Structure for a grid

Abstract

The disclosure relates to an automated storage and retrieval system comprising: a grid comprising columns, each column arranged to contain a stack of storage containers; a first structure forming an upper level of the grid, wherein the first structure is arranged to allow container handling vehicles to travel thereon; at least one support member extending out of the plane of the upper level of the grid; and a second structure provided over the upper level of the grid, wherein the structure is supported by the at least one support member.

Description

[0001] P236087US

[0002] STRUCTURE FORA GRID

[0003] TECHNICAL FIELD

[0004] [1] The disclosure relates to a structure for a grid. More particularly, it relates to an automated storage and retrieval system having a grid and a structure provided over the grid.

[0005] BACKGROUND

[0006] [2] Traditional storage solutions usually involve the arrangement of goods on rows of shelves within a warehouse. The shelf location for each item is recorded in an inventory, and goods are retrieved from the shelves by a stock picker. The shelves are re-stocked and the inventory updated, as needed, as goods enter and leave the warehouse.

[0007] [3] Warehouse workers maybe assisted by robotic pickers and by automated inventory management systems. Automated transit systems may also be implemented in traditional warehouse set-ups to move goods from their inventory location to a picking and / or packing station.

[0008] [4] An alternative to a traditional warehouse set-up is an automated storage and retrieval system in which robots retrieve items from their logged location within the warehouse and deliver the items to a packing station or port. Such systems can reduce or eliminate the space needed to pass between rows of shelves to access stock, thereby removing the need for broad aisles within the warehouse. One example of such a system involves placing goods in bins or containers that are configured to be stacked, side by side, within a three-dimensional grid. A rail system is arranged on top of the grid, along which robotic container-handling vehicles configured to lift containers from the grid can travel. The container-handling vehicles are configured to transport containers from the grid and to deliver them to ports or stations at the periphery of the grid so that the goods within the container can be picked and packed.

[0009] [5] Such automated storage and retrieval systems are typically housed in a building such as a warehouse. It is convenient to house the system in a building to control an environment of the the automated storage and retrieval system, for example to provide shelter for the grid and the storage containers, to control a temperature the grid, or to control other qualities of the air around the grid and storage containers, such as humidity.P236087US

[0010] [6] As a safety measure, buildings usually include fire detection and suppression systems. Detection systems detect conditions indicative of fire, such as smoke or heat. In response, the detection systems trigger alarms and / or fire suppression systems.

[0011] Traditional fire suppression systems involve fire suppression units in the form of sprinklers for supplying fire suppressant downward into the warehouse. Fire suppression systems can be used to release a fire suppressant to suppress any fires in or on the grid, for example a fire in or between storage containers stored in the grid. Fire detection and suppression system are typically installed on or supported by the ceiling of the building.

[0012] [7] However, existing fire suppression systems may not be susceptible to further improvement for automated storage and retrieval systems comprising a three-dimensional grid.

[0013] [8] There are challenges in ensuring that any fire detection system reliably and quickly senses smoke and / or heat from a fire. There are also challenges in ensuring that any fire suppression system is able to reliably and quickly extinguish or prevent the spread of fires in the grid.

[0014] [9] There are also challenges in simplifying or easing installation of a fire detection and / or suppression system in a building containing an automated storage and retrieval system.

[0015]

[0010] There are also challenges in controlling the temperature and the qualities of the air surrounding the grid during normal use of the grid.

[0016] SUMMARY

[0017]

[0011] One or more aspects of an invention are set out in the claims.

[0018] BRIEF DESCRIPTION OF THE DRAWINGS

[0019]

[0012] The disclosure will now be described in more detail in connection with a number of exemplary embodiments shown in the accompanying drawings, in which:

[0020] Fig. 1 shows a perspective view of a storage system comprising a grid and a plurality of robotic container-handling vehicles configured to retrieve and / or rearrange goods stored within the grid;

[0021] Fig. 2 shows a top view of the system of Fig. 1;P236087US

[0022] Fig. 3A shows a side view of a first robotic container-handling vehicle suitable for use in the system of Fig. 1;

[0023] Fig. 3B shows a side view of a second robotic container-handling vehicle suitable for use in the system of Fig. 1;

[0024] Fig. 3C is a perspective side view of the robot of Fig. 3B;

[0025] Fig. 4 shows a computing device for implementing the operations described herein;

[0026] Fig. 5A shows a perspective view of a portion of an automated storage and retrieval system according to the present disclosure.

[0027] Fig. 5B shows a side view of the portion of the automate storage and retrieval system shown in Fig. 5A.

[0028] Figs. 6A and 6B each show a fire suppression unit for use with the automated storage and retrieval systems according to the present disclosure.

[0029] Fig. 7A shows a side view of the type of automated storage and retrieval system shown in Figs 5A and 5B but with an extended second structure.

[0030] Fig. 7B shows as side view of the type of automated storage and retrieval system shown in Figs 5A and 5B but with a screen extending from the second structure.

[0031] Fig. 8 shows an underside view of the second structure and possible arrangements of other components of the automated storage and retrieval system relative to features of the second structure.

[0032] DETAILED DESCRIPTION

[0033]

[0013] In overview, the disclosure relates an automated storage and retrieval system including a grid with columns for storing stacks of storage containers. The top (or upper level, or uppermost level) of the grid provides a surface on which container handling vehicles can travel. Usually, the ceiling of the building is the next major structure above the top of the grid. The ceiling of the building serves several functions, including: sheltering the grid; containing the air around the grid (for example to aid in controlling the temperature or other qualities of the air); providing a place to mount sensors (e.g. heat detectors or smoke detectors) or fire fighting (or fire suppressing) units (e.g. sprinklers or hoses); and / or containing smoke or hot air released from a fire in the grid in order to reliably and quickly trigger the heat or smoke detectors. However, the heightP236087US

[0034] of the ceiling of the building is often several metres away from the top of the grid, which reduces the efficacy and efficiency of the ceiling for these functions. For example, the ceiling may not be close enough to optimally contain the air surrounding the grid to allow for efficient control of the temperature or air qualities of the air. The sensors on the ceiling maybe not be close enough to the grid to optimally detect smoke or heat. Or the fire suppression units may not be close enough to deliver optimal fire fighting performance.

[0035]

[0014] The automated storage and retrieval system of the present disclosure has a structure (such as a framework, ceiling, canopy or cover) over the grid to perform the functions otherwise performed the ceiling of a building. The structure is differentiated from the ceiling of a building in that it is supported (or held up) by at least one support members extending from the plane of top of the grid and is a part of the automated storage and retrieval system, rather than the building in which the system is housed.

[0036]

[0015] The structure is integrated as part of the structure of the grid. The structure may include integrated mounts for attaching fire suppression units and / or sensors thereto. Alternatively, or in addition, the structure also includes integrated conduits for supplying a fire suppressant to the fire suppression units or for sampling the air to aid in smoke detection. The integration of mounts and and / or conduits into the structure simplifies installation of a fire detection and suppression system.

[0037]

[0016] The structure maybe modular and scalable. For example the structure may comprise a kit sets of similar or identical parts such as beams and / or panels which can be assembled to provide the structure over grids of arbitrary shape and size.

[0038]

[0017] The structure may also provide additional protection by creating a buffer zone between the grid and the building’s ceiling, reducing the need for complex fire systems at higher elevations.

[0039]

[0018] The above overview is provided to introduce in simplified form a selection of concepts that are further described herein. The overview is not intended to identify key or essential features of the invention.

[0040]

[0019] Referring to the embodiment shown in Fig. 1, a grid too comprises a frame formed by a plurality of generally rectilinear, adjacent vertical columns 102 formed between vertical frame members 104 and extending in the X and Y directions 108, 110. The grid elements maybe fabricated of any appropriate material; for example, the frame members maybe formed of extruded aluminium. Storage containers orbins 112 areP236087US

[0041] stacked on top of each other, preferably in a self-supporting manner, in the Z direction 114 in the columns 102, forming a storage volume of storage cells for respective bins 112 extending in the X, Y and Z directions 108, 110, 114.

[0042]

[0020] A rail system or network 116 is formed on top of the grid too and comprises pairs of vehicle rails or tracks 118a, 118b and 120a, 120b, respectively extending in the X and Y directions 108, 110. Robotic container-handling vehicles, or robots, 122, which can be of a range of size, shape and function, are provided and configured to run on the rails 118, 120 and to transport bins 112 in both the X and Y directions 108, 110. The robots 122 are additionally configured to lift and lower bins 112 from / into the columns 102 in the Z direction 114, the bins 112 optionally being guided by the vertical frame members 104. The robots 122 access the bins 112 via access openings 124 above the columns 102 and formed between the rails 118, 120.

[0043]

[0021] Some columns 102 maybe used for alternative purposes than bin storage. For example, port columns 126, 128 comprise port or access columns allowing transfer of a bin 112 in and / or out of the grid too. Port columns 126, 128 provide a vertical channel for lifting of a bin 112 from, or lowering of a bin 112 to, a port or ports 130, 132. The ports 130, 132 are shown in Fig. 1 at the lowest level of the grid, however ports can be located at any vertical position along the column. The respective port columns 126, 128 can be assigned for removing (‘drop-off) and / or returning or delivering (‘pick-up’) bins 112 from / to the grid too. The ports 130, 132 are therefore configured to allow bins 112 to be removed and reintroduced (horizontally) into the associated port column. As such, a port 130, 132 can comprise a conveyor (not shown in Fig. 1) onto which a bin 112 maybe lowered and transported horizontally out of the port column. The port columns 126, 128 include an opening or access point through which bins 112 can enter and leave the column.

