Method and vehicle for rescue of stranded container handling vehicle

Abstract

A service vehicle unit and a method for manoeuvring a service vehicle unit for manoeuvring a container handling vehicle stranded on an automated storage and retrieval system, wherein the automated storage and retrieval system comprises a rail system comprising a first set of parallel rails and a second set of parallel rails dividing the rail system into a plurality of grid cells, the first set of parallel rails being arranged to guide the container handling vehicle to move in a first direction across the top of the framework structure, the second set of parallel rails being arranged perpendicular to the first set of parallel rails to guide the container handling vehicle to move in a second direction perpendicular to the first direction, at least one container handling vehicle configured to operate on the rail system, wherein the service vehicle unit comprises a wheel module configured to operate on the rail system, and wherein the service vehicle unit has a positioner mounted on a turntable for manoeuvring the container handling vehicle to a predetermined position on the grid.

Description

TECHNICAL FIELD

[0001] The present invention relates to an automated storage and retrieval system for storing and retrieving containers, in particular to a method and vehicle for rescuing a container handling vehicle that has run aground on the grid. BACKGROUND

[0002] Fig. 1 discloses an automated storage and retrieval system 1 of the prior art having a framework structure 100, and Figs. 2, 3 and 4 disclose three different prior art container handling vehicles 201, 301, 401 suitable for operating on such a system 1.

[0003] The framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106, also referred to as bins, are stacked one on top of another to form stacks 107. The members 102 can typically be made of metal, e.g. extruded aluminium profiles.

[0004] The framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of the framework structure 100, on which a number of container handling vehicles 201, 301, 401 can operate to lift containers 106 from, and lower containers 106 into, the storage columns 105, and also to transport the containers 106 on the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide the movement of the container handling vehicles 201, 301, 401 across the top of the framework 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 the movement of the container handling vehicles 201, 301, 401 in a second direction Y, which is perpendicular to the first direction X. Containers 106 stored in the columns 105 are accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the rail system 108. The container handling vehicles 201, 301, 401 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.

[0005] The upright members 102 of the framework structure 100 can be used to guide the storage containers during lifting out of and lowering into the columns 105. The stacks 107 of containers 106 are typically self-supporting.

[0006] Each prior art container handling vehicle 201, 301, 401 comprises a vehicle body 201a, 301a, 401a, and a first set of wheels and a second set of wheels 201b, 301b, 201c, 301c, 401b, 401c which enable the container handling vehicle 201, 301, 401 to move laterally in the X and Y directions, respectively. In Figs. 2, 3 and 4, two wheels from each set of wheels are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent tracks from the first set of tracks 110, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent tracks from the second set of tracks 111. At least one of these sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be raised and lowered such that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can engage with the respective set of tracks 110, 111 at any one time.

[0007] Each prior art container handling vehicle 201, 301, 401 further comprises lifting devices for vertical transportation of storage containers 106, e.g. lifting storage containers 106 from and lowering storage containers 106 into storage columns 105. The lifting devices comprise one or more gripping / engaging devices adapted to engage a storage container 106, and which can be lowered from the vehicle 201, 301, 401 such that the position of the gripping / engaging device relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z which is orthogonal to the first direction X and the second direction Y. A part of the gripping device of the container handling vehicles 301, 401 is indicated with reference 304, 404 in Figs. 3 and 4. The gripping device of the container handling vehicle 201 is located within the vehicle body 201a in Fig. 2.

[0008] Generally, and also for the purpose of the present application, Z=1 identifies the uppermost level of storage containers, i.e. the level immediately below the track system 108, Z=2 identifies the second level below the track system 108, Z=3 the third level, etc. In the exemplary prior art disclosed in Fig. 1, Z=8 identifies the bottommost level of storage containers. 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 indicated in Fig. 1, the storage container identified as 106’ in Fig. 1 can be said to occupy the storage position X=17, Y=1, Z=5. The container handling vehicles 201, 301, 401 can be said to travel in level Z=0, and each storage column 105 can be identified by its X and Y coordinates. Thus, the storage containers extending above the track system 108 shown in Fig. 1 can also be said to be arranged in level Z=0.

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

[0010] Each prior art container handling vehicle 201, 301, 401 comprises a storage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 on the rail system 108. The storage space can comprise a cavity arranged internally within the vehicle body 201a as shown in Figs. 2 and 4, and as described in e.g. WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0011] Fig. 3 shows an alternative configuration of a container handling vehicle 301 having a cantilevered configuration. Such vehicles are described in detail in e.g. NO317366, the contents of which are also incorporated herein by reference.

[0012] The cave container handling vehicle 201 shown in Fig. 2 can have a footprint covering an area in the X and Y directions substantially equal to the lateral extent of the storage columns 105, e.g. as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein can mean “horizontal”.

[0013] Alternatively, as shown in Figs. 1 and 4, the cave container handling vehicle 401 can have a footprint larger than the lateral area defined by the storage columns 105, e.g. as disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] The rail system 108 typically comprises rails with grooves in which the wheels of the vehicles run. Alternatively, the rails can comprise upwardly protruding elements, where the wheels of the vehicles comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively referred to as guideways. Each rail can comprise one guideway, or each rail can comprise two parallel guideways, and each rail can comprise multiple sections.

[0015] WO2018 / 146304A1, the contents of which are incorporated herein by reference, shows a typical configuration of a rail system 108 comprising rails and guideways parallel in the X and Y directions.

