Service vehicle with central drive and method and system thereof

Abstract

A service vehicle for operating on a grid of an automated storage and retrieval system wherein the automated storage and retrieval system comprises a track system comprising a first set of parallel tracks and a second set of parallel tracks, the first set of parallel rails is arranged to guide the container handling vehicle to move across the top of the frame structure in a first direction (X), and the second set of parallel rails is arranged perpendicular to the first set of rails to guide the container handling vehicle to move in a second direction (Y) perpendicular to the first direction (X). The first set of parallel tracks and the second set of parallel tracks divide the track system into a plurality of grid cells, and wherein the service vehicle comprises a base having a set of wheels for travel in a first direction (X) and a set of wheels for travel in a second direction (Y), the base is provided with a platform for an operator and a mechanism for changing the direction of travel, in which the service vehicle comprises: a drive unit mounted to a rotatable platform portion, the drive unit comprising a floor on which the operator stands and an electric motor disposed below the floor, the electric motor driving a driven wheel, the driven wheel is arranged for engagement with a track extending below the service vehicle, and the drive unit is arranged to require weight from an operator on the floor to allow the driven wheel to engage with the track extending below the service vehicle.

Description

Technical Field

[0001] The present invention relates to an automated storage and retrieval system for storing and retrieving containers, and more particularly to a service vehicle operated by an operator on the storage and retrieval system for transporting personnel to a grid for service work. Background Art

[0002] Figure 1 discloses a prior art automated storage and retrieval system 1 having a frame structure 100, and Figures 2, 3, and 4 disclose three different prior art container handling vehicles 201, 301, 401 suitable for operating on the system 1.

[0003] The frame structure 100 includes upright members 102 and a storage three-dimensional space including 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 generally be made of metal (such as extruded aluminum profiles).

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged across the top of the frame structure 100, on which a plurality of container handling vehicles 201, 301, 401 can operate to lift storage containers 106 from the storage columns 105 and lower the storage containers 106 into the storage columns, and also transport the storage containers 106 above the storage columns 105. The track system 108 includes: a first set of parallel tracks 110 arranged to guide the container handling vehicles 201, 301, 401 to move across the top of the frame structure 100 in a first direction X; and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 201, 301, 401 to move in a second direction Y perpendicular to the first direction X. The containers 106 stored in the columns 105 are accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the track system 108. The container handling vehicles 201, 301, 401 can move laterally above the storage columns 105, i.e., laterally in a plane parallel to the horizontal X-Y plane.

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

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

[0007] Each of the prior art container handling vehicles 201, 301, 401 further includes a lifting device for vertically transporting the storage container 106, for example, raising the storage container 106 from the storage row 105 and lowering the storage container 106 into the storage row. The lifting device includes one or more clamping / engaging devices adapted to engage with the storage container 106, and the clamping / engaging device can be lowered from the vehicles 201, 301, 401 so that the position of the clamping / engaging device relative to the vehicles 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. Parts of the clamping devices of the container handling vehicles 301, 401 are shown in FIGS. 3 and 4 and are denoted by reference numerals 304, 404. In FIG. 2, the clamping device of the container handling device 201 is located within the vehicle body 201a and is thus not shown.

[0008] Conventionally and also for the purposes of the present application, Z = 1 identifies the uppermost layer for storing storage containers below the tracks 110, 111, i.e., the first layer immediately below the track system 108, Z = 2 identifies the second layer below the track system 108, Z = 3 identifies the third layer, and so on. In the exemplary prior art disclosed in FIG. 1, Z = 8 identifies the lowermost bottom layer of the storage containers. Similarly, X = 1…n and Y = 1…n identify the positions of each storage column 105 in the horizontal plane. Thus, as an example and using the Cartesian coordinate system X, Y, Z shown in FIG. 1, it can be said that the storage container identified as 106’ in FIG. 1 occupies the storage position of X = 17, Y = 1, Z = 6. It can be said that the container handling vehicles 201, 301, 401 travel in the layer of Z = 0, and each storage column 105 can be identified by its X coordinate and Y coordinate. Thus, the storage containers extending above the track system 108 shown in FIG. 1 are also said to be arranged in the layer of Z = 0.

[0009] The storage three-dimensional space of the frame structure 100 is generally referred to as a grid 104, where the possible storage positions within this grid are called storage units. Each storage column can be identified by its position in the X direction and Y direction, while each storage unit can be identified by the container label in the X direction, Y direction, and Z direction.

[0010] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or storage space for receiving and loading the storage container 106 when transporting the storage container 106 across the track system 108. The storage space can include a cavity arranged inside the vehicle bodies 201a, 401a, as shown in FIGS. 2 and 4, and as described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0011] FIG. 3 shows an alternative configuration of the container handling vehicle 301 with a cantilever construction. Such a vehicle is described in detail, for example, in NO317366, the content of which is also incorporated herein by reference.

[0012] The area size covered by the occupied area of the cavity-type container handling vehicle 201 shown in FIG. 2 in the X direction and Y direction is approximately equal to the lateral range of the storage column 105, as described, for example, in WO2015 / 193278A1, the content of which is incorporated herein by reference. The term “lateral” used herein can mean “horizontal”.

[0013] Alternatively, the occupied area of the cavity-type container handling vehicle 401 can be larger than the lateral area defined by the storage column 105, as shown in FIGS. 1 and 4 and as disclosed, for example, in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] The track system 108 generally includes tracks having grooves in which the wheels of the vehicle travel. Alternatively, the tracks may include upwardly projecting elements, wherein the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track may include one guide rail, or each of the tracks 110, 111 may include two parallel guide rails. In other track systems 108, each track in one direction (e.g., the X direction) may include one guide rail, while each track in the other perpendicular direction (e.g., the Y direction) may include two guide rails. Each of the tracks 110, 111 may also include two guide rail members fastened together, each guide rail member providing one of the pair of guide rails provided by each track.

[0015] WO2018 / 146304A1 (the content of which is incorporated herein by reference) shows a typical configuration of the track system 108, which includes tracks and parallel guide rails in both the X direction and the Y direction.

