Service vehicle with vehicle enclosure
By installing vehicle fencing on maintenance vehicles, including entrance and exit barriers, the safety risks of remotely operated vehicles during maintenance on rail systems are addressed, ensuring controlled vehicle movement and operator safety, and enabling a safe and efficient maintenance process.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- AUTOSTORE TECH AS
- Filing Date
- 2021-11-15
- Publication Date
- 2026-07-10
AI Technical Summary
When a remotely operated vehicle moving on a track system malfunctions, the maintenance vehicle may need to be moved onto the track system for repairs. However, there are safety risks associated with operators moving around on the maintenance vehicle, and the remotely operated vehicle may move unintentionally and out of control.
Design a maintenance vehicle equipped with a vehicle fence, including entrance and exit barriers, to control the entry and exit of the remotely operated vehicle, ensuring that the vehicle remains under control during maintenance. The vehicle fence consists of movable barriers, and an automatic control system regulates the opening and closing of the barriers to prevent unintentional vehicle movement.
It provides a safe maintenance environment, prevents remotely operated vehicles from moving unintentionally during maintenance, ensures the safety of operators and facilities, and enables controlled maintenance of faulty vehicles.
Smart Images
Figure CN116472197B_ABST
Abstract
Description
[0001] This invention relates to a maintenance vehicle for operation on a track system for storing and retrieving grids. The maintenance vehicle is configured to retrieve a remotely operated vehicle for maintenance, wherein the maintenance vehicle includes a vehicle pen with an entrance barrier and an exit barrier to regulate the passage of the remotely operated vehicle between a first vehicle area and a second vehicle area of the maintenance vehicle.
[0002] Background Technology and Existing Technology
[0003] Figure 1 discloses a typical prior art automated storage and retrieval system 1 with a frame structure 100, and Figures 2 and 3 disclose two different prior art container handling vehicles 201 and 301 suitable for operation on such system 1.
[0004] The frame structure 100 includes upright members 102, horizontal members 103, and storage volumes comprising storage rows 105 arranged in rows between the upright members 102 and the horizontal members 103. In these storage rows 105, storage containers 106 (also referred to as boxes) are stacked one on top of another to form a stack 107. Members 102 and 103 can typically be made of metal (e.g., extruded aluminum profiles).
[0005] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged across the top of the frame structure 100. Multiple container handling vehicles 201, 301 operate on the track system 108 to raise and lower storage containers 106 from storage columns 105 into the columns, and also to transport storage containers 106 above the storage columns 105. The track system 108 includes: a first set of parallel tracks 110 arranged to guide the container handling vehicles 201, 301 along a first direction X across the top of the frame structure 100; and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 201, 301 in a second direction Y perpendicular to the first direction X. Containers 106 stored in the columns 105 are accessed by the container handling vehicles through access openings 112 in the track system 108. Container handling vehicles 201 and 301 can move laterally above storage column 105, that is, in a plane parallel to the horizontal XY plane.
[0006] During the raising of containers from column 105 and the lowering of containers into the column, the upright members 102 of the frame structure 100 can be used to guide the storage containers. The stack 107 of containers 106 is typically self-supporting.
[0007] Each prior art container handling vehicle 201, 301 includes a vehicle body 201a, 301a and a first set of wheels and a second set 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, two wheels in each set are fully visible. The first set of wheels 201b, 301b are arranged to engage with two adjacent tracks of the first set of tracks 110, and the second set of wheels 201c, 301c are arranged to engage with two adjacent tracks of the second set of tracks 111. At least one set of wheels 201b, 301b, 201c, 301c can be raised and lowered, such that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c can engage with the corresponding set of tracks 110, 111 at any time.
[0008] Each prior art container handling vehicle 201, 301 also includes a lifting device (not shown) for vertically transporting the storage container 106, such as raising the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column. The lifting device includes one or more clamping / engaging devices adapted to engage the storage container 106, and these clamping / engaging devices can be lowered from the vehicle 201, 301 such that the position of the clamping / engaging devices 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. Some portions of the clamping device of the container handling vehicle 301 are shown in FIG. 3, indicated by reference numeral 304. The clamping device of the container handling vehicle 201 is located within the vehicle body 201a in FIG. 2.
[0009] Traditionally, and also for the purposes of this application, Z=1 identifies the uppermost layer of the storage container, i.e., the layer directly below the track system 108; Z=2 identifies the second layer below the track system 108; Z=3 identifies the third layer, and so on. In the exemplary prior art disclosed in FIG1, Z=8 identifies the bottommost layer of the storage container. Similarly, X=1…n and Y=1…n identify the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z shown in FIG1, the storage container identified as 106' in FIG1 can be referred to as occupying storage positions X=10, Y=2, Z=3. Container transport vehicles 201, 301 can be referred to as traveling in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates.