[0016] EP38235 A1 describes a robotic service device for use in an automated storage and retrieval system for performing maintenance operations. The robotic device is provided with a docking mechanism to rescue a malfunctioning load handling device.

[0017] In the framework structure 100, most of the columns 105 are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 can have other purposes. In Fig. 1, columns 119 and 120 are such dedicated columns, which are used by the container handling vehicles 201, 301, 401 to drop off and / or pick up storage containers 106 so that they can be transported to an access station (not shown) where they can be accessed from outside the framework structure 100, or transferred out of or into the framework structure 100. Such locations are normally referred to as “ports” within the art, and the columns in which they are located can be called “port columns” 119, 120. The transport to the access station can be in any direction, i.e. horizontally, inclined and / or vertically. For example, a storage container 106 can be placed in a random or dedicated column 105 within the framework structure 100, then picked up by any container handling vehicle and transported to a port column 119, 120 for further transportation to an access station. A container can be transported from a port column to an access station on a conveyor belt. A container can also be transported from a port column to an access station by a container handling vehicle. It should be noted that the term “inclined” means that the transport of a storage container 106 has a general transport orientation somewhere between horizontal and vertical.

[0018] In Fig. 1, the first port column 119 can for example be a dedicated drop-off port column, where the container handling vehicles 201, 301 can drop off storage containers 106 to be transported to an access station or a transfer station, and the second port column 120 can be a dedicated pick-up port column, where the container handling vehicles 201, 301, 401 can pick up storage containers 106 that have been transported from an access station or a transfer station.

[0019] An access station can typically be a pick or put station where product items are removed from or put into a storage container 106. In a pick or put station, the storage containers 106 are normally not removed from the automated storage and retrieval system 1, but are returned into the framework structure 100 after being accessed. A port can also be used for transferring storage containers to another storage facility (for example to another framework structure or to another automated storage and retrieval system), to a transport vehicle (for example a train or a lorry), or to a production facility.

[0020] A conveyor system, often comprising conveyors, is typically employed to transport the storage containers between the port columns 119, 120 and the access station.

[0021] If the port columns 119, 120 and the access station are located at different levels, the conveyor system can comprise lifting devices with vertical components for transporting the storage containers 106 vertically between the port columns 119, 120 and the access station.

[0022] The conveyor system can be arranged to transfer storage containers 106 between different frame structures, e.g. as described in WO2014 / 075937A1, the content of which is incorporated herein by reference.

[0023] When a storage container 106 stored in one of the columns 105 disclosed in figure 1 is to be accessed, one of the container handling vehicles 201, 301, 401 is instructed to retrieve the target storage container 106 from its position and transport it to the drop-off port column 119. This operation involves moving the container handling vehicle 201, 301 to a 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 container handling vehicle’s 201, 301, 401 lifting device (not shown), and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within the stack 107, i.e. with one or more other storage containers 106 located above the target storage container 106, this operation also involves temporarily moving the storage containers 106 located above the target storage container 106 before the target storage container 106 can be lifted from the storage column 105. This step, sometimes referred to as “digging”, can be performed with the same container handling vehicle that is later used for transporting the target storage container to the drop-off port column 119, or by one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have container handling vehicles 201, 301, 401 that are dedicated to the task of temporarily removing storage containers 106 from storage columns 105. After the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers 106 can be repositioned into the original storage column 105. However, the removed storage containers 106 can instead be repositioned into other storage columns 105.

[0024] When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201, 301, 401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a position above the storage column 105 where the storage container is to be stored. After any storage containers 106 located at or above the target position within the stack 107 have been removed, the container handling vehicle 201, 301, 401 positions the storage container 106 at the desired location. The removed storage containers 106 can then be lowered back into the storage column 105 or repositioned to other storage columns 105.

[0025] For monitoring and controlling the automated storage and retrieval system 1, e.g. monitoring and controlling the positions of the respective storage containers 106 within the framework structure 100, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301, 401 so that a desired storage container 106 can be delivered to the desired position at the desired time without the container handling vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 comprises a control system 500, which is typically computerized and which typically comprises a database for keeping track of the storage containers 106.

[0026] A container handling vehicle that breaks down on the grid is typically between two cells and in most cases the problem is solved by moving the container handling vehicle to a known position and restarting the vehicle. The known position can be the closest column relative to the position where the container handling vehicle broke down. However, the solutions disclosed in the prior art propose solutions where a container handling vehicle that has broken down or stalled must be brought into a service area and an operator is required to try to restart the container handling vehicle.

[0027] When a container handling vehicle stalls or breaks down on the grid, the container handling vehicle must either be transported from the grid and physically pushed to a service area by manipulation on the grid by personnel or another solution is to use a dedicated service robot to transport the vehicle to the service area. All these solutions require that the grid must be completely or partially shut down when transporting the container handling vehicle to the service area.

[0028] These solutions are time consuming and expensive as the container handling vehicle must be transported to the service area and the shut down of the grid means that the grid is not operated at full capacity, resulting in downtime and potential costs associated with loss of income. SUMMARY

[0029] The application is set out in the independent claims and the features of the application are shown, while the dependent claims describe further features of the application.