[0016] In the frame structure 100, most of the columns 105 are storage columns 105, i.e., columns 105 in which storage containers 106 are stored in the form of stacks 107. However, some of the columns 105 may have other purposes. In FIG. 1, columns 119 and 120 are such dedicated columns used by the container handling vehicles 201, 301, 401 to unload and / or pick up the storage containers 106, such that the storage containers can be transported to an access station (not shown), at which the storage containers 106 can be accessed from outside the frame structure 100, or removed from or moved into the frame structure 100. In the art, such locations are generally referred to as "ports", and the columns in which the ports are located may be referred to as "port columns" 119, 120. Transportation can be in any direction (i.e., horizontal, inclined, and / or vertical) towards the access station. For example, the storage container 106 can be placed in a random or dedicated column 105 within the frame structure 100, and then picked up by any container handling vehicle and transported to the port columns 119, 120 and then to the access station. Transportation from the port to the access station may require movement in various different directions along, for example, a transport vehicle, a trolley, or other transport routes. It should be noted that the term "inclined" refers to the transportation of the storage container 106 having a generally transport orientation in a direction between horizontal and vertical.

[0017] In FIG. 1, the first port column 119 can be, for example, a dedicated offloading port column where the container handling vehicles 201, 301, 401 can offload the storage containers 106 to be transported to the access station or transfer station, and the second port column 120 can be a dedicated pickup port column where the container handling vehicles 201, 301, 401 can pick up the storage containers 106 that have been transported from the access station or transfer station.

[0018] The access station can generally be a pickup station or a stocking station where product items are removed from or positioned in the storage container 106. In the pickup station or stocking station, the storage container 106 is generally not removed from the automated storage and retrieval system 1 but is returned to the frame structure 100 again after access. The ports can also be used to transfer the storage container to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or a truck), or to a production facility.

[0019] A conveyor system including conveyors is generally employed to transport the storage containers between the port columns 119, 120 and the access station.

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

[0021] The conveyor system can be arranged to transfer the storage container 106 between different frame structures, as described, for example, in WO2014 / 075937A1, the content of which is incorporated herein by reference.

[0022] When accessing a storage container 106 stored in one of the multiple columns 105 disclosed in FIG. 1, one of the multiple container handling vehicles 201, 301, 401 is instructed to retrieve the target storage container from the location of the target storage container 106 and transport the target storage container to the unloading port column 119. This operation involves moving the container handling vehicles 201, 301, 401 to a position above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using the lifting devices (not shown) of the container handling vehicles 201, 301, 401, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is deep within the stack 107, i.e., one or more other storage containers 106 are arranged above the target storage container 106, this operation also involves temporarily moving the storage containers located above before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to in the art as "digging") can be performed using the same container handling vehicle that will subsequently be used to transport the target storage container to the unloading port column 119, or using one or more other cooperative container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have container handling vehicles 201, 301, 401 dedicated to the task of temporarily removing storage containers 106 from the storage column 105. After removing the target storage container 106 from the storage column 105, the temporarily removed storage container 106 can be repositioned back to the original storage column 105. However, the removed storage container 106 can alternatively be repositioned to other storage columns 105.

[0023] When storing a storage container 106 in a column 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 the storage container to a position above the storage column 105 where the storage container is to be stored. After removing any storage containers 106 located at or above the target position within the stack 107, the container handling vehicles 201, 301, 401 position the storage container 106 at the desired location. The removed storage container 106 can then be lowered back into the storage column 105 or repositioned to other storage columns 105.

[0024] To monitor and control the automated storage and retrieval system 1, for example, to monitor and control the position of each storage container 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301, 401 such that a desired storage container 106 can be transported to a desired location at a desired point in time without the container handling vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0025] WO2020151866A1 describes a service vehicle for operating in an automated storage and retrieval system. The service vehicle is provided with a shifting mechanism and a lifting device, which cooperate to move the container handling vehicle from a grid to a loading position on the vehicle.

[0026] WO2021110616A1 describes a service vehicle for operating in an automated storage and retrieval system, wherein the vehicle is provided with a platform mounted between two wheel modules. The platform further includes an outer shell having an opening that can be enclosed by a barrier.

[0027] WO2021078582A1 relates to a service vehicle for operating in an automated storage and retrieval system. The system is provided with a main control system and a secondary control system to monitor and control the movement of the service vehicle.

[0028] WO2021249865A2 relates to a transport vehicle provided with a rotatable drive unit and a container carrier that rotates relative to a base.

[0029] US2005047895A1 relates to an autonomous vehicle capable of autonomously loading and unloading a payload to transfer a container.

[0030] CN111268379A describes an omnidirectional logistics handling cart provided with a lifting mechanism having a telescopic plate that supports the material to be transferred in a logistics environment.

[0031] There are several known solutions for service vehicles operating on the grid of an automated storage and retrieval system. These service vehicles can be manually operated by personnel, or they can be automatically operated by a central computer system. Manually operated service vehicles, for example, take the form of wheelchair solutions, where the operator sits in a seat and uses arm strength to move the service vehicle around on the grid. There are also solutions where personnel are located inside the service vehicle, where the central computer system or the operator can control the movement of the service vehicle. The operator can use a set of controllers to maneuver the service vehicle, or can input route planning into the central computer system. The problem with such solutions is that manually moving and operating by personnel on the grid will result in significant delays, as it takes time to maneuver the vehicle on the grid. If personnel are on the grid, the entire grid or at least a part of the grid must be shut down, so the time for which the grid has to be shut down needs to be as short as possible. For solutions where the service vehicle is operated by a central computer system, the problem is that the operator is dependent on the central computer system. If the central computer system breaks down or the central computer system does not know where the container handling vehicle that needs servicing is located on the grid, the service vehicle cannot be used. If the service vehicle is controlled by the operator by planning the route the service vehicle takes on the grid, it takes unnecessary time to operate the service vehicle. Summary of the Invention

[0032] The invention is set forth and described in the independent claims, while the dependent claims describe further features of the invention.

