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.

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'.

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>.

When a remotely operated vehicle is malfunctioning on the rail system, a service vehicle may be needed to move onto the rail system and retrieve the malfunctioning vehicle for service. The service vehicle may be operated by a human operator which may in certain circumstances need to move around on the deck of the service vehicle by shutting down malfunctioning vehicle or provide on-site service to the malfunctioning vehicle. A dangerous situation may occur if the remotely operated vehicle moves unintentionally.

<CIT> relates to a service vehicle for movement on a rail system. The service vehicle comprises a container vehicle handling part for mechanical interacting with a container handling vehicle operating on the rail system, an operational part for controlling operations of the service vehicle and caterpillar tracks for allowing movement of the service. One disadvantage of <CIT> is that it does not preclude uncontrollable displacement of a remotely operated vehicle.

In <CIT>, which was used by the EPO as the "closest prior art" during the European patent examination procedure, a service vehicle is disclosed for movement on a rail system comprising a first set of parallel rails arranged in a horizontal plane and extending in a first direction and a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, the service vehicle comprising a container handling vehicle part for storing a container handling vehicle operating on the rail system, and wheels for allowing movement of the service vehicle along the rail system during operation, wherein the service vehicle further comprises a displacement mechanism and a hoist arrangement connected to the displacement mechanism, wherein the displacement mechanism and the hoist arrangement are configured for moving the container handling vehicle between an operational position on the rail system and a loaded position within the container handling vehicle part.

According to a first aspect of the presently claimed invention, there is provided a service vehicle for operating on a rail system of a
storage and retrieval grid. The service vehicle is configured for retrieving a remotely operated vehicle for service.

The first vehicle area is configured as a vehicle pen for holding the remotely operated vehicle before entry to the second vehicle area, and wherein the first vehicle area is linked to the second vehicle area for passage of the remotely operated vehicle via the vehicle pen.

According to the service vehicle of the first aspect of the presently claimed invention, the entry and exit barriers comprise moveable barriers, each moveable between an open position in which it allows passage of the remotely operated vehicle, and a closed position in which it restricts passage of the remotely operated vehicle, and wherein the entry and exit barriers are regulated or controlled such that the entrance barrier can be opened only when the exit barrier is closed, and vice versa.

A remotely operated vehicle may be a container handling vehicle or a delivery vehicle for transport of containers. The remotely operated vehicle may operate on rails at different levels of the automated storage and retrieval grid.

The rail system of a storage and retrieval grid may be a container handling vehicle rail system onto which container handling vehicles operates by storing and retrieving storage containers, or the rail system may be a delivery rail system onto which delivery vehicles operates by transporting storage container between a storage grid and an access station.

A service vehicle may be a vehicle adapted to move on the rail system of the storage and retrieval grid by retrieving remotely operated vehicle for service. In the event the remotely operated vehicles cannot move by themselves towards a service area, the service vehicle may be arranged to collect the malfunctioning vehicle. The service vehicle may operate on the rail system by belt or by wheels. The service vehicle may be operated by a human operator sitting in the service vehicle.

The service vehicle comprises a vehicle pen comprising an entry and exit barrier. The barriers are moveable and may be at least any one of a: gate, door, or sliding wall, and the exit barrier may be a moveable bar.

The one or more moveable barriers may be connected to the service vehicle such that it may slide, be lifted, retracted, lowered or pivoted relative to the service vehicle, between the open position and the closed position.

An entry barrier in the form of a full-height gate, door, or sliding wall may provide a dual function of regulating the entry of the vehicle but also providing a safety barrier for the operator when he/she is working in the service area of the service vehicle.

In the case of the exit barrier, a less obtrusive structure like a bar or gate may be arranged to provide more room for servicing the remotely operated vehicle. It may need to be able to close easily once the vehicle is in to the second vehicle area. For example, a bar that pivots upwards and can be lowered down afterwards may be ideal.

The height of the barriers may generally be above the vehicle base for providing a barrier that can stop the vehicle easily. As for the entry barrier, it may have the dual function of providing a safety barrier, and in the case of the exit barrier it needs to be of a height to open over the height of the rest of the vehicle base.

A remotely operated vehicle may be received into the vehicle pen in the first vehicle area when the entry barrier is open, in such case and according to the present invention, the exit barrier is closed, preventing the remotely operated vehicle to move uncontrollably into the second vehicle area.

The remotely operated vehicle may move into the first vehicle area under self-propulsion, or the service vehicle may move or position itself relative to the remotely operated vehicle such that said vehicle enters into the first vehicle area. While inside the vehicle pen of the first vehicle area, the entrance barrier closes and the exit barrier opens, allowing the vehicle to enter into the second vehicle area.

