Storage Systems and Storage Containers

Abstract

a) a first housing (145) defining a first temperature zone, the first housing (145) comprising a grid framework structure (14) with a plurality of storage columns for storage of a plurality of stacks of storage containers, and a track system (15) arranged above the plurality of storage columns for guiding one or more robotic load handling devices (30) on the grid framework structure; b) a second housing (146) defining a second temperature zone, the second housing configured to accommodate one or more load handling devices from the first housing; and c) a cooling system configured to maintain a temperature in the first temperature zone lower than a temperature in the second temperature zone. d) an environmentally controlled enclosure (52), the environmentally controlled enclosure having a first opening (148a) and a second opening (148b) for coupling the first enclosure (145) and the second enclosure (146), respectively, whereby the load handling device (30) can move between the first enclosure (145) and the second enclosure (146) through the environmentally controlled enclosure (52), the first opening (148a) and the second opening (148b) allowing the environmentally controlled enclosure (52) to couple with the first enclosure (145) and / or the second enclosure (146); a first door (150a) and a second door (150b) independently closable to selectively isolate the first door (150a) from the second enclosure (146); e) an environmental control unit configured to heat and / or dehumidify air within the environmentally controlled enclosure; and f) an environmental control system configured to control the environmental control unit to provide environmental conditions within the environmentally controlled enclosure in anticipation of opening the first door and / or the second door.

Description

[Technical Field]

[0001] The present invention relates to the field of storage and retrieval systems comprising load handling devices operated on trucks positioned on a grid framework structure for handling storage containers stacked in the grid framework structure, and storage containers for use in such storage and retrieval systems. [Background technology]

[0002] Some commercial and industrial operations require systems that allow for the storage and retrieval of multiple different products. One known type of system for storing and retrieving items in multiple product lines involves placing storage containers (also known as bins or totes) on top of each other in stacks, with the stacks arranged in rows. The storage containers are removed from the stacks and accessed from above by a load handling device, eliminating the need for aisles between the rows and thereby allowing a large number of containers to be stored in a given space.

[0003] As shown in FIGS. 1 and 2, storage containers 10, also known as bins or totes, are stacked on top of one another to form stacks 12. The stacks 12 are arranged within a grid framework structure 14 in a warehousing or manufacturing environment. The grid framework is made up of a plurality of storage columns, or grid columns 11. Each grid within the grid framework structure has at least one grid column 11 for storing a stack of containers. FIG. 1 is a schematic perspective view of the grid framework structure 14, and FIG. 2 is a top view showing a single stack 12 of containers 10 arranged within the framework structure 14. Each container or bin 10 typically holds multiple product items (not shown), which may be the same or different product types depending on the application. Each container 10 may be used, for example, to store grocery items (i.e., food items). Furthermore, the bins 10 may be physically subdivided to accommodate multiple different inventory items.

[0004] The grid framework structure 14 comprises a plurality of upright members or columns 16 that support horizontal members 18, 20. A first set of parallel horizontal grid members 18 are arranged perpendicular to a second set of parallel horizontal grid members 20, lying in a substantially horizontal plane, forming a grid structure supported by the upright members 16. The members 16, 18, 20 are typically fabricated from metal and are typically welded or bolted together, or a combination of both. The storage containers 10 are stacked between the upright members 16 of the grid framework structure 14, so that the grid framework structure 14 prevents horizontal movement of the stack 12 of storage containers 10 and guides vertical movement of the storage containers 10.

[0005] The top level of the grid framework structure 14 includes a plurality of rails or tracks 22 arranged in a grid pattern across the top of the stacks 12. Still referring to FIG. 3 , the rails 22 support a plurality of load handling devices or robotic load handling devices 30. A first set 22a of parallel rails 22 guides movement of the robotic load handling devices 30 in a first direction (e.g., the X direction) across the top of the grid framework structure 14, and a second set 22b of parallel rails 22 arranged perpendicular to the first set 22a guides movement of the load handling devices 30 in a second direction (e.g., the Y direction) perpendicular to the first direction. In this manner, the rails 22 enable movement of the robotic load handling devices 30 laterally in two dimensions in the horizontal XY plane, so that the load handling devices 30 can be moved to a position above any of the stacks 12. The track system 15 can be integrated into the grid structure in the sense that the first and second sets of tracks are integrated into the first and second sets of grid members, respectively. Alternatively, the track system 15 may be separate from the grid structure in the sense that first and second sets of tracks are attached to first and second sets of grid members respectively.

[0006] Each load handling device 30 comprises a vehicle body 32 arranged to move in the X and Y directions on the tracks or rails 22 of the grid frame structure 14 above the stack 12 (see FIG. 4). FIGS. 4 and 5 show a load handling device 30 as described in PCT Patent Publication No. WO 2015 / 019055 (Ocado Innovation Limited) and International Patent Application No. WO 2015 / 140216 (Ocado Innovation Limited), comprising a vehicle body 32 equipped with a lifting mechanism 33 comprising a winch or crane mechanism 35 for lifting the storage containers or bins 10, also known as totes, from above. The crane mechanism 35 comprises a winch cable 38 wound on a spool or reel and a grabber device 39. Typically, the lifting device comprises a set of lifting tethers 38 extending vertically and connected near or to the four corners of the grabber device 39 (one tether near each of the four corners of the grabber device) for releasable connection to the storage containers 10. The grabber device 39 is configured to grasp the top of the storage container 10 and lift the storage container 10 from a stack of containers in a storage system of the type shown in Figures 1 and 2. Typically, the grabber device 39 is configured as a lifting frame.

[0007] To grip the container 10, the grabber device 39 includes four locating or guide pins 58 near or at each corner of the grabber device 39 that fit into corresponding notches or holes formed in the four corners of the storage container 10, and four gripper elements located on the bottom side of the grabber device 39 for engaging the rim of the storage container 10. The locating pins help to properly align the gripper elements with the corresponding holes in the rim of the container. Each of the gripper elements includes a pair of foldable wings or legs that are receivable into corresponding holes in the rim of the storage container, and an open, expanded configuration that is larger in size in at least one dimension than the holes in the rim of the storage container 10 so as to lock onto the container 10. The wings are driven into the open configuration by a drive gear (not shown). More specifically, the head of at least one of the wings includes a plurality of teeth that mesh with a drive gear, such that when the gripper element is actuated, rotation of the drive gear rotates the pair of wings from a folded configuration to an open, expanded configuration (FIG. 7b).

[0008] The vehicle body 32 comprises an upper and lower portion (see FIGS. 5(a) and 5(b)). The lower portion is fitted with two sets of wheels 34, 36, which run on rails at the top of the framework structure of the storage system. The upper portion of the vehicle body 32 may house most of the bulky components of the load handling device. Typically, the upper portion of the vehicle body houses a drive mechanism for driving both the wheels and the lifting mechanism, along with an on-board rechargeable power source for powering the drive mechanism and the lifting mechanism.

[0009] The bottom of the vehicle body 32 is provided with wheel assemblies that are driven to allow the vehicle to move in the x and y directions along the rails, respectively. A first set of wheels 34, consisting of a pair of wheels 34 at the front of the vehicle 32 and a pair of wheels 34 at the rear of the vehicle 32, are positioned to engage two adjacent rails of the first set 22a of rails 22. Similarly, a second set of wheels 36, consisting of a pair of wheels 36 on each side of the vehicle 32, are positioned to engage two adjacent rails of the second set 22b of rails 22. One or both sets of wheels can be moved vertically to lift each set of wheels off its respective rail, thereby allowing the vehicle to move in a desired direction. When the first set of wheels 34 is engaged with the first set of tracks or rails 22a and the second set of wheels 36 is lifted off the tracks or rails 22, the wheels 34 can be driven by a drive mechanism (not shown) housed within the vehicle 32 to move the load handling device 30 in the x direction. To move the load handling device 30 in the Y direction, the first set of wheels 34 is lifted off the tracks or rails 22b and the second set of wheels 36 is lowered and engaged with the second set of tracks or rails 22b. A drive mechanism can then be used to drive the second set of wheels 36 to achieve movement in the Y direction. One or both sets of wheels can be moved vertically to lift each set of wheels off its respective rail, thereby allowing the vehicle to move in a desired direction on the track system.

[0010] The wheels are positioned around the periphery of a cavity or recess known as a container-receiving recess 40 in the lower part. The recess 40 is sized to accommodate the storage container or bin 10 when it is lifted by a crane mechanism, as shown in Figures 5(a and 5b). When in the recess, the container is lifted off the rails below, allowing the load handling device to move laterally to different locations. Although the container-receiving space 40 is shown in Figure 4 as being located within the vehicle body 32, the container-receiving space can be located under a cantilever, as described in WO2019 / 238702 (Autostore Technology AS).

[0011] A typical storage and retrieval system 1 is shown in Figure 3, which has a plurality of load handling devices 30 operating on a grid above stacks 12. Figures 1 and 3 show bins 10 in stacks 12 within the storage system. It should be recognized that there may be many storage containers or bins 10 in any given storage system, many different items may be stored in bins 10 in stacks 12, and each bin 10 may contain a different category of inventory item within a single stack 12.

[0012] Upon receiving a customer order, a robotic load handling device operable to travel on a track is instructed to pick up a storage bin containing the ordered items from a stack within the grid framework structure and transport the storage bin to a pick station, after which the items can be removed from the storage bin. Typically, the load handling device transports the storage bin or container to a bin lifting device integrated into the grid framework structure. A mechanism of the bin lifting device lowers the storage bin or container to the pick station. Alternatively, the storage bin is lowered to the pick station by a lifting mechanism of the robotic load handling device.

[0013] A grid framework structure typically has at least one grid cell or storage column that is not used to store storage containers, but that provides a location where a load handling device can drop off and / or pick up storage containers so that the storage containers can be accessed from outside the grid framework structure or transported to a second location (not shown in prior art figures) where they can be transferred outside or into the grid framework structure. In the art, such locations are typically referred to as "ports," and the grid cell or storage column in which the port is located is sometimes referred to as a "delivery column." A storage column typically comprises two delivery columns: a first delivery column may comprise a dedicated drop-off port where, for example, a robotic load handling vehicle or load handling vehicle can drop off storage containers to be further transported through the delivery column to a pick station, and a second delivery column may comprise a dedicated pickup port where a robotic load handling vehicle can pick up storage containers transported from the pick station through the second delivery column, i.e., storage containers are delivered to the pick station via the first delivery column and exit the access station via the second delivery column.

[0014] At the pick station, items are removed from the storage bins. Picking can be done manually by hand or robotically. After removal from the storage bin, the storage bin is transported to a second bin lifting device, then lifted to grid level, removed by a load handling device, and returned to its position within the grid framework structure. Alternatively, the storage bin can be picked up through a pickup port by a lifting mechanism on the robotic load handling device. A control system and communication system tracks the location of the storage bins and their contents within the grid framework structure.

