Automated storage and retrieval system with container handling system and method thereof

Abstract

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

Description

[Technical Field]

[0001] The present invention relates to an automated storage and retrieval system, a container transport system using such a system, and a method for transporting storage containers through the container transport system. [Background technology]

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

[0003] The framework structure 100 comprises upright members 102 and storage volumes 104 comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106, also known as storage bins, are stacked on top of each other to form stacks 107. The members 102 may typically be made of metal, for example, extruded aluminum profiles.

[0004] The framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of the storage volume 104, on which a plurality of container handling devices 200, 300, 400 can be operated to raise, lower, and transport storage bins 106 from and into the storage rows 105. The rail system 108 comprises a first set of parallel rails 110 arranged across the top of the framework structure 100 to guide movement of the container handling devices 200, 300, 400 in a first direction X, and a second set of parallel rails 111 arranged perpendicular to the first set of parallel rails 110 to guide movement of the container handling devices 200, 300, 400 in a second direction Y that is perpendicular to the first direction X. The containers 106 stored in the rows 105 are accessed through access openings 112 in the rail system 108 by container handling devices 200, 300, 400. The container handling devices 200, 300, 400 can move laterally above the storage rows 105, i.e., in a plane that is parallel to the horizontal XY plane.

[0005] The upright members 102 of the framework structure 100 can be used to guide the storage bins 106 during their ascent out of and descent into the rows 105. The stacks 107 of storage bins 106 are typically self-supporting.

[0006] Each prior art container handling device 200, 300, 400 comprises a handling device body / vehicle body 201, 301, 401 and first and second sets of wheels 202a, 202b, 302a, 302b, 402a, 402b that allow lateral movement of the container handling device 200, 300, 400 in the X and Y directions, respectively. In Figures 2, 3, and 4, two wheels in each set are fully visible. The first set of wheels 202a, 302a, 402a is arranged to engage two adjacent rails of the first set of rails 110, and the second set of wheels 202b, 302b, 402b is arranged to engage two adjacent rails of the second set of rails 111. At least one of the wheel sets 202a, 202b, 302a, 302b, 402a, 402b can be raised and lowered so that the first wheel set 202a, 302a, 402a and / or the second wheel set 202b, 302b, 402b can be engaged with a respective set of parallel rails 110, 111 at any one time.

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

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

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

[0010] Each prior art container handling device 200, 300, 400 comprises a storage compartment or space for receiving and storing the storage bins 106 as they are transported across the rail system 108. The storage space may comprise a cavity arranged internally within the vehicle body 201, 301, 401, as presented in Figures 2 and 4 and as described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

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

[0012] 2 may have a footprint that generally covers an area with dimensions in the X and Y directions equal to the lateral extent of a storage row 105, for example, as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" may mean "horizontal."

[0013] Alternatively, the hollow container handling device / vehicle 400 may have a footprint that is greater than the lateral area defined by the storage row 105, as shown in Figures 1 and 4, for example, as disclosed in WO2014 / 090684A1 (Patent Document 3) or WO2019 / 206487A1.

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

[0015] WO2018 / 146304A1 (Patent Document 4), the contents of which are incorporated herein by reference, illustrates a typical configuration of a rail system 108, comprising rails and parallel tracks in both the X and Y directions.

[0016] In the framework structure 100, the majority of the rows 105 are storage rows 105, i.e., rows 105 where storage bins 106 are stored in stacks 107. However, some rows 105 may have other purposes. In FIG. 1, rows 119 and 120 are such special-purpose rows used to hand over and / or receive storage bins 106 so that they can be transferred by container handling devices 200, 300, 400 to access stations (not shown) where they can be accessed from outside the framework structure 100 or transported in and out of the framework structure 100. Within the art, such locations are typically referred to as "ports," and the rows in which the ports are located can be referred to as "port rows" 119, 120. Transfer to the access stations can be in any direction, be it horizontal, inclined, and / or vertical. For example, storage bins 106 may be placed in random or dedicated rows 105 within the framework structure 100 and then received by any container handling device and transported to port rows 119, 120 for further transport to an access station. Transport from the port to the access station may require movement along a variety of different directions by means such as a delivery vehicle, streetcar, or other transport line. Note that the term "inclined" refers to transport of storage bins 106 with a general transport orientation anywhere between horizontal and vertical.

[0017] In FIG. 1, the first port row 119 may be, for example, a dedicated delivery port row where the container handling devices 200, 300, 400 may deliver storage boxes 106 to be transported to an access or transport station, and the second port row 120 may be a dedicated receiving port row where the container handling devices 200, 300, 400 may receive storage boxes 106 transported from an access or transport station.

[0018] An access station may typically be a receiving or inventory station where product items are removed from or placed into storage bins 106. At a receiving or inventory station, the storage bins 106 are typically not removed from the automated storage and retrieval system 1, but once accessed, are placed back into the framework structure 100. A port can also be used to transport storage bins to another storage facility (e.g., another framework structure or another automated storage and retrieval system), a transfer vehicle (e.g., a train or carrier), or a production facility.

[0019] A conveyor system, comprising conveyors, is typically employed to transport storage boxes between the port rows 119, 120 and the access stations.