[0010] The storage volume of the frame structure 100 is typically referred to as grid 104, and the possible storage locations within this grid are referred to as storage cells. Each storage column can be identified by its position in the X and Y directions, while each storage cell can be identified by its container number in the X, Y, and Z directions.
[0011] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and loading the storage container 106 when transporting the storage container 106 across the track system 108. The storage space may include a cavity centrally located within the vehicle body 201a, as shown in FIG2, and, for example, described in WO2015 / 193278A1, the contents of which are incorporated herein by reference.
[0012] Figure 3 shows an alternative construction of the container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail, for example, in NO317366, the contents of which are also incorporated herein by reference.
[0013] The central cavity container transport vehicle 201 shown in Figure 2 may have an occupying space covering an area along the X and Y directions, the size of which is generally equal to the lateral extent of the storage column 105, as described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein may mean “horizontal”.
[0014] Alternatively, the space occupied by the central cavity container transport vehicle 101 may be greater than the lateral area defined by the storage column 105, as disclosed in WO2014 / 090684A1, for example.
[0015] The track system 108 typically includes a track with grooves in which the vehicle's wheels travel. Alternatively, the track may include upwardly projecting elements, where the vehicle's wheels include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track may include one guide rail, or each track may include two parallel guide rails.
[0016] WO2018 / 146304 (the contents of which are incorporated herein by reference) shows a typical construction of a track system 108 comprising tracks and parallel guides in both the X and Y directions.
[0017] In frame structure 100, most columns 105 are storage columns 105, i.e., columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may serve other purposes. In Figure 1, columns 119 and 120 are dedicated columns for unloading and / or picking up storage containers 106 using container handling vehicles 201 and 301, so that they can be transported to an access station (not shown), where storage containers 106 can be accessed from outside frame structure 100, or moved in or out of frame structure 100. In the art, such a location is commonly referred to as a “port,” and the columns containing the ports may be referred to as “port columns” 119 and 120. Transport to the access station can be in any direction, i.e., horizontal, inclined, and / or vertical. For example, storage containers 106 may be placed in random or dedicated columns 105 within frame structure 100 and then picked up and transported by any container handling vehicle to port columns 119 and 120 for further transport to the access station. Note that the term "inclined" refers to the transport of storage container 106 having a general transport orientation in some direction between horizontal and vertical.
[0018] In Figure 1, the first port column 119 may be a dedicated unloading port column, in which container handling vehicles 201 and 301 can unload the transported storage container 106 to the storage station or transfer station, and the second port column 120 may be a dedicated pickup port column, in which container handling vehicles 201 and 301 can pick up the storage container 106 that has been transported from the storage station or transfer station.
[0019] The storage and retrieval station is typically a pick-up station or a stocking station where product items are removed from or positioned within the storage container 106. At the pick-up station or stocking station, the storage container 106 is not typically removed from the automated storage and retrieval system 1, but rather returned to the frame structure 100 after retrieval. The port can 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), to a transport vehicle (e.g., a train or truck), or to a production facility.
[0020] Storage containers are typically transported between port lines 119, 120 and the access station using a transmitter system that includes a transmitter.
[0021] If port columns 119, 120 and access stations are located at different heights, the conveyor system may include a lifting device with vertical components for vertically transporting storage container 106 between port columns 119, 120 and access stations.
[0022] The transport system can be arranged to transfer storage container 106 between different frame structures, such as those described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.
[0023] When access is required for a storage container 106 stored in a column 105 shown in Figure 1, a container handling vehicle 201, 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, 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 device (not shown) of the container handling vehicle 201, 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 positioned above the target storage container 106, the operation also involves temporarily moving the storage container positioned above it before lifting the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as “mining,” can be performed using the same container handling vehicle subsequently used to transport the target storage container to unloading port column 119, or using one or more other cooperating container handling vehicles.
[0024] Alternatively or additionally, the automated storage and retrieval system 1 may have container handling vehicles 201, 301 specifically designed for the task of temporarily removing storage containers from storage column 105. Once the target storage container 106 has been removed from storage column 105, the temporarily removed storage container 106 can be repositioned back into the original storage column 105. However, alternatively, the removed storage container 106 can be repositioned to another storage column 105.
[0025] When storage container 106 is to be stored in a column 105, a container handling vehicle 201, 301 is instructed to pick up storage container 106 from pick-up port column 120 and transport the storage container to a position above the storage column 105 to which it is to be stored. After all storage containers 106 positioned at or above the target location within the storage column stack 107 have been removed, the container handling vehicle 201, 301 positions the storage container 106 at the desired location. The removed storage container can then be lowered back into storage column 105 or repositioned to another storage column 105.
