Patent Description:
Each prior art container handling vehicle <NUM>,<NUM> also comprises a lifting device (not shown) for vertical transportation of storage containers <NUM>, e.g. raising a storage container <NUM> from, and lowering a storage container <NUM> into, a storage column <NUM>. The lifting device comprises one or more gripping / engaging devices which are adapted to engage a storage container <NUM>, and which gripping / engaging devices can be lowered from the vehicle <NUM>,<NUM> so that the position of the gripping / engaging devices with respect to the vehicle <NUM>,<NUM> can be adjusted in a third direction Z which is orthogonal the first direction X and the second direction Y. Parts of the gripping device of the container handling vehicle <NUM> are shown in <FIG> indicated with reference number <NUM>. The gripping device of the container handling device <NUM> is located within the vehicle body 201a in <FIG>.

The storage volume of the framework structure <NUM> has often been referred to as a grid <NUM>, where the possible storage positions within this grid are referred to as storage cells. Each storage column may be identified by a position in an X- and Y-direction, while each storage cell may be identified by a container number in the X-, Y- and Z-direction.

Such a vehicle is described in detail in e.g. NO317366.

The central cavity container handling vehicles <NUM> shown in <FIG> may have a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a storage column <NUM>, e.g. as is described in <CIT>.

The term 'lateral' used herein may mean 'horizontal'.

In <FIG>, columns <NUM> and <NUM> are such special-purpose columns used by the container handling vehicles <NUM>,<NUM> to drop off and/or pick up storage containers <NUM> so that they can be transported to an access station (not shown) where the storage containers <NUM> can be accessed from outside of the framework structure <NUM> or transferred out of or into the framework structure <NUM> Within the art, such a location is normally referred to as a 'port' and the column in which the port is located may be referred to as a 'port column' <NUM>,<NUM>.

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

Alternatively, or in addition, the automated storage and retrieval system <NUM> may have container handling vehicles <NUM>,<NUM> specifically dedicated to the task of temporarily removing storage containers <NUM> from a storage column <NUM>. Once the target storage container <NUM> has been removed from the storage column <NUM>, the temporarily removed storage containers <NUM> can be repositioned into the original storage column <NUM>. However, the removed storage containers <NUM> may alternatively be relocated to other storage columns <NUM>.

When a storage container <NUM> is to be stored in one of the columns <NUM>, one of the container handling vehicles <NUM>,<NUM> is instructed to pick up the storage container <NUM> from the pick-up port column <NUM> and transport it to a location above the storage column <NUM> where it is to be stored. After any storage containers <NUM> positioned at or above the target position within the stack <NUM> have been removed, the container handling vehicle <NUM>,<NUM> positions the storage container <NUM> at the desired position. The removed storage containers <NUM> may then be lowered back into the storage column <NUM>, or relocated to other storage columns <NUM>.

Some of the above systems <NUM> may be used to store product items which require a certain environment. For example, some types of food require a cool temperature environment (typically temperatures between <NUM> - <NUM>), some types of food require an even colder temperature environment (typically temperatures lower than -<NUM>), and other types of food require a higher temperature environment (typically temperatures above <NUM>).

In buildings in which such storage systems are located, ventilation systems are typically used to provide the desired environment. However, with the space efficiency obtained by storing the containers in stacks adjacent to each other, less air is available in the storage area for the temperature control of the stored products.

<CIT> discloses an automated storage and retrieval system, where the storage volume is subdivided into a number of sections separated from each other by thermal insulation, and the temperature in the number of sections is lower than the temperature where the container handling vehicles move on the rail system above the storage volume. The sections may be cooled to different temperatures, e.g. by connecting a cooling unit to one of the sections.

