System and method for determining the status of a charging station

Abstract

The present invention relates to an automated storage and retrieval system comprising: a vehicle (3) operating on a guideway system, the vehicle including a power storage source; at least one charging station (40) located on or near the guideway system and adapted to be electrically connected to the at least one power storage source of the vehicle; a control system which, upon detecting a fault with the charging station, instructs the vehicle to move to the at least one charging station so that the at least one power storage source of the vehicle is electrically connected to the at least one charging station, and the at least one charging station transmits charger diagnostics to the central operating controller using power from the at least one power storage source of the vehicle.

Description

Technical Field

[0001] The present invention relates to automated storage and retrieval systems for storing and retrieving containers, and more particularly to systems and methods for determining the status of a charging station. Background Art

[0002] FIG. 1 discloses a typical prior art automated storage and retrieval system 1 having a frame structure 100 , and FIG. 2 and FIG. 3 disclose two different prior art container handling vehicles 201 , 301 suitable for operating on such a system 1 .

[0003] The frame structure 100 comprises upright members 102, horizontal members 103 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102 and the horizontal members 103. In these storage columns 105, storage containers 106 (also called bins) are stacked on top of each other to form stacks 107. The members 102, 103 may typically be made of metal (e.g., extruded aluminum profiles).

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a rail system 108 arranged across the top of the frame structure 100. A plurality of container handling vehicles 201, 301 operate on the rail system 108 to lift and lower storage containers 106 from storage columns 105, and also to transport storage containers 106 over storage columns 105. The rail system 108 includes a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 201, 301 across the top of the frame structure 100 in a first direction X, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 201, 301 in a second direction Y perpendicular to the first direction X. Containers 106 stored in columns 105 are accessed by the container handling vehicles through access openings 112 in the rail system 108. The container handling vehicles 201 , 301 are movable laterally above the storage columns 105 , ie in a plane parallel to the horizontal XY plane.

[0005] The upright members 102 of the frame structure 100 may be used to guide the storage containers during raising and lowering of the containers from and into the columns 105. The stack 107 of containers 106 is generally self-supporting.

[0006] Each prior art container handling vehicle 201, 301 includes a body 201a, 301a, and first and second sets of wheels 201b, 301b, 201c, 301c, which enable the container handling vehicle 201, 301 to move laterally in the X and Y directions, respectively. In Figures 2 and 3, both wheels in each set are fully visible. The first set of wheels 201b, 301b is arranged to engage two adjacent rails of the first set of rails 110, and the second set of wheels 201c, 301c is arranged to engage two adjacent rails of the second set of rails 111. At least one of the sets of wheels 201b, 301b, 201c, 301c can be raised and lowered so that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c can engage the corresponding set of rails 110, 111 at any one time.

[0007] Each prior art container handling vehicle 201, 301 also includes a lifting device (not shown) for vertically transporting storage containers 106, for example, lifting storage containers 106 from storage container 105 and lowering storage containers into storage columns. The lifting device includes one or more gripping / engaging devices adapted to engage storage containers 106 and be lowered from the vehicle 201, 301 such that the position of the gripping / engaging devices relative to the vehicle 201, 301 is adjustable in a third direction Z that is orthogonal to the first direction X and the second direction Y. A portion of the gripping device of the container handling vehicle 301 is indicated by reference numeral 304 in FIG3 . The gripping device of the container handling vehicle 201 is located within the vehicle body 301a in FIG2 .

[0008] Typically, and also for the purposes of this application, Z=1 identifies the topmost level of storage containers, i.e., the level immediately below the rail system 108, Z=2 identifies the second level below the rail system 108, and Z=3 identifies the third level, etc. In the exemplary prior art disclosed in FIG. 1 , Z=8 identifies the bottommost level, the bottom level, of storage containers. Similarly, X=1...n and Y=1...n identify the position of each storage post 105 in a horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z represented by FIG. 1 , it can be said that the storage container identified as 106' in FIG. 1 occupies storage position X=10, Y=2, Z=3. It can be said that the container handling vehicle 201, 301 is traveling in level Z=0, and each storage post 105 can be identified by its X and Y coordinates.

[0009] The storage volume of the frame structure 100 is generally referred to as a grid 104, wherein the possible storage locations within the grid are referred to as storage cells. Each storage column can be identified by its position in the X and Y directions, and each storage cell can be identified by its container number in the X, Y and Z directions.

[0010] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and loading storage containers 106 when transporting the storage containers 106 across the rail system 108. The storage space may include a cavity arranged in the center of the vehicle body 201a, as shown in Figure 2 and as described in, for example, WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0011] Figure 3 shows an alternative configuration of a container handling vehicle 301 having a cantilevered construction. Such a vehicle is described in detail in, for example, NO 317366, the contents of which are also incorporated herein by reference.

