Storage and retrieval system

Abstract

A storage and retrieval system comprising: a) a grid framework structure (114) having a plurality of storage columns (111) for storing a plurality of stacks of storage containers (110a, 110b), wherein a track system (115) comprises a plurality of tracks arranged in a grid pattern, each track having a plurality of grid cells positioned above the plurality of storage columns for guiding one or more robotic load handling devices on the grid framework structure, wherein each track is positioned below a single grid cell of the plurality of storage columns; and b) a plurality of stacks of storage containers (110a), wherein each storage container in the plurality of stacks of storage containers comprises a bottom wall and upward-facing side walls and end walls, each stack in the plurality of stacks of storage containers occupies a single storage column of the plurality of storage columns, and the plurality of stacks of storage containers comprises a plurality of first type storage containers (110a) having a metal container body, and wireless transparency A storage and retrieval system comprising: a plurality of second type storage containers (110b) each having a container body; c) an environmental monitoring system comprising: i) at least one environmental sensor (120) having a wireless communication device for transmitting environmental data, wherein the at least one environmental sensor is stored in at least one of the plurality of second type storage containers to define a sensor container (122); and ii) a base unit outside a grid framework structure, wherein the base unit has a wireless communication device for receiving environmental data from the communication device of at least one environmental sensor; and the plurality of stacks of storage containers are arranged such that the sensor container is adjacent to at least one of the other of the plurality of second type storage containers, thereby providing a path to the outside of the grid framework structure for transmitting a wireless signal from at least one environmental sensor to the base unit.

Description

Technical Field

[0001] The present invention relates to a storage system comprising a robotic load handling device operable on a track located on a grid framework structure for handling storage containers stacked in a grid framework structure, and to the field of storage containers for use in such a storage system.

Background Art

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

[0003] As shown in Figures 1 and 2, the storage containers 10, also known as containers or totes, are stacked on top of each other to form a stack 12. The stack 12 is located in a grid framework structure 14 in a warehouse storage environment or manufacturing environment. The grid framework consists of a plurality of storage columns or grid columns 11. Each grid in the grid framework structure has at least one storage column 11 for storing the stack of containers. Figure 1 is a schematic perspective view of the grid framework structure 14, and Figure 2 is a top view showing a single stack 12 of containers 10 arranged within the framework structure 14. Each container or container 10 typically holds multiple product items (not shown), and the product items in the container 10 may be of different product types depending on the application, or they may be identical. Each container 10 may be used, for example, to store food items (i.e., food items). Furthermore, the container 10 may be physically subdivided to accommodate multiple different stock items.

[0004] The grid framework structure 14 comprises a plurality of upright members or upright columns 16 that support horizontal members 18, 20. A first set of parallel horizontal grid members 18 is positioned perpendicular to a second set of parallel horizontal grid members 20 to form a grid structure that lies substantially in a horizontal plane and is supported by the upright members 16. The members 16, 18, 20 are typically manufactured from metal and are typically welded to each other, 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 track system 15 comprising multiple rails or tracks 22 arranged in a grid pattern across the top of the stack 12. Referring further to Figure 3, these rails 22 support multiple load handling devices or robotic load handling devices 30. A first set of parallel rails 22a guides the 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, while a second set of parallel rails 22b, positioned perpendicular to the first set 22a, guides the movement of the load handling devices 30 in a second direction (e.g., the Y direction) perpendicular to the first direction. In this way, the rails 22 enable two-dimensional lateral movement of the robotic load handling devices 30 in the horizontal XY plane, thereby allowing the load handling devices 30 to move to positions above any of the stacks 12. The orbital system 15 can be integrated with a grid structure in the sense that the first and second sets of orbits are integrated with the first and second sets of grid members, respectively. Alternatively, the orbital system 15 can be separate from the grid structure in the sense that the first and second sets of orbits are attached to the first and second sets of grid members, respectively.

[0006] Each cargo handling device 30 comprises a vehicle body 32 positioned above the stack 12 to move in the X and Y directions on the tracks or rails 22 of the grid frame structure 14 (see Figure 4). Figures 4 and 5 show a cargo handling device 30 described in PCT Patent Publication WO2015 / 019055 (Ocado Innovation Limited) and International Patent Application WO2015 / 140216 (Ocado Innovation Limited), which comprises a vehicle body 32 equipped with a lifting mechanism 33 having a winch or crane mechanism 35 for lifting storage containers or containers 10, also known as totes, from above. The crane mechanism 35 comprises a winch cable 38 wound on a spool or reel and a gripping device 39. Typically, the lifting device includes a set of lifting tethers 38 (one tether near each of the four corners of the gripping device) that extend vertically and are connected to the storage container 10 near or at the four corners of the gripping device 39 for a detachable connection. The gripping 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 gripping device 39 is configured as a lifting frame.

[0007] To grip the container 10, the gripping device 39 comprises four positioning pins or guide pins located near or at each corner of the gripping device 39, which engage with corresponding notches or holes formed at the four corners of the storage container 10, and four gripper elements positioned on the bottom side of the gripping device 39 to engage with the edge of the storage container 10. The positioning pins help to correctly align the gripper elements with the corresponding holes at the edge of the container. Each gripper element comprises a pair of wings or legs that are foldable to be receivable into corresponding holes at the edge of the storage container, and are sized in at least one dimension larger than the holes at the edge of the storage container 10 so that the open, expanded configuration locks onto the storage container 10. The wings are driven into the open configuration by drive gears (not shown). More specifically, at least one of the wing heads has multiple teeth that mesh with a drive gear, so that when the gripper element is activated, the rotation of the drive gear rotates the pair of wings from a folded configuration to an open, extended configuration.

[0008] The vehicle body 32 comprises an upper and a lower section (see Figures 5(a and b)). The upper section of the vehicle body 32 can accommodate most of the bulky components of the cargo handling device. Typically, the upper section of the vehicle body houses the lifting mechanism and the drive mechanism for driving the wheels, along with an onboard rechargeable power supply for powering the drive mechanism and the lifting mechanism.

[0009] The lower part of the vehicle body 32 includes a wheel assembly that is driven to allow the vehicle to move along the rails in the X and Y directions, 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, is positioned to engage with 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, is positioned to engage with two adjacent rails of the second set 22b of rails 22. One or both sets of wheels may be moved vertically to lift each set of wheels away from their respective rails, thereby allowing the vehicle to move in the desired direction. When the first set of wheels 34 engages with the first set 22a of the track or rails and the second set of wheels 36 is lifted away from the track or rails 22, the wheels 34 may 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 away from the track or rail 22, and the second set of wheels 36 is lowered to engage with the second set 22b of the track or rail. The 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 may be moved vertically to lift the wheels of each set away from their respective rails, thereby allowing the vehicle to move in a desired direction on the track system.

[0010] The wheels are positioned at the bottom around a cavity or recess known as a container receiving recess 40. The recess 40 is sized to accommodate a storage container or container 10 when the storage container or container 10 is lifted by a crane mechanism equipped with a winch, as shown in Figures 5(a and b). When the container is in the recess, it is lifted away from the rails below, and as a result the vehicle or loading / unloading device can move laterally to different locations. The container receiving space 40 is shown in Figure 5 as being located within the vehicle body 32, while the container receiving space may be located below the cantilever, as described in WO2019 / 238702 (Autostore Technology AS).