<CIT> in a machine translation states that "Device for transporting passable goods to be kept at a low temperature in closed and insulated safes". The invention relates to a device for transporting curable goods, such as food products. Which ones are kept in closed and insulated refrigerated chests named "containers". For a long time there has already been an effort to achieve the preservation of perishable foodstuffs at low temperatures in such a way that it can be extended as far as possible. from the place of harvest or shipping to the place of consumption. This conservation aspect, however, leads to many inconveniences when it comes to transport over very long distances, for example by ferry or by water or road.

<CIT> in an abstract states that "The present invention relates to stacked, grid storage systems especially densely packed storage systems and methods of adjusting, regulating, controlling and maintaining the temperature of said storage systems.

<CIT> in a machine translation of claim <NUM> states that "A cover formed of a flexible flexible sheet surrounding the planted fruits and vegetables, and an opening portion of the cover and closing means for closing the opening portion, and a blower for ventilating the inside of the cover And a vacuum device for depressurizing the interior of the cover are installed in the cover. (<NUM>) The shape of the pallet is of the hopper type Practical New i Registration Requests The first paragraph of the first paragraph shall apply to differential pressure airflow cooling combined decompression storage equipment. (<NUM>) Upper plate of the pallet is porous or striped Utility model Registration Claim 1st term Elevator pressure differential storage device combined with differential pressure wind cooling.

A problem with the prior art solutions is that it is relies on a separate cooler element for each temperature zone.

In view of the above it is desirable to provide an automated storage and retrieval system, and a method of operating such as system, that solves or at least mitigates one or more of the aforementioned problems related to use of prior art storage and retrieval systems.

The present invention relates to an automated grid based storage and retrieval system, comprising:.

such that a storage volume temperature is controlled separately for each of the plurality of storage volumes, the storage volume temperature being regulated by the
air temperature in the air release area and by controlling a pressure differential between the overpressure in the air release area and the underpressure in the void in each of the storage volumes.

In an embodiment, the air release area may be arranged above the horizontal rails at a distance allowing a container handling vehicle on the horizontal rails to move immediately below the air release area.

In an embodiment, the air release area may be arranged below the horizontal rails adjacent the upper ends of the upright members.

In an embodiment, the vertical walls may comprise a thermal insulating material.

In an embodiment, the cooler system may comprise a heat exchanger, the heat exchanger adapted to cool the air drawn from the input, and further adapted to transfer heat to at least one of the plurality of storage volumes.

In an embodiment, the system may further comprise a fan positioned between the void and the second air damper.

In an embodiment, the cooler system may be a fan-coil unit.

In an embodiment, each of the storage volumes may comprise temperature sensor, and the controller is adapted to adjust the airflow through the first air damper and to adjust the airflow through the second air damper based on a temperature measured by the temperature sensor.

In an embodiment, the system may further comprise a floor with a plurality of ventilation holes provided between the storage volume and the void beneath the storage volume, where a total area of each of the plurality of ventilation holes increases with the horizontal distance of the ventilation hole from an air outlet communicating air from the void to the second air damper.

In an embodiment, the plurality of ventilation holes may be provided by a plurality of perforations in panels forming the floor arranged between the storage volumes and the void at a lower end of the storage volumes.

In an embodiment, each air release area may be adapted to shield the air release areas from each neighboring air release area.

In an embodiment, the system may further comprise a first common conduit connecting the output of the cooler system with each of the first air dampers, and a second common conduit connecting each of the second air dampers to the input of the cooler system.

The present invention also relates to a method for controlling a plurality of storage volume temperatures in the automated grid based storage and retrieval system comprising the steps of:.

In an embodiment, the method may further comprise the step of directing the airflow from the first air damper to an air release area arranged below the horizontal rails adjacent the upper ends of the upright members.

In an embodiment, the method may further comprise the step of transferring heat from a heat exchanger in the cooler system to at least one of the plurality of storage volumes.

In an embodiment, the method may further comprise adjusting a fan positioned between the void and the second air damper to adjust the underpressure in the void.

In an embodiment, the method may further comprise adjusting the first air damper and the second air damper for a given storage volume based on a temperature measured by a temperature sensor in that storage volume.