The remotely operated vehicle may self-propel into the second vehicle area, or the remotely operated vehicle may be shut down and move into the second vehicle area by assistance from the human operator or through assistance from handling equipment on the service vehicle.

The human operator may thus have access to the remotely operated vehicle while it is located in the vehicle pen, such that the remotely operated vehicle may be shut down and/or handled.

The service vehicle may comprise a partition for separating a human operator area from the first and second vehicle areas. The partition may comprise at least one gate, door or sliding wall for a human operator to move between the human operator area and the second vehicle area.

The partition may be walls arranged at the perimeter of the service vehicle. The walls may be transparent for the operator to easy see through. The partition may comprise at least any one of a wall, fence or structure.

The service vehicle may comprise a vehicle base with motorized wheels arranged to move the vehicle in a first lateral direction (X) and a second lateral direction (Y) of the rail system.

The vehicle base may comprise one single unit with motorized wheels arranged to move the vehicle in a first lateral direction (X) and a second lateral direction (Y) of the rail system.

The vehicle base may have a footprint corresponding in area to a size of a storage grid cell such that two or more vehicle base may be connected and move as one unit on the rail system, in both X- and Y-direction.

The vehicle base may comprise a plurality of wheel modules, each wheel module having a first set of wheels configured to move the service vehicle along the first lateral direction (X) of the rail system and a second set of wheels configured to move the service vehicle along the second lateral direction (Y) of the rail system, the second direction (Y) being perpendicular to the first direction (X).

The wheel modules may be configured to work together as one master wheel module and one or more slave wheel modules.

The height of each wheel module may be shallow compared to the height of a remotely operated vehicle they are rescuing. Their height may be around <NUM>-<NUM>% of the height of a remotely operated vehicle. The height of the wheel module provides a good working height for the human operator when servicing a malfunctioning remotely operated vehicle.

The rectangular footprint of the service vehicle may be missing a wheel module to provide the vehicle pen for the remotely operated vehicle.

The footprint the wheel modules may provide a recess which creates a "dock" or "bay" in which to land the remotely operated vehicle within the perimeter of the service vehicle. The sides of the three neighboring wheel modules present a low wall to stop the vehicle from moving uncontrollably towards an operator standing on the working platform of the vehicle base. The barriers of the vehicle pen work further to capture the remotely operated vehicle.

The first vehicle area might be seen as at rail height, and there the space is between a pair of wheel modules. For the second vehicle area, it may be at the height of the working platform on top of the vehicle base. The second vehicle area may also be on top of a wheel module.

The vehicle base of a service vehicle may comprise one or more vehicle module platforms arranged between the wheel modules. The vehicle module platforms are arranged to create necessary space for first and second vehicle area within the rectangular perimeter of the service vehicle. The driver cabin for the human operator may be provided by one or more vehicle module platforms arranged between two wheel modules.

The vehicle module platform may have a size that corresponds to the size of the vehicle module, and likewise to the size of a grid cell of the rails system, such that when provided on a service vehicle, the service vehicle will have a size corresponding to a number of grid cells such that the service vehicle can move in both X-and Y-direction on the rail system.

A number of different arrangements of wheel modules are possible. In case of a 3x3 vehicle, however, the position of the second vehicle area, may be generally in the middle of the service vehicle with access to the malfunctioning vehicle allowed to the human operator on both sides.

A floor panel may also be provided in the area of the vehicle pen. Once the remotely operated vehicle has made it to the second vehicle area and is being serviced, the floor panel may prevent the operator stepping through or dropping tools into the underlying storage containers.

The upper surface of the vehicle base or the upper surface of the one or more wheel modules, may provide a walking surface for the human operator.

The first vehicle area and the second vehicle area may be located between at least a pair of wheel modules. The human operator may have access to the remotely operated vehicle in the first or second vehicle area when standing on the walking surface.

The first vehicle area may be at a rail height, and there the space is between a pair of wheel modules. The second vehicle area may be at the height of a working platform above the rail height. The second vehicle area may also be on top of a wheel module and positioned in plan between two wheel modules either side.

The second vehicle area may comprise a working platform or a vehicle support for supporting the one or more remotely operated vehicles such that the wheels are raised above the rail system. In this way the human operator may be able to service the malfunctioning vehicle or the malfunctioning vehicle may be transported to a service area for service.

The vehicle support may be a platform onto which the one or more remotely operated vehicles can move. The platform may be provided with lifting and tilting means so that the vehicle may easily move onto the platform from the rails. The service vehicle may also be provided with a winch such that the remotely operated vehicle can be pulled onto the platform and secured.

A human operator may manually push the vehicles up into the second vehicle area from the first vehicle area, or there may be a drive on mechanical lift surface(s) that raises the remotely operated vehicle up to a working service height.