[0015] Individual storage containers may be in vertical layers in a storage column, and their location in the grid framework structure or "hib" may use coordinates in three dimensions to represent the position of a load handling device or container and the depth of the container (e.g., (X, Y, Z), container at depth W). Similarly, locations in the grid framework structure may be shown in two dimensions to represent the position of a load handling device or container and the depth of the container (e.g., (X, Y), container at depth Z). For example, Z=1 identifies the top layer of the grid, i.e., the layer immediately below the rail system, Z=2 is the second layer below the rail system, and so on down to the bottom layer of the grid, i.e., the bottom layer.

[0016] As electronic commerce (e-commerce) continues to grow and overtake traditional brick-and-mortar retail practices, many businesses face the challenge of being able to maintain or gain relevance in the online marketplace and compete with prominent players in the space. A typical supply chain involves the storage and retrieval of a large number of different products. For example, e-commerce and retail platforms that sell multiple product lines require systems that can store hundreds of thousands of different product lines with different temperature requirements. While the product items are stored and / or transported and / or while orders are fulfilled, different product items need to be maintained at different predetermined temperatures within the storage system. Some product items need to be maintained in a refrigerated or frozen environment to ensure freshness, while other product items may be stored or transported at ambient temperatures. For example, when an order for one or more items involves the delivery of food and groceries of a perishable nature, the storage of the goods must adhere to strict temperature and environmental requirements, such as refrigerated or frozen temperatures. For example, some foods require a cold environment (typically temperatures between 1°C and 8°C), some foods require an even colder environment (typically temperatures below -15°C), and other types of foods require a hotter environment (typically temperatures above 10°C).

[0017] Conventional multi-temperature storage and retrieval systems typically require a walk-in cooler or freezer to be pre-built or additional components to be installed around the storage and retrieval system discussed above, which substantially expands the footprint of the storage and retrieval system and increases the cost and complexity of installing and operating the storage and retrieval system across multiple environmentally controlled zones. As a result, there is a need for a freestanding, high-density, automated storage and retrieval system with multiple integrated environmentally controlled zones that eliminates the need for a separate walk-in environmentally controlled zone that operates independently of the storage and retrieval system.

[0018] In an attempt to adapt existing automated storage and retrieval systems to provide storage for delicate items, such as refrigerated or frozen items, WO2015124610 (Autostore Tech AS) relates to a storage system for receiving and storing processed refrigerated and frozen foods, in which thermal insulation is provided between at least a portion of a grid structure and a remotely operated vehicle. The system includes an insulating cover disposed at the top level of the grid structure. The insulating cover provides a thermal barrier to the remotely operated vehicle and contributes to maintaining a desired temperature within the bins within the grid structure. The insulating cover is movably positioned by the remotely operated vehicle. The vehicle can move one insulating cover to another cell within the grid or temporarily hold it while a bin is removed from the stack.

[0019] WO2021198170 (Autostore Tech AS) relates to an automated storage and retrieval system for storing special goods in storage containers within an isolation housing having walls and a roof. An openable hatch is located on the roof. A storage tower is located inside the isolation housing so as to be accessible to a container handling vehicle through the hatch. The storage tower has several vertically stacked, horizontally movable container supports in the form of shelves on which multiple storage containers can be placed, and one or more openings corresponding in size to the storage containers so that the storage containers can pass through. The container supports may align their openings to form a tower port directly below the hatch, through which a container handling vehicle may lower its lifting device through the hatch, descend the tower port, and access the target container.

[0020] In both teachings, there is a requirement that the insulating covers of the grid cells must be removed or moved aside so that a container handling vehicle operating on the grid structure can gain access to one or more stored storage containers. This not only introduces an additional step when removing a storage container from the storage system, but also provides no guarantee that the insulating covers of the grid cells provide sufficient insulation to prevent the ingress of warmer air into the grid structure from the surrounding area above the grid structure. It is essential that the grid cells be properly sealed from the surrounding area above the insulating covers to prevent the ingress of air from the surrounding area into the grid structure. However, the use of insulating covers on each of the grid cells introduces the additional complication of needing to be easily removed to access one or more stored storage containers within the grid structure.

[0021] To alleviate this problem, entire fleets of robotic load handling devices are placed in refrigerated or freezer environments. In these facilities, the robotic load handling devices reside and operate within the refrigerator or freezer at all times. While having a fleet of load handling devices operating in a refrigerated or freezer environment at all times automates the storage and retrieval of storage containers from the storage system, there will be times when one or more load handling devices must be removed from service. This may be as a result of a load handling device failure or malfunction, or simply as a result of the load handling device needing repair. In either case, maintenance personnel will need to access the load handling device. However, if the load handling device is located in a freezer temperature area, which can be as low as -30°C, this introduces another health and safety issue for maintenance personnel working in such low temperatures.

[0022] Therefore, there is a need for an automated storage and retrieval system for storing frozen or refrigerated items without the drawbacks mentioned above. Summary of the Invention

[0023] When providing an automated storage and retrieval system for storing items at freezing temperatures as low as -30°C or refrigerated temperatures in the 1°C to 8°C range, one of the greatest challenges not anticipated in the art is the ability to provide individuals, on-site, i.e., on a grid framework structure, with a comfortable working environment for working on one or more robotic load handling devices. Traditionally, to protect individuals working at such low temperatures and adhere to health and safety regulations, individuals or operators wear personal protective equipment (PPE). PPE tends to be insulated clothing, typically involving the use of thick gloves, to provide the necessary insulation from the cold environment in freezer or refrigerated areas. However, the use of such PPE impairs the dexterity of individuals working with delicate and / or small parts. This can be particularly problematic when individuals must work with robotic load handling devices that include delicate electrical circuits and complex mechanical components. The terms "robotic load handling device" and "load handling device" are used interchangeably in this description to refer to the same features. One solution is to move a malfunctioning robotic load handling device away from the freezer or refrigerated area to a more comfortable working temperature environment. For the purposes of the present invention, a comfortable working environment may be a temperature ranging from +25° C. to 4° C. Such temperatures may overlap with refrigerated areas.

[0024] While no special processes are required to move a robotic load handling device from a warmer environment to a colder environment, such as from an ambient area to a refrigerated area or from a refrigerated area to a freezer area, the same cannot be said for moving a robotic load handling device from a cold environment to a warmer environment, such as from a refrigerated area to an ambient area or from a freezer area to a refrigerated or ambient area. One of the biggest problems not anticipated in the art when moving a robotic load handling device from a cold environment to a warmer environment, such as from a freezer area to a warmer environment, is the risk of condensation and moisture intrusion. The risk of condensation is greatest when moving a robotic load handling device from a freezer area or zone of a storage system, which can be as cold as -30°C, to a warmer environment of the storage system, such as a refrigerated or ambient area. For example, moving between different temperature areas or zones may involve removing the robotic load handling device from a freezer area for maintenance or repair. In such cases, it may be necessary to move the load handling device to a warmer environment to provide a comfortable working temperature for the operator without requiring or limiting the use of PPE.

[0025] In some cases, the risk of condensation from moving a robotic load handling device from a cooler area to a warmer area can affect one or more electrical components of the robotic load handling device. For example, condensation can result in electrical shorts and / or poor electrical contacts. Both effects can impair the reliability of the respective circuit and / or even lead to the destruction of the circuit or at least one of its components. Additionally, condensation can cause corrosion, shorten the life of circuitry, or lead to moisture buildup on robotic load handling devices.

[0026] The present invention alleviates the above problem by providing an intermediate zone between a first temperature zone and a second temperature zone having an environment in which the air within the intermediate zone is controlled to prevent condensation of water vapor in the air on the load handling device during a transition from the first temperature zone to the second temperature zone. For purposes of this definition, the first temperature zone may be a refrigerated temperature zone operating in a temperature range of 1°C to 8°C or a freezer temperature zone operating in a temperature range of -30°C to -18°C. The risk of condensation exists when moving from the freezer or refrigerated temperature zone to a warmer environment. The warmer environment may be a refrigerated temperature zone or an ambient temperature zone operating in a temperature range of 1°C to 8°C or 15°C to 25°C, respectively, and the ambient temperature zone may overlap with the refrigerated temperature zone.

[0027] More specifically, the present invention provides a multi-temperature storage system, the system comprising: a) a first enclosure defining a first temperature zone, the first enclosure comprising: a grid framework structure comprising a plurality of storage columns for storage of a plurality of stacks of storage containers; and a track system disposed over the plurality of storage columns for guiding one or more robotic load handling devices on the grid framework structure; b) a second enclosure defining a second temperature zone, the second enclosure configured to receive one or more of the load handling devices from the first enclosure; c) a cooling system configured to maintain a temperature of the air in the first temperature zone lower than the temperature of the air in the second temperature zone; d) an environmentally controlled enclosure, the environmentally controlled enclosure comprising a first opening and a second opening for coupling the first enclosure and the second enclosure, respectively, whereby the load handling device can move between the first enclosure and the second enclosure through the environmentally controlled enclosure, the first opening and the second opening being independently closable by respective first and second doors to selectively isolate the environmentally controlled enclosure from the first enclosure and / or the second enclosure; e) an environmental control unit configured to heat and / or dehumidify the air within the environmentally controlled enclosure; f) an environmental control system configured to control the environmental control unit to provide environmental conditions within the environmentally controlled enclosure in anticipation of opening the first door and / or the second door.

[0028] The second enclosure can provide a more comfortable working temperature environment for one or more individuals to operate in. For example, the second enclosure can be a maintenance area or service station for servicing or repairing one or more robotic load handling devices received from the first enclosure.

[0029] Condensation occurs when the temperature of the air surrounding the load handling device is lower than the dew point temperature of the air. The dew point is the temperature to which the air needs to be cooled (at constant pressure) to achieve 100% relative humidity (RH). At this point, the air cannot hold more water in gas or vapor form, resulting in condensation of water vapor in the air. A display of dew point temperatures at different humidity points can be represented by the exemplary psychrometric chart shown in FIG. 7, where the horizontal axis represents the dry-bulb temperature, which indicates the dew point temperature, and the vertical axis represents the specific humidity or humidity ratio. Specific humidity is proportional to relative humidity and is the ratio of water vapor mass to the total moist air mass mass. The dew point is the temperature along the 100% specific humidity curve; that is, the dew point temperature is determined by moving horizontally from the state point along the constant specific humidity line until it intersects the curved 100% specific humidity curve. The robotic load handling device acclimates to the temperature of the air within the first enclosure by residing within the first enclosure for an extended period of time. As a result, the temperature of the robotic load handling device is substantially lower than the temperature of the air in the second enclosure. Thus, moving the load handling device from a first enclosure defining a first lower temperature zone to a second enclosure defining a second higher temperature zone may result in condensation of water vapor in the air on the load handling device if the temperature of the air surrounding the load handling device is below the dew point temperature of the air in the second enclosure.