[0011] A typical storage and retrieval system 1 is shown in Figure 3, which has multiple active loading / unloading devices 30 on a grid above a stack 12. Figures 1 and 3 show containers or storage containers 10 in a stack 12 within a storage system. It will be understood that in any given storage system, there may be a large number of storage containers or containers 10, many different items may be stored in the containers 10 in the stack 12, and each container 10 may contain different categories of inventory items within a single stack 12.

[0012] Upon receiving a customer order, a robotic loading / unloading device, capable of moving along a track, is instructed to pick up a storage container containing the ordered items from a stack in a grid framework structure and transport the container to a pick station where the items can be retrieved from the storage container. Typically, the loading / unloading device transports the storage container or container to a container lifting device integrated into the grid framework structure. The mechanism of the container lifting device lowers the storage container or container to the pick station. Alternatively, the storage container is lowered to the pick station by the lifting mechanism of the robotic loading / unloading device.

[0013] A grid framework structure is not typically used to store storage containers, but has at least one grid cell or storage column that has a location from which a loading / unloading device can drop off and / or pick up storage containers, thereby allowing the storage containers to be transported to a second location (not shown in the prior art figures) from which the storage containers can be accessed from outside the grid framework structure or transported to or from outside the grid framework structure. In the art, such a location is typically referred to as a “port,” and the grid cell or storage column in which the port is located may be referred to as a “delivery column.” A storage column typically comprises two delivery columns. The first delivery column may be equipped with a dedicated drop-off port from which a robotic cargo handling vehicle or cargo handling vehicle can drop off storage containers that are to be transported, for example, through the delivery column and further to a pick station, and the second delivery column may be equipped with a dedicated pickup port from which a robotic cargo handling vehicle can pick up storage containers that have been transported from the pick station through the second delivery column, that is, storage containers are sent to the pick station via the first delivery column and leave the access station via the second delivery column.

[0014] At the picking station, items are removed from storage containers. Picking can be done manually or by robot. After removal from the storage container, the container is transported to a second container lifting device, where it is lifted to grid level for pickup by a loading handling device and transported to its original location within the grid framework structure. Alternatively, the storage container may be picked up by the lifting mechanism of a robotic loading handling device via a pickup port. Control and communication systems track the location of the storage containers and their contents within the grid framework structure.

[0015] Since individual storage containers are stacked vertically in layers within storage columns, their locations in the grid framework structure or "hive" can be indicated using three-dimensional coordinates to represent the position of the loading / unloading equipment or container and the container depth (e.g., a container at (X, Y, Z), depth W). Similarly, locations in the grid framework structure can be indicated in two dimensions to represent the position of the loading / unloading equipment or container and the container depth (e.g., a container at container depth (e.g., (X, Y), depth Z). For example, Z=1 identifies the top layer of the grid, i.e., the layer directly below the rail system, Z=2 is the second layer below the rail system, and so on down to the bottommost layer of the grid. WO2015 / 185628A describes a storage and fulfillment system in which stacks of storage containers are located within a grid framework structure. Containers are accessed by loading / unloading equipment that operates on tracks located at the top of the grid framework structure.

[0016] The system described with reference to Figures 1 to 3 has many advantages and is suitable for a wide range of storage and retrieval operations. In particular, the described system enables very high-density storage of products and provides a very economical way to store a wide range of different items in containers 10 while allowing reasonably economical access to all containers 10 when needed for picking.

[0017] As e-commerce continues to grow and overtake traditional brick-and-mortar retail, many businesses face the challenge of maintaining or gaining relevance in the online marketplace and being able to compete with established players in that space. A typical supply chain involves the storage and retrieval of numerous different products. For example, an e-commerce and retail platform selling multiple product lines requires a system capable of storing hundreds of thousands of different product lines with varying temperature requirements. Different product items need to be maintained at different specified temperatures within the storage system while these product items are stored and / or transported, and / or while orders are being fulfilled. Some product items need to be kept in a refrigerated or frozen environment to ensure freshness, while others can be stored or transported at ambient temperature. For example, if an order for one or more items involves the delivery of perishable food and groceries, the storage of the goods must adhere to strict temperature and environmental requirements, such as refrigerated or frozen temperatures. For example, some types of food require a low temperature environment (typically between 1°C and 8°C), some types require an even lower temperature environment (typically below -15°C), and others require a higher temperature environment (typically above 10°C).

[0018] WO2021209648 (Ocado Innovation Ltd) teaches a multi-temperature storage system comprising a storage structure including a plurality of upright members, a plurality of horizontal members supported by the upright members and forming a grid pattern defining a plurality of grid cells, thereby enabling containers to be placed in a stack below the grid cells defined by the grid pattern, and a track system located above the horizontal members. The track system is configured to enable a cargo handling device to move across the storage structure to remove containers from a stack. The multi-temperature storage system further comprises temperature control means configured to maintain a first temperature region within the storage structure at a first temperature and a second temperature region within the storage structure (1) at a second temperature.

[0019] WO2021038437 (Attabotics Inc.) teaches a multizone automated storage and retrieval system (ASRS) comprising first and second storage zones separated by at least one partition, each comprising first and second groups of storage locations for housing storage units therein. The multizone ASRS includes one or more portals opening through partitions between storage zones, and at least one track layout. The track layout includes first and second track areas occupying the first and second storage zones, respectively, and one or more connecting track segments interconnecting the first and second track areas through portals. The RSRV places storage units into storage locations and retrieves storage units from storage locations, moving them along the first and second track areas via connecting track segments, and from there accessing the first and second groups of storage locations, respectively.

[0020] For temperature-sensitive goods or items, such as frozen or refrigerated items, it is essential that the temperature of these goods or items be strictly monitored or tracked. Without any form of temperature monitoring, there is a risk that the temperature of items or goods stored in one or more storage containers may exceed the legally mandated intended storage temperature. For example, refrigerated items or goods such as milk and cheese must be kept below 8°C by law. Temperatures exceeding this not only violate the legal requirements for the storage of refrigerated goods or items, but in the worst case, can lead to spoilage of such goods or items. The problem of monitoring or tracking the temperature of stored goods or items is exacerbated, as mentioned above, when there is a high-density arrangement of stacks of storage containers.

[0021] Therefore, there is a need for a system that can monitor or track the temperature of temperature-sensitive goods or items stored in a storage and retrieval system. [Overview of the Initiative]

[0022] One option for monitoring or tracking the temperature of temperature-sensitive goods being stored is to provide one or more temperature sensors distributed across multiple stacks of storage containers. For example, one or more wireless temperature sensors that sense the temperature inside a given storage container and wirelessly transmit the temperature signal to a remote base unit for processing may be installed in one or more storage containers in one or more stacks of storage containers. The base unit may comprise, for example, a personal digital assistant (PDA), a computer, or any other electronic device with suitable data processing capabilities and a communication link. Alternatively, the base unit may redirect the signal to a control system via a communication link with suitable processing capabilities.

[0023] Multiple wireless temperature sensors may be installed at regular intervals within multiple stacks of storage containers to provide indication of the temperature distribution within the storage system. For example, multiple wireless temperature sensors may be installed at different container depths Z within a single stack of storage containers. Storage containers in such a storage system are typically made of thermoplastic material and may be formed, for example, by injection molding or blow molding. Examples of thermoplastic materials include polypropylene, polyethylene (e.g., high-density polyethylene (HDPE)), acrylonitrile butadiene styrene (ABS), and polycarbonate. The use of plastic material allows for the transmission of wireless signals from the wireless temperature sensors through the walls of the storage containers with minimal attenuation of the wireless signals or with minimal impact on their intensity. The signals from multiple wireless temperature sensors are strong enough to allow the signals to be processed and provide temperature indication when they reach the base unit or control system. However, a problem associated with using thermoplastic storage containers in the above-described storage system is that thermoplastic storage containers are highly flammable and may emit toxic fumes. Considering that storage systems can include hundreds or even thousands of storage containers, these containers can pose a significant risk in the event of a fire.

