Patent ID: 12227360

DETAILED DESCRIPTION

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

The framework structure100of the automated storage and retrieval system1is constructed in accordance with the prior art framework structure100described above in connection withFIGS.1, i.e. a number of upright members102and a number of horizontal members103, which are supported by the upright members102, and further that the framework structure100comprises a first, upper rail system108in the X direction and Y direction.

The framework structure100further comprises storage compartments in the form of storage columns105provided between the members102,103, where storage containers106are stackable in stacks107within the storage columns105.

The framework structure100can be of any size. In particular it is understood that the framework structure can be considerably wider and/or longer and/or deeper than disclosed inFIG.1. For example, the framework structure100may have a horizontal extent of more than 700×700 columns and a storage depth of more than twelve containers.

FIG.2is an alternative solution of a container handling vehicle201with a central cavity solution.

FIG.3shows an alternative configuration of a container handling vehicle301with a cantilever construction.

FIG.4describes a delivery vehicle. The delivery vehicles comprise a base with the same setup of wheels as on the container handling vehicles. The wheel base unit features a wheel arrangement having a first set of wheels for movement in a first direction upon a rail grid (i.e. any of the top rail grid and the transfer rail grid) and a second set of wheels for movement in a second direction perpendicular to the first direction. Each set of wheels comprises two pairs of wheels arranged on opposite sides of the wheel base unit. To change the direction in which the wheel base unit may travel upon the rail grid, one of the sets of wheels is connected to a wheel displacement assembly. The wheel displacement assembly is able to lift and lower the connected set of wheels relative to the other set of wheels such that only the set of wheels traveling in a desired direction is in contact with the rail grid. The wheel displacement assembly is driven by an electric motor. Further, two electric motors, powered by a rechargeable battery, are connected to the set of wheels to move the wheel base unit in the desired direction. The horizontal periphery of the wheel base unit is dimensioned to fit within the horizontal area defined by a grid cell of the rail grid such that two-wheel base units may pass each other on any adjacent grid cells of the rail grid. In other words, the wheel base unit may have a footprint, i.e. an extent in the X and Y directions, which is generally equal to the horizontal area of a grid cell, i.e. the extent of a grid cell in the X and Y directions.

One embodiment of the automated storage and retrieval system according to the invention will now be discussed in more detail with reference toFIGS.5-8.

FIG.5-7are side views of a storage system with storage containers wherein a container handling vehicle transports a box-shaped measuring unit501into the storage system, places it at a predetermined position within the storage system and leaves. The predetermined position is where the box-shaped measuring unit501can have the most effect in detecting anomalies within the storage system. The position can be either at a certain level of the storage system (for example, towards the top or upper part of the storage system, or towards the bottom or lower part of the storage system) and/or at a certain distance from other box-shaped measuring units501in the storage system (for example, in order to triangulate a location of a problem within the storage system).

Further the position can be in order to detect specific atmospheric conditions like specific gasses. Since some of the gasses produced by decomposing or rotting food items are lighter than air and some gasses are heavier than air it is essential where the box-shaped measuring units501are placed in order to detect decomposing matter. One gas produced by rotting food is methane. Methane is lighter than air and will therefore move upwards. A sensor for measuring methane should therefore be placed as high up in the storage system as possible. Other gasses that are released during the rotting of food are carbon dioxide and hydrogen sulphide. In these cases, the gasses are heavier than air and will collect at the bottom, so sensors for detecting carbon dioxide and hydrogen sulphide should therefore be placed as low to the ground as possible.

Further, since cold air is heavier than warm air there is a benefit of placing a box-shaped measuring unit501either high up in the stack of container or low down depending on what you want to detect. If e.g. the intention is to ensure that the storage facility does not get too warm it is essential that the box-shaped measuring unit501is placed where the air is the hottest, i.e. the top of the stack of containers. If, however the intention is to ensure that the storage facility does not get too cold the box-shaped measuring unit501needs to be placed at the bottom of the stack of containers. If there is a need to ensure that the storage facility is within a certain temperature span, there can be placed one box-shaped measuring unit501on the top of the stack of containers and one box-shaped measuring unit501at the bottom of the stack of containers. Further it is possible to decide the position based on the proximity to other box-shaped measuring units501, in order to better be able to pinpoint where there is a problem, or to ensure that the box-shaped measuring units501can communicate with each other using a short-range radio network like e.g. Bluetooth.