[0030] According to the present invention, before moving a robotic load handling device from a first enclosure to a second enclosure, the load handling device is moved into an environmentally controlled enclosure having a first opening and a second opening for connecting the first enclosure and the second enclosure, respectively. Thus, one or more load handling devices can be safely moved between the first enclosure and the second enclosure through the environmentally controlled enclosure. The first opening and the second opening are independently closable by the respective first and second doors to selectively isolate the environmentally controlled enclosure from the first and / or second enclosures. To mitigate condensation, the multi-temperature storage system includes an environmental control unit configured to heat and / or dehumidify the air within the environmentally controlled enclosure. The environmental control system is configured to control the environmental control unit to provide environmental conditions within the environmentally controlled enclosure in anticipation of opening the first and / or second doors. For purposes of the present invention, environmental conditions are temperature and / or moisture content, i.e., relative humidity, of the air. Preferably, the environmental control unit comprises a heating system and / or a dehumidifier.

[0031] Since the dew point is the temperature to which air needs to be cooled at a certain pressure (atmospheric pressure) to achieve 100% relative humidity (RH), variables that can be used to modify the dew point are the temperature of the air, or the moisture content of the air, or both the temperature and moisture content of the air. The moisture content of the air can be expressed as the relative humidity or specific humidity of the air. For example, for a given total moisture content, increasing the temperature has the effect of decreasing the relative humidity as the air becomes drier because warmer air can hold more moisture. Conversely, decreasing the temperature increases the relative humidity as the air becomes more moist. The dew point is reached when the relative humidity reaches 100%. As a result, the dew point is more easily reached at lower temperatures than at higher temperatures. Therefore, by controlling the temperature and / or humidity of the air within the environmentally controlled enclosure, the dew point temperature can be controlled to be lower than the temperature of the air surrounding the robotic load handling device entering the environmentally controlled enclosure from the first enclosure. Optionally, the environmental control system a control device; a first temperature sensing means configured to measure the temperature of the air within the first enclosure or the load handling device; a second temperature sensing means configured to measure the temperature of the air within the environmentally controlled enclosure or the load handling device; humidity sensing means configured to measure the relative humidity of the air within the environmentally controlled enclosure; Here, the control device receiving temperature data from a first temperature sensing means; receiving temperature data from the second temperature sensing means; receiving humidity data from the humidity sensing means; processing the temperature and humidity data received from the second temperature and humidity sensing means to be indicative of the dew point within the environmentally controlled enclosure; The environmental control unit is configured to control environmental conditions such that the dew point within the environmentally controlled enclosure at any given time is substantially equal to or less than the temperature from the first temperature sensing means.

[0032] To mitigate the risk of condensation when moving from the first enclosure to the environmentally controlled enclosure, the environmental conditions within the environmentally controlled enclosure may be controlled so that the calculated dew point of the air within the environmentally controlled enclosure is equal to or less than the temperature from the first temperature sensing means, i.e., less than the temperature of the air within the first enclosure or the load handling device. The controller may include control logic or circuitry for determining the dew point of the air within the environmentally controlled enclosure based on signals from the second temperature sensing means and the humidity sensing means. The dew point calculation may be obtained from a look-up table located in the program memory of the controller. In anticipation of opening the first door connecting to the first enclosure, the controller receives temperature data from the first temperature sensing means indicating the temperature of the air within the first enclosure or the load handling device. Referring to the psychrometric chart shown in FIG. 7, the dew point can be varied by varying the moisture content of the air at a constant temperature, or the temperature at a given moisture content of the air, or both. In one optional aspect of the present invention, the relative humidity of the air in the environmentally controlled enclosure can be controlled by varying the moisture content of the air in the environmentally controlled enclosure at a predetermined temperature such that the calculated dew point of the air in the environmentally controlled enclosure is below the temperature of the air in the first enclosure or the load handling device. For example, according to known dew point calculators (Magnus equations), to achieve a dew point temperature of less than −18° C. at a temperature of 5° C. in the environmentally controlled enclosure, the relative humidity of the air in the environmentally controlled enclosure needs to be about 18% or less. Upon learning that the temperature reading from the first temperature sensing means is set to a predetermined temperature, e.g., −18° C., the controller can be configured to control the environmental control unit to adjust the environmental conditions, i.e., relative humidity and / or temperature, to maintain the predetermined dew point in the environmentally controlled enclosure. The environmental conditions can be adjusted such that the calculated dew point of the air in the environmentally controlled enclosure is below the freezing temperature set in the first enclosure.

[0033] The environmental control system further includes a third temperature sensing means configured to measure the temperature of the air in the second enclosure or the robotic load handling device when the robotic load handling device is intended to be moved into the second enclosure. To mitigate the risk of condensation when moving the robotic load handling device into the second enclosure, the controller can be configured to control the environmental control unit to adjust the environmental conditions within the environmentally controlled enclosure at a temperature measured from the second temperature sensing means substantially equal to the temperature measured from the third temperature sensing means. For example, the controller can be configured to adjust the relative humidity to maintain a predetermined relative humidity of the air in the environmental enclosure at a temperature measured from the second temperature sensing means substantially equal to the temperature measured from the third temperature sensing means so as to maintain a dew point at or below the temperature measured from the first temperature sensing means. In other words, the environmental control unit can be controlled to adjust the environmental conditions within the environmentally controlled enclosure so that the dew point of the air in the environmentally controlled enclosure is lower than the temperature of the air in the first enclosure. The temperature of the air within the environmentally controlled enclosure is substantially equal to the temperature of the air within the second enclosure to allow the robotic load handling device to move into the second enclosure.

[0034] If the moisture content of the air within the environmentally controlled enclosure is too high such that the calculated dew point of the air within the environmentally controlled enclosure exceeds the temperature measurement from the first temperature sensing means, optionally the controller is configured to control the environmental control unit to dehumidify the air within the environmentally controlled enclosure at a temperature measured from the second temperature sensing means that is substantially equal to the temperature measured from the third temperature sensing means.

[0035] In this way, the robotic load handling device can move from a first enclosure to a second enclosure through the environmentally controlled enclosure without risk of condensation. This is because the dew point of the air in the environmentally controlled enclosure is lower than the temperature reading from the first temperature sensing means due to the low moisture content of the air. Because the temperature of the air in the environmentally controlled enclosure is substantially the same as the temperature reading from the third temperature sensing means (i.e., in the second enclosure), there is little risk of condensation when the robotic load handling device enters the second enclosure, which has a higher moisture content in the air. This allows the temperature of the air in the second enclosure to be set at a much more comfortable working temperature than the ambient temperature, e.g., freezer temperature, in the first enclosure.

[0036] One way to achieve this comfortable working temperature within the second enclosure is to dwell the robotic load handling device within an environmentally controlled enclosure at controlled humidity until the temperature of the robotic load handling device is substantially equal to the temperature of the air within the second enclosure, e.g., until the temperature of the air surrounding the load handling device is substantially equal to the temperature of the air within the environmentally controlled enclosure, and therefore the temperature of the air within the second enclosure. To increase the temperature of the robotic load handling device within the environmentally controlled enclosure, optionally, the environmentally controlled enclosure includes a heating chamber for housing one or more robotic load handling devices. The heating chamber includes one or more heating devices for heating the one or more robotic load handling devices stored within the heating chamber. Considering that the operating temperature of the robotic handling device within the first enclosure can be as low as −18° C. when operating in a freezer area, the heating chamber provides a second environment within the environmentally controlled enclosure to accelerate the heating of the robotic load handling device to a temperature substantially equal to the temperature of the air within the second enclosure. For example, if the first enclosure is a freezer zone operating at a temperature of −18° C. and the second enclosure is operating at a temperature of 4° C. with a comfortable relative humidity of 60%, then the relative humidity within the environmentally controlled enclosure is calculated to be approximately 15% to achieve a calculated dew point of −20° C. within the environmentally controlled enclosure to mitigate condensation on the robotic load handling device at 4° C. Thus, warming the robotic load handling device within the environmentally controlled enclosure to a temperature of 4° C. mitigates the risk of condensation when moving the robotic load handling device into the second enclosure. The environmentally controlled enclosure may be a closed enclosure, such as an airlock, to prevent the ingress of moisture into the environmentally controlled enclosure.

[0037] Typically, the freezer zone operates in a temperature range of -28°C to -18°C and a relative humidity of up to 70%, while the maintenance area operates in the range of 0°C to 5°C and a relative humidity of up to 80%. To mitigate condensation, the environmentally controlled enclosure operates in a temperature range of 0°C to 5°C and a relative humidity of up to 11%, giving a dew point of approximately -27°C.

[0038] and optionally the environmental control system further comprises a second humidity sensing means configured to measure the relative humidity of the air within the second enclosure to ensure that the temperature of the robotic load handling device does not fall below a dew point temperature of the air within the second enclosure; Here, the control device receiving temperature and humidity data from the third temperature and second humidity sensing means, respectively; processing the temperature and humidity data received from the third temperature and second humidity sensing means to indicate a second dew point within the second enclosure; comparing the second dew point to temperature data from a second temperature sensing means; If the temperature data from the second temperature sensing means is less than or equal to the second dew point, the system is further configured to control the environmental control unit to provide second environmental conditions within the environmentally controlled enclosure such that the second dew point within the second enclosure at a given time is substantially less than or equal to the temperature measured from the second temperature sensing means.

[0039] Thus, when moving from the environmentally controlled enclosure to the second enclosure, the controller can control the environmental control unit to provide second environmental conditions within the environmentally controlled enclosure that correspond to the moisture content and temperature of the air within the second enclosure, i.e., determine a second dew point for the air within the second enclosure, and ensure that the temperature reading from the second temperature sensing means (the temperature within the environmentally controlled enclosure) is equal to or greater than the second dew point. For example, the environmental control system can be configured to control the environmental control unit to provide environmentally controlled conditions within the environmentally controlled enclosure that correspond to different temperatures and / or relative humidity in the first and second enclosures, i.e., dynamically control the environmental conditions within the environmentally controlled enclosure to meet the environmental conditions (e.g., temperature and / or relative humidity) within the first and second enclosures.

[0040] In addition to controlling the environmental control unit to provide environmental conditions within the environmentally controlled enclosure such that the dew point of the air is substantially less than or equal to the temperature from the first temperature sensing means, optionally the controller may be configured to control the environmental control unit to provide second environmental conditions within the environmentally controlled enclosure with a temperature measured from the second temperature sensing means substantially equal to the temperature measured from the third temperature sensing means such that the temperature from the second temperature sensing means is greater than or equal to the second dew point.

