System and method for extracting energy from container handling vehicles

Abstract

A container handling vehicle for handling storage containers within a three-dimensional grid of a lower storage system, comprising: at least one lifting device for lifting the storage container from the lower storage system and lowering the storage container into the lower storage system, the lifting device comprising: a lifting frame for gripping the storage container; a winch system for lifting and lowering the lifting frame; a motor for driving the winch system; and a driver circuit having a controller for controlling the motor; and at least first and second rechargeable power sources for providing power to the motor, the driver circuit further comprising a regenerative energy circuit configured to extract energy from the motor when the lifting frame is lowered into the storage system.

Description

Technical Field

[0005]

[0001] The present invention relates to a system and method for capturing energy from a container handling vehicle that is powered by a rechargeable battery and handles storage containers within a three-dimensional grid of a lower storage system. More specifically, the present invention relates to a system and method for capturing energy from a container handling vehicle that is powered by a rechargeable power source and that handles storage containers within a three-dimensional grid of a lower storage system whose charge level is monitored and controlled.

Background Art

[0002] FIG. 1 discloses a typical prior art automated storage and retrieval system 1 having a framework structure 100, and FIGS. 2 and 3 disclose two different prior art container handling vehicles 201, 301 suitable for operating on such a system 1.

[0003] The framework structure 100 includes a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102. The members 102, 103 are typically made of metal and may be, for example, an extruded aluminum profile.

[0004] The framework structure 100 defines a storage grid 104 that includes storage rows 105 arranged in rows. Within the storage rows 105, storage containers 106, also known as storage boxes, are stacked on top of each other to form stacks 107. The storage grid 104 prevents horizontal movement of the stacks 107 of storage containers 106 and guides vertical movement of the containers 106, but typically does not support the storage containers 106 when stacked otherwise.

[0005] The automated storage and retrieval system 1 includes a rail system 108 arranged in a grid pattern across the top of a storage grid 104, on which multiple container handling vehicles 201, 301 are operated to lift storage containers 106 from storage rows 105, lower storage containers 106 into them, and transport storage containers 106 over storage rows 105. The rail system 108 includes a first set of parallel rails 110 arranged across the top of a frame structure 100 to guide the movement of container handling vehicles 201, 301 in a first direction X, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide the movement of container handling vehicles 201, 301 in a second direction Y perpendicular to the first direction X. In this way, the rail system 108 defines grid rows 112 on which container handling vehicles 201 and 301 can move laterally on the storage rows 105, that is, in a plane parallel to the horizontal XY plane.

[0006] Each of the prior art container handling vehicles 201, 301 comprises a vehicle body 201a, 301a, a first set of wheels 201b, 301b that enables lateral movement of the container handling vehicle 201, 301 in the X direction, and a second set of wheels 201c, 301c that enables lateral movement of the container handling vehicle 201, 301 in the Y direction. In Figures 2 and 3, the two wheels in each set are fully visible. The first set of wheels 201b, 301b is arranged to engage with two adjacent rails of the first set of rails 110, and the second set of wheels 201c, 301c is arranged to engage with two adjacent rails of the second set of rails 111. Each set of wheels 201b, 301b, 201c, and 301c can be raised and lowered so that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c can engage with their respective sets of rails 110, 111 at any given time.

[0007] Each of the prior art container handling vehicles 201, 301 also includes a lifting device 302 for vertical transport of a storage container 106, for example, to lift the storage container 106 from a storage row 105 and lower the storage container 106 into the storage row 105. The lifting device includes one or more gripping / engaging devices (not shown) adapted to engage with the storage container 106, and the gripping / engaging devices can be lowered from the vehicles 201, 301 so that the position of the gripping / engaging devices relative to the vehicles 201, 301 can be adjusted in a third direction Z perpendicular to a first direction X and a second direction Y.

[0008] Each of the prior art container handling vehicles 201, 301 is equipped with a storage compartment or space for receiving and storing the storage containers 106 when transporting them across the rail system 108. The storage space may comprise a centrally arranged cavity within the vehicle body 201a, as shown in Figure 2 and described, for example, in WO2015 / 193278A1 (the contents of which are incorporated herein by reference).

[0009] Figure 3 shows an alternative configuration of container handling vehicle 301 having a cantilever structure. Such vehicles are described in detail, for example, in Patent No. 317366 (the contents of which are also incorporated herein by reference).

[0010] The hollow container handling vehicle 201 shown in Figure 2 may have a footprint that covers the lateral range of grid row 112, i.e., an area having dimensions in the X and Y directions that are generally equal to the range of grid row 112 in the X and Y directions, as described, for example, in WO2015 / 193278A1 (the contents of which are incorporated herein by reference). The term “lateral” as used herein may mean “horizontal.”

