Automated storage and retrieval system having a container handling system and method therefor

Abstract

The present invention relates to an automated storage and retrieval system and a method of using the system. The system includes a wall that separates a storage system into a first space and a second space, a tunnel that extends through the wall, and a partitioning vehicle that is movably arranged within the tunnel. The tunnel can be configured to enable the transfer of storage containers between the first space and the second space. In one embodiment, the first space is enclosed to avoid the entry of ambient gas in an uncontrolled manner.

Description

Technical Field

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

Background Art

[0002] FIG. 1 discloses a prior art automated 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 storage boxes, 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 automated storage and retrieval system 1 includes a rail system 108 arranged 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 storage box 106 from the storage row 105, lower the storage box 106 into it, and transfer the storage box 106 above the storage row 105. The rail system 108 includes a first set 110 of parallel rails arranged across the upper part of the framework structure 100 in a first direction X to guide the movement of the container handling devices 200, 300, 400, and a second set 111 of parallel rails arranged 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 container 106 stored in the row 105 is accessed by the container handling devices 200, 300, 400 through the access opening 112 in the rail system 108. The container handling devices 200, 300, 400 can move laterally above the storage row 105, that is, in a plane parallel to the horizontal X-Y plane.

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

[0006] Each prior art container handling device 200, 300, 400 includes a handling device body / vehicle body 201, 301, 401 and first and second sets of wheels 202a, 202b, 302a, 302b, 402a, 402b that enable the lateral movement of the container handling devices 200, 300, 400 in the X and Y directions, 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 rails 110, and the second sets of wheels 202b, 302b, 402b are arranged to engage two adjacent rails of the second set of rails 111. At least one of the sets of wheels 202a, 202b, 302a, 302b, 402a, 402b can be 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 individual parallel sets of rails 110, 111 at any given time.

[0007] Each prior art container handling device 200, 300, 400 also includes lifting devices 303, 403 for the vertical transfer of the storage box 106, for example, to lift the storage box 106 from the storage row 105 and lower the storage box 106 therein. The lifting devices 303, 403 include one or more gripping / engagement devices 404 that are adapted to engage the storage box 106, and the gripping / engagement devices 404 can be lowered from the vehicles 200, 300, 400 such that the position of the gripping / engagement devices 404 relative to the vehicles 200, 300, 400 can be adjusted in a third direction Z that is orthogonal 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 body 201 and is thus not shown.

[0008] Conventionally, and also for the purposes of the present application, Z = 1 is the uppermost layer available for storage boxes 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 is to identify the third layer, etc. In the exemplary prior art disclosed in FIG. 1, Z = 8 identifies the bottommost layer of the storage box. Similarly, X = 1…n and Y = 1…n identify the positions of each storage row 105 in the horizontal plane. As a result, as an example, using the Cartesian coordinate system X, Y, Z shown in FIG. 1, the storage box 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 travel within the layer Z = 0, and each storage row 105 can be identified by its X and Y coordinates. Thus, the storage boxes 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 grid, and the possible storage positions within this grid are referred to as storage cells. Each storage row can be identified by its position in the X - direction and Y - direction, while each storage cell can be identified by the container number in the X - direction, Y - direction, and Z - direction.

[0010] Each of the prior - art container handling devices 200, 300, 400 includes a storage compartment or space for receiving and storing the storage box 106 when transferring the storage box 106 across the rail system 108. The storage space may be provided with a cavity and be arranged inside the vehicle bodies 201, 301, 401 as presented in FIGS. 2 and 4 and, for example, as described in WO2015 / 193278A1 (Patent Document 1) and WO2019 / 206487A1 (Patent Document 2), the contents of which are incorporated herein by reference.

[0011] Figure 3 shows an alternative configuration of the 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 FIG. 2 generally has a footprint covering an area with dimensions in the X and Y directions equal to, for example, the lateral extent of the storage row 105, as described in, for example, WO2015 / 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 a footprint larger than the lateral area defined by the storage row 105, as shown in FIGS. 1 and 4 and as disclosed, for example, in WO2014 / 090684A1 (Patent Document 3) or WO2019 / 206487A1.

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

[0015] WO2018 / 146304A1 (Patent Document 4, the content of which is incorporated herein by reference) illustrates a typical configuration of a rail system 108 including 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., columns 105 where storage boxes 106 are stored in the stack 107. However, some columns 105 may have other purposes. In FIG. 1, columns 119 and 120 are access stations (not shown) where storage boxes 106 can be transferred and / or received by container handling devices 200, 300, 400 so that the storage boxes 106 can be accessed from the outside of the framework structure 100 or transported inside and outside the framework structure 100. In the art, such locations are usually referred to as "ports", and the columns in which the ports are located can be referred to as "port columns" 119, 120. The transfer to the access station can be in any direction, horizontal, inclined, and / or vertical. For example, the storage box 106 can be installed in a random or dedicated column 105 within the framework structure 100 and then received 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 can require movement along various different directions by means such as delivery vehicles, streetcars, or other transfer lines. Note that the term "inclined" means the transfer of the storage box 106 having a general transfer orientation at any location between horizontal and vertical.

[0017] In FIG. 1, the first port row 119 may be a dedicated transfer port row that can transfer, for example, the storage box 106 to which the container handling devices 200, 300, 400 are to be transferred to the access or transfer station, and the second port row 120 may be a dedicated receiving port row that can receive the storage box 106 transferred from the access or transfer station by the container handling devices 200, 300, 400.

[0018] The access station may typically be a receiving or inventory station where product items are removed from or located within the storage box 106. At the receiving or inventory station, the storage box 106 is usually not removed from the automated storage and retrieval system 1, but once accessed, is returned back into the framework structure 100 again. The ports can also be used to transport the storage box 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 vehicle), or a production facility.