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

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

[0022] 1, when a storage bin 106 stored in one of the rows 105 is to be accessed, one of the container handling devices 200, 300, 400 is commanded to retrieve the target storage bin 106 from its location and transfer it to the row of transfer ports 119. This action involves moving the container handling device 200, 300, 400 to a location above the storage row 105 in which the target storage bin 106 is located, and using the lifting device of the container handling device 200, 300, 400 to retrieve the storage bin 106 from the storage row 105 and transfer the storage bin 106 to the row of transfer ports 119. If the target storage bin 106 is located deep within the stack 107, i.e., with one or more other storage bins 106 positioned above the target storage bin 106, the operation also involves temporarily moving the above-positioned storage bins prior to lifting the target storage bin 106 from the storage row 105. This step, sometimes also referred to in the art as “searching,” may be performed using the same container handling device used to subsequently transfer the target storage bin to the transfer port row 119, or using one or more other cooperating container handling devices. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling devices 200, 300, 400 specifically specialized for the task of temporarily removing the storage bin 106 from the storage row 105. Once the target storage bin 106 has been removed from the storage row 105, the temporarily removed storage bin 106 can be repositioned back into the original storage row 105. However, the removed storage bin 106 may alternatively be relocated to another storage row 105 .

[0023] When a storage bin 106 is to be stored in one of the rows 105, one of the container handling devices 200, 300, 400 is instructed to receive the storage bin 106 from the row of receiving ports 120 and transport it to a location above the storage row 105 where it is to be stored. After any storage bin 106 located at or above the target location in the stack 107 is removed, the container handling device 200, 300, 400 positions the storage bin 106 in the desired location. The removed storage bin 106 may then be lowered back into the storage row 105 or relocated to another storage row 105.

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

[0025] Automated storage and retrieval systems such as those described above are typically constructed to operate in areas at ambient temperatures, e.g., about 20°C. However, for certain types of products, the optimum storage temperature may vary. For example, it may be desirable to store food products at refrigerated temperatures, typically 1-4°C, or at freezer temperatures, typically below -18°C or below -20°C.

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

[0027] Automated storage and retrieval systems with different temperature zones and capable of temperature control are known. For example, Patent Publication WO 2015 / 124610 A1 (Patent Document 6) describes a system for receiving and storing processed refrigerated and frozen food products using multiple container handling vehicles operated on a rail system. In this prior art solution, storage bins are stacked below a common rail system in two different storage volumes separated by a wall. The container handling vehicles are allowed to move freely above the two storage volumes at an operating temperature, such as room temperature.

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

[0029] A prior art storage system, described in WO2019 / 001816A1 (Patent Document 7), shows a system with different temperature zones and means for transporting containers between the different temperature zones. To reduce temporary exposure of container handling vehicles to cold air, the solution includes elevators that allow the lowering and raising of storage bins between access points to the transportation zones.

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

[0031] A storage facility in which oxygen concentrations can be reduced to prevent the start of a fire is described in the article "WagnerImpulse" in The Wagner Group Customer Magazine (March 2018). The low oxygen concentration is obtained by forcing oxygen-depleted air through the storage facility.

[0032] The article does not offer any solutions for maintaining such low oxygen concentrations for extended periods of time, such as days. For example, the article does not show any way in which the storage system could be operated to transport storage bins in and out of the storage system without increasing the oxygen concentration, which would necessitate frequent exposure of the storage system to atmospheric air.

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

[0034] It is also an aim of the present invention to provide a solution that allows the loading and unloading of storage boxes in a storage system that are located in a space that has an environment different from the surrounding environment.

[0035] It is also an aim of the present invention to provide an automated storage and retrieval system that may allow for the storage of products for which the optimum storage temperature may deviate from ambient temperature. [Prior art documents] [Patent documents]

[0036] [Patent Document 1] International Publication No. 2015 / 193278 [Patent Document 2] International Publication No. 2019 / 206487 [Patent Document 3] International Publication No. 2014 / 090684 [Patent Document 4] International Publication No. 2018 / 146304 [Patent Document 5] International Publication No. 2014 / 075937 [Patent Document 6] International Publication No. 2015 / 124610 [Patent Document 7] International Publication No. 2019 / 001816 Summary of the Invention [Means for solving the problem]

[0037] The present invention is set out and characterised in the independent claims, while the dependent claims set out other preferred / optional features.

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

[0039] The storage and retrieval system may include a first storage volume that allows storage of the storage containers in a vertical stack, the storage volume including a rail system arranged above where the vertical stack of storage containers will be stored; a container transport space extending from a side of or arranged adjacent to the first storage volume and configured to hold at least one of the storage containers; a first container handling vehicle configured to lift the storage container from the first storage volume and transfer the storage container along the rail system to the container transport space by use of a lifting device; and a container transfer device (such as a multi-joint robotic arm and / or a second container handling vehicle) configured to lift the storage container from the container transport space and transfer the storage container to another location more distant from the first space.

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

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

[0042] The rail system includes a first set of rails and a second set of rails oriented perpendicular to the first set of rails, the intersections of which form a grid of grid cells defining grid openings that allow the first container handling vehicle to lift the storage containers therethrough. The rail system may continue into the second space.

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

[0044] A tunnel extending through the wall may be configured at the level of the rail system to allow transport of storage containers between the first space and the second space.

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

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

[0047] The internal cross-sectional area of ​​the tunnel, perpendicular to the rail system, should be equal to or greater than the corresponding cross-sectional area of ​​the resulting partition vehicle. The isolation between the first and second spaces is best achieved when the two areas are equal or nearly equal. Furthermore, the internal cross-sectional area should be larger than the storage containers to be transported.