[0026] In order to monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of each storage container 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container transport vehicles 201, 301, so that the desired storage container 106 can be delivered to the desired location at a desired time without the container transport 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 keeping track of the storage containers 106.
[0027] When a remotely operated vehicle (ROV) sends a fault onto the track system, a maintenance vehicle may need to be moved onto the track system and retrieve the faulty vehicle for repair. The maintenance vehicle can be operated by a human operator, who may need to move around the maintenance vehicle's floor in certain situations to shut down the faulty vehicle or provide on-site repairs. If the ROV moves unintentionally, a hazardous situation may occur.
[0028] WO2019233632A1 relates to a maintenance vehicle for movement on a track system. The maintenance vehicle includes: a container vehicle transport section for mechanical interaction with a container transport vehicle operating on the track system; an operating section for controlling the operation of the maintenance vehicle; and a track chain for allowing movement of the maintenance vehicle. One advantage of WO2019233632A1 is that it does not preclude uncontrolled displacement of the remotely operated vehicle.
[0029] Therefore, the object of the present invention is to provide a safety device for workers and facilities on maintenance vehicles.
[0030] Another objective of this invention is to prevent remotely operated vehicles from moving uncontrollably. Summary of the Invention
[0031] This invention relates to a maintenance vehicle for operation in a track system for storing and retrieving grids. The maintenance vehicle is configured to retrieve remotely operated vehicles for maintenance.
[0032] Vehicles to be repaired include:
[0033] -In the first vehicle area, remotely operated vehicles can be received by maintenance vehicles while the remotely operated vehicles remain on the track system, and
[0034] - Second vehicle area: In the second vehicle area, remotely operated vehicles can be supported by maintenance vehicles for maintenance.
[0035] The first vehicle area is configured as a vehicle fence to keep the remotely operated vehicle in place before it enters the second vehicle area, and wherein the first vehicle area is connected to the second vehicle area for the remotely operated vehicle to pass through the vehicle fence.
[0036] Vehicle fencing includes:
[0037] -Entry barriers control access for remotely operated vehicles to maintenance vehicles and vehicle enclosures, and
[0038] - Exit barriers, located at the exit from the vehicle fence to the second vehicle area, to regulate the passage of remotely operated vehicles through the first vehicle area and into the second vehicle area.
[0039] The entrance barrier and the exit barrier may include movable barriers, each movable barrier being able to move between an open position and a closed position, allowing remotely operated vehicles to pass in the open position and restricting remotely operated vehicles to pass in the closed position, wherein the entrance barrier and the exit barrier are regulated and controlled such that the entrance barrier can only be opened when the exit barrier is closed, and vice versa.
[0040] Remotely operated vehicles can be container handling vehicles or delivery vehicles used to transport containers. These vehicles can operate on tracks at different levels of the automated storage and retrieval grid.
[0041] The track system for storing and retrieving the grid can be a container transport vehicle track system, on which container transport vehicles run to store and retrieve storage containers, or the track system can be a delivery track system, on which delivery vehicles run to transport storage containers between the storage grid and the retrieval station.
[0042] The maintenance vehicle can be a vehicle adapted to move on a track system for storing and retrieving grids to retrieve remotely operated vehicles for maintenance. In cases where the remotely operated vehicle cannot move towards the maintenance area on its own, the maintenance vehicle can be configured to remove the faulty vehicle. The maintenance vehicle can run on the track system via belts or wheels. The maintenance vehicle can be operated by an operator seated inside.
[0043] Maintenance vehicles include vehicle enclosures with entrance and / or exit barriers. The barriers may be movable and may be at least any of the following: gates, doors, and sliding walls, and the exit barrier may be a movable bar.
[0044] One or more movable barriers can be attached to a service vehicle so that the one or more movable barriers can slide, lift, extend, lower, or pivot relative to the service vehicle between an open position and a closed position.
[0045] Entrance barriers in the form of full-height gates, doors, or sliding walls can provide the dual function of controlling vehicle access and providing a safety barrier for operators working in the maintenance area of maintenance vehicles.
[0046] For exit barriers, a less conspicuous structure (such as a boom or gate) can be arranged to provide more space for remotely operated maintenance vehicles. Once a vehicle enters the second vehicle area, the exit barrier may need to be able to close easily. For example, a boom that pivots upwards and can then be lowered downwards might be ideal.
