Service vehicle with undriven base

Abstract

A service vehicle and method for servicing at least one container handling vehicle in an automated storage system comprising a three-dimensional storage grid (104) for storing storage containers (106) on which at least one container handling vehicle (201, 304, 404) operates with at least a first set of rails running substantially perpendicular to at least a second set of rails, the invention relates to a service vehicle comprising at least one housing, and said service vehicle comprising two sets of wheels, the first set of wheels being arranged to engage with the first set of rails and the second set of wheels being arranged to engage with the second set of rails, characterised in that a platform is mounted on the two sets of wheels, said platform being closed and said housing having at least one door.

Description

[0001] This application is a divisional application of the Chinese patent invention application "Service vehicle with unmanned driving base" with application date of December 1, 2020 and application number 202080083932.0. Technical Field

[0002] The present invention relates to a system and method for servicing a container handling vehicle on a grid-based rail system of a three-dimensional storage grid of an automated storage system, and more particularly to a service vehicle that provides a platform for servicing a container handling vehicle when on a grid-based rail system of a three-dimensional storage grid of an automated storage system, and a method for operating such a service vehicle. Background Art

[0003] Figure 1 A typical prior art automatic storage and retrieval system 1 having a frame structure 100 is disclosed. Figure 2 and Figure 3 Two different prior art container handling vehicles 201, 301 are disclosed which are suitable for operating on such a system 1.

[0004] The frame structure 100 includes a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102. The members 102, 103 may be generally made of metal, such as extruded aluminum profiles.

[0005] The frame structure 100 defines a storage grid 104 that includes storage columns 105 arranged in rows in which storage containers 106, also referred to as boxes, are stacked one on top of another to form a stack 107. The storage grid 104 prevents horizontal movement of the stack 107 of storage containers 106 and guides vertical movement of the containers 106, but does not generally support the storage containers 106 when stacked.

[0006] The automated storage and retrieval system 1 comprises a rail system 108 arranged in a grid pattern on top of the storage device 104, on which a plurality of container handling vehicles 201, 301 are operated to lift and lower storage containers 106 from and into the storage row 105 and to transport the storage containers 106 over the storage row 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide the container handling vehicles 201, 301 to move over the top of the frame structure 100 in a first direction X, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide the container handling vehicles 201, 301 to move in a second direction Y perpendicular to the first direction X. In this way, the rail system 108 defines a grid row 112, above which the container handling vehicles 201, 301 can move laterally over the storage row 105, i.e., in a plane parallel to the horizontal XY plane.

[0007] Each prior art container handling vehicle 201, 301 includes a vehicle body 201a, 301a and a first set of wheels 201b, 201c and a second set of wheels 301b, 301c, which enable the container handling vehicle 201, 301 to move laterally in the X direction and the Y direction, respectively. Figure 2 and Figure 3 , the two wheels in each set are fully visible. The first set of wheels 201b, 301b is arranged to engage with two adjacent rails of the first set of rails 110, and the second set of wheels 201c, 301c is arranged to engage with two adjacent rails of the second set of rails 111. Each set of wheels 201b, 301b, 201c, 301c can be raised and lowered so that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c can engage with the corresponding set of rails 110, 111 at any one time.

[0008] Each prior art container handling vehicle 201, 301 also includes a lifting device (not shown) for vertically transporting storage containers 106, such as raising and lowering storage containers 106 from and into the storage row 105. The lifting device includes one or more clamping / engaging devices (not shown) adapted to engage the storage container 106, and the clamping / engaging device can be lowered from the vehicle 201, 301 so that the position of the clamping / engaging device relative to the vehicle 201, 301 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y.

[0009] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and loading storage containers 106 when transporting the storage containers 106 on the rail system 108. The storage space may include a cavity centrally disposed within the vehicle body 201a, such as Figure 2 As shown in and as described, for example, in WO 2015 / 193278 A1, the content of which is incorporated herein by reference.

[0010] Figure 3 An alternative construction of a container handling vehicle 301 having a cantilever structure is shown. Such a vehicle is described in detail in, for example, NO 317366, the contents of which are also incorporated herein by reference.