[0024] This problem is mitigated by manufacturing the storage containers from metal. Compared to plastic materials, using metal to manufacture the storage containers allows them to withstand much higher temperatures before collapsing in the event of a fire and to emit little to no toxic fumes. In addition, more of the material of the storage containers is easily recyclable, making the storage containers of the present invention more environmentally friendly. WO2022229453 (Ocado Innovation Ltd) teaches a storage and retrieval system comprising multiple stacks of storage containers, where each storage container in the multiple stacks comprises a metal container body comprising a container bottom wall and opposing side and end walls that stand upright, forming a box-like structure with an open end for receiving one or more items within the box-like structure. Each stack of the multiple stacks of metal storage containers is located below the track system and occupies a single grid space or grid cell. However, a problem associated with having multiple stacks of metal storage containers for storing goods is that the metal storage containers cannot transmit wireless signals through the multiple stacks of storage containers. Multiple stacks of metal storage containers can function like a Faraday cage, shielding or blocking the transmission of any radio signals from one or more radio temperature sensors stored inside the metal storage containers, thereby eliminating the ability to monitor or track the temperature of goods.

[0025] The present invention mitigates the above problem by providing a wireless path between multiple stacks of metal storage containers for the transmission of wireless signals from at least one environmental sensor to a remote base unit outside the grid framework structure. For the purposes of the present invention, the environmental sensor may be any type of sensor used to measure temperature and / or humidity.

[0026] More specifically, the present invention relates to a storage and retrieval system, a) A grid framework structure comprising a plurality of storage columns for storing a plurality of stacks of storage containers, wherein the track system comprises a plurality of tracks arranged in a grid pattern, having a plurality of grid cells disposed above the plurality of storage columns for guiding one or more robotic payload handling devices on the grid framework structure, and the plurality of tracks are arranged such that each of the plurality of storage columns is beneath a single grid cell. b) A plurality of stacks of storage containers, wherein each storage container of the plurality of stacks of storage containers comprises a bottom wall and upwardly standing side walls and end walls, each stack of the plurality of stacks of storage containers occupies a single one of the plurality of storage columns, and the plurality of stacks of storage containers comprises a plurality of first type storage containers having a metallic container body and a plurality of second type storage containers having a wireless transmittable container body. c) An environmental monitoring system, i) At least one environmental sensor comprising a wireless communication device for transmitting environmental data, wherein the at least one environmental sensor is stored in at least one of the plurality of second type storage containers to define a sensor container. ii) A base unit external to the grid framework structure, wherein the base unit comprises a wireless communication device for receiving environmental data from the communication device of the at least one environmental sensor. An environmental monitoring system comprising, The plurality of stacks of storage containers are arranged such that the sensor container is adjacent to at least one of the other ones of the plurality of second type storage containers, thereby providing a path outside the grid framework structure for transmission of a wireless signal from the at least one environmental sensor to the base unit, providing a storage and retrieval system.

[0027] For purposes of the definition, "other" of the plurality of second type storage containers is a second type storage container that does not include at least one environmental sensor, i.e., a non-sensor container. Adjacent to at least one of the others of the plurality of second type storage containers with a sensor container creates a path for a wireless signal to be transmitted from at least one environmental sensor through the second type storage container. Compared to the first type storage container with a metal body, the second type storage container comprises a wirelessly transmissive container body capable of transmitting a wireless signal without loss of signal strength or with minimal loss. Optionally, the wirelessly transmissive container body comprises a plastic material and / or one or more openings in an upwardly standing sidewall and / or end wall and / or bottom wall of the plurality of second type storage containers. One or more openings in any one of the walls of the storage container allows for the transmission of a wireless signal through one or more of the storage containers.

[0028] There are a number of ways in which a path for the transmission of a wireless signal from at least one environmental sensor can be created between multiple stacks of metal storage containers. Optionally, the multiple stacks of storage containers are arranged such that at least one of the upwardly standing sidewalls and / or end walls of the sensor container is adjacent to at least one of the others of the plurality of second type storage containers. Optionally, the multiple stacks of storage containers are arranged such that the bottom wall of the sensor container is adjacent to at least one of the others of the plurality of second type storage containers. Optionally, the plurality of second type storage containers are arranged within at least one vertical stack so as to create a path along at least one vertical stack for the transmission of a wireless signal outside of the grid framework structure. Having at least one stack of the plurality of second type storage containers provides a path between the plurality of first type storage containers for the transmission of a wireless signal from at least one environmental sensor to a base unit outside of the grid framework structure.

[0029] Optionally, multiple first-type storage containers are arranged in multiple vertical stacks of first-type storage containers, and these multiple vertical stacks of first-type storage containers are arranged around or surrounding at least one stack of multiple second-type storage containers. Having multiple stacks of first-type storage containers, each comprising a metal container body, improves the fire resistance of the storage system, while the present invention still allows for monitoring or tracking of the environmental conditions of one or more storage containers deeply embedded within the grid framework structure by having at least one stack of second-type storage containers to create a path for transmitting wireless signals from at least one environmental sensor to a base unit located outside the grid framework structure.

[0030] To provide multiple paths for transmitting wireless signals to the outside of the grid framework structure, optionally, at least one vertical stack of multiple second-type storage containers comprises multiple stacks of second-type storage containers. Having multiple paths for transmitting wireless signals is particularly important when the storage system comprises a large number of densely packed stacks of storage containers. Optionally, the multiple stacks of second-type storage containers are distributed at regular intervals between multiple stacks of first-type storage containers such that each stack of the multiple stacks of second-type storage containers comprises one or more adjacent stacks of first-type storage containers.

[0031] However, having a relatively large number of densely packed stacks of the second type of storage containers compared to a stack of the first type of storage containers stored in a grid framework structure can adversely affect the fire safety of the storage and retrieval system. This is especially true when the second type of storage containers are formed from plastic material. Having a relatively large number of first type storage containers, in contrast to having a large number of densely packed stacks of the second type of storage containers, can adversely affect the transmission of radio signals from at least one environmental sensor to the base unit. As a compromise, a balance is required between the level of fire safety of the grid framework structure and the transmission of radio signals from at least one environmental sensor to the base unit with sufficient intensity in one or more of the second type of storage containers to allow the signals from at least one environmental sensor to be processed. The present invention has realized that by arranging stacks of the second type of storage containers in a regular pattern between stacks of the first type of storage containers, the transmission of radio signals from sensor containers to base stations can be improved without jeopardizing the fire safety of the storage and retrieval system. In one example of a storage and retrieval system, at least a portion of a stack of storage containers comprises a regular pattern of discrete M×N stacks of a second type of storage container, separated by one or more stacks of a first type of storage container, where M and N are 1 or greater. In other words, the stacks of the second type of storage container are distributed in a regular pattern within a matrix or array of the first type of storage containers, forming discrete islands of one or more stacks of the second type of storage containers. For illustrative purposes, a discrete M×N stack of the second type of storage container includes adjacent or neighboring stacks of M×N stacks of the second type of storage container distributed within a matrix of the first type of storage containers.At least one environmental sensor is stored in one or more storage containers in an M×N stack of second-type storage containers to provide a wireless signal path to the outside of the grid framework structure.