In particular, it is understood that the framework structure can be considerably wider and/or longer and/or deeper than disclosed in <FIG>.

One embodiment of the automated storage and retrieval system according to the invention will now be discussed in more detail with reference to <FIG>.

<FIG> is a schematic illustration of an automated storage and retrieval system, comprising a framework structure <NUM> as described above with reference to the framework structure <NUM>. The framework structure <NUM> is subdivided into a plurality of storage volumes 406a, 406b, 406c, each storage volume 406a, 406b, 406c comprising a plurality of storage columns <NUM> arranged adjacent one another below the horizontal rails. Thus, each of the storage volumes 406a, 406b, 406c may comprise one or more storage columns <NUM> where storage containers are stacked one on top of one another to form stacks <NUM>. The framework structure <NUM> comprises a plurality of vertical walls <NUM> surrounding each of the plurality of storage volumes 406a, 406b, 406c to separate the storage volumes 406a, 406b, 406c from neighboring storage volumes 406a, 406b, 406c and external ambient conditions. The plurality of walls <NUM> surrounding the storage volumes provides substantially airtight channels extending from below the horizontal rails <NUM> to a void or voids 411a, 411b, 411c beneath each of the plurality the storage volumes 406a, 406b, 406c. The storage volumes 406a, 406b, 406c are open against the rails such that storage container vehicles <NUM> may lower and raise storage containers <NUM> into and out of the storage volumes.

The automated storage and retrieval system comprises a cooler system <NUM> adapted to draw air from an input <NUM> of the cooler system <NUM>, cool the air drawn from the input <NUM>, and blow cooled air through an output <NUM> of the cooler system <NUM>. The cooler system <NUM> may be a fan-coil unit comprising a heat exchanger, e.g. coil, and a fan, however any suitable cooler system may be used. When the cooler system <NUM> is a fan-coil unit, the flow of air through the cooler system <NUM> is driven by the fan in the fan-coil unit. For each of the plurality of storage volumes 406a, 406b, 406c, the system comprises a first air damper 408a, 408b, 408c connected between the output <NUM> of the cooler system <NUM> and an air release area 409a, 409b, 409c above the storage volumes 406a, 406b, 406c, and a second air damper 410a, 410b, 410c connected between the void 411a, 411b, 411c beneath the storage volumes 406a, 406b, 406c and the input <NUM> of the cooler system <NUM>.

Hence each storage volume 406a, 406b, 406c is part of an air circuit that includes its own first air damper 408a, 408b, 408c, its own air release area 409a, 409b, 409c, its own void 411a, 411b, 411c, and its own second air damper 410a, 410b, 410c. The air circuits may share a common conduit from the output <NUM> of the cooler system <NUM> to a point at which they divide upstream of the plurality of first air dampers 408a, 408b, 408c, in order to feed into the supply of cooled air to the different first air dampers 408a, 408b, 408c. The air circuits may also share a common conduit from a point at which they combine downstream of the second air dampers 410a, 410b, 410c to return the air to the input <NUM> of the cooler system <NUM>.

When air is drawn from the voids 411a, 411b, 411c through the respective second air damper 410a, 410b, 410c an underpressure, or vacuum, is created in the voids. The magnitude of the underpressure in the voids 411a, 411b, 411c is controlled by a force drawing air into the cooler system <NUM> and the airflow through the second air dampers 410a, 410b, 410c. The second air dampers 410a, 410b, 410c are individually adjustable to control the airflow through the second air dampers 410a, 410b, 410c. The force drawing air into the cooler system <NUM> and felt downstream of the second air dampers 410a, 410b, 410c is identical for each of the second air dampers 410a, 410b, 410c. The underpressure in each of the voids 411a, 411b, 411c is controlled by adjusting the airflow through the respective second air dampers 410a, 410b, 410c. Increasing the airflow through for example one of the second air dampers 410a relative to another one of the second air dampers 410b, would increase the underpressure in void 411a relative to void 411b.