[0033] The invention relates to a service vehicle for operating on the grid of an automated storage and retrieval system, wherein the automated storage and retrieval system includes a track system, the track system including 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 handling vehicle across the top of a frame structure in a first direction, the second set of parallel tracks being arranged perpendicular to the first set of tracks to guide the container handling vehicle 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, wherein the service vehicle includes a base having a set of wheels for traveling in the first direction and a set of wheels for traveling in the second direction, the base being provided with a platform for an operator and a mechanism for changing the direction of travel, characterized in that the service vehicle includes a drive unit mounted to a rotatable platform portion, the drive unit including a floor plate on which the operator stands and an electric motor provided below the floor plate, the electric motor driving a driven wheel arranged to engage with a track extending under the service vehicle, the drive unit being arranged to cause the driven wheel to engage with the track extending under the service vehicle by means of the weight of the operator on the floor plate.

[0034] In one aspect, the rotatable platform portion is located between a plurality of brackets attached to the lower side of the base and a set of brackets mounted to the upper side of the base.

[0035] In one aspect, each bracket mounted on the lower side of the base has a rolling device (optionally, rollers) on which the rotatable platform portion rests.

[0036] In one aspect, each bracket mounted to the top of the base has a lip that extends over the edge of the rotatable platform portion.

[0037] In one aspect, the rotation of the rotatable platform portion is controlled by a rotation locking pedal.

[0038] In one aspect, the rotation locking pedal has a locking clip that corresponds to a notch in the bracket below the base to prevent rotation of the platform.

[0039] In one aspect, the service vehicle is powered by an electric motor connected to an electrical energy source.

[0040] In one aspect, the mechanism for changing the direction of travel is controlled by a handle on a rod for raising and lowering the wheels that travel in one direction.

[0041] In one aspect, the drive unit has a gantry facing the direction of travel.

[0042] In one aspect, the gantry has a control panel that has a controller for causing the driven wheels to start rotating at a first speed.

[0043] In one aspect, the controller for causing the driven wheels to start rotating at a first speed is at least one button.

[0044] In one aspect, a set of railings provided on the base has at least one openable and closable barrier.

[0045] In one aspect, in order to operate the vehicle, at least one openable and closable barrier must be firmly closed and locked.

[0046] In one aspect, the railings have rubber blocks for engaging other vehicles.

[0047] In one aspect, the floor plate has a guide rail detector depressing pedal that can be pushed downward by an operator to assist the operator in positioning the guide rail under the service vehicle.

[0048] In one aspect, the service vehicle has a guide wire for showing the correct position of the vehicle when changing the direction of travel.

[0049] In one aspect, the driven wheels engage two guide rails of a track extending under the service vehicle.

[0050] In one aspect, the service vehicle has a size of at least 2x2 grid cells such that the track engaging the driven wheels extends under the center of the vehicle.

[0051] In one aspect, a seat can be attached to the floor panel.

[0052] In one aspect, the service vehicle has two speed buttons, and the two speed buttons need to be pressed simultaneously to cause the electric motor to start rotating the driven wheels.

[0053] A system for operating a service vehicle that operates on a grid of an automated storage and retrieval system, the automated storage and retrieval system including a frame structure and a track system, the frame structure including upright members and a storage volume, the storage volume including storage columns arranged in rows between the upright members, in which storage containers are stacked one on top of the other to form stacks, the track system including a first set of parallel tracks and a second set of parallel tracks, the first set of parallel tracks arranged to guide the vehicle to move in a first direction across the top of the frame structure, the second set of parallel tracks arranged perpendicular to the first set of tracks to guide the 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, wherein the service vehicle 501 includes a base having a set of wheels for traveling in the first direction and a set of wheels for traveling in the second direction, the base being provided with a platform for an operator and a mechanism for changing the direction of travel, characterized in that the service vehicle has a size of at least 2x2 grid cells such that the track engaging the driven wheels extends under the center of the vehicle.

[0054] The present invention also relates to a method for operating a service vehicle for operating on a grid of an automated storage and retrieval system, the automated storage and retrieval system including a rail system including a first set of parallel rails and a second set of parallel rails, the first set of parallel rails being arranged to guide the vehicle to move across the top of the frame structure in a first direction, the second set of parallel rails being arranged perpendicular to the first set of rails to guide the vehicle to move in a second direction perpendicular to the first direction, the first set of parallel rails and the second set of parallel rails dividing the rail system into a plurality of grid cells, wherein the service vehicle includes a base having a set of wheels for traveling in the first direction and a set of wheels for traveling in the second direction, the base being provided with a platform for an operator and a mechanism for changing the traveling direction, and wherein the method includes the following steps: applying a weight to the base plate to engage the driven wheels with the rails extending under the service vehicle; using a controller on the control panel to cause the driven wheels to start rotating; removing the weight from the base plate to disengage the driven wheels from the rails extending under the service vehicle.

[0055] In one aspect, close and lock the barrier of the service vehicle.

[0056] In one aspect, ensure that the gantry with the control panel faces the desired traveling direction.

[0057] In one aspect, use a rod for lifting and lowering the wheels to switch to the required wheel set.

[0058] In one aspect, the operation of using the controller on the control panel is to press a button on the control panel to cause the driven wheels to rotate at a first speed.

[0059] In one aspect, press two buttons on the control panel to cause the driven wheels to rotate at a second speed.

[0060] In one aspect, changing the direction of the service vehicle includes the following steps: stopping at the correct position; moving the rod of the switching rail; releasing the rotation stopper; and rotating the drive unit to a new direction that is 90 degrees relative to the previous direction.

[0061] This solution makes it easier to handle service issues on the grid because the operator can reach the grid quickly and easily and address the problems that need to be solved. Additionally, when operating on the grid, the operator can control the service vehicle, which makes it easier for the operator to maneuver on the grid because the operator may be more likely to spot problems than the central computer system. This is especially important in the presence of a container handling vehicle whose correct position on the grid is unknown to the central computer system. The operator can see where the problem is and is able to maneuver the service vehicle to the correct position and return a malfunctioning service vehicle to the service area. In some cases, this solution will reduce the time required to shut down the grid to perform service or maintenance tasks. Moreover, the fact that the operator can operate the service vehicle both in terms of its direction of travel and its speed of travel enables the service vehicle to be operated even if the central computer system or the communication system is down. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The following drawings are attached for understanding the present invention. The drawings illustrate various embodiments of the present invention, which will now be described only by way of example, in which:

[0063] FIG. 1 is a perspective view of the framework structure of an automatic storage and retrieval system of the prior art.