[0044]

[0022] Bins 112 can be transported along the top of the grid too to and / or from a port column 126, 128 by robots 122, and from a port 130, 132 to a location outside the grid too, which maybe an access station (not shown) for processing of the bin 112 or its contents, such as a picking station for adding content to, or removing content from, the bin 112. In alternative examples (not shown), the bin 112 maybe transported to a port of another grid on the same or another level, or to an external facility. Transport of bins 112 to and from ports 130, 132 maybe by any appropriate means (not shown) including conveyors, transport vehicles, lifts or robots.P236087US

[0045]

[0023] Referring to the embodiment shown in Fig. 2, the X-Y configuration 200 of the rail system 116 can be seen in more detail, together with robots 202, 204 of different types. The rail system includes rails 206 defining between them vertical column access openings 124 for access to bins 112. The rails 206 can be any appropriate type for permitting travel of the robots 202, 204 in the X and Y directions 108, 110 thereon, including (not shown) groove-type rails for receiving vehicle wheels, or protrusion-type rails for engaging wheel recesses. Each rail 206 may comprise a single track or multiple parallel tracks in each of the X and Y directions 108, 110.

[0046]

[0024] A first, ‘cantilever’ type of robot 202 is shown in more detail in Fig. 3A and includes a body 300, a set of wheels 302 and a lifting device 304. The body 300 contains operational equipment (not shown) for the robot 202 including drive, power and control systems. The wheels 302 permit movement of the robot 202 in one of the X and Y directions, an additional set of wheels (not visible in this view) permitting movement in the other of the X and Y directions, in both cases along the respective rails or tracks 206. One or both sets of wheels can be raised or lowered to permit selective engagement of the rails for movement in the desired direction. The lifting device 304 includes a cantilever element 306 extending in the X-Y plane from the top of the body 300, and a gripping device 308, which is raisable and lowerable from the cantilever element 306. The gripping device 308 is configured to grip or engage a bin 112; for example, by gripping a part of the bin 112, or by passively or actively engaging a suitably configured part of the bin 112.

[0047]

[0025] A second, ‘internal cavity’ type of robot 204 is shown in more detail in Fig. 3B and includes, as an alternative to the cantilevered lifting system, an internal cavity 310 within the body 300 and in which the lifting device 312 including a gripping device (not shown) is located. In this case, the body 300 includes the robot’s operational equipment and a storage space for one or more bins 112, for use, for example, while transporting the bin 112.

[0048]

[0026] Fig. 3C shows a perspective side view of the robot of Fig. 3B in which the first set of wheels 302 from Fig. 3B are visible. The additional set of wheels referenced above but not shown in Fig. 3B are shown as wheels 303 in Fig. 3C. The additional set of wheels 303 is arranged perpendicular to the first set of wheels 302, to allow rolling of the robot 204 in the X and Y directions on the first and second set of wheels 302, 303 respectively. The first and second set of wheels 302, 303 shown in Fig. 3C maybe configured to be independently lowered into engagement with the rails (and conversely raised out ofP236087US

[0049] engagement with the rails) to allow the robot 202 to move in the X and Y direction across the arrangement of rails shown in Fig. 2. Although the perspective view shown in Fig. 3C is of the robot 204 of Fig. 3B, it will be appreciated that a similar perpendicular wheel arrangement maybe applied to the robot 202 of Fig. 3A.

[0050] Control and monitoring system

[0051]

[0027] Control and monitoring of the automated storage and retrieval system, including monitoring and storing bin position and controlling bin delivery, retrieval and transport and robot routing and collision avoidance, is performed by a control system shown in Fig. 4 in communication with the robots and / or other controllable system components. Control can be performed locally or remotely and maybe implemented by a processing system, for example in the form of a computing device. Accordingly, the methods described herein may form all or part of a computer-implemented method, or a system configured to perform the methods described herein.

[0052]

[0028] With reference to Fig. 4, a processing system 400 suitable for carrying out the methods described herein will now be described. Fig. 4 shows a block diagram of one implementation of a processing system 400 in the form of a computing device within which a set of instructions for causing the computing device to perform any one or more of the methods described herein maybe executed. In some implementations, the computing device maybe connected (e.g., networked) to other machines in a Local Area Network (LAN), an intranet, an extranet, or the Internet. The computing device may operate in the capacity of a server or a client machine in a client-server network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. The computing device maybe a personal computer (PC), a tablet computer, a set-top box (STB), a Personal Digital Assistant (PDA), a cellular telephone, a web appliance, a server, a network router, switch or bridge, or any machine capable of executing a set of instructions (sequential or otherwise) that specify actions to be taken by that machine. Further, while only a single computing device is illustrated, the term ‘computing device’ shall also be taken to include any collection of machines (e.g., computers) that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methods described herein.

[0053]

[0029] The example processing system 400 includes a processor 402, a main memory 404 (e.g., read-only memory (ROM), flash memory, dynamic random-access memory (DRAM) such as synchronous DRAM (SDRAM) or Rambus DRAM (RDRAM), etc.), aP236087US

[0054] static memory 406 (e.g., flash memory, static random-access memory (SRAM), etc.), and a secondary memory (e.g., a data storage device 418), which communicate with each other via a bus 430.

[0055]

[0030] Processor 402 represents one or more general-purpose processors such as a microprocessor, central processing unit, or the like. More particularly, the processor 402 maybe a complex instruction set computing (CISC) microprocessor, reduced instruction set computing (RISC) microprocessor, very long instruction word (VLIW) microprocessor, processor implementing other instruction sets, or processors implementing a combination of instruction sets. Processor 402 may also be one or more special-purpose processors such as an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a digital signal processor (DSP), network processor, or the like. Processor 402 is configured to execute the processing logic (instructions 422) for performing the operations and steps described herein.

[0056]

[0031] The processing system 400 may further include a network interface device 408. The processing system 400 also may include any of a video display unit 410 (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)), an alphanumeric input device 412 (e.g., a keyboard or touchscreen), a cursor control device 414 (e.g., a mouse or touchscreen), and an audio device 416 (e.g., a speaker).

[0057]

[0032] It will be apparent that some features of the processing system 400 shown in Fig.

[0058] 4 maybe absent. For example, the processing system 400 may have no need for display device 410 (or any associated adapters). This maybe the case, for example, for particular server-side computer apparatuses which are used only for their processing capabilities and do not need to display information to users. Similarly, user input device 412 may not be required. In its simplest form, processing system 400 comprises processor 402 and main memory 404.

[0059]

[0033] The data storage device 418 may include one or more machine-readable storage media (or more specifically one or more non-transitory computer-readable storage media) 428 on which is stored one or more sets of instructions 422 embodying any one or more of the methods or functions described herein. The instructions 422 may also reside, completely or at least partially, within the main memory 404 and / or within the processor 402 during execution thereof by the processing system 400, the main memory 404 and the processor 402 also constituting computer-readable storage media 428.P236087US

[0060] [341 The various methods described herein maybe implemented by a computer program. The computer program may include computer code arranged to instruct a computer to perform the functions of one or more of the various methods described herein. The computer program and / or the code for performing such methods maybe provided to an apparatus, such as a computer, on one or more computer-readable media or, more generally, a computer program product. The computer-readable media maybe transitory or non-transitory. The one or more computer-readable media could be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or a propagation medium for data transmission, for example for downloading the code over the Internet. Alternatively, the one or more computer-readable media could take the form of one or more physical computer-readable media such as semiconductor or solid-state memory, magnetic tape, a removable computer diskette, a random-access memory (RAM), a read-only memory (ROM), a rigid magnetic disc, or an optical disk, such as a CD-ROM, CD-R / W or DVD.

[0061] [351 The computer program is executable by the processor 402 to perform functions of the systems and methods described herein.

[0062]

[0036] In an implementation, the modules, components, and other features described herein can be implemented as discrete components or integrated in the functionality of hardware components such as ASICS, FPGAs, DSPs, or similar devices.

[0063]

[0037] A ‘hardware component’ is a tangible (e.g., non-transitory) physical component (e.g., a set of one or more processors) capable of performing certain operations and may be configured or arranged in a certain physical manner. A hardware component may include dedicated circuitry or logic that is permanently configured to perform certain operations. A hardware component maybe or include a special-purpose processor, such as a field programmable gate array (FPGA) or an ASIC. A hardware component may also include programmable logic or circuitry that is temporarily configured by software to perform certain operations.

[0064]

[0038] Accordingly, the phrase ‘hardware component’ should be understood to encompass a tangible entity that maybe physically constructed, permanently configured (e.g., hardwired), or temporarily configured (e.g., programmed) to operate in a certain manner or to perform certain operations described herein.

[0065]

[0039] In addition, the modules and components can be implemented as firmware or functional circuitry within hardware devices. Further, the modules and components canP236087US

[0066] be implemented in any combination of hardware devices and software components, or only in software (e.g., code stored or otherwise embodied in a machine-readable medium or in a transmission medium).

[0067] Operation of the automated storage and retrieval system

[0068]

[0040] In operation, each bin 112 is given a unique identifier, which maybe marked on the bin 112 using a computer-readable identifier (e.g., a barcode, quick-response code or radio-frequency identification tag) to ease identification of the bin 112. A database of the processing system 400 stores, in association with the unique identifier, the position and, optionally, content of each bin 112. When a bin 112 is moved (e.g., when it is retrieved from the grid 100), the database is updated to record its change in position.

[0069]

[0041] When it is desired to retrieve a bin 112 from the grid too, under control of the processing system 400, a robot 202, 204 is routed via the rail system 116 to the vertical column 102 including the storage cell where, according to the database, the bin 112 is positioned, and the lifting device 304, 312 is positioned (according to robot type) over the corresponding access opening 124, either adjacent or below the robot 202, 204. The robot 202, 204 lowers the gripping device 308 which engages, grips and lifts the bin 112 to the robot 202, 204. The robot 202, 204 then transports the bin 112, for example, to the drop-off port column 126, 128 for delivery to the port 130, 132 and subsequent processing external to the grid too. In the event that the target or designated bin 112 is below other bins in the stack then the robot 202, 204 or multiple robots, which maybe dedicated to the task, are controlled in a ‘digging’ operation to sequentially lift and reposition, temporarily or permanently, bins above the target bin 112 in order for it to be retrieved. It will be appreciated that other operations in relation to the bin 112 can be carried out in a similar manner. For example, a bin 112 can be delivered for storage in the grid too at the port 130, 132 of the pick-up port column 126, 128, gripped and lifted by a robot 202, 204 and delivered to the desired storage cell, bins above the desired position being repositioned if necessary as discussed above.