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

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

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

[0051] Thus, the partition vehicle is constructed such that it may be able to reciprocate back and forth in the direction of movement of the storage containers as they are being transported from the first space to the second space, i.e., in the longitudinal direction of the tunnel, while at the same time maintaining a blocked or at least substantially blocked lateral area. The partition vehicle is thereby preferably able to separate the first space from the second space at at least one of the positions above the container transport space while reciprocating between the first and second partition spaces.

[0052] In an exemplary configuration, the first space is enclosed to prevent ambient fluids, such as gases, from entering in an uncontrolled manner. Thus, such an enclosure should not be construed as a completely gas-isolated space, but rather as being sufficiently enclosed to serve a specific purpose of the automated storage and retrieval system, e.g., to avoid significant temperature fluctuations between the first and second spaces and / or to avoid significant gas leakage between the first and second spaces. The enclosure surrounding the first space may therefore include various openings / venting systems, such as gas inlets with valves, to, for example, generate a more inert atmosphere and / or set the temperature of the first space at a temperature different from ambient temperature, to control ambient fluids from the first space in a controlled manner.

[0053] The term "enclosed first space" is defined herein as a space that is separated from its surroundings by walls. For example, if the first space is shaped as a rectangular parallelepiped, the term "enclose" refers to six walls that separate the space from its surroundings, and the term "walls" includes the floor and ceiling.

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

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

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

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

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

[0059] In yet another exemplary configuration, the automated storage and retrieval system includes a refrigeration unit configured to provide a temperature in the first space that is cooler than the temperature in the second space. Additionally, the walls may include an insulating material, such as expanded polystyrene or a similar foam material, to reduce thermal conductivity between the first and second spaces.

[0060] The refrigeration unit may be an air conditioning system that allows a compressed refrigerant chemical to evaporate from a liquid to a gas, absorbing heat in the process.

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

[0062] As used herein, air conditioning systems and refrigeration units are broadly defined as systems that operate over a large temperature range, e.g., -20 o Temperatures below C and ambient temperature (20 o C~25 o C, e.g., 23 o C), or -20 o C to ambient temperature, or -5°C to ambient temperature.

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

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

[0065] In yet another exemplary configuration, the partition vehicle may include a drive means for driving the partition vehicle between the first position and the second position.

[0066] Furthermore, movement of the partition vehicle is preferably achieved by use of a remote control system in signal communication with a controller arranged on the vehicle's vertically extending structure / vertical plate. The partition vehicle may also include sensors configured to detect the position of the partition vehicle relative to the tunnel, the sensors being in signal communication with the drive means either directly or via the remote control system. The tunnel may also carry such sensors.

[0067] In yet another exemplary configuration, the partition vehicle includes wheels configured to travel along the first set of rails. In such a configuration, the wheels should be designed to provide the necessary stability for the partition vehicle while avoiding obstacles to coordinate the first container handling vehicle and the container transfer device. Alternatively, or in addition, the partition vehicle may be suspended from the tunnel roof and / or supported on rails at the sides of the tunnel.

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

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

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

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

[0072] The desired seal against the tunnel wall may be achieved by a variety of means, such as brush seals, flaps, rolling seals, and / or air seals.

[0073] Seals, such as brush seals, flap seals, rolling seals, and / or air seals, may be provided on the interior surface of the tunnel either instead of or in addition to seals on the partition vehicle.

[0074] In yet another exemplary configuration, the partition vehicle includes a battery configured to provide electrical power to the drive means, the battery being rechargeable.

[0075] In yet another exemplary configuration, the partition vehicle includes insulation, such as expanded polystyrene or similar foam material, to reduce thermal conductivity between the first and second spaces through the tunnel. Such insulation may be configured for the particular design of the partition vehicle, for example, by providing insulation between the wheels.

[0076] In yet another exemplary configuration, the automated storage and retrieval system includes a floor that extends along the rail system, e.g., at least across the opening of the tunnel, e.g., at the first location and / or the second location.

[0077] The floor may comprise a plurality of floor plates, each having a length and width corresponding to a grid opening of the rail system.

[0078] Additionally, the floor may include thermal insulation to reduce the rate of thermal conductivity between the first space and the second space through the container transport space.

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

[0080] The container transport system includes a wall separating the automated storage and retrieval system into a first space and a second space, a tunnel extending through the wall and configured to enable transfer of storage containers between the first space and the second space, and a partition vehicle arranged within the tunnel.

[0081] The partition vehicle preferably includes insulation to reduce the rate of thermal conductivity between the first space and the second space through the tunnel.

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

[0083] The partition vehicles preferably extend laterally across the tunnel, for example, the partition vehicles may be arranged in a tightly fitted manner, i.e., the maximum cross-sectional area of ​​the vehicles is equal to or slightly less than the minimum cross-sectional area of ​​the tunnel.

[0084] In an exemplary configuration, the partition vehicle includes a member / wall section and a seal surrounding the edge of the member, which may contact the interior wall of the tunnel as the partition vehicle moves along the tunnel.

[0085] In another exemplary configuration, the partition vehicle includes a sensor configured to sense the position of the partition vehicle relative to the tunnel, and the sensor may be in signal communication with the drive means of the partition vehicle, either directly or via a remote control system.

[0086] In a third aspect, the present invention relates to a partitioned vehicle that can be arranged in a tunnel, the partitioned vehicle being equipped with insulation to reduce thermal conductivity between a first space and a second space located on opposite sides of the tunnel, and the partitioned vehicle being equipped with a drive means, such as belt- and / or shaft-driven wheels or two or four motorized wheels, to enable movement of the partitioned vehicle along the tunnel. If the vehicle body of the partitioned vehicle has a rectangular design, the partitioned vehicle may be equipped with four wheels, which may be installed at or near the lower corners of the vehicle body. The wheels enable movement of the partitioned vehicle in the X-direction. The motors driving the wheels may be DC motors.