[0030] In one aspect, the present invention relates to a service vehicle unit (SVU) for maneuvering a container handling vehicle that is stranded on an automated storage and retrieval system, wherein the system comprises: a rail system comprising a first set of parallel rails arranged to guide movement of the container handling vehicle in a first direction (X) across the top of a framework structure and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) perpendicular to the first direction (X), the first set of parallel rails and the second set of parallel rails dividing the rail system into a plurality of grid cells, at least one container handling vehicle configured to operate on the rail system, wherein the SVU comprises a wheel module configured with a first set of wheels and a second set of wheels and can be configured to operate on the rail system, the SVU enabling the container handling vehicle to move in the X direction and the Y direction, wherein the SVU has a turret and a positioner mounted on the turret, the turret is attached to the wheel module, and the turret horizontally rotates the positioner mounted on the turret to attach to the container handling vehicle for maneuvering the container handling vehicle to a predetermined position on the grid by the wheel module.

[0031] Further, wherein the positioner mounted on the turret can have a suction device for attaching to the container handling vehicle, and the suction device can be powered by a pneumatic pump. The positioner mounted on the turret can have a camera with an emitter. The turret can horizontally rotate using a motor that drives the positioner mounted on the turret. The motor that rotates the positioner mounted on the turret can be an electric motor.

[0032] Furthermore, the positioner mounted on the turret can have an electromagnet for attaching to the container handling vehicle, the SVU can have a linear actuator for extending and retracting the positioner mounted on the turret, or the SVU can have a pneumatic cylinder for extending and retracting the positioner mounted on the turret, or the SVU can have a rack and pinion system driven by an electric motor for extending and retracting the positioner mounted on the turret, the turret and the positioner mounted on the turret can be controlled by a control box top module of the SVU, and the positioner mounted on the turret can be raised and lowered.

[0033] Further, the suction device can be raised and lowered to engage with the container handling vehicle. Furthermore, the center of the wheels on the wheel module can have spacers that register when the container handling vehicle is in place in a predetermined position on the grid, and the spacers can register by the container handling vehicle contacting the spacers when the container handling vehicle is in place in a predetermined position on the grid, and the predetermined position on the grid can be an empty cell between the SVU and the container handling vehicle, or the predetermined position on the grid can be a service area.

[0034] Further, the positioner mounted on the turntable can have a stop for ensuring that the positioner mounted on the turntable rotates maximally no more than 360°, and the stop can be used for calibrating the position of the positioner mounted on the turntable.

[0035] In a second aspect the present invention relates to a method for operating a service vehicle unit (SVU) for maneuvering a container handling vehicle stranded on an automated storage and retrieval system, wherein the system comprises: a rail system comprising a first set of parallel rails arranged to guide movement of the container handling vehicle across the top of the framework structure in a first direction (X) and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) perpendicular to the first direction (X), the first set of parallel rails and the second set of parallel rails dividing the rail system into a plurality of grid cells, at least one container handling vehicle configured to operate on the rail system, wherein the SVU comprises a wheel module configured to operate on the rail system, wherein the method comprises the steps of: the central computer system informing the SVU that there is a container handling vehicle stranded; the central computer system sending to the SVU the last known position of the stranded container handling vehicle; the central computer system positioning the SVU relative to the container handling vehicle so that the positioner mounted on the turntable can be used to maneuver the container handling vehicle to a predetermined cell on the grid; the SVU repositioning the stranded container handling vehicle; the central computer system attempting to restart the container handling vehicle from the predetermined position on the grid using the central computer system.

[0036] Further, the method comprises remotely controlling the SVU using the central computer system, and the step of repositioning the container handling vehicle further comprises: the SVU extending the positioner mounted on the turntable and coupling the positioner mounted on the turntable to the stranded container handling vehicle; the SVU using the turntable to maneuver the container handling vehicle to a known position on the grid; the SVU decoupling the positioner mounted on the turntable from the container handling vehicle.

[0037] Further, the central computer system determines the position of the stranded container handling vehicle using a camera, and wherein the camera can be mounted on an end of the turntable on the SVU. The method comprises remotely controlling the SVU by an operator to determine the position of the faulty container handling vehicle and turning the SVU.

[0038] The method comprises using suction devices located on the end of the turntable of the SVU to attach the container handling vehicle to the positioner mounted on the turntable, or the method comprises using electromagnets located on the end of the turntable of the SVU to couple the container handling vehicle to the positioner mounted on the turntable. Alternatively, the method comprises using suction devices for pushing the container handling vehicle to push the container handling vehicle, or the method comprises using electromagnets to push the container handling vehicle.

[0039] Further, the method comprises receiving images from cameras mounted to the end of the positioner mounted on the turntable, thereby allowing an operator to operate the turntable and the positioner mounted on the turntable, or the method comprises receiving images from cameras mounted to the end of the positioner mounted on the turntable, thereby allowing a central computer system to manipulate the positioner mounted on the turntable based on the images applying image recognition software to the images from the cameras.

[0040] The method comprises using pneumatic cylinders powered by a pneumatic pump, a rack and pinion system powered by an electric motor, or a linear actuator to extend and retract the positioner mounted on the turntable.

[0041] The wheel base can comprise a body corresponding to a grid space of a single cell. The height of the wheel base is shorter than the container handling vehicle. The wheel base is motorized and can travel in the x- and y-directions. The vehicle base is powered by a battery of the drive motor. Further, the wheel base comprises a mount for the turntable and a control system. The small footprint allows the wheel base to lower its wheels and lock into the grid. Further, this allows the wheel base to position an anchored vehicle accurately in an adjacent cell. BRIEF DESCRIPTION OF DRAWINGS

[0042] The following drawings are included to further apprise those skilled in the art of the various aspects of the present application. The drawings illustrate embodiments of the present application and, to that end, a brief description of each drawing follows. In the drawings:

[0043] Fig. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.