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

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

[0021] The conveyor system may be arranged to transport the storage box 106 between different framework structures, for example, as described in WO2014 / 075937A1 (Patent Document 5), the content of which is incorporated herein by reference.

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

[0023] When the storage box 106 is to be stored within one of the columns 105, one of the container handling devices 200, 300, 400 is instructed to receive the storage box 106 from the receiving port column 120 and transfer it to a location above the storage column 105 where it is to be stored. After any storage box 106 positioned at or above the target position within the stack 107 is removed, the container handling devices 200, 300, 400 position the storage box 106 at the desired location. The removed storage box 106 may then be lowered back into the storage column 105 or repositioned in another storage column 105.

[0024] To monitor and control the automated storage and retrieval system 1 such that the desired storage box 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 the individual storage boxes 106 within the framework structure 100, the contents of each storage box 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 comprises a database for keeping track of the storage boxes 106.

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

[0026] Furthermore, there may be situations where the automated storage and retrieval system is surrounded by an atmosphere different from the ambient atmosphere, for example, generating an atmosphere that reduces the risk of fire ignition by reducing the oxygen concentration in the ambient atmosphere.

[0027] Automated storage and retrieval systems with different temperature zones and whose temperature can be controlled are known. For example, Patent Publication No. WO2015 / 124610A1 (Patent Document 6) describes a system for receiving and storing processed refrigerated and frozen food products using a plurality of container handling vehicles operating on a rail system. In this prior art solution, the storage boxes are stacked below a common rail system in two different storage volumes separated by a wall. 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 the storage box in the colder zone is being stored or retrieved. This can result in the formation of condensation and cause disturbances to electronic equipment.

[0029] The prior art storage system described in Patent Publication No. WO2019 / 001816A1 (Patent Document 7) shows a system with different temperature zones and means for transferring containers between the different temperature zones. To reduce the temporary exposure of the container handling vehicle to cold air, the solution includes an elevator that enables the lowering and raising of the storage box between access points to the transport zone.

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

[0031] To prevent the initiation of a fire, a storage facility in which the oxygen concentration can be reduced is described in the article "Wagner Impulse" in the magazine "The Wagner Group Customer Magazine" (March 2018). The low oxygen concentration is obtained by forcing air with reduced oxygen into the entire storage facility.

[0032] The article does not present any solutions for maintaining such low oxygen concentrations over long periods 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 storage boxes to and from the interior and exterior of the storage system without increasing the oxygen concentration. Such operation would necessitate frequent exposure of the storage system to ambient air.

[0033] An object 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 mitigates, one or more of the foregoing problems associated with the use of prior art storage and retrieval systems.

[0034] Another object of the present invention is to provide a solution that enables the handling of storage boxes within a storage system located within a space having an environment different from the surrounding environment.

[0035] Another object of the present invention is to provide an automated storage and retrieval system that can enable the storage of products for which the optimal storage temperature can deviate from the ambient temperature.

Prior Art Documents

Patent Documents

[0036]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Patent Document 5

Patent Document 6

Patent Document 7

Summary of the Invention

Means for Solving the Problems

[0037] The present invention is described and characterized in the independent claims, while the dependent claims describe other preferred / optional features.

[0038] In a first aspect, the present invention relates to an automated storage and retrieval system comprising a wall that separates a storage system into at least a first space and a second space, a tunnel that extends through the wall, and a partition vehicle arranged within the tunnel.

[0039] The storage and retrieval system includes a storage volume that enables the storage of storage containers in a vertical stack, the storage volume including a rail system arranged above the location where the vertical stack of storage containers will be stored, a container transport space that extends from the side of the first storage volume or is arranged adjacent thereto and is configured to hold at least one of the storage containers, a first container handling vehicle configured to lift a storage container from the first storage volume and transfer the storage container along the rail system to the container transport space by using a lifting device, and a container transfer device (such as a multi-joint robotic arm and / or a second container handling vehicle, etc.) configured to lift a storage container from the container transport space and transfer the storage container to another location farther from the first space.

[0040] The transfer of the storage container along the rail system may be achieved by equipping the first container handling vehicle with suitable rolling means such as wheels that engage with the rails of the rail system.

[0041] The first storage volume may include a plurality of vertical upright members that define a plurality of storage rows for storing stacks of storage containers.

[0042] The rail system comprises a first set of rails and a second set of rails oriented perpendicular to the first set of rails, and the intersection of the rails forms a grid of grid cells that defines a grid opening that enables a first container handling vehicle to lift a storage container therethrough. The rail system may continue into a second space.

[0043] The container transport space may have a horizontal extent corresponding to a specific number of grid cells, for example, extending over two grid cells in a direction parallel to the wall and one grid cell perpendicular to the wall. The container transport space may be located, for example, along the center of a tunnel within a space of two grid cells in a direction parallel to the wall and three grid cells perpendicular to the wall.

[0044] The tunnel extending through the wall may be at the height of the rail system and may be configured to enable the transfer of storage containers between the first space and the second space.

[0045] The partitioning vehicle is configured to move at least between a first position in the first space and a second position in the second space. The first and second positions may be a first partitioning position and a second partitioning position relative to the wall, and the partitioning positions are located within the tunnel.

[0046] The purpose of the partitioning vehicle is to provide a partition between the first space and the second space that can be moved between the first position and the second position across the container transport space. In this way, the partitioning vehicle provides a partition that is located within the wall and movable within the tunnel.