[0012] The central cavity container handling vehicle 201 shown in FIG2 can have a footprint that covers an area with dimensions in the X and Y directions, which is generally equal to the lateral extent of the storage column 105, such as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" can mean "horizontal."

[0013] Alternatively, the footprint of the center cavity container handling vehicle 101 may be larger than the lateral area defined by the storage columns 105 , such as disclosed in WO 2014 / 090684 A1 .

[0014] The guide rail system 108 typically includes a guide rail having grooves in which the vehicle wheels run. Alternatively, the guide rail may include upwardly protruding elements, wherein the vehicle wheels include flanges to prevent derailment. These grooves and upwardly protruding elements are collectively referred to as tracks. Each guide rail may include a single track, or each guide rail may include two parallel tracks.

[0015] WO2018146304, the contents of which are incorporated herein by reference, describes a typical configuration of a guide rail system 108 comprising guide rails in the X and Y directions and parallel tracks.

[0016] In the frame structure 100, the majority of the columns 105 are storage columns 105, i.e., columns 105 in which storage containers 106 are stored in stacks 107. However, some columns 105 may have other uses. In FIG1 , columns 119 and 120 are dedicated columns used by container handling vehicles 201, 301 to unload and / or pick up storage containers 106 so that they can be transported to a storage and retrieval station (not shown), where the storage containers 106 can be accessed from outside the frame structure 100 or moved into or out of the frame structure 100. In the art, such locations are generally referred to as "ports," and the columns at which the ports are located may be referred to as "port columns" 119, 120. Transport to the retrieval station can be in any direction, i.e., horizontal, inclined, and / or vertical. For example, a storage container 106 can be placed in a random or dedicated column 105 within the frame structure 100, then picked up by any container handling vehicle and transported to a port column 119, 120 for further transport to the storage and retrieval station. It should be noted that the term "inclined" refers to the transport of storage containers 106 with a general transport orientation somewhere between horizontal and vertical.

[0017] In Figure 1, the first port column 119 can be, for example, a dedicated unloading port column, where the container handling vehicle 201, 301 can unload the storage container 106 to be transported to the access station or transfer station, and the second port column 120 can be a dedicated picking port column, where the container handling vehicle 201, 301 can pick up the storage container 106 that has been transported from the storage station or transfer station.

[0018] The access station may typically be a picking station or an inventory station, where product items are removed from or placed into the storage container 106. At the picking station or inventory station, the storage container 106 is typically not removed from the automated storage and retrieval system 1, but is returned to the frame structure 100 after access. The port may also be used to transfer the storage container to another storage facility (e.g., to another frame structure or another automated storage and retrieval system), a transport vehicle (e.g., a train or truck), or a production facility.

[0019] A conveyor system including conveyors is typically used to transport storage containers between the port posts 119, 120 and the access station.

[0020] If the port posts 119, 120 and the access station are located at different heights, the conveyor system may include a lifting device having a vertical component for transporting the storage container 106 vertically between the port posts 119, 120 and the access station.

[0021] The conveyor system may be arranged to transfer storage containers 106 between different frame structures, for example as described in WO 2014 / 075937 A1, the contents of which are incorporated herein by reference.

[0022] When a storage container 106 stored in one of the columns 105 disclosed in FIG1 is to be accessed, one of the container handling vehicles 201 or 301 is instructed to retrieve the target storage container 106 from its location and transport it to the unloading port column 119. This operation involves moving the container handling vehicle 201 or 301 to a position above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using the lifting equipment (not shown) of the container handling vehicle 201 or 301, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, the operation also involves temporarily moving the above-located storage containers before lifting the storage container 106 from the storage column 105. This step, sometimes referred to in the art as "digging," can be accomplished by the same container handling vehicle that is subsequently used to transport the target storage container to the unloading port column 119, or by one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have container handling vehicles 201, 301 that are dedicated to the task of temporarily removing storage containers 106 from storage columns 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container 106 may be relocated to the original storage column 105. However, the removed storage container 106 may alternatively be relocated to another storage column 105.

[0023] When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201, 301 is instructed to pick up the storage container 106 from the pick port column 120 and transport it to a position above the storage column 105 where it will be stored. After any storage containers 106 located at or above the target location within the stack 107 have been removed, the container handling vehicle 201, 301 positions the storage container 106 at the desired location. The removed storage container 106 can then be lowered back into the storage column 105 or relocated to another storage column 105.

[0024] In order to monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the positions of the corresponding storage containers 106 within the frame structure 100, the contents of each storage container 106; and the movement of the container handling vehicles 201, 301 so that the desired storage container 106 can be delivered to the desired location at the desired time without the container handling vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0025] In WO2015104263A2 (the contents of which are incorporated herein by reference), a storage system is described as having a plurality of charging stations at the perimeter of a storage grid, each charging station having the ability to charge the power storage source on each container handling vehicle.