[0044] Fig. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein.

[0045] Fig. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers below.

[0046] Fig. 4 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein and having a larger footprint than the lateral area defined by the storage columns.

[0047] Fig. 5 is a perspective view of a container handling vehicle according to an embodiment of the present application.Figure 5 is a perspective view of a service vehicle unit (SVU) with a positioner mounted on a turntable.

[0048] Figure 6 is a perspective view of a service vehicle unit (SVU) with a positioner mounted on a turntable. Figure 5 is a perspective view of another side of the service vehicle unit (SVU) with a positioner mounted on a turntable presented in

[0049] Figures 7 to 13 is a perspective view illustration of a service vehicle unit (SVU) according to an embodiment of the invention performing a rescue of a container handling vehicle stranded on a grid.

[0050] Figures 14 to 16 is a perspective view of a service vehicle unit (SVU) according to an embodiment of the invention performing a rescue of a container handling vehicle stranded on a grid, seen from a side 90° to the side presented in Figures 7 to 13 DETAILED DESCRIPTION

[0051] In the following, embodiments of the present application will be discussed in more detail with reference to the drawings. It should be understood, however, that the drawings are not intended to limit the present application to the subject matter of the drawings.

[0052] The framework structure 100 of the automated storage and retrieval system 1 is constructed according to the prior art framework structure 100 described above in connection to Figs. 1-3, i.e. comprising a plurality of upright members 102, and the framework structure 100 further comprises a first rail system 108 in the upper part in the X- and Y-directions.

[0053] The framework structure 100 further comprises storage compartments in the form of storage columns 105 disposed between the members 102, 103, wherein storage containers 106 are stackable in stacks 107 within the storage columns 105.

[0054] The framework structure 100 can have any size. In particular, it should be understood that the framework structure can be much wider and / or much longer and / or much deeper than disclosed in Fig. 1. For example, the framework structure 100 can have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.

[0055] One embodiment of an automated storage and retrieval system according to the present application will now be discussed in more detail with reference to Figures 5 to 13

[0056] Fig. 4 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein and having a footprint larger than the lateral area defined by the storage columns 105.

[0057] ​​Figure 5 is a perspective view of a service vehicle unit (SVU) with a positioner 701 mounted on a turntable.

[0058] The present invention relates to a service vehicle unit (SVU) for assisting a container handling vehicle that has stranded or failed on a grid. A container handling vehicle that has stranded or failed on a grid typically does so between two units, and in most cases the problem is solved by moving the container handling vehicle to a known position and restarting the vehicle. The known position can be the nearest column (grid space) relative to the position where the container handling vehicle failed.

[0059] The SVU comprises at least one wheel module 708. The wheel module 708 comprises a body and a first set of wheels and a second set of wheels, which enables the container handling vehicle to move sideways in the X- and Y-directions, respectively. The first set of wheels is arranged to engage two adjacent tracks in the first set of tracks, and the second set of wheels is arranged to engage two adjacent tracks in the second set of tracks. The SVU can be configured such that the wheel module 708 in size corresponds to the area of a single storage column 105 (grid space), including the area of the tracks along which the wheels travel. At least one set of wheels can be raised and lowered such that the first set of wheels and / or the second set of wheels can engage a respective set of tracks at any moment. Further, the wheel module 708 comprises electric motors for providing power to the set of wheels. In addition, the wheel module 708 can have a battery that can provide power to the electric motors. The battery can be rechargeable (in situ or away from the SVU), and it can also provide power to the rest of the SVU.

[0060] There is a top module attached to the wheel module 708. The top module comprises a SVU controller 802. The top module also comprises a positioner connected to the SVU controller. The SVU controller controls the position and rotation of the positioner 701 mounted on a turntable. The positioner 701 mounted on a turntable is rotated by an electric motor that via a belt 709 turns a gear and the positioner 701 mounted on a turntable in either direction.

[0061] The positioner 701 mounted on a turntable can comprise at least two parts. The positioner 701 mounted on a turntable can be telescopic, e.g. as shown in Figure 9 and extend at least the width of the extension unit. The extension and retraction of the positioner 701 mounted on a turntable can be done by a pneumatic cylinder 705. Alternatively, the extension and retraction of the positioner 701 mounted on a turntable can be achieved by a rack and pinion system. In case the extension and retraction is performed by a pneumatic cylinder 705, the pneumatic cylinder 705 can be controlled by an air reservoir 710. In addition, there can be a compressor in order to maintain the air pressure in the air reservoir 710.

[0062] In a preferred solution, the extension and retraction of the positioner 701 mounted on the turntable is done by a linear actuator.

[0063] Figure 5 and Figure 6 A perspective view of the SVU is shown from different sides. The positioner 701 mounted on the turntable is controlled by a positioner controller box 702. The top module controller box operates the positioner 701 mounted on the turntable according to instructions from the central computer system. Alternatively, the instructions can be sent by an operator.