[0087] The partition vehicle may comprise a vertically extending structure / wall member / upright partition and a seal surrounding the edge of the wall member, the seal contacting the interior wall of the tunnel as the partition vehicle moves along the tunnel. Further, the partition vehicle may be configured according to any of the features as described above with respect to the first or second aspects of the invention. Wheels may be located at or near the corners of the vertically extending structure.

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

[0089] In a fifth aspect, the present invention relates to a partition vehicle, which may include any of the features associated with the partition vehicle of the first or second aspects of the present invention, i.e., a vehicle body including several wheels, such as four or more wheels, that allow movement in the X-direction, wall members that form a cross-sectional area perpendicular to the X-direction defined by the wheels, and a seal surrounding the edge of the wall members. Further, the vehicle body may include an upright partition oriented perpendicular to the X-direction. At least two of the wheels on each side of the partition vehicle may be driven by a motor, such as a DC motor, fixed to the vehicle body and / or within the wheel. The wheels may be located at or near the corners of the vehicle body.

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

[0091] The method comprises: moving the partition vehicle to a second position so that the container transport space is accessible for the first container handling vehicle; lifting a storage container stored in the first storage volume using a lifting device that forms part of the first container handling vehicle; transferring the storage container into the tunnel; transferring the storage container into the container transport space; moving the partition vehicle to a first position such that the container carrying space is accessible for a container transfer device; Lifting the storage container from the container transport space; transporting the storage container to another location within the second space; Includes:

[0092] The method then comprises: The method may include returning the storage container from the second space to the first space. The method may also perform the steps as set forth above, but in reverse.

[0093] In an exemplary method of the sixth aspect, the container transfer device is a second container handling vehicle configured to transfer at least one of the storage containers along a rail system. In this exemplary method, the storage and retrieval system comprises a second storage volume contained within the second space and enabling storage of the storage containers in a vertical stack, and transfer of the storage container to another location within the second space is effected along the rail system.

[0094] The exemplary method may further include placing the storage container on the stack within the second storage volume.

[0095] In addition to solving or at least mitigating the problems described above and providing a solution for enabling the loading and unloading of storage bins within a storage system located within a space having an environment different from the surrounding environment, at least some of the example configurations have the following additional advantages: Providing an automated storage and retrieval system that allows for the safe long-term storage of biological species and / or fresh food products Providing an automated storage and retrieval system to prevent condensation on electronic devices in container handling vehicles during transport of storage boxes between zones Provision of an automated storage and retrieval system that significantly reduces the risk of fire initiation in or on the storage system during operation. The present invention provides, for example, the following items. (Item 1) An automated storage and retrieval system (1), comprising: a first storage volume (104) that allows for storage of storage containers (106) in a vertical stack (107); a rail system (108) arranged above where said vertical stack (107) of storage containers (106) will be stored; a container transport space (40) extending from a side of the first storage volume (104) and configured to hold at least one of the storage containers (106); a first container handling vehicle (200, 300, 400) configured to lift a storage container (106) from the first storage volume (104) and transfer the storage container (106) along the rail system (108) to the container transport space (40); a container transfer device (200, 300, 400) configured to lift the storage container (106) from the container transport space (40) and transfer the storage container (106) to another location, The rail system (108) comprises a first set of rails (110) and a second set of rails (111) oriented perpendicular to the first set of rails (110), the intersections of which form a grid of grid cells defining grid openings (115) through which the first container handling vehicle (200, 300, 400) can lift the storage containers (106). a container transfer device (200, 300, 400); a wall (6) separating a first space (2) of the automated storage and retrieval system, including the first storage volume (104), from a second space (3) of the automated storage and retrieval system, the wall (6) extending into the second space (3), the rail system (108); a tunnel (10) extending through the wall (6) at the height of the rail system (108), the tunnel (10) being configured to allow the transfer of storage containers (106) between the first space (2) and the second space (3); a partition vehicle (20) arranged within the tunnel (10), the partition vehicle (20) configured to move between a first position within the first space (2) of the automated storage and retrieval system and a second position within the second space (3); An automated storage and retrieval system (1). (Item 2) 2. The automated storage and retrieval system according to claim 1, wherein the first space (2) is sealed to prevent ambient gas from entering in an uncontrolled manner. (Item 3) 3. The automated storage and retrieval system of claim 1 or 2, wherein the container transfer device is a second container handling vehicle (200, 300, 400) configured to transfer the storage container (106) from the container transport space (40) along the rail system (108). (Item 4) The storage and retrieval system (1) further comprises: A second storage volume (104') contained within the second space (3) and allowing the storage of storage containers (106) in a vertical stack (107). Equipped with The container transport space (40) extends through the wall (6) between the first storage volume (104) and the second storage volume (104). Item 3. The automated storage and retrieval system described in item 3. (Item 5) 10. The automated storage and retrieval system according to claim 1, wherein the container transport space (40) is arranged below the rail system (108). (Item 6) An automated storage and retrieval system according to any one of the preceding items, wherein the container transport space (40) is positioned so that the central plane of the wall (6) intersects with the center of the container transport space (40). (Item 7) The automated storage and retrieval system (1) comprises a cooling unit (4) configured to provide a temperature in the first space (2) that is cooler than a temperature in the second space (3); The wall (6) is provided with a thermal insulating material to reduce the thermal conductivity between the first space (2) and the second space (3). 10. The automated storage and retrieval system according to any one of the preceding items. (Item 8) An automated storage and retrieval system as described in any one of the preceding items, wherein the partition vehicle (20) is provided with a driving means (22-26) for driving the partition vehicle (20) between the first position and the second position. (Item 9) The partition vehicle (20) is sensors (30, 31) configured to detect the position of the partition vehicle (20) relative to the tunnel (10), the sensors (30, 31) being in signal communication with the drive means (22-26); Item 8. The automated storage and retrieval system according to item 8. (Item 10) The automated storage and retrieval system of any one of the preceding items, wherein the partition vehicle (20) is provided with wheels (22) configured to move along the first set of rails (110). (Item 11) 2. The automated storage and retrieval system of claim 1, wherein the partition width of the partition vehicle (20) is equal to n times the width of the grid cell, where n is a positive integer. (Item 12) The partition vehicle (20) is a member (21) oriented parallel to the center plane of the wall (6); A seal (28) surrounding the edge of the plate (21) Equipped with the seal (28) is arranged to contact the inner walls (10a, b) of the tunnel (10) and the rail system (108) when the partition vehicle (20) is moving between the first position and the second position; 10. The automated storage and retrieval system according to any one of the preceding items. (Item 13) The storage facilities are a floor (11) extending along the rail system (108) across at least the opening of the tunnel (10) at least at the first position or the second position; An automated storage and retrieval system (1) according to any one of the preceding items, comprising: (Item 14) A method for transporting a storage container (106) between a first space (2) and a second space (3) in an automated storage and retrieval system (1) according to any one of items 1-13, said method comprising: moving the partition vehicle (20) into the second space (3) so that the container transport space (40) is accessible for the first container handling vehicle (200, 300, 400); lifting a storage container (106) stored in the first storage volume (104) using a lifting device (303, 403) that forms part of the first container handling vehicle (200, 300, 400); transferring the storage container (106) into the tunnel (10); transferring the storage container (106) into the container transport space (40); moving the partition vehicle (20) into the first space (2) so that the container transport space (40) is accessible for the container transfer device (200, 300, 400); Lifting the storage container (106) from the container transport space (40); transferring the storage container (106) to another location within the second space (3); A method comprising: (Item 15) the container transfer device is a second container handling vehicle (200, 300, 400) configured to transfer at least one of the storage containers (106) along the rail system (108); The storage and retrieval system (1) further comprises a second storage volume (104') contained within the second space (3) and allowing storage of storage containers (106) in a vertical stack (107); The transport of the storage container (106) to another location within the second space (3) is carried out along the rail system (108); The method further comprises: placing said storage container (106) on a stack (107) in said second storage volume (104'); Item 15. The method according to item 14, comprising: [Brief explanation of the drawings]

