Automatic storage and retrieval system including vehicle fence and transport vehicle, and related method

Abstract

Described is an automatic storage and retrieval system (1) comprising:-a track system (108) comprising a first set of parallel tracks (110) extending in a first direction (X) across a top of a frame structure (100) consisting of a plurality of upright members (102) and a second set of parallel tracks (111) extending in a second direction (X) across a top of the frame structure (100) consisting of a plurality of upright members (102); the second set of parallel rails are arranged in a horizontal plane along a second direction (Y) perpendicular to the first set of parallel rails (110) to guide movement of the container handling vehicle (201, 301, 401) in the first direction (X) and the second direction (Y), and wherein the rail system (108) comprises an operating area (20); a plurality of container handling vehicles (201, 301, 401) operating in the operating area (20); -a transport vehicle (501 ') movable on the rail system (108), the transport vehicle (501') comprising a containment (E) defining an enclosed first area (510) for transporting persons within the first area, the containment comprising a lockable barrier (520 ') configured to enable access to and from the first area (510); -a second region (30) separated from the operating region (20); -a vehicle fence (60) between the operating area (20) and the second area (30), where the vehicle fence (60) defines a vehicle fence area (61) and the vehicle fence comprises a lockable first barrier (31) for separating the vehicle fence area (61) from the second area (30) and a lockable second barrier (32) for separating the vehicle fence area (61) from the operating area (20); wherein a first barrier (31) of the vehicle fence is configured to:-when a second barrier (32) of the vehicle fence is in an unlocked state, the first barrier is locked so as to prevent a person from passing through the first barrier; and-when a second barrier (32) of the vehicle fence is in the locked state, the first barrier is unlocked thereby allowing a person to pass through the first barrier; and wherein the lockable barrier (520 ') of the transport vehicle is configured to:-when a second vehicle fence barrier (32) of the vehicle fence is in the unlocked state, the lockable barrier is locked, thereby preventing a person from passing through the lockable barrier; and-when the transport vehicle (501 ') is positioned within the vehicle fence area (61) and a second vehicle fence barrier (32) of the vehicle fence is in the locked state, the lockable barrier is unlocked, allowing a person to pass through the lockable barrier. A method of moving a transport vehicle (501 ') between a vehicle fence area (61) and an operating area (20) in an automated storage and retrieval system (1) is also described.

Description

Technical Field

[0001] The present invention relates to an automated storage and retrieval system for enabling a person to safely enter and leave a transport vehicle via a vehicle enclosure on a running grid. A related method is also claimed. Background Art

[0002] Figure 1 An existing automated storage and retrieval system 1 with a frame structure 100 is disclosed, and Figure 2 、 Figure 3 and Figure 4 three different existing container handling vehicles 201, 301, 401 suitable for running on the system 1 are disclosed.

[0003] The frame structure 100 includes upright members 102 and a storage volume that includes storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106 (also called bins) are stacked one on top of the other to form stacks 107. The members 102 can generally be made of metal (e.g., 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 run to raise and lower the storage containers 106 from and to the storage columns 105 and also transport the storage containers 106 above the storage columns 105. The track system 108 includes a first set of parallel tracks 110 and a second set of parallel tracks 111, wherein the first set of parallel tracks is 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 the second set of parallel tracks is arranged perpendicular to the first set of parallel 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., move 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 container during raising and lowering the storage container from and to the column 105. 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 and a second set of wheels 201b, 201c, 301b, 301c, 401b, 401c, which enable the container handling vehicles 201, 301, 401 to move laterally in the X direction and the Y direction respectively. In Figure 2 , Figure 3 and Figure 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 in the first set of parallel tracks 110, and the second set of wheels 201c, 301c, 401c are arranged to engage with two adjacent tracks in the second set of parallel 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 parallel tracks 110, 111 at any one time.

[0007] Each of the prior art container handling vehicles 201, 301, 401 also 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 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. Some parts of the clamping devices of the container handling vehicles 301, 401 are shown in Figure 3 and Figure 4 and are denoted by reference numerals 304, 404. In Figure 2 , the clamping device of the container handling device 201 is located inside the vehicle body 201a and is therefore not shown. The lifting device may include a lifting frame 404d suspended on a lifting belt 404a. The lifting belt 404a can provide power and communication between the container handling vehicle and the lifting frame 404d. The lifting frame 404d may include a clamping engagement device / clamp 404b for connecting to the clamping recess of the storage container 106. The guide pin 404c helps to align the clamp 404b with the clamping recess of the storage container 106.