[0064] The instructions are received by a radio receiver. The central computer system or operator receives images from a camera connected to a transmitter. The camera 704 allows the central computer system or operator to determine the position of the stranded or malfunctioning container handling vehicle for precise positioning. Further, it allows the central computer system or operator to control the connection to the stranded or malfunctioning container handling vehicle. Since the central computer system cannot know exactly where the stranded or malfunctioning container handling vehicle is, the central computer system needs to determine in other ways where the stranded or malfunctioning container handling vehicle is in order to know how to attach and move the container handling vehicle. In a preferred embodiment, the camera 704 and transmitter are placed at the end of the positioner 701 mounted on the turntable. However, the camera 704 can be placed anywhere on the SVU that is able to provide the camera 704 with a view of the container handling vehicle.

[0065] At the end of the positioner 701 mounted on the turntable that is connected to the container handling vehicle, there is an engagement face 801. The engagement face 801 has means for attaching the positioner 701 mounted on the turntable to the container handling vehicle that has stranded or malfunctioned.

[0066] In a preferred embodiment of the invention, the means for attaching the positioner 701 mounted on the turntable to the container handling vehicle can be a set of suction devices 706. The suction devices 706 can be connected to either side of the container handling vehicle. The suction devices 706 can be powered by the batteries in the wheel module 708, or the top module can include its own power source (e.g. a battery or a capacitor).

[0067] In a preferred embodiment of the invention, the suction devices 706 or electromagnets used to attach to the container handling vehicle in order to pull the container handling vehicle towards the SVU can also be used to push the container handling vehicle relative to the SVU to the free cell on the other side of the container handling vehicle.

[0068] In another solution, the turntable mounted localizer 701 can be attached to the container handling vehicle by using electromagnets. The electromagnets can be powered by the batteries in the wheel modules 708 or other power sources, such as batteries or capacitors in the top module. In yet another solution, the turntable mounted localizer 701 can be attached to the container handling vehicle by using hooks or loops made from wire or rope or similar. These solutions can also be in addition to the suction cups 706 or electromagnets.

[0069] In another solution, the turntable mounted localizer 701 can also move in the vertical direction. This is to be able to better connect to a container handling vehicle that has anchored or broken down. If the container handling vehicle has a cantilever solution for example, it can be a problem to connect to the cantilever side. Therefore, it can be beneficial to vertically raise or lower the turntable mounted localizer 701 to connect properly with the container handling vehicle.

[0070] When the turntable mounted localizer 701 is connected to a container handling vehicle with suction devices 706, the turntable mounted localizer 701 can use the suction provided by the suction devices 706 to pull the container handling vehicle to the nearest free column.

[0071] The suction devices 706 can also be raised and lowered in order to be able to connect properly with the container handling vehicle.

[0072] Alternatively, the turntable mounted localizer 701 can push or nudge the container handling vehicle to the nearest free column.

[0073] When the SVU is moving the container handling vehicle, all the wheels of the wheel modules 708 can be lowered in order to lock the SVU in place. The SVU can also control the wheels of the container handling vehicle in order to be able to steer the container handling vehicle. The footprint of the SVU can be the size of a single cell or the footprint can be larger. When all the wheels of the SVU are lowered, the front side of the SVU is at most level with the middle of the track and the SVU is locked in place over the storage column 105. In this way, the SVU can pull an anchored vehicle back to a position where the SVU is just above the storage column 105 and this can then help to reset the positioning sensors.

[0074] The action of knowing that the SVU can bring all eight wheels in contact with the track will signal to the robot that it is in a given grid position.

[0075] The SVU can also transport the container handling vehicle to a dedicated repair station for further repairs.

[0076] When the SVU is in the desired position, the system can send a track switch command to the anchoring container handling vehicle so that the SVU places itself in "dead center" where all 8 wheels are lowered. From this position, the robot can either try to restart itself or stay parked until a later time. In the case where the robot is parked (in "delayed stop") and waiting for a rescue drone or for an operator to reach the robot, the bin underneath it can be needed. In this case, the rescue drone can move the robot away by one cell to access the bin underneath.

[0077] The present invention solves this problem by moving the container handling vehicle to the nearest available cell. The SVU comprises a wheel module 708 to which a turret with a positioner is attached. The turret can swing the positioner 701 mounted on the turret in two directions and is driven by an electric motor 703. The positioner 701 mounted on the turret is initially intended to be movable only in the horizontal plane, but in an alternative embodiment of the present invention, the positioner 701 mounted on the turret can also be moved in the vertical plane in order to be adaptable to different types of container handling vehicles. In yet another embodiment of the present invention, the engagement face 801 at the end of the positioner 701 mounted on the turret can be manipulated in order to be adaptable to different types of container handling vehicles. It can also be necessary to adjust the height of the turret in order to be able to attach to the jib side of a container handling vehicle with a jib solution.

[0078] There are two methods for attaching to a container handling vehicle. The positioner 701 mounted on the turret can have a suction device 706 powered by a pneumatic pump that can be connected to either side of the container handling vehicle. In an alternative solution, the suction device 706 can be exchanged with an electromagnet.

[0079] The positioner 701 mounted on the turret can also be used to push the container handling vehicle to a cell. Thus, the positioner 701 mounted on the turret can have a plate at the end that is filled with padding in order not to damage the container handling vehicle.

[0080] The method is that the SVU approaches a container handling vehicle that has broken down. The SVU positions itself so that it can connect to the container handling vehicle. The SVU has a camera 704 on the end of the positioner 701 mounted on the turret, which allows the operator to remotely operate the turret and the positioner 701 mounted on the turret. The positioner 701 mounted on the turret is extended, whereby it interacts with the container handling vehicle. A suction device or an electromagnet is attached to one side of the container handling vehicle and the SVU pulls the container handling vehicle towards itself until it is positioned in an available cell.

