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WO2025036851A1 - Gestion de la température dans un système de stockage et de récupération automatisé - Google Patents

Gestion de la température dans un système de stockage et de récupération automatisé Download PDF

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Publication number
WO2025036851A1
WO2025036851A1 PCT/EP2024/072632 EP2024072632W WO2025036851A1 WO 2025036851 A1 WO2025036851 A1 WO 2025036851A1 EP 2024072632 W EP2024072632 W EP 2024072632W WO 2025036851 A1 WO2025036851 A1 WO 2025036851A1
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WO
WIPO (PCT)
Prior art keywords
air
storage
volume
temperature
framework
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/EP2024/072632
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English (en)
Inventor
Paul Edvin BERSAAS
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autostore Technology AS
Original Assignee
Autostore Technology AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Autostore Technology AS filed Critical Autostore Technology AS
Publication of WO2025036851A1 publication Critical patent/WO2025036851A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
    • F25D13/00—Stationary devices, e.g. cold-rooms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0464—Storage devices mechanical with access from above
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
    • F25D21/00—Defrosting; Preventing frosting; Removing condensed or defrost water
    • F25D21/04—Preventing the formation of frost or condensate

Definitions

  • the present invention relates to temperature management in an automated storage and retrieval system, and in particular to a method for managing temperature in an automated, grid-based storage and retrieval system and an automated grid-based storage and retrieval system comprising a temperature management system.
  • Fig. 1 discloses a prior art automated storage and retrieval system 1 with a framework structure 100 and Figs. 2, 3a-3b disclose three different prior art container handling vehicles 201, 301, 401 suitable for operating on such a system 1.
  • the framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102.
  • storage containers 106 also known as bins, are stacked one on top of one another to form container stacks 107.
  • the members 102 may typically be made of metal, e.g. extruded aluminum profiles.
  • the framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of framework structure 100, on which rail system 108 a plurality of container handling vehicles 301, 401 may be operated to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105.
  • the rail system 108 comprises a first set of parallel rails no arranged to guide movement of the container handling vehicles 301, 401 in a first direction X across the top of the framework structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails no to guide movement of the container handling vehicles 301, 401 in a second direction Y which is perpendicular to the first direction X.
  • Containers 106 stored in the columns 105 are accessed by the container handling vehicles 301, 401 through access openings 112 in the rail system 108.
  • the container handling vehicles 301, 401 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.
  • Each prior art container handling vehicle 201, 301, 401 comprises a vehicle body 201a, 301a, 401a and first and second sets of wheels 201b, 201c, 301b, 301c, 401b, 401c which enable lateral movement of the container handling vehicles 201, 301, 401 in the X direction and in the Y direction, respectively. In Figs. 2-3b, two wheels in each set are fully visible.
  • the first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails of the first set no of rails
  • the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent rails of the second set 111 of rails.
  • At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be lifted and lowered, so that the first set of wheels 201b, 301b, 401b and/or the second set of wheels 201c, 301c, 401c can be engaged with the respective set of rails no, 111 at any one time.
  • Each prior art container handling vehicle 201, 301, 401 also comprises a lifting device 304, 404 (visible in Figs. 3a-3b) having a lifting frame part 304a for vertical transportation of storage containers 106, e.g. raising a storage container 106 from, and lowering a storage container 106 into, a storage column 105.
  • Lifting bands 404a are also shown in Fig. 3b.
  • the lifting device 304, 404 comprises one or more gripping/ engaging devices which are adapted to engage a storage container 106, and which gripping/ engaging devices can be lowered from the vehicle 201, 301, 401 so that the position of the gripping/ engaging devices with respect to the vehicle 201, 301, 401 can be adjusted in a third direction Z (visible for instance in Fig. 1) which is orthogonal the first direction X and the second direction Y.
  • Figs. 3a and 3b indicated with reference numbers 304 and 404.
  • the gripping device of the container handling device 201 is located within the vehicle body 201a in Fig. 2.
  • each storage column 105 can be identified by its X and Y coordinates.
  • the storage volume of the framework structure 100 is part of a framework volume 104, where the possible storage positions within this storage volume are referred to as storage cells within storage columns.
  • Each storage column may be identified by a position in an X- and Y-direction, while each storage cell may be identified by a container number in the X-, Y- and Z-direction.
  • Each prior art container handling vehicle 201, 301, 401 comprises a storage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 across the rail system 108.
  • the storage space may comprise a cavity arranged internally within the vehicle body 201a as shown in Figs. 2 and 3b and as described in e.g. WO2O15/193278A1 and WO2O19/ 206487A1, the contents of which are incorporated herein by reference.
  • FIG. 3a shows an alternative configuration of a container handling vehicle 301 with a cantilever construction.
  • a container handling vehicle 301 with a cantilever construction.
  • Such a vehicle is described in detail in e.g. NO317366, the contents of which are also incorporated herein by reference.
  • the cavity container handling vehicles 201 shown in Fig. 2 may have a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a storage column 105, e.g. as is described in WO2O15/193278A1, the contents of which are incorporated herein by reference.
