Service vehicle for storage system

Abstract

The present invention relates to a service vehicle (2) for moving on a rail system (108). The service vehicle (2) includes: a container vehicle handling part (8) for mechanical interaction with a container handling vehicle (300) operating on the rail system (108); an operation part (3) for controlling the operation of the service vehicle (2); and crawlers (6) for allowing the service vehicle (2) to move on the rail system (108) during operation.

Description

[0001] This application is a divisional application, and the application number of its parent application is 201980052557.0 (the corresponding international application number is PCT / EP2019 / 050179), the filing date is January 4, 2019, and the invention title is "Service Vehicle for Storage Systems". Technical Field

[0002] The present invention relates to an automated storage and retrieval system, a service vehicle for transporting at least one storage container vehicle, and a method thereof. Background Art

[0003] Figure 1A and Figure 2A An automated storage and retrieval system 1 with a frame structure 100 of the commonly used prior art is disclosed. Figure 2A and Figure 2B respectively disclose the operation Figure 1A and Figure 2A a prior art container handling vehicle 101 for the system 1 disclosed in

[0004] The frame structure 100 includes a plurality of upright members 102 and optionally includes a plurality of horizontal members 103 that support these upright members 102. These members 102, 103 can generally be made of metal, for example, made of extruded aluminum profiles.

[0005] The frame structure 100 defines a storage grid 104, which includes storage columns 105 arranged in rows. In these storage columns 105, storage containers 106 (also called bins) are stacked on top of one another to form a stack 107.

[0006] Each storage container 106 can generally accommodate a plurality of product items (not shown). The product items within the storage container 106 can be the same or can be different product types, depending on the application.

[0007] The storage grid 104 prevents the containers 106 from moving horizontally in the stack 107 and guides the containers 106 to move vertically, but generally does not support the storage containers 106 during stacking.

[0008] The automated storage and retrieval system 1 includes an orbital system 108 arranged in a grid pattern across the top of the storage grid 104 along a horizontal plane P. On this orbital system 108, a plurality of container handling vehicles 200, 300 (as Figure 1B and Figure 2B illustrated inFigure 1A and Figure 2A are marked with thick lines in

[0009] Each grille unit 122 has a width generally in the range of 30 cm to 150 cm and a length generally in the range of 50 cm to 200 cm. Due to the horizontal extent of the tracks 110, 111, the width and length of each grille opening 115 are generally 2 cm to 10 cm smaller than the width and length of the grille unit 122.

[0010] The track system 108 includes a first set of parallel tracks 110 and a second set of parallel tracks 111. The first set of parallel tracks is arranged to guide the container handling vehicles 200, 300 to move across the top of the frame structure 100 in a first direction X. The second set of parallel tracks is arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 200, 300 to move in a second direction Y perpendicular to the first direction X. In this way, the track system 108 defines a grille column above which the container handling vehicles 200, 300 can move laterally above the storage columns 105, that is, move in a plane parallel to the horizontal X - Y plane.

[0011] Each prior art container handling vehicle 200, 300 includes a body / frame and a wheel assembly 201, 301 of eight wheels. Among them, four wheels of the first group enable the container handling vehicle 200, 300 to move laterally in the X direction, and the remaining four wheels of the second group enable the container handling vehicle to move laterally in the Y direction. One group of wheels or both groups of wheels in the wheel assembly can be raised and lowered so that the first group of wheels and / or the second group of wheels can engage with the corresponding set of tracks 110, 111 at any time.

[0012] Each prior art container handling vehicle 200, 300 further includes a lifting device (not shown) for the vertical transportation of the storage container 106. For example, to raise the storage container 106 from the storage column 105 and lower the storage container 106 into the storage column. The lifting device includes one or more clamping / engaging devices (not shown) adapted to engage the storage container 106, and this clamping / engaging device can be lowered from the vehicle 201, 301 so that the position of the clamping / engaging device relative to the vehicle 201, 301 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y.

[0013] Conventionally and for the purposes of this application, Z = 1 identifies the uppermost layer of the grille 104, that is, the layer immediately below the track system 108, Z = 2 is the second layer below the track system 108, Z = 3 is the third layer, and so on. In Figure 1A and Figure 2AIn the grid 104 of the exemplary prior art disclosed in, Z = 8 identifies the bottommost layer of the grid 104. Thus, by way of example and using the Cartesian coordinate system X, Y, Z shown in Figure 1A and Figure 2B , it can be said that the storage container identified as 106’ in Figure 1A occupies the grid position or cell at X = 10, Y = 2, Z = 3. It can be said that the container handling vehicle 101 travels in the layer at Z = 0, and each grid column can be identified by its X and Y coordinates.

[0014] Each container handling vehicle 200 includes a storage compartment or space (not shown) for receiving and loading the storage container 106 when transporting the storage container 106 across the rail system 108. The storage space may include a cavity centrally arranged within the vehicle body, for example, as described in WO2014 / 090684A1, the content of which is incorporated herein by reference.

[0015] Alternatively, the container handling vehicle 300 may have a cantilever structure, as described in NO317366, the content of which is also incorporated herein by reference.

[0016] The footprint area of the container handling vehicle 200 (i.e., the extent in the X and Y directions) may be substantially equal to the lateral extent of the grid cell 122 (i.e., the extent of the grid cell 122 in the X and Y directions), for example, as described in WO2015 / 193278A1, the content of which is incorporated herein by reference. The term "lateral" as used herein may mean "horizontal".

[0017] Alternatively, the footprint area of the container handling vehicle 101 may be larger than the lateral area defined by the grid columns, as disclosed in WO2014 / 090684A1.

[0018] In the storage grid 104, most grid columns are storage columns 105, i.e., grid columns 105 in which the storage containers 106 are stored in stacks 107. However, the grid 104 typically has at least one grid column that is not used for storing the storage containers 106, but instead includes positions where the container handling vehicles 200, 300 can unload and / or pick up the storage containers 106 such that the storage containers can be transported to an access station (not shown), at which the storage containers 106 can be accessed from outside the grid 104 or removed from or moved into the grid 104. In the art, such positions are typically referred to as "ports", and the grid columns in which the ports are located may be referred to as "port columns" 119, 120.

[0019] Figure 1A and Figure 2AThe storage grid 104 therein includes two port columns 119 and 120. The first port column 119 can be, for example, a dedicated unloading port column, where the container handling vehicles 200, 300 can unload the transported storage containers 106 to the access station or transfer station, while the second port column 120 can be a dedicated pick-up port column, where the container handling vehicles 200, 300 can pick up the storage containers 106 that have been transported from the access station or transfer station to the storage grid 104.

[0020] The access station can generally be a picking station or a stocking station, where product items are removed from or placed into the storage container 106. In the picking station or stocking station, the storage container 106 generally does not move out of the automated storage and retrieval system 1, but returns to the storage grid 104 after access. As an alternative to the ports that are part of the storage grid 104, it is conceivable to have ports for moving the storage container in or out of the storage grid 104, for example, for transferring the storage container 106 to another storage facility (e.g., to another storage grid), directly to a transport vehicle (e.g., a train or a truck), or to a production facility.

[0021] For monitoring and controlling the automated storage and retrieval system 1 (e.g., monitoring and controlling the position of each storage container 106 within the storage grid 104; the contents of each storage container 106; the movement of the container handling vehicles 200, 300 such that the desired storage container 106 can be transported to the desired position at the desired time without the container handling vehicles 200, 300 colliding with each other), the automated storage and retrieval system 1 includes a control system (not shown), which is generally computerized and typically includes a database for maintaining the tracks of the storage containers 106.