The box shaped measuring unit501comprises measuring equipment. This measuring equipment might be temperature sensors, moistures sensors, gas detectors or any other type of sensors for measuring atmospheric conditions around the box-shaped measuring unit501. The detectors can detect evidence of decomposing of perishable items or if there are problems with the atmospheric conditions the items are stored in. Sensors can be placed on one or more sides of the box-shaped measuring unit501. In a preferred embodiment there can be sensors placed on each side of the box-shaped measuring unit501. This enables it to detect on which side of the box-shaped measuring unit501there are signs of problems with either the atmospheric conditions of the storage system or the items stored in the containers. If there are more than one container stored in the storage system, the result from the separate box-shaped measuring units501can be used in order to pinpoint where in the grid there is a problem. If two or more box-shaped measuring units501can detect on which side of the box e.g. a specific gas is present the central computer system can decide that there is a problem somewhere between these two or more boxes.

The box-shaped measuring unit501comprises in addition to the measuring equipment at least one rechargeable power source and at least one form of communication equipment.

In an alternative solution the box-shaped measuring unit501is comprised of a top and a bottom part. The top part acts as a lid to the bottom part. Together the size of the top and bottom part may be of the same size as an ordinary storage container in the storage system. The top part can function as a lid keeping the equipment inside the box safe. Further, the lid can comprise a rechargeable power source that gives power to the equipment in the box-shaped measuring unit501.

By having a rechargeable power source in the lid of the box-shaped measuring unit501it is possible to change the power source without having to remove the box-shaped measuring unit501from the storage facility. The bottom part of the box-shaped measuring unit501can have an auxiliary rechargeable power source that helps to maintain the operation of the box-shaped measuring unit501until there is a new lid placed on the bottom part of the box-shaped measuring unit501. The top and the bottom part of the box-shaped measuring unit501can be held together by a second set of grippers. The second set of grippers makes it possible to lift the top and the bottom part of the box-shaped measuring unit501by only connecting a first set of grippers to the top part. The second set of grippers are placed in the top part of the box-shaped measuring unit501and they are the same as the first set of grippers on the lifting platform of the container handling vehicles. This ensures that both the top and the bottom part of the box-shaped measuring unit501can be lifted by ordinary container handling vehicles without having to add additional equipment for handling the box-shaped measuring unit501to the container handling vehicles.

FIG.8is a flowchart describing the steps in the process of a preferred embodiment of the present invention. The container handling vehicle places a box-shaped measuring unit501in the storage grid. After the box-shaped measuring unit501has been placed in the storage grid it starts to gather information (measurement data) from the measuring equipment placed in the box-shaped measuring unit501. If the box-shaped measuring unit501is connected to a network, like Wi-Fi, the gathered information is sent to a computer system. This computer system can be just for keeping track of the measurements of the box-shaped measuring units501and analyze the results. And based on the results it can instruct the central computer system to perform certain actions like searching for containers with a potential problem with its items in a certain area of the storage system, or alarming about a rise or fall in temperature.

If the box-shaped measuring unit501is not connected to a network the data can be stored in a data recorder within the box-shaped measuring unit501and transmitted to the central computer system when the box-shaped measuring unit501is connected to the network again. If the box-shaped measuring unit501is not connected to a network for longer than a predetermined period of time the data can be uploaded to the computer system when a container handling vehicle is handling the box-shaped measuring unit501when the lifting platform of a container handling vehicle is attached to the box-shaped measuring unit501, the stored measurement data from the measuring equipment can be transmitted to the container handling vehicle, which again can send it to the computer system. The lifting platform of a container handling vehicle can have an interface that connects with the box-shaped measuring unit501and hence enables transfer. A reason for the box-shaped measuring unit501being disconnected from the network can be that the transmitter or the communication equipment in the box-shaped measuring unit501is broken. If this is the case the container handling vehicle can transport the box-shaped measuring unit501to a service station for repair. Further the box-shaped measuring unit501comprises at least one rechargeable power source. The rechargeable power sources can be batteries or a battery and a capacitor.

When the charge of the power source(s) get low a message is sent to the central computer system that the battery needs to be charged. The central computer system orders a container handling vehicle to pick up the box-shaped measuring unit501and transport it to a charger. When finished it is transported back into the storage system.