[0081] Alternatively, the SVU can use its positioner to push the container handling vehicle to a cell available on the grid, and the central computer system can try to restart the container handling vehicle.

[0082] Figure 6 is a side view of the SVU with the positioner 701 mounted on a turret. Figure 5 is a perspective view of the other side of the SVU with the positioner 701 mounted on a turret.

[0083] is an image of the other side of the SVU with the positioner 701 mounted on a turret, as opposed to the side given in Figure 5 In this image, the interface 801 is attached to the end of the positioner 701 mounted on a turret. The means for attaching the positioner 701 mounted on a turret to the container handling vehicle can be fixed to the interface 801. The means for attaching the positioner 701 mounted on a turret to the container handling vehicle can be the suction means or the electromagnet discussed above.

[0084] Furthermore, the SVU controller, which controls the position and rotation of the top module, can be seen.

[0085] In a preferred embodiment of the invention, the SVU has a footprint of a single cell. However, the SVU can have a footprint larger than this. This can be due to the wheel module 708 being larger than one single cell, or it can be due to there being more than one wheel module 708.

[0086] A larger wheel module 708 or several wheel modules 708 will be able to ensure that the SVU has a better foundation, thus ensuring that the SVU is more solid when pushing or pulling the container handling vehicle.

[0087] The positioner 701 mounted on a turret comprises a boom. The length of the boom is longer than the grid space. Further, the boom is telescopic and comprises at least two parts that slide into each other. Because it is not used for lifting a load, the end of the positioner 701 mounted on a turret can extend to a greater distance than the boom of the boom container handling vehicle. The fact that the boom extends out backwards from the SVU can make it so that the extended part of the positioner 701 mounted on a turret is balanced by the boom of the rest of the positioner 701 mounted on a turret when it is extended. This can allow the arrangement to support a greater rotational moment and thus reach further.

[0088] The stop 803 is used to ensure that the positioner mounted on a turret does not rotate more than a maximum of 360°, and it can be used to calibrate the position of the positioner mounted on a turret. The stop also ensures that the cables inside the turret and the positioner mounted on a turret do not twist too much.

[0089] The center of the wheels on the wheel module has spacers 804 that register when the container handling vehicle is in position in a predetermined location on the grid. The spacers 804 are registered by the container handling vehicle contacting the spacers when the container handling vehicle is in position in a predetermined location on the grid. The SVU registers the container handling vehicle that contacts the spacers and signals to the central computer system that the container handling vehicle is in position on the grid and can begin attempting to restart the container handling vehicle.

[0090] In another solution of this embodiment, the telescopic positioner of the SVU can be replaced with a robotic arm. The arm can have a gripper at the end that allows gripping onto a part of the container handling vehicle and maneuvering the container handling vehicle into a predetermined position.

[0091] Figures 7 to 13 is a perspective illustration of a service vehicle unit (SVU) according to an embodiment of the invention performing a rescue of a container handling vehicle that is stranded on the grid.

[0092] Figure 7 is shown the central computer system informing the SVU that there is a container handling vehicle that is stranded.

[0093] Figure 8 is shown the central computer system sending the SVU the last known position of the container handling vehicle that is stranded.

[0094] Figure 9 is shown the central computer system using the camera 704 mounted on the end of the positioner 701 mounted on the turret of the SVU to determine the position of the container handling vehicle that is stranded. The central computer system positions the SVU relative to the container handling vehicle so that the positioner 701 mounted on the turret can be used to maneuver the container handling vehicle to a predetermined cell on the grid, the SVU extends the positioner 701 mounted on the turret and couples it to the container handling vehicle that is stranded.

[0095] Figure 10 is shown the SVU using the turret and the positioner 701 mounted on the turret to maneuver the container handling vehicle to a known position on the grid.

[0096] Figure 11 is shown the wheel module 708 moving from a parked position to a travel position. This is done by raising a set of wheels so that not all wheels are lowered at the same time. The parked position is considered to be a position where all wheels are placed in the tracks of the grid (e.g., as shown in Figure 10 is shown the parked position helps to lock the SVU in place on the grid so as to prevent the SVU from moving while maneuvering a stranded or stuck container handling vehicle. The travel position is a position where only wheels in one direction are in contact with the tracks on the grid.

[0097] Figure 12 The SVU is shown to disconnect the positioner 701 mounted on the turntable from the container handling vehicle.

[0098] Figure 13 The diagram shows a central computer system attempting to restart a container transport vehicle from a predetermined location on the grid, with the SVU moving away from the container transport vehicle.

[0099] Figures 14 to 16 From and Figures 7 to 13 The illustration shows a perspective view of a repair vehicle unit (SVU) according to an embodiment of the invention performing rescue operations on a container transport vehicle that has broken down on a grid, viewed from one side at a 90° angle, wherein the SVU engages with the broken-down or malfunctioning container transport vehicle. This is to demonstrate that the SVU can engage the container transport vehicle from either side.

[0100] Figure 14 The diagram shows a central computer system positioning the SVU relative to a container transport vehicle, such that a positioner 701 mounted on a turntable can be used to maneuver the container transport vehicle to a predetermined cell on a grid. The SVU extends and connects the positioner 701 mounted on the turntable to the stranded container transport vehicle.

[0101] Figure 15 A turntable and a positioner 701 mounted on the turntable are shown, which is attached to a stranded container transport vehicle.