[0032] There are various ways in which stacks of the second type of containers can be arranged within a matrix of first type of storage containers. Optionally, the values ​​of M and N can be 2 or greater. Optionally, M and N are equal to 2, thereby at least a portion of the stacks of storage containers are arranged in a regular pattern, i.e., a 2x2 array of second type storage containers separated by one or more stacks of first type storage containers. The 2x2 array of second type storage containers surrounded by first type storage containers provides optimal fire safety for the storage and retrieval system and allows the transmission of wireless signals to the outside of the grid framework structure through the 2x2 stacks of second type storage containers. In the case of a box-shaped second type storage container having a bottom wall and upward-facing side walls, the term “surrounded” is interpreted to mean that the upward-facing side walls of the second type storage container are adjacent to or adjacent to a metal storage container.

[0033] To provide indication of the distribution of the environment (e.g., temperature and / or humidity) within one or more stacks of storage containers, optionally, at least one environmental sensor is provided, and the multiple environmental sensors are stored in two or more storage containers of a plurality of second-type storage containers, such that they define a plurality of sensor containers. Optionally, the multiple environmental sensors are distributed among the plurality of second-type storage containers at regular intervals along at least one vertical stack of the plurality of second-type storage containers. Distributing the multiple environmental sensors at regular intervals along at least one vertical stack of the plurality of second-type storage containers provides indication of the environment within the storage containers at different container depths within the stack. Furthermore, at least one stack may indicate the sensing environment of adjacent stacks of storage containers, even if adjacent stacks of storage containers are of the first-type storage containers.

[0034] It is not necessary for all of the multiple second-type storage containers in a given stack to be equipped with at least one environmental sensor to monitor or track environmental conditions at different container depths. For example, the distribution of multiple environmental sensors along a given stack of second-type storage containers may be such that the number of sensor containers is less than the number of other second-type containers.

[0035] Optionally, at least one environmental sensor comprises a temperature sensor and / or a humidity sensor. Thus, at least one environmental sensor in at least one second type storage container can monitor or track the temperature in at least one second type storage container. This is useful for monitoring or tracking the condition of temperature-sensitive items or goods being stored to ensure they are kept within the desired temperature range before being fulfilled for a customer order. For radio signals to be transmitted outside the grid framework structure, creating a path between multiple metal storage containers by using plastic containers allows the base unit to receive signals from multiple temperature sensors distributed among the densely packed arrangement of the storage container stacks. Furthermore, having multiple first type storage containers with metal container bodies improves the fire resistance of the storage system.

[0036] In addition to measuring temperature, at least one environmental sensor may be equipped with a humidity sensor. Humidity sensing data can be used in conjunction with temperature sensing data to calculate the dew point in any one of several storage containers in a storage system. This is particularly important when the storage containers are stored at refrigerated or freezer temperatures. Moving such storage containers from a low-temperature environment to a warmer environment, such as the ambient environment, can cause condensation on the storage containers and their contents. This is especially true when moving a first type of storage container, which has a metal body, to a warmer environment, such as an inventory handling station, such as a picking station for retrieving one or more items from the storage containers to fulfill a customer order. To mitigate condensation on such storage containers, it is important that the temperature of the storage containers is lower than the dew point temperature of the warmer environment. Various methods can be used in the warmer area to change the dew point temperature so that it is lower than the temperature of the storage containers. For example, changing the moisture content of the air in the warmer area to a drier environment, i.e., reducing the moisture content, has the effect of lowering the dew point temperature. The same is true when the warmer area is within the storage system. In this case, when moving storage containers and / or goods from a low-temperature area for storage in the storage system, it is necessary to determine the dew point temperature in the storage system. The calculated dew point temperature will determine the risk of condensation when the storage containers are moved to the storage area in the storage system. The second type of storage container provides a path for transmitting wireless signals to the outside of the grid framework structure, so that the dew point temperature of any particular storage container deeply embedded in the storage system can be provided, thereby providing an indication of condensation.

[0037] Optionally, this system can be further equipped with an environmental control system, which is: i) Receiving temperature and humidity sensing data from a temperature sensor and a humidity sensor, ii) Processing temperature and humidity sensing data in order to provide dew point indication, It is configured to perform the following actions.

[0038] Optionally, this system may include multiple robotic loading / unloading devices for lifting and moving storage containers stacked in storage columns, the multiple loading / unloading devices being remotely controlled to move laterally on a track system above the multiple storage columns to access the storage containers through grid cells, each of the multiple robotic loading / unloading devices being a) A wheel assembly for guiding a cargo handling device on a track system, b) A container receiving space located above the orbital system, c) A lifting device positioned to lift a single container from the stack into the container receiving space, It is equipped with.

[0039] Further features and aspects of the present invention will become apparent from the following detailed description of exemplary embodiments made with reference to the drawings. [Brief explanation of the drawing]

[0040] [Figure 1] Figure 1 is an example of a grid framework structure showing a storage area with multiple stacks of storage containers. [Figure 2] Figure 2 is a schematic diagram, viewed from above, showing a stack of containers arranged within the framework structure of Figure 1. [Figure 3] Figure 3 is a schematic diagram of a storage and retrieval system showing cargo handling equipment operating on a grid framework structure. [Figure 4] Figure 4 is a schematic perspective view of the cargo handling device, showing the container receiving space inside the main body of the cargo handling device. [Figure 5] Figures 5(a) and 5(b) are schematic perspective cutaway views of the cargo handling device shown in Figure 4, where (a) a container housed in the container receiving space of the cargo handling device and (b) the container receiving space of the cargo handling device. [Figure 6]Figure 6 is a perspective view of an automated storage and retrieval system according to an exemplary embodiment of the present invention. [Figure 7] Figure 7 is a top view of the automated storage and retrieval system shown in Figure 6. [Figure 8] Figure 8 is a cross-sectional perspective view of a grid framework structure showing the arrangement of a stack of second-type storage containers between first-type storage containers. [Figure 9] Figure 9 is a cross-sectional perspective view of a grid framework structure showing a stack of second-type storage containers surrounded by multiple stacks of first-type storage containers. [Figure 10] Figure 10 is a block diagram showing the control of a cooling system according to one embodiment of the present invention. [Figure 11] Figure 11(a, b, and c) is a plan view of a grid framework structure showing an array of multiple stacks of storage containers, where (a) shows a regular pattern of discrete 1x1 stacks of second type storage containers separated by first type storage containers, (b) shows a regular pattern of 2x2 stacks of second type storage containers separated by first type storage containers, and (c) shows a regular pattern of 7x10 stacks of second type storage containers separated by first type storage containers. [Modes for carrying out the invention]

[0041] The present invention has been devised for known features of storage systems, such as the grid framework structure and cargo handling devices described above, with reference to Figures 1 to 5 (a and b). Typically, there are numerous robotic cargo handling devices that can operate on track systems at all times.

