A storage column for an automated storage and retrieval system, a storage and retrieval system and a method for managing temperature in a storage column

Abstract

The invention relates to a storage column (105) of an automated storage and retrieval system (1) for storing goods holder, said storage column (105) comprising four upright members (102) arranged in a rectangular array, the upright members (102) defining corners of the storage column (105), a plurality of column walls (10), each column wall extending between a pair of upright members (102) for laterally enclosing a stack of goods holders (106) stored in the storage column (105), wherein a first column wall (10A) of the plurality of column walls comprises a first, vertically extending air plenum, a first storage column air inlet (11) being provided on an interior face of the first column wall (10A), and a first storage column air outlet arranged below said first storage column air inlet (11) The invention further relates to a storage and retrieval system for storing goods holders and a method for managing temperature in a storage column (105) of an automated storage and retrieval system (1).

Description

A STORAGE COLUMN FOR AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM, A STORAGE AND RETRIEVAL SYSTEM AND A METHOD FOR MANAGING TEMPERATURE IN A STORAGE COLUMN

[0001] The present invention relates to a storage column for an automated storage and retrieval system for storing goods holders. The present invention also relates to a storage and retrieval system and a method for managing temperature in a storage column.BACKGROUND AND PRIOR ART

[0002] Fig. 1 discloses a prior art automated storage and retrieval system 1 with a framework structure 100 and Figs. 2, 3a-3b disclose three different prior art container handling vehicles 201, 301, 401 suitable for operating on such a system 1.

[0003] The framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105 storage containers 106, also known as bins, are stacked one on top of one another to form container stacks 107. The members 102 may typically be made of metal, e.g. 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 framework structure 100, on which rail system 108 a plurality of container handling vehicles 301, 401 maybe operated to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails no arranged to guide movement of the container handling vehicles 301, 401 in a first direction X across the top of the framework structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails no to guide movement of the container handling vehicles 301, 401 in a second direction Y which is perpendicular to the first direction X. Containers 106 stored in the columns 105 are accessed by the container handling vehicles 301, 401 through access openings 112 in the rail system 108. The container handling vehicles 301, 401 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.

[0005] The upright members 102 of the framework structure 100 may be used to guide the storage containers during raising of the containers out from and loweringof the containers into the columns 105. The stacks 107 of containers 106 are typically self-supporting.[oo6] Each prior art container handling vehicle 201, 301, 401 comprises a vehicle body 201a, 301a, 401a and first and second sets of wheels 201b, 201c, 301b, 301c, 401b, 401c which enable lateral movement of the container handling vehicles 201, 301, 401 in the X direction and in the Y direction, respectively. In Figs. 2-3b, two wheels in each set are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails of the first set no of rails, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent rails of the second set 111 of rails. At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be lifted and lowered, so that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can be engaged with the respective set of rails 110, 111 at any one time.

[0007] Each prior art container handling vehicle 201, 301, 401 also comprises a lifting device 304, 404 (visible in Figs. 3a-3b) having a lifting frame part 304a for vertical transportation of storage containers 106, e.g. raising a storage container 106 from, and lowering a storage container 106 into, a storage column 105. Lifting bands 404a are also shown in Fig. 3b. The lifting device 304, 404 comprises one or more gripping / engaging devices which are adapted to engage a storage container 106, and which gripping / engaging devices can be lowered from the vehicle 201, 301, 401 so that the position of the gripping / engaging devices with respect to the vehicle 201, 301, 401 can be adjusted in a third direction Z (visible for instance in Fig. 1) which is orthogonal the first direction X and the second direction Y. Parts of the gripping device of the container handling vehicles 301, 401 are shown in Figs. 3a and 3b indicated with reference numbers 304 and 404. The gripping device of the container handling device 201 is located within the vehicle body 201a in Fig. 2.

[0008] Conventionally, and also for the purpose of this application, Z=i identifies the uppermost layer available for storage containers below the rails no, 111, i.e. the layer immediately below the rail system 108, =2 the second layer below the rail system 108, =3 the third layer etc. In the exemplary prior art disclosed in Fig. 1, Z=8 identifies the lowermost, bottom layer of storage containers. Similarly, X=i...n and Y=i...n identifies the position of each storage column 105 in the horizontal plane. Consequently, as an example, and using the Cartesian coordinate system X, Y, Z indicated in Fig. 1, the storage container identified as 106’ in Fig. 1 can be said to occupy storage position A=i 8, Y=i, Z=6. The container handling vehicles 201, 301, 401 can be said to travel in layer Z=o, and each storage column 105 can be identifiedby its X and Y coordinates. Thus, the storage containers shown in Fig. 1 extending above the rail system 108 are also said to be arranged in layer Z=o.