[0047] The height of the barrier can generally be higher than the vehicle base, providing a barrier that can easily stop vehicles. For an entrance barrier, it can have the dual function of providing a security barrier, and for an exit barrier, it may need to have an opening height that exceeds the height of other parts of the vehicle base.
[0048] When the entrance barrier is open, the remotely operated vehicle can be received within the vehicle fence in the first vehicle area. In this case, and according to the invention, the exit barrier is closed, thereby preventing the remotely operated vehicle from moving uncontrollably into the second vehicle area.
[0049] A remotely operated vehicle can move into the first vehicle area via self-propelled propulsion, or a maintenance vehicle can move or position itself relative to the remotely operated vehicle to enter the first vehicle area. When inside the vehicle enclosure of the first vehicle area, the entrance barrier is closed and the exit barrier is opened, thereby allowing the vehicle to enter the second vehicle area.
[0050] The remotely operated vehicle can be moved into the second vehicle area on its own, or it can be shut down and moved into the second vehicle area with the assistance of an operator or with the help of the handling equipment on the maintenance vehicle.
[0051] Therefore, when a remotely operated vehicle is located within a vehicle enclosure, an operator can approach the remotely operated vehicle so that it can be shut down and / or moved.
[0052] The maintenance vehicle may include a partition for separating the operator area from the first vehicle area and the second vehicle area. The partition may include at least one gate, door, or sliding wall for operator movement between the operator area and the second vehicle area.
[0053] The partition can be a wall arranged around the perimeter of the maintenance vehicle. This wall can be transparent to allow the operator to see through it. The partition can include at least any of the following: wall, fence, and structure.
[0054] The maintenance vehicle may include a vehicle base with motorized wheels arranged to allow the vehicle to move in a first lateral direction (X) and a second lateral direction (Y) of the track system.
[0055] The vehicle base may include a single unit with motorized wheels arranged to allow the vehicle to move in a first lateral direction (X) and a second lateral direction (Y) of the track system.
[0056] The area occupied by the vehicle base can correspond to the size of the storage grid cell, allowing two or more vehicle bases to be connected and move as a unit on the track system in both the X and Y directions.
[0057] The vehicle base may include multiple wheel modules, each wheel module having a first set of wheels configured to move the maintenance vehicle along a first lateral direction (X) of the track system and a second set of wheels configured to move the maintenance vehicle along a second lateral direction (Y) of the track system, the second direction (Y) being perpendicular to the first direction (X).
[0058] The wheel module can be configured to work together as an active wheel module and one or more driven wheel modules.
[0059] The height of each wheel module may be lower than the height of the remotely operated vehicle they are rescuing. The height of the wheel module can be approximately 30% to 50% of the height of the remotely operated vehicle. When repairing a faulty remotely operated vehicle, the height of the wheel module provides operators with a good working height.
[0060] The rectangular footprint of the maintenance vehicle can be missing wheel modules to provide a vehicle enclosure for remote operation of the vehicle.
[0061] The space occupied by the wheel modules can provide recesses forming a "dock" or "harbor" in which remotely operated vehicles can be parked within the perimeter of the maintenance vehicle. The sides of three adjacent wheel modules form low walls to prevent uncontrolled movement of the vehicle toward the operator standing on the work platform at the vehicle's base. A barrier of the vehicle enclosure further works to contain the remotely operated vehicle.
[0062] The first vehicle area can be considered to be at the track height, and the space within the first vehicle area is between a pair of wheel modules. The second vehicle area can be located at the height of the working platform on top of the vehicle base. Alternatively, the second vehicle area can be located on top of the wheel modules.
[0063] The vehicle base of the maintenance vehicle may include one or more vehicle module platforms arranged between the wheel modules. The vehicle module platforms are arranged to create the necessary space for a first vehicle area and a second vehicle area within the rectangular perimeter of the maintenance vehicle. A cab for the operator may be provided by one or more vehicle module platforms arranged between the two wheel modules.
[0064] The dimensions of the vehicle module platform can correspond to the dimensions of the vehicle module, and also to the dimensions of the grid cells of the track system, so that when the vehicle module platform is mounted on the maintenance vehicle, the dimensions of the maintenance vehicle correspond to the dimensions of multiple grid cells, so that the maintenance vehicle can move along the X and Y directions on the track system.
[0065] The wheel module can have a variety of different arrangements. However, in the case of a 3x3 vehicle, the second vehicle area can generally be located in the middle of the maintenance vehicle, allowing operators to approach the disabled vehicle from both sides.
[0066] Flooring can also be installed in the vehicle enclosure area. Once a remotely operated vehicle arrives at the second vehicle area and is being repaired, the flooring can prevent the operator from stepping on it or dropping tools into the storage containers below.