[0011] Alternatively, the hollow container handling vehicle 201 may have a footprint larger than the lateral area defined by the grid row 112, as disclosed in, for example, WO2014 / 090684A1.

[0012] In the X and Y directions, neighboring grid cells are arranged to be in contact with each other, so that there is no space between them.

[0013] In the storage grid 104, the majority of the grid columns 112 are storage columns 105, i.e., grid columns 105 in which storage containers 106 are stored within the stacks 107. However, the grid 104 typically has at least one grid column 112, which is not used to store storage containers 106 but provides a location where container handling vehicles 201, 301 can drop off and / or receive storage containers 106 so that the storage containers 106 can be transported to an access station (not shown) that can be accessed from outside the grid 104 or transported in and out of the grid 104. In the art, such a location is typically referred to as a “port,” and the grid column 112 in which the port is located may be referred to as a “port column” 119, 120. Transport to the access station may be carried out in any direction, which may be horizontal, oblique, and / or vertical. For example, the storage container 106 may be placed in a random or dedicated grid row 112 within the storage grid 104, then received by any container handling vehicle, and transported to ports 119, 120 for further transport to access stations. Note that the term “diagonal” refers to the transport of the storage container 106 having a general transport orientation at a location between horizontal and vertical.

[0014] When a storage container 106 stored within the grid 104 disclosed in Figure 1 is to be accessed, one of the container handling vehicles 201, 301 is commanded to remove the target storage container 106 from its position in the grid 104 and transport it to the transfer port 119. This operation involves moving the container handling vehicles 201, 301 to the grid location above the storage row 105 where the target storage container 106 is located, and using the lifting devices (not shown) of the container handling vehicles 201, 301 to remove the storage container 106 from the storage row 105 and transport the storage container 106 to the transfer port 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, the operation also involves temporarily moving the storage containers located above it before lifting the target storage container 106 from the storage row 105. This step, sometimes referred to as "searching" within the art, can be performed using the same container handling vehicle that will subsequently be used to transport the target storage container to the handover port 119, or using one or more other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have a container handling vehicle specifically for the task of temporarily removing storage containers from storage row 105. Once the target storage container 106 is removed from storage row 105, the temporarily removed storage container can be repositioned in the original storage row 105. However, the removed storage container may, alternatively, be repositioned in another storage row.

[0015] When a storage container 106 is to be stored in grid 104, one of the container handling vehicles 201, 301 is instructed to receive the storage container 106 from the receiving port 120 and transport it to the grid location on the storage row 105 where it is to be stored. After any storage containers located at or above the target position in the storage row stack 107 are removed, the container handling vehicles 201, 301 position the storage container 106 in the desired position. The removed storage containers can then be lowered back into the storage row 105 or repositioned to another storage row.

[0016] To monitor and control the automated storage and retrieval system 1, for example, to monitor and control the location of each storage container 106 in the grid 104, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301, so that the desired storage containers 106 can be delivered to the desired location at the desired time without the container handling vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 includes a control system, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0017] The concept of extracting energy from an electric motor while it is operating in reverse is a well-known one. This is called regenerative braking, and it is an energy recovery mechanism that slows down an object (such as a car) by converting its kinetic energy into electrical energy. The extracted electrical energy can be stored in a rechargeable power source such as a battery or capacitor. By using regenerative braking and storing the generated electrical energy in a rechargeable power source, the operating time of the rechargeable power source is extended until it needs to be recharged.

[0018] A preferred rechargeable power source used to supply power to a vehicle is a lithium-ion battery. Lithium-ion batteries are preferred due to their high energy density and low self-discharge. Furthermore, they can be recharged multiple times with little loss of charging capacity.

[0019] However, the problem with lithium-ion batteries is that they must be charged correctly. Lithium-ion batteries can pose safety hazards because they contain a flammable electrolyte. Battery cells that are charged too rapidly can cause short circuits, leading to explosions and fires. Furthermore, if a lithium-ion battery is overcharged, lithium ions can accumulate on the anode as metallic lithium. This is called lithium plating. Lithium plating degrades the battery's lifespan and durability. This can also lead to short circuits, which, again, can lead to fires. Overcharging lithium-ion batteries is a known problem when using regenerative braking in vehicles.