The vehicle pen may provide a holding zone for the remotely operated vehicle between the entrance and exit barriers that has length and/or width dimensions generally corresponding to those of the remotely operated vehicle.

A sensor may be arranged to register the position of the moveable barrier of the entry and exit barriers and communicates with an automated control system for regulating the movement of the moveable barriers.

The sensor may communicate with the automated control system for regulating the locking or closing when the barrier is open and unlocking or opening when the barrier is closed.

The sensor may be located on the wheel module adjacent the moveable barrier of the entrance and exit barrier. The sensors may be optical sensors detecting reflection of lights. Other or additional sensors for detecting the moveable gate may also be used, e.g. acoustic sensors or magnetic coded sensors. A sensor having a narrow beam may be advantageous for the signal it will need to output in order to provide a stronger peak/trough signal.

The entry and exit barriers may be configured to be remotely locked, unlocked, opened or closed by use of the automated control system.

According to a second aspect of the presently claimed invention, there is provided a method of gaining access to a remotely operated vehicle using the service vehicle of the first aspect of the presently claimed invention. The method comprises the steps of:.

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

In the following, embodiments of the present 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 present invention to the subject-matter depicted in the drawings.

One embodiment of the service vehicle <NUM> according to the present invention will now be discussed in more detail with reference to <FIG>.

<FIG> shows a service vehicle <NUM> according to a preferred embodiment of the present invention. The service vehicle is arranged for operating on a rail system of a storage and retrieval grid (not shown). The rail system may be a container handling vehicle rail system or a delivery vehicle rail system onto which a plurality of remotely operated vehicles <NUM>,<NUM> operate.

The service vehicle <NUM> is configured for retrieving and/or receiving a remotely operated vehicle <NUM>,<NUM> for service. As shown in <FIG>, the remotely operated vehicle <NUM> is a container handling vehicle <NUM> adapted to move on a rail system (not shown) located above storage columns <NUM> where the storage containers <NUM> are stackable in stacks <NUM>.

If a remotely operated vehicle <NUM> is malfunctioning and not able to self-propel itself towards a service area, the service vehicle <NUM> with a human operator may move onto the rail system <NUM> to collect or provide service to the malfunctioning vehicle <NUM>.

The service vehicle <NUM> comprises a first vehicle area <NUM> in which the container handling vehicle <NUM> can be received by the service vehicle <NUM> while the container handling vehicle <NUM> is still on the rail system <NUM>, and a second vehicle area <NUM> in which the container handling vehicle <NUM> can be supported by the service vehicle <NUM> for servicing.

The first vehicle area <NUM> is configured as a vehicle pen <NUM> for holding the container handling vehicle <NUM> before entry (i.e., a controlled entry) to the second vehicle area <NUM>, and wherein the first vehicle area <NUM> is linked to the second vehicle area <NUM> for passage of the container handling vehicle <NUM> via the vehicle pen <NUM>.

The vehicle pen <NUM> comprises an entry barrier <NUM> to allow entry of the container handling vehicle <NUM> into the service vehicle <NUM> and the vehicle pen <NUM>, and an exit barrier <NUM> on exit from the vehicle pen into the second vehicle area <NUM> to regulate the passage of the container handling vehicle <NUM> through the first vehicle area <NUM> and into the second vehicle area <NUM>.

<FIG> shows the container handling vehicle <NUM> having entered into the first vehicle area <NUM> after gaining entry through the entry barrier <NUM> which is a moveable door <NUM>. The moveable door may slide open such that it allows the container handling vehicle to be received into the first vehicle area <NUM>. The exit barrier <NUM> which is a moveable bar <NUM> prevents the container handling vehicle <NUM> from moving into or being received further into the second vehicle area <NUM>.

The entry and exit barriers <NUM>,<NUM> are adapted to be moveable between an open position in which it allows passage of the container handling vehicle <NUM>, and a closed position in which it restricts passage of the container handling vehicle <NUM>, and wherein the entry and exit barriers <NUM>,<NUM> are regulated such that the entrance barrier <NUM> can be opened only when the exit barrier <NUM> is closed, and vice versa. This is to prevent the container handling vehicle from moving unintentionally from one area to another.

As shown in <FIG>, the service vehicle <NUM> comprises a partition <NUM> such as walls, for separating a human operator area from the first and second vehicle areas <NUM>,<NUM>. The walls <NUM> may be arranged at the perimeter of the service vehicle <NUM>. The partition <NUM> may comprise a sliding door <NUM>, arranged such that it allows the human operator to enter the first and second vehicle area <NUM>,<NUM>.

The service vehicle <NUM> comprises a vehicle base with motorized wheels arranged to move the vehicle in a first lateral direction (X) and a second lateral direction (Y) of the rail system <NUM>.