[0067] The upper surface of the vehicle base or the upper surface of one or more wheel modules can provide a walking surface for the operator.
[0068] The first vehicle area and the second vehicle area can be located between at least one pair of wheel modules. When an operator stands on the walking surface, they can access the remotely operated vehicle in either the first vehicle area or the second vehicle area.
[0069] The first vehicle area can be located at track height, and the space of the first vehicle area is between a pair of wheel modules. The second vehicle area can be located at the height of the work platform above the track height. The second vehicle area can also be located on top of the wheel modules and positioned in the plane between two wheel modules on both sides.
[0070] The second vehicle area may include a work platform or vehicle support for supporting one or more remotely operated vehicles, raising their wheels above the track system. In this way, operators can repair faulty vehicles or transport them to the repair area for maintenance.
[0071] The vehicle support can be a platform on which one or more remotely operated vehicles can move. The platform may be equipped with lifting or tilting devices to facilitate easy movement of the vehicles from the tracks onto the platform. Maintenance vehicles may also be equipped with winches to allow remotely operated vehicles to be pushed onto and secured to the platform.
[0072] Operators can manually push the vehicle from the first vehicle area into the second vehicle area, or there can be a drive on one or more mechanical lifting surfaces to raise the remotely operated vehicle to a working maintenance height.
[0073] Vehicle fencing can provide a holding zone for remotely operated vehicles between an entrance barrier and an exit barrier, the length and / or width of which substantially correspond to the length and / or width of the remotely operated vehicle.
[0074] Sensors can be deployed to record the position of movable barriers at the entrance and exit, and these sensors communicate with an automatic control system to regulate the movement of the movable barriers.
[0075] The sensor can communicate with the automatic control system to regulate locking or closing when the barrier is open and unlocking or opening when the barrier is closed.
[0076] The sensor can be located on the wheel module adjacent to the movable barrier of the entrance and exit barriers. The sensor can be an optical sensor that detects light reflection. Other or additional sensors for detecting the movable gate, such as acoustic or magnetically encoded sensors, can also be used. A sensor with a narrow beam may be advantageous in providing a stronger peak / trough signal in its output.
[0077] Entrance and exit barriers can be configured to be remotely locked, unlocked, opened, or closed using an automatic control system.
[0078] The present invention also relates to a method for using a maintenance vehicle to approach a remotely operated vehicle. The method includes the following steps:
[0079] - To move the maintenance vehicle on the track system toward the remotely operated vehicle that needs maintenance.
[0080] - Optionally, if the entrance barrier is not already open, the entrance barrier of the vehicle fence is opened after one or more sensors determine that the exit barrier is closed.
[0081] - To move a remotely operated vehicle through the vehicle fence entrance barrier or to move a maintenance vehicle to allow the remotely operated vehicle to enter the vehicle fence through the vehicle fence entrance barrier.
[0082] - Close the entrance barrier while remotely controlling the vehicle within the vehicle fence.
[0083] - Ensure the entrance barrier is in the closed or locked position.
[0084] - Unlock or open the exit barrier
[0085] - To enable the remotely operated vehicle to move through the exit barrier and into the second vehicle area for maintenance vehicles, and
[0086] -Optionally, close the exit barrier. Attached Figure Description
[0087] The following figures are attached to facilitate understanding of the invention. These figures illustrate embodiments of the invention, which will now be described by way of example only, in the figures:
[0088] Figure 1 is a perspective view of the framework structure of an existing automated storage and retrieval system.
[0089] Figure 2 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers therein.
[0090] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever for supporting storage containers below.
[0091] Figure 4 A maintenance vehicle is shown moving toward a faulty remote operation vehicle located on a track system (not shown).
[0092] Figure 5 The image shows a remotely operated vehicle positioned in the first vehicle area as a maintenance vehicle.
[0093] Figure 6 The image shows a remotely operated vehicle located in a maintenance vehicle within a first vehicle area, with the entrance barrier for the maintenance vehicle in the closed position within the first vehicle area.
[0094] Figure 7 The remotely operated vehicle is shown in a second location within the second vehicle area.
[0095] Figure 8 A maintenance vehicle is shown located on the track system, and a remotely operated vehicle is located in a second position within a second vehicle area.
[0096] Figures 9 to 10 It shows Figure 8 Different views of the implementation methods in the text. Detailed Implementation
[0097] In the following sections, embodiments of the invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that these drawings are not intended to limit the invention to the subject matter depicted in the drawings.
[0098] The frame structure 100 of the automatic storage and retrieval system 1 is constructed according to the prior art frame structure 100 described above in conjunction with Figures 1 to 3, namely, a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102, and furthermore, the frame structure 100 includes a first upper track system 108 in the X and Y directions.