[0070] Description of specific improvements

[0071]

[0042] There is provided an automated storage and retrieval system comprising: a grid comprising columns, each column arranged to contain a stack of storage containers; a first structure forming an upper level of the grid, wherein the first structure is arranged to allow container handling vehicles to travel thereon; at least one support member extending out of the plane of the upper level of the grid; and a second structure providedP236087US

[0072] over the upper level of the grid, wherein the structure is supported by the at least one support member.

[0073] [431 The automated storage and retrieval system can be of the form described with reference to Figs. 1-4. However the present disclosure is not limited thereto and the concepts described herein can be applied to any automated storage and retrieval system having an upper level for container handling vehicles to travel on.

[0074]

[0044] The grid maybe any structure that is arranged support the first structure and provide a volume in which the storage containers can be stored. An example of a suitable grid is described with reference to Figs. 1, 2, 5A and 5B.

[0075]

[0045] The columns are spaces or voids within the volume of the grid arranged to accommodate a vertically stacked plurality of storage containers. An example of the columns are the vertical columns described with reference to Fig.i. The columns are dimensioned such that the storage containers can be lowered into or lifted out of them by container handling vehicles operating on the upper level of the grid. The columns are prismatic (e.g. cuboid) in shape with a substantially constant cross-sectional area and shape. The columns extend at least partially or fully through the volume of the grid. The columns extend vertically from the upper level toward the bottom of the grid. The columns may be defined by the space between a plurality (at least three, or four) of vertical frame members, such as the vertical frame members 104 described with reference to Fig. 1. The vertical frame members may allow air to pass horizontally between adjacent columns of the grid. However, the present disclosure is not limited thereto and the columns maybe instead be defined by internal walls of the grid, wherein the walls are vertically arranged in the volume of the grid to separate adjacent columns.

[0076]

[0046] A stack of storage containers can be contained in each column. The storage containers have a footprint which corresponds to (or can be accommodate by) a footprint of each column so that storage containers are supported in the column during storage. The storage containers are prevented from moving between columns by the boundaries of each column, defined by structural elements of the grid, such as the vertical frame members or internal walls of the grid. The storage containers can take the form of, e.g., the storage containers 112 described with reference to Figs. 1-4. However the present disclosure is not limited thereto and the storage containers may take other forms, such as a stackable frame or module arranged to contain structures for containing or holding objects within the volume of the frame. An example of such a frame or module is a stackable module for vertical farming described with reference to Figs. 5-23 ofP236087US

[0077] W02024 / 235907A1, the disclosure of which is hereby incorporated by reference. The storage containers are stackable in that they are arranged to be stacked one on top of another in a vertical column.

[0078]

[0047] The first structure forms the upper level of the grid. The first structure maybe, for example, the rail system 116 described with reference to Fig. 1. However, the present disclosure is not limited thereto and the first structure can be any structure suitable to allow container handling vehicles to travel thereon. The first structure may support any container handling vehicles capable of lifting storage containers into and out of the columns and / or transporting storage containers horizontally across the upper level of the grid. An example of such a container handling vehicle is described with reference to Figs. 3A-3C and 4. However, the present disclosure is not limited thereto and other suitable container handling vehicles are also envisaged.

[0079]

[0048] The upper level of the grid is formed in a plane. The plane maybe a horizontal plane. The plane maybe formed at the uppermost surface on which the container handling vehicles travel.

[0080]

[0049] In a multi-grid (or stacked-grid) system there may be two grids, for example two of the grids described with reference to Fig. 1 of the present disclosure, each grid having its own level upon which container handling vehicles may travel. For example, two or more storage grids maybe stacked - one on top of the other - as depicted in and described with reference to Fig. 6 of W02021 / 099082A1 (the disclosure of which is incorporated herein by reference). In this case, there maybe a level of the lower grid upon which the container handling vehicles of the lower grid can travel. There may also be a level of the upper grid upon which the container handling vehicles of the upper grid can travel. In W02021 / 099082A1, there is no second structure supported (by support members) above the level of the upper grid upon which container handling vehicles can travel. In some embodiments, including those in which there are two or more grids stacked one above the others, the term ‘upper level’ as used in the present disclosure may correspond to the uppermost level of the entire automated storage and retrieval system upon which container handling vehicles can travel.

[0081]

[0050] The at least one support member extends out of the plane of the upper level of the grid. That is, the at least one support member extends perpendicular or oblique to the plane of the upper level of the grid in an upward direction. The at least one support member is arranged to support the second structure above the upper level of the grid.P236087US

[0082] The support members may vertically extend upwards or extend upwards at oblique angle to the vertical (e.g. diagonally). The support members maybe straight or curved.

[0083]

[0051] The at least one support member may take the form of a wall, beam, strut, column or support. However, the present disclosure is not limited thereto and the at least one support member may take the form of any other structure or component arranged to support the second structure above the upper level of the grid. One or more vertical frame members or one or more internal or external walls of the grid may extend beyond the upper level of the grid to form the at least one support member.

[0084] Alternatively, or in addition, the at least one support member may comprise separate structural components from the vertical frame members or walls of the grid. There may be one support member supporting the entire structural load of the second structure (for example in a cantilever arrangement), or a plurality of support members distributed over the area of the second structure.

[0085]

[0052] Each support member maybe located at, outside, or inside a perimeter of the upper level of the grid. One or more of the support members maybe located within a column of the grid or within another vertical void in the grid. One or more of the support members may extend through the length of the column or void to a floor or other another structure beneath and / or supporting the grid.

[0086]

[0053] Each support member maybe connected to the grid so that the grid bears the structural load of the support member. Alternatively, or in addition, each support member is arranged to be structurally supported by the floor or another structure beneath the grid.

[0087]

[0054] The at least one support member may comprise a plurality of support members. The support members are distributed within the area covered by the second structure.

[0088]

[0055] The second structure is provided over the upper level of the grid. That is, the second structure is above, and separated by a distance from, the first structure. The second structure maybe arranged parallel to the first structure (e.g., parallel to a horizontal plane). The second structure and first structure define a space or volume therebetween. The space or volume is sufficient to allow container handling vehicles to travel horizontally within it. That is, the vertical distance between the first structure and second structure is sufficient to allow a container handling vehicle to travel on the upper level of the grid in the space or volume between the first structure and second structure.P236087US

[0089]

[0056] The second structure is supported by the at least one support member. That is the at least one support member is arranged to support the second structure. ‘Supported by’ maybe understood to mean structurally supported in the sense that the second structure is held up, or held in place, by the at least one support member. The at least one support member may couple or attach the second structure to the first structure. The at least one support member may bear the structural load of the second structure. The at least one support member may transfer the structural load of the second structure to the grid and / or to a floor or other structure or surface beneath the grid.

[0090]

[0057] The second structure may form a ceiling above the upper level of the grid. That is, the second structure may form a cover over the upper level of the grid. The second structure maybe arranged to prevent or inhibit the flow of air or smoke from the volume between the first and second structure to the volume above the second structure. The second structure maybe considered to be a false ceiling in the sense that it is not the ceiling of the building in which the automated storage and retrieval system is housed. There is therefore provided a building housing the automated storage and retrieval system, wherein the building comprises a space for housing the automated storage and retrieval system. The space comprises a ceiling and the second structure is provided between the first structure and the ceiling.

[0091]

[0058] When the second structure is formed as a ceiling, this enables improved control of air or smoke above the grid. Improved control of air or smoke maybe useful for a number of reasons. The second structure formed as a ceiling may bring a ceiling closer to the upper level of the grid compared with reliance upon the ceiling of the building. The second structure therefore reduces the volume of air above the grid compared with using the ceiling of the building as the cover over the grid. Reducing the volume of air above the grid allows for more efficient control over the properties of the air, for example its composition or climate (including temperature and / or humidity).

[0092]

[0059] Control over the climate maybe useful for storing refrigerated goods in the grid. In this case, the grid may include a refrigeration unit for controlling the temperature of the air in the grid and the second structure may prevent circulation of refrigerated air to above the second structure (for example the area between the second structure and the building ceiling) which do not need to be refrigerated.

[0093]

[0060] In vertical farming applications, control over the composition and / or climate may be used to facilitate growth or development, or maintain health, of organisms grown, stored or incubated in the grid. In this case, the storage containers maybe stackableP236087US

[0094] growth modules arranged to support the growth of plants or organisms therein and the grid may include one or more environment control devices arranged to control the environment (e.g. air composition and / or climate) in the grid. The devices may include an air conditioning unit, a heater, and / or a humidity controller (humidifier or dehumidifier). The use of the second structure as a ceiling improves the efficiency of the environment control devices because the volume of air in and above the grid is reduced compared with, for example, using a building ceiling.

[0095]

[0061] The automated storage and retrieval system may further include a plurality of sensors arranged to detect heat or smoke, wherein each sensor is supported by the second structure or one of the at least one support members. The placement of the sensors on the second structure or on an upper portion of the at least one support member can increase the efficacy of the sensors compared with, for example, placing sensors above the grid on a ceiling of a building housing the automated storage and retrieval system. The second structure or at least one support member can be used to place the sensors closer to the grid and therefore closer to the source of smoke or heat while also leaving sufficient room above the grid for the operation and maintenance of the container handling vehicles.

[0096]

[0062] The second structure may be arranged to insulate the air between the first and second structures from the air above the second structure. The second structure may therefore include an insulating material. Insulation enables reduced heat transfer to areas around or above the grid that do not need to be temperature controlled. Insulation also allows improved detection of overheating of the contents of the grid, for example due to a fire. When the automate storage and retrieval system includes one or more heat detectors arranged the second structure and the first structure, the second structure acting as a ceiling or insulator can improve the efficacy of the one or more heat detectors in detecting an increase in temperature in the grid.

[0097]

[0063] Control over smoke rising from the grid maybe useful for fire detection and / or fire suppression. By inhibiting the transfer of smoke from the volume between the first and second structures to the volume above the second structure, the concentration of smoke produced by a fire or smouldering can be increased in the vicinity of a smoke detector (or perforated pipeline for an aspiration-based smoke detector) located on or below the second structure (for example, between the second structure and the first structure). When the automate storage and retrieval system includes one or more smoke detectors or perforated pipelines arranged, for example, between the second structureP236087US

[0098] and the first structure, the second structure acting as a ceiling can improve the efficacy of the one or more smoke detectors or smoke detection systems in detecting smoke rising from the grid.