[0011] Figure 2 The central cavity container handling vehicle 201 shown may have a footprint covering an area whose dimensions in the X and Y directions are approximately equal to the lateral extent of the grid columns 112, i.e., the extent of the grid columns 112 in the X and Y directions, for example, as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein may mean "horizontal".

[0012] Alternatively, the central cavity container handling vehicle 101 may have a footprint that is larger than the lateral area defined by the grid columns 112, for example as disclosed in WO 2014 / 090684 A1.

[0013] In the X and Y directions, adjacent grid cells are arranged to contact each other so that there is no space between them.

[0014] In the storage grid 104, most of the grid columns 112 are storage columns 105, i.e., grid columns 105 in which storage containers 106 are stored in stacks 107. However, the grid 104 typically has at least one grid column 112 that is not used to store storage containers 106, but that includes a location where a container handling vehicle 201, 301 can unload and / or pick up a storage container 106 so that it can be transported to an access station (not shown), where the storage container 106 can be accessed from outside the grid 104 or transferred out of or into the grid 104. In the art, such a location is typically referred to as a "port", and the grid column 112 in which the port is located can be referred to as a "port column" 119, 120. The transportation to the access station can be in any direction, i.e., horizontal, inclined and / or vertical. For example, a storage container 106 can be placed in a random or dedicated grid column 112 within the storage grid 104, then picked up by any container handling vehicle and transported to a port 119, 120 for further transportation to an access station. It should be noted that the term "inclined" refers to the transport of the storage container 106 with a general transport direction somewhere between horizontal and vertical.

[0015] When accessing data stored in Figure 1104, one of the container handling vehicles 201, 301 is instructed to retrieve the target storage container 106 from its position in the grid 104 and transport it to the unloading port 119. This operation includes moving the container handling vehicle 201, 301 to a grid 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 a lifting device (not shown) of the container handling vehicle 201, 301, and transporting the storage container 106 to the unloading port 119. If the target storage container 106 is located deep within the stack 107, that is, one or more other storage containers 106 are located above the target storage container 106, the operation also includes temporarily moving the storage container 106 located above before lifting the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as "digging," may be performed using the same container handling vehicle that is subsequently used to transport the target storage container 106 to the unloading port 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have a container handling vehicle dedicated to the task of temporarily removing a storage container 106 from a storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container 106 may be relocated to the original storage column 105. However, the removed storage container 106 may alternatively be relocated to another storage column.

[0016] When a storage container 106 is to be stored in the grid 104, one of the container handling vehicles 201, 301 is instructed to pick up the storage container 106 from the pick-up port 120 and transport it to a grid position above the storage row 105 where the storage container is stored. After any storage container 106 located at or above the target position within the storage row stack 107 has been removed, the container handling vehicle 201, 301 positions the storage container 106 at the desired position. The removed storage container 106 can then be lowered back into the storage row 105 or repositioned to another storage row.

[0017] Figure 4A wheel base for a distribution vehicle is described. The distribution vehicle includes a base having the same wheel arrangement as on a container handling vehicle. The wheel base unit is characterized by a wheel arrangement having a first set of wheels and a second set of wheels, the first set of wheels being used to move in a first direction on a guideway grid (i.e., any one of a top guideway grid and a conveyor guideway grid), and the second set of wheels being used to move in a second direction perpendicular to the first direction. Each set of wheels includes two pairs of wheels arranged on opposite sides of the wheel base unit. In order to change the direction in which the wheel base unit can travel on the guideway grid, one set of wheels is connected to a wheel shifting assembly. The wheel shifting assembly is capable of lifting and lowering a connected set of wheels relative to another set of wheels so that only the set of wheels traveling in the desired direction contacts the guideway grid. The wheel shifting assembly is driven by an electric motor. In addition, two electric motors powered by rechargeable batteries are connected to the set of wheels to move the wheel base unit in the desired direction. The horizontal perimeter of the wheel base unit is sized to fit within a horizontal region defined by the grid cells of the guideway grid so that two wheel base units can pass each other on any adjacent grid cells of the guideway grid. In other words, the wheel base unit may have a footprint, i.e. an extent in the X and Y directions, which is substantially equal to the horizontal area of ​​the grid cell, i.e. an extent of the grid cell in the X and Y directions, for example as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference.