  • the term ‘lateral’ used herein may mean ‘horizontal’.
  • the cavity container handling vehicles 401 may have a footprint which is larger than the lateral area defined by a storage column 105 as shown in Fig. 3b and as disclosed in W02014/090684A1 or W02019/206487A1.
  • the rail system 108 typically comprises rails with grooves in which the wheels of the vehicles run.
  • the rails may comprise upwardly protruding elements, where the wheels of the vehicles comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively known as tracks.
  • Each rail may comprise one track, or each rail may comprise two parallel tracks; in other rail systems 108, each rail in one direction may comprise one track and each rail in the other perpendicular direction may comprise two tracks.
  • the rail system may also comprise a double track rail in one of the X or Y direction and a single track rail in the other of the X or Y direction.
  • a double track rail may comprise two rail members, each with a track, which are fastened together.
  • W02018/146304A1 illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both X and Y directions.
  • columns 105 In the framework structure 100, a majority of the columns 105 are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes.
  • columns 119 and 120 are such special-purpose columns used by the container handling vehicles 201, 301, 401 to drop off and/or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside of the framework structure 100 or transferred out of or into the framework structure 100.
  • such a location is normally referred to as a ‘port’ and the column in which the port is located maybe referred to as a ‘port column’ 119,120.
  • the transportation to the access station maybe in any direction, that is horizontal, tilted and/or vertical.
  • the storage containers 106 may be placed in a random or a dedicated column 105 within the framework structure 100, then picked up by any container handling vehicle and transported to a port column 119, 120 for further transportation to an access station.
  • the transportation from the port to the access station may require movement along various different directions, by means such as delivery vehicles, trolleys or other transportation lines.
  • tiltted means transportation of storage containers 106 having a general transportation orientation somewhere between horizontal and vertical.
  • the first port column 119 may for example be a dedicated drop-off port column where the container handling vehicles 201, 301 can drop off storage containers 106 to be transported to an access or a transfer station
  • the second port column 120 maybe a dedicated pick-up port column where the container handling vehicles 201, 301, 401 can pick up storage containers 106 that have been transported from an access or a transfer station.
  • the access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers 106.
  • the storage containers 106 are normally not removed from the automated storage and retrieval system 1, but are, once accessed, returned into the framework structure 100.
  • a port can also be used for transferring storage containers to another storage facility (e.g. to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.
  • a conveyor system comprising conveyors is normally employed to transport the storage containers between the port columns 119, 120 and the access station.
  • the conveyor system may comprise a lift device with a vertical component for transporting the storage containers 106 vertically between the port column 119, 120 and the access station.
  • the conveyor system may be arranged to transfer storage containers 106 between different framework structures, e.g. as is described in
  • a storage container 106 stored in one of the columns 105 disclosed in Fig. 1 is to be accessed, one of the container handling vehicles 201, 301, 401 is instructed to retrieve the target storage container 106 from its position and transport it to the drop-off port column 119.
  • This operation involves moving the container handling vehicle 201, 301 to a location above the storage column 105 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the container handling vehicle’s 201, 301, 401 lifting device (not shown in Fig. 2 but visible in Figs. 3a and 3b), and transporting the storage container 106 to the drop-off port column 119.
  • the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container 106 from the storage column 105.
  • This step which is sometimes referred to as “digging” within the art, maybe performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port column 119, or with one or a plurality of other cooperating container handling vehicles.
  • the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 specifically dedicated to the task of temporarily removing storage containers 106 from a storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers 106 can be repositioned into the original storage column 105. However, the removed storage containers 106 may alternatively be relocated to other storage columns 105.
  • one of the container handling vehicles 201, 301, 401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a location above the storage column 105 where it is to be stored.
  • the container handling vehicle 201, 301, 401 positions the storage container 106 at the desired position. The removed storage containers 106 may then be lowered back into the storage column 105 or relocated to other storage columns 105.
  • the automated storage and retrieval system 1 For monitoring and controlling the automated storage and retrieval system 1, e.g. monitoring and controlling the location of respective storage containers 106 within the framework structure 100, the content of each storage container 106 and the movement of the container handling vehicles 201, 301, 401 so that a desired storage container 106 can be delivered to the desired location at the desired time without the container handling vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 comprises a control system 505 (shown in Fig. 1) which typically is computerized and which typically comprises a database for keeping track of the storage containers 106.
  • Storage and retrieval systems of the above kind could also be employed to store frozen goods, such as frozen food products.
  • frozen goods such as frozen food products.
  • Such a system is disclosed in W02021/198170A1.
  • a temperature environment well below o °C is required in a region of the system where frozen food products are stored. Ideally, these thermal conditions are achieved while keeping ice build-up in the storage region at a minimum.
  • a region of the storage and retrieval system above the rails, where container handling vehicles move needs to be kept at a significantly higher temperature in order to safeguard the vehicles.
  • a multi-temperature environment needs to be provided within the storage and retrieval systems.
  • a storage and retrieval system featuring such an environment is discussed in W02021/209648A1.