[0099]

[0064] The second structure may include a framework. The framework may be arranged in a horizontal plane (i.e. parallel to the plane of the upper level of the grid). The framework can reduce a weight of the second structure. The framework maybe formed from a plurality of connected elongate structural elements, such as beams or struts. The framework may be formed as a lattice or grid. The framework may extend between two or more of the support members. The framework maybe formed from a plurality of separable structural elements and this can allow ease of assembly, repair and / or maintenance of the second structure. The framework components maybe formed from frame members having fixtures identical to vertical or horizontal frame members used to form the grid itself, thereby providing a simple kit for forming the grid and second structure, and simplifying assembly, repair and maintenance of the grid and second structure.

[0100]

[0065] The second structure may include one or more panels supported by the framework. When the second structure is formed as a ceiling, the one or more panels forms a physical barrier between the volume or space between the first and second structures and the volume or space above the second structure. The one or more panels maybe contiguously arranged relative to each other. The one or more panels maybe horizontally arranged (so that the plane of the panel is parallel to the horizontal plane, or the plane of the upper level of the grid). The framework may support one or more corners and / or one or more edges of the panels. The framework may bear the structural load of the one or more panels. When the framework is formed as a lattice or grid, the one or more panels are arranged to fill the spaces between in the lattice or grid.

[0101]

[0066] The one or more panels maybe removable from the framework, thereby allowing ease of assembly, maintenance and repair of the second structure.

[0102]

[0067] For each storage column of the grid, the second structure may comprise a respective panel of the one or more panels positioned above the respective storage column.

[0103]

[0068] Each of the one or more panels may comprise a non-combustible material. The non-combustible material may comprises a metal or alloy, such as aluminium or steel. The use of a non-combustible material aids in fire-proofing the second structure.P236087US

[0104]

[0069] The automated storage and retrieval system may include a fire safety system arranged to detect and / or suppress a fire, wherein at least one component of the fire safety system is supported by the second structure and / or the at least one support member.

[0105]

[0070] The at least one component of the fire safety system may include one or more of: a sensor arranged to detect a temperature over a threshold temperature and / or the presence of smoke; a perforated pipeline of an aspiration-based smoke detection system; a fire suppressant supply line arranged to supply fire suppressant to a fire suppression unit; and / or a fire suppression unit arranged to direct a fire suppressant to one or more of the columns of the grid.

[0106]

[0071] The sensor or perforated pipeline maybe positioned within a threshold horizontal distance from the periphery of the second structure. The threshold distance maybe equal to the width of three, two or one columns of the grid.

[0107]

[0072] The at least one component of the fire safety system may be located within a threshold vertical distance from the second structure, wherein the threshold vertical distance is 2%, optionally 3%, optionally 5%, optionally 10%, optionally 15 %, optionally 20% of the vertical distance between the first structure and the second structure.

[0108]

[0073] The fire safety system may include a fire detection system arranged to detect a temperature over a threshold temperature and / or the presence of smoke; and / or a fire suppression system arranged to deliver a fire suppressant to one or more of the columns of the grid.

[0109]

[0074] The fire safety system may include a mount for a fire suppression unit, the fire suppression unit arranged to deliver fire suppressant into at least one of the columns, or a fire suppression unit arranged to deliver fire suppressant into at least one of the columns. The mount or fire suppression unit may be positioned at or below the second structure. The mount or fire suppression unit maybe positioned above at least one column of the grid. The mount may be supported by the second structure, or the at least one support member. Alternatively, the automated storage and retrieval system may include a fire suppression unit arranged to deliver fire suppressant into at least one of the columns, wherein the fire suppression unit is: supported by the second structure, or one more of the support members. A distance between the mount or fire suppression unit and the upper level of the grid maybe between about 1.8 metres and about 3.0 metres. The mount may include a channel arranged to allow delivery of fire suppressantP236087US

[0110] to the fire suppression unit. The channel maybe in fluid communication with the supply line.

[0111]

[0075] The placement of the fire suppression units (or mounts for fire suppression units) at or below (or within a threshold distance from) the second structure can increase the efficacy of the fire suppression units compared with, for example, placing fire suppression units above the grid on a ceiling of a building housing the automated storage and retrieval system. The second structure or at least one support member can be used to place or support the fire suppression units closer to the grid and therefore closer to a fire in the grid.

[0112]

[0076] The fire suppression unit maybe configured to deliver fire suppressant in response to a temperature in or above the grid exceeding a threshold temperature and / or in response to the presence of smoke. For example, the fire suppression unit may be configured to deliver fire suppressant when one or more of the sensors detects a temperature exceeding a threshold temperature and / or the presence of smoke.

[0113] Alternatively, or in addition, the fire suppression unit maybe configured to deliver fire suppressant in response to a temperature of a component of the fire suppression unit being exceeded.

[0114]

[0077] The second structure may extend above (and / or over or across) the entire upper level of the grid. That is, the extent of the second structure may span the entire area of the upper level of the grid. The second structure may extend over the entire footprint of the grid. The second structure may form a canopy or cover across the entire upper level of the grid so as to trap smoke or air in a layer above the grid for the purposes described in the present disclosure.

[0115]

[0078] The automated storage and retrieval system may further comprise a screen (or curtain or shroud) extending from the second structure. The screen may extend from the outer edges of the second structure. The screen may extend downward, either vertically or at oblique angle to the vertical. The screen may comprise a screen framework. The screen may comprise one or more screen panels. The screen panels maybe planar or curved. The one or more screen panels maybe supported by the screen framework and / or the second structure. The structural load of the screen maybe supported by the second structure.

[0116]

[0079] The screen and second structure maybe together arranged to cooperate to hinder or inhibit the escape of air or smoke from a volume above the upper level of the grid.P236087US

[0117] The volume above the upper level of the grid includes the volume enclosed or surrounded by the screen and the second structure. The screen may be arranged to inhibit the transfer of air or smoke from the volume (or space or region) above the upper level of the grid (i.e. between the first structure and the second structure) to the volume (or space or region) above the second structure by inhibiting the flow of air around the outer edges (periphery) of the second structure.

[0118]

[0080] The screen may extend downwardly by at least 0.6 metres (that is, the vertical component of the length of the screen is at least 0.6m), optionally screen may extend downwardly by at least 0.8 metres, optionally screen may extend downwardly by at least 1.0 metres.

[0119]

[0081] Alternatively, or in addition to including the screen, the second structure may be larger in area than the area of the upper level of the grid. That is, the second structure may extend in the horizontal dimension beyond the area of the upper level of the grid (and / or beyond the footprint of the grid) so that the second structure extends over an area outside of periphery of the upper level of the grid. The second structure may extend beyond one or more or all edges of the upper level of the grid.

[0120]

[0082] A larger second structure or a second structure having a screen can help to control the flow of smoke or air below the second structure in the regions above the periphery of the upper level of the grid, so that smoke does not flow upward past the second structure in those regions. If there is smoke detection apparatus (smoke detectors or perforated pipelines of an aspirated smoke detection system) near these regions, the larger second structure or second structure having a screen can improve the efficacy of the smoke detection apparatus.

[0121]

[0083] A distance between the second structure and the upper level of the grid is between about 1.8 metres and about 3.0 metres. This allows the second structure to be placed close enough to the upper level of the grid to provide any of the other benefits of the second structure described elsewhere in the present disclosure while allowing sufficient height for the operation and / or service and / or maintenance of the container handling vehicles or the first structure or the grid itself.

[0122]

[0084] There is also provided a method of operating the automated storage and retrieval systems described herein including: detecting a temperature exceeding a threshold temperature and / or the presence of smoke in the space between the first structure and the second structure. Alternatively, or in addition, the method comprises delivering fireP236087US

[0123] suppressant into at least one storage column of the storage columns from a position within the space between the first structure and second structure. The method may also comprise delivering the fire suppressant in response to detecting the temperature exceeding a threshold temperature and / or the presence of smoke in the space between the first structure and second structure.

[0124]

[0085] The heat or smoke is detected by one or more of the sensors described in the present disclosure. The fire suppressant is delivered by one or more of the fire suppression units described in the present disclosure.

[0125]

[0086] Referring to Figs. 5A and 5B, a section of the automated storage and retrieval system is respectively depicted in perspective view and side view. The system includes a grid 500. The grid 500 includes storage columns 502 defined by the space between an adjacent four of vertical frame members 504. The section of the storage system depicted in Figs. 5A and 5B may be based on a section of grid too of the automated storage and retrieval system shown in Fig. 1.

[0126]

[0087] The grid includes a first structure 550 forming an upper level of the grid 500. The first structure includes a rail system comprising a plurality of first rails 518 aligned parallel to each other and horizontally in the x-direction 108, and a plurality of second rails 520 aligned parallel to each other and horizontally in the y-direction 110.

[0127]

[0088] The system shown in Figs. 5A and 5B also includes at least one robot (or container handling vehicle) 508a, 508b. The robot 508a, 508b is configured to transport containers between the storage columns 502 and maybe as described with respect to any of Figs. 1-3C or 4. In Fig. 5B, the robot shown is a cantilever type robot 508a. The robot may alternatively be an internal cavity type robot 508b as shown in Fig. 5A . The robot is arranged to travel in the x-direction on the first rails 518 and in the y-direction on the second rails 520. The robot 508a, 508b is arranged to travel on the upper level of the grid between the first structure 550 and the second structure 560.

[0128]

[0089] Continuing with the description of Figs. 5A and 5B, the system further comprises a second structure 560 provided over the first structure 550 (i.e. over the upper level of the grid). The second structure 560 includes a framework including horizontal members 562 arranged longitudinally in the x- and y-directions 108, 110. The system also comprises support members 540 protruding out of the plane of the upper level of the grid. The support members 540 shown in Figs. 5A and 5B are arranged longitudinally in the z-direction 114 (i.e. vertically or perpendicular to the plane of the upper level of theP236087US

[0129] grid) and around the periphery of the section of the grid 500. The horizontal members 562 are supported by the support members 540. The horizontal members 562 span between the upper ends of two or more support members 540.