[0064] FIG. 2 is a perspective view of a container handling vehicle of the prior art, which has a cavity inside for carrying storage containers therein.

[0065] FIG. 3 is a perspective view of a container handling vehicle of the prior art, which has a cantilever for carrying a storage container thereunder.

[0066] FIG. 4 is a perspective view of a container handling vehicle of the prior art as viewed from below, which has a cavity inside for carrying storage containers therein.

[0067] Figure 5 is a perspective view of an embodiment of the present invention, in which the service vehicle is shown with an operator standing on the floor plate.

[0068] Figure 6 is a partially cut-away perspective view of the lower part of an embodiment of the present invention, in which an operator is on board the service vehicle.

[0069] Figure 7 is a side view of an embodiment of the present invention.

[0070] Figure 8 is from Figure 5 the perspective view as viewed from below of the service vehicle, showing the underside of the platform and the drive unit and the mechanical solution for changing the direction of travel.

[0071] Figure 9 is a view of the service vehicle as observed from directly above, Figure 5 showing a gantry having a controller and a control panel of the service vehicle.

[0072] Figure 10 is as Figure 5 a perspective view of the drive unit of the service vehicle having a gantry and a control panel as seen in

[0073] Figure 11 is Figure 5 a perspective view of the gantry of the service vehicle with a control panel, where the operator of the service vehicle is located on the base plate of the drive unit.

[0074] Figure 12 and Figure 13 are alternative embodiments of the present invention, where a seat 1301 is attached to the base plate 506. Detailed Embodiment

[0075] Hereinafter, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted therein.

[0076] The frame structure 100 of the automated storage and retrieval system 1 is constructed in a manner similar to the frame structure 100 of the prior art described above in connection with FIGS. 1 to 3. That is, the frame structure 100 includes a plurality of upright members 102 and includes a first upper rail system 108 extending in the X and Y directions.

[0077] The frame structure 100 further includes storage compartments in the form of storage columns 105 disposed between the members 102, where storage containers 106 can be stacked in the storage columns 105 in the form of stacks 107.

[0078] The frame structure 100 can be of any size. Specifically, it should be understood that the frame structure can be wider and / or longer and / or deeper than the frame structure disclosed in FIG. 1. For example, the frame structure 100 can have a horizontal range of more than 700x700 columns and a storage depth of more than twelve containers.

[0079] Now, one embodiment of the automated storage and retrieval system according to the present invention will be discussed in more detail with reference to Figures 5 to 11

[0080] Figure 5 is a perspective view of an embodiment of the present invention, where the service vehicle 501 is shown with an operator standing on the base plate 506.

[0081] The service vehicle 501 includes a base 504 having a set of guardrails 507 surrounding the area where the operator is located.

[0082] The base 504 covers an area of at least 2x2 grid cells. The area covered by the service vehicle 501 can be greater than this. Covering an area of at least 2x2 cells is beneficial for the drive unit to operate and engage with the guide rails on the tracks of the grid.

[0083] The service vehicle 501 has at least eight wheels that determine the driving mode of the service vehicle 501. There is at least one four-wheel group for driving in the first X direction. The service vehicle 501 also has at least one four-wheel group for driving in the second Y direction. The driving direction depends on which wheel group is in contact with the guide rails of the tracks of the grid forming the storage and retrieval system.

[0084] Which wheel group is in contact with the guide rails of the grid is selected by a rod 503. The rod 503 can have a handle and can be manually switched between at least two positions. One position is for engaging the wheel group with the guide rails of the grid to drive in the first X direction, and the other position is for engaging the wheel group with the guide rails of the grid to drive in the second Y direction.

[0085] In addition to these two positions, there can also be a third position where both the wheel group for driving in the first X direction and the wheel group for driving in the Y direction are engaged with the guide rails on the grid. This position is used to fix the service vehicle 501 to prevent movement. This setting may be desirable in the following cases: when the operator is entering the vehicle, or when the operator is starting a program for operating the service vehicle 501, or when the service vehicle 501 is changing the driving direction and needs to be stabilized.

[0086] In an alternative solution, which group of wheels is engaged with the guide rails can be controlled by an automatic solution. This solution can be to control a motor by operating a button or the like to change the wheel group engaged with the tracks of the grid.

[0087] Manually changing the driving direction may be preferred because it may be more stable and safer for the operator on the service vehicle 501.

[0088] In addition, the railing 507 surrounding the base where the operator is located may have a barrier 601 that can be opened and closed. This barrier 601 makes it easier for the operator to enter the service vehicle 501. However, before the service vehicle 501 can move with the operator on board, the barrier 601 must be firmly closed. Therefore, the barrier 601 may have a sensor that prevents the operation of the service vehicle 501 until the sensor detects that the barrier 601 has been properly locked. The barrier 601 can be in the form of a hinged door, or it can be in the form of a rod like the railing 507, which can be lifted to make it easier to enter the base 504 of the service vehicle 501.

[0089] In addition, the railing 507 may have a set of rubber blocks 505. These rubber blocks 505 are placed in such a position that ensures that only the rubber block part of the service vehicle 501 will come into contact with the container handling vehicle that the service vehicle 501 is attempting to service.

[0090] In Figure 5 it can be seen that the operator is standing on the floor plate 506 of the drive unit of the service vehicle 501. The floor plate 506 can be part of a bench with a control panel 502. On the bench with the control panel 502, a controller for operating the service vehicle 501 can be provided. In addition, the bench with the control panel 502 may have a handle for the operator to hold to keep the operator stable when the service vehicle 501 travels on the grid of the storage and retrieval system.

[0091] The bench can also rotate so that the operator of the service vehicle 501 is always facing the traveling direction. The floor plate 506 is set as part of the drive unit. The drive unit includes an electric motor 805 that can rotate the driven wheels 806. The driven wheels 806 are attached to the floor plate 506 and can be pressed against the guide rails of the lower track by the weight of the operator standing on the floor plate 506. When the floor plate 506 is pressed down by the weight of the operator, the driven wheels 806 engage with the guide rails of the track of the grid of the storage and retrieval system, and the operator can start the electric motor 805, and the driven wheels 806 will start to rotate and propel the service vehicle 501 forward.