When cooled air is blown through the output <NUM> of the cooler system <NUM> and through the first air dampers 408a, 408b, 408c an overpressure is created in the air release areas 409a, 409b, 409c above the storage volumes 406a, 406b, 406c. The magnitude of the overpressure and the temperature in the air release areas 409a, 409b, 409c is controlled by the temperature of the air leaving the cooler system <NUM>, the force blowing air through the output <NUM> of the cooler system and the airflow through each of the first air dampers 408a, 408b, 408c. The temperature in the air release areas 409a, 409b, 409c may depend to an extent on the shape and/or volume of the air release areas. The first air dampers 408a, 408b, 408c are individually adjustable to control the airflow. The force blowing air out of the output <NUM> of the cooler system <NUM> is identical for each of the first air dampers 408a, 408b, 408c. The overpressure and air temperature in each of the air release areas 409a, 409b, 409c is controlled by adjusting the airflow through the respective first air dampers 408a, 408b, 408c. Increasing the airflow through for example one of the first air dampers 408a relative to another one of the fist air dampers 408b, would increase the overpressure in air release area 409a relative to air release area 409b.

The system further comprises a controller <NUM> adapted for controlling the temperature in each of the plurality of storage volumes 406a, 406b, 406c by adjusting airflow through the first damper 408a, 408b, 408c of the particular storage volume 406a, 406b, 406c to control the overpressure and air temperature in the air release area 409a, 409b, 409c associated with the storage volume 406a, 406b, 406c, and to adjust airflow through the second air damper 410a, 410b, 410c of that storage volume 406a, 406b, 406c to control the underpressure in the void 411a, 411b, 411c below the storage volume 406a, 406b, 406c. The pressure differential between the overpressure in the air release area 409a, 409b, 409c and the underpressure in the void 411a, 411b, 411c, determines the speed of air through the respective storage volumes 406a, 406b, 406c. A higher pressure differential increases the speed of air and increases the cooling effect of the air passing through the storage volume 406a, 406b, 406c. A lower pressure differential reduces the speed of air and reduces the cooling effect of the air passing through the storage volume 406a, 406b, 406c.

By adjusting the airflow through the first and second air dampers, the controller <NUM> may control a storage volume temperature for each of each of the plurality of storage volumes 406a, 406b, 406c, where the storage volume temperature is regulated by the air temperature in the air release area 409a, 409b, 409c and by controlling the pressure differential between the overpressure in the air release area 409a, 409b, 409c and the underpressure in the void 411a, 411b, 411c.

Each of the storage volumes 406a, 406b, 406c may comprise at least one temperature sensor, and the controller <NUM> may be adapted to adjust the first air damper 408a, 408b, 408c and the second air damper 410a, 410b, 410c based on a temperature measured by the at least one temperature sensor. The temperature sensor may be positioned anywhere within the walls of the storage volume.

The controller <NUM> may comprise a plurality of control units, one for controlling the temperature in each of the storage volumes 406a, 406b, 406c.

The system may further comprise a fan 413a, 413b, 413c positioned between the void 411a, 411b, 411c and the second air damper 410a, 410b, 410c. The fan 413a, 413b, 413c may be used to increase the underpressure in the void 411a, 411b, 411c when necessary to maintain the differential pressure. In the illustrated embodiment, a fan 413a, 413b, 413c is provided for each storage volume 406a, 406b, 406c to force the airflow as required for each storage volume 406a, 406b, 406c. In another embodiment, the fan 413a, 413b, 413c, may be common fan for all the storage volumes 406a, 406b, 406c. This embodiment is easier to implement at the cost of less control of the airflow in each storage volume.