[0130]

[0090] The top of the first structure 550 and the bottom of the second structure 560 are separated by a distance hi. The separation distance hi is between 1.8m and 3.0m or between 1.9m and 3.0m or between 2.0m and 3.0m or between 2.1m and 3.0m. This allows ease of maintenance of the upper level of the grid from the upper level of the grid while allowing the fire suppression units 506a, 506b and sensors 566 to be supported by the second structure 560 closer to the openings at the top of the storage columns 502.

[0131]

[0091] The overall height of the bottom of the second structure 560 from a floor supporting the grid 500 may be between 7.0m and 15.0m, or between 7.6m and 14.0m, or between 9.0m and 14.0m, or between 9.1m and 13.7m. However heights outside of these ranges are also envisaged.

[0132]

[0092] As shown in Figs. 5A and 5B, the storage system includes fire suppression units 506a, 506b arranged to deliver fire suppressant into at least a subset of the storage columns 502.

[0133]

[0093] The fire suppression units 506a, 506b are supplied by a supply line 564. Fire suppressant is supplied to the fire suppression units 506a, 506b via the supply line 564. The fire suppression units 506a, 506b and / or the fire suppressant supply line 564 are supported by (and / or attached to) the second structure 560. Alternatively, or in addition, the fire suppression units 506a, 506b and / or the supply line 564 are supported by (and / or attached to) the support members 540. In Figs. 5A and 5B, the supply line 564 is located below the second structure 560. Alternatively, the supply line 564 may be located above the second structure 560. In Figs. 5A and 5B, the supply line 564 is located above the fire suppression units 506a, 506b to supply fire suppressant to the fire suppression units 506a, 506b from above. However, the supply line 564 may alternatively be located below the fire suppression units and supply fire suppressant to the fire suppression units from below. In some examples, at least a portion of the supply line 564 maybe in the plane between two storage columns (i.e. above the boundary between two adjacent storage columns).

[0134]

[0094] In some examples, the automate storage system also includes a fire safety system in communication with a control system (for example, the control system described with reference to Fig. 4). The fire safety system is as described elsewhere in the presentP236087US

[0135] disclosure. One or more components of the fire safety system are supported by the second structure 560. The fire safety system is configured to detect a condition indicative of fire in the automated storage and retrieval system or a section of the automated storage and retrieval system. For instance, the condition indicative of fire could be the presence of smoke, an elevated temperature, or a flame. The condition indicative of fire can be detected using any suitable means.

[0136]

[0095] The fire detection system may comprise an aspiration system and detecting the presence of fire may comprise detecting the presence of smoke by, for instance, drawing air from the space between the first structure 550 and second structure 560 and testing the drawn air for smoke. An aspiration system is arranged to continuously draw air from the environment through a network of perforated pipelines using an aspirator (or air pump). The air may pass through a filter arranged to remove dust and dirt from the air and / or to introduce clean air to protect the detector's optical components from contamination. The filtered air enters a detection chamber where it is exposed to a (e.g., laser) light source. If smoke particles are present, they scatter the laser light, which is detected by one or more receivers, thereby indicating that smoke is present in one or more of the locations monitored using the perforated pipelines. A example of an aspiration system is the VESDA™ system (Very Early Smoke Detection Apparatus).

[0137]

[0096] Alternatively, the fire safety system may include a device for measuring temperature and / or smoke in the storage system. Alternatively, the fire safety system may comprise a camera in communication with a processor arranged to detect the presence of a flame or smoke using machine vision techniques. The fire safety system may include sensors 566 as shown in Figs. 5A and 5B. The sensors 566 are arranged to sense a temperature exceeding a threshold temperature and / or the presence of smoke. The sensors 566 are heat or smoke detectors. The sensors 566 are supported by (and / or attached to) the second structure 560. Alternatively, or in addition, the sensors 566 may be supported by (and / or attached to) the support members 540. Where the fire safety system comprises an aspiration based smoke detection system, the automated storage and retrieval system may include perforated piping spanning an area below the second structure, wherein the perforated piping is arranged to collect smoke and distribute it to a sensing unit or other detection component arranged to detect smoke. Possible locations for a perforated piping 567 of an aspiration-based fire detection system relative to the grid 500 are shown in and described in more detail with reference to Fig. 8.P236087US

[0138] [971 When the fire safety system is present, the control system maybe configured to instruct the fire suppression unit in response to the fire safety system detecting a condition indicative of fire in a section of the automated storage and retrieval system. The fire suppression unit maybe instructed to direct fire suppressant to a section of the grid 500, for example to a section including a target column 502 of the grid that is the known or suspected source of heat or smoke. The section of the automated storage and retrieval system in which the condition indicative of fire is detected may comprise the target storage column to which fire suppressant is delivered.

[0139]

[0098] The fire suppression unit 506a, 506b maybe positioned to deliver fire suppressant into a storage column if the storage column is within range of fire suppressant output from the fire suppression unit 506a, 506b. The range of fire suppressant output may depend on, for instance, the available orientations of the fire suppression unit 506a, 506b, a spray pattern of the fire suppression unit and the fluid output velocity from the fire suppression unit 506a, 506b.

[0140]

[0099] In Figs 5A and 5B, the fire suppression units 506a, 506b are positioned between the first structure 550 and second structure 560 such that fire suppressant can be delivered (e.g., downwardly) into the columns 502, through the openings at the top of the columns 503.

[0141]

[0100] In Figs 5A and 5B, each fire suppression unit 506a, 506b is positioned in the plane that is between two adjacent storage columns 502 (i.e. at the intersection of that plane and a location between the first structure and second structure). This can increase the number of storage columns within an effective range because the centre of the two adjacent columns are equidistant from the fire suppression unit.

[0142]

[0101] Alternatively, the fire suppression unit 506a, 506b maybe positioned in a first plane that is between two adjacent storage columns 502 in a first direction (adjacent in e.g. the x-direction) as well as in in a second plane that is between two adjacent storage columns 502 in a second direction lying across the first direction (i.e. adjacent in the y-direction). The intersection of these planes lies where the corners of four adjacent storage columns meet. The fire suppression unit lies at the intersection of those two planes and a location between the first structure and second structure. Positioning the fire suppression units 506a, 506b in this way increases the number of columns that can be efficiently and evenly treated by the fire suppressant (the centre of all four columns nearest the fire suppression unit are equidistant from the fire suppression unit).P236087US

[0143]

[0102] Alternatively, the fire suppression unit 506a, 506b maybe positioned directly above the centre of a column. Positioning the fire suppression unit in this way increases the number of columns that can be reached by the fire suppressant (for example nine storage columns - the storage column beneath the fire suppression unit plus the eight neighbouring columns - may be within the radius that can be reached by fire suppressant supplied by the fire suppression unit).

[0144]

[0103] The supply line 564 may take the form of a pipe or conduit arranged to allow passage of fire suppressant from a fire suppressant source (not shown) to the fire suppression unit 506. The source may comprise a fire suppressant reservoir containing the fire suppressant to be delivered into the automated storage and retrieval system from the fire suppression unit 506a, 560b. Alternatively, the source may be external to the automated storage and retrieval system, in which case a network of supply pipes or lines including the supply line may terminate at a hose socket into which the fire suppressant maybe supplied by, for instance, firefighting crews. The fire suppressant maybe pressurised in the supply line 564 to enable fire suppressant to be passively propelled from the fire suppression unit 506a, 506b on opening of a valve in the fire suppressant flow channel of the fire suppression unit 506a, 506b.

[0145]

[0104] The fire suppressant delivered to the storage system by fire suppression unit 506a, 506b may be any agent (liquid, gas, powder, foam or otherwise) suitable for use in a fire suppression system. The fire suppressant may comprise at least one of: a dry chemical fire suppressant, such as monoammonium phosphate, sodium bicarbonate, potassium bicarbonate, or potassium chloride; a foam fire suppressant, such as aqueous film-forming foam, film-forming fluoroprotein, or compressed air foam; a wet chemical fire suppressant, such as potassium acetate, potassium carbonate, or potassium citrate; a clean fire suppressant (or an inert gas fire suppressant), such as halons, carbon dioxide or inert gas; a dry powder fire suppressant, such as sodium chloride; a condensed aerosol fire suppressant; water; and / or any other suitable fire suppressant. Dry chemical fire suppressant, foam fire suppressant, and dry powder fire suppressant smother fires by forming a barrier between the fuel of the fire and the source of oxygen in the atmosphere. Wet chemical fire suppressant similarly forms a soapy film over the fuel. Clean, or gaseous, fire suppressant and condensed aerosol fire suppressant displace oxygen in the atmosphere surrounding a fire with carbon dioxide or other inert gasses. Water, when used as a fire suppressant, cools burning material.P236087US

[0146]

[0105] The fire suppression units 506a, 506b maybe provided to deliver fire suppressant into each storage column in the storage system. Alternatively, at least one fire suppression unit 506a, 506b maybe provided per zone of storage columns in the automated storage and retrieval system. Each zone of the storage system provided with a corresponding fire suppression unit includes the columns into which the fire suppression unit is capable of delivering fire suppressant. The zone may include the storage columns within which flammable goods are stored. According to the present disclosure, goods maybe considered flammable if they have a flash point less than 50°C above the ambient temperature in the automated storage and retrieval system, or if their flash point is at or below 6o°C, at or below 50°C, at or below 40°C, or at or below 30°C.

[0147]

[0106] A plurality of fire suppression units 506a, 506b maybe positioned across the area of the second structure 560, for instance, at regular intervals above the storage columns. For instance, one fire suppression unit 506a, 506b maybe provided for every two or three columns in a first direction (e.g., in Figs. 5A and 5B, the x-direction 108) and for every two or three columns along another, perpendicular direction (e.g., in Figs 5A and 5B, the y-direction). In these examples, the supply line 564 maybe provided as part of a network of pipes arranged to supply fire suppressant to each fire suppression unit 506a, 506b.

[0148]

[0107] The fire suppression units 506a, 506b may take the form of a sprinkler head or water cannon / spray nozzle. Figs. 6A and 6B illustrate the fire suppression units 506a and 506b, respectively, shown in Figs. 5A and 5B in more detail.