[0102] Figure 16 The diagram illustrates how the SVU uses a turntable and a locator 701 mounted on the turntable to maneuver a container transport vehicle to a known location on a grid.

[0103] Alternatively, one solution exists where the SVU can maneuver the container transport vehicle back to the service station for further maintenance. Furthermore, the SVU may be able to manipulate the wheels of the container transport vehicle to ensure it can be moved.

[0104] The wheels of a container handling vehicle can be manipulated mechanically by rotating an accessible winding mechanism on the vehicle to raise or lower a set of wheels.

[0105] In the foregoing description, numerous specific details have been set forth to provide a thorough understanding of the present application. One skilled in the relevant art will recognize, however, that the various embodiments of the present application can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures, materials, or operations have not been shown or described in detail to avoid obscuring aspects of the application. The term "coupled" is used herein to express either an indirect or direct electrical connection between two devices or components in the present application. It should be understood that various hardware and software components have been described herein in software or firmware terms, and that such

[0106] List of reference signs

[0107] Prior art (Figures 1-4):

[0108] 100 frame structure

[0109] 102 upright members of the frame structure

[0110] 103 horizontal members of the frame structure

[0111] 104 storage grid

[0112] 105 storage column

[0113] 106 storage container

[0114] 106' specific location of a storage container

[0115] 107 stack

[0116] 108 rail system

[0117] 110 parallel rails in a first direction (X)

[0118] 110a first rail in the first direction (X)

[0119] 110b second rail in the first direction (X)

[0120] 111 parallel rails in a second direction (Y)

[0121] 111a first rail in the second direction (Y)

[0122] 111b second rail in the second direction (Y)

[0123] 112 access opening

[0124] 119 first port column

[0125] 120 second port column

[0126] 201 container storage vehicle of the prior art

[0127] 201a Vehicle body of container storage vehicle 101

[0128] 201b Drive means / wheel arrangement in first direction (X)

[0129] 201c Drive means / wheel arrangement in second direction (Y)

[0130] 301 Prior art cantilevered container storage vehicle

[0131] 301a Vehicle body of container storage vehicle 101

[0132] 301b Drive means in first direction (X)

[0133] 301c Drive means in second direction (Y)

[0134] 401 Prior art container handling vehicle

[0135] 401a Vehicle body of container handling vehicle 401

[0136] 401b Drive means in first direction (X)

[0137] 401c Drive means in second direction (Y)

[0138] X First direction

[0139] Y Second direction

[0140] Z Third direction

[0141] 701 Positioner mounted on turret

[0142] 702 Positioner controller box

[0143] 703 Motor driving the positioner mounted on the turret

[0144] 704 Camera with emitter

[0145] 705 Pneumatic cylinder

[0146] 706 Suction cup

[0147] 707 Turret

[0148] 708 Wheel module

[0149] 709 Belt from motor to positioner

[0150] 710 Gas reservoir

[0151] 801 Joint face

[0152] 802 SVU controller

[0153] 803 stop

[0154] 804 spacer

Claims

1. A maintenance vehicle unit for maneuvering a container transport vehicle that has broken down on an automated storage and retrieval system, wherein, The automated storage and retrieval system includes: a track system comprising a first set of parallel tracks and a second set of parallel tracks, the first set of parallel tracks being arranged to guide a container transport vehicle to move in a first direction across the top of a frame structure, the second set of parallel tracks being arranged perpendicular to the first set of parallel tracks to guide the container transport vehicle to move in a second direction perpendicular to the first direction, the first set of parallel tracks and the second set of parallel tracks dividing the track system into a plurality of grid cells, at least one container transport vehicle being configured to operate on the track system, wherein the maintenance vehicle unit includes a wheel module configured to operate on the track system, the wheel module being configured with a first set of wheels and a second set of wheels, the maintenance vehicle unit enabling the container transport vehicle to move in the first direction and the second direction, wherein the maintenance vehicle unit has a turntable and a locator mounted on the turntable, the turntable being attached to the wheel module, and the turntable causing the locator mounted on the turntable to rotate horizontally to attach to the container transport vehicle for maneuvering the container transport vehicle to a predetermined position on the grid via the wheel module.

2. The vehicle repair unit according to claim 1, wherein, The positioner mounted on the turntable has a suction device for attaching to the container transport vehicle.

3. The vehicle repair unit according to claim 2, wherein, The suction device is powered by a pneumatic pump.

4. The maintenance vehicle unit according to any one of the preceding claims, wherein, The locator mounted on the turntable has a camera, and the camera has a transmitter.

5. The maintenance vehicle unit according to any one of claims 1-3, wherein, The turntable uses a motor to rotate horizontally, thereby driving the positioner mounted on the turntable.

6. The vehicle repair unit according to claim 5, wherein, The motor that rotates the positioner mounted on the turntable is an electric motor.

7. The vehicle repair unit according to claim 1, wherein, The positioner mounted on the turntable has an electromagnet for attaching to the container transport vehicle.

8. The maintenance vehicle unit according to any one of claims 1-3, wherein, The maintenance vehicle unit has a linear actuator for extending and retracting the positioner mounted on the turntable.

9. The maintenance vehicle unit according to any one of claims 1-3, wherein, The maintenance vehicle unit has a pneumatic cylinder for extending and retracting the positioner mounted on the turntable.