[0022] A problem associated with the known automated storage and retrieval system 1 is that it is challenging for personnel to access the track system 108 in order to perform inspections or perform maintenance or remove a malfunctioning container handling vehicle 200, 300.

[0023] WO2015 / 140216A1 discloses a service vehicle for cleaning and inspecting a grid. The service vehicle is arranged with a releasable latch mechanism for docking with a malfunctioning container handling vehicle. After connection to the vehicle, the service vehicle brings the vehicle to a designated position on the grid for inspection and maintenance by pulling or pushing. The disclosure also presents an overhead carrying device for removing a malfunctioning vehicle from the grid. In such a device, a bridge-shaped robotic vehicle or two parallel arranged robotic vehicles connected to a crossbeam are arranged with a lift for raising a load handling device from the grid. The malfunctioning vehicle is carried to a designated position in this raised position. In addition, the disclosure proposes that the service vehicle can be arranged with a seat for carrying a user for inspection and performing maintenance. This personnel-carrying version of the service vehicle can be manually operated by the user or alternatively remotely controlled by a control system.

[0024] However, the known service vehicles are restricted by the grid system below (i.e., only along the X and Y directions). Thus, the service vehicle moves on the grid in the same manner as the load handling device, and thus, during the service process, a large amount of space is occupied due to the zigzag motion pattern of both paths. The specific motion pattern also increases the time spent on the grid. In the case of an automated storage and retrieval system with a high density of container handling vehicles, such use of space and time may significantly reduce the overall efficiency. In addition, the pushing or pulling method may be cumbersome, thus increasing the additional operation time of the service vehicle on the track system.

[0025] In view of the above, it is desirable to provide a service vehicle, an automated storage and retrieval system using such a service vehicle, and a method thereof that solve or at least mitigate one or more of the above problems associated with using prior art storage and retrieval systems. SUMMARY OF THE INVENTION

[0026] The invention is set forth in the independent claims and the features of the invention are shown, while the dependent claims describe other features of the invention.

[0027] In a first aspect, the invention relates to a service vehicle for moving on a track system. The track system may include a first set of parallel tracks arranged in a horizontal plane P and extending in a first direction X, and a second set of parallel tracks arranged in the horizontal plane P and extending in a second direction Y orthogonal to the first direction X, the first set of parallel tracks and the second set of parallel tracks forming a grid pattern including a plurality of adjacent grid units in the horizontal plane P.

[0028] The service vehicle includes a body or frame and a propulsion device or propulsion mechanism (hereinafter referred to as the rolling part) for allowing the service vehicle to move on top of the track system during operation. The body / frame contains or supports a vehicle handling part / container vehicle handling part for mechanical interaction with a container handling vehicle operating on the track system and an operating part / operating section for controlling the operation of the service vehicle rather than directly handling at least one container handling vehicle. The container vehicle handling part and the operating part may be spatially completely or partially separated.

[0029] The rolling part can be any propulsion device or propulsion mechanism configured to run on top of the track system, such as caterpillar tracks.

[0030] Hereinafter, the term "on top of the track system" means that the propulsion device is placed on the track system but does not engage with these tracks itself. Thus, the service vehicle is not limited to movement only in the direction of the tracks but can move in any direction on top of the track system.

[0031] When the service vehicle moves on top of the track system, the total length L of the rolling part can advantageously exceed the distance spanning two grid units in the first direction X and / or the distance spanning two grid units in the second direction Y. In a more preferred configuration, the total length L of the rolling part exceeds the distance spanning three grid units in the first direction X and / or the second direction Y, such as a distance spanning 3.5 grid units. These minimum lengths of the rolling part ensure the safe movement of the service vehicle on the track system. In addition, the minimum lengths ensure that the weight of the service vehicle is distributed across the tops of several tracks by the rolling part at all times.

[0032] The total length L can be, for example, 350 cm or greater.

[0033] The term "total length L" herein means the length from one end of the rolling part along its longitudinal direction to the opposite end of the rolling part along its longitudinal direction.

[0034] To further improve the overall stability, especially the directional stability, during operation on the track system, when the service vehicle moves on the track system, the total width W of the rolling part can exceed the width of adjacent tracks, i.e., exceed the width of one grid unit.

[0035] The term "total width W" herein means the width from one end of the rolling part perpendicular to its longitudinal direction to the opposite end of the rolling part perpendicular to its longitudinal direction, and the width includes any gap G between the one end and the opposite end.

[0036] The rolling part may include an endless belt extending longitudinally with a length of L and a belt motor for driving the endless belt. The belt may be made of a flexible or elastic material, such as a material including rubber. Alternatively or additionally, the connection of the rolling part to the vehicle body may include spring means. The flexibility of the rolling part ensures stable operation with a low risk of damage to the underlying track.

[0037] The rolling part may include at least one roller, preferably at least two rollers, in contact with the first endless belt. In addition, the belt motor may drive the endless belt via at least one wheel or a separate wheel or a combination of both.

[0038] At least one roller may contact the inner surface of the endless belt, for example, by the construction of the endless belt around at least one roller. The rotation axis of at least one roller may be parallel to the rotation axis of the endless belt. The term "inner surface of the endless belt" herein refers to the surface of the belt facing the volume defined by the width W and length L of the belt.

[0039] At least one roller may be used as a propulsion unit of the belt or as a tensioning device of the belt or as a combination thereof.

[0040] In the case of at least two rollers, it is advantageous to arrange the rollers at each longitudinal end of the rolling part.

[0041] The rolling part may further include: a first track, the first track including an endless belt extending longitudinally; a second track, the second track including an endless belt extending longitudinally oriented parallel to the first track, and these tracks are attached to opposite side walls of the vehicle body of the service vehicle, for example. The first track and the second track may be spaced apart by a gap G measured in the direction of the rotation axis of the endless belt. In this embodiment, the width of the gap G is preferably at least the width of the grille unit of the track system in the first direction X or the second direction Y.

[0042] The first track and / or the second track are preferably arranged such that the endless belt extends at least partially beyond the vehicle body accommodating and / or supporting the container vehicle handling part and the operating part in the direction of the rotation axis to form a physical barrier to protect the operator from collision with objects located on the track system.

[0043] To ensure sufficient stiffness of the belt and thus ensure satisfactory movement of the service vehicle on top of the track system, each belt preferably includes one or more support bodies. A further desired increase in the overall stiffness of the rolling part can be achieved by adding stabilizing wheels that contact one or more belts, for example, relative to the track system on top of one or more belts.

[0044] Furthermore, the rolling part can advantageously be connected symmetrically to the vehicle body in a horizontal plane (P). For example, the first track and the second track can be arranged symmetrically at the outer sidewall of the vehicle body of the service vehicle with respect to a central axis of the vehicle body that extends perpendicular to the rotational axis of the rolling part.

[0045] The container vehicle handling part can include a transfer device configured to transfer at least one container handling vehicle during operation between an operating position (i.e., a lower position in which the container handling vehicle can move on the track system) and a transport position (i.e., an upper position in which the container handling vehicle is lifted above the track system) within the vehicle body on the track system. The container vehicle handling part can further include a transfer motor configured to power the transfer device, thereby allowing the transfer of the container handling vehicle.

[0046] If the rolling part includes two tracks, the transfer device can be arranged at least partially between the first track and the second track, for example, entirely within the container vehicle handling part and located substantially centrally within the gap G with respect to the axis of rotation of the tracks.

[0047] In a first exemplary configuration of the service vehicle, the transfer device is configured to support the container handling vehicle from below, for example, by applying a substrate that can support the container handling vehicle.