[0041] Optionally, the second environmental condition is substantially equal to the environmental condition. In this way, environmental conditions within the environmentally controlled enclosure may be shared between the first enclosure and the second enclosure such that a dew point of the air within the environmentally controlled enclosure is less than or equal to a temperature reading from the first temperature sensing means and a second dew point of the air within the second enclosure is less than a temperature reading from the second temperature sensing means.

[0042] To ensure that the air surrounding the robotic load handling device does not become "stale" and is continually replenished with fresh, "conditioned" air within the environmentally controlled enclosure, the environmental control unit optionally includes one or more fans for circulating air within the environmentally controlled enclosure.

[0043] Optionally, the cooling system comprises a first cooling unit for cooling the air in the first enclosure and a second cooling unit for cooling the air in the second enclosure, the second cooling system ensuring that the environmental control unit is able to set the temperature of the air in the second enclosure to a reasonable level to provide environmental conditions in the environmentally controlled enclosure such that the calculated dew point temperature of the air is lower than the temperature of the air in the first enclosure, for example lower than -18°C, and the dew point of the air in the second enclosure is lower than the temperature of the air in the environmentally controlled enclosure.

[0044] Optionally, the environmentally controlled enclosure includes a set of parallel tracks extending from the track system within the first enclosure into the environmentally controlled enclosure to allow the robotic load handling device to move along the tracks of the grid framework structure within the first enclosure. Optionally, the set of parallel tracks extends into the second enclosure so that the robotic load handling device can move from the first enclosure to the second enclosure via the environmentally controlled enclosure. Because there is a temperature difference between the first enclosure and the environmentally controlled enclosure, this can result in differential thermal expansion or contraction of the tracks between at least a portion of the set of parallel tracks present within the first enclosure and at least a portion of the set of parallel tracks present within the environmentally controlled enclosure, which can in turn result in relative movement between different portions of the track elements. In the worst case, the relative movement between different portions of the tracks can cause at least a portion of the parallel tracks to buckle. This is particularly true when the tracks are primarily constructed of metal. To accommodate different levels of expansion and / or contraction between different portions of the set of parallel tracks, the set of parallel tracks comprises a first portion of parallel tracks and a second portion of parallel tracks, the first portion of parallel tracks residing in a first housing and the second portion of parallel tracks residing in an environmentally controlled housing, wherein the set of parallel tracks comprises an expansion joint interfacing or bridging the first and second portions of parallel tracks to provide a continuous track surface extending longitudinally from the first portion of parallel tracks to the second portion of parallel tracks. Various expansion joints known in the art can be used to bridge the first and second portions of parallel tracks and allow relative movement therebetween. WO2023046684 (Ocado Innovation Ltd), the details of which are incorporated herein by reference, teaches an expansion joint for connecting regions of a grid structure comprising a plurality of tracks, the expansion joint comprising a first track element and a second track element, each of the first and second track elements providing a portion of the plurality of tracks, the first and second track elements being elongated.The first and second track elements each have an interface portion arranged to slide longitudinally relative to one another to provide a dual track with two parallel track surfaces extending from the first track element to the second track element suitable for guiding two wheeled load handling devices across the expansion joint.

[0045] To enable the robotic load handling device to move between different temperature environments, e.g., between a freezer zone and a refrigerated zone, and to allow the robotic load handling device to be shared between different temperature environments, optionally the second enclosure comprises a second grid framework structure having a plurality of storage columns for storing a plurality of stacks of storage containers, and a second track system disposed above the plurality of storage columns for guiding one or more robotic load handling devices on the second grid framework structure, wherein a set of parallel tracks extend from the environmentally controlled enclosure into and interconnect with the second track system, i.e., the first enclosure defines a first storage and retrieval system, and the second enclosure defines a second storage and retrieval system. [Brief explanation of the drawings]

[0046] Further features and aspects of the present invention will become apparent from the following detailed description of illustrative embodiments that proceeds with reference to the drawings. [Figure 1] FIG. 1 is a diagram of an automated storage and retrieval system in accordance with an exemplary embodiment of the present invention. [Figure 2] FIG. 2 is a schematic diagram of a top view showing a stack of bins arranged within the framework structure of FIG. [Figure 3] FIG. 3 is a schematic diagram of a known system of load handling devices operating on a grid framework structure. [Figure 4] FIG. 4 is a schematic perspective view of a load handling device showing a container receiving space within the body of the load handling device. [Figure 5]5(a) and 5(b) are schematic perspective cutaway views of the load handling device of FIG. 4, showing (a) a container accommodated within the container receiving space of the load handling device, and (b) the container receiving space of the load handling device. [Figure 6] FIG. 6 is a schematic perspective view of a multi-temperature storage system with separate enclosures defining different temperature zones representing freezer or refrigerated temperature zones and service stations, and a robotic load handling device can be moved between the different temperature zones. [Figure 7] FIG. 7 is an exemplary psychrometric chart illustrating different humidity conditions for different temperature zones of a storage and retrieval system. [Figure 8] FIG. 8 is a schematic perspective view of a multi-temperature storage system having a first enclosure defining a first temperature zone, a second enclosure defining a second temperature zone forming a service station, and an environmentally controlled enclosure intermediate the first and second enclosures for adjusting a robotic load handling device as it moves between the first and second enclosures. [Figure 9] FIG. 9 is a schematic perspective view of an example multi-temperature storage system showing a grid framework structure within a first enclosure, a service station, and an environmentally controlled enclosure that provides a pathway for a robotic load handling device to transition between the first enclosure and the service station. [Figure 10] 10 is a schematic perspective view of the storage and retrieval system shown in FIG. 8, wherein the environmentally controlled enclosure further comprises a heating chamber for heating one or more robotic load handling devices within the environmentally controlled enclosure. [Figure 11] FIG. 11 is a schematic perspective view of an example of a storage and retrieval system showing a grid framework structure within a first enclosure, a service station, and an environmentally controlled enclosure that provides a pathway for robotic load handling devices to transition between the first enclosure and the service station, the environmentally controlled enclosure including a heating chamber for heating one or more robotic load handling devices within the environmentally controlled enclosure. [Figure 12]FIG. 12 is a block diagram illustrating operational components of an environmental control system for controlling environmental conditions within an environmentally controlled enclosure, in accordance with an exemplary embodiment of the present invention. [Figure 13] FIG. 13 is a schematic perspective view of a multi-temperature storage system including a first storage and retrieval system, a second storage and retrieval system, and an environmentally controlled enclosure for conditioning a robotic load handling device so that it can be moved between the first and second storage and retrieval systems to reduce the risk of condensation. [Figure 14] 14(a and b) are (a) an isometric view of the multi-temperature storage system at the interface between the first enclosure and the service station, and (b) an enlarged view of the area of ​​the interface surrounded by the dashed line. [Figure 15] FIG. 15 is a perspective view of a pair of tracks at the interface between the first housing and the environmentally controlled housing, with expansion joints bridging the respective track elements to provide a continuous track surface extending from the first housing to the environmentally controlled housing. DETAILED DESCRIPTION OF THE INVENTION

[0047] The present invention addresses known features of storage systems, such as the grid framework structure and load handling devices described above with reference to FIGS. 1-5(a and b). Typically, at any given time, there are a large number of robotic load handling devices operating on the track system. The robotic load handling devices are assigned to be continuously operational on the track system for over 18 hours, periodically visiting charging stations to charge their onboard batteries during this time. However, one or more of these robotic load handling devices may experience problems from time to time and require repair or other intervention to return to useful service.

[0048] A maintenance station or maintenance area is typically located adjacent to the grid framework structure to retrieve one or more robotic load handling devices operable on the grid framework structure for maintenance or repair. The grid framework structure provides a storage area for one or more stacks of storage containers in one or more storage columns, as described above. A set of parallel tracks of the track system extends into the maintenance area to enable the robotic load handling devices to be moved from the grid framework structure to the maintenance area. Alternatively, the maintenance area can include a second track system for moving the robotic load handling devices into the maintenance area. The track system of the grid framework structure interconnects with the second track system via the set of parallel tracks to enable one or more robotic load handling devices operable on the grid framework structure to be moved into the maintenance area and vice versa.

[0049] 6 is a perspective view of a storage and retrieval system 42 currently practiced in the art for moving one or more robotic load handling devices 30 that have failed or require maintenance from a storage area 45 to a maintenance area 46. At least one barrier 44 separates a storage area 45 comprising a grid framework structure 14 from a maintenance area 46 and includes one or more portals 48 that open through the at least one barrier 44. A set of parallel tracks 50 extends through the openings in each portal 48. The set of parallel tracks 50 provides a continuous track surface extending from the storage area 45 to the maintenance area 46. The track surface can provide either a single track surface, which allows a single load handling device to travel on the track between the storage area 45 and the maintenance area 46, or a dual track surface, which allows two load handling devices to pass each other on the same track between the storage area 45 and the maintenance area 46. Where the elongate elements are profiled to provide a single track, the track comprises opposing lips along the length of the track (one lip on one side of the track and another lip on the other side of the track) to guide or restrain each wheel from moving laterally on the track. Where the elongate elements are profiled to provide a double track, the track comprises two pairs of lips along the length of the track to allow wheels of adjacent load handling devices to pass each other in both directions on the same track. To provide two pairs of lips, the track typically comprises a central ridge or lip and lips on either side of the central ridge. Details of different types of tracks are described in WO2022 / 034191 (Ocado Innovation Limited), the details of which are incorporated herein by reference.

[0050] The opening of the portal 48 is sized to allow one or more of the robotic load handling devices to move through the at least one barrier 44 and into the maintenance area 46. In some designs, a door (not shown) is present for opening and closing the opening of the portal 48. To ensure that the track interconnection between the track system 15 of the grid framework structure 14 and the maintenance area 46 is horizontal, the maintenance area 46 is typically positioned on a mezzanine supported by vertical beams adjacent to the grid framework structure, as shown in FIG. 6 . Thus, a failed robotic load handling device on the track system 15 of the grid framework structure can simply be pushed or towed along the track from the storage area of ​​the storage and retrieval system to the maintenance area.