[0018] The problem with current solutions for automated storage and retrieval systems is that if one container handling vehicle breaks down on the grid, there is a problem retrieving it. One solution used is a chair with wheels on which an operator sits and manually maneuvers out the broken down container handling vehicle. With this solution, the operator must use manpower to transport the broken down container handling vehicle back to the service area. Summary of the invention

[0019] A preferred embodiment of the present invention is defined by a service vehicle that provides a platform for servicing a container handling vehicle while on a grid-based rail system of a three-dimensional storage grid of an automated storage system for storing storage containers, wherein the service vehicle comprises two or more wheel modules, each module having a first set of wheels and a second set of wheels, the first set of wheels being configured to move the vehicle along a first lateral direction (X) of the grid-based rail system, the second set of wheels being configured to move the vehicle along a second lateral direction (Y) of the grid-based rail system, the second direction (Y) being perpendicular to the first direction (X), wherein the platform is mounted on the two or more wheel modules, and the platform comprises an outer cover having at least one opening that can be closed by a baffle.

[0020] Furthermore, the platform of the service vehicle is supported on at least two wheel modules. The wheel modules can be configured to work together as a master wheel module and one or more slave wheel modules.

[0021] The service vehicle may have a platform configured so that a container handling vehicle may be manually lifted onto the platform by an operator on the service vehicle. The service vehicle may have a compartment that may hold the container handling vehicle when the service vehicle is positioned on the grid. In addition, the platform of the service vehicle may be sized to accommodate at least one operator using a set of controls that the operator on the service vehicle may use to control movement of the service vehicle. Alternatively or additionally, the service vehicle may be controlled by a central control center.

[0022] The platform can be mounted to the upper surface of the wheel modules, for example four wheel modules, each wheel module being positioned at a corner of the platform, and can include a compartment for a container handling vehicle, which compartment is suspended between the wheel modules. The compartment for the service vehicle can include a portion of the platform, for example a portion that is or can be positioned lower than the rest of the platform. The compartment can be at a working level that substantially corresponds to the working level of the base of the wheel modules. In this way, the panels forming the compartment can be positioned so that the lower surface is as close as possible to the upper surface of the rail system, while still ensuring clearance, and the upper surface is only a few millimeters higher depending on the thickness of the panel. The compartment can also be mounted so that when the compartment is in position next to the container handling vehicle, it is allowed to be lowered to rest on the rail system.

[0023] In other embodiments, the service vehicle may include a compartment in the form of a recess provided in the platform, the compartment being sized to fit around the container handling vehicle. The recess may include a rectangular cutout sized to correspond to one or two grid cells.

[0024] The wheel modules of the service vehicle may all be of the same type. They may each have a perimeter that substantially corresponds to a grid cell of the underlying grid rail system. Each wheel module may include a rectangular body provided with eight wheels positioned in pairs on the four sides of the body, all of which are arranged within the perimeter of one grid cell. The wheels of one wheel module may be positioned to ride in a first track of a dual-track rail and pass through a wheel module in an adjacent grid cell with a certain gap, the adjacent grid cell having wheels in a second track of the same dual-track rail. The height of each wheel module may be only slightly higher than the height of the wheel. For example, the height of each wheel module may be less than half the height of the container handling vehicle it is to serve.

[0025] The barrier may include an automatic mechanism that prevents the barrier from opening when the service vehicle is in motion.

[0026] The service vehicle may be provided with a communication device that can communicate with the communication device of the container handling vehicle, and wherein the communication device of the container handling vehicle may be a wireless communication device. The service vehicle may also have a power connector configured to provide power to the container handling vehicle.

[0027] Another embodiment of the present invention may be configured in a system including a container handling vehicle and a service vehicle, wherein the container handling vehicle may include a receiver and the service vehicle may include a transmitter. The container handling vehicle may be configured to receive remote control signals from the transmitter and operate the container handling vehicle in response to the remote control signals.

[0028] The service vehicle may be configured so that a platform mounted to the wheel module can rotate 360° about a vertical axis and in either direction relative to the wheel module. A slewing bearing may be placed between the service platform and the wheel module and used to allow the service platform to rotate freely in either direction relative to the wheel module. An electric motor may control the rotation of the platform.