In one embodiment, one of the storage volumes 406a holds a storage volume temperature suitable for fruit, vegetables, flowers, etc., e.g. <NUM>, another of the storage volumes 406b holds a storage volume temperature suitable for easily perishable food such as meat, fish, dairy produce, etc., e.g. <NUM> - <NUM>, and the third storage volume 406c holds a freezing temperature, i.e. below <NUM>, typically -<NUM>. There may of course be more than three storage volumes and each storage volume may have a different storage volume temperature. There may also be several storage volumes having similar storage volume temperatures. The controller <NUM> may also adjust the storage volume temperature in a storage volume from ambient to freezing, or the other way around, depending on current or future storage needs.

In one embodiment, the storage and retrieval systems <NUM> may be used for vertical farming where crops are grown in the vertical stacks <NUM>. The vertical stacks <NUM> may comprise specialised storage containers <NUM> adapted to allow air and light into the storage containers for the crops, or other suitable stacked vertical farming systems. In this embodiment, each storage volume may have a different controlled environment for optimal growth conditions for different crops.

In one embodiment, each of the air release areas 409a, 409b, 409c is positioned above the container handling vehicles <NUM>, allowing the container handling vehicle to move on the horizontal rails <NUM> to lower and raise storage containers <NUM> and move the storage containers around the storage system <NUM>. The air release areas 409a, 409b, 409c may be adapted to shield each of the air release areas 409a, 409b, 409c from any neighboring air release area, such that the air temperature and overpressure in one air release area is substantially independent of the air temperature and overpressure in the neighboring air release area. Any suitable shielding methodology may be used. In one embodiment, the air release areas 409a, 409b, 409c may be in the shape of hoods separating the air release areas above the container handling vehicles <NUM>. In another embodiment, the air release areas 409a, 409b, 409c may in the shape of directional nozzles above the container handling vehicles <NUM>. Air curtains and the like may be used to help separate the areas.

In a large automated storage and retrieval system <NUM> may need require more cooling than it is possible to provide by one cooling system <NUM>. In order to fulfill the requirements, a large automated storage and retrieval system may be provided with a plurality of cooling systems <NUM>, each of the plurality of cooling systems <NUM> cooling a plurality of storage volumes as described above. The cooling system or cooling system <NUM> may take up the entire automated storage and retrieval system or only a portion thereof.

<FIG> is a schematic illustration on an alternative embodiment, where one of the air release areas 609c is arranged below the horizontal rails <NUM> adjacent the upper ends of the upright members <NUM>. In this embodiment the output of the first air damper 408c is vented directly into the storage volume 406c. The air release area <NUM> may comprise a plurality of vents surrounding the upper end of the storage volume 406c.

One advantage of arranging the air release area 609c below the horizontal rails <NUM> is that the cold air entering the grid creates a "cold curtain", preventing air moving freely between the container handling vehicle environment and the storage volume environment. This prevents that the container handling vehicle environment temperature is below <NUM>, thus allowing the container handling vehicles to work within their normal operating window.

In one embodiment, the cooler system <NUM> may comprise a heat exchanger that cools the air drawn from the input, the heat or a portion of the heat may be transferred to one of the storage volumes 406a, 406b, 406c. This may be useful for the warmer storage volumes or if it is required to heat a freezing zone quickly due to changing storage system needs.

In one embodiment, the plurality of vertical walls <NUM> comprises a thermal insulating material. The wall may be made of a thermal insulating material, the wall may be covered by an insulating material, or the thermal insulating material may be part of a sandwich wall construction. Vertical walls <NUM> comprising a thermal insulating material is particularly useful when the difference in storage volume temperatures between two neighboring storage volumes is too high to control by airflow only.