[0042] Figure 6 shows a grid framework structure 114 comprising multiple storage columns 111 that provide a storage area for storing multiple stacks 112 of storage containers. Each of the multiple storage columns 111 is sized to store a single stack 112 of storage containers 110a, 110b. The multiple storage columns 111 can be defined by multiple vertical upright members 116 arranged to accommodate the four corners of the storage containers 110a, 110b. Alternatively, the multiple storage columns can be defined by multiple tote guides arranged in a support framework structure comprising multiple prefabricated modular panels arranged in a grid pattern, as taught in WO2022034195 (Ocado Innovation Ltd), details of which are incorporated herein by reference. In either case, the multiple storage columns provide a storage area for storing inventory in a high-density packed arrangement. When used to store temperature-sensitive goods or items, particularly food items, at least a portion of the grid framework structure is partitioned to accommodate a cooling system, such as a refrigerated unit, providing either a refrigerated zone or a freezer zone.

[0043] Various cooling systems known in the art are used to cool storage areas containing multiple stacks of storage containers, but it is essential that the temperature of the items or goods within the storage containers is maintained within their intended target temperatures. For perishable goods, legal requirements dictate that the goods be kept at a temperature of 1°C to 8°C, and for frozen goods, the goods should ideally be kept at a temperature of -18°C or lower. For more temperature-sensitive items such as fish, the temperature should ideally not exceed 5°C. The risk of spoilage of one or more perishable food items being stored increases when the temperature deviates from these temperature ranges for extended periods. For the purposes of this invention, a refrigerated zone or area operates within a target temperature range of 1°C to 8°C, and a freezer zone or area operates within a temperature range of -30°C to -18°C. Typically, a cooling system comprises one or more chillers or coolers or fans, etc., that control the temperature within an environment containing multiple stacks of storage containers. A chiller is, for example, an evaporator or evaporative cooler configured to have a wide range of cooling capacities to support cooling applications in storage and retrieval systems. These evaporative coolers cool the air through the evaporation of water within the storage and retrieval system. The chiller or fan is typically located above the track, and the system relies on the cool air flowing through the walls of the storage containers. For example, a cooling system such as that described in UK Patent Application GB1509661.3 (Ocado Innovation Limited), incorporated herein by reference, requires that air flow through the storage system as well as through the storage containers and stacks of storage containers, and discloses a storage system comprising one or more chillers for generating a temperature-controlled gas, one or more fans for circulating the temperature-controlled gas through the storage system, and a plenum for receiving the temperature-controlled gas. Furthermore, if a portion of the storage system needs to be cooled to a lower temperature to enable the storage of items that require cooling, such as fruits and vegetables, it is more important that the airflow through the system cools the items to be stored. To allow the cool air to flow through the stacks of storage containers, the walls of the storage containers are provided with one or more holes or openings.In combination with airflow through the storage system, providing holes or openings in the storage containers allows the temperature of items within the storage containers to be maintained at a uniform temperature throughout the storage system. Each of these storage containers allows air to flow through them when stacked in a grid framework structure. Furthermore, the holes, slots, or other forms of openings in the storage containers are positioned to align with each other when the stack is placed within the framework.

[0044] To monitor or track the temperature of goods in storage containers in one or more stacks of storage containers, one or more wireless temperature sensors 120 are distributed across multiple stacks of storage containers 110b, more specifically, one or more of the wireless temperature sensors are stored and installed in one or more storage containers. The wireless temperature sensors operate on the principle of generating wireless signals with temperature data that are transmitted via a communication link to a remote base unit 118 in the storage and retrieval system, which is to be processed to provide temperature indication. The base unit 118, as shown in Figure 6, is located outside the grid framework structure. Temperature signals from multiple storage containers in the storage area are transmitted wirelessly to the base unit 118 via a communication link. The base unit 118 optionally includes a processor for processing signals from the wireless temperature sensors to provide temperature indications inside the storage containers, or alternatively, the base unit may redirect the wireless signals to a central control system which includes a processor for processing the signals.

[0045] A communication link may be any communication link on a wireless network known in the art. A network may be, for example, a local area network, a wide area network, a virtual private network, the Internet, an intranet, an extranet, a public switched telephone network, an infrared network, a wireless network, and any combination thereof. Communication on a network may use, but is not limited to, any communication protocol commonly known in the art, including, but is not limited to, the Transmit Control Protocol / Internet Protocol ("TCP / IP"), Open System Interconnection ("OSI"), File Transfer Protocol ("FTP"), Universal Plug and Play ("UpnP"), Network File System ("NFS"), Common Internet File System ("CFIS"), and AppleTalk. A wireless signal may be electromagnetic waves (radio waves, microwaves, infrared rays, light, lasers, Lidar, terahertz radiation), sound, or any transmission medium that can be used for wireless communication.

[0046] Storage containers located on the outside of the grid framework structure benefit from the cooling effect of the cooling system because they are closest to the cooling system, while storage containers deeply embedded within the grid framework structure may not benefit from the maximum effect of the cooling system because they may be shielded by other storage containers from the surrounding stacks 112. As a result, the temperature of one or more storage containers and their contents embedded within multiple stacks of storage containers may fall below the required target storage temperature. For definitional purposes, a storage container deeply embedded between multiple stacks of storage containers is referred to as a “deeply embedded storage container.” To identify deeply embedded storage containers that may not reach the required target storage temperature, one or more wireless temperature sensors are installed in the storage container to monitor or track the temperature of the contents of the storage container. For definitional purposes, and to distinguish storage containers equipped with wireless temperature sensors from other storage containers in the storage system that do not have wireless temperature sensors, a storage container equipped with wireless temperature sensors is defined as a sensor container 122. The wireless temperature sensors 120 are strategically placed in the storage containers to provide temperature indications for the storage containers at different layers of the stack, from the bottom to the top. If Z is the depth of the container, with Z=1 being the top layer of the grid, i.e., the layer directly below the rail system, and Z=2 being the second layer below the rail system, and so on down to the bottom layer of the grid, then the wireless temperature sensors are placed at different container depths Z to provide temperature indications for the storage containers at different levels Z of the stack.

[0047] In certain embodiments of the present invention, a plurality of wireless temperature sensors 120 may be distributed across a plurality of stacks of storage containers 110b to provide indication of the temperature distribution within a stack of storage containers 112. The simplest approach would be to identify a stack of storage containers in a storage area that will represent the temperature distribution within a given area of ​​the plurality of stacks of storage containers, and to separately install the wireless temperature sensors 120 in one or more of the plurality of storage containers 110b in that stack 112. In certain embodiments of the present invention shown in Figures 6 and 8, the plurality of wireless temperature sensors 120 are installed at regular intervals in one or more storage containers 110b in a given stack 112 of storage containers, thereby separating storage containers equipped with wireless temperature sensors (i.e., defined herein as “sensor containers”) from one or more storage containers in the stack that do not have wireless temperature sensors. For example, in a given stack of nine storage containers shown in Figure 8, three of the storage containers 110b are equipped with wireless temperature sensors 120 such that they define sensor containers 122 at regular intervals along the height of the stack of storage containers. As shown in Figure 6, the bottom sensor container 120 at level Z=3 provides a temperature reading T1 in the stack, the middle sensor container at level Z=6 provides a temperature reading T2, and the top sensor container at level Z=9 provides a temperature reading T3. However, the present invention is not limited to separating sensor containers in a storage area by one or more storage containers. For example, in a given stack of storage containers, all storage containers may be sensor containers. In a refrigerated environment, in a given stack of storage containers, the temperature inside the storage containers should be kept within the legal limit of 1°C to 8°C. If the temperature of any storage container in a given stack of storage containers falls outside this temperature limit for an extended period, the storage containers are removed from storage and their contents are disposed of.