[0026] WO2019206490, (the contents of which are incorporated herein by reference) describes a storage system having a charging station for charging and / or exchanging replaceable power storage sources of a container handling vehicle. Instead of waiting at a charging station, a container handling vehicle can leave an exhausted or nearly exhausted power storage source at a first charging station and pick up a charged power storage source at another charging station (usually next to the first charging station). The container handling vehicle may be provided with an auxiliary power source, such as a battery, for moving between charging stations. The container handling vehicle may also be provided with multiple replaceable power storage sources. Figure 4 shows an exemplary container handling vehicle 3 having a replaceable power storage source electrically connected to a charging station 40.

[0027] NO20191118 (the contents of which are incorporated herein by reference) describes a storage system that is provided with a plurality of charging racks for receiving and charging a plurality of replaceable power storage sources for a container handling vehicle, and an automated loader vehicle for inserting and retrieving replaceable power storage sources from charging locations in the container handling vehicle and the charging racks at different heights. The automated loader vehicle allows the power storage source on the container handling vehicle to be replaced at any position on the guide rail system. FIG5 shows an exemplary loader vehicle 50 that holds a replaceable power storage source 51.

[0028] The charger communicates with a central control system for charger control and diagnostics. The charger can communicate with the central control system directly (wired or wireless) or via a container handling vehicle or other vehicle. A problem with the prior art is that when a charger malfunctions, such as due to a power failure, the charger may be unable to transmit charger diagnostic information to the central control system. The central control system may classify the error as a communication failure, but this is a general error and provides insufficient guidance to the storage system user on how to resolve the root cause of the charger failure.

[0029] In view of the foregoing, it would be desirable to provide automated storage and retrieval systems, and methods for operating such systems, that solve or at least alleviate one or more of the above-mentioned problems associated with the use of prior art storage and retrieval systems. Summary of the Invention

[0030] The present invention is set forth and characterized in the independent claim, while the dependent claims describe further characteristics of the invention.

[0031] In one aspect, the present invention relates to an automated storage and retrieval system comprising:

[0032] a rail system having a first set of parallel rails extending in a first direction and a second set of parallel rails extending in a second direction, wherein the second direction is perpendicular to the first direction;

[0033] at least one vehicle operating on the guideway system, the vehicle including at least one power storage source, and a local controller adapted to control movement of the at least one vehicle;

[0034] at least one charging station located on or about the rail system and adapted to be electrically connected to the at least one power storage source of the at least one vehicle; and

[0035] a control system adapted to communicate with the local controller in the at least one vehicle and the at least one charging station, wherein

[0036] The control system is further adapted to instruct the at least one vehicle to move to the at least one charging station upon detecting a fault with the charging station such that the at least one power storage source of the vehicle is electrically connected to the at least one charging station, and the at least one charging station is further adapted to transmit charger diagnostics to the central operations controller using power from the at least one power storage source of the vehicle.

[0037] The charging station may include a charger communication device adapted to communicate with the control system, and the charger communication device may be adapted to receive power from the at least one power storage source to transmit the charger diagnostics to the control system.

[0038] Detecting the fault with the charging station may include detecting a communication fault with the charger communication device of the charging station.

[0039] Alternatively, the at least one charging station may include a charger communication device adapted to communicate indirectly with the control system via a vehicle communication device in a vehicle electrically connected to the charging station, and the charger communication device may be further adapted to receive power from the at least one power storage source to transmit the charger diagnostics to the control system via the vehicle communication device.

[0040] Detecting the fault with the charging station may include detecting a communication failure between the charger communication device and the vehicle communication device.

[0041] The control system may be further adapted to determine the presence of a power storage source at the at least one charging station before instructing the at least one vehicle to move to the at least one charging station, and wait a predetermined time for the at least one charging station to transmit the charger diagnostic using power from the present power storage source.

[0042] The control system may be further adapted to instruct a second vehicle to remove the current electricity storage source before instructing the at least one vehicle to move to the at least one charging station.

[0043] At least one of the vehicles may be a container handling vehicle operating on the rail system to receive storage containers from and deliver storage containers to storage columns arranged in rows between the upright and horizontal members of the frame structure, and also to transport the storage containers over or under the storage columns.

[0044] The at least one power storage source may be a replaceable power storage source.

[0045] The at least one vehicle may be a loader vehicle for inserting and retrieving the replaceable electricity storage source from the second vehicle and inserting and retrieving the replaceable electricity storage source from the at least one charging station.

[0046] The charger diagnostics may include at least one of a power breaker status, an internal AC breaker status in a rectifier, and an error log.