As shown in <FIG>, the vehicle base comprises a plurality of wheel modules <NUM>, each wheel module <NUM> having a first set of wheels configured to move the service vehicle along the first lateral direction (X) of the rail system <NUM> and a second set of wheels configured to move the service vehicle along the second lateral direction (Y) of the rail system <NUM>, the second direction (Y) being perpendicular to he first direction (X).

Each of the wheel modules <NUM> may have a similar size and footprint as for those of the grid cell of the rail system <NUM>, such that the service vehicle may move on the rail system <NUM> in both X- and Y- direction.

The wheel modules <NUM> may correspond to the width to that of the malfunctioning vehicle <NUM> such that the malfunctioning vehicle may be received into the first vehicle area <NUM> of the service vehicle <NUM>.

The rectangular footprint of the service vehicle <NUM> may be arranged such that it is missing one or more wheel module <NUM> to provide the first and optionally second vehicle areas <NUM>,<NUM> of the service vehicle <NUM>. The area of the missing wheel modules <NUM> provides a recess which creates a "dock" or "bay" in which to land the remotely operated vehicle <NUM>,<NUM> within the perimeter of the service vehicle <NUM>.

The sides of the wheel modules may present a low wall to stop the vehicle <NUM>,<NUM> from moving uncontrollably towards an operator standing on the working platform of the vehicle base. The barriers <NUM>,<NUM> of the vehicle pen work further to capture the remotely operated vehicle <NUM>,<NUM>.

Different arrangements of wheel modules <NUM> are possible. In this case of the 3x3 vehicle shown in <FIG>, however, the position of the second vehicle area, generally in the middle of the service vehicle with access to the robot allowed to the human operator on both sides may be advantageous.

The upper surface of the wheel modules <NUM> or the vehicle base, may provide a walking surface for the human operator.

As shown in <FIG>, the vehicle base of a service vehicle <NUM> may comprise one or more vehicle module platforms <NUM> arranged between the wheel modules <NUM> to provide additional space for the first and second area. The driver cabin for the human operator may be provided by one or more vehicle module platforms <NUM>.

The vehicle module platform <NUM> may have a size corresponding to those of the size of the vehicle base or the wheel modules <NUM>, such that the vehicle module platform <NUM> may replace a wheel module <NUM>.

In <FIG>, a wheel module <NUM> is arranged between two wheel modules <NUM> such that there are three wheel modules <NUM> arranged one after another. In <FIG> the center wheel module <NUM> is replaced by a vehicle module platform <NUM>, allowing a simpler construction with less wheels but having the same footprint.

The second vehicle area <NUM> may comprise a vehicle support for supporting the one or more remotely operated vehicles <NUM>,<NUM> such that the wheels are raised above the rail system <NUM>. This allows the vehicle <NUM>,<NUM> to be carried by the service vehicle <NUM> and further to be moved to a service area.

Claim 1:
A service vehicle (<NUM>) for operating on a rail system (<NUM>) of a storage and retrieval grid (<NUM>), the service vehicle being configured for retrieving a
remotely operated vehicle (<NUM>,<NUM>) for service, wherein the service vehicle (<NUM>) comprises:
- a first vehicle area (<NUM>) in which the remotely operated vehicle (<NUM>,<NUM>) can be received by the service vehicle (<NUM>) while the remotely operated vehicle (<NUM>,<NUM>) is still on the rail system (<NUM>), and
- a second vehicle area (<NUM>) in which the remotely operated vehicle (<NUM>,<NUM>) can be supported by the service vehicle for servicing,
wherein the first vehicle area (<NUM>) is configured as a vehicle pen (<NUM>) for holding the remotely operated vehicle (<NUM>,<NUM>) before entry to the second vehicle area, and wherein the first vehicle area (<NUM>) is linked to the second vehicle area (<NUM>) for passage of the remotely operated vehicle (<NUM>,<NUM>) via the vehicle pen (<NUM>),
characterized in that the vehicle pen (<NUM>) comprises:
- an entry barrier (<NUM>) to regulate entry of the remotely operated vehicle (<NUM>,<NUM>) into the service vehicle (<NUM>) and the vehicle pen (<NUM>), and
- an exit barrier (<NUM>) on exit from the vehicle pen into the second vehicle area to regulate the passage of the remotely operated vehicle (<NUM>,<NUM>) through the first vehicle area (<NUM>) and into the second vehicle area (<NUM>),
wherein the entry and exit barriers (<NUM>,<NUM>) comprise moveable barriers, each moveable between an open position in which it allows passage of the remotely operated vehicle (<NUM>,<NUM>), and a closed position in which it restricts passage of the remotely operated vehicle (<NUM>,<NUM>), and wherein the entry and exit barriers (<NUM>,<NUM>) are regulated such that the entrance barrier (<NUM>) can be opened only when the exit barrier (<NUM>) is closed, and vice versa.