage 40. The truck 22 can be formed within the base plate in this configuration. The advantage of using this modified configuration is that a reduced or no risk of heat and / or gas leakage can be achieved between the bin transport passage 40 and the lower area.

[0101] Referring particularly to FIG. 8, the platform 20 may also include two or more vertical platform walls 20b disposed at the edge of the platform base 20a and increasing the stability of the bin 106 during transfer through the bin transport passage 40.

[0102] As seen in FIG. 7, when the platform 20 is installed within the duct 10, i.e., centered with respect to the wall 6 in the X direction, the first space 2 is isolated or substantially isolated from the second space 3, thereby preventing (or at least considerably reducing) heat and / or gas leakage. Also, as seen in FIG. 9, such isolation properties are maintained completely or substantially even when the platform 20 is being moved within the first space 2 (FIG. 9A) and within the second space 3 (FIG. 9B).

[0103] Thus, during the entire transfer operation of the bin 106 between the first space 2 and the second space 3, no heat and / or gas leakage exists or at least is considerably reduced.

[0104] In FIGS. 7 and 9, one of the two side walls 10b - 12b of the duct 10, the first frame portion 11, and the second frame portion 12 are removed to better illustrate the inner volume of the tunnel.

[0105] In FIG. 9A, the bin platform 20 is moved to the end of the bin transport passage 40 below the grid opening 112 of the first storage volume 104 located in the first space 2 horizontally adjacent to the wall 6. Through the opening 11a described above in the first frame portion 11 of the tunnel 10-12, the bin handling vehicle 300 can lower the bin 106 onto the platform base 20a through the grid opening 11a. By activating the drive motor 24, the transmission belt 26 transfers the bin platform 20 together with the bin 106 through the duct 10 into the second frame portion 12 at the opposite end of the bin transport passage 40. Through the opening 12a in the second frame portion 12, the bin handling vehicle 300 can raise the bin 106 through the grid opening 112 of the second storage volume 104' located in the second space 3 adjacent to the wall 6.

[0106] To enable the transfer of the bin 106 from the second space 3 to the first space 2, the opposite procedure can be implemented.

[0107] In the specific examples shown in FIGS. 6, 7, and 9, the bin transport passage 40 is sized to correspond to one grid cell along the Y direction (i.e., horizontal and parallel to the wall 6). The width of the tunnel 10-12 is thus equal to or slightly wider than one grid cell in this example. In the X direction (i.e., horizontal and perpendicular to the wall 6), the bin transport passage 40 is about three grid cells, thus enabling the bin 106 to be installed / picked up through the grid opening 112 adjacent to the wall 6. However, it should be noted that the bin transport passage 40 can be of any size that enables the accommodation of one or more bins in the X and Y directions and can be of any depth (i.e., in the Z direction). If the bin receiving space 40 extends in the Y direction (width) and / or the X direction (length), the size of the tunnel 10-12 is also extended accordingly.

[0108] At least a part of the outer surface of the loading platform 20 and / or at least a part of the inner surface of the tunnel 10 - 12 may be provided with a seal (not shown), which can further reduce any heat and / or gas leakage between the first and second spaces 2, 3. Further, the loading platform 20 may be provided with a sensor system (not shown) to enable monitoring of the position of the loading platform 20 relative to the tunnel 10 - 12 and / or the rail system 108.

[0109] An effective seal between the bin loading platform 20 and the tunnel 10 - 12 (and in addition to, or alternatively, towards the rail system 108) can be achieved using different types of seals, such as rubber seals or brush seals. To increase the effectiveness of the seal, the inner cross-sectional size of the tunnel 10 - 12 (i.e., in the X - Z plane) should be adapted to the corresponding outer cross-sectional size of the bin loading platform 20 such that contact is achieved at the interface.

[0110] With respect to the wall 6, the loading platform 20 and / or the tunnel 10 - 12 may be provided with a heat-insulating material such as polystyrene, fiberglass, or polyurethane foam if the intention of the storage system 1 is to maintain the first space 2 and the second space 3 at different temperatures.

[0111] If the intention is fire protection, a flame-retardant material may be included in one or more of the space-dividing components (wall 6, loading platform 20, tunnel 10 - 12). Examples of flame-retardant materials that can be used are fire-resistant glass, concrete, gypsum, plaster, and / or bricks.

[0112] The loading platform 20 and / or the tunnel 10 - 12 and / or the loading platform carriers 22 - 26 may further be provided with a controller (not shown) that communicates with the drive motor 24 in a signal manner. Such a controller may communicate with the control system 109 that controls the bin handling vehicle 300 on the rail system 108 in a wireless signal manner.

[0113] The sensor system typically includes two position sensors, which are arranged on both sides of the platform 20 with respect to the X direction, thereby enabling monitoring of the position of the platform 20 relative to an external structure such as the rail system 108 and / or the tunnel 10 - 12 arranged above. The position sensors can communicate signals with each other through sensor wires and further communicate signals with a controller.