  • a first aspect of the invention relates to a method for managing temperature in an automated, grid-based storage and retrieval system comprising a framework structure comprising vertically extending members defining a framework volume, , the framework volume comprising a storage volume with vertically extending storage columns for storing the goods holders, and said storage and retrieval system comprising a temperature management system for the storage volume comprising a chilled air plant.
  • the framework volume may be thermally insulated.
  • the framework volume may comprise a network of horizontal rails provided at upper ends of the vertically extending members.
  • the storage volume may be disposed below the horizontal rails.
  • the sequence of method steps of the independent method claim maybe effectuated in any given order.
  • the method comprises: releasing air in a horizontal direction in a first region disposed above the storage volume, measuring a surface temperature of at least one vertically extending member at a top of the storage volume, determining a dew point of the air released in the first region, responsive to the determined dew point of the air released in the first region being above the measured surface temperature, decreasing the dew point of the air released in the first region by adjusting an air temperature and/or a relative air humidity of the air released in the first region.
  • the first region may be disposed below the network of horizontal rails.
  • ice is typically removed from storage and retrieval systems for storage of frozen goods during a defrosting process where warm air is introduced so that ice is melted away.
  • Present system reduces/ eliminates the need for such a defrosting process.
  • system downtime for instance while the storage volume is being defrosted, may also be reduced/eliminated as fewer system interventions are required.
  • the invention allows for energy efficient ice removing, i.e. without increasing air temperature. More specifically, it could suffice to only reduce humidity of the flowing air without increasing its temperature in order to remove formed ice from the surface of the vertically extending member.
  • Another aspect of the invention relates to an automated, grid-based storage and retrieval system.
  • advantages discussed above in connection with the method may be associated with the corresponding system and are not further discussed.
  • the invention is for use in the context of a horizontal rail system arranged across and forming part of the framework structure. More specifically, the upright members support the rail system.
  • a plurality of remotely operated vehicles travels on the rail system and raises goods holders from, and lowers goods holders into, the storage columns, and is also used to transport the goods holders above the storage columns. During this transport, the remotely operated vehicles move in a horizontal plane.
  • the present invention is for use with various types of remotely operated vehicles, for instance a cantilever-based container handling vehicle or a container handling vehicle having internally arranged cavity.
  • the invention is for use in the context of a SDG-based rail system.
  • SDG stands for Single/Double Grid.
  • This design provides a single rail track along one axis and a double rail track along the other axis. Utilizing a single rail in one direction requires meeting robots to have a cell between them in order to pass each other.
  • the invention is for use in the context of a DDG-based rail system.
  • DDG stands for Double/Double Grid. This design provides a double rail track in both directions allowing meeting robots to pass each other in both directions.
  • the term “container handling vehicle” used in “Background and Prior Art” section of the application and the term “remotely operated vehicle” used in the rest of the application text are synonymous and define an autonomous wheeled vehicle operating on a rail system arranged across the top of the framework structure being part of an automated storage and retrieval system.
  • the terms “storage container” and “storage bin” used in “Background and Prior Art” section of the application and the term “goods holder” used in the rest of the application text are synonymous and define a vessel for storing items.
  • the goods holder of the present application can be any one of a bin, a tote, a pallet, a tray or similar. Different types of goods holders may be used in the same automated storage and retrieval system.
  • the goods holder can be a bin, a tote, a pallet, a tray or similar. Different types of goods holders maybe used in the same automated storage and retrieval system.
  • Fig. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.
  • Fig. 2 is a perspective view of a prior art container handling vehicle/ remotely operated vehicle having a centrally arranged cavity for carrying storage containers therein.
  • FIG. 3a is a perspective view of a prior art container handling vehicle/ remotely operated vehicle having a cantilever for carrying storage containers underneath.
  • FIG. 3b is a perspective view, seen from below, of a prior art container handling vehicle/remotely operated vehicle having an internally arranged cavity for carrying storage containers therein.
  • Fig. 4 is a perspective view of an automated storage and retrieval system with a temperature management system according to an embodiment of the present invention.
  • Fig. 5 is a perspective view of the automated storage and retrieval system shown in Fig. 4, where framework structure and side walls are removed.
  • Figs. 6-7 show horizontally extending air ducts of a temperature management system of an automated storage and retrieval system.
  • Fig- 8a shows interior of a horizontally extending air duct of Figs. 6-7.
  • Fig. 8b shows an air release device in accordance with one embodiment of the invention.
  • FIG. 9 schematically shows air flows in an automated storage and retrieval system of the present invention.
  • Fig. 10 shows relative placement of air release devices with respect to framework/storage volume and first/second regions disposed between the storage volume and horizontal rails.
  • Fig. 11 illustrates accuracy of the method for estimating dew point.
  • the grid-based storage system comprises a framework structure comprising vertically extending members defining a framework volume.
  • the framework volume comprises a storage volume with vertically extending storage columns for storing goods holders.
  • the storage and retrieval system further comprises a temperature management system for the storage volume comprising a chilled air plant.