[0009] The storage volume of the framework structure 100 is part of a framework volume 104, where the possible storage positions within this storage volume are referred to as storage cells within storage columns. Each storage column may be identified by a position in an X- and Y-direction, while each storage cell maybe identified by a container number in the X-, Y- and Z-direction.

[0010] Each prior art container handling vehicle 201, 301, 401 comprises a storage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 across the rail system 108. The storage space may comprise a cavity arranged internally within the vehicle body 201a as shown in Figs. 2 and 3b and as described in e.g. WO2O15 / 193278A1 and W02019 / 206487A1, the contents of which are incorporated herein by reference.

[0011] Fig. 3a shows an alternative configuration of a container handling vehicle 301 with a cantilever construction. Such a vehicle is described in detail in e.g. NO317366, the contents of which are also incorporated herein by reference.

[0012] The cavity container handling vehicles 201 shown in Fig. 2 may have a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a storage column 105, e.g. as is described in WO2O15 / 193278A1, the contents of which are incorporated herein by reference. The term ‘lateral’ used herein may mean ‘horizontal’.

[0013] Alternatively, the cavity container handling vehicles 401 may have a footprint which is larger than the lateral area defined by a storage column 105 as shown in Fig. 3b and as disclosed in W02014 / 090684A1 or W02019 / 206487A1.

[0014] The rail system 108 typically comprises rails with grooves in which the wheels of the vehicles run. Alternatively, the rails may comprise upwardly protruding elements, where the wheels of the vehicles comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively known as tracks. Each rail may comprise one track, or each rail may comprise two parallel tracks; in other rail systems 108, each rail in one direction may comprise one track and each rail in the other perpendicular direction may comprise two tracks. The rail system may also comprise a double track rail in one of the X or Y direction and a single track rail in the other of the X or Y direction. A double track rail may comprise two rail members, each with a track, which are fastened together.

[0015] W02018 / 146304A1, the contents of which are incorporated herein by reference, illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both X and Y directions.

[0016] In the framework structure 100, a majority of the columns 105 are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In Fig. 1, columns 119 and 120 are such special-purpose columns used by the container handling vehicles 201, 301, 401 to drop off and / or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside of the framework structure 100 or transferred out of or into the framework structure 100. Within the art, such a location is normally referred to as a ‘port’ and the column in which the port is located maybe referred to as a ‘port column’ 119,120. The transportation to the access station maybe in any direction, that is horizontal, tilted and / or vertical. For example, the storage containers 106 may be placed in a random or a dedicated column 105 within the framework structure 100, then picked up by any container handling vehicle and transported to a port column 119, 120 for further transportation to an access station. The transportation from the port to the access station may require movement along various different directions, by means such as delivery vehicles, trolleys or other transportation lines. Note that the term ‘tilted’ means transportation of storage containers 106 having a general transportation orientation somewhere between horizontal and vertical.

[0017] In Fig. 1, the first port column 119 may for example be a dedicated drop-off port column where the container handling vehicles 201, 301 can drop off storage containers 106 to be transported to an access or a transfer station, and the second port column 120 maybe a dedicated pick-up port column where the container handling vehicles 201, 301, 401 can pick up storage containers 106 that have been transported from an access or a transfer station.

[0018] The access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers 106. In a picking or a stocking station, the storage containers 106 are normally not removed from the automated storage and retrieval system 1, but are, once accessed, returned into the framework structure 100. A port can also be used for transferring storage containers to another storage facility (e.g. to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.

[0019] A conveyor system comprising conveyors is normally employed to transport the storage containers between the port columns 119, 120 and the access station.

[0020] If the port columns 119, 120 and the access station are located at different heights, the conveyor system may comprise a lift device with a vertical component for transporting the storage containers 106 vertically between the port column 119, 120 and the access station.

[0021] The conveyor system maybe arranged to transfer storage containers 106 between different framework structures, e.g. as is described in WO2O14 / 075937A1, the contents of which are incorporated herein by reference.

[0022] When a storage container 106 stored in one of the columns 105 disclosed in Fig. 1 is to be accessed, one of the container handling vehicles 201, 301, 401 is instructed to retrieve the target storage container 106 from its position and transport it to the drop-off port column 119. This operation involves moving the container handling vehicle 201, 301 to a location above the storage column 105 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the container handling vehicle’s 201, 301, 401 lifting device (not shown in Fig. 2 but visible in Figs. 3a and 3b), and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within a stack 107, i.e. with one or a plurality of other storage containers 106 positioned above the target storage container 106, the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container 106 from the storage column 105. This step, which is sometimes referred to as “digging” within the art, maybe performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port column 119, or with one or a plurality of other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 specifically dedicated to the task of temporarily removing storage containers 106 from a storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers 106 can be repositioned into the original storage column 105. However, the removed storage containers 106 may alternatively be relocated to other storage columns 105.