[0029] Additionally, the service vehicle may include a section of the platform having a height adjuster to lower the section onto the rails of the grid. The height adjuster may be a rack and pinion system or a set of hydraulic lifts. The platform may have a set of tracks that match the width of the tracks on the grid.

[0030] A method for servicing a container handling vehicle using a service vehicle in an automated storage system, the automated storage system comprising a three-dimensional storage grid having a grid-based rail system for storing storage containers, wherein the service vehicle comprises two or more wheel modules, each module having a first set of wheels and a second set of wheels, the first set of wheels being configured to move the vehicle along a first lateral direction (X) of the grid rail system, the second set of wheels being configured to move the vehicle along a second lateral direction (Y) of the grid-based rail system, the second direction (Y) being perpendicular to the first direction (X), the service vehicle comprising a platform mounted on the two or more wheel modules, the platform comprising an outer cover having at least one opening that can be closed by a baffle, wherein the method comprises the following steps: maneuvering the service vehicle along the grid to a position where the opening of the outer cover is adjacent to the container handling vehicle, opening the baffle of the service vehicle, manually lifting the container handling vehicle onto the platform or driving the container handling vehicle onto the platform of the service vehicle so that the container handling vehicle is received on the service vehicle and the baffle of the service vehicle is closed. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The following drawings are provided to facilitate understanding of the present invention. The drawings illustrate embodiments of the present invention which will now be described by way of example only, wherein:

[0032] Figure 1is a perspective view of a prior art storage grid with a container handling vehicle operating on top.

[0033] Figure 2 is a perspective view of a prior art container handling vehicle having a centrally disposed cavity for containing a storage container therein.

[0034] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever arm for containing a storage container underneath.

[0035] Figure 4 is a perspective view of a prior art wheel module on which different devices can be mounted.

[0036] Figure 5 is a perspective view of an exemplary service vehicle including a platform mounted on wheel modules placed on a grid with an operator on board maneuvering the service vehicle toward a failed container handling vehicle.

[0037] Figure 6 yes Figure 5 A perspective view of a service vehicle with a flap open to provide access to a disabled container handling vehicle.

[0038] Figure 7 yes Figure 5 A perspective view of a service vehicle in which an operator of the platform transfers a container handling robot onto the platform.

[0039] Figure 8 yes Figure 5 A perspective view of a service vehicle with a container handling vehicle on a platform and the platform is equipped with guide rails to facilitate the container handling vehicle entering the platform.

[0040] Fig. 9 is a perspective view of another exemplary service vehicle in which a platform is placed on wheel modules, but the platform has a compartment in the form of a recess into which a container handling vehicle fits. DETAILED DESCRIPTION

[0041] In the following, the invention will be discussed in more detail with reference to the accompanying drawings. It should be understood, however, that the drawings are not intended to limit the invention to the depicted subject matter.

[0042] A typical prior art automated storage and retrieval system 10 having a frame structure 100 is described in the Background section above.

[0043] The container handling vehicle rail system 108 allows the container handling vehicle 201 to move horizontally between different grid positions, where each grid position is associated with a grid cell 122 .

[0044] exist Figure 1 In the embodiment, the storage grid 104 is shown as having a height of eight grid cells 122. However, it should be understood that the storage grid 104 can be of any size in principle. The storage grid 104 can be larger than Figure 1 For example, the grid 104 may have a horizontal extent of greater than 700×700 storage columns 105. Furthermore, the grid 104 may be greater than Figure 1 For example, the storage grid 104 can be deeper than twelve grid cells 122, i.e., Figure 1 In the Z direction shown.

[0045] Figure 2 is a perspective view of a prior art container handling vehicle having a centrally disposed cavity for containing a storage container 106 therein.

[0046] The central cavity container handling vehicle 201 can have a footprint covering an area whose dimensions in the X and Y directions are roughly equal to the lateral extent of the grid columns 112, i.e., the extent of the grid columns 112 in the X and Y directions, for example, as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0047] Alternatively, the central cavity container handling vehicle 101 may have a footprint that is larger than the lateral area defined by the grid columns 112, for example as disclosed in WO 2014 / 090684 A1.

[0048] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever arm for containing a storage container 106 underneath.