[0149]

[0108] As shown in Fig. 6A, the fire suppression unit 506a includes a nozzle 604 and an actuatable mount 606. The nozzle 604 is configured to output the fire suppressant and the actuatable mount 606 is configured to direct the nozzle to a target storage column. For instance, on actuation, the actuatable mount is adjustable to reorient the line of sight of the nozzle.

[0150]

[0109] The nozzle 604 is a spout of the fire suppression unit 506a which allows the fire suppression unit 506a to direct and / or disperse fire suppressant output. The nozzle provides a directional delivery of fire suppressant, towards a particular column, referred to as the target column. The target column is the column towards which, in operation, the actuatable mount 606 directs the nozzle. In other words, the target column can be the column within the line of sight of the nozzle 604 during delivery of fire suppressant.P236087US

[0151] [no] In some examples, the fire suppression nozzle 604 may comprise a spray nozzle. Spray nozzles are arranged to fragment the fluid into droplets and thereby distribute the fluid across a large surface area within the target storage column. Types of spray nozzle include fog nozzles, surface impingement nozzles, misting nozzles, sprinkler heads, and so on. Spray nozzles may fragment the fluid into droplets using dispersion elements at or near their aperture. This allows greater spread of the fire suppressant into the target storage column, which increases the surface area covered by fire suppressant and thereby increases fire suppression effectiveness of the frame member.

[0152]

[0111] Preferably, the fire suppression nozzle 604 may preferably be arranged to produce a dense core - also referred to as a tight jet - of high velocity fire suppressant. The tight jet of high velocity fire suppressant has low dispersion compared to spray nozzles. In other words, the spray pattern of the fire suppression nozzle 604 maybe a straight stream. To achieve a straight stream, the fire suppression nozzle may include a straight, smooth bore nozzle in combination with a stream shaper to straighten water flow into the bore nozzle. The stream shaper maybe a grid stream shaper or a short stream shaper. In these examples, the fire suppression nozzle maybe arranged as a water cannon. An effect of fire suppression nozzles 604 with straight stream spray patterns is that fire suppressant can be accurately and directly delivered to a target storage column, substantially without affecting the surrounding storage columns, reducing damage to goods stored in the storage system.

[0153]

[0112] The actuatable mount 606 allows the fire suppression unit 506a to target a storage column by rotation and / or translation. As shown in Fig. 6A, the actuatable mount is attached between the nozzle 604 and the supply line 564. As such, the actuatable mount is arranged - on actuation - to reorient and / or reposition the nozzle 604 with respect to the supply line 564. As a result, with reference to Figs. 5A and 5B, the actuatable mount 606 can reorient and / or reposition the nozzle 604 with respect to any of the storage columns in range of the fire suppression unit 506a. As such, the actuatable mount may reorient and / or reposition the nozzle 604 of the fire suppression unit 506a to direct the nozzle towards (i.e., target) a target storage column.

[0154]

[0113] As shown in the implementation of Fig. 6A, the actuatable mount 606 may include a rotatable hub 608a and at least one arm 608b. The rotatable hub 608a is disposed between the arm and the supply line 564. The rotatable hub 608a is configured to rotate about an axis of rotation perpendicular to the plane of the upper level of the grid. In other words, the rotatable hub 608a is configured to rotate about an axis ofP236087US

[0155] rotation in the vertical direction (e.g. the z-direction 114 in Figs. 5A and 5B).

[0156] Accordingly, the rotatable hub is arranged to orient the nozzle 604 in a direction around the plane of the grid.

[0157]

[0114] As shown in Fig. 6A, the at least one arm 608b is attached, at its proximal end (e.g., the end closer to the grid), to the nozzle 604 and, at its distal end (e.g., the end further from the grid) to the rotatable hub 608a. In the implementation shown in Fig.

[0158] 6A, two arms are provided and arranged to retain the nozzle 604 therebetween.

[0159] However, in other implementations any number of arms maybe provided. For instance, one arm maybe unilaterally attached to the nozzle, or three arms maybe arranged to retain the nozzle 604 therebetween. In effect, the arm 508b acts to separate the nozzle 604 from the supply line 564 and to reduce the distance between the nozzle 604 and the storage columns. This can increase the accuracy of fire suppression output from the nozzle 604 to a target storage column. The arms 608b can also stabilise the nozzle and / or provide a conduit for fire suppressant between the supply line 564 and the nozzle 604.

[0160]

[0115] Any of the arms may be retractable to vary the distance between the nozzle 604 and the storage columns 502. Retractable arms allow the nozzle to be deployed towards the storage columns when needed, without otherwise interfering with the operation of the robots on the rails of the storage system. As an example, in some implementations, the arms maybe telescopically retractable. Alternatively, the arms maybe retractable by actuatable elbow joints along the arms.

[0161]

[0116] Any of the arms may also be hinged at either an elbow joint along the arms and / or at the attachment between the arms and the rotatable hub 608a (not shown in Fig. 6A). By actuation of either such hinge, the arms maybe arranged to translate (laterally) across the storage columns, in the plane of the grid. Such translation repositions the nozzle 604 with respect to the storage columns, thereby increasing the number of storage columns within range of fire suppressant output and therefore increasing the number of storage columns to which the fire suppression unit can deliver fire suppressant.

[0162]

[0117] In some implementations, each arm is attached to the nozzle via a rotatable strut 608c. For instance, as shown in Fig. 6A, two arms maybe arranged to retain the nozzle 604 therebetween via a rotatable strut 608c. The rotatable strut 608c has an axis of rotation perpendicular to the axis of rotation of the rotatable hub. Accordingly, the axisP236087US

[0163] of rotation of the rotatable strut 6o8c is parallel or substantially parallel to the plane of the grid.

[0164]

[0118] The automated storage system and retrieval system described with respect to Figs. 5A and 5B may further comprise a control system for controlling the fire safety system described herein. In some implementations, the control system maybe a computing device, such as the computing device described with respect to Fig. 4.

[0165]

[0119] The control system maybe configured to operate the fire suppression unit 506a described in detail with reference to Fig. 6A. The control system is configured to control both the nozzle 604 and the actuatable mount 606 of each fire suppression unit via e.g. wired or wireless communication. Accordingly, the control system is arranged to communicate with each fire suppression unit 506a. For instance, the control system may include a transmitter arranged to wirelessly emit a signal and the fire suppression unit 506a may include a cooperating receiver arranged to receive the signal from the transmitter. Alternatively, the control system may communicate with the fire suppression unit 506a through wired communication channels. For instance, the control system maybe in communication with the fire suppression unit(s) 506a over a Local Area Network (LAN), such as via Ethernet cables or copper wire. Alternatively, the control system may communicate with the fire suppression unit 506 through fiber optic or coaxial cables.

[0166]

[0120] To operate the fire suppression unit(s) 506a, the control system 602 is configured to send instructions thereto. In particular, the control system is configured to instruct a fire suppression unit 506a to direct its nozzle 604 to the target storage column and to output fire suppressant towards the target storage column. Directing the nozzle 604 to the target storage column may comprise orienting the nozzle 604 towards the target storage column, such that, when fire suppressant is output by the nozzle 604, fire suppressant is delivered into a target storage column. For instance, directing the nozzle 604 to the target storage column may comprise reorienting the nozzle until its line of sight is towards the target storage column. Referring to the depiction of the fire suppression unit shown in Fig. 6, directing the nozzle 604 to the target storage column may comprise rotating the rotatable hub 608a until the nozzle is facing the target storage column.

[0167]

[0121] Outputting fire suppressant towards the target storage column comprises releasing fire suppressant from the nozzle 604 of the fire suppression unit 506a once the nozzle 604 is directed to the target storage column. As an example, the nozzle 604 mayP236087US

[0168] release fire suppressant by opening a valve in the fire suppression unit 506a. The valve maybe disposed in the nozzle 604, or otherwise within a channel between the supply line 564 and the nozzle 604. The valve is arranged to selectively isolate a conduit within the fire suppression unit 506a from the environment surrounding the fire suppression unit 506a. The valve therefore allows selective delivery of fluid from the fire suppression unit 506a into the environment surrounding the fire suppression unit 506a, such as a target storage column. The valve maybe arranged to open in response to instructions from the control system.

[0169]

[0122] If the fire suppressant is pressurised in the supply line 564, the fire suppression unit 506a need not propel the fire suppressant on output. Instead, a valve in the nozzle 604 (for instance) need only open for fluid to be delivered to the target storage column. This enables simpler selective output mechanisms at the fire suppression unit 506a, which simplifies the assembly of the fire suppression unit 506a in the grid, thereby simplifying grid manufacture and reducing costs. However, the fire suppression unit 506a may alternatively be configured to propel the fire suppressant on output. The fire suppression unit may include at least one compressor to increase the pressure of the fire suppressant from the supply line 564, and thereby propel the fire suppressant. The fire suppression unit 506a may alternatively include a cartridge of propellant (such as nitrogen, air, compressed air, carbon dioxide) which is opened or punctured to increase the pressure of, and propel, the fire suppressant on output.

[0170]

[0123] In some examples, the control system is configured to instruct multiple fire suppression units 506a across the automated storage and retrieval system in parallel. For instance, the control system maybe configured to instruct each of the multiple fire suppression units 506a to deliver fire suppressant into respective target storage columns. Here, each target storage column may be uniquely targeted by a respective fire suppression unit. Alternatively, the control system maybe configured to instruct each of the multiple fire suppression units to deliver fire suppressant into the same target storage column, (e.g., to provide a greater flow rate of fire suppressant into the target storage column). In any of these examples, the control system is configured to instruct each fire suppression unit 506a to deliver fire suppressant into the target storage column (s) by instructing each respective fire suppression unit to direct the nozzle to the respective target storage column and to output fire suppressant towards the respective target storage column, as described herein.P236087US

[0171]

[0124] The instructions from the control system may include a direction signal and a delivery signal. Accordingly, the control system maybe configured to generate the direction signal and the delivery signal, and to transmit the direction signal and the delivery signal to the fire suppression unit 506a.