[0092] The side of the service vehicle 501 is indented relative to the track. This allows the service vehicle 501 to get close to, for example, a derailed container handling vehicle.

[0093] Figure 6 is a perspective view of a partially cut-away lower part of the present invention, in which the service vehicle 501 is carrying an operator.

[0094] The contact of the wheel set with the guide rail on the grid is controlled by a rod 503. The rod 503 can be in the form of a handle that can be manually switched between at least two positions. One position is for engaging the wheel set with the guide rail of the grid to travel in a first X direction, and the other position is for engaging the wheel set with the guide rail of the grid to travel in a second Y direction.

[0095] In addition to these two positions, there can be a third position where both the wheel set for traveling in the first X direction and the wheel set for traveling in the Y direction are engaged with the guide rail on the grid. This position is for fixing the service vehicle 501 to prevent movement. Such a setting may be necessary when the operator is entering the vehicle, or when the operator is starting a program for operating the service vehicle 501, or when the service vehicle 501 is changing its traveling direction as an intermediate position to stabilize the service vehicle 501.

[0096] The bottom plate 506 has a pedal that allows the operator to push down the guide rail detector 810 to help the operator find the correct position.

[0097] Figure 7 It is a side view of an embodiment of the present invention. The controller of the gantry with the control panel 502 is shown therein. There is an emergency stop button 602 on the top of the gantry with the control panel 502. The emergency stop button 602 is used to stop the service vehicle 501 in an emergency (for example, if the service vehicle 501 is unstable, or if there is a problem with the service vehicle 501). In addition, it is shown that the gantry with the control panel 502 has two speed buttons 701. The two speed buttons 701 allow the operator to control the speed at which the service vehicle 501 travels. When the operator's weight pushes down the bottom plate 506 and the operator presses one button, the service vehicle 501 will travel at a first speed. If the operator presses two buttons, the service vehicle 501 will travel at a second speed. In the embodiment of the present invention, when one button is pressed, the service vehicle 501 will travel at a slower first speed (for example, 0.05 m / s). By pressing two buttons, the service vehicle 501 will travel at a second speed (for example, 0.5 m / s).

[0098] In an alternative solution, the two speed buttons 701 can have different speed indications. The service vehicle 501 can have three different traveling speeds. The first button will advance the service vehicle 501 at one speed, and the second button will advance the service vehicle 501 at a second speed, and pressing two buttons will advance the service vehicle 501 at a third speed. The speed can be set to change according to the number of buttons pressed.

[0099] In addition, the console frame has an on / off button 702. This button turns the service vehicle 501 on and off.

[0100] Figure 8 is a perspective view of the underside of the service vehicle 501, which shows the drive unit and the mechanical solution for changing the driving direction.

[0101] In an embodiment of the present invention, the wheels for traveling in the X direction are connected in pairs by an axle 803 that spans the width of the service vehicle 501. The axle 803 is connected at one end to a mechanism for changing the driving direction. The mechanism for changing the driving direction allows the wheels for traveling in the X direction to be raised and lowered. When these wheels are raised, the service vehicle 501 can travel in the Y direction, and when these wheels are lowered, the service vehicle 501 can travel in the X direction. When the wheels for traveling in the X direction are raised, the wheels for traveling in the Y direction come into contact with the guide rails, and when the wheels for traveling in the X direction are lowered, the X-direction wheels come into contact with the guide rails of the X-direction track while the Y-direction wheels are raised and do not come into contact with the guide rails. There is also a possibility that the wheels for traveling in the X direction and the wheels for traveling in the Y direction come into contact with the guide rails of the X-direction track and the Y-direction track simultaneously. This is to ensure that the service vehicle 501 does not move and remains locked in one position. This may be necessary during maintenance of the grid or other vehicles by the service vehicle 501, or when the operator is entering or leaving the service vehicle 501, or when the service vehicle 501 is parked and not in use.

[0102] The wheels for traveling in the Y direction are not connected by an axle. These wheels are attached to the body of the service vehicle 501, and these wheels cannot be raised or lowered unless they move integrally with the raising and lowering of the X-direction wheels and the movement of the base of the service vehicle.

[0103] In an embodiment of the present invention, the mechanism for changing the driving direction includes a wheel lifting mechanism. The wheel lifting mechanism includes a coupling link, a first rocker link, a second rocker link, a pivot link, and a wheel lifting gear 809. The first rocker link connects the coupling link and the body of the service vehicle 501, and the second rocker link connects the coupling link and the body of the service vehicle 501. The pivot link connects the coupling link and the central axis C of the wheel lifting gear 809.

[0104] The pivot link includes a first link and a second link. The first end of the first link is pivotally connected (via the central axis C of the wheel lifting gear 809) to the wheel lifting gear 809 and its second end is pivotally connected to the first end of the second link. The second end of the second link is pivotally connected to the coupling link. The first link and the second link rotate together.

[0105] The rod 503 of the wheel lifting mechanism assembly can be manually operated by an operator to actuate the wheel lifting mechanism between a first position and a second position. The actuator assembly includes an actuator gear 807, and the rod 503 is connected to the actuator gear 807.

[0106] The wheel lifting mechanism is disclosed to have a wheel lifting gear 809 that engages with the actuator gear 807. As shown, the gear circumference of the actuator gear 807 is larger than that of the wheel lifting gear 809.

[0107] In an alternative solution, the mechanism for changing the traveling direction is controlled in the same manner as that of a container handling vehicle. In this solution, the wheels for traveling in the X direction can be raised and lowered by an electric motor.

[0108] The drive mechanism includes a driven wheel 806 for engaging with the guide rail of the track. The driven wheel 806 can have a width of one guide rail. The driven wheel 806 with a width of one guide rail engages only with one guide rail on the track. Alternatively, the driven wheel 806 can have a width of two guide rails. The driven wheel 806 with a width of two guide rails engages with the two guide rails of the guide rail. This solution provides better frictional grip between the driven wheel 806 and the guide rail of the track, thus ensuring a lower risk of slipping when the driven wheel 806 is in operation.