[0051] Typically, such a setup, as shown in FIG. 6 , works well when the temperature of the air in the storage area 45 containing the grid framework structure is substantially the same as the temperature in the maintenance area 46. Depending on the season, the air temperature in the surrounding area or zone typically covers a temperature range of 15°C to 32°C and a relative humidity range of 23% to 65%. To store items in a refrigerated or frozen environment zone, the grid framework structure is usually housed in a separate enclosure, the walls of which are formed from an insulating material, such as foam insulation, to reduce heat transfer to the enclosure. A door for opening and closing the portal prevents the ingress of warm air from the maintenance area into the refrigerated or frozen storage area. For definition purposes, the storage area 45 containing the grid framework structure can be defined as a first enclosure, and the maintenance area 46 can be defined as a second enclosure. Optionally, the closable door is configured to provide a fluid-tight seal between the first enclosure 45 and the second enclosure 46 when in the closed position, for example, by use of a rubber seal around the perimeter of the door. In the example shown in FIG. 15 , the portal may optionally include an insulated door frame 160 surrounding the door to prevent warmer air from entering the storage area 45 and colder air from migrating to the maintenance area 46 around the perimeter of the door. While the ingress of warmer air into the storage area 45 has little effect on the temperature of the air in the storage area 45 because the volume of air in the storage area is much greater than the volume of air in the maintenance area 46, the ingress of colder air into the warmer maintenance area can result in condensation of water vapor within the maintenance area if the temperature of the colder air is lower than the dew point temperature of the air in the maintenance area. This is particularly the case when the air in the storage area 45 is at freezing temperatures, which may range from −18° C. to −30° C. Moisture tends to condense around the closable door, especially around the door frame. Periodic opening of the door can cause condensed water to freeze, especially around the door, and subsequently prevent the door from closing properly. The insulated door frame 160 shown in FIG. 15 not only insulates the storage area 45 from the maintenance area, but also helps prevent cooler air from entering the maintenance area 45.

[0052] A cooling system, including a refrigeration unit with a refrigerant circuit and a compressor, as is well known in the art, maintains the temperature of the air in the refrigerated or frozen storage area. One or more robotic load handling devices operable on the grid framework structure within first enclosure 45 can retrieve one or more storage containers from stacks in storage columns of grid framework structure 14 and transport the storage containers to a pick station via drop-off ports in track system 15. If any of the robotic load handling devices fails, the failed robotic load handling device must be removed from service and moved to maintenance area 46. However, if the temperature and / or moisture content of the air in maintenance area 46 is higher than the air in first enclosure 45, this poses a risk of condensation whenever the failed robotic load handling device is moved to the maintenance area at a much lower temperature.

[0053] The risk of condensation can be explained by reference to the psychrometric chart shown in FIG. 7, where the X-axis of the psychrometric chart, representing dry-bulb temperature, provides an indication of the air's dew point temperature, and the Y-axis of the psychrometric chart indicates a specific humidity or humidity ratio. Condensation occurs when the air's temperature is at or below the dew point temperature. This is the temperature to which air must be cooled (at constant pressure) to achieve 100% relative humidity (RH). This is indicated on the psychrometric chart by crossing the 100% humidity curve. At this point, the air cannot hold more water in gaseous form and condenses to form a liquid. When a robotic load handling device acclimated in a cold environment, i.e., a first enclosure 45 such as a freezer or refrigerated area, is moved to a warmer environment, i.e., a second enclosure 46 such as a refrigerated or ambient area, respectively, the robotic load handling device, and therefore the air surrounding the robotic load handling device, will still be at the temperature of the air in the cold environment. The environmental conditions, i.e., temperature and relative humidity, of the air within the second enclosure 46 may be such that the dew point temperature of the air within the second enclosure 46 exceeds the temperature of the air surrounding the robotic load handling device (more specifically, the temperature of the robotic load handling device) as it enters the second enclosure from the first enclosure. Because the temperature of the air surrounding the robotic load handling device is lower than the dew point temperature of the air within the second enclosure, the moisture capacity of the air is reduced, resulting in condensation of water vapor on the robotic load handling device or one or more components of the robotic load handling device. Components of the robotic load handling device made of highly thermally conductive materials, such as metal parts, are prone to condensation. The dew point temperature of the air surrounding the robotic load handling device may be determined based on the temperature measured by the temperature sensing means and the relative humidity of the air measured by the relative humidity sensor. The temperature of the robotic load handling device is not limited to the body of the robotic load handling device but may also include any of the components of the load handling device exposed to air, such as motors, wheels, electrical components, etc. Temperature sensing means include, but are not limited to, the use of thermocouples, infrared temperature sensors, thermal cameras, etc. Relative humidity sensing means include, but are not limited to, capacitive humidity sensors, conductive (or resistive) humidity sensors, or thermal conductivity humidity sensors.

[0054] The environmental conditions of the air as it moves from a first, "cold" enclosure to a second, "warm" enclosure can be illustrated by moving from Zone A to Zone B on the psychrometric chart shown in FIG. 7. Zone A represents the environmental conditions of the air in the freezer area or zone, and Zone B represents the environmental conditions of the air in the refrigerated area or zone. Typically, the environmental conditions of the freezer zone cover temperatures ranging from -30°C to -18°C and relative humidity ranging from 80% to 90%, resulting in calculated dew point temperatures ranging from -25°C to -20°C, while Zone B covers the environmental conditions of the refrigerated zone, covering temperatures ranging from 1°C to 5°C and relative humidity ranging from 70% to 85%, resulting in calculated dew point temperatures ranging from -4°C to 3°C. When moving a robotic load handling device from Zone A, representing the freezer zone, to Zone B, representing the refrigerated zone, the moisture capacity of the air surrounding the robotic load handling device is reached when the 100% humidity curve is crossed, resulting in condensation of water vapor in the air into liquid form. This is shown in Figure 7 by arrow A crossing the 100% humidity curve.

[0055] One option to mitigate the risk of condensation is to dehumidify the air in the warmer areas, i.e., reduce the moisture content of the air, so that the calculated dew point of the air is lower than the temperature of the air surrounding the load handling device. To achieve a lower dew point in the warmer areas, e.g., -26°C, the moisture content of the air at a high temperature of e.g., 4°C, according to the psychrometric chart of Figure 7, must be reduced to about 10% relative humidity (see Zone C). However, the recommended safe level of humidity in the workplace should be approximately 40% to 70%. Prolonged exposure to ambient environments with relative humidity below 40% is considered unsafe and violates recommended health and safety guidelines.

[0056] According to the present invention, the robotic load handling device is placed in an intermediate zone before being transported to a warmer enclosure, where the environmental conditions of the air in the intermediate zone are controlled to reduce the risk of condensation. For purposes of the present invention, the environmental conditions may be the temperature and / or relative humidity of the air. The temperature and / or relative humidity of the air may be controlled by an environmental control unit that includes a heating system and / or a dehumidification system. One way to control the environmental conditions in the intermediate zone to reduce the risk of condensation when moving from a cold environment to a warmer environment is to reduce the relative humidity of the air in the warmer environment to a level such that the calculated dew point of the air is lower than the temperature of the air surrounding the robotic load handling device. The intermediate zone may be considered a transition or intermediate area in which there is no long-term exposure of individuals, thus reducing the risk to health.

[0057] The intermediate zone provides an area for conditioning the robotic load handling device to reduce the risk of condensation before it is moved to the maintenance area, as opposed to reducing humidity in the maintenance area and making it uncomfortable for humans to work there. For purposes of this definition, the intermediate zone may be defined as the environmentally controlled enclosure 52. Accordingly, the robotic load handling device is moved from the first enclosure 145 to the second enclosure 146 through the environmentally controlled enclosure 52. The first, second, and environmentally controlled enclosures can be adjacent to each other such that adjacent enclosures share a wall, or they can be separate enclosures with an enclosed passageway or tunnel between the adjacent enclosures. In the specific embodiment of the invention shown in FIGS. 8 through 11 and 13, the enclosures are adjacent to each other such that adjacent enclosures share a wall. To maintain the temperature of the air within the first, second, and environmentally controlled enclosures, at least one wall of the enclosure is formed from an insulating material, such as an insulating foam or blanket.

[0058] 8 is a perspective view of a multi-temperature storage system 142 comprising an environmentally controlled enclosure 52 for transitioning a robotic load handling device from a first enclosure 145 to a second enclosure 146 via the environmentally controlled enclosure 52, in accordance with an exemplary embodiment of the present invention. The environmentally controlled enclosure 52 may be an area with little exposure to humans, with most of the activities to service or repair the robotic load handling device being performed in the second enclosure 146, which comprises a maintenance area.

[0059] The environmentally controlled enclosure 52 is isolated from the first enclosure 146 and the second enclosure 146 to create an environment in which the air can be conditioned when the robotic load handling device is moved from the first enclosure 145 to the second enclosure 146. A first wall 144a separates the environmentally controlled enclosure 52 from the first enclosure 145, and a second wall 144b separates the environmentally controlled enclosure 52 from the second enclosure 146. The environmentally controlled enclosure 52 is shown in FIG. 9 as a separate room 56 adjacent to the first enclosure 145, which includes the grid framework structure 14, and the second enclosure 146, which includes the maintenance area. The room 56 can be an airtight or liquid-tight room to prevent the ingress of humid air from the first enclosure 145 and / or the second enclosure 146. The first and second walls 144a, 144b include first and second openings 148a, 148b, respectively, to allow movement of a robotic load handling device between the first enclosure 145 and the environmentally controlled enclosure 52, and between the environmentally controlled enclosure 52 and the second enclosure 146. The first and second openings 148a, 148b include first and second doors 150a, 150b, respectively, to isolate the first enclosure 145 from the environmentally controlled enclosure 52 and the second enclosure 146 from the environmentally controlled enclosure 52. The first and second doors 150a, 150b are closable to isolate the environmentally controlled enclosure 52 from the first enclosure 145 and the environmentally controlled enclosure 52 from the second enclosure 146, respectively. Various doors known in the art for thermally isolating / sealing one enclosure from another can be used in the present invention. These include, but are not limited to, roller doors, the use of silica aerogel insulating material in the doors, thermal curtains, e.g., heat strip curtains, etc. In the absence of physical doors, one enclosure can be thermally isolated from another enclosure using air curtains (also known as air doors or invisible doors) that draw air from within the enclosure and emit a constant flow of air that moves downward through an air curtain unit onto the track system. In the particular embodiment of the invention shown in Figure 9, the first and / or second doors 150a, 150b are shown as roller doors.

[0060] The first and second openings 148a, 148b are independently closable by first and second doors 150a, 150b, respectively, to selectively isolate the environmentally controlled enclosure 52 from the first enclosure 145 and the second enclosure 146. Thus, in order for the robotic load handling device to be moved from the first enclosure into the second enclosure, the robotic load handling device must travel through the environmentally controlled enclosure. If the first enclosure 145 defines a freezer zone and the second enclosure 146 defines a refrigerated or hotter zone (maintenance area), the pressure difference between the second enclosure and the first enclosure results in natural convection of warm air moving into the first enclosure. Because the moisture content of the air in the second enclosure 146 is higher than in the first enclosure 145, such movement of warm air into the first enclosure 145 can result in ice accumulation within the first enclosure, particularly near the first enclosure's entrance, i.e., the first opening 148a. Thus, when the first door 150a connecting the first enclosure 145 to the environmentally controlled enclosure 52 is opened, the second door 150b remains closed to prevent the natural flow of warm air from the second enclosure 146 into the first enclosure 145. Similarly, when the second door 150b connected to the second enclosure 146 is opened, the first door 150a remains closed, i.e., independently closable. Both the first and second doors 150a, 150b can be configured to provide a fluid-tight seal, e.g., a rubber seal, between the environmentally controlled enclosure 52 and the respective first and second enclosures. When one or more load handling devices are being adjusted within the environmentally controlled enclosure, both the first and second doors are closed to provide a contained or sealed environment within the environmentally controlled enclosure. Also shown in Figure 9 is a second, albeit smaller, grid framework structure 58 within the environmentally controlled enclosure 52 for receiving the robotic load handling device from the first enclosure 145. The second grid framework structure 58 includes a second track system that suitably interconnects with the track system of the grid framework structure 14 within the first enclosure 145.One or more cranes or lifting mechanisms 60 may be used within the environmentally controlled enclosure 52 to physically lift the robotic load handling device away from the second grid framework structure 58 in preparation for moving it into the second enclosure 146.