[0023] When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201, 301, 401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a location above the storage column 105 where it is to be stored. After storage containers 106positioned at or above the target position within the stack 107 have been removed, the container handling vehicle 201, 301, 401 positions the storage container 106 at the desired position. The removed storage containers 106 may then be lowered back into the storage column 105 or relocated to other storage columns 105.

[0024] For monitoring and controlling the automated storage and retrieval system 1, e.g. monitoring and controlling the location of respective storage containers 106 within the framework structure 100, the content of each storage container 106 and the movement of the container handling vehicles 201, 301, 401 so that a desired storage container 106 can be delivered to the desired location at the desired time without the container handling vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 comprises a control system 505 (shown in Fig. 1) which typically is computerized and which typically comprises a database for keeping track of the storage containers 106.

[0025] Storage and retrieval systems of the above kind could also be employed to store frozen goods, such as frozen food products. A temperature environment well below o °C is required in a region of the system where frozen food products are stored. Such systems are disclosed in W02021 / 198170A1, W02021 / 209648A1 and WO2O16 / 166354A1.

[0026] With reference to the systems of WO2O21 / 198170A1, WO2O21 / 209648A1 and WO2O16 / 166354A1, it is desirable to provide a storage and retrieval system which offers further benefits to a system owner, for instance to enable temperature control of discrete zones of the storage system and improve energy efficiency of said system.SUMMARY OF THE INVENTION

[0027] This summary is provided to introduce in simplified form a selection of concepts that are further described herein. The summary is not intended to identify key or essential features of the invention.

[0028] The present invention is set forth and characterized in the independent claims, while the dependent claims describe other optional features of the invention.

[0029] A first aspect of the invention relates to a storage column of an automated storage and retrieval system for storing goods holders, said storage column comprising four upright members arranged in a rectangular array, the upright members defining corners of the storage column, a plurality of column walls, each column wall extending between a pair of upright members for laterally enclosing astack of goods holders stored in the storage column, wherein a first column wall of the plurality of column walls comprises a first, vertically extending air plenum, a first storage column air inlet is provided on an interior face of the first column wall, and a first storage column air outlet arranged below said first storage column air inlet. The storage column may comprise means for supplying air at a first temperature to the first, vertically extending air plenum for release, via the first storage column air inlet, into the storage column,

[0030] By providing a storage column in accordance with the first aspect, thermal conditions inside each storage column may be independently controlled. Moreover, the possibility of air of the storage columns mixing with air having different temperature is significantly reduced. This entails significant energy savings as the need for compensating for the negative effects of inadvertent mixing of air at different temperatures is also significantly reduced.

[0031] Another aspect of the invention relates to a storage and retrieval system as defined in the appended claims. For the sake of brevity, advantages discussed above in connection with the storage column may be associated with the corresponding system and are not further discussed.

[0032] In one aspect, the invention is for use in the context of a horizontal rail system, in particular a grid rail system, arranged across and forming part of the framework structure. More specifically, the upright members support the rail system. Here, a plurality of remotely operated vehicles travels on the rail system and raises goods holders from, and lowers goods holders into, the storage columns, and is also used to transport the goods holders above the storage columns. During this transport, the remotely operated vehicles move in a horizontal plane.

[0033] In this context, the present invention is for use with various types of remotely handling vehicles, for instance a cantilever-based container handling vehicle or a container handling vehicle having internally arranged cavity.

[0034] In one aspect, the invention is for use in the context of a SDG-based rail system. Here, SDG stands for Single / Double Grid. This design provides a single rail track along one axis and a double rail track along the other axis. Utilizing a single rail in one direction requires the meeting robots to have a cell between them. Rails of a SDG system have different widths. Accordingly, the respective column wall will have different thicknesses. In another aspect, the invention is for use in the context of a DDG-based rail system. Here, DDG stands for Double / Double Grid. This designprovides a double rail track in both directions allowing robots to pass each other in both directions. In a DDG-system, all column walls will have the same thicknesses.

[0035] For the purposes of this application, the term “container handling vehicle” used in “Background and Prior Art” section of the application and the term “remotely operated vehicle” used in the rest of the application text are synonymous and define an autonomous wheeled vehicle operating on a rail system arranged across the top of the framework structure being part of an automated storage and retrieval system.