[0047] In a second aspect, the present invention relates to a method of determining a status of at least one charging station in an automated storage and retrieval system, comprising: a rail system having a first set of parallel rails extending in a first direction and a second set of parallel rails extending in a second direction, wherein the second direction is perpendicular to the first direction;

[0048] at least one vehicle operating on the guideway system, the vehicle including at least one power storage source, and a local controller adapted to control movement of the at least one vehicle;

[0049] The at least one charging station, located on or around the rail system, is adapted to be electrically connected to the at least one power storage source of the at least one vehicle, wherein the method comprises:

[0050] - detecting a fault associated with said at least one charging station,

[0051] - instructing said at least one vehicle to move to said at least one charging station so that said at least one electricity storage source of said vehicle is electrically connected to said at least one charging station,

[0052] - using power from the at least one power storage source of the vehicle to receive charger diagnostics transmitted from the at least one charging station, and

[0053] - determining a status of the charging station based on the charger diagnostics received from the at least one charging station.

[0054] The method may further include determining the presence of a power storage source at the at least one charging station before instructing the at least one vehicle to move to the at least one charging station, and waiting a predetermined time for the at least one charging station to transmit the charger diagnostic using power from the current power storage source.

[0055] The method may further include instructing a second vehicle to remove the current electricity storage source before instructing the at least one vehicle to move to the at least one charging station.

[0056] The charger diagnostics may include at least one of a power breaker status, an internal AC breaker status in a rectifier, and an error log.

[0057] In a third aspect, the present invention provides a computer program product for use in a control system of the system of the first aspect, wherein the computer program product comprises instructions for performing the method of the third aspect when executed on the control system.

[0058] In a fourth aspect, the present invention provides a charging station on or at a periphery of a rail system in an automated storage and retrieval system, comprising: a rail system having a first set of parallel rails extending in a first direction and a second set of parallel rails extending in a second direction, wherein the second direction is perpendicular to the first direction; at least one vehicle operating on the rail system, the vehicle including at least one power storage source and a local controller adapted to control movement of the at least one vehicle; a control system adapted to communicate with the local controller in the at least one vehicle and the charging station and adapted to instruct the at least one vehicle to move to the at least one charging station upon detecting a fault associated with the charging station, wherein the charging station comprises:

[0059] a connector adapted to electrically connect to the at least one power storage source of the vehicle;

[0060] at least one charger communication device adapted to communicate with the control system;

[0061] at least one processor adapted to perform charger diagnostics for the charging station; and

[0062] an electronic circuit adapted to receive power from the at least one power storage source of the vehicle via the connector and to supply power to the charger communication device and the at least one processor such that the processor performs charger diagnostics of the charging station and transmits the charger diagnostics to the control system using the at least one charger communication device.

[0063] The charging station may further include a memory connected to the electronic circuitry and the at least one processor, the memory including an error log for the charging station.

[0064] In a fifth aspect, the present invention provides a computer program for the processor in the charging station of the fourth aspect, wherein the computer program product comprises instructions for performing the following steps when executed on the at least one processor in the charging station:

[0065] Detecting power on the backup circuit,

[0066] Run diagnostics of the charging station,

[0067] Generate charger diagnostics, and

[0068] The charger diagnostics are transmitted to the control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] The following drawings are attached to facilitate understanding of the present invention. The drawings illustrate embodiments of the present invention, which will now be described by way of example only, in which:

[0070] FIG. 1 is a perspective view of a frame structure of a prior art automated storage and retrieval system.

[0071] 2 is a perspective view of a prior art container handling vehicle having a centrally disposed cavity for carrying storage containers therein.

[0072] 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying a storage container underneath.

[0073] 4 is a perspective view of a prior art container handling vehicle having a replaceable power storage source connected to a charging station.

[0074] 5 is a perspective view of a prior art loader vehicle for an electrical power storage source.

[0075] Figure 6 is a flow chart of an exemplary method of the present invention.

[0076] Figure 7 This is a schematic diagram of a charging station. DETAILED DESCRIPTION

[0077] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

[0078] The frame structure 100 of the automated storage and retrieval system 1 is constructed according to the frame structure 100 of the prior art described above in conjunction with Figures 1 to 3, i.e., a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102, and in addition, the frame structure 100 includes a first upper guide rail system 108 in the X direction and the Y direction.

[0079] The frame structure 100 further comprises storage compartments in the form of storage columns 105 arranged between the components 102 , 103 , wherein storage containers 106 can be stacked in stacks 107 within the storage columns 105 .

[0080] The frame structure 100 may have any dimensions. Specifically, it should be understood that the frame structure may be significantly wider and / or longer and / or deeper than that disclosed in Figure 1. For example, the frame structure 100 may have a horizontal extent of more than 700 x 700 columns and a storage depth of more than twelve containers.

[0081] One embodiment of an automated storage and retrieval system according to the present invention will now be discussed in more detail with reference to Figures 4 to 8.