[0099] The frame structure 100 also includes storage compartments arranged in the form of storage columns 105 between the members 102 and 103, wherein storage containers 106 can be stacked in the storage columns 105 in the form of stacks 107.
[0100] The frame structure 100 can be of any size. In particular, it should be understood that the frame structure can be wider and / or longer and / or deeper than disclosed in Figure 1. For example, the frame structure 100 can have a horizontal range of more than 700x700 columns and a storage depth of more than twelve containers.
[0101] Now refer to Figures 4 to 8 An embodiment of the repair vehicle 50 according to the present invention will be discussed in more detail.
[0102] Figure 4 A maintenance vehicle 50 according to a preferred embodiment of the invention is shown. The maintenance vehicle is arranged to operate on a track system of a storage and retrieval grid (not shown). The track system may be a container handling vehicle track system or a delivery vehicle track system, on which multiple remotely operated vehicles 201, 301 operate.
[0103] Repair vehicle 50 is configured to retrieve and / or receive remotely operated vehicles 201, 301 for repair purposes. Figure 4 As shown, the remotely operated vehicle 201 is a container handling vehicle 201 adapted to move on a track system (not shown) located above the storage column 105, and the storage containers 106 can be stacked in the storage column in the form of a stack 107.
[0104] If the remotely operated vehicle 201 malfunctions and is unable to move toward the maintenance area on its own, the maintenance vehicle 50 with an operator can move onto the track system 108 to remove the malfunctioning vehicle 201 or provide maintenance for the malfunctioning vehicle.
[0105] The maintenance vehicle 50 includes: a first vehicle area 51 in which the container transport vehicle 201 can be received by the maintenance vehicle 50 while the container transport vehicle 201 remains on the track system 108; and a second vehicle area 52 in which the container transport vehicle 201 can be supported by the maintenance vehicle 50 for maintenance.
[0106] The first vehicle area 51 is configured to retain the container transport vehicle 201 in a vehicle fence 53 before it enters (i.e., enters in a controlled manner) into the second vehicle area 52, and wherein the first vehicle area 51 is linked to the second vehicle area 52 for the container transport vehicle 201 to pass through the vehicle fence 53.
[0107] The vehicle enclosure 53 includes: an entrance barrier 55 that allows the container transport vehicle 201 to enter the maintenance vehicle 50 and the vehicle enclosure 53; and an exit barrier 56 at the exit from the vehicle enclosure to the second vehicle area 52 to regulate the container transport vehicle 201 to pass through the first vehicle area 51 and enter the second vehicle area 52.
[0108] Figure 5 The diagram shows a container transport vehicle 201 fully inside the first vehicle area 51 after passing through an entrance barrier 55, which serves as a movable door 55. The movable door can slide open to allow the container transport vehicle to be received into the first vehicle area 51. An exit barrier 56, which serves as a movable bar 56, prevents the container transport vehicle 201 from moving further into or being received into the second vehicle area 52.
[0109] The inlet and outlet barriers 55 and 56 are adapted to move between an open position, in which they allow the container transport vehicle 201 to pass, and in a closed position, they restrict the passage of the container transport vehicle 201. The inlet and outlet barriers 55 and 56 are modulated such that the inlet barrier 55 can only open when the outlet barrier 56 is closed, and vice versa. This is to prevent the container transport vehicle from unintentionally moving from one area to another.
[0110] like Figures 4 to 10 As shown, the maintenance vehicle 50 includes a partition 57, such as a wall, for separating an operator area from a first vehicle area and second vehicle areas 51, 52. The wall 57 may be arranged at the perimeter of the maintenance vehicle 50. The partition 57 may include a sliding door 58 arranged to allow operator access to the first vehicle area and second vehicle areas 51, 52.
[0111] The maintenance vehicle 50 includes a vehicle base with motorized wheels arranged to allow the vehicle to move in a first lateral direction (X) and a second lateral direction (Y) of the track system 108.
[0112] like Figures 8 to 10As shown, the vehicle base includes a plurality of wheel modules 60, each wheel module 60 having a first set of wheels configured to move the maintenance vehicle along a first lateral direction (X) of the track system 108 and a second set of wheels configured to move the maintenance vehicle along a second lateral direction (Y) of the track system 108, the second direction (Y) being perpendicular to the first direction (X).
[0113] The size and space occupied by each wheel module 60 can be similar to the size and space occupied by the grid cells of the track system 108, so that the maintenance vehicle can move on the track system 108 in both the X and Y directions.