[0020] An alternative rechargeable power source is a capacitor, preferably a supercapacitor. They have the advantage of being able to rapidly absorb large amounts of charge without the risk of overcharging. However, the problem with capacitors is that they have a low energy density and a high level of internal leakage current. As a result, capacitors must be recharged frequently to maintain their charge level, and many capacitors are required to be able to provide the amount of power required to operate a container handling vehicle. This also requires a lot of space and unnecessary weight. According to prior art, with reference to US2016 / 297307A1, a vehicle is disclosed that includes an electric drive motor for driving the vehicle and an electrochemical accumulator for storing and providing electrical energy for the drive motor. The accumulator is configured to absorb only charging power less than a predetermined maximum power value, and the electric auxiliary storage unit stores and provides electrical energy for the drive motor. The auxiliary storage unit is configured to absorb charging power greater than the maximum power value during charging. The auxiliary storage unit may have at least one of a capacitor, a flywheel energy storage unit, and a magnetic storage unit for storing energy received via the charging device. The vehicle further includes a charging device for receiving energy from an external charging station as power pulses having an amplitude greater than the maximum power value and for storing the received energy in the auxiliary storage unit, and a coupling circuit configured to couple the auxiliary storage unit to the accumulator and transmit energy from the auxiliary storage unit to the accumulator using charging power less than the maximum power value.

[0021] For example, when a container handling vehicle lowers a lifting frame into a lower storage grid, it may be desirable to use regenerative braking to regenerate energy in the system described in Figures 1-3. The object of the present invention is to overcome the problems with battery damage described above and to ensure that regenerative braking does not overcharge the battery. [Prior art documents] [Patent Documents]

[0022] [Patent Document 1] International Publication No. 2015 / 193278 [Patent Document 2] International Publication No. 2014 / 090684 [Overview of the project] [Means for solving the problem]

[0023] The present invention is described in the independent claims and characterized in the independent claims, while the dependent claims describe other characteristics of the present invention.

[0024] The present invention is a container handling vehicle for handling storage containers within a three-dimensional grid of a lower storage system, comprising at least one lifting device for lifting a storage container from the lower storage system and lowering the storage container into the lower storage system, the lifting device comprising a lifting frame for gripping the storage container, a winch system for lifting and lowering the lifting frame, a motor for driving the winch system, and a driver circuit having a controller for controlling the motor; a lifting device; and at least a first rechargeable power source and a second rechargeable power source for providing power to the motor, the driver circuit further comprising a regenerative energy circuit configured to capture energy from the motor when the lifting frame is lowered into the storage system, the driver circuit being defined by the container handling vehicle and configured to control the captured energy and direct the captured energy to the rechargeable power source according to a pre-set charge level within the rechargeable power source.

[0025] The captured energy is directed to either the first rechargeable power source or the second rechargeable power source. In a preferred embodiment of the present invention, the first rechargeable power source may be a rechargeable battery and the second rechargeable power source may be a capacitor. The capacitor may be a supercapacitor.

[0026] Supercapacitors are divided into two different categories. One is called an electric double layer capacitor, which uses electrostatic charge storage, and the other is called a pseudocapacitor, which uses electrochemical charge storage. A further sub-category is a hybrid capacitor, which uses both electrostatic and electrochemical storage capacities.

[0027] To track the charge levels of the two rechargeable power sources of the present invention, the driver circuit communicates with a charge sensor connected to the first and / or second rechargeable power source. The charge sensor tracks the charge capacity of the rechargeable power sources and communicates its reading to the driver circuit, which in turn determines where the captured energy is directed. The energy is directed to one of the two rechargeable power sources according to the charge levels of the two rechargeable power sources.

[0028] If the rechargeable battery is a lithium-ion battery, its charge capacity is best maintained when kept between 25% and 75% of its charge capacity. Therefore, to best maintain the battery's lifespan, the battery charge should be kept below 75% and above 25% of its charge capacity. Consequently, if the battery has a charge level below 75%, the absorbed energy is directed towards the lithium-ion battery. If the battery charge is above 75%, the absorbed energy is directed towards the capacitor.

[0029] As an alternative, safety measures are incorporated into the system to avoid lithium-ion buildup. If the battery is at risk of overcharging, the driver circuit directs the absorbed energy to the capacitor.

[0030] In one embodiment of the present invention, a container handling vehicle replaces its battery when it has discharged and fallen below a predetermined level. This reduces the downtime during which the container handling vehicle is nearly at zero. However, an empty battery and a fully charged battery may not necessarily be located at the same charging station. Therefore, to move the container handling vehicle from a transfer charging station to a receiving charging station, the container handling vehicle uses power from a capacitor. Thus, it is necessary to ensure that the capacitor has enough stored energy to propel the vehicle between the two charging stations. As a result, if it is determined that the charge level of the capacitor has fallen to below a set threshold level, the absorbed energy may be directed to the capacitor.