[0048] For this first exemplary configuration, the transfer device can be configured to move between an upper position and a lower position with respect to the horizontal plane P and can also be configured to allow the container handling vehicle to move from its operating position on the track system to the transport position on the substrate when the transfer device is in its lower position.

[0049] The operating part can include a propulsion device motor or a rolling part device motor (hereinafter referred to as the rolling part motor) that allows the service vehicle to move along the horizontal plane P. The operating part can further include an on-vehicle operating system, thereby allowing the operator on the vehicle to control and adjust both the direction and speed of the service vehicle with respect to the track system below. The change in direction can cover a 360° rotation of the service vehicle. Alternatively, the operating system can be remotely located, thereby adjusting the direction and speed of the service vehicle by remote control.

[0050] It is also conceivable that the configuration of the service vehicle allows vertical displacement of the operating part or the container vehicle handling part or both. The control and adjustment of the speed also include starting and coming to a complete stop.

[0051] The service vehicle may also include a registration unit configured to permit visual inspection of the surroundings of the service vehicle, the registration unit such as an image capture unit. The image capture unit may include, for example, a front-facing camera and a rear-facing camera fixed or rotatable relative to the horizontal plane P.

[0052] The service vehicle is arranged for transporting at least one of the at least one container handling vehicle in the horizontal plane P and preferably also for transporting one or more persons. Alternatively, the service vehicle may be remotely controlled.

[0053] The service vehicle may also include a transmitter and / or a receiver for establishing signal communication with a remote control system.

[0054] The transfer device may include: an attachment device for releasably attaching to at least one container handling vehicle; a vertical linear actuator, one end of the vertical linear actuator being at least indirectly attached to the vehicle body, for example via a pivot support, and the other end of the vertical linear actuator being at least indirectly attached to the attachment device, wherein the vertical linear actuator is configured to displace the attachment device relative to the vehicle body in the vertical direction.

[0055] The transfer device may also include a horizontal linear actuator fixed to the vehicle body, and the horizontal linear actuator is configured to displace the attachment device relative to the vehicle body in the horizontal direction.

[0056] In a second aspect, the invention relates to an automated storage and retrieval system.

[0057] The system includes: a track system including a first set of parallel tracks arranged in the horizontal plane P and extending in a first direction X and a second set of parallel tracks arranged in the horizontal plane P and extending in a second direction Y orthogonal to the first direction X, the first set of tracks and the second set of tracks forming a grid pattern including a plurality of adjacent grid cells in the horizontal plane P; the system further includes a service vehicle as described above.

[0058] The system may also include: at least one container handling vehicle configured to move on the track system, wherein the at least one container handling vehicle includes wheel means configured to guide at least one storage container vehicle along the track system in at least one of the first direction X and the second direction Y.

[0059] The service vehicle may include a body / frame and rolling parts. The body / frame contains or supports a container vehicle handling part for mechanical interaction with at least one of at least one container handling vehicle operating on a rail system and an operating part for controlling the operation of the service vehicle. The rolling parts are connected to the body, thereby allowing the service vehicle to move on the rail system during operation. When the service vehicle moves on the rail system, the length L of the rolling parts preferably exceeds the distance across two grid units in the first direction X or the second direction Y, and more preferably, the length L exceeds the distance across three grid units, such as the distance between three and four grid units.

[0060] The service vehicle may have any of the features described above.

[0061] In a third aspect, the present invention relates to a method for operating a service vehicle, the service vehicle including a body. The body contains / supports a container vehicle operating part and an operating part. The service vehicle is configured to move on top of a rail system, the rail system including a first set of parallel rails arranged in a horizontal plane P and extending in a first direction X and a second set of parallel rails arranged in the horizontal plane P and extending in a second direction Y orthogonal to the first direction X. The first set of rails and the second set of rails form a grid pattern including a plurality of adjacent grid units in the horizontal plane P. Each grid unit includes a grid opening defined by a pair of adjacent rails of the first set of rails and a pair of adjacent rails of the second set of rails.

[0062] The method includes the following steps:

[0063] Guiding the service vehicle to a first position adjacent to at least one storage container vehicle on the rail system by using the operating part,

[0064] Controlling a transfer device forming part of the container vehicle handling part to transfer at least one container handling vehicle between an operating position on the rail system and a transport position above the rail system (e.g., inside the body), and

[0065] Guiding the service vehicle to a predetermined second position on the rail system.

[0066] The service vehicle used in the method may be the service vehicle described above.

[0067] In an alternative construction, the body of the service vehicle includes a fence. The fence defines a loading area of the service vehicle that is configured to receive at least one storage container vehicle. The fence may also include an access ramp pivotally connected to the body for pivoting the access ramp between an inclined lower position and a closed upper position relative to the underlying track system below, in the inclined lower position, allowing one or more storage container vehicles to be transported between the track system and the loading area via the access ramp, and the closed upper position for closing the loading area.

[0068] The loading area of the fence may also alternatively be configured to receive one or more operators. In this construction, the fence serves as a protection chamber for the personnel.

[0069] Compared with the service vehicle carrying personnel disclosed in WO2015 / 140216A1, protective barriers such as a protection chamber or rolling parts connected to the outer surface of the body have obvious advantages. In WO2015 / 140216A1, the open operating part of the service vehicle provides little or no protection for the operator, for example, in the case of a collision between the service vehicle and an obstacle such as a container handling vehicle on the track system.

[0070] In another alternative construction, the body is movably arranged between the following positions relative to the first belt drive wheel assembly and the second belt drive wheel assembly:

[0071] - A transport position, where the transfer device is at least partially within the horizontal range perpendicular to its axis of rotation of the first endless belt and / or the second endless belt for transporting the container handling vehicle during transportation, and

[0072] - An operating position, where the transfer device is located outside the horizontal range perpendicular to its axis of rotation of the first endless belt and / or the second endless belt so that the container handling vehicle can be lifted and lowered. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] The following drawings are used to assist in understanding the present invention.

[0074] Figure 1A 、 Figure 1B 、 Figure 2A and Figure 2B are perspective views of prior art automated storage and retrieval systems, where Figure 1A and Figure 2A show the complete system, and Figure 1B and Figure 2B show examples of prior art container handling vehicles operable with the system.

[0075] Figure 3is a perspective view of a service vehicle according to a first embodiment of the present invention, the service vehicle operating on a track system of an automated storage and retrieval system.

[0076] Figure 4A , Figure 4B and Figure 4C is based on Figure 3 A perspective view of a service vehicle without a container handling vehicle but including an operator, wherein: Figure 4A The front portion of the service vehicle is shown. Figure 4B The rear portion of the service vehicle is shown, and Figure 4C The service vehicle is shown from the side.

[0077] Figure 5A and Figure 5B is based on Figures 3 to 4C A side perspective view of a service vehicle, wherein: Figure 5A and Figure 5B A handling device of a service vehicle is shown in an interaction position and in a transport position, respectively.

[0078] Figure 6A and Figure 6B is a perspective view of a service vehicle according to a second embodiment of the present invention, the service vehicle operating on a track system of an automated storage and retrieval system, wherein: Figure 6A and Figure 6B The service vehicle is shown with and without an operator, respectively.

[0079] Figure 7A , Figure 7B , Figure 7C and Figure 7D is based on Figure 6A and Figure 6B A perspective view of a service vehicle, wherein Figure 7A The handling mechanism of the service vehicle is shown, which is positioned adjacent to the container handling vehicle to be serviced when the service vehicle is in the transport position on the rail system. Figure 7B and Figure 7C shows the handling mechanism of the service vehicle in the interaction position before and after successful interaction with the container handling vehicle, respectively, and Figure 7D A service vehicle is shown supporting a container handling vehicle using a handling mechanism.