  • the method comprises:
  • the framework structure 100 of the automated storage and retrieval system 1 is constructed in accordance with the prior art framework structure 100 described above in connection with Figs. i-3b, i.e. a number of upright members 102, wherein the framework structure 100 also comprises a first, upper rail system 108 in the X direction and Y direction.
  • the framework structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102 where storage containers 106 are stackable in stacks 107 within the storage columns 105.
  • the framework structure 100 can be of any size. In particular, it is understood that the framework structure can be considerably wider and/or longer and/or deeper than disclosed in Fig. 1.
  • the framework structure 100 may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.
  • FIG. 4-10 Various aspects of the present invention will now be discussed in more detail with reference to Figs. 4-10. More specifically, an automated, grid-based storage and retrieval system shown and discussed in conjunction with Figs. 4-10 is suitable for implementing the inventive method. However, other system designs, having adequate properties, may also be considered and are equally suitable.
  • Fig. 4 is a perspective view of an automated storage and retrieval system with a temperature management system according to an embodiment of the present invention.
  • the temperature management system shown and discussed in conjunction with Figs. 4-10 is suitable for implementing the inventive method.
  • other system designs, having adequate properties, may also be considered and are equally suitable.
  • the automated, gridbased storage and retrieval system 1 of the invention comprises a framework structure (100; shown in Fig. 1) comprising vertically extending members (102; shown in Fig. 1) defining a framework volume (104; visible in Figs. 5 and 9), and a network of horizontal rails no, 111 provided at upper ends of the vertical members.
  • Remotely operated vehicles such as those of any of Figs. 2-3b, for handling goods holders could operate on top of said network 110, 111 shown in Fig. 4.
  • the framework volume is laterally thermally insulated, i.e. it comprises thermally isolating sidewalls that laterally enclose the framework volume.
  • a suitable thermal insulating material is a material that has a lower thermal conductivity than general purpose construction materials. Suitable thermal insulating materials typically have a thermal conductivity below 0.06 Wm ⁇ K’ 1 .
  • 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.
  • a chilled air plant 22 being part of a temperature management system 20 of the storage and retrieval system 1 of the invention, is also shown. It is appended to a long side of the framework structure (100; shown in Fig. 1). Structure and function of the chilled air plant 22 will be discussed in greater detail in connection with Figs. 5 and 10. Protruding end sections of various air ducts provided in upper section of the framework volume 104 are also visible. These air ducts will be discussed in greater detail in connection with Figs. 6-8a.
  • Fig. 5 is a perspective view of the automated storage and retrieval system shown in Fig. 4, where side walls and framework structure are removed.
  • the framework volume 104 comprises a storage volume 109 for storing goods holders (not shown).
  • the storage volume 109 is disposed below the horizontal rails (110, 111; shown in Fig. 4) and, in the shown embodiment, at a distance from said horizontal rails.
  • a temperature management system 20 for the storage volume 109 comprises, in addition to a chilled air plant 22, a first pair of oppositely arranged, horizontally extending air ducts 23a, 23b disposed in the framework volume 104.
  • the first pair of air ducts 23a, 23b is for conveying air at a first temperature to the framework volume 104.
  • Each air duct 23a, 23b is provided with a first air release device (discussed in conjunction with Fig. 8b) configured to release the air at the first temperature into the framework volume 104 in a horizontal direction.
  • the first air release devices of the respective first pair of air ducts 23a, 23b face one another. Accordingly, two oppositely directed air streams are created, said air streams flowing towards each other. An air curtain is hereby created.
  • the system 20 further comprises a second pair of oppositely arranged, horizontally extending air ducts 24a, 24b disposed in the framework volume 104 and below said first pair of air ducts 23a, 23b.
  • the second pair of air ducts 24a, 24b is for conveying air at a second temperature to the framework volume 104.
  • Each air duct 24a, 24b is provided with a second air release device, optionally identical to the first air release device, configured to release the air at the second temperature into the framework volume 104 in a horizontal direction.
  • the second air release devices of the respective second pair of air ducts 24a, 24b face one another.
  • the system 20 further comprises a third pair of oppositely arranged, horizontally extending air ducts 25a, 25b disposed in the framework volume 104 and below said second pair of air ducts 24a, 24b.
  • the third pair of air ducts is for conveying air at the second temperature to the framework volume 104.
  • Each air duct 25a, 25b is provided with a third air release device configured to release the air at the second temperature downwards into the framework volume 104.
  • the temperature management system 20 of Fig. 5 also comprises a pair of oppositely arranged, horizontally extending return air ducts 27a, 27b discussed in greater detail in connection with Fig. 6.
  • Controlled and continuous horizontal release of the air at the first temperature and into the framework volume results in creation of a first transversal air curtain.
  • air flow through the ducts is in the range 1000 to 2000 m3/h.
  • a sharp, transversally extending thermal boundary is created in the storage and retrieval system. More precisely, the air curtain extends vertically between warmer temperatures at the level of the rail system and colder temperatures of the storage volume.