[0082] The exact configuration of the container handling vehicle 3 shown in the figures can vary. Container handling vehicle 3 can, for example, be the container handling vehicles 201 and 301 shown in Figures 2 and 3. Container delivery vehicles can also be arranged for top-down retrieval of storage containers 106 and, therefore, include a container carrier arranged above the vehicle body to receive storage containers 106. This type of container delivery vehicle typically operates on a rail system below the rail system 108 of the storage grid 104. The delivery rail system 608 can be constructed in the same or similar manner as the rail system 108 used for the container handling vehicles 201 and 301 and have similar types of charger stations.

[0083] All vehicles 3, 50 of the automated storage and retrieval system 1 include a vehicle body and a wheel assembly (or any other rolling device / rolling apparatus) arranged in the lower portion of the vehicle body to enable lateral movement of the vehicle 3, 50, i.e., movement of the vehicle 3, 50 in the X and Y directions. Each of the vehicles 3, 50 operating on the guideway system 108 includes at least one power storage source and a local controller suitable for controlling the movement of the vehicle 3, 50. The vehicles 3, 50 typically communicate with the control system 500 via wireless communication, such as via a WLAN operating under the IEEE 802.11 (WiFi) standard and / or utilizing mobile communication technologies such as 4G or higher. At least one power storage source can be a removable power source or fixed within the vehicle 3, 50. Vehicles 3, 50 provided with more than one power storage source can be a combination of removable power storage sources and fixed power storage sources.

[0084] The system includes at least one charging station 40 on or near the rail system 108, adapted to electrically connect to at least one power storage source for at least one vehicle 3, 50. The electrical connection may be provided by any suitable connector known to those skilled in the art, such as a plug and socket, surface-to-surface, etc. A control system 500 is adapted to communicate with the at least one charging station 40. The charging station includes a charger communication device adapted to communicate with the control system 500 via wired or wireless communication means, such as a WLAN operating under the IEEE 802.11 (WiFi) standard and / or utilizing mobile communication technologies such as 4G or higher. The charging station 40 communicates with a central control system for charger control and diagnostics.

[0085] Upon detecting a fault with the associated charging station 40, the control system 500 may instruct the at least one vehicle 3, 50 to move to the at least one charging station 40 so that the at least one power storage source of the vehicle 3, 50 is electrically connected to the at least one charging station 40. In one embodiment, the charger communication device then receives power from the at least one power storage source and uses the power to transmit charger diagnostics to the control system 500. Detecting the fault with the associated charging station may include detecting a communication fault with the charger communication device of the associated charging station 40.

[0086] If the control system 500 receives the charging station's charger diagnostics, it can use the information in the charger diagnostics and provide information about errors to be corrected to the operator of the automated storage and retrieval system 1 . If the control system 500 does not receive the charger diagnostics, it can be assumed that the charger station 40 or the charger communication device is defective. The charger diagnostics include at least one of the power breaker status, the internal AC breaker status in the rectifier, and an error log. Depending on the implementation, the charger diagnostics can take various formats, including a single code indicating a fault, a text message, or a data string. The vehicle's 3, 50 power storage source may not need to supply sufficient power to the charging station 40 for full operation. Power from the power storage source may only need to supply a portion of the charging station 40 sufficient to contact the charging station's internal processor to collect the error log and other relevant data and transmit diagnostics via the charger communication device. When the charging station's internal memory contains an error log, power only needs to be supplied to the internal processor, internal memory, and charger communication device. In another embodiment, the charging station 40 can perform self-diagnostics upon re-energizing power from the vehicle's 3, 50 power storage source.

[0087] In one embodiment, rather than communicating directly with the control system 500, at least one charging device 40 includes a charger communication device adapted to communicate indirectly with the control system 500 via a vehicle communication device in a vehicle 3, 50 electrically connected to the charging station 40. The charger communication device is further adapted to receive power from at least one power storage source in order to transmit charger diagnostics to the control system 500 via the vehicle communication device. In this embodiment, the control system 500 does not expect any communication with the charging station before a vehicle is sent to the charging station (e.g., to charge the power storage source). In this case, detecting a fault with the charging station 40 may include detecting a communication failure between the charger communication device and the vehicle communication device.

[0088] One possible scenario is that, while a vehicle 3, 50 is electrically connected to the charging station, the charging station's main power source fails. For example, the main power source may fail during charging due to an overloaded power circuit. The charging station may then switch to receiving power from the vehicle's power storage source already at the charging station. However, the power storage source may not have enough power to power the charging station 40. For example, the power storage source may have just reached depletion at the charging station 40.