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

[0097] [Figure 1] FIG. 1 is a perspective view of a prior art automated storage and retrieval system comprising a rail system and a storage volume for storing stacks of containers, on which a plurality of remotely operated container handling vehicles operate.

[0098] [Figure 2] FIG. 2 is a perspective view of a prior art remotely operated vehicle having a centrally arranged cavity for transporting containers therein.

[0099] [Figure 3] FIG. 3 is a perspective view of a prior art remotely operated vehicle having a cantilever for transporting containers underneath.

[0100] [Figure 4] FIG. 4 is a perspective view of a prior art remotely operated vehicle having an internally arranged cavity for transporting containers therein, the cavity being offset from the center relative to the X-direction.

[0101] [Figure 5] FIG. 5 is a side view of an exemplary automated storage and retrieval system according to the present invention, comprising a rail system with a plurality of remotely operated container handling vehicles operating thereon and two storage volumes for storing stacks of containers, the two storage volumes being separated by a wall.

[0102] [Figure 6] FIG. 6 is a perspective view of a container handling vehicle and a portion of an exemplary container transport system including a wall, tunnel, and partition vehicle.

[0103] [Figure 7] 7A and 7B are perspective views of part of the container transport system in FIG. 6, with FIG. 7A showing the partition vehicle in position outside the tunnel and FIG. 7B showing a detailed view of part of the drive means of the partition vehicle.

[0104] [Figure 8] 8A and 8B are perspective views of a container handling vehicle and a portion of an exemplary container transport system, with FIGS. 8A and 8B showing the container handling vehicle on either side of a wall.

[0105] [Figure 9] FIG. 9 is a perspective view of a container handling vehicle and a portion of an exemplary container transport system, where the partition vehicle is arranged within a tunnel.

[0106] [Figure 10] Figure 10 is a perspective view of two container handling vehicles and a portion of an exemplary container transport system, where Figure 10A shows a partition vehicle at the opening of the tunnel toward the first space, Figure 10B shows the container handling vehicle being moved into a position within the tunnel to allow delivery of a storage container from the second space into the container transport space, Figure 10C shows the partition vehicle at the opening of the tunnel toward the second space, and Figure 10D shows the container handling vehicle being moved into a position within the tunnel to allow receipt of a storage container from the first space into the container transport space. DETAILED DESCRIPTION OF THE INVENTION

[0107] Detailed Description of the Invention In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings. Furthermore, even if some of the features are described only in relation to a system, a partition vehicle, an assembly of a tunnel and partition vehicle, or a container transport system, it is clear that they are equally valid with respect to the related methods and vice versa.