[0047] The inner cross-sectional area of the tunnel perpendicular to the rail system should, as a result, be equal to or larger than the corresponding cross-sectional area of the partition vehicle. The separation between the first space and the second space is optimally achieved when the two areas are equal or approximately equal. Furthermore, the inner cross-sectional area should be larger than the storage container to be transported.

[0048] To avoid or reduce gas exchange and / or temperature equalization between the first space and the second space, or to avoid or reduce contamination of the first space, the cross-sectional area of the partition vehicle is preferably equal to or approximately equal to the inner cross-sectional area of the tunnel. For example, if the width of the tunnel extends across two grid cells, the partition vehicle can be made with a width of two grid cells. The height of the partition vehicle may extend to block or at least substantially block the inner cross-sectional area of the tunnel (e.g., 90% or more of the area). The partition vehicle may be arranged to expand in area upon reaching the first or second position to more effectively block the tunnel.

[0049] The automated storage and retrieval system may also be designed such that the partition vehicle can move into the first space, for example, at a distance within the first space that allows, at any time, for example, the first container handling vehicle to move through the tunnel into the second space, such as when the first container vehicle requires inspection or repair, to move beyond the scope of the tunnel.

[0050] Alternatively, or in addition, the automated storage and retrieval system may be designed such that the partition vehicle can move into the second space and allow any second container handling vehicle to move through the tunnel into the first space.

[0051] Thus, the partition vehicle is constructed such that it can reciprocate in the direction of movement of the storage container when being transported from the first space to the second space, i.e., in the longitudinal direction of the tunnel, and at the same time maintain blocking or at least substantially blocking the lateral area. The partition vehicle can thereby preferably separate the first space from the second space at at least one of the positions above the container transport space while reciprocating between the first partition space and the second partition space.

[0052] In an exemplary configuration, the first space is enclosed to avoid the entry of ambient fluid such as gas in an uncontrolled manner. Thus, such an enclosure is not to be interpreted as a completely gas-tight space, but rather should be interpreted as being sufficiently enclosed, for example, to avoid significant temperature variations between the first space and the second space and / or to avoid significant gas leakage between the first space and the second space, in order to serve a specific purpose of an automated storage and retrieval system. The enclosure surrounding the first space may thus include various opening / ventilation systems such as a gas inlet with a valve and control the first space of the ambient fluid in a controlled manner, for example, to generate more inert atmosphere and / or set the temperature of the first space to a temperature different from the ambient temperature.

[0053] The term "enclosed first space" is defined herein as a space separated from the surroundings by walls. For example, if the first space is formed as a cuboid, the term "surrounding" means six walls that separate the space from the surroundings, and the term "wall" includes the floor and the ceiling.

[0054] In another exemplary configuration, the container transfer device is a second container handling vehicle configured to transfer the storage container from the container transport space along a rail system. The second container handling vehicle and the first container handling vehicle may have the same design.

[0055] In yet another exemplary configuration, the storage and retrieval system may include a second storage volume that is contained within the second space and enables storage of storage containers within a vertical stack. In this configuration, the container transport space is arranged between the first storage volume and the second storage volume. The rail system may extend above the second storage volume.

[0056] In yet another exemplary configuration, the container transport space is arranged below the rail system.

[0057] In yet another exemplary configuration, the container transport space is positioned such that the center plane of the wall intersects the center of the container transport space.

[0058] In yet another exemplary configuration, the container transport space is configured to hold a plurality of storage containers simultaneously, for example, horizontally distributed at the same or approximately the same height as the upper height of the storage containers in the first storage volume (e.g., Z = 1 height, Z = 2 height, or anywhere between the two), and / or stored within one or more vertical stacks of two or more storage containers. In the latter case, the container transport space may include vertical upright members that define at least one storage row in which a stack of storage containers may be included.

[0059] In yet another exemplary configuration, the automated storage and retrieval system includes a cooling unit configured to provide a temperature in the first space that is colder than the temperature in the second space. Further, the wall may comprise a heat insulating material such as expanded polystyrene or a similar foam material to reduce the thermal conductivity between the first space and the second space.

[0060] The cooling unit may be an air conditioning system that allows a compressed cooling chemical substance to evaporate from a liquid to a gas while absorbing heat during the process.

[0061] Alternatively, or in addition, the cooling unit may be a refrigeration unit having a heat pump that transports heat from the first space to the outside space.

[0062] As used herein, air conditioning systems and refrigeration units are, in a broad sense, defined to cover a large temperature range, for example, temperatures below -20 o °C and ambient temperature (20 o °C to 25 o °C, for example, 23 o °C), or -20 o °C to ambient temperature, or -5°C to ambient temperature.

[0063] In yet another exemplary configuration, the first space may be set to a gas pressure different from the gas pressure in the second space, for example, to reduce the risk of gas leakage.

[0064] In yet another exemplary configuration, the first space may be filled with a gas different from the gas in the second space, such as a gas that is less flammable than air, to reduce the risk of fire.

[0065] In yet another exemplary configuration, the partition vehicle may be provided with driving means and may be driven between a first position and a second position.

[0066] Furthermore, the movement of the partition vehicle is preferably achieved by using a remote control system that communicates with a controller arranged on a vertical extending structure / plate of the vehicle. The partition vehicle may also be provided with a sensor configured to detect the position of the partition vehicle relative to the tunnel, and the sensor communicates with the driving means either directly or via the remote control system. The tunnel may also carry such a sensor.

[0067] In yet another exemplary configuration, the partition vehicle is provided with wheels configured to move along a first set of rails. In such a configuration, the wheels should be designed to provide the stability required for the partition vehicle while avoiding obstructions in order to cooperate the first container handling vehicle and the container transfer device. Alternatively, or in addition, the partition vehicle may be suspended from the roof of the tunnel and / or supported on rails on the side of the tunnel.