[0031] The present invention further relates to a method for capturing energy when a container handling vehicle handles a storage container in a three-dimensional grid of a lower storage system, wherein the vehicle comprises a vehicle body having at least a set of first wheels for moving the container handling vehicle in a first direction, at least one rechargeable battery and at least one capacitor, a control system for controlling the charge levels of the rechargeable battery and capacitor, and at least one lifting device for lifting a storage container from the lower storage system and lowering the storage container into the lower storage system, wherein the lifting device comprises a lifting frame for gripping the storage container, a winch system for lifting and lowering the lifting frame, a motor for driving the winch system, and a driver circuit having a controller for controlling the motor. The steps include connecting a motor and regenerative charging circuit for energy intake to a lifting device, The steps include lowering the lifting device into the lower storage system, A control system is used to direct the acquired energy to a rechargeable battery and / or capacitor. Defined by a method that includes [something].

[0032] In a further alternative embodiment of the present invention, energy is also taken from the deceleration of the container handling vehicle itself.

[0033] The advantage of the present invention is to provide optimal maintenance for rechargeable power sources while simultaneously ensuring optimal storage of energy taken in while container handling vehicles are in operation. The present invention provides, for example, the following: (Item 1) Container handling vehicles (201, 301) for handling storage containers (106) within a three-dimensional grid (104) of a lower storage system (1), - A lifting device for lifting a storage container (106) from the lower storage system (1) and lowering the storage container (106) into the lower storage system (1), wherein the lifting device comprises a lifting frame (302) for gripping the storage container (106), a winch system for lifting and lowering the lifting frame (302), a motor (407) for driving the winch system, and a driver circuit (404) having a controller for controlling the motor (407), - At least a first rechargeable power supply (405) and a second rechargeable power supply (406) for supplying power to the motor (407) -A container handling vehicle comprising, wherein the driver circuit (404) further comprises a regenerative energy circuit (403) configured to take energy from the motor (407) when the lifting frame (302) is lowered into the storage system (1), and the driver circuit (404) is configured to control the taken energy and direct the taken energy to the rechargeable battery (405) and / or the capacitor (406) according to a preset charge level in the rechargeable battery (405) and the capacitor (406). (Item 2) The container handling vehicle (201, 301) described in item 1, wherein the first rechargeable power source (405) is a lithium-ion battery and the second rechargeable power source (406) is a capacitor. (Item 3) The container handling vehicle (201, 301) described in item 1 or 2, wherein the driver circuit (404) is further connected to charging sensors (401, 402) connected to the first rechargeable power supply (405) and / or the second rechargeable power supply (406). (Item 4) The container handling vehicle (201, 301) according to item 2 or 3, wherein the driver circuit (404) is configured to direct the energy taken in by the regenerative energy circuit (403) to the at least one capacitor (406) when the rechargeable battery (405) is above 75% of its full charge level. (Item 5) The container handling vehicle (201, 301) according to item 2 or 3, wherein the driver circuit (404) is configured to direct the energy taken in by the regenerative energy circuit (403) to the rechargeable battery (405) when the rechargeable battery (405) is below 75% of its full charge level. (Item 6) The container handling vehicle (201, 301) according to item 2 or 3, wherein the driver circuit (404) is configured to direct the energy taken in by the regenerative energy circuit (403) to the rechargeable battery (405) and the at least one capacitor (406) when both of the rechargeable power sources (405, 406) are below 50% of their full charge level. (Item 7) The container handling vehicle (201, 301) according to any one of items 1 to 6, wherein the regenerative energy circuit (403) is further configured to take energy from the motors driving the wheels of the container handling vehicle (201, 301) in order to generate energy when the container handling vehicle (201, 301) decelerates. (Item 8) The container handling vehicle (201, 301) described in item 2 or 3, wherein the at least one capacitor (406) is a capacitor that uses electrochemical charge storage and / or electrostatic charge storage. (Item 9) A method for capturing energy when a container handling vehicle (201, 301) is handling storage containers within a three-dimensional grid (104) of a lower storage system (1), wherein the vehicle comprises a vehicle body (201a, 301a) having a set of at least first wheels (201b, 301b) for moving the container handling vehicle (201, 301) in a first direction (X), at least a first rechargeable power supply (405) and a second rechargeable power supply (406), and a control of the charge levels of the rechargeable battery (405) and the capacitor (406). The method comprises a driver circuit (404) for lifting a storage container (106) from the lower storage system (1) and lowering the storage container (106) into the lower storage system (1), wherein the lifting device comprises a lifting frame for gripping the storage container, a winch system for lifting and lowering the lifting frame, a motor for driving the winch system, and a driver circuit (404) having a controller for controlling the motor (407), and the method is - The steps of connecting the motor (407) and the regenerative energy circuit (403) to the lifting device, - The step of lowering the lifting device into the lower storage system, - The driver circuit (404) is used to direct the generated energy to the rechargeable battery (405) and / or the capacitor (406). Methods that include... (Item 10) The aforementioned rechargeable battery (405) current The method according to any one of items 1 to 9, wherein, when the charge level is reached, the energy taken in by the regenerative energy circuit (403) is directed to the capacitor (406). (Item 11) The method according to any one of items 1 to 10, wherein if the rechargeable battery (405) is below 75% of its full charge level, the energy taken in by the regenerative energy circuit (403) is directed to the rechargeable battery (405). [Brief explanation of the drawing]