[0080] Figure 8A and Figure 8B It is based on Figures 6A to 7D A side perspective view of a service vehicle viewed from two different directions showing the service vehicle supporting a container handling vehicle to be serviced.

[0081] Figure 9 is a perspective side view of a service vehicle according to Figures 6A to 8B showing the position of an operator within the service vehicle at which the operator can access an object located on or below the rail system.

[0082] Figure 10 is a perspective side view of a service vehicle according to a third embodiment of the present invention, the service vehicle supporting a container handling vehicle and operating on a rail system of an automated storage and retrieval system.

[0083] Figure 11A 、 Figure 11B and Figure 11C is Figure 10 a perspective side view of a service vehicle according to Figure 11A showing the service vehicle close to the container handling vehicle to be serviced and the handling mechanism of the service vehicle being in a transport position, Figure 11B showing the service vehicle adjacent to the container handling vehicle and the container handling vehicle being in a position within the reach of the handling mechanism, and Figure 11C showing the service vehicle supporting the container handling vehicle by using the handling mechanism.

[0084] Figure 12 is a perspective side view of a service vehicle according to a fourth embodiment of the present invention, the service vehicle operating on a rail system of an automated storage and retrieval system.

[0085] Figure 13A 、 Figure 13B 、 Figure 13C and Figure 13D is Figure 12 a perspective side view of a service vehicle according to Figure 13A showing the service vehicle in a transport position near the position on the rail system where the container handling vehicle is to be placed, Figure 13B showing the service vehicle in an interaction position such that the container handling vehicle can move from the service vehicle to the rail system, and Figure 13C and Figure 13D showing the service vehicle in an interaction position with the container handling vehicle being in an intermediate position on the service vehicle and an operating position on the rail system, respectively.

[0086] Figure 14 is Figures 12 to 13D a perspective side view of a service vehicle showing the position of an operator within the service vehicle at which the operator can access an object located on or below the rail system.

[0087] Figure 15A and Figure 15BSide perspective view of a service vehicle with a handling mechanism in a transport position according to a fifth embodiment of the present invention, wherein, Figure 15A The service vehicle shown does not have a container handling vehicle, Figure 15B The service vehicle shown supports a container handling vehicle on a track system of an automated storage and retrieval system by using the handling mechanism.

[0088] Figure 16A , Figure 16B and Figure 16C Side perspective view of a service vehicle according to a sixth embodiment of the present invention, the service vehicle being configured for remote operation.

[0089] Figure 17A Figure 17B and Figure 17C are Figures 16A to 16C Side perspective views of the service vehicle, wherein, Figure 17A The service vehicle shown is close to the container handling vehicle to be serviced, Figure 17B The service vehicle shown partially surrounds the container handling vehicle, and Figure 17C The service vehicle shown transports the container handling vehicle by using its handling mechanism.

[0090] Figure 18A and Figure 18B are Figures 16A to 17C Side perspective views of the service vehicle, wherein, Figure 18A and Figure 18B Show the service vehicle in an operating position and a transport position, respectively, in the operating position, the container handling vehicle contacts the track system, and in the transport position, the container handling vehicle is lifted above the track system.

[0091] In the drawings, unless otherwise clearly stated or implicitly understood from the context, the same reference numerals are used to indicate the same parts, elements or features. Detailed description of the invention

[0092] Hereinafter, embodiments of the present invention will be discussed in more detail with reference to the drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings.

[0093] Referring to Figures 1A to 2B , the storage grid 104 of each storage structure 1 constitutes a frame 100 of a total of 1144 grid units, wherein the width and length of the frame correspond to the width and length of 143 grid columns. The top layer of the frame 100 is a track system 108, on which a plurality of container handling vehicles 200, 300 operate.

[0094] The framework 100 of the automatic storage and retrieval system 1 of the present invention is constructed according to the framework 100 of the prior art described above (i.e., a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 103). In addition, the horizontal member 103 includes a track system 108 of parallel tracks 110, 111 arranged respectively in the X direction and the Y direction across the top of the storage column 105. The horizontal (i.e., along the X and Y directions) area of a single grid unit can be defined respectively by the distance between adjacent tracks 110 and the distance between adjacent tracks 111 (see also Figures 3 to 4C ). In Figures 1A to 2B , such a grid unit 122 is marked with a thick line on the track system 108.

[0095] The track system 108 allows the container handling vehicles 200, 300 to move horizontally between different grid positions, where each grid position is associated with a grid unit 122.

[0096] In Figures 1A to 2B , a storage grid 104 with a height of eight units is shown. However, it should be understood that the storage grid 104 can in principle have any size. In particular, it should be understood that the storage grid 104 can be much wider and / or much longer than that disclosed in Figures 1A to 2B . For example, the grid 104 can have a horizontal range of more than 700×700 grid units 122. In addition, the grid 104 can be much deeper than the grid disclosed in Figures 1A to 2B . For example, the storage grid 104 can be more than twelve grid units deep.

[0097] The storage container vehicles 200, 300 can be any type known in the art, such as any one of the automatic container handling vehicles disclosed in WO2014 / 090684A1, NO317366, or WO2015 / 193278A1.

[0098] Figures 3 to 5B A first embodiment of the service vehicle 2 arranged on the track system 108 is shown. The service vehicle 3 includes a body 3 and two rolling parts 6, 7 in the form of tracks, and each rolling part includes an endless belt 6d with a length of L and at least partially arranged under the body 3. Each of the rolling parts 6, 7 is driven by means of a belt motor and belt pulleys 6a, 6b arranged at two belt ends (i.e., at the front and rear of the rolling part) within the belt 6d. In an exemplary configuration, a common belt motor is used for the two belts 6d.

[0099] The first rolling part and the second rolling parts 6, 7 are arranged symmetrically with respect to the vertical central plane of the service vehicle 2 in the direction of movement of the service vehicle and project at least partially from the horizontal ends of the vehicle body 3. The service vehicle 2 can be divided into two functional parts: a container vehicle handling part 4, which includes components responsible for any mechanical interaction with the container transport vehicles 200, 300 to be serviced; and an operation part 5, which includes any components responsible for the operation of the service vehicle 2. In this particular embodiment, these two parts are spatially separated with respect to the horizontal extent of the service vehicle 2.

[0100] In Figures 3 to 5B the example shown, each of the first rolling part and the second rolling parts 6, 7 includes a loop chain 6d and two toothed pulleys 6a, 6b arranged inside the chain 6d at each of the longitudinal ends of the rolling parts 6, 7. The first toothed pulley 6a is arranged at the ends (front and rear) of the chain 6d and has a diameter large enough to engage both the lower and upper parts of the chain 6d. In the example, the diameter of the second toothed pulley 6b is smaller than the diameter of the first toothed pulley 6a, and the second toothed pulley is arranged to engage the lower part of the chain 6d at a position further towards the longitudinal center of the rolling parts 6, 7.

[0101] It is noted that the terms "upper" and "lower" are measured with respect to the lower track system 108.

[0102] The loop chains 6d forming the two rolling parts 6, 7 (i.e., one chain 6d for each rolling part 6, 7) are preferably made of an elastic material that is capable of not causing damage when moving in contact with the top surfaces of the tracks 110, 111. For example, each chain 6d can be at least partially made of or covered with an elastomer such as polyoxymethylene (POM). Alternatively or additionally, the top surfaces can be covered with the same or a similar material.

[0103] One or more of the toothed pulleys 6a, 6b and / or one or both of the belts 6d are connected to a drive mechanism including a drive motor (not shown). For example, one or two of the first toothed pulleys 6a of one or both of the belts 6d can be used as drive wheels that engage and drive their respective rolling parts 6, 7. Additionally, a second drive motor can be connected to one or two of the second toothed pulleys 6b of one or two of the rolling parts 6, 7.