[0089] The control system 500 tracks the location of the removable power storage sources in the charging station and the location of the vehicles 3, 50. Upon determining a fault with the charging station 40, the control system 500 determines the presence of a power storage source at the at least one charging station 40 before instructing the at least one vehicle 3, 50 to move to the at least one charging station 40. This indicates that the charging station 40 may be receiving power from the power storage sources of the vehicles already present at the charging station. However, as previously described, the power storage sources may not have sufficient power to power the charging station. The control system 500 then waits a predetermined time for the at least one charging station 40 to receive a charger diagnostic using the power transfer from the current power storage source. If the control system 500 receives the diagnostic within the predetermined time, the control system 500 may determine that the current power storage source is insufficient and instruct the at least one vehicle 3, 50 to move to the at least one charging station 40 providing another power storage source.

[0090] In some cases, there may not be room for a new vehicle and / or power storage source at the charging station 40. In this case, the control system (500) instructs the second vehicle 3, 50 to remove the current power storage source and then instructs at least one vehicle 3, 50 to move to at least one charging station 40.

[0091] 3 is a flow chart of a method 600 for determining the status of charging stations 40 in the automated storage and retrieval system 1 as described above. In a first step 601, if a fault is detected with respect to at least one charging station 40, the method proceeds to step 602. If no fault is detected, step 601 is repeated until a fault is detected.

[0092] In step 602 , at least one vehicle 3 , 50 including an electricity storage source is instructed to move to at least one charging station 40 such that the at least one electricity storage source of the vehicle 3 , 50 is electrically connected to the at least one charging station 40 .

[0093] In step 603 , charger diagnostics transmitted from at least one charging station 40 are received using power from at least one power storage source of the vehicle 3 , 50 , and then in step 604 , a status of the charger station 40 is determined based on the charger diagnostics from the at least one charger station 40 .

[0094] In step 606, prior to step 602, it is determined whether a power storage source is present at at least one charging station 40. If this is not the case, the method proceeds to step 602. If a power storage source is present at at least one charging station 40, the method proceeds to steps 607 and 608, waiting for a predetermined time for at least one charging station 40 to transmit charger diagnostics using power from the current power storage source.

[0095] If a charger diagnostic is not received before the predetermined time has elapsed, the method proceeds to step 602, which instructs the vehicle 3, 50 to move to at least one charging station 40 so that at least one power storage source of the vehicle 3, 50 is electrically connected to the at least one charging station 40. If a charger diagnostic is received before the predetermined time has elapsed, the method proceeds to step 604, which determines the status of the charging station 40.

[0096] In some embodiments, before instructing at least one vehicle 3 , 50 to move to at least one charging station, it may be necessary to instruct a second vehicle 3 , 50 to remove a current power storage source.

[0097] Figure 7 is a schematic diagram of a charging station 40. The charging station 40 includes a connector 700 adapted to electrically connect to at least one power storage source of the vehicle 3 or 50. The electrical connection may be provided by any suitable connector known to those skilled in the art, such as a plug and socket, surface-to-surface connection, or the like. The charging station 40 also includes at least one charger communication device 701 adapted to communicate with the control system 500. The charger communication device 701 may communicate directly with the control system 500 or indirectly via a communication device of the vehicle 3 or 50. Also shown is a processor 702, which may be one of multiple processors as needed. The processor 702 is adapted to perform charger diagnostics for the charging station. Charge diagnostics may be performed by reading an error log from a memory 704 in the charger station 40. The charging station 40 also includes electronic circuitry 703 adapted to receive power from the at least one power storage source of the vehicle 3 or 50 and supply power to the charger communication device 701 and the at least one processor 702, enabling the processor 702 to perform charger diagnostics for the charging station 40 and transmit the charger diagnostics to the control system 500 using the at least one charger communication device 701. The electronic circuit 703 may include a normally closed relay switch connected to electrical connectors of the main power source and the vehicle's power storage source, which switches to receiving power from at least one power storage source of the vehicle 3, 50 in the event of a power failure.

[0098] The system includes at least one charging station 40 on or near the rail system 108, adapted to electrically connect to at least one power storage source for at least one vehicle 3, 50. The electrical connection may be provided by any suitable connector known to those skilled in the art, such as a plug-and-socket, surface-to-surface, or the like. A control system 500 is adapted to communicate with the at least one charging station 40. The charging station includes a charger communication device adapted to communicate with the control system 500 via wired or wireless communication means, such as a WLAN operating under the IEEE 802.11 (WiFi) standard and / or utilizing mobile communication technologies such as 4G or higher. The charging station 40 is in communication.

[0099] In the foregoing description, various aspects of the delivery vehicle and automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. For purposes of explanation, specific numbers, systems, and configurations are listed to provide a thorough understanding of the system and its operation. However, this description is not intended to be construed as limiting. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, that are apparent to those skilled in the art to which the disclosed subject matter pertains are intended to fall within the scope of the present invention.