[0061] The environmental conditions, i.e., temperature and / or humidity, of the air within the environmentally controlled enclosure 52 are adjusted by the environmental control unit to provide a more comfortable working environment within the second enclosure 146 when the robotic load handling device is moved into the second enclosure, but to prevent condensation when the robotic load handling device is moved from the first enclosure 145 into the environmentally controlled enclosure. In one exemplary embodiment of the invention, this is accomplished by reducing the relative humidity of the air in the environmentally controlled enclosure 52 to a temperature substantially equal to the temperature of the air in the second enclosure 146. The temperature of the environmentally controlled enclosure may be adjusted to the temperature of the air in the second enclosure. The temperature of the air in the second enclosure may be set to a temperature that is more comfortable than the freezer temperature in the first enclosure.

[0062] The relative humidity is reduced to such an extent that the dew point temperature of the air in the environmentally controlled enclosure is lower than the temperature of the robotic load handling device entering from the first enclosure. The environmental control unit comprises a heating system for regulating the temperature of the air in the environmentally controlled enclosure and a dehumidification system for regulating the moisture content, i.e., relative humidity, of the air in the environmentally controlled enclosure. From first principles, the temperature of the robotic load handling device, more specifically, the temperature of the air surrounding the load handling device in the environmentally controlled enclosure upon entering from the first enclosure, should be considered in determining the required dew point temperature of the air in the environmentally controlled enclosure, while the temperature of the air in the first enclosure is considered as a first approximation to the temperature of the robotic load handling device. This is because the change in temperature of the robotic load handling device when initially moving from the first enclosure to the "warmer" environmentally controlled enclosure is small, as the robotic load handling device will acclimate to the temperature in the first enclosure and have a negligible impact on determining the required dew point of the air in the environmentally controlled enclosure. Indeed, a conservative approach would be to consider the minimum temperature reached by the robotic load handling device as it enters from the first enclosure. Because the robotic load handling device resides permanently within the first enclosure 145, the temperature of the air within the first enclosure 145 is considered to be an accurate representation of the temperature of the robotic load handling device as it enters the environmentally controlled enclosure from the first enclosure.

[0063] The temperatures of the air within the first enclosure 145, the environmentally controlled enclosure 52, and the second enclosure 146 are measured by first, second, and third temperature sensing means, respectively. As noted above, each or any one of the first, second, and third temperature sensing means may be a temperature sensing means commonly known in the art configured to measure temperatures as low as -30°C. Such temperature sensing means include, but are not limited to, thermocouples, thermistor-type sensors, infrared sensors, and the like. For example, the temperature of the load handling device may be measured by an infrared temperature sensor that focuses a beam of infrared energy on the surface of the robotic load handling device. For purposes of describing the present invention, the temperature of the air within the first enclosure may be considered, to a first approximation, as the temperature of the robotic load handling device upon initial entry into the environmentally controlled enclosure. The present invention is not limited to the temperature of the air being the temperature of the robotic load handling device, but may also be the actual temperature of the robotic load handling device or the actual temperature of any component of the robotic load handling device that is susceptible to condensation, such as a motor, lifting mechanism, etc.

[0064] If the temperature of the air in the first enclosure 145 is controlled to −25° C. to provide a freezer zone, and the temperature of the air in the second enclosure 146 is controlled to a comfortable relative humidity, e.g., 4° C. at 60% to provide a more comfortable working environment, then the environmental conditions in the environmentally controlled enclosure 52 are controlled so that the calculated dew point temperature of the air in the environmentally controlled enclosure 52 is lower than the temperature of the air in the first enclosure 145. This is achieved by lowering the moisture content or relative humidity of the air in the environmentally controlled enclosure at a temperature equivalent to the temperature of the air in the second enclosure to such an extent that the calculated dew point of the air in the environmentally controlled enclosure is lower than the temperature of the air in the first enclosure. In the above example, to achieve an environmental condition of 4° C. with a dew point lower than the temperature of −25° C., the relative humidity of the air should be less than 10%. Based on these temperature and humidity values, the calculated dew point is approximately −26° C. Ideally, the temperature of the air within the environmentally controlled enclosure is tightly regulated so that the moisture content, and therefore the relative humidity, of the air within the environmentally controlled enclosure does not need to be reduced to an extreme level that would make the environment within the environmentally controlled enclosure too harsh. For example, raising the temperature of the air within the environmentally controlled enclosure above 4°C means that the moisture content of the air must be further reduced to achieve a dew point of -26°C. For example, to achieve a dew point of -26°C at 10°C, the relative humidity must be reduced to below 5%, which is not only too harsh an environment but also difficult to achieve. Optionally, the cooling system includes a second cooling unit for cooling the air within the second enclosure, the first cooling unit being the cooling unit described above for cooling the air within the first enclosure, although not as low as the temperature of the air within the first enclosure. For example, the second cooling unit cools the air within the second enclosure to achieve a temperature of approximately 4°C.

[0065] The effect of altering the environmental conditions within the environmentally controlled enclosure to accommodate the different temperatures of the first and second enclosures is exemplified by Zone C of the psychrometric diagram shown in Figure 7. From this psychrometric diagram, it is clear that by lowering the moisture content within the environmentally controlled enclosure at higher temperatures, in this case approximately 1°C to 5°C, the risk of condensation is reduced when approaching Zone C from Zone A as indicated by arrow B, rather than approaching Zone B from Zone A as indicated by arrow A. In the latter case, condensation occurs when crossing the 100% relative humidity curve, which indicates the dew point temperature.

[0066] Reduction of the moisture content of the environmentally controlled enclosure is achieved by a dehumidification system configured to collect air from the environmentally controlled enclosure. In specific embodiments of the invention shown in Figures 8, 10, and 12, the dehumidification system includes a dehumidifier and one or more ducts 62 for drawing air from the environmentally controlled enclosure. The dehumidifier may be any suitable type of dehumidifier for operation at low temperatures (e.g., below 0 degrees), such as a dry dehumidifier or a condensation-type dehumidifier. Dry dehumidifiers typically operate by passing a moist process air stream through a desiccant (e.g., silica gel), which absorbs moisture from the passing process air stream. To regenerate the desiccant (i.e., remove the absorbed moisture), the regeneration air stream is heated and passed through the desiccant, and the absorbed moisture is drawn into the regeneration air stream, which is then exhausted, for example, to the exterior of the building. To operate a dry dehumidifier continuously, the desiccant is typically housed in a rotating wheel, with one portion of the wheel passing through the process air stream and another portion of the wheel passing through the regeneration air stream. If a desiccant dehumidifier is used in the dehumidification system, the regeneration air stream may originate from a warmer area of ​​the multi-temperature storage system, e.g., a room temperature area, to improve energy efficiency. The dehumidification system or the dehumidifier itself may optionally be equipped with a cooling unit to cool the process air (before or after the drying process), because the drying process in a desiccant dehumidifier typically results in heat being transferred to the process air vapor, which may be undesirable given that the dried air is exhausted into an environmentally controlled enclosure.

[0067] If the robotic load handling device 30 is moved too quickly from the first enclosure 145 to the environmentally controlled enclosure 52, a risk of condensation may occur due to the temperature lag between the robotic load handling device, which is still at the temperature of the air in the first enclosure 145, and the temperature of the air in the environmentally controlled enclosure 52. To mitigate the risk of condensation when the robotic load handling device 30 is moved into the second enclosure 146, the robotic load handling device can remain in the environmentally controlled enclosure 52 until the temperature of the robotic load handling device has risen to approximately the temperature of the air in the environmentally controlled enclosure, e.g., 4°C in this case. The temperature of the air in the environmentally controlled enclosure 52 is regulated to be approximately the same temperature as the temperature of the air in the second enclosure 146. At this temperature, the temperature of the robotic load handling device is approximately the same temperature as the air in the second enclosure, and therefore higher than the dew point of the air in the second enclosure, so there is little risk of condensation when the robotic load handling device enters the second enclosure. This is the case for a wide range of relative humidity values, for example up to 100% relative humidity.

[0068] Because the environmental conditions, i.e., temperature and humidity, within the second enclosure 146 are a comfortable working environment, e.g., 60%, when the robotic load handling device enters the second enclosure from the environmentally controlled enclosure, the calculated dew point of the air within the second enclosure is lower than the temperature of the robotic load handling device. For example, if the environmental conditions of the air within the second enclosure are set to 4°C and a comfortable 60% relative humidity, this equates to a calculated dew point of -3°C, which is much lower than the temperature of the robotic load handling device. In fact, there is some leeway or margin for the temperature of the robotic load handling device when it enters the second enclosure 146 from the environmentally controlled enclosure 52. For example, one or more components of the robotic load handling device may not necessarily be at 4°C but may be closer to 0°C, which is still higher than the dew point of the air within the second enclosure. Similarly, to mitigate the risk of condensation when the robotic load handling device enters the second enclosure, there is some leeway for the temperature of the air within the second enclosure to be higher than 4°C, which is highly dependent on the moisture content, i.e., relative humidity, of the air within the second enclosure.

[0069] 9, the environmentally controlled enclosure includes a parking area 64 for holding the robotic load handling device when received from the first enclosure 145 until the temperature of the robotic load handling device approaches the temperature of the air in the second enclosure. Multiple robotic load handling devices may be held in a queue in the parking area 64 while waiting for their respective temperatures to approach the temperature of the air in the second enclosure 146.