[0034] The following drawings are attached to facilitate understanding of the present invention. The drawings illustrate embodiments of the present invention that are described herein by reference only.

[0035] [Figure 1] Figure 1 is a perspective view of a grid of an automated storage and retrieval system from prior art.

[0036] [Figure 2] Figure 2 is a perspective view of a prior art container handling vehicle having a centrally aligned cavity for containing storage containers.

[0037] [Figure 3] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever for containing storage containers directly below.

[0038] [Figure 4] Figure 4 is a box diagram showing how different components of a system are connected according to a preferred embodiment of the present invention.

[0039] [Figure 5] Figure 5 is a flowchart of a process according to one embodiment of the present invention, in which the generated energy is directed to one of the rechargeable power sources according to a predetermined capacity level.

[0040] [Figure 6]Figure 6 is a flowchart of a process according to one embodiment of the present invention, in which, when a rechargeable battery is at its current charge level of 100%, the generated energy is directed to a capacitor. [Modes for carrying out the invention]

[0041] The present invention will be discussed in further detail below 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.

[0042] A typical prior art automated storage and retrieval system, including a frame structure 100, was described in the background section above.

[0043] The container handling vehicle rail system 108 allows the container handling vehicle 201 to move horizontally between different grid locations, each grid location being associated with a grid cell.

[0044] In Figure 1, the storage grid 104 is shown with a height of eight grid cells. However, it should be understood that the storage grid 104 can, in principle, be of any size. The storage grid 104 may be significantly wider and / or longer than that disclosed in Figure 1. For example, grid 104 may have a horizontal range exceeding 700 × 700 storage column 105. Also, grid 104 may be significantly deeper than that disclosed in Figure 1. For example, the storage grid 104 may have more than 12 grid cells in depth, i.e., in the Z direction shown in Figure 1.

[0045] The container vehicle 201 may be any type known in the art, for example, any one of the automated container handling vehicles disclosed in WO2014 / 090684A1, NO317366, or WO2015 / 193278A1. Methods and control systems for controlling such prior art systems are well known.

[0046] Figure 2 is a perspective view of a prior art container handling vehicle having a centrally aligned cavity for containing storage containers.

[0047] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever for containing storage containers directly below.

[0048] Figure 4 is a box diagram showing how different components of the system are connected according to a preferred embodiment of the present invention. The motor 407 and regenerative charging circuit for energy capture energy due to regenerative braking. In the present invention, regenerative braking can occur when the lifting frame is lowered downward. Due to the weight of the lifting frame, gravity pulls the lifting frame downward, both when a container is attached and when it is not, without the motor 407 performing any work. Thus, kinetic energy is generated from the change in potential energy. The kinetic energy resulting from the lowering of the lifting frame into the lower storage system forces the rotor of the electric motor 407 to rotate. This rotation allows the electric motor 407 to operate as a generator. At this time, the motor 407 can capture energy by converting the kinetic energy of the rotor into electrical energy. This electrical energy can again be stored in a rechargeable power source.

[0049] A driver circuit 404, to which a controller is attached, controls the motor 407. This driver circuit 404 further includes a regenerative energy circuit 403, which is configured to capture the electrical energy generated by the motor 407. Furthermore, the driver circuit 404 directs the captured energy to either a first or second rechargeable power supply, according to the charge level in the rechargeable power supply. Charge sensors 401 and 402 are attached to the first and second rechargeable power supplies 405 and 406 to track the charge levels of the rechargeable power supplies. The charge sensors 401 and 402 communicate the charge levels of the first and second rechargeable power supplies 406 to the driver circuit 404.