[0048] To mitigate spoilage of goods, particularly perishable food items, the control system 130 controls the cooling system 132 to control the temperature environment within the storage system 101 in response to temperature readings from the wireless temperature sensor 120. As shown in the block diagram in Figure 10, a feedback loop exists between the control system 130 and the wireless temperature sensor to continuously monitor the temperature of the storage containers (i.e., sensor containers). If any of the temperature readings fall outside the required temperature limit, the control system 130 adjusts the cooling system so that the temperature readings T1, T2, and T3 from the wireless temperature sensor 120 fall within the required temperature limit. Alternatively, the control system may instruct one or more robotic cargo handling devices, capable of operating on the track system 115, to reposition one or more storage containers so that they are exposed to the cooling system.

[0049] Not only are the wireless temperature sensors 120 distributed at regular intervals within a given stack of storage containers, but as shown in Figure 6, multiple stacks 112 of storage containers equipped with wireless temperature sensors 120 may also be distributed at regular intervals among multiple stacks 112 of storage containers, so that multiple storage containers equipped with wireless temperature sensors 120 are adjacent to one or more stacks of storage containers without wireless temperature sensors. The control system can generate a heat map showing the temperature distribution within the storage system to identify areas of storage areas that require further attention. For example, warmer areas of the storage system that are outside the required temperature range, in particular storage containers deeply embedded within the storage system, can be identified. Corrective measures can be taken, either by removing the contents of such storage containers or by rearranging such storage containers so that they are exposed to the cooling effect of the cooling system.

[0050] To provide temperature indication, the ability of the base unit 118 or the control system 130 to process radio signals from the radio temperature sensor depends on the strength and / or quality of the signal reaching the base unit, and consequently, on the level of signal attenuation before it is received by the base unit. Storage containers, which are mostly made of plastic material, offer little resistance to signals from the radio temperature sensor, and there is little loss of signal strength as they pass through the walls of the storage container. Examples of plastic materials include, but are not limited to, a variety of thermoplastic materials, including polypropylene, polyethylene (e.g., high-density polyethylene (HDPE)), acrylonitrile butadiene styrene (ABS), and polycarbonate. A problem associated with using thermoplastic storage containers in the storage system described above is that thermoplastic storage containers are highly flammable and can release toxic fumes, and given that the storage system may contain hundreds or thousands of storage containers, the storage containers pose a significant risk in the event of a fire.

[0051] This problem can be mitigated by fabricating storage containers from metal. Compared to plastic materials, using metal in the fabrication of storage containers allows them to withstand much higher temperatures before collapsing in the event of a fire and to emit little to no toxic fumes. However, compared to plastic materials, metal tends to attenuate radio signals, resulting in partial or complete loss of signals. Furthermore, multiple stacks of metal storage containers create an enclosure that blocks the transmission of radio signals from one or more radio temperature sensors stored within, eliminating the ability to generate a heat map of the storage area; in other words, multiple stacks of storage containers behave as a Faraday shield. As a result, there is a conflict between improving the fire resistance of the storage system and providing an environmental monitoring system for monitoring or tracking the temperature of the contents of the storage containers in the storage area.

[0052] In one aspect of the present invention, a path is provided between multiple stacks of metal storage containers for transmitting a wireless signal from one or more wireless temperature sensors in a storage area to a base unit 118. Since the base unit 118 is located outside the grid framework structure, ideally, the path should extend outside the grid framework structure for the signal to reach the base unit. In one example of a path, multiple plastic storage containers 110b may be stored between multiple metal containers 110a so as to provide a path for transmitting a wireless signal outside the grid framework structure. While the path between the multiple metal storage containers 110a is provided by the plastic storage containers 110b, the transmission of a wireless signal through the multiple storage containers is not limited to the plastic storage containers. For example, the bottom wall and / or the upward-facing side walls and / or end walls of the storage containers may have holes or openings for transmitting a wireless signal. Thus, for the purposes of definition, the multiple storage containers comprises multiple first type storage containers and second type storage containers. To improve the fire resistance of the storage area, the first type storage containers have a metal body. Since the transmission of wireless signals is not limited to plastic, the second type of storage container is not limited to plastic and comprises a wirelessly transparent container body. However, for the storage of food items, the bottom of the storage container needs to be leak-proof to prevent juices from one or more food items from contaminating one or more items stored in adjacent storage containers in a stack. Since plastic storage containers are leak-proof and the walls of the storage containers are transparent to wireless signals, specific examples of the present invention are described with reference to the second type of storage container (defined herein as a plastic storage container or plastic container) comprising a plastic container body. Similarly, the first type of storage container comprising a metal container body is defined herein as a metal storage container or metal container.

[0053] The wireless temperature sensor 120 may be stored in at least one of the plastic storage containers, and the other plastic containers may be arranged between multiple metal storage containers to create a path for transmitting wireless signals outside the grid framework structure. To facilitate the explanation of the present invention, in Figures 6 to 9, metal storage containers may be denoted by reference numeral 110a, and plastic storage containers may be denoted by reference numeral 110b. There are numerous ways in which multiple plastic storage containers 110b may be arranged between multiple stacks of metal containers 110a to provide a path for transmitting wireless signals to the base unit 118. In one example of the present invention, multiple plastic storage containers 110b are arranged in at least one stack 112, providing a path for transmitting wireless signals outside the grid framework structure. One or more of the plastic storage containers 110b in the stack are equipped with at least one wireless temperature sensor 120, thereby transmitting signals generated by the sensor 120 along the stack to be processed by a base unit or a separate control system outside the grid framework structure. Considering that the storage container comprises a bottom wall and upward-facing side and end walls, the path of the wireless signal passes through the bottom walls of adjacent plastic storage containers along the stack. This is indicated by the arrows along the stack of plastic storage containers 110b embedded between adjacent stacks of metal storage containers 110a shown in Figure 9. However, the present invention is not limited to arranging the multiple plastic storage containers in a stack to provide a path for transmitting wireless signals to the outside of the grid framework structure. For example, multiple plastic storage containers 110b may be arranged side by side, as indicated by the arrows in Figure 9, thereby allowing the wireless signal to travel through the upward-facing side and / or end walls of adjacent storage containers 110b. This creates a path along a row or level of multiple stacks of storage containers for transmitting wireless signals from a wireless temperature sensor in at least one of the plastic storage containers to the outside of the grid framework structure.In both cases, at least one sensor container 122, deeply embedded within a stack of storage containers, is always adjacent to a plastic storage container 110b in order to create a path for transmitting wireless signals along adjacent storage containers.

[0054] To generate a heat map showing the temperature distribution between multiple stacks of storage containers in a storage system, the storage system includes multiple wireless paths provided by multiple stacks of plastic storage containers 110b distributed between multiple metal storage containers 110a, as shown in Figure 6. The multiple stacks of plastic storage containers are arranged at regular intervals between the multiple metal storage containers so as not to significantly affect the fire resistance of the storage system comprising the multiple storage containers. To prevent the spread of fire to adjacent stacks of plastic storage containers, the multiple stacks of plastic storage containers are arranged such that each stack of the multiple stacks of plastic containers 110b is adjacent to one or more stacks of metal storage containers 110a. In a particular embodiment of the present invention shown in Figures 6, 7, 8, and 9, each stack of the multiple stacks of plastic containers 110b is surrounded by multiple stacks of metal containers 110a to provide a fire barrier to prevent or mitigate the spread of fire between the multiple stacks of plastic storage containers in the storage area. With regard to box-shaped plastic storage containers, the term “enclosed” is broadly interpreted to mean that the upward-facing side walls of the plastic storage container are adjacent to or next to one or more metal storage containers.