[0104] By arranging the first rolling part and the second rolling parts 6, 7, the service vehicle 2 is arranged to move horizontally in any direction on the track system 108 by means of a control system 12 loaded on the service vehicle 2 or remote from the service vehicle 2 (see also Figures 16A to 18B)。If the control system 12 is mounted on the service vehicle 2, any operator 50 located inside the service vehicle 2 can perform any movement mode and speed setting via the operation of one or both of the first rolling part and the second rolling part 6, 7 through their motors.

[0105] In the first embodiment, the container vehicle handling part 4 includes a transfer device 8, and the transfer device further includes one or more transfer beams 8b extending from the operation part 5, a transfer motor 8c connected to the transfer beam 8b, and an attachment device 8d operably connected to the transfer motor 8c. In Figures 3 to 5B the specific embodiment shown, the attachment device 8d includes a lifting hook, and the lifting hook is attached to a winch wire wound around a rotatable drum 8e. However, those skilled in the art will understand that any mechanism capable of raising and lowering the container handling vehicles 200, 300 relative to the underlying track system 108 can be applied.

[0106] In addition, the operation part 5 includes an operating system 12, and the operating system has a control lever and a speed regulator. The control lever is used to adjust the direction of the service vehicle 2 relative to the track system 108, and the speed regulator is used to adjust the speed of the service vehicle 2 relative to the track system 108. The operation part 5 further includes an operator seat 13 and handles 14 on both sides of the vehicle body 3 respectively, and the handles assist the operator 50 to get out of and into the operator seat 13. The handles 14 can also be used for other purposes, such as attachment points during the process of raising or lowering the service vehicle 2 onto the track system 108.

[0107] As Figures 3 to 5B is obvious, the lengths L of the two rolling parts or tracks 6, 7 extend over a number of grid units 122 to ensure stable operation in all horizontal directions on the track system 108.

[0108] In Figure 5A and Figure 5B the process for lifting the container handling vehicles 200, 300 according to the first embodiment is best shown. The operator 50 maneuvers the service vehicle 2 to a position adjacent to the part of the container handling vehicle 300 to be serviced that is closest to the transfer device 8 of the service vehicle 2. If necessary, the operator 50 can fine-tune the horizontal position of the service vehicle 2 to ensure that the horizontal position of the transfer device 8 is ready for attachment to the container handling vehicle 300 and for lifting the container handling vehicle. In Figure 5A and Figure 5BIn the specific configuration shown, the vehicle body 3 can be horizontally displaced relative to the rolling parts 6, 7 as indicated by the thick arrows, for example, by using a dedicated displacement motor and an internal track device (not shown) for horizontal displacement. When the container handling vehicle 300 has been lifted to the raised position above the rolling parts 6, 7, the operator 50 can displace the vehicle body 3 relative to the rolling parts 6, 7 to the transport position where the container handling vehicle 300 is at least partially within the horizontal range of the rolling parts 6, 7, to ensure high stability during the horizontal movement of the service vehicle 2 on the track system 108.

[0109] Figures 6A to 9 A second embodiment of the service vehicle 2 of the present invention is shown. In this embodiment, the transfer device 8 of the service vehicle 2 includes a substrate 8a having a width G, and the substrate is configured to support one or more container handling vehicles 200, 300. Therefore, the width G should be suitable for the total width of the container handling vehicles 200, 300 and the number of container handling vehicles 200, 300 to be serviced. For example, in order for the service vehicle 2 to allow the transportation of at least one container handling vehicle 200, 300, the width G should be equal to or greater than the corresponding width of the container handling vehicles 200, 300, so as to allow the container handling vehicle to enter onto the substrate 8a.

[0110] The process of picking up the container handling devices 200, 300 by the service vehicle 2 according to the second embodiment can be carried out in the following manner:

[0111] -( Figure 6A ) The operator 50 operating the service vehicle 2 guides the service vehicle 2 to a position adjacent to one or more container handling vehicles 200, 300 to be transported.

[0112] -( Figure 7A and Figure 7B ) When the service vehicle 2 is in place, the substrate 8a of the handling device 8 descends from the transport position to the interaction position. In the transport position, the substrate 8a is raised relative to the underlying track system 108. In the interaction position, the substrate 8a contacts or is close to contacting the underlying track system 108. As is obvious from the framed detailed view in the upper right part of Figure 7A and Figure 7B , one edge of the substrate 8a is adjacent to ( Figure 7A ) or contacts ( Figure 7B ) the wheel devices 201, 301 of the container handling vehicles 200, 300.

[0113] -( Figure 7C)When the substrate 8a is in the interaction position, one or more container handling vehicles 200, 300 are moved onto the substrate 8a, for example by remote operation, such that none of the wheels in the wheel assemblies contact the track system 108. Alternatively, one or more container handling vehicles 200, 300 may remain stationary while the service vehicle 2 moves so that the substrate 8a is pressed beneath the container handling vehicles 200, 300.

[0114] -( Figure 7D )When one or more container handling vehicles 200, 300 are fully placed on the substrate 8a, the operator 50 operates the transfer device 8 of the container vehicle handling section 4 so that the substrate 8a is lifted from the interaction position to the transport position.

[0115] -( Figure 8A and Figure 8B )The service vehicle 2 moves to a predetermined position on or outside the track system 108 with one or more container handling vehicles 200, 300.

[0116] The unloading process for normal operation (i.e., transporting one or more container handling vehicles 200, 300 to a predetermined position on the track system 108 by the service vehicle 2) is carried out in the same or similar manner as the above loading process, but in the reverse order.

[0117] Specific reference Figure 8A , in this example, the lengths of the rolling parts / caterpillars 6, 7 are shown as extending across four grille units 122.

[0118] In Figure 6A and Figure 8B the grille units 122 framing the grille openings 115 are marked in thick lines.

[0119] For the first embodiment, the rolling parts 6, 7 are driven by means of a belt with a motor and belt pulleys 6a, 6b arranged at two belt ends within the endless belt 6d.

[0120] Figure 9 It is shown that the operator 50 operating the service vehicle 2 of the second embodiment can approach the track system 108 by using the substrate 8a as a support and thus approach any component on the track system 108.

[0121] Figures 10 to 11C The third embodiment of the service vehicle 2 of the present invention is shown in

[0122] Similar to the first embodiment described above, the transfer device 8 includes a winch device having a support 8a that supports the container handling vehicles 200, 300 from above, a lifting mechanism 8c in the form of a rotatable handle, and a transfer drum 8e connected to the lifting mechanism 8c. Similar to the first and second embodiments, the length L of the crawler / rolling parts 6, 7 extends across approximately four grille units 122, and the crawler / rolling parts are spaced apart by a width G (see Figure 11C ). The minimum width of G should be equal to or greater than the total width of the container handling vehicles 200, 300 to be served. In addition, the endless chains 6d of the rolling parts 6, 7 are driven by pulleys 6a, 6b arranged on two longitudinal lengths of the rolling parts 6, 7.

[0123] The process of picking up the container handling devices 200, 300 by the service vehicle 2 according to the third embodiment can be carried out as follows:

[0124] -( Figure 11A ) The operator 50 located in the service vehicle 2 guides the service vehicle 2 to a position adjacent to one or more container handling vehicles 200, 300 to be transported.

[0125] -( Figure 11B ) Fine-tune the position of the service vehicle 2 so that the transfer device 8 is in the interaction position, that is, directly above or close to directly above the corresponding attachment mechanism of one or more container handling vehicles 200, 300 (not shown). For example, this interaction position can be obtained by moving the service vehicle 2 so that one or more container handling vehicles 200, 300 are located between the rolling parts 6, 7.