[0050] In a preferred embodiment of the present invention, the first rechargeable power source 405 may be a rechargeable battery 405. The rechargeable battery 405 may be a lithium-ion battery. The second rechargeable power source 406 may be a capacitor 406. The capacitor 406 may be a supercapacitor.

[0051] Any other type of rechargeable battery and capacitor may be used.

[0052] Figure 5 is a flowchart of a process according to an embodiment of the present invention, in which the acquired energy is directed to either a rechargeable power source or a lithium-ion battery, depending on an algorithm that determines when to charge the lithium-ion battery and when to charge the capacitor.

[0053] The driver circuit 404 includes a regenerative energy circuit 403. The regenerative energy circuit 403 extracts energy from the motor during regenerative braking.

[0054] The charging sensors 401 and 402 are connected to either the rechargeable power supply 405 or 406. The charging sensors 401 and 402 read the charge level of the power supply 405 or 406. This information is communicated to the driver circuit 404.

[0055] In one embodiment of the present invention, the handover charging station is a charging station where a container handling vehicle places a discharged battery. The receiving charging station is a charging station where a container handling vehicle receives a charged battery.

[0056] Based on information transmitted from charging sensors 401 and 402 to the driver circuit 404, information regarding the distance to the nearest handover charging station and the nearest receiving charging station, and information regarding the next operational task, the acquired energy is transmitted to either the first or second rechargeable power source to ensure that the container handling vehicle has sufficient power to either perform the next operational task or drive to the charging station. Alternatively, the acquired energy can be shared between the two rechargeable power sources.

[0057] In one embodiment, the algorithm for determining whether the captured energy should be sent to a first rechargeable power source or a second rechargeable power source is based on pre-set charge levels of the first and second rechargeable power sources.

[0058] In one embodiment of the present invention, the decision of whether to direct the acquired energy to either the battery or the capacitor, or to both, is based on information received by a driver circuit. This information is collected from a charging sensor attached to one of the rechargeable power sources. The charging sensor transmits information about the charge levels of the two power sources. The primary objective of the system is to ensure that the lithium-ion battery is not overcharged or damaged and exposed to the risk of fire or explosion by charging it too heavily or too quickly. However, there is a further objective of ensuring that the battery has enough power to get the container handling vehicle to the handover charging station, and that the capacitor has enough energy to ensure that the container handling vehicle can get from the handover charging station to the receiving charging station.

[0059] To make these decisions, the container handling vehicle must always know the charge levels of the two rechargeable power sources, the distance to the nearest handover charging station, the distance to the nearest receiving charging station, and the next task of its operation. Other information used in the algorithm may include the distance to the container's next receiving point, the distance between the container's receiving point and handover point, the depth the container handling vehicle needs to explore, and the weight of the container that needs to be lifted and transported.

[0060] Information regarding the charge level of the rechargeable battery is provided by charge sensors connected to both the lithium-ion battery and the capacitor. Information regarding the nearest handover and pick-up charging stations is provided to the container handling vehicle by the central computer system, for example, via Wi-Fi® communication. Information regarding the next task of the operation is also provided by the central computer system.

[0061] The central computer system transmits information about the next task of the operation, and the container handling vehicle calculates whether it can engage in the next task based on the given information and information collected by the charging sensors. If the container handling vehicle can engage in the next task, it communicates to the central computer system that it will engage in the next task of the operation. However, if the container handling vehicle cannot engage in the next task of the operation, it communicates to the central computer system that it needs to change its battery.

[0062] If a container handling vehicle has a battery charge level that is too low to proceed with the next task of operation, but has a high charge level on the capacitor, the container handling vehicle will decide to change the battery.

[0063] Alternatively, container handling vehicles can use capacitors to charge batteries, ensuring that the batteries have sufficient power to complete the task. Energy taken in from the lowering of the lifting frame can be used to charge the capacitors.

[0064] If a container handling vehicle has a low charge level on the capacitor but a high charge level on the battery, the container handling vehicle can direct the energy taken in from the lowering of the lifting frame to the capacitor. Alternatively, the battery can be used to replenish the capacitor.

[0065] If a container handling vehicle has a high charge level on both the battery and the capacitor, the energy taken in can be divided between the two rechargeable power sources. The division between the amount to be sent to the battery and the amount to be sent to the capacitor is determined by the individual power sources. current This is performed at the charge level. In one embodiment of the present invention, the battery charge level should be kept within the range of 25% to 75% of the full charge level.