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

[0109] The system 1 of the present invention is divided into a first space 2 and a second space 3 by a separation wall 6 and a storage box transport space 40 (container transport space). Both the first space 2 and the second space 3 include storage volumes 104, 104′ with a common floor 14 having storage boxes 106 (storage containers) in a vertical stack 107. A rail system 108 extends above all three spaces 2, 3, 40, as described in connection with the prior art system of FIG. 1. The portion of the system 1 in the second space 3 also includes one or more port rows 119 for the delivery or receipt of storage boxes 106 to be transported to / from an access station 150. Further loading and unloading of the storage boxes 106 may be performed by an operator 151. The storage box transport space 40 is shown in FIG. 5 with a depth corresponding to containing one storage box 106. However, the storage box transport space 40 may be configured to accommodate a stack of storage boxes 107 with a depth greater than one storage box 106, for example, several (e.g., two or three) storage box depths, or even extending to the floor 14.

[0110] If the aim is to maintain the first space 2 at a different temperature to the second space 3, the separating wall 6 may comprise an insulating material such as polystyrene or fiberglass.

[0111] If the objective is to prevent the spread of fire from the first space 2 to the second space (or vice versa), the separating wall 6 may comprise (in addition to or as an alternative to insulating materials) fire-resistant materials such as fire-resistant glass, concrete, plaster, plaster, and brick.

[0112] The system 1 also includes a bin handling vehicle 300 (container handling vehicle) that operates on top of the rail system 108 in both the first and second spaces 2,3.

[0113] The storage box transport space 40 is configured to allow the storage box handling vehicle 300 to receive and deliver storage boxes 106 from both sides of the wall, and in Figure 5 is arranged directly below the rail system 108 between the first space 2 and the second space 3 and is centered along the X axis relative to the separation wall 6.

[0114] In addition to the floor 14, the storage system 1 comprises a ceiling / roof 15, a second vertical wall 16 arranged and oriented in the YZ plane opposite the storage volume 104 in the first space 2, and two additional walls (not shown in Figure 5) oriented in the XZ plane at the front and back, thereby enclosing the first space 2.

[0115] One or more through tunnels 10 are arranged through the wall 6 directly above the portion of the rail system 108 that covers the storage box transport space 40. The size of the tunnels 10 is large enough to allow storage boxes 106 to be transported between the first space 2 and the second space 3. The hole that needs to be made in the wall 6 to fit the storage box transport system should therefore be equal to or larger than the elevation of the tunnels 10 and the elevation of the storage box transport space 40.

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

[0117] When the system 1 is used to maintain an environment in the first space 2 that is different from the second space 3, e.g., an environment having a lower temperature and / or containing a different gas, the enclosed first space 2 may be made fluid-tight or nearly fluid-tight during periods when the partition vehicle 20 is installed in a closed position within the tunnel 10, e.g., at one of the two openings of the tunnel 10, referred to herein as the first and second partition positions.

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

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

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

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

[0122] With particular reference to Figure 7, the partition vehicle 20 comprises drive means 22-26 that enable the vehicle 20 to move in the X direction along the tunnel 10, a vertical and rectangular plate 21 oriented along the Y direction, seals 28 arranged along the upper and side edges of the plate 21, and sensor systems 30, 31 that enable monitoring of the position of the partition vehicle relative to the tunnel 10 and / or rail system 108.

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

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

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

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

[0127] With respect to the partition walls 6, the partition vehicle 20, floor plate 11, and / or tunnel 10 may be provided with insulating materials such as polystyrene, fiberglass, or polyurethane foam if the intention of the storage system 1 is to maintain the first space 2 and the second space 3 at different temperatures.

[0128] If the intention is fire protection, it is also possible to include fire-retardant materials in one or more of the space-dividing components (partition walls 6, partition vehicles 20, floor plates 11, tunnel 10). Examples of fire-retardant materials that may be used are fire-resistant glass, concrete, gypsum, plaster, and brick.

[0129] Still referring to FIG. 7, the drive means 22-26 of the partition vehicle 20 may comprise: Four partition vehicle wheels 22 that allow movement of the partition vehicle 20 in the X-direction along the rail system 108 Four wheel mounts 26 that rotatably connect the partition vehicle wheels 22 to the framework of the partition vehicle 20 Motor 24 A controller 27 that communicates with the motor 24 a drive shaft 23 rotatably coupled to at least two of the four partition vehicle wheels 22; a transmission belt 25 configured to transmit power from the motor 24 to rotate the drive shaft 23, thereby moving the partition vehicle 20 a desired length in the X-direction;

[0130] The controller 27 may be in wireless signal communication with a control system 109 that controls the bin handling vehicles 300 on the rail system 108 .

[0131] The sensor system 30, 31 typically comprises two position sensors 30 arranged on either side of the plate 21 and allowing monitoring of the position of the partition vehicle 20 relative to the underlying rail system 108 and / or external structures such as the tunnel 10. The two position sensors 30 are shown in Figures 6 and 7 in signal communication with each other and with the controller 27 through sensor wires 31.

[0132] When the intention of the system is to maintain a temperature in the first space 2 that is different from the temperature in the second space 3, for example, when the first space 2 is a deep-cold space and the second space 3 is an ambient space, the partition vehicle 20 may also be equipped with temperature sensors 30 on both sides of the plate 21, thereby allowing real-time monitoring of the temperature difference. This would again allow for the rapid detection of undesired temperature equalization throughout the tunnel 10 during storage box transport, for example due to a damaged seal 28.