[0068] The wheels may include a first set of wheels (e.g., a pair of wheels) on one side of the partition vehicle and a second set of wheels (e.g., a second pair of wheels) on the opposite second side of the partition vehicle (when looking at the partition vehicle along the longitudinal direction of the tunnel), and the first and second sets of wheels are offset by at least one grid opening (i.e., the separation between the rails of the grid cells). Further, the wheels are adapted to move along a first set of rails.

[0069] In yet another exemplary configuration, the partition width of the partition vehicle is equal to n times the width of the grid cell, where n is a positive integer. Typical values of n are 2 or 3.

[0070] In yet another exemplary configuration, the partition vehicle includes a member such as a plate oriented parallel to the center plane of the wall and a seal that at least partially surrounds the edge of the member / plate. The seal contacts the inner wall of the tunnel and the rail system when the partition vehicle is moving between the first position and the second position, thereby ensuring that the partition vehicle creates a sealed fit with the inside of the tunnel. The seal also exists when the partition vehicle is in the first and second positions.

[0071] For example, if the plate has a rectangular cross-section, the seal should preferably cover at least the vertical edges and the upper horizontal edge.

[0072] The desired seal against the tunnel wall may be achieved by various means such as a brush seal, a flap, a rolling seal, and / or an air seal.

[0073] A seal, such as a brush seal, a flap, a rolling seal, and / or an air seal, may be provided on the inner surface of the tunnel, either instead of or in addition to the seal on the partition vehicle.

[0074] In yet another exemplary configuration, the partition vehicle is provided with a battery configured to provide power to the drive means. The battery is rechargeable.

[0075] In yet another exemplary configuration, the partition vehicle comprises a heat insulating material such as expanded polystyrene or a similar foamed material, reducing the thermal conductivity between the first space and the second space through the tunnel. Such insulation may be configured for a particular design of the partition vehicle, for example, by providing insulation between the wheels.

[0076] In yet another exemplary configuration, the automated storage and retrieval system comprises a floor extending along a rail system, for example, at least across the opening of the tunnel, for example, extending at a first position and / or a second position.

[0077] The floor may comprise a plurality of floor plates having lengths and widths corresponding to the grid openings of the rail system, respectively.

[0078] Furthermore, the floor may comprise a heat insulating material to reduce the thermal conductivity between the first space and the second space through the container-carrying space.

[0079] On a second aspect, the present invention relates to a container transportation system for transporting a storage container between a first space of an automated storage and retrieval system having a first temperature and a second space of the automated storage and retrieval system having a second temperature higher than the first temperature.

[0080] The container transportation system includes a wall that separates an automated storage and retrieval system into a first space and a second space, a tunnel that extends through the wall and is configured to enable the transfer of storage containers between the first space and the second space, and partition vehicles arranged in the tunnel.

[0081] The partition vehicles preferably comprise a heat insulating material to reduce the thermal conductivity between the first space and the second space through the tunnel.

[0082] Furthermore, the partition vehicles are provided with four wheels powered by drive means for enabling the movement of the partition vehicles along the tunnel, for example, one or more external motors or one or more in-wheel motors.

[0083] The partition vehicles preferably extend across the lateral direction of the tunnel. For example, the partition vehicles may be arranged to fit tightly, that is, the maximum cross-sectional area of the vehicle is equal to or slightly less than the minimum cross-sectional area of the tunnel.

[0084] In an exemplary configuration, the partition vehicle comprises a member / wall section and a seal surrounding the edge of the member. The seal may contact the inner wall of the tunnel when the partition vehicle moves along the tunnel.

[0085] In another exemplary configuration, the partition vehicle is provided with a sensor configured to detect the position of the partition vehicle relative to the tunnel. The sensor may communicate with the drive means of the partition vehicle either directly or via a remote control system.

[0086] In a third aspect, the present invention relates to a partition vehicle that can be arranged in a tunnel. The partition vehicle includes a heat insulating material and reduces the heat conductivity between a first space and a second space located on opposite sides of the tunnel. The partition vehicle is provided with driving means such as belt and / or shaft-driven wheels or wheels with built-in motors of two or four, enabling the movement of the partition vehicle along the tunnel. When the vehicle body of the partition vehicle has a rectangular design, the partition vehicle may be provided with four wheels, which may be installed at or near the lower corners of the vehicle body. The wheels enable the partition vehicle to move in the X-direction. The motor for driving the wheels may be a DC motor.

[0087] The partition vehicle may include a vertically extending structure / wall member / upright partition and a seal surrounding the edge of the wall member. The seal contacts the inner wall of the tunnel when the partition vehicle moves along the tunnel. Further, the partition vehicle may be configured according to any of the features described above with respect to the first or second aspect of the present invention. The wheels may be installed at or near the corners of the vertically extending structure.

[0088] In a fourth aspect, the present invention relates to an assembly of a tunnel and a partition vehicle that can be fitted into a hole in a wall, separating a first space from a second space. The tunnel and the partition vehicle may have any of the features described above with respect to the first, second, and / or third aspects of the present invention.

[0089] In a fifth aspect, the invention relates to a partitioned vehicle, which comprises any of the features associated with the partitioned vehicle of the first or second aspect of the invention, i.e., several wheels such as four or more wheels enabling movement in the X-direction, a vehicle body including a wall member forming a cross-sectional area perpendicular to the X-direction set by the wheels, and a seal surrounding the edge of the wall member. Further, the vehicle body may comprise an upright partition oriented perpendicular to the X-direction. At least two of the wheels on each side of the partitioned vehicle may be driven by a motor such as a DC motor fixed to the vehicle body and / or within the wheels. The wheels may be installed at or near the corners of the vehicle body.