[0036] Analogously, the terms “storage container” and “storage bin” used in “Background and Prior Art” section of the application and the term “goods holder” used in the rest of the application text are synonymous and define a vessel for storing items. In a related context, the goods holder of the present application can be any one of a bin, a tote, a pallet, a tray or similar. Different types of goods holders maybe used in the same automated storage and retrieval system.

[0037] For the purposes of this application, the term “container handling vehicle” used in “Background and Prior Art” section of the application and the term “remotely operated vehicle” used in “Detailed Description of the Invention” section both define a robotic wheeled vehicle operating on a rail system arranged across the top of the framework structure being part of an automated storage and retrieval system.

[0038] Analogously, the term “storage container” used in “Background and Prior Art” section of the application and the term “goods holder” used in “Detailed Description of the Invention” section both define a receptacle for storing items. In this context, the goods holder can be a bin, a tote, a pallet, a tray or similar. Different types of goods holders may be used in the same automated storage and retrieval system.

[0039] The relative terms “upper”, “lower”, “below”, “above”, “higher” etc. shall be understood in their normal sense and as seen in a Cartesian coordinate system. When mentioned in relation to a rail system, “upper” or “above” shall be understood as a position closer to the rail system (relative to another component), contrary to the terms “lower” or “below” which shall be understood as a position further away from the rail system (relative another component).BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Following drawings are appended to facilitate the understanding of the invention. The drawings show embodiments of the invention, which will now be described by way of example only, where:

[0041] Fig. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.

[0042] Fig. 2 is a perspective view of a prior art container handling vehicle / remotely operated vehicle having a centrally arranged cavity for carrying storage containers therein.

[0043] Fig. 3a is a perspective view of a prior art container handling vehicle / remotely operated vehicle having a cantilever for carrying storage containers underneath.

[0044] Fig. 3b is a perspective view, seen from below, of a prior art container handling vehicle / remotely operated vehicle having an internally arranged cavity for carrying storage containers therein.

[0045] Fig. 4 is a perspective view of an automated storage and retrieval system according to an embodiment of the present invention.

[0046] Fig. 5 is a perspective view of the automated storage and retrieval system shown in Fig. 4 where a side wall is removed.

[0047] Fig. 6 shows a section of a storage volume with several storage columns according to an embodiment of the present invention.

[0048] Fig. 7 shows an interior of a storage column with first and second storage column air inlets.DETAILED DESCRIPTION OF THE INVENTION

[0049] In overview, a storage column (105) is provided for an automated storage and retrieval system (1) for storing goods holder. The storage column (105) comprises four upright members (102) arranged in a rectangular array. The upright members (102) define corners of the storage column (105). The column also comprises a plurality of column walls (10). Each column wall extends between a pair of upright members (102) for laterally enclosing a stack of goods holders (106) stored in the storage column (105). A first column wall (10A) of the plurality of column walls comprises a first, vertically extending air plenum. A first storage column air outlet is arranged below said first storage column air inlet (11).

[0050] In the following, embodiments of the invention will be discussed in more detail with reference to the appended drawings. It should be understood, however,that the drawings are not intended to limit the invention to the subject-matter depicted in the drawings.

[0051] The framework structure 100 of the automated storage and retrieval system 1 is constructed in accordance with the prior art framework structure 100 described above in connection with Figs. i-3b, i.e. a number of upright members 102, wherein the framework structure 100 also comprises a first, upper rail system 108 in the X direction and Y direction.

[0052] The framework structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102 where storage containers 106 are stackable in stacks 107 within the storage columns 105.

[0053] The framework structure 100 can be of any size. In particular, it is understood that the framework structure can be considerably wider and / or longer and / or deeper than disclosed in Fig. 1. For example, the framework structure 100 may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.

[0054] Various aspects of the present invention will now be discussed in more detail with reference to Figs. 4-7. More specifically, an automated, grid-based storage and retrieval system shown and discussed in conjunction with Figs. 4-7 is suitable for implementing the storage column of the invention. However, other system designs, having adequate properties, may also be considered and are equally suitable.

[0055] Fig. 4 is a perspective view of an automated storage and retrieval system i| according to an embodiment of the present invention. Here, a storage column 105 shown and discussed in conjunction with Figs. 5-7 is suitable for implementing in a system 1 shown in Fig. 4. However, other system designs, having adequate properties, may also be considered and are equally suitable. In particular, it is feasible to retrofit existing automated, grid-based storage and retrieval systems, even framework structures having different structural / constructional properties, so as to arrive at the storage columns / storage system of the invention.