[0049] Figure 4 A wheel module 401 is depicted. The wheel module 401 may be suitable for use as a base of a delivery vehicle for transporting storage containers on a rail system of a storage grid.

[0050] Wheel module 401 can include the same wheel arrangement as on container handling vehicle. Wheel module 401 is characterized in that there is a wheel device with a first set of wheels 402 and a second set of wheels 403, the first set of wheels is used to move in a first direction on a guide rail grid (that is, any one of the top guide rail grid and the transfer guide rail grid), and the second set of wheels is used to move in a second direction perpendicular to the first direction. Each set of wheels includes two pairs of wheels arranged on the opposite side of wheel module 401. In order to change the direction in which wheel module 401 can travel on the guide rail grid, a set of wheels is connected to a wheel shift assembly. The wheel shift assembly can lift and reduce this set of wheels connected relative to another set of wheels, so that this set of wheels traveling only in the desired direction contacts the guide rail grid. The wheel shift assembly is driven by a motor.

[0051] In this embodiment, two electric motors powered by rechargeable batteries are connected to the set of wheels to move the wheel module 401 in a desired direction.

[0052] The dimensions of the horizontal perimeter of the wheel module 401 can be designed to fit within the horizontal area defined by the grid cells of the guide rail grid, so that two wheel modules 401 can pass each other on any adjacent grid cells of the guide rail grid. In other words, the wheel module 401 can have a footprint, i.e., an extent in the X and Y directions, which is roughly equal to the horizontal area of ​​the grid cell, i.e., the extent of the grid cell in the X and Y directions, for example, as described in WO2015 / 193278A1, the contents of which are by reference to geometric constraints. Each wheel in a set of wheels can be arranged to run along a track of a double track guide rail that extends along the edge of the grid cell. The second track of the guide rail can allow vehicles to pass in adjacent grid cells with a gap between two vehicles.

[0053] Figure 51 is a perspective view of an exemplary service vehicle 501 on a wheel module 401 located on a grid 104, wherein an operator 505 is on board to maneuver the service vehicle 501 toward a container handling vehicle 201, 301. The service vehicle 501 comprises a platform 502 mounted on four wheel modules 401. An enclosure 503 surrounds the platform 502. This enclosure 503 comprises a frame of rods. Furthermore, the enclosure 503 is made of a transparent material, such as tempered glass or plexiglass. The main purpose of the enclosure 503 is to protect the operator 505 on the service platform 502. The enclosure 503 has at least one opening that allows access to the container handling vehicle. This opening has a closable flap 504. The closable flap 504 may comprise one or more doors, such as a hinged door or a sliding door. In yet another embodiment, the flap 504 may be in the form of a hanging door. This hanging door may have rails or tracks on the inside that match the width and shape of the rails / tracks on the grid. These rails / tracks make it possible to roll the container handling vehicle on the service vehicle 501. For example, a barrier in the form of a door has an automatic locking mechanism that ensures that the door cannot be opened when the service vehicle 501 is in motion. A typical event scenario is to maneuver the service vehicle 501 toward the container handling vehicle in question. If the door is a common hinged door or sliding door, the door opens when the service vehicle 501 is positioned close to the container handling vehicle and the container handling vehicle is lifted onto the service vehicle 501. If the service vehicle 501 has a drop-down door, the door is pulled down onto the grid. The door is positioned so that the uppermost edge of the door is close to the container handling vehicle when the door is pulled down. The vehicle is then lifted onto the door and the vehicle is maneuvered onto the platform 502 of the service vehicle 501 using manual power. When the service platform 502 is on the grid and the container handling vehicle is placed back on the grid, service can be performed. Alternatively, the container handling vehicle can be transported back to the service station for further repairs.

[0054] The service platform 502 may communicate wirelessly with the container handling vehicle, or if wireless communication is not possible, the operator 505 may connect the service vehicle 501 directly to the container handling vehicle. The operator 505 on the service vehicle 501 may then remotely control the container handling vehicle.

[0055] Although it is described here that the platform 502 is mounted on four wheel modules 401, the number of modules can vary and can be any number above two. If two wheel modules are used, the service platform and wheel modules can occupy 3 grid cells. If four wheel modules are used, the service platform and wheel modules can occupy any of 4 grid cells and can have square or rectangular dimensions. If a longer or wider service vehicle is used, an additional number of wheel modules can be used.