  • Said air curtain creates a thermal boundary provided between the storage volume containing goods holders and the horizontal rails supporting wheels of the remotely operated vehicles such that the vehicles are not exposed to the prohibitively low temperatures, which might be as much as -25 °C. This is achieved without increasing structural complexity of the system - the framework volume and the zone containing horizontal rails and the vehicles do not need to be physically separated as is the case in the system featured in W02021/198170A1.
  • the above discussed air curtain is highly efficient at separating cold air from warmer air.
  • the cold air of the storage volume is prevented from mixing with warmer air higher up in the system.
  • This entails significant energy savings as only limited amounts of very cold air, destined for the storage volume, need to be introduced into the system in order to compensate for the negative effects of inadvertent mixing of cold and warm air.
  • the system of the present invention is suitable and may operate with air as a sole refrigerant.
  • the number of refrigerant-carrying ducts employed in the system may be kept at a minimum. This simplifies and facilitates system design and reduces installation and operational costs when compared with systems represented by W02021/209648A1, where glycol is used as a refrigerant and glycol carrying pipes are integrated in the track-supporting, upright members.
  • the air ducts 23a-25b, 27a-2yb extend in a first (X) direction of the framework structure 100 at least for a majority of a distance between two opposite sides of said framework structure 100.
  • the chilled air plant 22 is mounted externally with respect to the thermally isolated framework volume 104.
  • one chilled air plant 22 provides air for both air ducts of the pairs of air ducts 23a-25b.
  • each air duct of the first and the second pair of oppositely arranged, horizontally extending air ducts 23a-24b is provided with another air release device configured to release the air into the framework volume 104 in a horizontal direction, wherein said another air release device faces away from the corresponding first air release device.
  • the chilled air plant 22 may produce cold air by means of an evaporator.
  • a heat exchanger may be used.
  • the chilled air plant 22 also comprises an external dehumidifier 26.
  • Fig. 6 shows horizontally extending air ducts of a temperature management system of an automated storage and retrieval system.
  • the temperature management system 20 comprises a pair of oppositely arranged, horizontally extending return air ducts 27a, 27b disposed in the framework volume and below said third pair of air ducts 25a, 25b and at the bottom of the framework volume.
  • the return air ducts 27a, 27b are for extracting air from the storage volume 109 such that said air is subsequently conveyed towards the chilled air plant (22; shown in Fig. 5).
  • a section of the floor supporting the framework structure (100; shown in Fig. 1) makes up a bottom side of the return air duct 27a, 27b and lowermost section of the air duct sides adjacent said bottom side has an indented pattern such that air of the storage volume may enter said return air duct 27a, 27b.
  • the return air ducts 27a, 27b are aligned with the ducts 23a-25b. Moreover, all ducts may extend wall-to-wall in one direction. Also, width of the duct may be dimensioned so as to occupy an integer value (normally one or two) of the storage cells in another direction.
  • Fig. 7 shows a portion of horizontally extending air ducts 233-253 of a temperature management system 20, said ducts being provided with air release devices.
  • each of the first 21a, the second 21b and the third 21c air release devices comprises a plurality of equidistantly arranged air release devices extending along a straight line.
  • Distance between two adjacent first air release devices 21a is the same as the distance between two adjacent second air release devices 21b.
  • distance between two adjacent first/ second air release devices 2ia/2ib is smaller than a distance between two adjacent third air release devices 21c. Details of an exemplary air release device are shown and discussed in conjunction with Fig. 8b.
  • FIG. 8a shows interior of an exemplary, horizontally extending air duct of the second pair of air ducts 24a, 24b also shown in Figs. 6-7.
  • a proximal end of the duct receives cooled air from the previously-discussed chilled air plant 22.
  • air release devices are arranged along the length of the air duct.
  • the duct is attached to the thermally isolating structure surrounding the framework volume.
  • an air damper (not shown) is provided in said thermally isolating structure.
  • This air damper enables fluid communication between the air duct of the second pair of air ducts 24a, 24b and an exterior of the framework volume. In this way, defrosting operation in the temperature management system, targeting inter alia removing ice from the air ducts and air release devices and causing hot air to enter the second pair of air ducts 24a, 24b and thereto associated air release devices 21b, does not result in said hot air entering the framework volume and the storage volume. Instead, said hot air is discharged from the air duct via said air damper provided in the thermally isolating structure enclosing the framework structure 100.
  • Fig. 8b shows an air release device 2ia-2ic arranged on walls of the ducts of Figs. 6-7 in accordance with one embodiment of the invention.
  • the air release device 2ia-2ic of Fig. 8b comprises a body 30 provided with a plurality of perforations 31 through which air can be directed. As discussed in connection with Figs.
  • said device 2ia-2ic is arranged at a wall of each air duct such that air may leave the duct and reach framework volume.
  • an air curtain (shown in Fig. 10) is created when air leaves the first pair of air ducts 23a, 23b via said first air release devices 21a.
  • ice build-up may occur in these perforations 31 and/or at the body 30 of the air release device.