[0056] Turning back to Fig. 4, the automated, grid-based storage and retrieval system 1 comprises a framework structure comprising vertically extending members (102, shown in Fig. 1) defining a framework volume (104, shown in Figs. 1 and 5) and a network of horizontal rails (110, 111 shown in Fig. 1) provided at upper ends of said vertically extending members. The framework volume comprises a storage volume (109, shown in Fig. 5) with a plurality of storage columns 105 for storing goodsholders (not visible in Fig. 4). The storage volume is disposed immediately below the horizontal rails. The storage columns 105 will be discussed in greater detail in connection with Figs. 5-7. Remotely operated vehicles, such as those of any of Figs. 2- 3b, for handling goods holders could operate on top of the horizontal rails. In a related context, goods holders are inserted into / extracted from the storage column 105 of the automated, grid-based storage and retrieval system 1 from above, typically by means of these remotely operated vehicles.

[0057] Still with reference to Fig. 4, the storage columns 105 are arranged in parallel rows. Furthermore, means 24A for supplying air at the first temperature to the storage columns 105 is shown. In this embodiment, said means 24A comprises a number of first pumps, each serving a dedicated row of storage columns extending in a first direction (denoted with arrows in Fig. 4). First row 40 is also indicated in Fig. 4. Means 24B for supplying air at the second temperature to the storage columns is also shown. In this embodiment, said means 24B comprises a number of second pumps, each serving a dedicated row of storage columns extending in said first direction.

[0058] An air conditioning plant 22 for supplying temperature-conditioned air to the storage columns 105 is also visible in Fig. 4. Obviously, the air conditioning plant 22 needs to be suitably enclosed / insulated (enclosure is not shown in Fig. 4). The plant 22 is appended to a short side of the framework structure. The air conditioning plant 22 may produce cold air by means of evaporator units, each comprising a fancoil assembly (at least fans are visible in Fig. 4). As an alternative to evaporators, heat exchanger units maybe used. The system of Fig. 4 typically further comprises an air dehumidifier (not shown) and / or thermal battery (not shown), both normally provided externally relative to the air conditioning plant (22).

[0059] Fig. 5 is a perspective view in a different angle of the automated storage and retrieval system shown in Fig. 4 where a side wall is removed.

[0060] The system shown in Fig. 5 comprises storage columns 105 for storing goods holders (not shown). These storage columns 105 will be described in greater detail in conjunction with Figs. 6-7. In this context, a spacer 15 may be provided at a bottom of the storage column such that the lowermost goods holder (not shown in Fig. 5) stored in the storage column 105 is supported by said spacer.

[0061] Although not shown in Figs. 4-5, it is to be understood that the shown system includes pipework establishing a closed loop for transferring air between the air conditioning plant (22 of Fig. 4) and the storage columns 105. If the storagecolumn 105 is designed to support a cold as well as a hot zone, then two sets of pipework, each extending in closed loop, are required. Normally, said pipework is disposed within the framework volume (104 of Fig. 1) and below a storage volume 109 of Fig. 5.

[0062] Fig. 6 shows a section of a storage volume (109, shown in Figs. 1 and 5) with several storage columns 105 according to an embodiment of the present invention. A storage column 105 has four upright members 102 (see also Fig. 1) arranged in a rectangular array, the upright members 102 defining corners of the storage column 105. The column further comprises a plurality of column walls 10, each column wall extending between a pair of upright members 102 for laterally enclosing a stack of goods holders stored in the storage column 105.

[0063] In an embodiment, column walls 10 are purposely thermally insulated. Here, a suitable thermal insulating material is a material that has a lower thermal conductivity than general purpose construction materials. Suitable thermal insulating materials typically have a thermal conductivity below 0.06 Wm-1^1. In the context, the column wall maybe made of a thermal insulating material, the wall may be covered by an insulating material, or the thermal insulating material may be part of a sandwich wall construction. In addition, an outer structure, enclosing the framework volume, may have its own thermal insulation.

[0064] The upright members 102 are typically extruded aluminum profiles and edges of the column walls 10 are suitably prepared for insertion between two flanges of the upright member 102. This also adds some extra rigidity to the framework structure.

[0065] A first column wall 10A of the plurality of column walls of the storage column 105 comprises a first, vertically extending air plenum (disposed within the wall and hence not visible). A first storage column air inlet 11 is provided on an interior face of the first column wall 10A. In one embodiment, the first storage column air inlet 11 may be arranged at or near the top of the first column wall 10A. Air at a first temperature, originating from the air-conditioning plant (22; shown in Fig. 5), optionally being heated / dehumidified, is supplied to the first, vertically extending air plenum and subsequently released, via the first storage column air inlet 11, into the storage column 105. Air is evacuated from the storage column 105 via a first storage column air outlet (not visible in Fig. 6) arranged below said first storage column air inlet 11.