[0056] Figure 6 yes Figure 5501, including a service platform 502 supported on wheel modules 401, wherein the baffle 504 is opened to access the container handling vehicle. In this figure, the service vehicle 501 has reached the container handling vehicle that has broken down. The operator 505 has opened the baffle 504 of the outer cover 503 to access the container handling vehicle. The operator 505 can lift the container handling vehicle onto the service platform 502 of the service vehicle 501. The operator 505 can fix the container handling vehicle on the grid, or he / she can transport it back to the service station. It is advantageous to fix the container handling vehicle on the grid. The benefit is that the container handling vehicle can start operating where it stopped after it has been fixed.

[0057] Figure 7 yes Figure 5 401, including a service platform 502 located on the wheel module 401, wherein an operator 505 of the platform 502 transfers a container handling robot to the platform 502. The operator 505 can lift the container handling vehicle onto the platform 502, or the operator 505 can be connected to the container handling vehicle by wire or wirelessly and remotely control the container handling vehicle to the platform 502.

[0058] Figure 8 yes Figure 5 501, wherein the container handling vehicle is on the platform 502. The platform 502 may be equipped with guide tracks / rails 801 to facilitate the approach of the container handling vehicle to the platform 502. After the first set of wheels of the container handling vehicle have been lifted onto the tracks / rails in the platform 502, it can be easily pushed all the way in.

[0059] As can be seen in this embodiment, the service vehicle 501 includes four wheel modules 401 for transporting operators on the grid. A platform 502 is mounted to these wheel modules 401. The platform 502 has two areas where the operator 505 is located, suitable for two operators. Between the two areas where the operator 505 is located, there is a space or compartment for a container handling vehicle. The space or compartment for the container handling vehicle is positioned lower than the rest of the platform 502. This is to make it easier for the container handling vehicle to reach the platform 502. In a preferred embodiment of the present invention, the space or compartment for the container handling vehicle can be lowered to accommodate the container handling vehicle. During travel and when the operator 505 is working on the container handling vehicle, the space for accommodating the container handling vehicle can be raised. This allows the operator 505 to more easily approach the container handling vehicle when the container handling vehicle is working. Moreover, lifting the space for the container handling vehicle during travel makes it easier to maneuver the service vehicle 501 without the risk of the bottom of the platform hitting the top of the grid. Raising and lowering of the platform 502 may be accomplished, for example, by a rack and pinion system, hydraulic actuators, or electric actuators.

[0060] Fig. 9 is a perspective view of another embodiment of a service vehicle, wherein a platform 502 is placed on a wheel module 401 and has a compartment 901 in the form of a recess in which a container handling vehicle fits. The compartment 901 of the service vehicle 501 has such dimensions that a container handling vehicle fits in the compartment 901 with the shutter closed. The benefit of using the compartment 901 in the form of a recess is that the container handling vehicle is not lifted and moved before repairing the container handling vehicle, and the container handling vehicle can continue its operation from exactly the same position where it stopped. Furthermore, the compartment 901 in the form of a recess is beneficial because it allows the operator 505 to safely repair the container handling vehicle while the rest of the grid is still operating.

[0061] In this embodiment, the platform 502 can rotate 360° in either direction about a vertical axis and relative to the wheel module 401. The platform 502 can rotate relative to the wheel module 401 using a slew bearing mounted between the wheel module 401 and the platform 502. The bearing can be rotated by an electric motor. The electric motor that rotates the platform 502 relative to the wheel module 401 can get its power from a set of rechargeable power supplies mounted on the service vehicle 501.

[0062] The wheel module 401 can be connected using a master-slave solution. In this case, the master / slave configuration is used for load sharing purposes when two identical motors connected to two different drives are coupled to a common load. One drive is defined as the master drive and is configured to operate in a speed control mode, while the other drive defined as the slave drive is configured to operate in a torque control mode.