[0126] -( Figure 11C ) When the transfer device 8 is in the interaction position, the operator 50 operates the lifting mechanism 8c manually or through the control system 12 or a combination thereof. In Figure 11C , the lifting mechanism 8c is a crank handle connected to the winch / drum 8e. By rotating the crank handle 8c, the attachment device 8d in the form of a hook connected to the transfer line is lowered and attached to the corresponding receiving device (not shown) on one or more container handling vehicles 200, 300.

[0127] -( Figure 11C ) When one or more container handling vehicles 200, 300 are safely attached to the attachment device 8c, the operator operates the lifting mechanism 8c so that one or more container handling vehicles 200, 300 are lifted from the interaction position to the transport position away from the track system 108.

[0128] -( Figure 10)The service vehicle 2 moves to a predetermined position on or outside the track system 108 with one or more container handling vehicles 200, 300.

[0129] The unloading process for normal operation (i.e., transporting one or more container handling vehicles 200, 300 to a predetermined position on the track system 108 by the service vehicle 2) is carried out in the same or similar manner as the loading process described above, but in the reverse order.

[0130] For a particular reference Figure 10 , in this example, the lengths of the rolling parts 6, 7 are also shown as extending across four grille units 122.

[0131] Figures 12 to 14 A fourth embodiment of the service vehicle 2 arranged on the track system 108 is shown. The vehicle body 3 includes a safety fence 33, which defines an enclosed area, such as a protection chamber for accommodating the operator / personnel 50. In Figures 12 to 14 the example shown, the protection chamber is provided with a seat 13 for the operator 50.

[0132] The safety fence 33 can be made of wall panels arranged on the top of the horizontal base of the vehicle body 3. In addition, at least one of the wall panels can be made of a transparent plate.

[0133] In this embodiment, the transfer device 8 can be a hatch or any other pivotable device onto which one or more container handling vehicles 200, 300 can be driven.

[0134] The process for transferring one or more container handling devices 200, 300 from the service vehicle 2 to a position on the track system 108 according to the fourth embodiment can be carried out as follows:

[0135] -( Figure 12 and Figure 13A ) The service vehicle 2 with the operator 50 moves to a position adjacent to one or more storage grille units 122 where one or more container handling vehicles 200, 300 to be serviced are located.

[0136] -( Figure 13B ) When in position, the hatch 8 is opened by the operator 50 (manually and / or through the on-vehicle control system), through the remote control system or a combination thereof. In the fully open position, the end of the hatch 8 remote from the service vehicle 2 contacts the underlying track system 108 at or near one of the tracks 110, 111 framing the target grille unit 122.

[0137] -( Figure 13COne or more container handling vehicles 200, 300 are guided onto the rail system 108 by an operator 50 (manually and / or via an on-vehicle control system), via a remote control system, or a combination thereof, through the open hatch 8.

[0138] -( Figure 13D ) One or more container handling vehicles 200, 300 are precisely positioned by an operator 50 (manually and / or via an on-vehicle control system), via a remote control system, or a combination thereof.

[0139] As Figure 14 depicted in, in one exemplary configuration, the operator 50 may open the inspection door 34 on the side of the service vehicle 2 (e.g., the side opposite the side having the hatch 8). Such a configuration is useful for allowing further manual inspection of the storage system 1.

[0140] Figure 15A and Figure 15B show a fifth embodiment of the service vehicle 2. This embodiment is similar to the third embodiment ( Figures 10 to 11C ) except for the construction and operation of the transfer device 8.

[0141] Instead of the winch lifting systems 8c, 8d, 8e depicted in the third embodiment, one or more container handling vehicles 200, 300 are lifted and lowered by one or more lifting hooks 8d disposed on the body 3 within the container vehicle handling section 4. For the embodiments disclosed above, the rolling portions 6, 7 are spaced apart by a width G.

[0142] The term "lifting hook 8d" should be interpreted to include any clamping mechanism capable of clamping the container handling vehicles 200, 300.

[0143] In this fifth embodiment, the lifting hook 8d is coupled to lifting devices 8f, 8g such that the lifting hook 8d can be moved vertically. The lifting devices may include, for example, one or more vertical linear actuators 8f that drive a frame 8g on which the lifting hook 8d is mounted. The term "vertical linear actuator" is defined herein as any linear actuator capable of moving in a direction having a non-negligible vertical component. However, in a preferred example, the vertical linear actuator is configured to perform a vertical movement with zero or substantially zero horizontal displacement.

[0144] The design of the lifting hook 8d (or alternative clamping mechanism) should be such that it interacts with any external design of the body of the associated one or more container handling vehicles 200, 300. For example, the body of each container handling vehicle 200, 300 may include one or more receiving portions 302, such as recesses / openings / rings, into which one or more lifting hooks 8d can be inserted.

[0145] The operation of one or more lifting hooks 8d can be controlled by the operator 50 (manually and / or via the vehicle control system 12), via a remote control system, or a combination thereof.

[0146] In addition, the service vehicle 2 can be equipped with an alignment unit 9, which is configured to assist the operator 50 in safely maneuvering the service vehicle 2 to its final position on the track system 108. The alignment unit 9 can be, for example, an image capture unit 9, which includes a front view camera 9a and a rear view camera 9b as shown in Figure 15A and Figure 15B and / or one or more rotatable cameras. The image capture unit 9 can be any optical instrument for recording or capturing images. The images or videos can be stored locally, transmitted to a remote location, or a combination thereof.

[0147] The image capture unit 9 can be controlled or visualized by the operator 50 on the service vehicle 2, remotely controlled or visualized, or a combination thereof.

[0148] In addition, the first to fifth embodiments of the service vehicle 2 preferably have an emergency stop button 12a forming part of the vehicle control system 12 as depicted in Figure 15A and Figure 15B .

[0149] Figures 16A to 18B A sixth embodiment of the service vehicle 2 according to the present invention is shown, in which all operations of the vehicle 2 are performed completely remotely, that is, without the need for a human operator to directly interact with the control system loaded on the vehicle 2 during the service process.

[0150] In the sixth embodiment, the service vehicle 2 includes two track / rolling parts 6, 7 attached to two opposite vertical sides of the vehicle body 3. At least one of the other two vertical sides of the vehicle body 3 is configured to receive at least one container handling vehicle 200, 300 to be serviced.

[0151] Figures 16A to 18B A specific configuration of the service vehicle 2 including two guide pins 35 is shown, which are attached to each of the opposite vertical sides of the vehicle body 3 to which the tracks 6, 7 are connected. One end of each guide pin 35 closest to the container handling vehicle receiving side of the vehicle body 3 is wedge-shaped, thereby allowing the container handling vehicles 200, 300 to be correctly guided into the vehicle body 3. The remotely operated alignment unit 9 in the form of a front view camera 9a and a rear view camera 9b is mounted on the horizontal side of the top of the vehicle body 3.

[0152] Transfer device 8 includes a lifting mechanism 8c, and the lifting mechanism includes one or more vertical linear actuators 8f. One end of each of the actuators 8f is connected to a pivot support 8h, which is pivotally coupled to the vehicle body 3 about a rotational axis parallel to the underlying track system 108, and the other end is coupled to a lifting claw 8d. The lifting claw 8d can be displaced horizontally relative to the vehicle body 3 by using a horizontal linear actuator 8i (i.e., a horizontal linear actuator having a non-zero horizontal component).