Now with reference to <FIG>, <FIG>, the system may further comprise a floor <NUM> with a plurality of ventilation holes provided between the storage volume 406a, 406b, 406c and the void 411a, 411b, 411c beneath the storage volume 406a, 406b, 406c, where a total area of each of the plurality of ventilation holes increases with the horizontal distance of the ventilation hole from an air outlet communicating air from the void 411a, 411b, 411c to the second air damper 410a, 410b, 410c. The total area of each of the plurality of ventilation holes may be varied by the number and/or size of ventilation holes. Small and/or few ventilation holes close to the air outlet and larger and/or more ventilation holes further away from the air outlet will create a more uniform airflow and more uniform cooling within each storage volume. The total area of each of the plurality of ventilation holes may be adjustable, e.g. using an aperture plate over another aperture plate where the two aperture plates are moved relative to each other.

The plurality of ventilation holes may be provided by a plurality of perforations <NUM> in panels <NUM> forming the floor <NUM> arranged between the storage volumes 406a, 406b, 406c and the void 411a, 411b, 411c at a lower end of the storage volumes 406a, 406b, 406c.

The storage volume temperatures in the plurality of storage volume of the automated grid based storage and retrieval system <NUM> described in detail above may be controlled by a method comprising the steps of:.

The first air damper 408a, 408b, 408c and the second air damper 410a, 410b, 410c may be adjusted for a given storage volume based on a temperature measured by a temperature sensor in that storage volume 406a, 406b, 406c.

The airflow from the first air damper 408a, 408b, 408c may be directed an air release area arranged below the horizontal rails <NUM> adjacent the upper ends of the upright members <NUM>.

Heat from a heat exchanger in the cooler system <NUM> may be transferred to at least one of the plurality of storage volumes 406a, 406b, 406c.

A fan 413a, 413b, 413c positioned between the void 411a, 411b, 411c and the second air damper 410a, 410b, 410c may be adjusted to adjust the underpressure in the void 411a, 411b, 411c.

Claim 1:
An automated grid based storage and retrieval system (<NUM>), comprising:
- a framework structure (<NUM>) comprising upright members (<NUM>) and a grid of horizontal rails (<NUM>) provided at upper ends of the upright members (<NUM>), the framework structure defining a plurality of storage volumes (406a, 406b, 406c) arranged adjacent one another below the horizontal rails (<NUM>), the storage volumes (406a, 406b, 406c) are open against the horizontal rails (<NUM>) such that storage container vehicles (<NUM>) may lower and raise storage containers (<NUM>) into and out of the storage volumes (406a, 406b, 406c),
- a plurality of vertical walls (<NUM>) surrounding each of the plurality of storage volumes (406a, 406b, 406c),
- a cooler system (<NUM>) adapted to draw air from an input (<NUM>) of the cooler system (<NUM>), cool the air drawn from the input (<NUM>), and blow cooled air through an output (<NUM>) of the cooler system (<NUM>),
- for each of the plurality of storage volumes (406a, 406b, 406c), the system further comprises a first air damper (408a, 408b, 408c) connected between the output (<NUM>) of the cooler system (<NUM>) and an air release area (409a, 409b, 409c, 609c) above the storage volume (406a, 406b, 406c), and a second air damper (410a, 410b, 410c) connected between a void (411a, 411b, 411c) beneath the storage volumes (406a, 406b, 406c) and the input (<NUM>) of the cooler system (<NUM>),
- a controller (<NUM>), the controller (<NUM>) adapted, independently for each of the plurality of storage volumes (406a, 406b, 406c), to adjust airflow through the first air damper (408a, 408b, 408c) associated with that storage volume to control an overpressure and air temperature in the air release area (409a, 409b, 409c, 609c), and to adjust airflow through the second air damper (410a, 410b, 410c) associated with that storage volume to control an underpressure in the void (411a, 411b, 411c), such that a storage volume temperature is controlled separately for each of the plurality of storage volumes (406a, 406b, 406c), the storage volume temperature being regulated by the air temperature in the air release area (409a, 409b, 409c, 609c) and by controlling a pressure differential between the overpressure in the air release area (409a, 409b, 409c, 609c) and the underpressure in the void (411a, 411b, 411c) in each of the storage volumes (406a, 406b, 406c).