[0066] If the battery charge level falls below 25% of its full charge capacity, the battery may be modified, or the absorbed energy may be directed to the battery to ensure it remains within its best operating range. If the battery charge level is between 25% and 75% of its full charge capacity, the absorbed energy may be directed to the battery to keep it within its best operating range. If the battery charge level exceeds 75% of its full charge level, the absorbed energy may be sent to the capacitor.

[0067] Alternatively, the charge levels of the two rechargeable power supplies are fully charged. current When at a charging level, the container handling vehicle can decide not to take in the energy generated from the lowering of the lifting frame.

[0068] If a container handling vehicle has a low charge on both its battery and capacitor, the vehicle ensures that the capacitor has enough energy to move from one charging point to another. Alternatively, if the battery has enough power remaining to ensure that the container handling vehicle can move to the nearest handover charging station, the battery can be used to fully charge the capacitor.

[0069] The objective is to ensure that the combined power from the two rechargeable power sources always has enough power to transport container handling vehicles to the nearest handover charging station and from the nearest handover charging station to the nearest receiving charging station.

[0070] The rules described above regarding when to charge a rechargeable battery and when to charge a capacitor are not mutually exclusive, but rather represent an example of a set of rules. Other rules may be used and are within the scope of this invention.

[0071] Figure 6 is a flowchart of a process according to one embodiment of the present invention, in which the rechargeable battery 405 current When the charge level is at 100%, the absorbed energy is directed to capacitor 406.

[0072] As described above, when a lithium-ion battery is overcharged, lithium ions can accumulate on the anode as metallic lithium, a phenomenon called lithium plating. Lithium plating degrades the battery's lifespan and durability. Lithium plating can lead to short circuits, which can also lead to fires.

[0073] Therefore, safety measures are incorporated into the system to avoid the accumulation of lithium plating. If the battery is at risk of overcharging, the driver circuit 404 directs the absorbed energy to the capacitor 406.

[0074] The battery is current When the charge level is at 100%, it is fully charged. To overcharge, current It is possible to attempt to charge the battery when it is at 100% charge level. The battery's charge level can decrease over its lifespan. However, current A charge level of 100% should be considered the maximum charge level that can withstand any given time.

[0075] In one embodiment of the present invention, if the charge level of the capacitor 406 falls below a set level for transporting a container handling vehicle between one charging station and another, the battery may be used to charge the capacitor 406. [Explanation of Symbols]

[0076] List of reference numbers Prior art (Figure 1-4): 1. Prior art automated storage and retrieval systems 100 Framework Structures 102 Upright members of a framework structure 103 Horizontal members of a framework structure 104 Storage Grid 105 Storage row 106 Storage Containers 106' Specific location of storage container 107 stacks 108 Rail System 110 Parallel rails in the first direction (X) 110a First rail in the first direction (X) 110b Second rail in the first direction (X) 111 Parallel rails in the second direction (Y) 111a First rail in the second direction (Y) 111b Second rail in the second direction (Y) 112 Access openings 119 First port row 120 Second port column 201 Prior Art Storage Container Vehicle 201a Vehicle body of storage container vehicle 201 201b Drive mechanism / wheel arrangement, first direction (X) 201c Drive mechanism / wheel arrangement, second direction (Y) 301 Cantilever storage container vehicle using prior art technology 301a Vehicle body of storage container vehicle 301 301b Driving means in the first direction (X) 301c Driving means in the second direction (Y) 304 Gripping device 500 Control Systems 401 Charging Sensor 402 Charging Sensor 403 Regenerative Energy Circuit 404 Driver Circuit 405 Rechargeable Power Supply 406 Rechargeable Power Supply 407 Motor X First direction Y Second direction Z Third direction