[0109] The driven wheel 806 is connected to the electric motor 805 via a drive belt 804. The drive belt 804 is connected to the rotor of the electric motor 805. In addition, the belt 804 is connected to the axle of the driven wheel 806. The electric motor 805 is powered by a power source (such as a battery or a capacitor or both). Both the electric motor 805 and the driven wheel 806 are attached to a frame structure. The frame structure is attached to the bottom plate 506 by means of mounting members 802. The bottom plate 506 is positioned in a rotatable platform portion 801 that can rotate 360° in either direction. The rotatable platform portion 801 is fixed to the base 504 by a plurality of brackets 808. In a preferred embodiment, there are 4 brackets 808. The brackets 808 are attached to the base 504 of the service vehicle 501. The brackets 808 are bolted to the bottom of the base 504 of the service vehicle 501. Rollers are provided on each bracket 808. The rotatable platform portion 801 rests on these rollers. These rollers allow the rotatable platform portion 801 to rotate. On the top side of the base 504, the rotatable platform portion 801 is held in place by a set of plates that are mounted on the upper side of the base 504 and have a lip extending above the edge of the rotatable platform portion 801. The rollers on the bottom side and the lip extending above the edge of the rotatable platform portion 801 hold the rotatable platform portion 801 in place in the base 504 and allow the rotatable platform portion to rotate.

[0110] The rotation of the rotatable platform portion 801 is locked in place by a locking clip 811 that is attached to the rotatable platform portion 801. The locking clip 811 is positioned such that it interacts with the bracket 808 of the support roller (on which the rotatable platform portion 801 rests). The bracket 808 has a notch 812 into which the locking clip 811 fits. The brackets 808 are spaced 90° apart from each other, thereby allowing the rotatable platform portion 801 with the base plate 506 and the bench with the control panel 502 to be locked in place such that they face the direction of travel of the service vehicle 501. The locking clip 811 is controlled by a pedal on the top side of the rotatable platform portion 801. The pedal that controls the locking clip 811 is used to release the rotatable platform portion 801 from the locked state and allow the rotatable platform portion 801 to rotate.

[0111] When changing the direction of travel, since the central drive position of the driven wheels 806 is in the middle of the vehicle, the driven wheels 806 rotate about a vertical axis aligned with the intersection point with the track when turning. The horizontal rotation axis of the driven wheels 806 is offset with respect to the vertical rotation axis of the driven wheels 806 and the rotatable platform portion such that the driven wheels 806 end up directly below the weight of the operator. This helps with the frictional grip of the driven wheels on the lower track. This also allows sensors to be positioned on the vertical axis aligned with the intersection point with the track.

[0112] A guide rail detector 810 is positioned below the electric motor 805. The guide rail detector 810 allows the operator to detect the position of the guide rail under the service vehicle 501. The guide rail detector 810 helps the operator to correctly position the service vehicle 501 to change the direction of travel.

[0113] The guide rail detector 810 is connected to a guide rail detector depression pedal 603. When the operator presses the guide rail detector depression pedal 603, the guide rail detector 810 is pushed downward and interacts with a guide rail under the service vehicle 501 that extends perpendicular to the guide rail that engages the driven wheels. The guide rail detector 810 is a plate that allows the operator to detect the guide rail under the service vehicle 501 when the guide rail detector depression pedal 603 is pushed downward. When the operator feels the guide rail detector 810 interacting with the guide rail, the operator can change the direction of travel. The guide rail detector can engage with one guide rail or with two guide rails. The operator will know if the guide rail detector is engaging with the guide rail in the case of the pedal being depressed, and the maintenance vehicle will not move when engaged.

[0114] The operator can be assisted by lines marked on the top of the base of the service vehicle that align with the guide rails extending under the service vehicle when the service vehicle is properly positioned.

[0115] Figure 9View of the service vehicle 501 as seen from directly above, showing the gantry with the control panel 502 and the controller. The handle of the lever 503 for changing the driving direction is shown along the side of the service vehicle 501. In addition, a circular rotatable platform section 801 is placed at the center of the base 504 of the service vehicle 501. The circular rotatable platform section 801 can rotate 360° in two directions. The rotation of the rotatable platform section 801 is controlled by the pedal of the rotation stopper 901. The rotation stopper 901 is a locking clip 811 that engages with a notch 812 on a bracket below the base 504 of the service vehicle 501. By pressing the pedal of the rotation stopper 901, the locking clip 811 is released, which allows the rotatable platform section 801 to rotate. When the rotatable platform section 801 rotates, if the pedal of the rotation stopper 901 is not pressed downwards, the locking clip 811 will engage with the next notch 812 in the bracket.

[0116] In addition, the guide rail detector 810 presses down the pedal 603 and is positioned towards the front of the base plate 506.

[0117] To drive the service vehicle 501, the following steps need to be taken. One or more barriers 601 need to be properly closed. The drive unit needs to be in the correct direction. This requires pushing the handle for changing the driving direction along the direction that allows the correct wheel set to engage with the track of the guide rail. The operator stands on the base plate 506, which presses down the driven wheels 806 so that the driven wheels engage with the guide rail of the track. The weight of the operator on the base plate 506 pivots the base plate relative to the base of the service vehicle and triggers a sensor for confirming the presence of the operator in the service vehicle. Then, the operator needs to press at least one speed button 701 (e.g., for fast driving (0.5 m / s), press and hold two buttons; and for slow driving, press any one button (0.05 m / s)).

[0118] In an embodiment of the present invention, two speed buttons need to be pressed simultaneously to start the electric motor rotating and the driven wheels starting to rotate. In this embodiment, these buttons are positioned near the handles on both sides of the control panel. This ensures that the operator's hands are inside the service vehicle when the service vehicle is moving.

[0119] To change the driving direction, the following steps need to be taken: Stop above the four units and above the intersection of the lower track (extending below the service vehicle), and use the lever to perform the guide rail switching. Release the rotation stopper pedal. Manually rotate the drive unit to the new direction. By having the operator step on the base plate of the drive unit, press down the driven wheels 806 using the weight of the operator. Press one or two drive buttons (or actuate other drive controllers provided as alternative buttons).

[0120] Figure 10 and Figure 11 is a perspective view of a gantry with a control panel 502 for a drive mechanism and a service vehicle 501. The gantry with the control panel 502 (L-shaped main body) includes a bottom plate 506 which is mounted on top of a frame that holds the drive mechanism. Further, the bottom plate and the frame holding the drive unit are connected to an upright portion. The upright portion includes a control panel. The control panel holds buttons for operating the service vehicle 501. The upright portion also includes a handle which is for being held by an operator during the travel of the service vehicle 501.