  • This ice is advantageously removed while defrosting the system 22 in the above-described manner - hot air flowing through the air duct, melting ice at the air release device and being subsequently discharged from the air duct via said air damper.
  • Fig. 9 is a cross-sectional view showing relative placement of air ducts/air release devices with respect to framework/ storage volume and first/ second regions disposed between the storage volume and horizontal rails.
  • first pair of oppositely arranged, horizontally extending air ducts 23a, 23b configured to release air at the first temperature (via first air release devices) into a first region 33 of the framework volume 104, said first region 33 being disposed below the horizontal rails no, 111 and above the storage volume 109.
  • second pair of air ducts 24a, 24b configured to release air (via second air release devices) at the second temperature into a second region 35 of the framework volume 104, said second region 35 being disposed below the first region 33 and above the storage volume 109.
  • the first air temperature is above o °C and the second air temperature is (well) below o °C. Air flows into the first 33 and the second 35 regions are denoted by means of block arrows.
  • a container handling vehicle of the type discussed in connection with any of the Figs. 2-3b supported by the horizontal rails no, 111 is also shown.
  • an automated, grid-based storage and retrieval system 1 comprising a framework structure 100 comprising vertically extending members 102 defining a framework volume 104, said framework volume 104 being thermally insulated, and a network of horizontal rails no, 111 provided at upper ends of said vertically extending members (102), the framework volume 104 comprising a storage volume 109 with vertically extending storage columns 105 for storing the goods holders 106, said storage volume 109 being disposed below the horizontal rails no, 111 said storage and retrieval system 1 comprising a temperature management system 20 for the storage volume 109 comprising a chilled air plant 22.
  • the method comprises: a. releasing air in a horizontal direction in a first region 33 disposed above the storage volume 109 and below the network of horizontal rails no, 111, b. measuring a surface temperature of at least one vertically extending member 102 at a top of the storage volume 109, c. determining a dew point of the air released in the first region 33, d. if the determined dew point of the air released in the first region 33 is below the measured surface temperature, increasing the dew point of the air released in the first region 33 by adjusting an air temperature and/or a relative air humidity of the air released in the first region 33.
  • ice is typically removed from storage and retrieval systems for storage of frozen goods during a defrosting process where warm air is introduced so that ice is melted away.
  • the present system reduces/eliminates the need for such a defrosting process.
  • system downtime for instance while the storage volume is being defrosted, may also be reduced/ eliminated as fewer system interventions are required.
  • the invention allows for energy efficient ice removing, i.e. without increasing air temperature. More specifically, it could suffice to only reduce humidity of the flowing air without increasing its temperature in order to remove formed ice from the surface of the vertically extending member.
  • the dew point of the air released in the first region is determined by employing Arden Buck equation (1996 revision).
  • Arden Buck equation is considered a good method for estimating dew point in the temperature range -80 to +50 °C (see also Fig. 11).
  • dew point temperature maybe expressed as:
  • the dew point of the air released in the first region is determined by means of a dew-point hygrometer.
  • temperature difference between the storage volume 109 and an interior of the chilled air plant 22 is in the range 1 to 20 °C, more preferred in the range 4 to 10 °C, most preferred 7 °C.
  • the air temperature of the air released in the first region is in the range -24 to -40 °C, more preferred -28 to - 36 °C, most preferred -32 °C.
  • the temperature in the storage volume is in the range -15 to -35 °C, more preferred in the range -20 to - 30 °C, most preferred -25 °C.
  • the abovedescribed method for managing temperature in an automated, grid-based storage and retrieval system 1 could further comprise: e. releasing air in a horizontal direction in a second region 35 disposed above the first region 33 and below the network of horizontal rails no, 111, f. determining a relative air humidity and an air temperature of the air at a position above said network of horizontal rails where the remotely operated vehicles for handling goods holders 106 operate, g.
  • Air is released in the second region 35 from two opposite sides such that two oppositely directed air streams are created, said air streams flowing towards each other.
  • the predetermined target value for the relative air humidity is 40 % and the predetermined target value for the air temperature is 2 °C.
  • air released downwards into the framework volume 104 has a temperature in the range -24 to -40 °C, more preferred -28 to - 36 °C, most preferred -32 °C.
  • FIG. 10 schematically shows air flows in an automated storage and retrieval system of the present invention. Air flows in the framework volume 104 and the storage volume 104 and the chilled air plant 22 are denoted by means of arrows.
  • a first pair of air conduits 51a, 51b connects interior of the chilled air plant 22 and the second pair of oppositely arranged, horizontally extending air ducts 24a, 24b such that air at the second temperature flows from the interior of the chilled air plant 22 to said second pair of air ducts 24a, 24b and is subsequently released into the framework volume such that two oppositely directed air streams are created.
  • Each conduit of the first pair of air conduits 51a, 51b comprises an air damper and a fan.
  • a second pair of air conduits 52a, 52b connects an interior of the chilled air plant 22 and the third pair of oppositely arranged, horizontally extending air ducts 25a, 25b such that air at the second temperature flows from the interior of the temperature-control unit 22 to said third pair of air ducts 25a, 25b and is subsequently released downwards into the framework volume.