[0066] Fig. 6 further shows a second column wall 10B comprising a second, vertically extending air plenum (disposed within the wall and hence not visible), and a second storage column air inlet 12 for introducing air at a second temperature from the second air plenum into the storage column 105. The second storage column air inlet 12 is provided on an interior face of the second column wall 10B, said second column wall 10B being disposed perpendicularly relative said first column wall 10A. Air at a second temperature, once again originating from the air-conditioning plant, optionally being heated / dehumidified, is supplied to the second air plenum for release, via the second storage column air inlet 12, into the interior of the storage column 105.

[0067] With reference to Fig. 6 in conjunction with Fig. 1, the framework volume comprises a storage volume for storing goods holders (not shown). The storage space of the storage column is disposed directly beneath the horizontal rails. In an alternative embodiment (not shown), the storage column is disposed below the horizontal rails and at a distance from said horizontal rails.

[0068] By providing a storage column in accordance with the above, thermal conditions inside each storage column 105 maybe independently controlled. In addition, air at a second temperature is warmer and goes up towards the rails where the remotely operated vehicles operate while colder air at first temperature (introduced via air inlets 11, 13) is forced downwards due to underpressure in the storage column caused by air continuously being evacuated via the first storage column air outlet. Hereby, the possibility of air of the storage columns mixing with air warmer temperature is significantly reduced. This entails significant energy savings as the need for compensating for the negative effects of inadvertent mixing of air at different temperatures is significantly reduced.

[0069] Throughout the application, generic term “air” has been used, but it is to be construed that use of other gases, such as nitrogen or ethylene, is equally conceivable, if a particular storage environment is required.

[0070] Still with reference to Fig. 6, the storage column 105 comprises a third column wall 10C comprising a third air plenum (disposed within the wall and hence not visible), and a third storage column air inlet (13; not visible, but marked in Fig. 6) for introducing air at a first temperature, originating from the air-conditioning plant, optionally being heated / dehumidified, into the storage column 105 is provided on an interior face of the third column wall 10C. Said third column wall 10C is disposed opposite said first column wall 10A. In an embodiment, each storage column air inlet 11-13 comprises an array of holes 31-33 arranged along a straight horizontal line. In apreferred embodiment, holes of an array 33 associated with said third storage column air inlet 13 are provided at the same height as the holes of one array 31 of holes of said first storage column air inlet 11. These arrays 31-33 will be discussed in greater detail in connection with Fig. 7.

[0071] Fig. 7 shows an interior of a storage column 105 with first 11 and second 12 storage column air inlets. As seen, the first storage column air inlet 11 is arranged at the top of the first column wall 10 A and comprises an array of holes 31 arranged along a straight, horizontal line. These holes release air at a first temperature into the storage column 105. In an embodiment, the first storage column 10A has a plurality of said arrays 31 that are vertically spaced although only one of these arrays 31 is visible in Fig. 7. Although not included in Fig. 7, the shown embodiment comprises a third column wall 10C with a storage column air inlet 13 comprising an array of holes arranged along a straight horizontal line (see Fig. 6).

[0072] Still with reference to Fig. 7, the second storage column air inlet 12 comprises an array of holes 32 arranged along a straight, horizontal line. These holes release air at a second temperature into the storage column 105. As stated above, the second temperature is higher than the first temperature. As seen in Fig. 7, the second column wall 10B projects beyond the first column wall 10A at an upper end of the storage column 10B. The second storage column air inlet 12 is arranged at the top of the second column wall 10B. Accordingly, in the shown embodiment the second storage column air inlet 12 is arranged above said first storage column air inlet 11. The first storage column air outlet (not shown) is provided at a bottom surface of the storage column 105, typically below the spacer discussed in conjunction with Fig. 5.

[0073] The second air temperature is above o °C and the first air temperature is well below o °C. More specifically, the predetermined target value for the second air temperature is 2 °C and the predetermined target value for the first air temperature is in the range -24 to -40 °C, more preferred -28 to - 36 °C, most preferred -32 °C.

[0074] In the context of the air inlets shown in Fig. 7, ice build-up may occur in the holes or even in the respective plenum. This ice is advantageously removed while defrosting by means of hot air.