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

[0134] In Figure 8A, a storage box handling vehicle 300 is moving on a rail system 108 towards a tunnel opening in the first space 2, carrying a storage box 106 to be transported. A partition vehicle 20 is aligned within this tunnel opening, thereby preventing the storage box handling vehicle 300 from accessing a storage box transport space 40 that is centrally located within the tunnel 10 in the X-direction.

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

[0136] FIG. 8B shows the situation on the other side of the wall 6, with the bin handling vehicle 300 moving within the second space 3 towards the tunnel opening opposite the opening shown in FIG. 8A.

[0137] Figure 9 is similar to Figure 8A, but shows a situation in which the partition vehicle 20 has moved to the opposite side of the tunnel 10 and the storage box handling vehicle 300 has moved inside the tunnel 10 so that the storage box 106 is aligned with the grid opening 115 above the storage box transport space 40.

[0138] 10A-D show the storage box 106 being moved from the second space 3 (e.g., ambient space at room temperature) to the first space 2 (e.g., 5 o 1 shows an exemplary sequence for transferring a sample to a deep cold space with temperatures below 100°C. (FIG. 10A) A partition vehicle 20 is moved to the opening of the tunnel 10 in the first space 2. (FIG. 10B) A storage box handling vehicle 300 in the second space 3 transports the storage box 106 into the tunnel 106 so that the storage box 106 is directly above a grid opening 115 that provides storage box access to the storage box transport space 40 that is arranged directly below the rail system 108. (Figure 10C) The storage box 106 is lowered into the storage box transport space 40 through the grid opening 115, the storage box handling vehicle 300 is moved out of the tunnel 10, and the partition vehicle 20 is moved to the opening of the tunnel 10 in the second space 3. (FIG. 10D) The storage box handling vehicle 300 in the first space 2 moves into the tunnel so that its lifting device 303 is vertically aligned with the grid opening 115 and the storage box 106 is lifted above the rail system 108 using the lifting device 303.

[0139] To at least reduce the risk of fire in the first space 2, the system may be equipped with a gas regulating device (not shown). The gas regulating device may comprise a gas container located outside the first space 2, a gas inlet leading into the first space 2, and a gas pipe in fluid communication between the gas container and the gas inlet. Using this arrangement, gas is allowed to flow between the gas container and the first space 2.

[0140] The gas container may include means for reducing the percentage of a gas element in a gas mixture, such as O gas in air. Such means are known in the art and therefore will not be further described herein.

[0141] In dry air, the concentration of the flammable gas oxygen is approximately 21%. If the oxygen concentration is reduced to 16% or less, the risk of fire is significantly reduced. In air, a fire could theoretically potentially occur due to, for example, sparks from the movement of the storage bin handling vehicle 300 and / or sparks from a charging station (not shown) for charging the batteries in the vehicle 300 and / or combustion of the contents in the storage bin 106 and / or accidental heating that may be caused by sunlight hitting flammable materials in the storage system 1.

[0142] The gas-tight separation between the first space 2 and the second space 3 ensures that the storage box handling vehicle 300 can store, remove, and deliver the storage boxes 106 to a work space that receives the storage boxes 106 and in which humans can work safely, such that the storage boxes 106 are located in an oxygen-reduced atmosphere that has a reduced or negligible risk of fire but may represent a health risk to humans.

[0143] Another example of a range of use for the storage system 1, which allows for control of gas concentrations, is the storage of fresh food. Prior art tests have shown that fruits such as apples can be best stored long-term in an atmosphere with 1% O and 1-2.5% CO. O gas may be replaced with N gas.

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

[0145] This fresh food configuration of the storage facility may be complemented by a fire suppression device to reduce fire hazards.

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

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

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

[0149] In the preceding description, various aspects of the automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. For purposes of explanation, specific numbers, systems, and configurations have been set forth to provide a thorough understanding of the system and its operation. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments and other embodiments of the system that are apparent to those skilled in the art to which the disclosed subject matter pertains should be considered within the scope of the present invention.

[0150] Reference Number / Letter List 1. Automated storage and retrieval system 2. First Space / Cold Space 3 Second Space / Ambient Space 4. Cooling System / Refrigerator 6 Separation wall 10. Tunnel 10a Tunnel roof 10b Tunnel side wall 11 Transport floor / floor plate of container transport space 40 14 beds 15 Roof 16 Exterior Wall 20 Partition Vehicles 21 Plate 22 Partition vehicle wheels 23 Drive shaft 24 motor 25 Transmission belt 26 Wheel mounting section 27 Controller 28 Seal / Rubber Frame 30 Position Sensor 31 Sensor wire 40 Container transport space / storage box transport space 100 Framework Structure 102 Uprights in storage volume 103 Horizontal members in storage volumes 104 First storage volume 104' Secondary Storage Volume 105 storage column 106 Container / Storage Container / Storage Box 106' Specific location of container / target container / target storage box 106'' empty storage space for containers / storage boxes 107 stacks 108 Rail System 109 Control System 110 Parallel rails in the first direction (X) 111 Parallel rails in the second direction (Y) 112 Grid Opening 119 First Port Queue / Transfer Queue 120 Second Port Queue / Receiving Queue 150 Access Station 151 Operator 200 Prior Art Container Handling Device / Remotely Operated Vehicle with Central Cavity 201 Loading device body / vehicle body 202a Drive means in the first direction (X) 202b Driving means in the second direction (Y) 300 Prior Art Container Handling Vehicle / Remotely Operated Vehicle with Cantilever / Storage Box Handling Vehicle 301 Loading device body / vehicle body 302a Drive means / wheel arrangement, first direction (X) 303b Drive means / wheel arrangement, second direction (Y) 303 Lifting Device 304 Gripper Elements 305 Guide Pin 400 Prior Art Container Handling Device / Remotely Operated Vehicle with Offset Cavity 401 Loading device body / vehicle body 402a Drive means / wheel arrangement, first direction (X) 402b Drive means / wheel arrangement, second direction (Y) 403 Lifting Device 404 Gripper Element 405 Guide Pin X first direction Y Second direction Z third direction