[0121] The gantry is pivotally mounted to a rotatable platform portion 801. When the operator is located on the bottom plate 506, the angle of the gantry is changed by the pivoting of the L-shaped body relative to the rest of the service vehicle 501. This in turn attempts to compress a strut 508 mounted between the upright portion of the gantry and the rotatable platform portion 801. The compression of the strut 508 counteracts a biasing force provided by one or both of a spring and a compressed fluid. When the operator is no longer located on the bottom plate 506, the strut 508 ensures that the driven wheels 806 are raised relative to the guide rails of the track. There are struts 508 attached to each side of the upright portion. The mounting point 1102 of the strut 508 is positioned on the side of the upright portion. Further, the upright portion may hold a power storage unit of the service vehicle 501 and a connector 1101 for charging the power storage unit.

[0122] Figure 12 and Figure 13 is an alternative embodiment of the present invention, wherein the bottom plate 506 has a seat 1301 attached thereto. The seat 1301 is attached to the bottom plate 506 such that the weight of the operator is positioned on the bottom plate 506 and pushes down on the driven wheels 806. Further, a lever 503 for manually switching the guide rails has a locking device 1302 which ensures that the lever remains in place during travel.

[0123] In the foregoing description, various aspects of a transport vehicle and an automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. For purposes of illustration, specific numbers, systems, and configurations have been set forth to provide a thorough understanding of the system and its operating principles. However, the description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments and other embodiments of the system that are obvious to those skilled in the art to which the disclosed subject matter pertains are considered to be within the scope of the present invention.

[0124] List of Reference Numerals

[0125] Prior Art (Figs. 1 to 4):

[0126] 1 Automated storage and retrieval system of the prior art

[0127] 100 Frame structure

[0128] 102 Upright member of the frame structure

[0129] 104 Storage grid

[0130] 105 Storage column

[0131] 106 Storage container

[0132] 106’ Specific position of the storage container

[0133] 107 Stack

[0134] 108 Track system

[0135] 110 Parallel tracks in the first direction (X)

[0136] 112 Access opening

[0137] 119 First port column

[0138] 120 Second port column

[0139] 201 Prior art container handling vehicle

[0140] 201a Body of the container handling vehicle 201

[0141] 201b Driving device / wheel arrangement / first set of wheels in the first direction (X)

[0142] 201c Driving device / wheel arrangement / second set of wheels in the second direction (Y)

[0143] 301 Prior art cantilever container handling vehicle

[0144] 301a Body of the container handling vehicle 301

[0145] 301b Driving device / first set of wheels in the first direction (X)

[0146] 301c Driving device / second set of wheels in the second direction (Y)

[0147] 304 Gripping device

[0148] 401 Prior art container handling vehicle

[0149] 401a Body of the container handling vehicle 401

[0150] 401b Driving device / first set of wheels in the first direction (X)

[0151] 401c Driving device / second set of wheels in the second direction (Y)

[0152] 404 Clamping Device

[0153] 404a Lifting Belt

[0154] 404b Clamp

[0155] 404c Guide Pin

[0156] 404d Lifting Frame

[0157] 500 Control System

[0158] 501 Service Vehicle

[0159] 502 Bench with Control Panel 503 Rod (for manually switching the guide rail)

[0160] 504 Base

[0161] 505 Rubber Block

[0162] 506 Bottom Plate

[0163] 507 Guard Rail

[0164] 508 Support Pillar

[0165] 601 Barrier

[0166] 602 Emergency Stop Button

[0167] 603 Guide Rail Detector Depressing Pedal

[0168] 701 Speed Button

[0169] 702 On / Off Button

[0170] 801 Rotatable Platform Section / Platform 802 Mounting Part (frame for the driven wheel mechanism)

[0171] 803 Axle (for the wheels traveling in the X direction).

[0172] 804 Drive Belt (for transmitting energy from the motor to the driven wheels) 805 Electric Motor

[0173] 806 Driven Wheel

[0174] 807 Actuator Gear

[0175] 808 Bracket (mounting bracket for the base)

[0176] 809 Wheel Lifting Gear

[0177] 810 Guide Rail Detector

[0178] 811 Locking Clip

[0179] 812 Notch (for receiving the locking clip)

[0180] C Central Axis of the Wheel Lifting Gear

[0181] 901 Pedal of the Rotation Stopper

[0182] 1101 Connector (for charger)

[0183] 1102 Mounting Point (for retractable strut)

[0184] 1301 Seat

[0185] 1302 Locking Device

[0186] X First Direction

[0187] Y Second Direction

[0188] Z Third Direction

Claims

1. A service vehicle (501) for operating on a grid of an automated storage and retrieval system, wherein, The automatic storage and retrieval system includes a rail system, the rail system includes a first set of parallel rails and a second set of parallel rails, the first set of parallel rails is arranged to guide the container handling vehicle to move across the top of the frame structure in a first direction (X), the second set of parallel rails is arranged perpendicular to the first set of rails to guide the container handling vehicle to move in a second direction (Y) perpendicular to the first direction (X), the first set of parallel rails and the second set of parallel rails divide the rail system into a plurality of grid cells, wherein, the service vehicle (501) includes a base (504), the base has a set of wheels for traveling in the first direction (X) and a set of wheels for traveling in the second direction (Y), the base is provided with a platform for the operator and a mechanism for changing the traveling direction, and is characterized in that the service vehicle (501) includes a drive unit mounted to a rotatable platform portion (801), the drive unit includes a base plate (506) for the operator to stand on and an electric motor (805) provided below the base plate (506), the electric motor drives a driven wheel (806), the driven wheel is arranged to engage with a rail extending below the service vehicle (501), and the drive unit is arranged to make the driven wheel (806) engage with the rail extending below the service vehicle (501) by means of the weight of the operator on the base plate (506).

2. The service vehicle (501) according to claim 1, wherein, The rotatable platform portion (801) is located between a plurality of brackets (808) attached to the lower side of the base (504) and a set of brackets mounted to the upper side of the base (504).