[0100] Reference Number List

[0101] Existing technology (Figures 1-3):

[0102] 1 Prior Art Automated Storage and Retrieval Systems

[0103] 100 frame structure

[0104] 102 Vertical members of frame structure

[0105] 103 Horizontal members of frame structures

[0106] 104 Storage Grid

[0107] 105 Storage Column

[0108] 106 Storage Containers

[0109] Specific location of the 106' storage container

[0110] 107 Stacking

[0111] 108 rail system

[0112] 110 parallel guide rails along the first direction (X)

[0113] 110a A first guide rail along a first direction (X)

[0114] 110b A second guide rail along the first direction (X)

[0115] 111 Parallel guide rails along the second direction (Y)

[0116] 111a First guide rail in the second direction (Y)

[0117] 111b Second guide rail in the second direction (Y)

[0118] 112 access opening

[0119] 119 First port column

[0120] 120 Second port column

[0121] 201 Prior Art Storage Container Vehicle

[0122] 201a Body of the storage container vehicle 201

[0123] 201b Drive / wheel arrangement, first direction (X)

[0124] 201c Drive / wheel arrangement, second direction (Y)

[0125] 301 Prior Art Cantilever Storage Container Vehicle

[0126] 301a Body of the storage container vehicle 301

[0127] 301b driving device along the first direction (X)

[0128] 301c Driving device along the second direction (Y)

[0129] 304 crawler

[0130] 500 control system

[0131] X first direction

[0132] Y second direction

[0133] Z third direction

[0134] Figure 4-7:

[0135] 3 Storage container vehicles

[0136] 40 charging stations

[0137] 50 loader vehicles

[0138] 51 Replaceable power storage source

[0139] 600 Method for determining the status of a charging station

[0140] 601 Charging station related fault

[0141] 602 Moving a vehicle including a power storage source to a charging station

[0142] 603 Receive charger diagnostics from a charging station powered by a power storage source

[0143] 604 Determine the status of the charging station

[0144] 605 Method End

[0145] 606 There is a power storage source at the charging station

[0146] 607 Received charger diagnostics from charging station

[0147] 608 Scheduled time has passed

[0148] 700 Connectors

[0149] 701 Charger Communication Equipment

[0150] 702 At least one processor

[0151] 703 Electronic Circuits

[0152] 704 Memory

Claims

1. An automated storage and retrieval system (1), comprising: A guide rail system (108), the guide rail system having a first set of parallel guide rails (110) extending along a first direction (X) and a second set of parallel guide rails (111) extending along a second direction (Y), wherein the second direction (Y) is perpendicular to the first direction (X); at least one vehicle (3, 50), the at least one vehicle operating on the guideway system (108), the vehicle (3, 50) including at least one power storage source, and a local controller adapted to control movement of the at least one vehicle (3, 50); at least one charging station (40) located on or near the rail system (108) and adapted to be electrically connected to the at least one power storage source of the at least one vehicle (3, 50); and a control system (500) adapted to communicate with the local controller in the at least one vehicle (3, 50) and the at least one charging station (40); in, The control system (500) is further adapted to instruct the at least one vehicle (3, 50) to move to the at least one charging station (40) upon detecting a fault with the charging station (40), such that the at least one power storage source of the vehicle (3, 50) is electrically connected to the at least one charging station (40); and The at least one charging station (40) is further adapted to transmit charger diagnostic information to the control system (500) using power from the at least one power storage source of the at least one vehicle (3, 50).

2. The system according to claim 1, wherein: The at least one charging station (40) includes a charger communication device adapted to communicate with the control system (500), and the charger communication device is further adapted to receive power from the at least one power storage source to transmit the charger diagnostic information to the control system (500).

3. The system according to claim 2, wherein: Detecting a fault associated with the charging station includes detecting a communication fault associated with the charger communication device of the charging station (40).

4. The system according to claim 1, wherein: The at least one charging station includes a charger communication device adapted to communicate indirectly with the control system (500) via a vehicle communication device in the at least one vehicle (3, 50) electrically connected to the charging station (40), and the charger communication device is further adapted to receive power from the at least one power storage source to transmit the charger diagnostic information to the control system (500) via the vehicle communication device.

5. The system according to claim 4, wherein: Detecting a fault with the charging station includes detecting a communication failure between the charger communication device and the vehicle communication device.

6. The system according to any one of claims 1 to 5, wherein: The control system (500) is further adapted to determine the presence of a power storage source at the at least one charging station (40) before instructing the at least one vehicle (3, 50) to move to the at least one charging station (40), and to wait a predetermined time for the at least one charging station (40) to transmit the charger diagnostic information using power from the current power storage source.

7. The system according to claim 6, wherein: The control system (500) is adapted to instruct a second vehicle (3, 50) to remove a current power storage source before instructing the at least one vehicle (3, 50) to move to the at least one charging station (40).