[0172]

[0125] The direction signal communicates the orientation in which the nozzle 604 is to be positioned such that, when fire suppressant is output by the nozzle 604, fire suppressant is delivered into a target storage column. Thus, the direction signal depends on the target storage column. As such, the direction signal may indicate the target storage column, an orientation of the actuatable mount, and / or coordinates at which to aim the nozzle 604. When the direction signal indicates the target storage column, the direction signal may identify an entry in an index stored at the fire suppression unit 506a, each entry of the index corresponding to the storage column within range of the fire suppression unit 506a.

[0173]

[0126] The delivery signal causes the nozzle 604 to output fire suppressant. The delivery signal may instruct a valve in the fire suppression unit 506a to open. In some examples, the delivery signal may communicate a delay after which, or time at which, the fire suppressant is to be output.

[0174]

[0127] As an alternative to the nozzle arrangement of Fig. 6A, the fire suppression units may include a fire sprinkler head. Examples of suitable fire sprinkler heads include wetpipe sprinkler heads, which remain closed until activated by either a fusible link or a glass bulb containing heat-sensitive liquid.

[0175]

[0128] A fire suppression unit of this kind is shown in Figs. 5A and 5B as fire suppression unit 506b. The fire suppression unit 506b is described in more detail with reference to Fig. 6B. The fire suppression unit 506b includes a sprinkler head including a glass bulb 616. The glass bulb 616 holds a pipe cap (or plug) 610 in place. The pipe cap 610 closes an opening in the sprinkler which is in communication with the interior of the supply line 564. A frame 612 holds the glass bulb 616 to the pipe cap 610. A deflector 614 is arranged opposite the opening with respect to the glass bulb 616.

[0176]

[0129] As an alternative to the glass bulb 616, the sprinkler head may include a fusible link. A fusible link sprinkler head consists of a two-piece metal element joined by a heatsensitive alloy. This link secures the pipe cap 610 or plug in place. When the ambient temperature around the sprinkler head reaches a predetermined level, the alloy melts, causing the metal elements to separate and the cap to dislodge. This allows water to beP236087US

[0177] released. Only sprinkler heads exposed to the specified temperature activate, ensuring that water is discharged only in the fire-affected area, thereby minimizing water damage.

[0178]

[0130] In glass bulb sprinkler heads, the glass bulb 616 contain a small glass reservoir filled with a heat-sensitive liquid. When the liquid reaches a specific temperature, it expands, causing the glass to shatter. This breakage releases the pipe cap 610, allowing fire suppressant to flow from the supply line 564 toward the deflector 614 to form a spray pattern which is spread over a wider area. Similar to fusible link sprinkler heads, fire suppressant is only discharged in areas where the ambient temperature meets the activation threshold, helping to minimize damage to the containers 512 and the contents thereof.

[0179]

[0131] An effect of positioning the fire suppression units 506a, 506b closer to the storage columns (as is enabled by the second structure) is that the fire suppressant can be more easily targeted to specific storage columns in the automated storage and retrieval systems, thereby minimising the number of columns affected by the delivery of fire suppressant, which reduces damage to goods stored therein. A closer proximity of fire suppression units to the source of fire (or heat or smoke) also enables a faster and more effective early fire response as well as reducing the risk of fire spreading within the grid. The second structure 560 and the use of fire suppression units 506a, 506b supported by the second structure maybe particularly suitable for preventing damage and fire spread in storage columns within a specific zone or portion of the grid. For instance, if a specific zone stores higher value or more flammable goods than are stored in the remainder of the storage system, spread of fire in that zone may have a greater impact.

[0180]

[0132] The automated storage and retrieval systems described with reference to Figs. 5A and 5B, may include integrated mounts (not shown) for the fire suppression units 506a, 506b. The integrated mount may take the form of, for example, a push fit connection hole, or a threaded hole or flange. The integrated mount maybe configured to mate with a corresponding connection on the fire suppression unit 506a. For example, the integrated mount may include a female connection interface and the fire suppression mount may include a male connection interface, or vice versa. The integrated mount maybe formed in the horizontal members 562, on the support members 540 or on horizontally arranged panels extending between the horizontal members 562 or between vertically arranged panels extending between the support members 540. The integrated mounts may include an opening in communication with the supply line 564. The integrated mounts in the structural elements of the automated storage and retrievalP236087US

[0181] system allows ease of installation of fire suppression units 506a, 506b after or during installation of the automated storage and retrieval system itself.

[0182]

[0133] Figs. 7 A and 7B show modifications to the second structure 560 of the automated storage and retrieval systems described with reference to Figs. 5A and 5B. Components and parts of the automated storage and retrieval system shown in Figs. 7A and 7B and their relationships are the same as those described in Figs. 5A and 5B except where described otherwise. Like reference numerals relate to the same or similar parts.

[0183]

[0134] The second structure 560 shown in Fig. 7A extends horizontally beyond the outer perimeter of the grid by a horizontal distance wi. The distance wi maybe equal to or greater than the width of one, two, three, four, five, eight, ten or fifteen storage columns. The horizontal members 562 and / or the one or more horizontally arranged panels 569 extends beyond the outer perimeter of the grid. Where the second structure 560 is arranged to provide a continuous cover over the entire grid, the second structure 560 may also extend to provide a continuous cover over an area outside of the perimeter of the upper level of the grid.

[0184] [1-35] If the second structure does not extend beyond the periphery of the upper level of the grid, in some arrangements, hot air or smoke may flow too quickly past the area of the second structure 560 above the periphery of the grid. If fire suppression units 506a, 506b and / or sensors 566 and / or perforated pipes 567 are positioned above the periphery of the upper level of the grid, this may result in delayed or failed detection of heat or smoke. The extension of the second structure beyond the periphery of the upper level of the grid may retain more heat and / or smoke at higher levels of concentration in the vicinity of fire suppression units or sensors located above the periphery of the upper level of the grid, thereby improving the efficacy and reliability of the fire detection and / or suppression system at the periphery of the second structure 560.

[0185]

[0136] The inventor has recognised that the arrangement shown in Fig. 7B is another way to improve the reliability and / or efficacy of the fire detection and / or suppression system at the periphery of the second structure. Fig 7B shows a screen (or curtain or shroud) 570 extending downwardly from the second structure by a height h2 in the vertical dimension. The screen 570 may partially or fully span the distance between the second structure 560 and the first structure 550. The height h2 of the downwards extension from the second structure maybe between 0.6m and the height hi between the first structure 560 and second structure 560 described with reference to Fig. 5B.P236087US

[0186] [1-37] In Fig- 7B, the screen 570 extends vertically downward from the second structure. However, the present disclosure is not limited thereto and the screen 570 may extend downwardly and outwardly at an oblique angle to the vertical. Alternatively, the screen may curve downwardly and outwardly from the second structure 560. The screen 570 may include screen support members 572 in the form of beams, ribs or struts extending downwardly from the second structure in any of the ways described above. Alternatively, or in addition, the screen 570 maybe formed at least in part by at least an upper part of the support members 540 at the periphery of the upper level of the grid. The screen 570 further includes one or more screen panels 576. The one or more screen panels 576 extend between adjacent support members 540 and / or screen support members 572. The one or more screen panels 576 maybe formed from a fire retardant or fire resistant material such as an alloy or metal. The one or more screen panels 576 maybe arranged to provide a continuous cover around the sides of a volume above the upper level of the grid and immediately below the second structure 570. The term ‘continuous cover’ may be understood to mean a barrier which inhibits the horizontal flow of air or smoke from the volume surrounded by the screen and the volume outside the screen. The barrier maybe air-impermeable. The one or more screen panels maybe arranged to withstand pressure of at least 14.4 kg / m2. This enables the one or more screen panels to have sufficient resistance to the pressure from smoke due to a fire, for example.

[0187]

[0138] The screen may also serve the purpose of aiding in controlling airflow in, for example, refrigerated automated storage and retrieval systems or vertical farming automated storage and retrieval systems. In these implementations, the screen 570 may extend all the way from the second structure 560 to the first structure 550. Together with a second structure 560 provided as a continuous cover over the upper level of the grid, the screen 570 may thereby provide an enclosed volume of air over the grid. This can enable improved control over the properties (e.g. temperature or climate or composition) of the air around the contents of the storage containers. This is also beneficial for the control of air properties in vertical farming applications.

[0188]

[0139] Fig. 8 shows an underside (or bottom) view of the second structure 560 and the x-y positions of components of the second structure 570 relative to other components of the automated storage and retrieval system, including the grid 500. Fig. 8 shows the second structure 560 as formed by horizontal members 562 arranged in a grid or lattice arrangement. The periphery of the grid 500 is shown as a bold dashed line. The top side and lefthand sides of the drawing (relative to the page in portrait orientationP236087US

[0189] containing Fig. 8) illustrate the arrangement of the second structure as shown in Fig. 7A, in particular the feature wherein the second structure 560 extends beyond the periphery of the grid 500. The bottom and righthand sides of the drawing illustrate the arrangement of the second structure 560 as shown in Fig. 7B, in particular the feature wherein the second structure 560 includes a screen 570.

[0190]

[0140] Fig. 8 also shows possible x-y locations (marked as bold squares) for the support members 540 relative to the grid 500 and the horizontal members 562. Support members 540 maybe positioned along the periphery of the grid 500. Alternatively, or in addition, support members are positioned within the interior of the grid 500.

[0191]

[0141] The support members 540 maybe columns, beams or supports extending from the floor or other structure supporting the grid to the second structure. In this case, the support members 540 maybe located in a column of the grid.

[0192]

[0142] Alternatively, the support members 540 maybe extensions of the vertical frame members 504 of the grid 500 itself.

[0193]

[0143] Alternatively, the support members 540 maybe supported by the first structure 550 or other part of the tope of the grid 500. In this case, the support members 540 may coupled to or supported by a rail 118, 120 or other horizontally extending part of the first structure 550.