[0070] To accelerate heating of the robotic load handling devices within the environmentally controlled enclosure 52, the environmentally controlled enclosure 52 may optionally include one or more heating chambers 66 housed within the environmentally controlled enclosure 52, as shown in FIGS. 10 and 11 . The heating chamber 66 may be an enclosed area within the environmentally controlled enclosure 52 for storing one or more robotic load handling devices and includes a heating system 68 for heating the robotic load handling devices. In the particular embodiment shown in FIG. 11 , the heating system includes a heating device (e.g., an electric resistance heater), one or more fans for passing air over the heating device to increase the temperature of the air, and one or more vents 70 for directing the heated air over the robotic load handling devices. In the particular embodiment shown in FIGS. 10 and 11 , the one or more vents 70 are shown integrated into the floor of the environmentally controlled enclosure 52 so that the robotic load handling devices are heated from below the robotic load handling devices. Moist, warm air generated during the heating process can be drawn into a dehumidifier via duct 62, as shown in FIG. 10, to adjust the relative humidity of the air within the environmentally controlled enclosure. The heating chamber can be configured as a tunnel 72, as shown in FIG. 10, with an opening at the tunnel entrance and an opening at the tunnel exit, to facilitate heating of the robotic load handling device as it moves through the tunnel 72. One or more robotic load handling devices are heated as they move through the tunnel 72, such that the temperature of the robotic load handling device is higher upon exiting the tunnel than upon entering the heated tunnel. In the specific embodiment of the invention shown in FIG. 10, the tunnel exit is adjacent to a second opening 148b in the environmentally controlled enclosure so that the robotic load handling device exits the heated tunnel 72 into the second enclosure. The set of parallel tracks 50 extending from the first enclosure 145 into the environmentally controlled enclosure 52 can continue into the tunnel and second enclosure 146, as shown in FIG. 10. The set of parallel tracks can provide the single-track surface or the dual-track surface described above.Thus, the robotic load handling devices can simply be moved along the set of parallel tracks 50 from the first enclosure 145 into the second enclosure 146 through the environmentally controlled enclosure 52. This eliminates the need to lift or hoist the robotic load handling devices from the second grid framework structure 58 and place them in the heating chamber or in the parking area 64, as shown in Figure 9. Similar to the parking area, multiple robotic load handling devices can be queued in the tunnel as they emerge from the tunnel into the second enclosure.

[0071] Because the first housing 45 is at a much lower temperature (e.g., freezing temperature) than the environmentally controlled housing 52, there is a risk of relative movement resulting from different levels of thermal expansion and / or contraction of the sets of parallel tracks within the first housing and the environmentally controlled housing 52. In the worst case, the relative movement could result in buckling of the track elements where the tracks contact at the joint or interface 152 between the first housing 45 and the environmentally controlled housing 52, resulting in derailment of the load handling device as it moves from the first housing 45 to the environmentally controlled housing. To allow movement of the track elements in the longitudinal direction of the parallel tracks between the first housing 45 and the environmentally controlled housing 52, the sets of parallel tracks at the interface between the first housing 45 and the environmentally controlled housing 52 optionally include expansion joints or bridge elements 154 (see FIGS. 14(a) and 14(b)). To facilitate the description of the expansion joint 154, the portion of the set of parallel tracks 50 residing within the first housing 45 will be referred to as the first portion of the parallel tracks 50b, and the portion of the set of parallel tracks 50 residing within the environmentally controlled housing 52 will be referred to as the second portion of the parallel tracks 50c. The expansion joint 154 bridges the first and second portions of the parallel tracks. The expansion joint 154 is configured to allow relative longitudinal movement of the parallel tracks between the first and second portions of the parallel tracks to accommodate expansion or contraction of the different portions of the parallel tracks extending between the different temperature housings. In the example of the joint 152 shown in FIG. 14(a) and the close-up view of the joint 152 shown in FIG. 14(b), the set of parallel tracks 50 extending between the first housing and the environmentally controlled housing comprises a pair of tracks, each of which comprises an expansion joint at the interface between the first housing and the environmentally controlled housing. Thus, different levels of thermal expansion and / or contraction of the track elements in each of the track pairs are accommodated by their respective expansion joints to provide a continuous track surface extending longitudinally of the parallel set of tracks.

[0072] The example expansion joint shown in FIG. 15 includes a first track element 156a and a second track element 156b, each of which provides a portion of a set of parallel tracks. The first and second track elements 156a, 156b are elongated. Each of the first and second track elements has an interface portion 158 configured to slide longitudinally relative to one another to provide a continuous track surface extending from the first track element 156a to the second track element 156b suitable for guiding a load handling device across the expansion joint. The expansion joint at the portal 48 interface includes a pair of expansion joints 154 to accommodate wheels of the load handling device. An example expansion joint is described in WO2023046684 (Ocado Innovation Limited), the details of which are incorporated herein by reference. However, the expansion joint is not limited to the expansion joint shown in Figures 14(a and b) and can be any type of expansion joint that allows longitudinal movement of the set of parallel tracks extending between the first temperature zone and the environmentally controlled enclosure. For example, the first track element and the second track element can be configured to slide longitudinally relative to each other at the joint area where they overlap.

[0073] To maintain the insulating properties of the closeable door within the portal 48 when accommodating the expansion joint 154 and to prevent the ingress of cold air from the first enclosure 45 into the environmentally controlled enclosure 52, the expansion joint may be housed within one or more cutouts 162 in an insulated door frame 160, as shown in FIG. 15 . Housed within one or more cutouts in the insulated door frame, the expansion joint or track is prevented from condensing water vapor and subsequently freezing on the track. While FIGS. 14(a and b) show the expansion joint 154 at the junction between the first enclosure 45 and the environmentally controlled enclosure 52, the expansion joint can also be present in a set of parallel tracks at the junction or interface between the environmentally controlled enclosure 52 and the second enclosure 146, as shown in FIGS. 8 , 10 , and 13 , to accommodate different levels of thermal expansion or contraction of the track between the environmentally controlled enclosure 52 and the second enclosure 146. Similar to the interface between the first housing 45 and the environmentally controlled housing 52, the portion of the set of parallel tracks 50 that resides within the environmentally controlled housing 52 can be referred to as the first portion of the parallel tracks, and the portion of the set of parallel tracks that resides within the second housing 146 can be referred to as the second portion of the parallel tracks. Expansion joints bridge the first and second portions of the parallel tracks. As a result, there are two sets of expansion joints. The first set of expansion joints bridges the parallel tracks between the first housing 45 and the environmentally controlled housing 52, and the second set of expansion joints bridges the parallel tracks between the environmentally controlled housing 52 and the second housing 146.

[0074] In addition to, or instead of, providing a heating chamber 66 within the environmentally controlled enclosure 52, one or more fans (not shown) can be used to replenish the "cool" air surrounding the robotic load handling device. Because the air surrounding the robotic load handling device is approximately the same temperature as the air in the first enclosure when it first enters the environmentally controlled enclosure, the one or more fans can replenish the air surrounding the robotic load handling device with warmer air from the environmentally controlled enclosure. Because the robotic load handling device is always exposed to fresh, "dry" air, replenishing the air surrounding the robotic load handling device within the environmentally controlled enclosure also helps mitigate moisture condensation within the environmentally controlled enclosure.

[0075] During operation, when the robotic load handling device is moved from the first enclosure 145 to the second enclosure 146 through the environmentally controlled enclosure 52, the environmental control system 74 is configured to control an environmental control unit (or environmentally controlled enclosure) 76 comprising a heating system and / or a dehumidification system to provide at least one environmental condition within the environmentally controlled enclosure in anticipation of opening the first and / or second doors of the environmentally controlled enclosure. FIG. 12 is a block diagram of an environmental control system 74 for controlling the environmental condition of the air within the environmentally controlled enclosure according to an exemplary embodiment of the invention. The environmental control system comprises a controller 78, a first temperature sensing means 80 indicative of the temperature of the air or robotic load handling device within the first enclosure 145, a second temperature sensing means 82 indicative of the temperature of the air or robotic load handling device within the environmentally controlled enclosure 52, a third temperature sensing means 84 indicative of the temperature of the air or robotic load handling device within the second enclosure 146, and a humidity sensing means 86 indicative of the relative humidity of the air within the environmentally controlled enclosure 52. The controller 78 is configured to receive temperature data from the first and second temperature sensing means 80, 82 and humidity data from the humidity sensing means 86 described above, and process the temperature and humidity data from the second temperature sensing means 82 and humidity sensing means 86 to indicate the dew point or dew point temperature of the air within the environmentally controlled enclosure 52. Known models can be used to calculate the dew point from the temperature and relative humidity readings. These include, but are not limited to, the Magnus equation or the Ardenbach equation. In a specific example, the dew point was calculated using the Magnus equation. The controller 78 comprises one or more processors configured to execute instructions stored in memory (e.g., read-only memory). The instructions include, but are not limited to, determining the dew point and adjusting the temperature and / or humidity within the environmentally controlled enclosure.

[0076] In an exemplary embodiment of the invention, controller 78 may be instructed to control environmental control unit 76, including a heating system and / or a dehumidification system, to adjust the relative humidity at a given temperature in response to temperature readings from first, second, and third temperature sensing means 80, 82, 84 and humidity sensing means 86, so that the calculated dew point temperature of the air within the environmentally controlled enclosure is lower than the temperature reading from first temperature sensing means 80. Because the temperature of the air within the first enclosure measured by first temperature sensing means 80 is lower than the temperature of the air within the second enclosure measured by third temperature sensing means 84, the calculated dew point within environmentally controlled enclosure 52 is also lower than the temperature of the air within the second enclosure. Knowing that the temperatures of the air within first enclosure 145 and second enclosure 146 can be adjusted to fixed or stable temperatures, controller 78 may be configured to adjust the relative humidity to maintain a predetermined relative humidity of the air within the environmentally controlled enclosure at the predetermined temperature. For example, if the temperature of the air in first enclosure 145 is adjusted to -25°C to define a freezer zone and the temperature of the air in second enclosure 146 is adjusted to 4°C, controller 78 may be instructed to control environmental control unit 76 to adjust the moisture content to approximately 10% relative humidity at 4°C to achieve a dew point of -26°C.

[0077] In a second exemplary embodiment of the present invention, the environmental conditions within the environmentally controlled enclosure may be dynamically controlled in response to the environmental conditions within the first enclosure 145 and the second enclosure 146. Referring to Figure 12, the moisture content of the air within the second enclosure 146 may be measured by a second humidity sensing means 88. In conjunction with a temperature reading from the third temperature sensing means 84, the controller 78 may be configured to determine a second dew point of the air within the second enclosure 146. The block diagram illustrating the third temperature sensing means 84 and the second humidity sensing means 88 is shown with dashed lines to indicate measurements made in the second enclosure. Thus, in anticipation of opening the first door 150a to the environmentally controlled enclosure 52, the controller 78 may be configured to control the environmental control unit 76 to provide first environmental conditions to mitigate the risk of condensation when the robotic load handling device enters the environmentally controlled enclosure 52 from the first enclosure 145, and to provide second environmental conditions to mitigate the risk of condensation when the robotic load handling device enters the second enclosure 146 from the environmentally controlled enclosure 52. In the first case described above, the first environmental control condition indicates a first dew point within the environmentally controlled enclosure 52 that is lower than the temperature from the first temperature sensing means, e.g., −26° C., and in the second case, the second environmental condition indicates a second dew point within the second enclosure 146 that is lower than the temperature of the air exiting the environmentally controlled enclosure or the robotic load handling device.