8. The system according to any one of claims 1 to 5, wherein: At least one of the vehicles is a container handling vehicle (3) that operates on the rail system (108) to receive storage containers (106) from storage columns (105) and deliver storage containers (106) to the storage columns, which are arranged in rows between the upright members (102) and horizontal members (103) of the frame structure (100), and also transports the storage containers (106) above or below the storage columns (105).

9. The system according to any one of claims 1 to 5, wherein: The at least one power storage source is a replaceable power storage source.

10. The system according to any one of claims 1 to 5, wherein: The at least one vehicle is a loader vehicle (50) for inserting and retrieving a replaceable electricity storage source from a second vehicle and inserting and retrieving a replaceable electricity storage source from the at least one charging station (40).

11. The system according to any one of claims 1 to 5, wherein: The charger diagnostic information includes at least one of a power breaker status, an internal AC breaker status in a rectifier, and an error log.

12. A method of determining a status of at least one charging station (40) in an automated storage and retrieval system (1), the automated storage and retrieval system comprising: A guide rail system (108), the guide rail system having a first set of parallel guide rails (110) extending along a first direction (X) and a second set of parallel guide rails (111) extending along a second direction (Y), wherein the second direction (Y) is perpendicular to the first direction (X); at least one vehicle (3, 50), the at least one vehicle operating on the guideway system (108), the vehicle (3, 50) including at least one power storage source, and a local controller adapted to control movement of the at least one vehicle (3, 50); The at least one charging station (40), located on or near the rail system (108), is adapted to be electrically connected to the at least one power storage source of the at least one vehicle (3, 50), wherein the method comprises: - detecting a fault associated with said at least one charging station, - instructing the at least one vehicle (3, 50) to move to the at least one charging station (40) so that the at least one power storage source of the vehicle (3, 50) is electrically connected to the at least one charging station (40); - receiving charger diagnostic information, wherein the charger diagnostic information is transmitted from the at least one charging station (40) using power from the at least one power storage source of the at least one vehicle (3, 50), and - determining a status of the charging station (40) based on the charger diagnostic information received from the at least one charging station.

13. The method according to claim 12, wherein: The method further includes determining the presence of a power storage source at the at least one charging station (40) before instructing the at least one vehicle (3, 50) to move to the at least one charging station (40), and waiting a predetermined time for the at least one charging station (40) to transmit the charger diagnostic information using power from the current power storage source.

14. The method according to claim 13, wherein: The method also includes instructing a second vehicle (3, 50) to remove the current power storage source before instructing the at least one vehicle (3, 50) to move to the at least one charging station (40).

15. The method according to any one of claims 12 to 14, wherein The charger diagnostic information includes at least one of a power breaker status, an internal AC breaker status in a rectifier, and an error log.

16. A computer program product for a control system (500) in a system according to any one of claims 1 to 11, wherein: The computer program product comprises instructions for performing the method according to any one of claims 12 to 15 when executed on the control system (500).

17. A charging station (40) for use on or around a rail system (108) of an automated storage and retrieval system (1), comprising: A guide rail system (108), the guide rail system having a first set of parallel guide rails (110) extending along a first direction (X) and a second set of parallel guide rails (111) extending along a second direction (Y), wherein the second direction (Y) is perpendicular to the first direction (X); at least one vehicle (3, 50), the at least one vehicle operating on the guideway system (108), the vehicle (3, 50) including at least one power storage source, and a local controller adapted to control movement of the at least one vehicle (3, 50); a control system (500) adapted to communicate with the local controller in the at least one vehicle (3, 50) and the charging station (40), and adapted to instruct the at least one vehicle (2, 50) to move to the at least one charging station (40) upon detecting a fault with the charging station (40), Wherein, the charging station includes: a connector (700) adapted to be electrically connected to the at least one power storage source of the vehicle (3, 50); at least one charger communication device (701), the at least one charger communication device being adapted to communicate with the control system (500); at least one processor (702) adapted to execute charger diagnostic information for the charging station (40); and An electronic circuit (703) is adapted to receive power from the at least one power storage source of the vehicle (3, 50) via the connector (700) and to supply power to the charger communication device (701) and the at least one processor (702), so that the processor (702) executes charger diagnostic information of the charging station (40) and transmits the charger diagnostic information to the control system (500) using the at least one charger communication device (701).

18. The charging station according to claim 17, wherein: The charging station further comprises a memory (704) connected to the electronic circuit (703) and the at least one processor (702), the memory (704) comprising an error log of the charging station (40).

19. A computer program product for use in the processor (702) in the charging station (40) according to claim 17 or 18, wherein The computer program product includes instructions that, when executed on the at least one processor (702) in the charging station (40), perform the following steps: Detecting power on the backup circuit, running diagnostics of the charging station (40), Generate charger diagnostic information, and The charger diagnostic information is transmitted to the control system (500).

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