[0063] List of reference numerals

[0064] 1 Automatic storage and retrieval system

[0065] 100 Frame structure

[0066] 102 Upright members

[0067] 103 Horizontal member

[0068] 104 Storage Grid

[0069] 105 Storage Rows

[0070] 106 Storage Container

[0071] 106' Storage Container

[0072] 107 Stacking

[0073] 108 Rail System

[0074] 110 First set of parallel guides

[0075] 111 Second set of parallel guide rails

[0076] 115 grid columns

[0077] Port 119

[0078] Port 120

[0079] 122 grid cells

[0080] 250 Container handling vehicles

[0081] 201 Container handling vehicle

[0082] 301 Container handling vehicle

[0083] 401 Wheel Module

[0084] 402 Wheels for container handling vehicles

[0085] 403 Wheels for container handling vehicles

[0086] 501 Service Vehicle

[0087] 502 Platform on service vehicle

[0088] 503 Cover

[0089] 504 Baffle

[0090] 505 Operator

[0091] 801 Tracks on service vehicle platform

[0092] 901 Service Vehicle Compartment

[0093] 902 Service Vehicle Controller

Claims

1. A service vehicle (501) providing a platform (502) for servicing a container handling vehicle (201, 301) when located on a grid-based rail system of a three-dimensional storage grid (104) of an automated storage system (1) for storing storage containers (106), wherein: The service vehicle (501) comprises two or more wheel modules, each wheel module having a first set of wheels and a second set of wheels, wherein the first set of wheels and the second set of wheels are configured to enable the service vehicle to move along the grid-based rail system, wherein the platform (502) is mounted on the two or more wheel modules, and the platform (502) comprises an outer cover (503), the outer cover having at least one opening that can be closed by a baffle (504), and the platform (502) has a set of tracks (801) that match the width of the tracks on the three-dimensional storage grid (104).

2. The service vehicle (501) according to claim 1, wherein: The first set of wheels is configured to move the service vehicle along a first lateral direction (X) of the grid-based rail system, and the second set of wheels is configured to move the service vehicle along a second lateral direction (Y) of the grid-based rail system, wherein the second lateral direction (Y) is perpendicular to the first lateral direction (X).

3. The service vehicle (501) according to claim 1, wherein: The wheel module is configured to work together as a master wheel module and one or more slave wheel modules.

4. The service vehicle (501) according to claim 1 or 2, wherein: The service vehicle (501) has a platform (502) configured to enable the container handling vehicle (201, 301) to be manually lifted onto the platform (502) by an operator (505) on the service vehicle (501).

5. The service vehicle (501) according to claim 1 or 2, wherein: The service vehicle (501) has a compartment (901) capable of holding the container handling vehicle (201, 301) when the service vehicle (501) is located on the three-dimensional storage grid (104).

6. The service vehicle (501) according to claim 1 or 2, wherein: The platform (502) of the service vehicle (501) is supported on at least two wheel modules (401).

7. The service vehicle (501) according to claim 1 or 2, wherein: The platform (502) of the service vehicle (501) is sized to accommodate at least one operator (505).

8. The service vehicle (501) according to claim 1 or 2, comprising a set of controllers (902), wherein: An operator (505) on the service vehicle (501) can use the set of controllers (902) to control the movement of the service vehicle (501).

9. The service vehicle (501) according to claim 1 or 2, wherein: The service vehicle (501) is controlled by a central control center.

10. The service vehicle (501) according to claim 1 or 2, wherein: The barrier (504) includes an automatic mechanism that prevents the barrier (504) from being opened when the service vehicle (501) is in motion.

11. The service vehicle (501) according to claim 1 or 2, wherein: The service vehicle (501) is provided with a communication device capable of communicating with the communication device of the container handling vehicle (201, 301).

12. The service vehicle (501) according to claim 11, wherein: The communication device of the container handling vehicle (201, 301) is a wireless communication device.

13. The service vehicle (501) according to claim 1 or 2, wherein: The service vehicle (501) has a power connector configured to provide power to the container handling vehicle (201, 301).

14. The service vehicle (501) according to claim 1 or 2, configured so that the platform (502) mounted to the wheel module (401) can rotate 360° in either direction about a vertical axis and relative to the wheel module (401).

15. The service vehicle (501) according to claim 13, wherein: A slew bearing is placed between the platform and the wheel module and is used to allow the platform to rotate freely in either direction relative to the wheel module.