[0055] A different number of stacks of plastic storage containers (second type) 110b may be incorporated into a matrix of stacks of metal storage containers (first type) 110a to prevent the spread of fire to adjacent stacks of plastic containers 110b. The separation of one or more stacks of plastic storage containers 110b by the stacks of metal storage containers 110a provides a fire barrier to prevent the spread of fire from one or more stacks of plastic storage containers to adjacent stacks of plastic storage containers. Figures 11(a-c) show different examples of arrangements of multiple stacks of metal and plastic storage containers stored within a grid framework structure 114. In one extreme state shown in Figure 11(a), the arrangement of stacks of plastic and metal storage containers may be arranged such that multiple single stacks of plastic storage containers 110b exist within a matrix of stacks of metal storage containers 110a, such that each single stack of plastic storage containers 110b is surrounded by a stack of metal storage containers 110a. One or more of these single stacks of plastic storage containers 110b may be equipped with a sensor container for transmitting a wireless signal to and / or receiving a wireless signal from the base unit 118 outside the grid framework structure. In the particular example shown in Figure 11(a), a single stack of plastic containers 110b is arranged in a repeating pattern separated in the horizontal plane by seven stacks of metal storage containers in a first direction (X direction) and twelve stacks of metal storage containers in a second direction (Y direction), i.e., a regular pattern of 8 × 13 stacks of storage containers. The separation of a single stack of plastic containers by multiple stacks of metal storage containers provides improved fire safety to prevent the spread of fire to adjacent stacks of plastic containers. As a result, a less aggressive fire suppression system is required, such as a number of fire extinguishing equipment or sprinklers to extinguish any fire in one or more of the plastic storage containers, because the fire will be contained within a single stack of plastic containers.

[0056] However, the use of plastic materials in the manufacture of storage containers has advantages over the use of metal. These advantages include a high strength-to-weight ratio, rigidity and toughness, ductility, corrosion resistance, bioinertness, high thermal / electrical insulation, non-toxicity, and superior durability at a relatively low lifetime cost. Compared to plastic, metals tend to corrode more easily and are more prone to deformation when bent, i.e., have lower elasticity. As a result, for storage containers equivalent in terms of shape and weight, metal storage containers tend to be more expensive than their plastic counterparts. Reducing the cost of metal storage containers by using lower-cost metals such as galvanized steel may lead to food safety issues if food comes into direct contact with the metal. However, the main disadvantage of plastic compared to metal is that plastic is prone to fire spread in storage and retrieval systems.

[0057] To achieve the advantages of plastic storage containers while maintaining the fire safety aspects of metal storage containers, the multiple storage containers may be arranged such that the proportion of plastic storage containers 110b is greater among the stacks of metal storage containers 110a. In the specific example shown in Figure 11(b), the multiple storage containers are arranged such that there is a repeating pattern of discrete 2x2 stacks of plastic containers 110b within a matrix of stacks of metal storage containers 110a. This results in plastic storage containers accounting for 45% of the multiple storage containers and metal storage containers accounting for 55%. In the example shown in Figure 11(b), each discrete 2x2 stack of plastic storage containers is separated in the X and Y directions by one stack of metal storage containers; that is, a single wall of metal storage containers separates adjacent or neighboring 2x2 stacks of plastic storage containers in the X and Y directions. Thus, any fire in the plastic storage containers is contained within the discrete 2x2 stacks of plastic storage containers by the surrounding stacks of metal storage containers. This is considered the optimal arrangement of plastic and metal storage containers in a grid framework structure. However, the separation of a 2x2 stack of plastic storage containers is not limited to a single wall of metal storage containers, but is possible by one or more stacks of metal storage containers in the X and Y directions. In all cases, any fire that occurs in one or more plastic storage containers will be contained within the area of ​​the 2x2 stack of plastic storage containers, i.e., the stack of metal containers surrounding the plastic containers will function as a thermal shield.

[0058] In the other extreme state of fire safety shown in the storage container arrangement in Figure 11(c), plastic storage containers occupy a larger proportion of the total storage containers and therefore have the advantages of plastic storage containers, such as cost and elasticity mentioned above. In the specific example shown in Figure 11(c), the plastic storage containers are arranged in discrete 7 × 10 blocks or groups of stacks of plastic storage containers 110b, where the stacks of plastic storage containers are separated by two stacks of metal storage containers in the X and Y directions, forming a firewall between the blocks of plastic storage containers; i.e., plastic storage containers occupy 65% ​​of the total storage containers. The arrangement of plastic storage containers shown in Figure 11c benefits from the lower cost of plastic storage containers, but the fire is contained within larger groups of plastic storage containers. As a result, a larger fire suppression system, such as sprinklers, is required to extinguish a fire within a block of plastic storage containers. Various different arrangements of stacks of plastic containers separated by one or more stacks of metal storage containers are permitted in the present invention, between the two extreme states shown in Figures 11a and 11c. The arrangement of stacks of plastic storage containers separated by stacks of metal storage containers can be represented as a discrete M × N stack pattern of plastic storage containers separated by one or more stacks of metal storage containers, where M and N are 1 or greater. For example, Figure 11a shows a pattern of multiple stacks of plastic and metal storage containers when M and N are equal to 1, Figure 11b shows a pattern of multiple stacks of plastic and metal storage containers when M and N are equal to 2, and Figure 11c shows a pattern of stacks of plastic and metal storage containers when M is equal to 7 and N is equal to 10. The greater the number of stacks of plastic storage containers, the greater the risk of fire and the more extensive the fire suppression equipment required, but a lower-cost storage and retrieval system is provided.Conversely, a larger number of metal storage containers increases fire safety and reduces the need for large-scale fire suppression systems, but increases the cost of storage and retrieval systems.

[0059] Referring to Figure 11(a-c), in all the examples described above, the pattern of stacking plastic storage containers within a matrix of stacks of metal storage containers applies to at least a portion of the multiple storage containers. Depending on the location of the grid framework structure, one or more plastic storage containers may be exposed at the edges or corners of multiple stacks of storage containers, in which case those containers are surrounded on at least two sides by the stacks of metal containers, rather than all four sides. In this case, any exposed sidewalls of the plastic storage containers are easily accessible by fire extinguishing equipment, thereby minimizing the tendency for fire to spread to other stacks of plastic containers separated by one or more stacks of metal storage containers in the storage system.

[0060] While the sensor type in the specific example described above is a temperature sensor, the present invention is not limited to the sensor type being a temperature sensor, and the sensor can be any type of sensor. For the purposes of definition, the sensor may be broadly referred to as an environmental sensor. In addition to temperature sensors, examples of environmental sensors include, but are not limited to, humidity sensors. Data from temperature and humidity sensors can be used to provide indication of the dew point temperature of the storage environment. This is particularly important when the storage system is used to store temperature-sensitive goods, such as at refrigerated or frozen temperatures. Moving a storage container from a low-temperature environment to a warmer environment carries the risk of condensation of moisture from the air onto the storage container and / or any contents of the storage container if the temperature of the storage container is lower than the dew point temperature of the warmer environment. This is especially true when moving metal storage containers from a low-temperature region to a warmer region. By understanding a heat map showing the temperature distribution across multiple stacks of storage containers, it becomes possible to control the dew point temperature of the warmer region to be lower than the temperature of the storage container, thereby preventing condensation. Moving storage containers to warmer areas may be necessary to access the contents of the storage containers, for example, to pick items to fulfill customer orders. By measuring the environmental conditions inside the storage containers, the environment in the warmer areas may be adjusted to reduce condensation. For example, the moisture content in the warmer areas may be controlled by adjusting the humidity, for example, via a dehumidifier, to reduce condensation on the storage containers when they are removed from the storage area. Controlling the moisture content in the warmer areas may be based on ensuring that the temperature measurement of the storage containers is higher than the dew point temperature of the environment in the warmer areas.