[0114] The width of the wheel module 60 can correspond to the width of the faulty vehicle 201, so that the faulty vehicle can be received in the first vehicle area 51 of the repair vehicle 50.
[0115] The rectangular space occupied by the maintenance vehicle 50 can be arranged such that it lacks one or more wheel modules 60 to provide a first vehicle area and optionally a second vehicle area 51, 52 for the maintenance vehicle 50. The area lacking wheel modules 60 provides a recess forming a "dock" or "harbor" in which remotely operated vehicles 201, 301 are parked within the perimeter of the maintenance vehicle 50.
[0116] The sides of the wheel module can form low walls to prevent vehicles 201 and 301 from moving uncontrollably toward an operator standing on a work platform at the vehicle base. Barriers 55 and 56 of the vehicle enclosure further function to capture remotely operated vehicles 201 and 301.
[0117] The wheel module 60 can have different arrangements. However, in Figures 8 to 10 In the case of the 3x3 vehicle shown, the second vehicle area is basically located in the middle of the maintenance vehicle and allows operators to approach the robot's position on both sides, which can be advantageous.
[0118] The upper surface of the wheel module 60 or the upper surface of the vehicle base can provide a walking surface for the operator.
[0119] like Figures 4 to 7 As shown, the vehicle base of the maintenance vehicle 50 may include one or more vehicle module platforms 61 arranged between the wheel modules 60 to provide additional space for the first and second areas. A cab for the operator may be provided by one or more vehicle module platforms 61.
[0120] The dimensions of the vehicle module platform 61 can correspond to the dimensions of the vehicle base or wheel module 60, so that the vehicle module platform 61 can replace the wheel module 60.
[0121] exist Figures 8 to 10In this configuration, wheel module 60 is arranged between two wheel modules 60, resulting in a total of three wheel modules 60 arranged one after another. Figures 4 to 7 In this configuration, the intermediate wheel module 60 is replaced by the vehicle module platform 61, thus allowing for a simpler structure with fewer wheels but occupying the same space.
[0122] The second vehicle area 52 may include vehicle supports for supporting one or more remotely operated vehicles 201, 301, such that the wheels are raised above the track system 108. This allows vehicles 201, 301 to be carried by maintenance vehicle 50 and further moved into the maintenance area.
[0123] The support component can be platform 59, on which remotely operated vehicles can be pushed, towed, or lifted.
[0124] Reference number list:
[0125] 1. Existing technology: automated storage and retrieval system
[0126] 100 Frame Structure
[0127] 102. Upright members of a frame structure
[0128] 103 Horizontal members of frame structures
[0129] 104 Storage Grid
[0130] 105 Storage Columns
[0131] 106 Storage Containers
[0132] Specific location of 106' storage container
[0133] 107 Stacking
[0134] 108 orbital system
[0135] 110 Parallel track in the first direction (X)
[0136] 110a First orbit in the first direction (X)
[0137] 110b Second orbit in the first direction (X)
[0138] 111 Parallel track in the second direction (Y)
[0139] 111a First orbit in the second direction (Y)
[0140] 111b Second orbit in the second direction (Y)
[0141] 112 Access Opening
[0142] 119 First Port Column
[0143] 120 Second Port Column
[0144] 201 Existing technology storage container vehicles
[0145] 201a Storage Container Vehicle 201 Vehicle Body
[0146] 201b drive mechanism / wheel equipment, first direction (X)
[0147] 201c drive mechanism / wheel equipment, second direction (Y)
[0148] 301 Existing Technology Cantilever Storage Container Vehicle
[0149] 301a Storage Container Vehicle 301 Vehicle Body
[0150] 301b Drive device in the first direction (X)
[0151] 301c drive device in the second direction (Y)
[0152] 304 clamping device
[0153] 500 Control System
[0154] X First Direction
[0155] Y Second Direction
[0156] Z Third Direction
[0157] 50 Repair vehicles
[0158] 51 First Vehicle Area
[0159] 52 Second Vehicle Area
[0160] 53 Vehicle fence
[0161] 54 movable barriers
[0162] 55. Entrance Barrier
[0163] 56 Export Barriers
[0164] 57 partition
[0165] 58 Sliding Doors
[0166] 59 Platform
[0167] 60 Wheel Modules
[0168] 61 Vehicle Module Platform
[0169] 109 Central Computer System
Claims
1. A maintenance vehicle (50) for operation on a track system (108) for storing and retrieving a grid (1), said maintenance vehicle being configured to retrieve remotely operated vehicles (201, 301) for maintenance, wherein, The maintenance vehicle (50) includes: - First vehicle area (51), in which the remotely operated vehicles (201, 301) can be received by the maintenance vehicle (50), while the remotely operated vehicles (201, 301) remain on the track system (108), and - Second vehicle area (52), in which the remotely operated vehicle (201, 301) can be supported by the maintenance vehicle for maintenance. The first vehicle area (51) is configured to retain a vehicle fence (53) for the remotely operated vehicle (201, 301) before it enters the second vehicle area, and the first vehicle area (51) is connected to the second vehicle area (52) for the remotely operated vehicle (201, 301) to pass through the vehicle fence (53). The vehicle fence (53) includes: - An entrance barrier (55) controls the remotely operated vehicle (201, 301) to enter the maintenance vehicle (50) and the vehicle enclosure (53), and - An exit barrier (56), located at the exit from the vehicle fence to the second vehicle area, is used to regulate the remotely operated vehicles (201, 301) to pass through the first vehicle area (51) and enter the second vehicle area (52), wherein the entrance barrier (55) and the exit barrier (56) include movable barriers, each movable barrier being movable between an open position and a closed position, wherein in the open position the movable barrier allows the remotely operated vehicles (201, 301) to pass through, and in the closed position the movable barrier restricts the passage of the remotely operated vehicles (201, 301), and wherein the entrance barrier (55) and the exit barrier (56) are regulated such that the entrance barrier (55) can only open when the exit barrier (56) is closed, and the entrance barrier can only close when the exit barrier is open.