[0008] Conventionally and also for the purposes of the present application, Z = 1 identifies the uppermost layer available for storing containers below the tracks 110, 111, i.e., the 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 Figure 1 in the exemplary prior art disclosed, Z = 8 identifies the bottommost layer of the storage containers. Similarly, X = 1...n and Y = 1...n identify the position of each storage column 105 in the horizontal plane. Thus, by way of example and using the Cartesian coordinate system X, Y, Z shown in Figure 1 it can be said that the storage container identified as 106' in Figure 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 where Z = 0, and each storage column 105 can be identified by its X coordinate and Y coordinate. Thus, Figure 1 the storage containers extending above the track system 108 shown in

[0009] are also said to be arranged in the layer where Z = 0. The storage volume part of the frame structure 100 is generally referred to as a grid 104, where the possible storage positions within the 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 number 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 Figure 2 and Figure 4 (showing a cavity-type container handling vehicle) and described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0011] Figure 3 An alternative configuration of a container handling vehicle 301 with a cantilever structure (referred to as a cantilever-type container handling vehicle) is shown. Such a vehicle is described in detail, for example, in NO317366, the content of which is also incorporated herein by reference.

[0012] Figure 2 The occupied area of the cavity-type container handling vehicle 201 shown in can cover an area whose dimensions in the X direction and Y direction are 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" as used herein can mean "horizontal".

[0013] Alternatively, Figure 4 and Figure 5 the occupied area of the chamber container handling vehicle 401 shown in may be greater than the lateral area defined by the storage row 105, as Figure 1 and Figure 4 shown in, for example, those disclosed 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, and each track in another 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., the columns 105 in which the storage containers 106 are stored in the form of stacks 107. However, some of the columns 105 may have other purposes. In Figure 1Among them, columns 119 and 120 are such dedicated columns used by container handling vehicles 201, 301, and 401 to unload and / or pick up storage containers 106, so that the storage containers can be transported to an access station (not shown), where the storage containers 106 can be accessed from the outside of the frame structure 100, or the storage containers can be moved in or out of the frame structure 100. In the art, this position is usually referred to as a "port", and the columns where the ports are located can be called "port columns" 119, 120. The transportation to the access station can be carried out in any direction (i.e., horizontal direction, inclined direction, and / or vertical direction). For example, the storage container 106 can be placed in a random column or a dedicated column 105 within the frame structure 100, and then the storage container can be picked up by any container handling vehicle and transported to the port columns 119, 120 for further transportation to the access station. The transportation from the port to the access station may need to move in various different directions by means of, for example, a delivery vehicle, a trolley, or other transportation lines. Note that the term "inclined" refers to the transportation of the storage container 106 having a general transportation orientation in a direction between horizontal and vertical.

[0017] In Figure 1 Among them, the first port column 119 can be, for example, an unloading port column, where the container handling vehicles 201, 301, 401 can unload the storage containers 106 to be transported to the access station or the transfer station, and the second port column 120 can be a pick-up 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 the transfer station.

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

[0019] A conveyor system including conveyors is usually adopted 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 horizontal heights, 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 transporter system can be arranged to transfer storage containers 106 between different frame structures, such as those described in WO2014 / 075937A1, the content of which is incorporated herein by reference.

[0022] The storage system can also use port columns 119, 120 to transfer storage containers between an orbital system 108 on top of the frame structure 100 and a container transfer vehicle arranged below the lower end of the port column. Such a storage system and a suitable container transfer vehicle are disclosed in WO 2019 / 238694 A1 and WO 2019 / 238697 A1, the content of which is incorporated herein by reference.

[0023] A potential disadvantage of using a container transfer vehicle to retrieve a storage container from the lower end of the port column and transport the storage container to the lower end of the port column is the time-dependence between one or more container transfer vehicles and the container handling vehicles used to retrieve / deliver the storage container through the port column.