[0090] In a sixth aspect, the invention relates to a method for transporting a storage container between a first space and a second space within an automated storage and retrieval system as described in the first aspect.

[0091] The method comprises moving the partitioned vehicle to a second position such that the container transportation space is accessible for a first container handling vehicle, lifting a storage container stored within a first storage volume using a lifting device forming part of the first container handling vehicle, transferring the storage container into a tunnel, delivering the storage container into the container transportation space, moving the partitioned vehicle to a first position such that the container transportation space is accessible for a container transfer device, lifting the storage container from the container transportation space, transferring the storage container to another location within the second space, and including.

[0092] Subsequently, the method comprises The method may include the step of returning the storage container from the second space to the first space. The steps of the method may be performed as described above, but in reverse.

[0093] In an exemplary method of the sixth aspect, the container handling device is a second container handling vehicle configured to transfer at least one of the storage containers along a rail system. In this exemplary method, the storage and retrieval system is included within the second space and has a second storage volume that allows storage of the storage containers within a vertical stack. Transfer of the storage containers to another location within the second space is performed along the rail system.

[0094] This exemplary method may further include the step of placing the storage container on a stack within the second storage volume.

[0095] In addition to providing a solution for handling storage boxes within a storage system that solves or at least mitigates the problems described above and enables handling of storage boxes 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 devices within the container handling vehicle during transportation of the storage boxes between zones Providing an automated storage and retrieval system that significantly reduces the risk of fire initiation within or above the storage system during operation.

Brief Description of the Drawings

[0096] The following drawings depict embodiments of the present invention by way of example only and are attached to facilitate understanding of the present invention.

[0097]

Figure 1

[0098]

Figure 2

[0099]

Figure 3

[0100]

Figure 4

[0101]

Figure 5

[0102]

Figure 6

[0103]

Figure 7

[0104]

Figure 8

[0105]

Figure 9

[0106]

Figure 10

[0107] Detailed Description of the Invention 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 in the drawings. Further, even if some of the features are described in relation to only the system, partition vehicle, tunnel and assembly of the partition vehicle, or the container transportation system, it is clear that they are equally effective with respect to the related method and vice versa.

[0108] FIG. 5 shows a side view of the automated storage and retrieval system 1 according to the present invention. The positive X-direction, Y-direction, and Z-direction are directed from left to right, out of the drawing, and from top to bottom of the drawing, respectively.

[0109] 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 storage box transport space 40 (container transport space). Both the first space 2 and the second space 3 include storage volumes 104, 104' with a common floor 14 having storage boxes 106 (storage containers) in a vertical stack 107. A 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 system 1 in the second space 3 also includes one or more port rows 119 for the transfer or receipt of storage boxes 106 to be transferred to / from the access station 150. Further handling of the storage boxes 106 may be performed by an operator 151. The storage box transport space 40 is shown in FIG. 5 with a depth corresponding to containing one storage box 106. However, the storage box transport space 40 may be configured to receive a stack of storage boxes 107 with a depth deeper than one storage box 106, for example, several (e.g., two or three) storage box depths, or even extending to the floor 14.

[0110] If the purpose is to maintain the first space 2 at a different temperature from the second space 3, the partition wall 6 may be provided with a heat insulating material such as polystyrene or fiberglass.

[0111] If the purpose is to prevent the spread of fire from the first space 2 to the second space (or vice versa), the partition wall 6 may be provided with a fire resistant material such as fire resistant glass, concrete, gypsum, plaster, and bricks (in addition to or as an alternative to the heat insulating material).

[0112] The system 1 also includes a storage box handling vehicle 300 (container handling vehicle) that operates above the upper part of the rail system 108 in both the first and second spaces 2, 3.

[0113] The safe deposit box transportation space 40 is configured by the safe deposit box handling vehicle 300 to enable the reception and delivery of the safe deposit box 106 from both sides of the wall. In FIG. 5, it is arranged directly below the rail system 108 between the first space 2 and the second space 3 and is centered along the X-axis with respect to the partition wall 6.

[0114] In addition to the floor 14, the storage system 1 includes a ceiling / roof 15, a second vertical wall 16 arranged and oriented in the Y-Z plane opposite to the storage volume 104 in the first space 2, and two additional walls (not shown in FIG. 5) oriented in the X-Z plane on the front and back surfaces, thereby surrounding the first space 2.

[0115] One or more through-tunnels 10 are arranged through the wall 6 directly above a part of the rail system 108 that covers the safe deposit box transportation space 40. The size of the tunnel 10 is large enough to enable the safe deposit box 106 to be transferred between the first space 2 and the second space 3. The holes, which need to be made in the wall 6 to fit the safe deposit box transportation system, should therefore be equal to or larger than the height of the tunnel 10 and the height of the safe deposit box transportation space 40.

[0116] To enable the closure between the two spaces 2 and 3, the partition vehicle 20 is arranged on the rail system 108 and is configured to move through the tunnel 10 while contacting or substantially contacting the inner wall of the tunnel 10.

[0117] When the system 1 is used to maintain an environment in the first space 2 that is different from the second space 3, for example, has a lower temperature and / or contains different gases, the enclosed first space 2 may be made airtight or substantially airtight during the period when the partition vehicle 20 is installed at a closed position in the tunnel 10, for example, at one of the two openings of the tunnel 10, which are referred to herein as the first and second partition positions.

[0118] Hereinafter, leakage means no or minimal uncontrolled leakage of gaseous substances during closed conditions.