[0114] When the intention of the storage system 1 is to maintain a temperature in a first space 2 that is different from the temperature in a second space 3, for example, when the first space 2 is a cryogenic space (4 degrees Celsius or below) and the second space 3 is an ambient space (about 25 degrees Celsius), the platform 20 and / or the tunnel 10 - 12 may also be equipped with temperature sensors, thereby enabling real-time monitoring of the temperature difference. This would again, for example, enable rapid detection of unwanted temperature equalization through the bin transport passage 40 during bin transport, which may be caused by a damaged seal. Such temperature sensors can communicate signals with the control system 109.

[0115] To at least reduce the risk of fire in the first space 2, the storage system 1 may be equipped with a gas regulating device (not shown). The gas regulating device may include a gas container located outside the first space 2, a gas inlet leading to the first space 2, and a gas pipe in fluid communication between the gas container and the gas inlet. Using this arrangement, gas is enabled to flow between the gas container and the first space 2.

[0116] The gas container may be equipped with means for reducing the percentage of gas elements in a gas mixture such as O2 gas in the air. Such means are known in the art and will therefore not be further described herein.

[0117] In dry air, the concentration of combustible gas oxygen is approximately 21%. When the oxygen concentration is reduced to 16% or less, the risk of fire is significantly reduced. In air, fire can potentially occur theoretically, for example, due to sparks from the movement of the bin handling vehicle 300 and / or sparks from a charging station (not shown) for charging the battery within the vehicle 300 and / or combustion of the contents within the bin 106 and / or accidental heating caused by sunlight hitting the combustible materials within the storage system 1, etc.

[0118] The gas-tight separation between the first space 2 and the second space 3 ensures that the bin 106 located in an atmosphere with reduced oxygen (where the bin handling vehicle 300 has a reduced or minimal risk of fire but may pose a health risk to humans) can be stored, retrieved, received, and delivered to a working space where humans can work safely.

[0119] Another example of the scope of use for the storage system 1 that enables control of gas concentration is the storage of fresh food. Prior art tests have shown that fruits such as apples can be stored best in the long term in an atmosphere with 1% O2 and 1 - 2.5% CO2. The O2 gas can be replaced with N2 gas. The storage system 1 can have the advantage of being used in vertical farming applications.

[0120] The storage system 1 having both cooling equipment for cooling the first space 2 to a temperature below 10°C and a gas adjustment device can create almost ideal conditions for the storage of fresh food.

[0121] This fresh food configuration of the storage facility can be complemented by a fire extinguishing device to reduce the fire risk.

[0122] To further reduce complexity, the platform 20 may alternatively be equipped with a dedicated motor (not shown) having an internal motor controller. A programmable logic controller (PLC) sends commands regarding direction and speed to the motor. A sensor system sends commands to the motor to stop the platform 20 when an end position is reached (e.g., when the openings 11a, 12a of the first or second frame portions 11, 12 are aligned with the grid opening 112 of the upper rail system 108).

[0123] In the foregoing description, various aspects of the automated storage and retrieval system, container handling device, and method according to the present invention have been described with reference to exemplary embodiments. For purposes of explanation, specific numbers, systems, and configurations have been described to provide a complete understanding of the system and its operation. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the exemplary embodiments as well as other embodiments of the system that are apparent to those skilled in the art in connection with the disclosed subject matter should be considered to be within the scope of the present invention.

[0124] (List of reference numbers / characters)

Table 1-1

Table 1-2

Claims

1. An automatic storage and retrieval system (1), wherein the automatic storage and retrieval system (1) comprises: a first space (2) and a second space (3); a first storage volume (104) disposed within the first space (2) and enabling storage of storage containers (106) in a vertical stack (107); a rail system (108) disposed above the location where the storage container (106) will be stored; a container transport passageway (40) for transporting the storage container (106) between the first space (2) and the second space (3), the container transport passageway (40) extending below the level of the rail system (108); a first container handling vehicle (200, 300, 400) configured to lift the storage container (106) from the first storage volume (104), transfer the storage container (106) along the rail system (108), and lower the storage container (106) into the container transport passageway (40), wherein the rail system (108) comprises a first set of rails (110) and a second set of rails (111) oriented at a right angle to the first set of rails (110), the intersection of those rails (110, 111) forming a grid of grid cells defining grid openings (112), the grid openings (112) enabling the first container handling vehicle (200, 300, 400) to lift and / or lower the storage container (106) through the grid openings (112); a container transfer device (200, 300, 400) configured to lift the storage container (106) from the container transport passageway (40) and transfer the storage container (106) to another location; a wall (6) separating the first space (2) from the second space (3); a container platform (20) configured to move within the container transport passageway (40) between a first position within the first space (2) of the automatic storage and retrieval system (1) and a second position within the second space (3). An automatic storage and retrieval system (1) comprising the above.

2. The container platform (20) is part of a container transport device (10-12, 20-26) that includes components for defining a tunnel (10-12) for moving the container platform (20) inward when transferring the at least one storage container between the first space (2) and the second space (3). The automatic storage and retrieval system (1) according to claim 1, wherein the tunnel (10-12) and the container platform (20) are configured such that the first space (2) and the second space (3) are closed from each other when the container platform (20) is disposed within at least one of the first position or the second position.