[0075] In an alternative embodiment (not shown), the storage column only features a first storage column air inlet for release of air at a first temperature into the storage column. In such an embodiment, the storage column is disposed below the horizontal rails of Fig. 6 and at a vertical distance from said horizontal rails. Air at a second temperature is then supplied by an air duct discharging into a spacedisposed between the horizontal rails and the storage columns. More specifically, a controlled and continuous horizontal release of the air at the second temperature (air flow in the range 1000 to 2000 m3 / h) and into the framework volume results in creation of a transversal air curtain. This air curtain effectively separates the storage columns from the horizontal rails supporting the remotely operated vehicles. By establishing said first transversal air curtain, a sharp, transversally extending thermal boundary is created in the storage and retrieval system. More precisely, the air curtain extends vertically between warmer temperatures at the level of the rail system and colder temperatures of the storage columns. Said air curtain creates a thermal boundary between the storage volume containing goods holders and the horizontal rails supporting wheels of the remotely operated vehicles such that the vehicles are not exposed to the prohibitively low temperatures. Also, in this embodiment colder air at first temperature (introduced via inlets 11, 13) is forced downwards due to underpressure in the storage column caused by air continuously being evacuated via the first storage column air outlet.

[0076] In the preceding description, various aspects of the storage column and the automated, grid-based storage and retrieval system comprising the storage column have been described with reference to the illustrative embodiment. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiment, as well as other embodiments of the system, which are apparent to persons skilled in the art to which the disclosed subject matter pertains, are deemed to lie within the scope of the present invention.LIST OF REFERENCE NUMBERS1 Storage and retrieval system 10 Column wall10 A First column wall 10B Second column wall 10C Third column wall n First storage column air inlet12 Second storage column air inlet 13 Third storage column air inlet 15 Spacer 22 Air conditioning plant 24A Means for supplying air at a first temperature 24B Means for supplying air at a second temperature 31 Array of holes in the first column wall 32 Array of holes in the second column wall 33 Array of holes in the third column wall 40 First row of storage columns 100 Framework structure 102 Upright members of framework structure 104 Framework volume 105 Storage column 106 Storage container / goods holder 106’ Particular position of storage container 107 Stack of storage containers 109 Storage volume 110 Parallel rails in first direction (X) 111 Parallel rails in second direction (Y) 112 Access opening 119 First port column 201 Container handling vehicle belonging to prior art 201a Vehicle body of the container handling vehicle 201 201b Drive means / wheel arrangement, first direction (X) 201C Drive means / wheel arrangement, second direction (Y) 301 Cantilever-based container handling vehicle 30ia Vehicle body of the container handling vehicle 301 301b Drive means in first direction (X) 301C Drive means / wheel arrangement, second direction (Y) 401 Container handling vehicle belonging to prior art 401a Vehicle body of the container handling vehicle 401 401b Drive means in first direction (X)401c Drive means / wheel arrangement, second direction (F)505 Control systemX First directionY Second directionZ Third direction

Claims

CLAIMS1. A storage column (105) for an automated storage and retrieval system (1) for storing goods holders (106), said storage column (105) comprising: four upright members (102) arranged in a rectangular array, the upright members (102) defining corners of the storage column (105), a plurality of column walls (10), each column wall (10) extending between a pair of upright members (102) for laterally enclosing a stack of goods holders (106) stored in the storage column (105), wherein a first column wall (10A) of the plurality of column walls comprises a first, vertically extending air plenum, a first storage column air inlet (11) provided on an interior face of the first column wall (10 A), and a first storage column air outlet arranged below said first storage column air inlet (11).

2. The storage column of claim 1, further comprising means (24A) for supplying air at a first temperature to the first, vertically extending air plenum for release, via the first storage column air inlet (11), into the storage column (105).

3. The storage column (105) of claim 1 or claim 2, wherein the first storage column air inlet (11) is arranged at the top of the first column wall (10A).

4. The storage column (105) of any preceding claim, wherein said first storage column air inlet (11) comprises an array of holes (30).

5. The storage column (105) of claim 4, wherein said array of holes (31) is arranged along a straight, horizontal line.

6. The storage column (105) of claim 5, wherein said first storage column air inlet (11) comprises a plurality of said arrays (31) that are vertically spaced.

7. The storage column (105) of any preceding claim, wherein the first storage column air outlet is provided at a bottom surface of the storage column (105).

8. The storage column (105) of any preceding claim, comprising: a second column wall (10B) comprising a second, vertically extending air plenum, and a second storage column air inlet (12) for introducing air at a second temperature from the second air plenum into the storage column (105), the second storage column air inlet (12) provided on an interior face of the secondcolumn wall (10B), said second column wall (10B) being disposed perpendicularly relative said first column wall (10A).

9. The storage column (105) of claim 8, comprising means (24B) for supplying air at a second temperature to the second air plenum for release, via the second storage column air inlet (12), into the interior of the storage column (105).

10. The storage column (105) of claim 8 or claim 9, wherein the second storage column air inlet (12) is arranged above said first storage column air inlet (11).