3. The service vehicle (501) according to claim 2, wherein, Each bracket (808) mounted on the lower side of the base (504) has a rolling device, which may optionally be a roller, and the rotatable platform portion (801) rests on the rolling device.

4. The service vehicle (501) according to claim 2 or 3, wherein, Each bracket mounted to the upper side of the base (504) has a lip that extends above the edge of the rotatable platform portion (801).

5. The service vehicle (501) according to any one of the preceding claims, wherein, The rotation of the rotatable platform portion (801) is controlled by a rotation locking pedal.

6. The service vehicle (501) according to claim 5 when dependent on claims 2 to 4, wherein, The rotation locking pedal has a locking clip (811) that corresponds to a notch (812) in the bracket (808) below the base (504) to prevent the rotation of the platform (801).

7. The service vehicle (501) according to any one of the preceding claims, wherein, The service vehicle (501) is powered by the electric motor (805) connected to an electric energy source.

8. The service vehicle (501) according to any one of the preceding claims, wherein, The mechanism for changing the traveling direction is controlled by a handle on a rod for raising and lowering the wheels traveling in one direction.

9. The service vehicle (501) according to any one of the preceding claims, wherein, The drive unit has a gantry facing the traveling direction.

10. The service vehicle (501) according to claim 9, wherein, The gantry has a control panel, and the control panel has a controller for starting the rotation of the driven wheel (806) at a first speed.

11. The service vehicle (501) according to claim 10, wherein, The controller for starting the rotation of the driven wheel (806) at a first speed is at least one button.

12. The service vehicle (501) according to any one of the preceding claims, wherein, A set of railings (507) provided on the base (504) has at least one openable and closable barrier (601).

13. The service vehicle (501) according to claim 12, wherein, To operate the vehicle (501), the at least one closable barrier (601) must be firmly closed and locked.

14. The service vehicle (501) according to claim 12 or 13, wherein, The railing has rubber blocks (505) for engaging with other vehicles.

15. The service vehicle (501) according to any one of the preceding claims, wherein, The floor plate (506) has a rail detector depressing pedal (603) that can be pushed downward by the operator to assist the operator in positioning the rail under the service vehicle (501).

16. The service vehicle (501) according to any one of the preceding claims, wherein, The service vehicle (501) has a guide wire for indicating the correct position of the vehicle when changing the driving direction.

17. The service vehicle (501) according to any one of the preceding claims, wherein, The driven wheels (806) engage with two rails of a track extending under the service vehicle.

18. The service vehicle (501) according to any one of the preceding claims, wherein, The service vehicle (501) has a size of at least 2x2 grid cells such that the track engaging with the driven wheels (806) extends under the center of the vehicle.

19. The service vehicle (501) according to any one of the preceding claims, wherein, A seat (1301) can be attached to the floor plate (506).

20. The service vehicle (501) according to any one of the preceding claims, wherein, The service vehicle (501) includes two speed buttons (701), where the two speed buttons (701) need to be pressed simultaneously to cause the electric motor (805) to start rotating the driven wheels (806).

21. A system for operating a service vehicle (501) according to claims 1 to 20, the service vehicle being adapted to operate on a grid of an automated storage and retrieval system, the automated storage and retrieval system comprising a frame structure (100) and a track system, the frame structure comprising upright members (102) and a storage volume, the storage volume comprising storage columns (105) arranged in rows between the upright members (102), in which storage containers (106) are stacked one above the other to form stacks (107), the 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 the vehicle to move in a first direction (X) across the top of the frame structure, the second set of parallel tracks being arranged perpendicular to the first set of tracks to guide the vehicle to move in a second direction (Y) perpendicular to the first direction (X), the first set of parallel tracks and the second set of parallel tracks dividing the track system into a plurality of grid cells, wherein, The service vehicle (501) includes a base having a vehicle group for traveling in the first direction (X) and a vehicle group for traveling in the second direction (Y), the base being provided with a platform for the operator and a mechanism for changing the driving direction. Characterized in that the service vehicle (501) has a size of at least 2x2 grid cells such that the track engaging with the driven wheels (806) extends under the center of the vehicle.

22. A method for operating a service vehicle (501) for operating on a grid of an automated storage and retrieval system, the automated storage and retrieval system including a track system, the track system including a first set of parallel tracks and a second set of parallel tracks, the first set of parallel tracks being arranged to guide the vehicle to move in a first direction (X) across the top of a frame structure, the second set of parallel tracks being arranged perpendicular to the first set of tracks to guide the vehicle to move in a second direction (Y) perpendicular to the first direction (X), the first set of parallel tracks and the second set of parallel tracks dividing the track system into a plurality of grid cells, wherein, The service vehicle (501) includes a base having a vehicle group for traveling in the first direction (X) and a vehicle group for traveling in the second direction (Y), the base being provided with a platform for the operator and a mechanism for changing the driving direction, wherein the method includes the following steps: - Applying weight to the floor plate (506) to cause the driven wheels (806) to engage with the track extending under the service vehicle (501); - Using the controller on the control panel to cause the driven wheels (806) to start rotating; - Removing the weight from the floor plate (506) to disengage the driven wheels (806) from the track extending under the service vehicle (501).

23. The method for operating a service vehicle (501) according to claim 22, wherein, Closing and locking the barrier (601) of the service vehicle.

24. The method for operating a service vehicle (501) according to claim 22, wherein, Ensuring that the bench with the control panel (502) faces the desired driving direction.

25. The method for operating a service vehicle (501) according to claim 22, wherein, Switching to the required wheel group using the lever for raising and lowering the wheels.

26. The method for operating a service vehicle (501) according to claim 22, wherein, The operation of using the controller on the control panel is to press a button on the control panel to cause the driven wheels (806) to rotate at a first speed.

27. A method for operating a service vehicle (501) according to any one of claims 22 to 26, wherein, Pressing two buttons on the control panel to cause the driven wheels (806) to rotate at a second speed.

28. A method for operating a service vehicle (501) according to any one of claims 22 to 27, wherein, Changing the direction of the service vehicle (501) includes the following steps: - Stopping at the correct position; - Moving the lever for switching the rail; - Release the rotation stopper (901); and - Rotate the drive unit to a new direction that is 90 degrees relative to the previous direction.

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