[0153] Service vehicle 2 is remotely operated via a remote control system by one or more on-vehicle transmitters 36. Exemplary locations of such transmitters 36 can be on one, some, or all of the vertical linear actuators as depicted in Figures 16A to 18B ... Alternatively or additionally, similar transmitters 36 can be arranged on the vehicle body 3, arranged within the alignment unit 9, arranged on one or both of the rolling parts 6, 7, etc.

[0154] For the embodiments disclosed above, the crawler / rolling parts 6, 7 have a length L extending across a plurality of grille units 122, preferably four or more.

[0155] In the sixth embodiment, the minimum width G of the opening on the vertical container handling vehicle receiving side of the vehicle body 3 including any guide pins 35 is equal to or greater than the total width of the container handling vehicles 200, 300 to be serviced.

[0156] The process of the service vehicle 2 picking up the container handling devices 200, 300 according to the third embodiment can be carried out in the following manner:

[0157] -( Figure 17A ) The service vehicle 2 uses signal communication between one or more of the on-vehicle transmitter / receivers via the remote control system to reach a position adjacent to one or more container handling vehicles 200, 300 to be transported. If necessary, the direction of the service vehicle 2 is changed such that the vehicle receiving opening of the service vehicle 2 faces one or more container handling vehicles 200, 300.

[0158] -( Figure 17B and Figure 17C) The service vehicle 2 is remotely guided such that one or more container handling vehicles 200, 300 enter between the two crawler / rolling parts 6 through the receiving opening of the vehicle body 3, so that the transfer device 8 is in an interaction position, that is, wherein a plurality of lifting claws 8d are arranged on two opposite vertical sides of a certain or each of the container handling vehicles 200, 300. Alternatively, the service vehicle 2 can remain stationary, and one or more container handling vehicles 200, 300 can be remotely guided into the vehicle receiving opening. The correct horizontal position of the container handling vehicles 200, 300 inside the vehicle body 3 can be further controlled by a stop 37 arranged on the vertical side opposite to the receiving opening. Such a stop 37 will also help to improve the stability of the container handling vehicles 200, 300 inside the vehicle body 3. In Figures 16A to 18B In the example shown, the stop is shown as a horizontally extending rod which is arranged to abut against the container handling vehicles 200, 300 when the container handling vehicles 200, 300 are completely inside the vehicle body 3 of the service vehicle 2.

[0159] -( Figure 18A ) When the transfer device 8 is in the interaction position relative to one or more container handling vehicles 200, 300, the lifting claws 8d are horizontally displaced by a horizontal linear actuator 8i until the lifting claws 8d physically contact the container handling vehicles 200, 300.

[0160] -( Figure 18B ) Remotely operate one or more vertical linear actuators 8f, so that the vehicle body 3 is lifted from the track system 108 due to the pivoting movement of one or more pivoting supports 8h. Since physical contact is established between the lifting claws 8d and one or more container handling vehicles 200, 300, the container handling vehicles are lifted from the track system 108, thereby setting the service vehicle 2 in the transport position.

[0161] - The service vehicle 2 moves with one or more container handling vehicles 200, 300 to a predetermined position on or outside the track system 108 of the service vehicle.

[0162] The unloading process for normal operation (i.e., transporting one or more container handling vehicles 200, 300 to a predetermined position on the track system 108 by the service vehicle 2) is carried out in the same or similar manner as the loading process described above, but in the reverse order.

[0163] In all embodiments, the rolling parts 6, 7 include endless chains 6d driven by toothed pulleys 6a, 6b arranged within the chains 6d. However, configurations are conceivable in which one or more of the toothed pulleys 6a, 6b are arranged outside the endless chains 6d. Instead of the toothed pulleys 6, 7, the rolling parts 6, 7 may include alternative drive mechanisms, such as wheels having other types of devices for engaging or coupling to their respective chains 6d. Additionally, the rolling parts 6, 7 may include components other than endless belts, such as a set of wheels wide enough to cover at least one grille unit 122.

[0164] Even if only the sixth embodiment is disclosed as not having a dedicated space for a human operator, all embodiments of the service vehicle 2 can be readily configured to be maneuvered on the track system 2 without an on-vehicle operator 50, for example, by operations performed entirely by a remote human operator 50 or by a fully or partially automatic control system or a combination thereof.

[0165] Embodiments are also conceivable in which all operations of the service vehicle 2 are partially operated by an on-vehicle operator and partially by a remote human operator, or alternatively, by a combination of operations between the on-vehicle operator and a fully or partially automatic control system.

[0166] In the foregoing description, various aspects of the vehicle and storage system according to the present invention have been described with reference to exemplary embodiments. For purposes of illustration, specific quantities, systems, and configurations have been set forth to provide a thorough understanding of the vehicle and its operation. However, the description is not intended to be construed in a limiting sense. It will be apparent to those skilled in the art to which the disclosed subject matter pertains that various modifications and variations of the exemplary embodiments, as well as other embodiments of the vehicle, are considered to fall within the scope of the present invention.

[0167] Reference numerals:

[0168] 1 Storage and retrieval system / storage structure

[0169] 2 Service vehicle

[0170] 3 Vehicle body

[0171] 4 Container vehicle handling part

[0172] 5 Operation part

[0173] 6 First propulsion device / propulsion mechanism / rolling device / rolling part / crawler

[0174] 6a First toothed pulley of each endless belt 6, 7

[0175] 6b Second toothed pulley of each endless belt 6, 7

[0176] Inner surface of the 6c annular bands 6, 7

[0177] 6d Ring chain / annular band

[0178] 7 Second propulsion device / propulsion mechanism / rolling device / rolling part / crawler belt

[0179] 8 Transfer device

[0180] 8a Substrate / transfer device support

[0181] 8b Transfer beam

[0182] 8c Transfer motor / lifting mechanism

[0183] 8d Attachment device / lifting hook / lifting claw

[0184] 8e Transfer reel

[0185] 8f Vertical linear actuator

[0186] 8g Frame connecting the vertical linear actuator and the lifting hook

[0187] 8h Pivotal support for the vertical linear actuator

[0188] 8i Horizontal linear actuator

[0189] 9 Alignment unit / image capture unit

[0190] 9a Front view camera

[0191] 9b Rear view camera

[0192] 12 Operating system / control system

[0193] 12a Emergency stop

[0194] 14 Handle

[0195] 13 Operator's seat

[0196] 33 Safety fence

[0197] 34 Inspection door

[0198] 35 Guide pin

[0199] 35a Wedge portion at one end of the guide pin

[0200] 36 Transmitter / receiver

[0201] 37 Stopper

[0202] 50 Operator

[0203] 100 Frame structure

[0204] Vertical member of the 102 frame structure

[0205] Horizontal member of the 103 frame structure

[0206] 104 Storage grid / 3D grid

[0207] 105 Storage column

[0208] 106 Storage container

[0209] 107 Stack

[0210] 108 Track system

[0211] 110 First set of parallel tracks in the first direction (X)

[0212] 111 Second set of parallel tracks in the second direction (Y)

[0213] 115 Grid opening

[0214] 119 Drop port column

[0215] 120 Pickup port column

[0216] 122 Grid unit

[0217] 200 First container handling vehicle

[0218] 201 Wheel device

[0219] 300 Second container handling vehicle

[0220] 301 Wheel device

[0221] 302 Receiving part (for lifting hook 8d)

[0222] X First direction

[0223] Y Second direction

[0224] P Horizontal plane

[0225] L Length of the propulsion devices 6, 7

[0226] W Width of the propulsion devices 6, 7

[0227] G Width of the interval between the first annular belt and the second annular belts 6, 7

Claims

1. A service vehicle (2), The service vehicle is configured to move on a track system (108) that includes a first set of parallel tracks (110) arranged in a horizontal plane ( P ) and extending in a first direction ( X ), and a second set of parallel tracks (111) arranged in the horizontal plane ( P ) and extending in a second direction ( X ) that is orthogonal to the first direction ( Y ). The first set of tracks and the second set of tracks (110, 111) form a grid pattern including a plurality of adjacent grid cells (122) in the horizontal plane ( P ). The service vehicle (2) includes: A container vehicle handling part (4) and an operation part (5), the container vehicle handling part being configured to mechanically interact with container handling vehicles (200, 300) operating on the track system (108), the operation part being configured to control the operation of the service vehicle (2), and A propulsion device that allows the service vehicle (2) to move on top of the track system (108) during operation, Characterized in that, When the service vehicle (2) moves on top of the track system (108), the total length of the propulsion device L exceeds the distance across two grille units (122) in the first direction ( X ) and the second direction ( Y ).