If the box-shaped measuring unit501is made up of a top and a bottom part the top part is transported to the charger and a new top part with a fully charged rechargeable power source is placed on the bottom part of the box-shaped measuring unit501. In this solution the box-shaped measuring unit501does not need to be transported away from its position in the storage facility and it can hence keep measuring and transmitting data continuously. If the box-shaped measuring unit is to be moved to another place in the storage facility the at least one rechargeable power source can be topped up via the lifting platform of the container handling vehicle.

The box-shaped measuring unit501can have measuring equipment on all sides. This allows for keeping track of changes in the atmospheric conditions on all sides of the box-shaped measuring unit501. Further it is possible to better pinpoint where in the storage system there is detected evidence of items going spoiled. If there are more than one box-shaped measuring unit501in the storage system, the combined result from all the box-shaped measuring units501can make it possible to detect spoiling items before they are able to spoil other items in the storage system.

One solution for keeping track of the changes in atmospheric conditions in the storage system is to record the measurement data from the measuring equipment together with timestamps and transmit the recorded measurement data to a computer system. The time stamp makes it possible to keep track of the development of the measurement data over time. In order to be able to locate where in the storage system there is a problem, the ID of the sensor or the measuring equipment can also be logged. The ID of the sensor or measuring equipment makes it possible to decide which box-shaped measuring unit501it is and since the system always knows where in the system any box-shaped measuring unit501is, the location of the spoiled item is possible. Also, if there are more than one box-shaped measuring unit501the combined results of the measurements from all the separate box-shaped measuring units501together with the time stamps allows the computer system to pinpoint where in the system there is a problem.

However, to get as accurate a measurement as possible, it is important that the system knows which way the box-shaped measuring unit501is oriented in the storage grid. The ID of the sensor only gives the information that there is a problem close to that sensor, it tells nothing about which way the sensor is pointing. However, there are several ways that can be used to find out which way the box-shaped measuring unit501is facing.

One way is to monitor which way the box-shaped measuring unit enters the storage system. Since the container handling vehicles can only move in two directions and since they cannot turn, the direction of the box-shaped measuring unit501will not change as long as it is in the storage grid. However, if the box-shaped measuring unit501is transported out of the storage system, like when it is charged, or it is in the service station for repair, the direction of the box-shaped measuring unit501can change and the direction the box-shaped measuring unit501enters the storage system must be noted and fed into the computer system again.

Another way of knowing which way the box-shaped measuring unit501is facing is to have a form of ID marker at one end of the storage system. The box-shaped measuring unit501has a reader on one side and it can detect the marker if it is facing towards the marker, if the box-shaped measuring unit501is not able to detect the marker, is it facing the other way. Since the containers and the box-shaped measuring units501are rectangular they can only be stored in two directions. The ID marker can be in the form of the box-shaped measuring unit501can communicate with e.g. an RFID mark placed on a specific place in the storage system. The box-shaped measuring unit501can have an RF reader on one side and regardless if it gets a result or not, the direction of the box-shaped measuring unit501can be determined since if it gets a result, the box-shaped measuring unit501is facing one way and if it does not get a result, it is facing the other way.

Alternatively, if there are box-shaped measuring units501at regular intervals in the storage system. It is possible to detect where there is a problem if sensors in more than one box-shaped measuring unit501gives a result. If more than one box gives a result it is not necessary to know the direction of the box-shaped measuring units501since it is safe to say that if two box-shaped measuring units501placed close together gets a reading the problem item is somewhere between the two or more units.

In yet another alternative solution the box shaped measuring units themselves can communicate with each other using a short-range telecommunication network like e.g. Bluetooth. If one of the box shaped measuring units gets a reading of something, that box shaped measuring unit can communicate with surrounding box shaped measuring units and tell them to do a measuring to see if they get a reading. If one of them get a reading the problem is somewhere in between these two box shaped measuring units. This solution however requires that there are quite a lot of box-shaped measuring units501placed in the storage system in order for more than one box-shaped measuring unit501to detect something the distance between the box-shaped measuring units501must be quite close together.

LIST OF REFERENCE NUMBERS

(FIGS.1-7):

100Framework structure102Upright members of framework structure103Horizontal members of framework structure104Storage grid105Storage column106Storage container106′ Particular position of storage container107Stack108Rail system110Parallel rails in first direction (X)111Parallel rail in second direction (Y)112Access opening119First port column120Second port column201Prior art storage container vehicle301Prior art cantilever storage container vehicleX First directionY Second directionZ Third direction500Container handling platform501Box-shaped measuring unit