11. The storage column (105) of any of claims 8-10, wherein the second temperature is higher than the first temperature.

12. The storage column (105) of any of claims 8-11, wherein the second column wall (10B) projects beyond the first column wall (10A) at an upper end of the storage column (105).

13. The storage column (105) of claim 12, wherein the second storage column air inlet (12) is arranged at the top of the second column wall (10B).

14. The storage column (105) of any preceding claim, wherein the storage column (105) comprises a third column wall (10C) comprising a third air plenum, and a third storage column air inlet (13) for introducing air at a first temperature from the third air plenum into the storage column (105) is provided on an interior face of the third column wall (10C), said third column wall (10C) being disposed opposite said first column wall (10A).

15. The storage column (105) of claim 14, wherein said third storage column air inlet (13) comprises an array of holes (33).

16. The storage column (105) of claim 15 when dependent on claim 4, wherein said array of holes (33) is arranged along a straight horizontal line, wherein holes of said array (33) are provided at the same height as the holes of one array of holes (31) of said first storage column air inlet (11).

17. The storage column (105) of any preceding claim, wherein the column is configured so that goods holders (106) can be inserted into / extracted from the storage column from above.

18. The storage column (105) of claim 17, wherein goods holders (106) are inserted into / extracted from the storage column by means of a remotely operated vehicle.

19. The storage column (105) of any preceding claim, wherein said storage column (105) is thermally insulated.

20. The storage column (105) of any preceding claim, wherein a spacer (15) is provided at a bottom of the storage column (105) for supporting the lowermost goods holder stored in the storage column.

21. A storage and retrieval system (1) comprising a plurality of storage columns (105) in accordance with any of claims 1-20.

22. The storage and retrieval system (1) of claim 21, wherein the system is an automated storage and retrieval system.

23. The storage and retrieval system (1) of claim 21 or 22, wherein the system is an automated, grid-based storage and retrieval system (1), said system (1) comprising a framework structure (100) comprising vertically extending members (102) defining a framework volume (104) and a network of horizontal rails (110, 111) provided at upper ends of said vertical members (102), wherein remotely operated vehicles for handling goods holders (106) operate on top of said network of horizontal rails (110, 111), the framework volume (104) comprising a storage volume (109) with the plurality of storage columns (105) for storing goods holders (106), said storage volume (109) being disposed below the horizontal rails (110, 111).

24. The storage and retrieval system (1) of any of claims 21-23, wherein the plurality of storage columns (105) are arranged in parallel rows.

25. The storage and retrieval system (1) of any of claims 21-24, wherein means (24A) for supplying air at the first temperature to the first air plenum is a first pump and a single first pump serves a first row (40) of storage columns (105) extending in a first direction.

26. The storage and retrieval system (1) of any of claims 21-25, wherein means (24B) for supplying air at the second temperature to the second air plenum is a second pump and a single second pump serves the first row (40) of storage columns (105) extending in said first direction.

27. The storage and retrieval system (1) of any of claims 21-26, said system comprising an air conditioning plant (22) for supplying temperature- conditioned air to the storage columns (105).

28. The storage and retrieval system (1) of claim 27, said system (1) comprising pipework establishing a closed loop for transferring air at first temperature between the air conditioning plant (22) and the first air plenum.

29. The storage and retrieval system (1) of claim 28, said pipework being disposed within the framework volume (104) and below the storage volume (109).

30. The storage and retrieval system (1) of any of claims 27-29, said system (1) comprising pipework for transferring air at second temperature between the air conditioning plant (22) and the second air plenum, said pipework being disposed within the framework volume (104) and below the storage volume (109).

31. The storage and retrieval system (1) of any of claims 27-30, said system (1) comprising at least one air dehumidifier and / or at least one thermal battery provided externally relative to the air conditioning plant (22).

32. A method for managing temperature in a storage column (105) of an automated storage and retrieval system for storing goods holders (106), the storage column (105) holding a stack of goods holders (106), said method comprising:- providing four upright members (102) arranged in a rectangular array, the upright members (102) defining corners of the storage column (105),- providing a plurality of column walls (10) for laterally enclosing said stack of stored goods holders (106),- providing a first vertically extending air plenum in a first column wall (10A) and providing a first storage column air inlet (11) on an interior face of the first column wall (10A),- supplying air at a first temperature to the first air plenum for release, via the first storage column air inlet (11), into the storage column (105),- providing a first storage column air outlet below said first air inlet (11) so that air can exit the interior of the storage column (105).

33. A method of claim 32, said method comprising:- providing a second air plenum in a second column wall (10B) and providing a second storage column air inlet (12) on an interior face of the second column wall (10B),- supplying air at a second temperature to the second air plenum for release, via the second storage column air inlet (12), into the storage column (105).

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