16. The service vehicle (501) according to claim 13, wherein: A motor controls rotation of the platform about a vertical axis and relative to the wheel modules in either direction.

17. The service vehicle (501) according to claim 1 or 2, wherein: A section of the platform (502) includes a height adjuster to lower the section onto the rails of the three-dimensional storage grid (104).

18. The service vehicle (501) according to claim 17, wherein: The height adjuster is a rack and pinion system or a set of electronic actuators.

19. The service vehicle (501) according to claim 6, wherein: The platform (502) of the service vehicle (501) is supported on four wheel modules (401).

20. A system comprising a container handling vehicle and a service vehicle (501) according to any one of the preceding claims, wherein: The container handling vehicle includes a receiver and the service vehicle (501) includes a transmitter, the container handling vehicle being configured to receive a remote control signal from the transmitter and to operate the container handling vehicle in response to the remote control signal.

21. A method for servicing a container handling vehicle (201, 301) using a service vehicle (501) in an automated storage system (1), the automated storage system comprising a three-dimensional storage grid (104) having a grid-based rail system for storing storage containers (106), wherein: The service vehicle (501) comprises two or more wheel modules, each wheel module having a first set of wheels and a second set of wheels, the first set of wheels and the second set of wheels being configured to move the vehicle along the grid-based rail system, the service vehicle comprising a platform mounted on the two or more wheel modules, the platform comprising a housing having at least one opening closable by a baffle, wherein the method comprises the following steps: a. maneuvering the service vehicle (501) along the grid to a position at which the opening of the housing is positioned proximate to the container handling vehicle; b. opening the baffle (504) of the service vehicle (501); c. manually lifting the container handling vehicle onto the platform (502), or driving the container handling vehicle onto the platform (502) of the service vehicle (501), so that the container handling vehicle is received on the service vehicle (501), d. Closing the flap (504) of the service vehicle (501).

22. The method according to claim 21, wherein: The first set of wheels of the service vehicle is configured to move the service vehicle along a first lateral direction (X) of the grid-based rail system, and the second set of wheels of the service vehicle is configured to move the service vehicle along a second lateral direction (Y) of the grid-based rail system, wherein the second lateral direction (Y) is perpendicular to the first lateral direction (X).

23. The method according to claim 21, wherein: An operator (505) located on the service vehicle (501) operates the service vehicle (501).

24. The method according to claim 21, wherein: The control center operates the service vehicle (501).

25. The method according to claim 22 or 23, wherein: When the service vehicle (501) is moving, the shutter (504) cannot be opened.

26. The method according to claim 22 or 23, wherein: The communication device of the container transport vehicle (201, 301) is a wireless communication device.

27. The method according to claim 22 or 23, wherein: When the container handling vehicle (201, 301) is located on the platform (502) of the service vehicle (501), the container handling vehicle receives power from the service vehicle (501).

28. A service vehicle (501) providing a platform (502) for servicing a container handling vehicle (201, 301) when positioned on a grid-based rail system of a three-dimensional storage grid (104) of an automated storage system (1) for storing storage containers (106), wherein: The service vehicle (501) comprises two or more wheel modules, each wheel module having a first set of wheels and a second set of wheels, wherein the first set of wheels and the second set of wheels are configured to enable the service vehicle to move along the grid-based rail system, wherein the platform (502) is mounted on the two or more wheel modules, and the platform (502) comprises an outer cover (503) having at least one opening that can be closed by a baffle (504), wherein the platform is sized to accommodate at least one operator using a set of controllers.

29. A service vehicle (501) providing a platform (502) for servicing a container handling vehicle (201, 301) when positioned on a grid-based rail system of a three-dimensional storage grid (104) of an automated storage system (1) for storing storage containers (106), wherein: The service vehicle (501) comprises two or more wheel modules, each wheel module having a first set of wheels and a second set of wheels, wherein the first set of wheels and the second set of wheels are configured to enable the service vehicle to move along the grid-based rail system, wherein the platform (502) is mounted on the two or more wheel modules, and the platform (502) comprises an outer cover (503) having at least one opening that can be closed by a baffle (504), wherein the service vehicle is controlled by a central control center.

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