3. The container platform (20) has a platform base (20a) for supporting a storage container (106), a platform side surface (20b) that is oriented parallel to the central plane of the wall (6) and is at the edge of the platform base (20a), and a seal and is provided with, The automatic storage and retrieval system (1) according to claim 2, wherein the seal is disposed at an upper edge of the container platform (20) such that the seal contacts an upper component of the tunnel (10-12) when the container platform (20) is moving within the tunnel (10-12).

4. The automatic storage and retrieval system (1) according to any one of the preceding claims, wherein the container platform (20) comprises a heat insulating material for reducing the thermal conductivity between the first space (2) and the second space (3) through the container transport passage (40).

5. The automatic storage and retrieval system (1) according to any one of the preceding claims, wherein the container platform (20) is provided with transfer means (21) for enabling transfer of the container platform (20) between the first position and the second position.

6. The automatic storage and retrieval system (1) according to claim 5, wherein the container platform (20) has a platform base (20a) for supporting a storage container (106), and the transfer means (21) includes wheels (21) disposed on or below the platform base (20a).

7. The transfer means (21) includes wheels (21), and the automatic storage and retrieval system (1) includes a track (22) extending between the first position and the second position. The automatic storage and retrieval system (1) according to claim 5 or 6, wherein the track (22) and the wheel (21) are configured such that the wheel (21) is guided by the track (22) during movement.

8. The automatic storage and retrieval system (1) includes a transmission belt (26) extending between the first position and the second position, a drive motor (24) configured to rotate the transmission belt (26), and a track (22) extending between the first position and the second position. The track (22) and the transfer means (21) are configured such that the transfer means (21) is guided by the track (22) when the drive motor (24) rotates the transmission belt (26). The automatic storage and retrieval system (1) according to any one of claims 5 - 7.

9. The container platform (20) includes a platform base (20a) for supporting the storage container (106). The automatic storage and retrieval system (1) according to claim 8, wherein the transmission belt (26) is disposed below the platform base (20a) within the container transport passage (40).

10. The rail system (108) continues into the second space (3). The container transfer device is a second container handling vehicle (200, 300, 400) configured to transfer the storage container (106) from the container transport passage (40) along the rail system (108) within the second space (3). The automatic storage and retrieval system (1) according to any one of the preceding claims.

11. includes a second storage volume (104') contained within the second space (3) and enabling storage of the storage container (106) in the vertical stack (107). The automatic storage and retrieval system (1) according to claim 10, wherein the container transport passage (40) extends through a wall (6) between the first storage volume (104) and the second storage volume (104).

12. The automatic storage and retrieval system (1) includes a cooling unit (4) configured to provide a temperature within the first space (2) different from the temperature within the second space (3). ​ The automatic storage and retrieval system (1) according to any one of the preceding claims, wherein the wall (6) comprises a heat insulating material for reducing the thermal conductivity between the first space and the second spaces (2, 3).

13. A container transport device (10-12, 20-26) for transporting a storage container (106) between a first space (2) having a first temperature and a second space (3) having a second temperature different from the first temperature, wherein the container transport device (10-12, 20-26) A tunnel (10-12) configured to enable transfer of the storage container (106) between the first space (2) and the second space (3); A container platform (20) disposed within the tunnel (10-12); Drive means (22-26) configured to enable movement of the container platform (20) within the tunnel (10-12) A container transport device (10-12, 20-26) comprising.

14. A method of transporting a storage container (106) between a first space (2) and a second space (3) within an automatic storage and retrieval system (1) according to any one of claims 1-12, the method comprising: Moving the container platform (20) into the first space (2); Lifting the storage container (106) stored within the first storage volume (104) using a lifting device (303, 403) forming part of the first container handling vehicle (200, 300, 400); Transferring the storage container (106) to a position directly above the container platform (20) using the container handling vehicle (200, 300, 400); Installing the storage container (106) into the container platform (20) using the lifting device (303, 403); Moving the container platform (20) into the second space (3) such that the storage container (106) is accessible to the container transfer device (200, 300, 400); Lifting the storage container (106) from the container platform (20) using the container transfer device (200, 300, 400); using the container transfer device (200, 300, 400) to transfer the storage container (106) to another location within the second space (3); A method, comprising: **Claim 15** The container transfer device is a second container handling vehicle (200, 300, 400) configured to transfer at least one of the storage containers (106) along the rail system (108); The automated storage and retrieval system (1) includes a second storage volume (104') contained within the second space (3) and enabling storage of the storage containers (106) in a vertical stack (107); Transfer of the storage container (106) to another location within the second space (3) is performed along the rail system (108); The method further comprises: using a lifting device (303, 403) forming part of the second container handling vehicle (200, 300, 400) to place the storage container (106) on the stack (107) within the second storage volume (104'), according to claim 14.

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