[0119] FIG. 6 shows an embodiment of a container handling system 6, 10, 11, 20 that enables the handling of storage box 106 between a first space 2 and a second space 3. The tunnel 10 includes a horizontal tunnel roof 10a oriented parallel to the rail system 108 and two vertical side walls 10b oriented along the X direction. Thus, the tunnel 10 forms two openings with a cross-sectional area along the Y direction. In FIG. 6, one of the two side walls 10b is removed to better illustrate the inner volume of the tunnel.

[0120] In FIG. 6, the partition vehicle 20 has been moved to the opening of the tunnel 10 closest to the second space 3, thereby enabling the storage box handling vehicle 300 (container handling vehicle) operating in the first space 2 to move into a position where the storage box handling vehicle 300 can transfer the storage box 106 into the centrally arranged storage box handling space 40. Another storage box handling vehicle 300 operating in the second space 3 is in a position to receive the storage box 106 after the transfer and the movement of the partition vehicle 20 to the opposite opening of the tunnel 10.

[0121] In the specific embodiment shown in FIG. 6, the storage box handling space 40 is sized to correspond to two grid cells that define two grid openings 115 along the Y direction. The width of the tunnel 10 is slightly wider than the two grid cells in this embodiment. However, it should be noted that the storage box handling space 40 may be of any size in the X and Y directions and may be of any depth (Z direction). If the storage box receiving space 40 extends in the Y direction (width) and / or the X direction (length), the size of the tunnel 10 should be extended accordingly.

[0122] Referring particularly to FIG. 7, the partition vehicle 20 includes drive means 22-26 that enable the vehicle 20 to move in the X direction along the tunnel 10, a vertical and rectangular plate 21 oriented along the Y direction, a seal 28 arranged along the upper and side edges of the plate 21, and sensor systems 30, 31 that enable monitoring of the position of the partition vehicle with respect to the tunnel 10 and / or the rail system 108.

[0123] During operation, to provide further prevention of leakage of thermal energy and / or gaseous components between the first space 2 and the second space 3, the seal 28 may also be arranged along the lower edge of the plate 21.

[0124] An effective seal between the partition vehicle 20 and the tunnel 10 (and alternatively, also towards the rail system 108) may be achieved using different types of seals 28, such as rubber seals, brush seals, flaps, rolling seals, air seals, etc.

[0125] As shown in FIG. 7, when required, the partition vehicle 20 may move across the tunnel 10, thereby providing direct access through the wall 6. For example, if the tunnel 10 has a cross-sectional area larger than the corresponding cross-sectional area of the storage box handling vehicle 300, the latter may move between the first space 2 and the second space 3 when the partition vehicle 20 is moved far enough away from the tunnel opening.

[0126] Particularly, during the transportation of the storage box 106, to further reduce the risk of heat leakage and / or gas leakage, the inner volume of the tunnel 10 may include a transport floor 11 arranged in the form of a floor plate on both sides of the storage box transport space 40 and arranged within the adjacent grid openings 115.

[0127] Regarding the partition wall 6, the partition vehicle 20, the floor plate 11, and / or the tunnel 10 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.

[0128] If the intention is for fire protection, it is also possible to consider including a flame retardant material in one or more of the space partitioning components (partition wall 6, partition vehicle 20, floor plate 11, tunnel 10). Examples of flame retardant materials that can be used are fire-resistant glass, concrete, gypsum, plaster, and bricks.

[0129] Still referring to FIG. 7, the drive means 22-26 of the partition vehicle 20 may comprise the following. Four partition vehicle wheels 22 that enable the movement of the partition vehicle 20 in the X-direction along the rail system 108 Four wheel mounting parts 26 that rotatably connect the partition vehicle wheels 22 to the framework of the partition vehicle 20 Motor 24 Controller 27 that communicates with the motor 24 in signal Drive shaft 23 that is rotationally coupled to at least two of the four partition vehicle wheels 22 A transmission belt 25 configured to transmit power from the motor 24, rotate the drive shaft 23, and thereby move the partition vehicle 20 in the X-direction by a desired length

[0130] The controller 27 may communicate with the control system 109 that controls the storage box handling vehicle 300 on the rail system 108 in wireless signal.

[0131] Sensor systems 30, 31 are typically arranged on both sides of plate 21 and include two position sensors 30 that enable monitoring of the position of partition vehicle 20 relative to an external structure such as lower rail system 108 and / or tunnel 10. The two position sensors 30 are shown in FIGS. 6 and 7 to signal communicate with each other through sensor wire 31 and further signal communicate with controller 27.

[0132] When the intention of the system is to maintain a temperature in the first space 2 that is different from the temperature in the second space 3, for example, when the first space 2 is a cryogenic space and the second space 3 is the ambient space, the partition vehicle 20 may also include temperature sensors 30 on both sides of plate 21, thereby enabling real-time monitoring of the temperature difference. This would again, for example, enable rapid detection of unwanted temperature equalization through tunnel 10 during storage box transportation, due to a damaged seal 28.

[0133] FIG. 8 shows the situation where storage box 106 is being advanced through tunnel 10 from the first space 2 to the second space 3 by use of storage box handling vehicle 300.

[0134] In FIG. 8A, storage box handling vehicle 300 is moving on rail system 108 towards the tunnel opening in the first space 2 that conveys storage box 106 to be transferred. Partition vehicle 20 is arranged within this tunnel opening, thereby preventing storage box handling vehicle 300 from accessing the storage box transportation space 40 located at the center within tunnel 10 with respect to the X-direction.

[0135] As clearly seen in FIG. 8A, partition vehicle 20 arranged within the tunnel opening forms a fluid-tight or substantially fluid-tight closure into tunnel 10 due to seal 28 and floor plate 11.