2. The repair vehicle according to claim 1, wherein, The entrance barrier is at least one of the following: a gate, a door, and a sliding wall, and the exit barrier is a movable rod.
3. The repair vehicle according to any one of claims 1-2, wherein, The maintenance vehicle (50) includes a partition (57) for separating the operator area from the first vehicle area (51) and the second vehicle area (52).
4. The repair vehicle according to claim 3, wherein, The partition (57) includes at least one gate, door (58) or sliding wall for the movement of an operator between the operator area and the second vehicle area.
5. The repair vehicle according to any one of claims 1-2, wherein, The maintenance vehicle (50) includes a vehicle base with motorized wheels arranged to allow the maintenance vehicle to move in a first lateral direction (X) and a second lateral direction (Y) of the track system (108).
6. The repair vehicle according to claim 5, wherein, The vehicle base includes a plurality of wheel modules (60), each wheel module (60) having: a first set of wheels configured to move the maintenance vehicle along the first lateral direction (X) of the track system (108); And a second set of wheels configured to move the maintenance vehicle along the second lateral direction (Y) of the track system (108), the second lateral direction (Y) being perpendicular to the first lateral direction (X).
7. The repair vehicle according to claim 6, wherein, The wheel module (60) is configured to work together as an active wheel module and one or more driven wheel modules.
8. The repair vehicle according to claim 6 or 7, wherein, The upper surface of the wheel module provides a walking surface for the operator.
9. The repair vehicle according to claim 6 or 7, wherein, The first vehicle area (51) and the second vehicle area (52) are each located between at least one pair of wheel modules (60).
10. The repair vehicle according to any one of claims 1-2, wherein, The second vehicle area (52) includes vehicle supports for supporting one or more of the remotely operated vehicles (201, 301) so that the wheels are raised above the track system (108).
11. The repair vehicle according to claim 10, wherein, The vehicle support is a platform (59) on which one or more remotely operated vehicles can move.
12. The repair vehicle according to any one of claims 1-2, wherein, The vehicle fence (53) provides a holding area (19) for the remotely operated vehicle (201, 301) between the entrance barrier (55) and the exit barrier (56), the holding area having a length dimension and / or width dimension corresponding to the length dimension and / or width dimension of the remotely operated vehicle.
13. The repair vehicle according to claim 12, wherein, The entrance barrier (55) and the exit barrier (56) are configured to be remotely locked, unlocked, opened, or closed using an automatic control system (109).
14. A method for approaching a remotely operated vehicle using a maintenance vehicle according to any one of claims 1-13, wherein, The method includes the following steps: - To move the maintenance vehicle on the track system toward the remotely operated vehicle that needs maintenance. - After one or more sensors determine that the exit barrier is closed, open the entrance barrier of the vehicle fence. - To move the remotely operated vehicle past the entrance barrier of the vehicle fence, or to move the maintenance vehicle so that the remotely operated vehicle passes through the entrance barrier of the vehicle fence to enter the vehicle fence. - Close the entrance barrier while the remotely operated vehicle is within the vehicle enclosure. - The inlet barrier is determined to be in the closed or locked position by the one or more sensors. - Unlock or open the exit barrier. - To move the remotely operated vehicle past the exit barrier and into the second vehicle area of the maintenance vehicle, and - Close the exit barrier.