[0194]

[0144] Fig. 8 shows x-y positions of horizontally arranged panels 569 forming part of the second structure 560. The horizontally arranged panels 569 span between the horizontal members 562 of the second structure 560 to form a continuous cover over a section of the grid (in Fig. 8 this is the top left part of the second structure 570 as shown in the drawing). Alternatively, the horizontally arranged panels 569 may extend over all of the second structure, spanning all gaps between all horizontal members 562. The horizontally arranged panels are positioned at about the same height (in the z-direction) as the horizontal support members. That is, the horizontally arranged panels 569 maybe separated from the top of the first structure 550 by about the distance hi shown in Fig.

[0195] 5B.

[0196]

[0145] In some embodiments, the horizontal members 562 are not required and the one or more horizontally arranged panels 569 are supported at their edges and / or vertices by the support members 540.

[0197]

[0146] The fire suppression units 506a, 506b and / or the sensors 566 and / or the supply line 564 may be supported by the one or more horizontally arranged panels 569. TheP236087US

[0198] one or more horizontally arranged panels 569 maybe formed from a fire retardant or fire resistant material such as an alloy or metal. The material may also be an insulating material.

[0199]

[0147] The horizontally arranged panels 569 (together with the horizontal support members 562, if present) maybe arranged to provide a continuous cover over substantially all of the upper level of the grid 500 (and / or substantially all of the area of the second structure 560). Alternatively, the horizontally arranged panels 569 (together with the horizontal support members 562, if present) maybe arranged to provide a continuous cover over substantially all of a continuous section of the upper level of the grid (and / or substantially all of the area of a continuous section of the second structure 560). The horizontally arranged panels 569 (together with the horizontal support members 562, if present) may provide a barrier which inhibits the vertical flow of air or smoke from the volume between the first structure 550 and second structure 560 and the volume above the second structure 560. The barrier maybe air-impermeable. The horizontally arranged panels 569 maybe arranged to withstand pressure (exerted upward normal to the lower major face of the panels) of at least 14.4 kg / m2. This enables the horizontally arranged panels 569 to have sufficient resistance to the pressure from smoke due to a fire, for example.

[0200]

[0148] Fig. 8 shows, by way of illustration, the screen 570 extending around the periphery of the bottom and righthand sides of the second structure 560 (as shown on the page in portrait orientation). The screen 570 may alternatively extend around the whole of the periphery of the second structure 560 as viewed from the underside of the second structure 560. Fig. 8 also shows the location of screen support members 572 (as diamond-shaped markers) aligned in the x- and y-directions with the other components of the screen 570, such as the screen panels 567 shown in Fig. 7B. In Fig. 8, the screen is shown to overlap the periphery of the grid 500. In other arrangements in which the second structure 560 extends beyond the periphery of the grid 500, the screen 570 may overlap with an area outside of the periphery of the grid 500.

[0201]

[0149] Fig. 8 shows example x-y locations of the fire suppression units 506a, 506b, the sensors 566, the supply line 564, and the perforated pipeline 567 of an aspirated fire detection system. A fire suppression unit 506a described with reference to Fig. 6A is shown in Fig. 8 as located in an x-y position corresponding to a part of one of the horizontal members 562 of the second structure. A sensor 566 as described withP236087US

[0202] reference to Figs. 5A and 5B is also shown as located in an x-y position corresponding to a part of one of the horizontal members 562.

[0203]

[0150] A fire suppression unit 506b of the type described with reference to Fig. 6B is shown as located in an x-y position between horizontal members 562. In this case, the fire suppression unit 506b maybe supported by (and / or coupled to) one of the horizontally arranged panels 569 (not shown at this location in Fig. 8), or by a supply line 564 which is itself supported by one of the horizontal members 562, horizontally arranged panels 569 or support members 540.

[0204]

[0151] Fig. 8 shows supply lines 564 as solid bold lines 564 extending in the x- and y-directions. The supply lines 564 are shown as either aligned with and overlapping with one of the horizontal members 562 or spanning the gap between adjacent horizontal members 562.

[0205]

[0152] Fig. 8 shows perforated pipelines 567 of an aspiration-type fire detection system as described herein. The perforated pipelines 567 are shown as dashed bold lines 567 in Fig. 8 extending in the x- and y-directions. The perforated pipelines 567 are shown as either aligned with and overlapping with one of the horizontal members 562 or spanning the gap between adjacent horizontal members 562.

[0206] [1-53] The present disclosure is not limited to the relative arrangement of the components shown in Fig. 8 and the fire suppression units 506a, 506b, the sensors 566, the supply lines 564 and the perforated pipelines 567 maybe located at any x-y location within the x-y boundaries of the second structure. The fire suppression units 506a, 506b, the sensors 566, the supply line 564 and the perforated pipeline 567 maybe supported by any part of the second structure 560 (including the horizontal members 562 and / or horizontally arranged panels 569) and / or any upper part of the support members 540 proximate to the second structure 570.

[0207]

[0154] The fire suppression units 506a, 506b, the sensors 566, the supply line 564 and the perforated pipeline 567 maybe positioned proximate to the second structure in the z-direction (e.g. within 2%, 3%, 5%, 10%, 15%, 20% of the distance hi below the second structure in the z-direction, wherein hi is the distance between the first structure 550 and second structure 560 shown in Fig. 5B). This enables efficient detection of heat or smoke while providing space for the container handling vehicles or any maintenance vehicles or personnel to operate on the grid.

[0208] Penultimate commentsP236087US

[0209] [1-55] The automated storage and retrieval systems described in the present disclosure may provide an improved fire safety system by any one or more of: easing installation of a fire detection and / or suppression system; improving the efficacy and / or reliability of sensors for detecting smoke or fire; and / or improving the efficacy and / or reliability of fire suppression units for abating or fighting fires.

[0210]

[0156] The automated storage and retrieval systems described in the present disclosure may provide an improved structure for refrigeration or vertical farming applications by enabling improved control of air properties in the automated storage and retrieval system.

[0211]

[0157] It is to be understood that the above description is intended to be illustrative, and not restrictive. Many other implementations will be apparent to those of skill in the art upon reading and understanding the above description. Although the present disclosure has been described with reference to specific example implementations, it will be recognized that the disclosure is not limited to the implementations described, but can be practiced with modification and alteration within the spirit and scope of the appended claims. Accordingly, the specification and drawings are to be regarded in an illustrative sense rather than a restrictive sense. The scope of the disclosure should, therefore, be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

Claims

P236087USCLAIMS1. An automated storage and retrieval system comprising:a grid comprising columns, each column arranged to contain a stack of storage containers;a first structure forming an upper level of the grid, wherein the first structure is arranged to allow container handling vehicles to travel thereon;at least one support member extending out of the plane of the upper level of the grid; anda second structure provided over the upper level of the grid, wherein the structure is supported by the at least one support member.

2. The automated storage and retrieval system of claim 1, wherein the second structure forms a ceiling above the upper level of the grid.

3. The automated storage and retrieval system of claim 1 or 2, wherein the second structure comprises a framework, and / or one or more panels.

4. The automated storage and retrieval system of claim 3, wherein the one or more panels are supported by the framework and / or are removable from the framework.

5. The automated storage and retrieval system of any preceding claim, further comprising a fire safety system arranged to detect and / or suppress a fire, wherein at least one component of the fire safety system is supported by the second structure and / or the at least one support member.

6. The automated storage and retrieval system of claim 5, wherein the at least one component of the fire safety system is located within a threshold vertical distance from the second structure, wherein the threshold vertical distance is 2%, optionally 3%, optionally 5%, optionally 10%, optionally 15 %, optionally 20% of the vertical distance between the first structure and the second structure.P236087US7. The automated storage and retrieval system of claim 5 or 6, wherein the fire safety system comprises:a fire detection system arranged to detect a temperature over a threshold temperature and / or the presence of smoke; and / ora fire suppression system arranged to deliver a fire suppressant to one or more of the columns of the grid.

8. The automated storage and retrieval system of claim 5, 6 or 7, wherein the at least one component of the fire safety system comprises one or more of:a sensor arranged to detect a temperature over a threshold temperature and / or the presence of smoke,a perforated pipeline for an aspiration-based smoke detection system;a fire suppressant supply line arranged to supply fire suppressant to a fire suppression unit, and / ora fire suppression unit arranged to direct a fire suppressant to one or more of the columns of the grid.

9. The automated storage and retrieval system of claim 8, wherein the sensor or perforated pipeline is positioned within a threshold horizontal distance from the periphery of the second structure, wherein the threshold horizontal distance is equal to the width of three columns of the grid, optionally wherein the threshold horizontal distance is equal to the width of two columns of the grid, optionally wherein the threshold horizontal distance is equal to the width of one column of the grid.

10. The automated storage and retrieval system of any preceding claim, wherein the second structure and / or the at least one support member comprises a mount for a fire suppression unit,wherein the fire suppression unit is arranged to direct a fire suppressant to one or more of the columns in the grid,39P236087USoptionally wherein the mount comprises a channel arranged to allow delivery of fire suppressant to the fire suppression unit.

11. The automated storage and retrieval system of any preceding claim, wherein the second structure extends over the entire upper level of the grid.

12. The automated storage and retrieval system of any preceding claim, further comprising a screen extending downwardly from the second structure,optionally wherein the screen and second structure are arranged to cooperate to inhibit the escape of air or smoke from a space between the first structure and second structure,optionally, wherein the screen extends downwardly by a vertical length of at least 0.6 meters.

13. The automated storage and retrieval system of any preceding claim, wherein the second structure extends in the horizontal dimension beyond a periphery of the upper level of the grid.

14. The automated storage and retrieval system of any preceding claim, wherein a distance between the second structure and the first structure is between about 1.8 metres and about 3.0 metres.

15. The automated storage and retrieval system of any preceding claim, wherein the at least one support member is positioned at a perimeter of the upper level of the grid; and / or wherein the at least one support member is positioned in an area inside the perimeter of the upper level of the grid.

16. A method of operating the automated storage and retrieval system as defined in any preceding claim, the method comprising:P236087USdetecting a temperature exceeding a threshold temperature and / or the presence of smoke in the space between the first structure and the second structure; and / or delivering fire suppressant into at least one storage column of the storage columns from a position within the space between the first structure and second structure.

17. The method of claim 16, comprising the delivering of the fire suppressant in response to the detecting of the temperature exceeding a threshold temperature and / or the presence of smoke.

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