10. The maintenance vehicle unit according to any one of claims 1-3, wherein, The maintenance vehicle unit has an electric motor-driven rack and pinion system for extending and retracting the positioner mounted on the turntable.

11. The maintenance vehicle unit according to any one of claims 1-3, wherein, The turntable and the positioner mounted on the turntable are controlled by the top module of the control box of the maintenance vehicle unit.

12. The maintenance vehicle unit according to any one of claims 1-3, wherein, The positioner mounted on the turntable can be raised and lowered.

13. The vehicle repair unit according to claim 2, wherein, The suction device can be raised and lowered to engage with the container transport vehicle.

14. The maintenance vehicle unit according to any one of claims 1-3, wherein, The wheels on the wheel module have spacers at their centers, which are registered when the container transport vehicle is positioned at the predetermined location on the grid.

15. The vehicle repair unit according to claim 14, wherein, When the container transport vehicle is positioned at the predetermined location on the grid, the spacer is registered by bringing the container transport vehicle into contact with the spacer.

16. The maintenance vehicle unit according to any one of claims 1-3, wherein, The predetermined position on the grid is an empty unit located between the maintenance vehicle unit and the container transport vehicle.

17. The maintenance vehicle unit according to any one of claims 1-3, wherein, The predetermined location on the grid is a maintenance area.

18. The maintenance vehicle unit according to any one of claims 1-3, wherein, The positioner mounted on the turntable has a stop to ensure that the positioner mounted on the turntable rotates no more than 360°.

19. The vehicle repair unit according to claim 18, wherein, The stop can be used to calibrate the position of the positioner mounted on the turntable.

20. A method for operating a maintenance vehicle unit, the maintenance vehicle unit being used to manipulate a container transport vehicle that has broken down on an automated storage and retrieval system, wherein, The automated storage and retrieval system includes: a track system comprising a first set of parallel tracks and a second set of parallel tracks, the first set of parallel tracks being arranged to guide a container transport vehicle to move in a first direction across the top of a frame structure, the second set of parallel tracks being arranged perpendicular to the first set of parallel tracks to guide the container transport vehicle to move in a second direction perpendicular to the first direction, the first set of parallel tracks and the second set of parallel tracks dividing the track system into a plurality of grid cells, at least one container transport vehicle being configured to operate on the track system, wherein the maintenance vehicle unit is the maintenance vehicle unit according to claim 1 and includes a wheel module configured to operate on the track system, wherein the method includes the following steps: a. The central computer system notifies the maintenance vehicle unit that a container transport vehicle has broken down. b. The central computer system sends the last known location of the stranded container transport vehicle to the maintenance vehicle unit. c. The central computer system positions the maintenance vehicle unit relative to the container transport vehicle such that the positioner mounted on the turntable can be used to maneuver the container transport vehicle to a predetermined unit located on the grid. d. The maintenance vehicle unit repositions the stranded container transport vehicle. e. The central computer system attempts to use the central computer system to restart the container transport vehicle from the predetermined location on the grid.

21. The method according to claim 20, wherein, The method includes using a central computer system to remotely control the maintenance vehicle unit.

22. The method according to claim 20, wherein, The step of repositioning the container transport vehicle further includes: f. The maintenance vehicle unit extends the positioner mounted on the turntable and connects the positioner mounted on the turntable to the stranded container handling vehicle. g. The maintenance vehicle unit uses the turntable to manipulate the container transport vehicle to a known location on the grid. h. The maintenance vehicle unit disconnects the positioner mounted on the turntable from the container handling vehicle.

23. The method of claim 20, wherein, The central computer system uses cameras to determine the location of the container transport vehicle that has been stranded.

24. The method according to claim 23, wherein, The camera is mounted on the end of the turntable located on the maintenance vehicle unit.

25. The method according to any one of claims 20 to 24, wherein, The method includes enabling an operator to remotely control the maintenance vehicle unit to determine the location of a stranded container transport vehicle and to steer the maintenance vehicle unit.

26. The method according to any one of claims 20 to 24, wherein, The method includes using a suction device located at the end of the turntable of the maintenance vehicle unit to attach the container transport vehicle to the locator mounted on the turntable.

27. The method according to any one of claims 20 to 24, wherein, The method includes using an electromagnet located at the end of the turntable of the maintenance vehicle unit to connect the container transport vehicle to the locator mounted on the turntable.

28. The method according to any one of claims 20 to 24, wherein, The method includes using a suction device for propelling the container transport vehicle.

29. The method according to any one of claims 20 to 24, wherein, The method includes using an electromagnet to propel the container transport vehicle.

30. The method according to any one of claims 20 to 24, wherein, The method includes receiving images from a camera mounted to the end of the positioner mounted on the turntable, thereby allowing an operator to operate the turntable and the positioner mounted on the turntable.

31. The method according to any one of claims 20 to 24, wherein, The method includes receiving images from a camera mounted to the end of the positioner mounted on the turntable, thereby allowing the central computer system to manipulate the positioner mounted on the turntable based on image recognition software using images from the camera.

32. The method according to any one of claims 20 to 24, wherein, The method includes using a pneumatic cylinder powered by a pneumatic pump, a rack and pinion system powered by an electric motor, or a linear actuator to extend and retract the positioner mounted on the turntable.

33. The method according to any one of claims 20 to 24, wherein, The method includes using a turntable powered by an electric motor to rotate the positioner.

34. A storage and retrieval system having a grid-based track system and a maintenance vehicle unit as claimed in claim 1.

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