[0078] An advantage of dynamically controlling the environmental conditions within the environmentally controlled enclosure, as opposed to adjusting the temperature of the air within the environmentally controlled enclosure to equal the temperature of the air within the second enclosure, is that the second enclosure can be set to a much higher temperature, for example, greater than 4°C. This is because the controller can be configured to dynamically control the environmental control unit 76 to accommodate the environmental conditions within the second enclosure. For example, once the robotic load handling device has acclimated to first environmental conditions within the environmentally controlled enclosure to reduce the risk of condensation upon entry from the first enclosure, the controller can be configured to control the environmental control unit to adjust the robotic load handling device to reduce the risk of condensation in anticipation of opening a second door to the second enclosure. Thus, there can be two stages of acclimation of the robotic load handling device within the environmentally controlled enclosure. The first stage is to acclimate the robotic handling device to a first environmental condition to reduce the risk of condensation when opening a first door, and the second stage is to acclimate the robotic load handling device to a second environmental condition to reduce the risk of condensation when opening a second door. For example, if the temperature of the air in the second enclosure is 16°C at 50% relative humidity, giving a dew point of approximately 6°C, the robotic load handling device is heated to a temperature higher than 6°C, e.g., 10°C, to reduce the risk of condensation. Similar to the environmental control unit, the moisture content, i.e., relative humidity, of the air in the second enclosure can be controlled by a second dehumidifier to ensure that the dew point of the air does not exceed the temperature of the robotic load handling device upon entering from the environmentally controlled enclosure. In both of the above-described exemplary embodiments, the controller controls the environmental control unit to at least one environmental condition such that the dew point at a given time in the environmentally controlled enclosure is substantially equal to or less than the temperature of the first enclosure.

[0079] While both of the above-described exemplary embodiments describe the second enclosure as a maintenance area or service station for servicing or repairing one or more robotic load handling devices operable on the grid framework structure within the first enclosure, the second enclosure 246 can optionally include a second grid framework structure 114 defining a second storage and retrieval system (see FIG. 13 ). The first enclosure 145 defines the first storage and retrieval system. The second framework structure 114 of the second enclosure 246 is different from the second grid framework structure 58 of the environmentally controlled enclosure described above. Similar to the first grid framework structure 14 within the first enclosure 145, the second grid framework structure 114 of the second enclosure 246 provides a storage area and track system for one or more robotic load handling devices to move on the second grid framework structure 114. The storage area includes a plurality of storage columns for storing stacks of storage containers within the plurality of storage columns, as described above. The first enclosure 145 can define a freezer zone, and the second enclosure 246 can define a refrigerated zone. One or more robotic load handling devices can be shared between the freezer and refrigerated zones by being conditioned or acclimated within the environmentally controlled enclosure 52 when transitioning between the freezer and refrigerated zones. This eliminates the need to have dedicated robotic load handling devices for each of the freezer and refrigerated zones. Similarly, sharing one or more robotic load handling devices between the first and second storage and retrieval systems increases the capacity of one or more robotic load handling devices operable in either the first or second storage and retrieval systems. For example, if demand for refrigerated goods increases, more robotic load handling devices can be allocated from the first enclosure to the second enclosure. Similarly, if demand for freezer goods increases, more robotic load handling devices can be allocated from the second enclosure to the first enclosure. In both cases, the one or more robotic load handling devices are conditioned within the environmentally controlled enclosure to reduce the risk of condensation when moving between the first and second storage and retrieval systems.

[0080] Each feature disclosed in this specification (including any accompanying claims, abstract, and drawings), unless expressly stated otherwise, may be replaced by an alternative feature serving the same, equivalent, or similar purpose. Thus, unless expressly stated otherwise, each feature disclosed is only an example of a common series of equivalent or similar features.

Claims

1. 1. A multi-temperature storage system comprising: a) a first enclosure defining a first temperature zone, said first enclosure comprising: a grid framework structure comprising a plurality of storage columns for storage of a plurality of stacks of storage containers; and a track system disposed over the plurality of storage columns for guiding one or more robotic load handling devices on said grid framework structure; b) a second enclosure defining a second temperature zone, said second enclosure configured to receive one or more load handling devices from said first enclosure; c) a cooling system configured to maintain a temperature in the first temperature zone lower than the temperature in the second temperature zone; d) an environmentally controlled enclosure, the environmentally controlled enclosure comprising a first opening and a second opening for coupling the first enclosure and the second enclosure, respectively, whereby a load handling device can be moved between the first enclosure and the second enclosure through the environmentally controlled enclosure, the first opening and the second opening being independently closable by respective first and second doors for selectively isolating the environmentally controlled enclosure from the first enclosure and / or the second enclosure; e) an environmental control unit configured to heat and / or dehumidify the air within the environmentally controlled enclosure; f) an environmental control system configured to control the environmental control unit to provide environmental conditions within the environmentally controlled enclosure in anticipation of opening the first door and / or the second door.

2. The multi-temperature storage system of claim 1 , wherein the environmental control unit comprises a heating system and / or a dehumidifier.

3. The environmental control system includes: a control device; a first temperature sensing means configured to measure a temperature of the air within the first enclosure or the load handling device; a second temperature sensing means configured to measure the temperature of the air within the environmentally controlled enclosure or the load handling device; humidity sensing means configured to measure the relative humidity of the air within the environmentally controlled enclosure; wherein the control device is receiving temperature data from the first temperature sensing means; receiving temperature data from the second temperature sensing means; receiving humidity data from said humidity sensing means; processing the temperature and humidity data received from the second temperature and humidity sensing means to indicate a dew point within the environmentally controlled enclosure; 3. The multi-temperature storage system of claim 1 or 2, wherein the environmental control unit is configured to control the environmental conditions such that the dew point at a given time within the environmentally controlled enclosure is substantially equal to or less than the temperature from the first temperature sensing means.

4. 4. The multi-temperature storage system of claim 3, wherein the environmentally controlled enclosure comprises a heating chamber for storing one or more robotic load handling devices, the heating chamber comprising one or more heating devices for heating the one or more robotic load handling devices stored within the heating chamber.

5. 5. A multi-temperature storage system according to claim 3 or 4, wherein the second temperature sensing means is configured to measure the temperature of one or more components of the load handling device within the environmentally controlled enclosure.

6. 6. The multi-temperature storage system of claim 3, wherein the controller is configured to control the environmental control unit to adjust the environmental conditions to provide a predetermined dew point within the environmentally controlled enclosure.

7. 7. The multi-temperature storage system of claim 3, wherein the environmental control system further comprises a third temperature sensing means configured to measure the temperature of the air within the second enclosure or the load handling device.

8. 8. The multi-temperature storage system of claim 7, wherein the controller is configured to control the environmental control unit to regulate environmental conditions within the environmentally controlled enclosure at a temperature measured from the second temperature sensing means substantially equal to a temperature measured from the third temperature sensing means.

9. 9. The multi-temperature storage system of claim 8, wherein the controller is configured to control the environmental control unit to adjust the relative humidity within the environmentally controlled enclosure to maintain a predetermined relative humidity within the environmentally controlled enclosure at a temperature measured from the second temperature sensing means substantially equal to the temperature measured from the third temperature sensing means.

10. 10. The multi-temperature storage system of claim 7, wherein the controller is configured to control the environmental control unit to dehumidify the air within the environmentally controlled enclosure at a temperature where the temperature measured from the second temperature sensing means is substantially equal to the temperature measured from the third temperature sensing means.

11. the environmental control system further comprising a second humidity sensing means configured to measure the relative humidity of air within the second enclosure; wherein the control device is receiving temperature and humidity data from the third temperature and second humidity sensing means, respectively; processing the temperature and humidity data received from the third temperature and second humidity sensing means to indicate a second dew point within the second enclosure; comparing the second dew point to the temperature data from the second temperature sensing means; 11. The multi-temperature storage system of claim 6, further configured to, when the temperature data from the second temperature sensing means is equal to or less than the second dew point, control the environmental control unit to provide second environmental conditions within the environmentally controlled enclosure such that the second dew point at a given time within the second enclosure is substantially equal to or less than the temperature measured from the second temperature sensing means.

12. 12. The multi-temperature storage system of claim 11, wherein the controller is configured to control the environmental control unit to adjust the relative humidity within the environmentally controlled enclosure at a temperature measured from the second temperature sensing means substantially equal to a temperature measured from a third temperature sensing means such that the temperature from the second temperature sensing means is at or above the second dew point.

13. 13. The multi-temperature storage system of claim 11 or 12, wherein the second environmental condition is substantially equal to the environmental condition.

14. 14. A multi-temperature storage system according to any one of claims 7 to 13, wherein the temperature data from the first temperature sensing means is within a temperature range of -18°C to -30°C.

15. 15. The multi-temperature storage system of claim 14, wherein the temperature data from the third temperature sensing means is within a temperature range of -10°C to 8°C.

16. 14. A multi-temperature storage system according to any one of claims 7 to 13, wherein the temperature data from the first temperature sensing means is within a temperature range of -10°C to 8°C.

17. 17. The multi-temperature storage system of claim 16, wherein the temperature data from the third temperature sensing means is within a temperature range of 15°C to 25°C.

18. 18. The multi-temperature storage system of claim 1, wherein the environmental control unit comprises one or more fans for circulating air within the environmentally controlled enclosure.

19. 19. The multi-temperature storage system of claim 1, wherein the cooling system comprises a first cooling unit for cooling air in the first enclosure and a second cooling unit for cooling air in the second enclosure.

20. 20. The multi-temperature storage system of claim 1, wherein the environmentally controlled enclosure comprises a set of parallel tracks extending from the track system in the first enclosure into the environmentally controlled enclosure.

21. 21. The multi-temperature storage system of claim 20, wherein the set of parallel tracks comprises a first portion of parallel tracks and a second portion of parallel tracks, the first portion of parallel tracks residing within the first enclosure and the second portion of parallel tracks residing within the environmentally controlled enclosure, and wherein the set of parallel tracks further comprises an expansion joint interfacing the first and second portions of the parallel tracks to provide a continuous track surface extending longitudinally from the first portion of the parallel tracks to the second portion of the parallel tracks.

22. 22. The multi-temperature storage system of claim 20 or 21, wherein the first enclosure defines a first storage and retrieval system, and the second enclosure comprises a second grid framework structure with a plurality of storage columns for storage of a plurality of stacks of storage containers, and a second track system arranged above the plurality of storage columns for guiding one or more robotic load handling devices on the second grid framework structure to define the second storage and retrieval system, wherein the set of parallel tracks extend from the environmentally controlled enclosure into the second enclosure to interconnect with the second track system.

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