Claims

1. A container handling vehicle (201, 301) configured to move on a rail system (108) arranged in a grid pattern over the top of a three-dimensional grid (104) of a lower storage system (1), wherein the lower storage system (1) is configured to store a plurality of stacks (107) of storage containers (106), The rail system (108) comprises a set of first parallel rails (110) arranged in a horizontal plane (P) and extending in a first direction (X) across the upper part of the three-dimensional grid (104), and a set of second parallel rails (111) arranged in the horizontal plane (P) and extending in a second direction (Y) perpendicular to the first direction (X), wherein the set of first parallel rails (110) and the set of second parallel rails (111) form a grid pattern in the horizontal plane (P). The aforementioned container handling vehicles (201, 301) are, A lifting device for lifting a storage container (106) from the lower storage system (1) and lowering the storage container (106) into the lower storage system (1), wherein the lifting device comprises a lifting frame (302) for gripping the storage container (106), a winch system for lifting and lowering the lifting frame (302), a motor (407) for driving the winch system, and a driver circuit (404) having a controller for controlling the motor (407), At least a first rechargeable power supply (405) and a second rechargeable power supply (406) for supplying power to the motor (407) The driver circuit (404) further comprises a regenerative energy circuit (403) configured to take energy from the motor (407) when the lifting frame (302) is lowered into the lower storage system (1), and the driver circuit (404) is configured to control the taken energy and direct the taken energy to the first rechargeable power supply (405) and / or the second rechargeable power supply (406) according to a preset charge level in the first rechargeable power supply (405) and the second rechargeable power supply (406). The first rechargeable power source (405) is a lithium-ion battery, and the second rechargeable power source (406) is a capacitor, wherein the capacitor (406) is a capacitor that uses electrochemical charge storage and / or electrostatic charge storage. The driver circuit (404) is further connected to a charging sensor (401) which is connected to the first rechargeable power supply (405), The driver circuit (404) is configured to direct the energy taken in by the regenerative energy circuit (403) to the capacitor (406) when the charge of the first rechargeable power supply (405) exceeds 75% of the current maximum charge capacity of the first rechargeable power supply, in a container handling vehicle (201, 301).

2. The container handling vehicle (201, 301) according to claim 1, wherein the driver circuit (404) is configured to direct the energy taken in by the regenerative energy circuit (403) to the first rechargeable power supply (405) when the charge of the first rechargeable power supply (405) is less than 75% of the current maximum charge capacity.

3. The driver circuit (404) is further connected to a charging sensor (402) which is connected to the second rechargeable power supply (406), The container handling vehicle (201, 301) according to claim 1, wherein the driver circuit (404) is configured to direct the energy taken in by the regenerative energy circuit (403) to the first rechargeable power supply (405) and the capacitor (406) when the first rechargeable power supply (405) has a charge below 50% of its current maximum charge capacity and the second rechargeable power supply (406) is below 50% of its full charge level.

4. The container handling vehicle (201, 301) according to any one of claims 1 to 3, wherein the regenerative energy circuit (403) is further configured to take in energy from the motors that drive the wheels of the container handling vehicle (201, 301) in order to generate energy when the container handling vehicle (201, 301) decelerates.

5. A method for capturing energy when a container handling vehicle (201, 301) is moving on a rail system (108) arranged in a grid pattern over the top of a three-dimensional grid (104) of a lower storage system (1), wherein the lower storage system (1) is configured to store a plurality of stacks (107) of storage containers (106), and the rail system (108) comprises a first set of parallel rails (110) arranged in a horizontal plane (P) and extending in a first direction (X) over the top of the three-dimensional grid (104), and a second set of parallel rails (111) arranged in the horizontal plane (P) and extending in a second direction (Y) perpendicular to the first direction (X), wherein the first set of parallel rails (110) and the second set of parallel rails (111) form a grid pattern in the horizontal plane (P). The container handling vehicle (201, 301) comprises a vehicle body (201a, 301a) having a set of at least first wheels (201b, 301b) for moving the container handling vehicle (201, 301) in the first direction (X), at least a first rechargeable power supply (405) and a second rechargeable power supply (406), a driver circuit (404) for controlling the charge levels of the first rechargeable power supply (405) and the second rechargeable power supply (406), and at least one lifting device for lifting a storage container (106) from the lower storage system (1) and lowering the storage container (106) into the lower storage system (1), wherein the lifting device comprises a lifting frame for gripping the storage container, a winch system for lifting and lowering the lifting frame, a motor for driving the winch system, and a driver circuit (404) having a controller for controlling the motor (407), and the method is as follows: - The steps of connecting the motor (407) and the regenerative energy circuit (403) to the lifting device, - The step of lowering the lifting device into the lower storage system, - A step of using the driver circuit (404) to direct the generated energy to the first rechargeable power supply (405) and / or the second rechargeable power supply (406) Includes, A method wherein the first rechargeable power source (405) is a lithium-ion battery, the second rechargeable power source (406) is a capacitor, the capacitor (406) is a capacitor that uses electrochemical charge storage and / or electrostatic charge storage, and the driver circuit (404) is configured to direct the energy taken up by the regenerative energy circuit (403) to the capacitor (406) when the charge of the first rechargeable power source (405) exceeds 75% of the current maximum charge capacity of the first rechargeable power source.

6. The method according to claim 5, wherein when the first rechargeable power source (405) is at its full current maximum charge capacity, the energy taken in by the regenerative energy circuit (403) is directed to the capacitor (406).

Images