[0136] FIG. 8B shows the situation on the other side of the wall 6 in the second space 3 where the storage box handling vehicle 300 is moving towards the tunnel opening opposite to the opening shown in FIG. 8A.

[0137] FIG. 9 is similar to FIG. 8A, but shows the situation where the partition vehicle 20 is moving to the opposite side of the tunnel 10 and the storage box handling vehicle 300 is moving inside the tunnel 10 such that the storage box 106 is aligned with the grid opening 115 above the storage box transport space 40.

[0138] FIGS. 10A - D show an exemplary sequence for transferring the storage box 106 from the second space 3 (e.g., the ambient space at room temperature) to the first space 2 (e.g., a cryogenic space with a temperature below 5 o °C). (FIG. 10A) The partition vehicle 20 is moved to the opening of the tunnel 10 in the first space 2. (FIG. 10B) The storage box handling vehicle 300 in the second space 3 transfers the storage box 106 into the tunnel 106 such that the storage box 106 is directly above the grid opening 115 that provides access to the storage box transport space 40 where the storage box 106 is arranged directly below the rail system 108. (FIG. 10C) The storage box 106 is lowered through the grid opening 115 into the storage box transport space 40, the storage box handling vehicle 300 is moved out of the tunnel 10, and the partition vehicle 20 is moved to the opening of the tunnel 10 in the second space 3. (FIG. 10D) The storage box handling vehicle 300 in the first space 2 moves into the tunnel such that its lifting device 303 is vertically aligned with the grid opening 115 and the storage box 106 is lifted above the rail system 108 by using the lifting device 303.

[0139] To at least reduce the risk of fire in the first space 2, the system 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 into the first space 2, and a gas pipe in fluid communication between the gas container and the gas inlet. By using this arrangement, gas is enabled to flow between the gas container and the first space 2.

[0140] The gas container may be provided 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 not be further described herein.

[0141] In dry air, the concentration of combustible gas oxygen is approximately 21%. When the oxygen concentration is reduced to 16% or below, the risk of fire is significantly reduced. In air, a fire can potentially occur due to, for example, sparks from the movement of the storage box handling vehicle 300 and / or sparks from a charging station (not shown) for charging the battery in the vehicle 300 and / or combustion of the contents in the storage box 106 and / or accidental heating caused by sunlight hitting combustible materials within the storage system 1.

[0142] The gas-tight separation between the first space 2 and the second space 3 ensures that the storage box handling vehicle 300 can store, retrieve, receive, and deliver the storage box 106 to a working space where humans can work safely, such that the storage box 106 is located in an oxygen-reduced atmosphere that has a reduced or minimal risk of fire but may pose a health risk to humans.

[0143] 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 may be replaced with N2 gas.

[0144] The storage system 1, which has both a cooling facility for cooling the first space 2 to a temperature below 10°C and a gas adjustment device, can create almost ideal conditions for storing fresh food.

[0145] The fresh food configuration of the storage facility may be complemented by a fire extinguishing device to reduce the fire risk.

[0146] In addition to the advantages described above, the storage system 1 of the present invention can facilitate installation and maintenance because all sensor technologies 30, 31 and drive means 22 - 26 can be installed on the easily removable partition vehicle 20 instead of the fixed tunnel 10, the storage box transportation space 40, or the wall 6 (also possible solutions). The controller 27 of the partition vehicle 20 can be connected to the control system 109 by WIFI or a cable network.

[0147] To further reduce complexity, the partition vehicle 20 may alternatively be equipped with a motor 24 having an internal motor controller. A programmable logic controller (PLC) sends commands regarding direction and speed to the motor 24. When the sensor systems 30, 31 reach an end position (e.g., the opening of the tunnel 10), they send commands to the motor 24 to stop the partition vehicle 20.

[0148] Mechanical stoppers may be provided at one or both tunnel openings to prevent the partition vehicle 20 from moving out of the tunnel 10.

[0149] In the foregoing description, various aspects of an automated storage and retrieval system 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 and 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.

[0150] List of Reference Numerals / Characters 1 Automated storage and retrieval system 2 First space / Cryogenic space 3 Second space / Ambient space 4 Cooling system / Refrigerator 6 Partition wall 10 Tunnel 10a Tunnel roof 10b Tunnel side wall 11 Conveyor floor of container transport space 40 / Floor plate 14 Floor 15 Roof 16 Outer wall 20 Partition vehicle 21 Plate 22 Partition vehicle wheel 23 Drive shaft 24 Motor 25 Transmission belt 26 Wheel mounting part 27 Controller 28 Seal / Rubber frame 30 Position sensor 31 Sensor wire 40 Container transport space / Storage box transport space 100 Framework structure 102 Upright member in storage volume 103 Horizontal member in storage volume 104 First storage volume 104’ Second storage volume 105 Storage row 106 Container / Storage Container / Storage Box 106’ Container / Target Container / Specific Location of Target Storage Box 106’’ Container / Empty Storage Space for Storage Box 107 Stack 108 Rail System 109 Control System 110 Parallel Rails in the First Direction (X) 111 Parallel Rails in the Second Direction (Y) 112 Grid Opening 119 First Port Row / Transfer Row 120 Second Port Row / Receiving Row 150 Access Station 151 Operator 200 Prior Art Container Handling Device with Central Cavity / Remotely Operated Vehicle 201 Handling Device Body / Vehicle Body 202a Driving Means in the First Direction (X) 202b Driving Means in the Second Direction (Y) 300 Prior Art Container Handling Vehicle with Cantilever / Storage Box Handling Vehicle / Remotely Operated Vehicle 301 Handling Device Body / Vehicle Body 302a Driving Means / Wheel Array, First Direction (X) 303b Driving Means / Wheel Array, Second Direction (Y) 303 Lifting Device 304 Gripper Element 305 Guide Pin 400 Prior Art Container Handling Device with Offset Cavity / Remotely Operated Vehicle 401 Handling Device Body / Vehicle Body 402a Driving Means / Wheel Array, First Direction (X) 402b Driving Means / Wheel Array, Second Direction (Y) 403 Lifting Device 404 Gripper Element 405 Guide Pin X First Direction Y second direction Z third direction