  • Each conduit of the second pair of air conduits 52a, 52b comprises a damper and a fan for regulating the air flows through the conduits.
  • a third pair of air conduits 53a, 53b connects the return air ducts 27a, 27b and an interior of the chilled air plant 22 such that air flows from each air duct 27, 27b to the interior of the chilled air plant 22.
  • Each conduit of the third pair of air conduits 53a, 53b comprises a damper and a fan for regulating the air flows through the conduits.
  • a fourth pair of air conduits 54a, 54b connects each of the return air ducts 27a, 27b to a respective air conduit 51a, 51b of the first pair of air conduits 51a, 51b.
  • Each conduit of the fourth pair of air conduits 54a, 54b comprises a damper and a fan for regulating the air flows through the conduits.
  • These conduits 54a, 54b are used during defrosting operation where return air is prevented (by means of the air damper in closed state) from entering the chilled plant and is redirected to the air conduits 51a, 51b and towards the framework volume.
  • the chilled air plant 22 also comprises an external air dehumidifier 26 (also shown in Fig. 5).
  • a fifth air conduit 55a connects an interior of the chilled air plant 22 with said external air dehumidifier such that air flows from the interior of the temperature-control unit 22 to the external dehumidifier where its humidity is reduced.
  • a sixth air conduit 56a is configured to connect the external air dehumidifier with the first pair of oppositely arranged, horizontally extending air ducts 23a, 23b such that air with reduced humidity flows from the external air dehumidifier to said first pair of air ducts 23a, 23b, releases air at the first temperature into the framework volume in a horizontal direction such that two oppositely directed air streams are achieved whereby an air curtain 60 is created.
  • Said fifth air conduit 55a comprises a damper for regulating the air flows through the conduit and a heat battery for regulating air temperature is associated with the sixth air conduit 56a.
  • a seventh air conduit 57a connects the sixth air conduit 56a with the interior of the chilled air plant 22 such that air flows from the sixth air conduit 56a to the interior of the chilled air plant 22.
  • the seventh air conduit 57a comprises a damper for regulating the air flows through the conduit.
  • Fig. 11 illustrates accuracy of the above-discussed Arden Buck equation for estimating dew point.
  • Fig. 11 it is shown how (dew point) temperature (Y -axis) varies as a function of relative humidity (X-axis).
  • Fig. 11 shows that the difference between the dew point estimate and the measured dew point value (the serrated curve having low amplitude) is very low and doesn’t exceed 3 °C and frequently approaches zero.
  • Two other curves are dew point estimate calculated by means of Arden Buck equation and a real-life measurement of the dew point value.
  • a method for managing temperature in an automated, grid-based storage and retrieval system (1) comprising a framework structure (ioo) comprising vertically extending members (102) defining a framework volume (104), said framework volume (104) being thermally insulated, and a network of horizontal rails (110, 111) provided at upper ends of said vertically extending members (102), the framework volume (104) comprising a storage volume (109) with vertically extending storage columns (105) for storing the goods holders (106), said storage volume (109) being disposed below the horizontal rails (110, 111) said storage and retrieval system (1) comprising a temperature management system (20) for the storage volume (109) comprising a chilled air plant (22), the method comprising:
  • temperature difference between the storage volume (109) and an interior of the chilled air plant (22) is in the range 1 to 20 °C, more preferred in the range 4 to 10 °C, most preferred 7 °C.
  • a method of any of the preceding clauses comprising: - reducing air temperature of the air supplied to the framework volume (104) by means of at least one evaporator located in the chilled air plant (22).
  • An automated, grid-based storage and retrieval system (1) comprising:
  • a framework structure comprising vertically extending members (102) defining a framework volume (104), said framework volume (104) being thermally insulated, and a network of horizontal rails (110, 111) provided at upper ends of said vertical members (102), wherein remotely operated vehicles for handling goods holders (106) operate on top of said network of horizontal rails (110, 111), the framework volume (104) comprising a storage volume (109) with vertically extending storage columns (105) for storing goods holders (106), said storage volume (109) being disposed below the horizontal rails (110, 111), and
  • said storage and retrieval system being configured to:
  • each air duct (23a, 23b) being provided with a first air release device configured to release the air at the first temperature into the framework volume (104) in a horizontal direction, wherein the first air release devices of the respective first pair of air ducts (23a, 23b) face one another,
  • each air duct (24a, 24b) being provided with a second air release device configured to release the air at the second temperature into the framework volume (104) in a horizontal direction, wherein the second air release devices of the respective second pair of air ducts (24a, 24b) face one another.
  • each air duct (25a, 25b) being provided with a third air release device configured to release the air at the second temperature downwards into the framework volume (104).