Claims

1. An automated storage and retrieval system (1), comprising: a first storage volume (104) allowing storage of storage containers (106) in a vertical stack (107); a rail system (108) arranged above where said vertical stack (107) of storage containers (106) will be stored; a wall (6) separating a first space (2) of the automated storage and retrieval system, including the first storage volume (104), from a second space (3) of the automated storage and retrieval system, the wall (6) extending into the second space (3), and the rail system (108); a tunnel (10) extending through the wall (6) at the height of the rail system (108), the tunnel (10) being configured to allow the transfer of storage containers (106) between the first space (2) and the second space (3); a partition vehicle (20) arranged in the tunnel (10), the partition vehicle (20) configured to move between a first position in the first space (2) of the automated storage and retrieval system and a second position in the second space (3); An automated storage and retrieval system (1) comprising:

2. 2. The automated storage and retrieval system of claim 1, wherein the first space (2) is sealed to prevent ambient gas from entering in an uncontrolled manner.

3. A container carrying space (40) extending from a side of the first storage volume (104) and configured to hold at least one of the storage containers (106). The automated storage and retrieval system (1) of claim 1 further comprising:

4. a first container handling vehicle (200, 300, 400) configured to lift a storage container (106) from said first storage volume (104) and transfer said storage container (106) along said rail system (108) to said container transport space (40); a container transport device (200, 300, 400) configured to lift the storage container (106) from the container transport space (40) and transport the storage container (106) to another location; Furthermore, 4. The automated storage and retrieval system of claim 3, wherein optionally the container transfer device is a second container handling vehicle (200, 300, 400) configured to transfer storage containers (106) from the container transport space (40) along the rail system (108).

5. The storage and retrieval system (1) further comprises: a second storage volume (104') contained within said second space (3) and allowing the storage of storage containers (106) in a vertical stack (107); Equipped with The container transport space (40) extends through the wall (6) between the first storage volume (104) and the second storage volume (104).

4. The automated storage and retrieval system of claim 3.

6. 4. The automated storage and retrieval system of claim 3, wherein the container transport space (40) is arranged below the rail system (108).

7. 4. The automated storage and retrieval system of claim 3, wherein the container transport space (40) is positioned such that the center plane of the wall (6) intersects with the center of the container transport space (40).

8. The automated storage and retrieval system (1) comprises a cooling unit (4) configured to provide a temperature in the first space (2) that is cooler than the temperature in the second space (3), The wall (6) is provided with a thermal insulating material to reduce the thermal conductivity between the first space (2) and the second space (3).

10. The automated storage and retrieval system of claim 1.

9. 2. The automated storage and retrieval system of claim 1, wherein the partition vehicle (20) comprises a drive means (22-26) for driving the partition vehicle (20) between the first position and the second position.

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

11. The automated storage and retrieval system of claim 1 , wherein the partition vehicle (20) comprises wheels (22) configured to move along a first set of rails (110).

12. 2. The automated storage and retrieval system of claim 1, wherein the partition width of the partition vehicle (20) is equal to n times the width of a grid cell, where n is a positive integer.

13. The partition vehicle (20) a member (21) oriented parallel to the central plane of said wall (6); a seal (28) surrounding the edge of the plate (21); Equipped with the seal (28) is arranged to contact the inner walls (10a, b) of the tunnel (10) and the rail system (108) when the partition vehicle (20) is moving between the first position and the second position; 10. The automated storage and retrieval system of claim 1.

14. The storage facilities are a floor (11) extending along the rail system (108) across at least the opening of the tunnel (10) at least at the first position or the second position; 2. The automated storage and retrieval system (1) according to claim 1, comprising:

15. 5. A method for transporting storage containers (106) between a first space (2) and a second space (3) in an automated storage and retrieval system (1) according to claim 4, said method comprising: moving the partition vehicle (20) into the second space (3) so that the container transport space (40) is accessible for the first container handling vehicle (200, 300, 400); lifting a storage container (106) stored in the first storage volume (104) using a lifting device (303, 403) that forms part of the first container handling vehicle (200, 300, 400); transferring said storage container (106) into said tunnel (10); transferring the storage container (106) into the container transport space (40); moving the partition vehicle (20) into the first space (2) so that the container transport space (40) is accessible for the container transfer device (200, 300, 400); Lifting the storage container (106) from the container transport space (40); transferring said storage container (106) to another location within said second space (3); A method comprising:

16. the container transfer device is a second container handling vehicle (200, 300, 400) configured to transfer at least one of the storage containers (106) along the rail system (108); The storage and retrieval system (1) further comprises a second storage volume (104') contained within the second space (3) and allowing storage of storage containers (106) in a vertical stack (107); The transport of the storage container (106) to another location within the second space (3) is carried out along the rail system (108); The method further comprises: placing said storage container (106) on a stack (107) in said second storage volume (104'); 16. The method of claim 15, comprising:

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