2. The service vehicle (2) according to claim 1, characterized in that, The propulsion device includes a crawler belt configured to travel on top of the track system (108).

3. The service vehicle (2) according to claim 1 or 2, characterized in that, When the service vehicle (2) moves on the track system (108), the total width of the propulsion device W exceeds the width of the tracks (110, 111) of the track system (108).

4. The service vehicle (2) according to claim 1, characterized in that, The propulsion device includes: A longitudinally extending annular band (6d) having a total length measured from one end of the annular band (6d) to the other end of the annular band (6d) of L and A belt motor that drives the endless belt (6d).

5. The service vehicle (2) according to claim 4, characterized in that, The propulsion device further includes: At least one pulley (6a) in contact with the endless belt (6d), Wherein, the belt motor is configured to drive the endless belt (6d) via the at least one pulley (6a).

6. The service vehicle (2) according to claim 4 or 5, characterized in that, The propulsion device further includes: At least one pulley (6a) in contact with the inner surface (6c) of the first endless belt, Wherein, the rotation axis of the at least one pulley (6a) is parallel to the rotation axis of the endless belt (6d).

7. The service vehicle (2) according to claim 4, characterized in that, The propulsion device includes: A first crawler belt (6) including a longitudinally extending endless belt (6d), and A second crawler belt (7) including a longitudinally extending endless belt (6d) oriented parallel to the endless belt (6d) of the first crawler belt (6), Wherein, the first crawler belt (6) and the second crawler belt (7) are spaced apart by a gap ( G ) in the direction of the rotation axis of these annular belts.

8. The service vehicle (2) according to claim 7, characterized in that, The width of the gap ( G ) is at least the width of the grille unit (122) of the track system (108) in the first direction ( X ) or the second direction ( Y ).

9. The service vehicle (2) according to claim 1, characterized in that, The container vehicle handling part (4) includes: Transfer equipment (8) configured to transfer at least one container handling vehicle (200, 300) between an operating position on the track system (108) and a transport position within the vehicle body (3), and A transfer motor (8c) configured to power the transfer equipment (8) to allow the transfer of the container handling vehicle (200, 300).

10. The service vehicle (2) according to claim 9, characterized in that, At least a part of the transfer device (8) is configured to move between an upper position and a lower position relative to the horizontal plane ( P ).

11. The service vehicle (2) according to claim 9 or 10, characterized in that, The propulsion device includes: having a length L of the longitudinally extending first track 6), and A second crawler belt (7) longitudinally extending parallel to the first crawler belt (6), Wherein, the transfer equipment (8) is at least partially arranged between the first crawler belt (6) and the second crawler belt (7).

12. The service vehicle (2) according to claim 9, characterized in that, The transfer equipment (8) is configured to support the container handling vehicle (200, 300) from below.

13. The service vehicle (2) according to claim 9, characterized in that, The transfer equipment (8) includes a base plate (8a) on which the container handling vehicle (200, 300) can be supported.

14. The service vehicle (2) according to claim 1, characterized in that, The operation part (5) includes: The propulsion motor allows the service vehicle (2) to move along the horizontal plane ( P ), and An operating system (11) that allows an operator (50) to control and adjust the direction and speed of the service vehicle (2) relative to the track system (108) below.

15. The service vehicle (2) according to claim 1, characterized in that, The service vehicle (2) further includes alignment units (9, 9a, 9b) configured to allow a visual inspection of the surroundings of the service vehicle (2).

16. The service vehicle (2) according to claim 1, characterized in that, The service vehicle (2) is arranged to transport at least one of the at least one container handling vehicle (200, 300) in the horizontal plane ( P ) and to transport one or more persons (50).

17. The service vehicle (2) according to claim 1, characterized in that, The service vehicle (2) includes a transmitter (36) for establishing signal communication with a remote control system.

18. The service vehicle (2) according to claim 1, characterized in that, The container vehicle handling part (4) includes: Transfer equipment (8) configured to transfer at least one container handling vehicle (200, 300) between an operating position on the track system (108) and a transport position within the vehicle body (3), Wherein, the transfer device (8) includes: An attachment device (8d) for releasably attaching to the at least one container handling vehicle (200, 200), A vertical linear actuator (8f), one end of the vertical linear actuator is at least indirectly attached to the vehicle body (3), and the other end of the vertical linear actuator is at least indirectly attached to the attachment device (8d), Wherein, the vertical linear actuator (8f) is configured to displace the attachment device (8d) relative to the vehicle body (3) in the vertical direction.

19. The service vehicle (2) according to claim 18, wherein, The transfer device (8) further includes a horizontal linear actuator (8i) fixed to the vehicle body (3), Wherein, the horizontal linear actuator (8i) is configured to displace the attachment device (8d) relative to the vehicle body (3) in the horizontal direction.

20. The service vehicle (2) according to claim 18 or 19, wherein, The vertical linear actuator (8f) is attached to the vehicle body (3) via a pivot support (8h).

21. An automated storage and retrieval system (1), comprising: Track system (108), comprising a first set of parallel tracks (110) arranged in a horizontal plane ( P ) and extending in a first direction ( X ) and a second set of parallel tracks (111) arranged in the horizontal plane ( P ) and extending in a second direction ( X ) orthogonal to the first direction ( Y ), the first set of tracks and the second set of tracks (110, 111) forming a grid pattern including a plurality of adjacent grid units (122) in the horizontal plane ( P ); and The service vehicle (2) according to any one of the preceding claims.

22. A method for operating a service vehicle (2), the service vehicle includes a container vehicle handling part (4) and an operation part (5) for controlling the operation of the service vehicle (2), The service vehicle (2) is configured to move on top of an orbital system (108) that includes a first set of parallel tracks (110) arranged in a horizontal plane ( P ) and extending in a first direction ( X ) and a second set of parallel tracks (111) arranged in the horizontal plane ( P ) and extending in a second direction ( X ) orthogonal to the first direction ( Y ), the first and second sets of tracks (110, 111) forming a grid pattern in the horizontal plane ( P ) that includes a plurality of adjacent grid cells (122), each grid cell (122) including a grid opening (115) defined by a pair of adjacent tracks of the first set of tracks (110) and a pair of adjacent tracks of the second set of tracks (111); Among them, The method includes the following steps: Guiding the service vehicle (2) to a first position adjacent to at least one container handling vehicle (200, 300) on the track system (108) by operating the operation part (5), Controlling the transfer device (8) to transfer the at least one container handling vehicle (200, 300) between an operating position on the track system (108) and a transport position above the track system (108), and Guiding the service vehicle (2) to a predetermined second position on or outside the track system (108).

23. The method according to claim 22, wherein The service vehicle (2) is the service vehicle according to any one of claims 1 to 20.

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