[0061] Conversely, if the warmer region is a storage area comprising multiple stacks of storage containers, having a heatmap showing the distribution of dew point temperatures in the storage area allows for adjustment of the moisture content in the storage area to prevent condensation on the storage containers when one or more storage containers are moved from a low-temperature environment into the storage area. For example, when goods are moved from a distribution system into storage containers, the goods may be kept at a temperature lower than the temperature of the storage area in the grid framework structure. The control system may control one or more dehumidifiers in the storage system to ensure that the dew point temperature measured by wireless environmental sensors is lower than the temperature of the goods entering the storage system. Similar to the temperature sensors shown in Figure 10, the control system may control one or more dehumidifiers in the storage area via a feedback loop to control the dew point temperature within the storage containers.

[0062] In another alternative embodiment of the present invention, one or more stacks of metal storage containers may function as antennas for transmitting signals to a base station outside the grid framework structure. Thus, instead of using a stack of plastic storage containers to provide a path for transmitting radio signals from an environmental sensor through the walls of plastic storage containers, one or more stacks of metal containers may extend the signal range by functioning as an antenna or aerial. The environmental sensor comprises a transmitter and / or receiver configured to transmit and / or receive signals from a base station outside the grid framework structure. The transmitter of the environmental sensor may be mounted on at least one side wall of a given metal storage container in the stack of metal storage containers to extend the signal range along the stack of metal storage containers. Since the metal storage containers are in physical contact with each other in the stack, any signal transmitted by the transmitter will be transmitted along the stack of metal storage containers, thereby extending the range of the transmitter, i.e., the stack of metal storage containers functions as an antenna. Using a stack of metal storage containers as an antenna eliminates the need to have a separate stack of plastic storage containers to provide a path for radio signals. This further improves the fire safety aspects of the storage and retrieval system.

Claims

1. A storage and retrieval system, a) A grid framework structure comprising multiple storage columns for storing multiple stacks of storage containers, wherein a track system comprises multiple tracks arranged in a grid pattern, each track comprising multiple grid cells positioned above the multiple storage columns, for guiding one or more robotic loading devices on the grid framework structure, and the tracks are arranged such that each of the multiple storage columns is below a single grid cell. b) A plurality of stacks of storage containers, wherein each storage container in the plurality of stacks of storage containers comprises a bottom wall and upward-facing side walls and end walls, each stack of the plurality of stacks of storage containers occupies a single storage column of the plurality of storage columns, and the plurality of stacks of storage containers comprises a plurality of first type storage containers having a metal container body and a plurality of second type storage containers having a radio-transparent container body, c) An environmental monitoring system, i) at least one environmental sensor comprising a wireless communication device for transmitting environmental data, wherein the at least one environmental sensor is stored in at least one of the plurality of second types of storage containers to define a sensor container, ii) A base unit located outside the grid framework structure, wherein the base unit comprises a wireless communication device for receiving environmental data from the communication device of at least one environmental sensor. An environmental monitoring system equipped with, A storage and retrieval system in which a plurality of stacks of the storage containers are arranged such that the sensor container is adjacent to at least one of the other of the plurality of second types of storage containers, thereby providing a path to the outside of the grid framework structure for the transmission of the radio signal from the at least one environmental sensor to the base unit.

2. The system according to claim 1, wherein the wirelessly transparent container body is made of a plastic material and / or has one or more openings in the upward-facing side walls and / or end walls and / or bottom walls of the second type of storage container.

3. The system according to claim 1 or 2, wherein the stacks of the storage containers are arranged such that at least one of the upward-facing side walls and / or end walls of the sensor container is adjacent to at least one of the other of the plurality of second-type storage containers.

4. The system according to any one of claims 1 to 3, wherein the stacks of the storage containers are arranged such that the bottom wall of the sensor container is adjacent to at least one of the other of the plurality of second type storage containers.

5. The system according to claim 4, wherein the plurality of second types of storage containers are arranged within the at least one vertical stack to create the path along the at least one vertical stack for the transmission of the wireless signal to the outside of the grid framework structure.

6. The system according to claim 5, wherein the plurality of first type storage containers are arranged in a plurality of vertical stacks of first type storage containers, and the plurality of vertical stacks of first type storage containers are arranged around the at least one stack of the plurality of second type storage containers.

7. The system according to claim 6, wherein the at least one vertical stack of the plurality of second type storage containers comprises a plurality of stacks of the second type storage containers.

8. The system according to claim 7, wherein the plurality of stacks of the second type of storage container are distributed at regular intervals between the plurality of vertical stacks of the first type of storage container such that each stack of the plurality of stacks of the second type of storage container comprises one or more adjacent stacks of the first type of storage container.

9. The system according to any one of claims 1 to 8, comprising a regular pattern of discrete M x N stacks of the second type of storage containers, wherein at least a portion of the plurality of stacks of the storage containers is separated by one or more stacks of the first type of storage containers, and M and N are 1 or more.

10. The system according to claim 9, wherein M and N are 2 or more.

11. The system according to claim 10, wherein M and N are equal to 2, so that at least a portion of the stacks of the storage containers are arranged in a regular pattern of discrete 2x2 stacks of the second type of storage containers, separated by one or more stacks of the first type of storage containers.

12. The system according to any one of claims 1 to 11, wherein the at least one environmental sensor comprises a plurality of environmental sensors stored in two or more storage containers of the plurality of second types of storage containers, so as to define a plurality of sensor containers.

13. The system according to claim 12, wherein the plurality of environmental sensors are distributed among the plurality of second type storage containers at regular intervals along the vertical stack of the plurality of second type storage containers at least one of the second type storage containers.

14. The system according to claim 13, wherein in the vertical stack of the plurality of second-type containers, the number of sensor containers is less than the number of the other storage containers of the plurality of second-type containers.

15. The system according to any one of claims 1 to 14, wherein the at least one environmental sensor comprises a temperature sensor and / or a humidity sensor.

16. The system further comprises an environmental control system, and the environmental control system is i) Receiving temperature and humidity sensing data from the temperature sensor and the humidity sensor, ii) Processing the temperature and humidity sensing data in order to provide dew point indication, The system according to claim 15, configured to perform the following:

17. The system comprises a plurality of robotic loading / unloading devices for lifting and moving storage containers stacked within the storage columns, the plurality of loading / unloading devices being remotely controlled to move laterally on the track system above the plurality of storage columns to access the storage containers through the grid cells, and each of the plurality of robotic loading / unloading devices is a) A wheel assembly for guiding the cargo handling device on the track system, b) A container receiving space located above the orbital system, c) A lifting device arranged to lift a single container from the stack into the container receiving space, The system according to any one of claims 1 to 16, comprising:

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