Claims

Claim 1 An automated storage and retrieval system (1), comprising: a first storage volume (104) enabling storage of storage containers (106) within a vertical stack (107); a rail system (108) arranged above a location where the vertical stack (107) of storage containers (106) will be stored; a container transport space (40) extending from a side of the first storage volume (104) and configured to hold at least one of the storage containers (106); a first container handling vehicle (200, 300, 400) configured to lift a storage container (106) from the first storage volume (104) and transfer the storage container (106) along the rail system (108) to the container transport space (40); a container transfer device (200, 300, 400) configured to lift a storage container (106) from the container transport space (40) and transfer the storage container (106) to another location, wherein the rail system (108) comprises a first set of rails (110) and a second set of rails (111) oriented perpendicular to the first set of rails (110), and an intersection of the rails (110, 111) forms a grid of grid cells defining a grid opening (115) through which the first container handling vehicle (200, 300, 400) can lift the storage container (106); a container transfer device (200, 300, 400); a wall (6) separating a first space (2) of the automated storage and retrieval system, which includes the first storage volume (104), from a second space (3) of the automated storage and retrieval system, and the rail system (108) continues within the second space (3); a tunnel (10) extending through the wall (6) at a height of the rail system (108), the tunnel (10) being configured to enable transfer of storage containers (106) between the first space (2) and the second space (3); A partition vehicle (20) arranged in the tunnel (10), wherein the partition vehicle (20) is configured to move between a first position in the first space (2) of the automated storage and retrieval system and a second position in the second space (3). The partition vehicle (20). An automated storage and retrieval system (1) comprising the same. **Claim 2** The automated storage and retrieval system according to claim 1, wherein the first space (2) is enclosed to prevent ambient gas from entering in an uncontrolled manner. **Claim 3** The automated storage and retrieval system according to claim 1 or 2, wherein the container transfer device is a second container handling vehicle (200, 300, 400) configured to transfer a storage container (106) from the container transport space (40) along the rail system (108). **Claim 4** The storage and retrieval system (1) further includes A second storage volume (104') contained in the second space (3) and enabling storage of storage containers (106) in a vertical stack (107). Comprising The container transport space (40) extends through the wall (6) between the first storage volume (104) and the second storage volume (104). The automated storage and retrieval system according to claim 3. **Claim 5** The automated storage and retrieval system according to any one of the preceding claims, wherein the container transport space (40) is arranged below the rail system (108). **Claim 6** The automated storage and retrieval system according to any one of the preceding claims, wherein the container transport space (40) is positioned such that the central plane of the wall (6) intersects the center of the container transport space (40). **Claim 7** The automated storage and retrieval system (1) includes a cooling unit (4) configured to provide a temperature in the first space (2) that is colder than the temperature in the second space (3). The wall (6) comprises a heat insulating material to reduce the thermal conductivity between the first space (2) and the second space (3). The automated storage and retrieval system according to any one of the preceding claims. **Claim 8** The partition vehicle (20) comprises drive means (22-26) for driving the partition vehicle (20) between the first position and the second position, the automated storage and retrieval system according to any one of the preceding claims.

9. The partition vehicle (20) comprises sensors (30, 31) configured to detect the position of the partition vehicle (20) relative to the tunnel (10), the sensors (30, 31) being in signal communication with the drive means (22-26), the automated storage and retrieval system according to claim 8.

10. The partition vehicle (20) comprises wheels (22) configured to move along the first set of rails (110), the automated storage and retrieval system according to any one of the preceding claims.

11. The partition width of the partition vehicle (20) is equal to n times the width of the grid cell, where n is a positive integer, the automated storage and retrieval system according to any one of the preceding claims.

12. The partition vehicle (20) comprises a member (21) oriented parallel to the central plane of the wall (6), and a seal (28) surrounding the edge of the plate (21), and the seal (28) is arranged to contact the inner walls (10a, b) of the tunnel (10) and the rail system (108) when the partition vehicle (20) is moving between the first position and the second position, the automated storage and retrieval system according to any one of the preceding claims.

13. The storage facility comprises a floor (11) extending along the rail system (108) across at least the opening of the tunnel (10) at least at the first position or the second position, the automated storage and retrieval system (1) according to any one of the preceding claims.

14. A method for transporting a storage container (106) between a first space (2) and a second space (3) within the automated storage and retrieval system (1) according to any one of claims 1-13, the method comprising: moving the partition vehicle (20) into the second space (3) such that the container handling space (40) is accessible for the first container handling vehicle (200, 300, 400), Lifting the storage container (106) stored in 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) into the tunnel (10); Delivering the storage container (106) into the container transport space (40); Moving the partition vehicle (20) into the first space (2) so that the container transport space (40) is accessible for the container transfer device (200, 300, 400); Lifting the storage container (106) from the container transport space (40); Transferring the storage container (106) to another location within the second space (3); A method comprising.

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 storage and retrieval system (1) further comprises a second storage volume (104') contained within the second space (3) and enabling storage of the storage container (106) into a vertical stack (107); The transfer of the storage container (106) to another location within the second space (3) is effected along the rail system (108); The method further comprises: Installing the storage container (106) onto a stack (107) within the second storage volume (104'); The method according to claim 14, comprising.

Images