  • a temperature management system (20) for a storage volume (109) of an automated, grid-based storage and retrieval system (1) comprising a framework structure (100) comprising vertically extending members (102) defining a thermally insulated framework volume (104), said storage volume (109) being part of the framework volume (104) of the system (1), the temperature management system (20) comprising:
  • ducts establishing fluid communication between the chilled air plant (22) and the framework volume (104), said ducts being configured to release air into a first region (33) above the storage volume,
  • a temperature sensor for measuring a surface temperature of at least one vertically extending member (102) at a top of the storage volume (109),
  • Vehicle body of the container handling vehicle 201 201b Drive means / wheel arrangement, first direction (X)
  • 201c Drive means / wheel arrangement, second direction (Y) 301 Cantilever-based container handling vehicle

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

Procédé de gestion de la température dans un système de stockage et de récupération automatisé sur grille (1) comprenant une structure d'ossature (100) comprenant des éléments s'étendant verticalement (102) délimitant un volume d'ossature (104), le volume d'ossature (104) comprenant un volume de stockage (109) doté de colonnes de stockage s'étendant à la verticale (105) pour stocker des supports pour marchandises (106), ledit système de stockage et de récupération (1) comprenant un système de gestion de la température (20) pour le volume de stockage (109) comprenant un système d'air réfrigéré (22). Le procédé consiste à libérer de l'air dans une direction horizontale dans une première zone (33) disposée au-dessus du volume de stockage (109), mesurer la température de surface d'au moins un élément s'étendant à la verticale (102) au sommet du volume de stockage (109), déterminer le point de rosée de l'air libéré dans la première zone (33) et, si le point de rosée déterminé pour l'air libéré dans la première zone (33) est supérieur à la température de surface mesurée, faire baisser le point de rosée de l'air libéré dans la première zone (33) par ajustement de la température et/ou de l'humidité relative de l'air libéré dans la première zone (33).
PCT/EP2024/072632 2023-08-11 2024-08-09 Gestion de la température dans un système de stockage et de récupération automatisé Pending WO2025036851A1 (fr)

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Cited By (1)

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GB2638868A (en) * 2024-02-28 2025-09-03 Ocado Innovation Ltd Storage and retrieval system

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WO2014090684A1 (fr) 2012-12-10 2014-06-19 Jakob Hatteland Logistics As Robot pour le transport de bacs de stockage
WO2015193278A1 (fr) 2014-06-19 2015-12-23 Jakob Hatteland Logistics As Robot pour transporter des bacs de stockage
WO2018146304A1 (fr) 2017-02-13 2018-08-16 Autostore Technology AS Agencement de rails destiné à un système de stockage
WO2019206487A1 (fr) 2018-04-25 2019-10-31 Autostore Technology AS Véhicule de manipulation de conteneurs doté de première et seconde sections et d'un moteur de dispositif de levage dans une seconde section
WO2021198170A1 (fr) 2020-03-31 2021-10-07 Autostore Technology AS Système de stockage automatisé doté d'une tour de stockage dans un logement isolant
WO2021209648A1 (fr) 2020-04-17 2021-10-21 Ocado Innovation Limited Système de stockage à plusieurs températures
WO2022184472A1 (fr) * 2021-03-01 2022-09-09 Autostore Technology AS Système de stockage automatisé
WO2023110561A1 (fr) * 2021-12-15 2023-06-22 Autostore Technology AS Dispositif de commande de flux d'air, système de stockage et de récupération automatisé comprenant un tel dispositif et procédé de gestion thermique d'air dans un système de stockage et de récupération automatisé

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NO317366B1 (no) 1999-07-01 2004-10-18 Autostore As Lagringsanlegg med fjernstyrte vogner med to hjulsett og heisinnretning for drift på skinner anlagt i kryss over kolonner av lagringsenheter som er adskilt med vertikale profilstolper
WO2014090684A1 (fr) 2012-12-10 2014-06-19 Jakob Hatteland Logistics As Robot pour le transport de bacs de stockage
WO2015193278A1 (fr) 2014-06-19 2015-12-23 Jakob Hatteland Logistics As Robot pour transporter des bacs de stockage
WO2018146304A1 (fr) 2017-02-13 2018-08-16 Autostore Technology AS Agencement de rails destiné à un système de stockage
WO2019206487A1 (fr) 2018-04-25 2019-10-31 Autostore Technology AS Véhicule de manipulation de conteneurs doté de première et seconde sections et d'un moteur de dispositif de levage dans une seconde section
WO2021198170A1 (fr) 2020-03-31 2021-10-07 Autostore Technology AS Système de stockage automatisé doté d'une tour de stockage dans un logement isolant
WO2021209648A1 (fr) 2020-04-17 2021-10-21 Ocado Innovation Limited Système de stockage à plusieurs températures
WO2022184472A1 (fr) * 2021-03-01 2022-09-09 Autostore Technology AS Système de stockage automatisé
WO2023110561A1 (fr) * 2021-12-15 2023-06-22 Autostore Technology AS Dispositif de commande de flux d'air, système de stockage et de récupération automatisé comprenant un tel dispositif et procédé de gestion thermique d'air dans un système de stockage et de récupération automatisé

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Publication number Priority date Publication date Assignee Title
GB2638868A (en) * 2024-02-28 2025-09-03 Ocado Innovation Ltd Storage and retrieval system

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