[0024] When it is desired to access a storage container 106 stored in one of the multiple columns 105 disclosed in Figure 1 one of the 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; using the lifting device 116 of the container handling vehicles 201, 301, 401 to retrieve the storage container 106 from the storage column 105; 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 located 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 is subsequently 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 a container handling vehicle 201, 301, 401 dedicated to the task of temporarily removing the storage container 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 into the original storage column 105. However, the removed storage container 106 can alternatively be repositioned into other storage columns 105.

[0025] When storage container 106 is to be stored in a storage column 105, a container handling vehicle 201, 301, 401 is directed to pick up storage container 106 from a 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 container 106 located at or above the target position within stack 107, container handling vehicles 201, 301, 401 position storage container 106 at the desired location. The removed storage container 106 can then be lowered back into storage column 105 or repositioned to another storage column 105.

[0026] To monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of each storage container 106 within the framework structure 100, the contents of each storage container 106, and the movement of container handling vehicles 201, 301, 401, so that the desired storage container 106 can be transported to the desired location at the desired 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 tracking storage containers 106.

[0027] It is an object of the present invention to enable an operator or person to safely approach an active or "operating" automated storage and retrieval system. Summary of the Invention

[0028] The present invention is set forth and characterized in the independent claims, while the dependent claims describe other optional features.

[0029] Automated storage and retrieval systems are growing in size. To ensure the reliable operation of these systems, it is necessary to be able to repair problems that occur while the system is running. The proposed solution is a system and method that enables safe entry of vehicles located on an operating automated storage and retrieval system by using a vehicle enclosure as an entry point between a hazardous operating area (where the container handling vehicles operate) and a safe area (also known as the second area). This enables access to the transport vehicle when it is positioned within the vehicle enclosure without shutting down the automated storage and retrieval system. The vehicle enclosure includes two lockable barriers, one facing the safe area and the other facing the operating area. Interlocking locks between these barriers ensure that only one barrier can be unlocked at a time. The vehicle enclosure and the transport vehicle together form a safety system that ensures safe entry to and exit from the transport vehicle when it is positioned within the vehicle enclosure. The lockable barrier of the transport vehicle can only be unlocked when the maintenance vehicle is positioned within the vehicle enclosure and the lockable barrier facing the hazardous operating area is locked.

[0030] An automated storage and retrieval system is described, which includes:

[0031] - An orbital system, including a first set of parallel tracks and a second set of parallel tracks, wherein the first set of parallel tracks extends along a first direction across the top of a frame structure composed of a plurality of upright members, and the second set of parallel tracks is arranged in a second direction perpendicular to the first set of parallel tracks in a horizontal plane to guide the movement of a container handling vehicle in the first direction and the second direction, and wherein the orbital system includes an operation area;

[0032] - A plurality of container handling vehicles operating in the operation area;

[0033] - A transport vehicle capable of moving on the orbital system, the transport vehicle including an enclosure structure defining an enclosed first area for transporting personnel within the first area, the enclosure structure including a lockable barrier configured to enable personnel to enter and exit the first area;

[0034] - A second area separated from the operation area;

[0035] - A vehicle enclosure located between the operation area and the second area, wherein the vehicle enclosure defines a vehicle enclosure area, and the vehicle enclosure includes a lockable first barrier for separating the vehicle enclosure area from the second area and a lockable second barrier for separating the vehicle enclosure area from the operation area;

[0036] Wherein the first barrier of the vehicle enclosure is configured to:

[0037] - When the second barrier of the vehicle enclosure is in an unlocked state, the first barrier is locked, thereby preventing personnel from passing through the first barrier; and

[0038] - When the second barrier of the vehicle enclosure is in a locked state, the first barrier is unlocked, thereby allowing personnel to pass through the first barrier; and

[0039] Wherein the lockable barrier of the transport vehicle is configured to:

[0040] - When the second vehicle enclosure barrier of the vehicle enclosure is in an unlocked state, the lockable barrier is locked, thereby preventing personnel from passing through the lockable barrier; and

[0041] - When the transport vehicle is positioned within the vehicle enclosure area and the second vehicle enclosure barrier of the vehicle enclosure is in a locked state, the lockable barrier is unlocked, thereby allowing personnel to pass through the lockable barrier.

[0042] The cross-sectional area or footprint of the transport vehicle can be smaller than the cross-sectional area or footprint of the vehicle enclosure area, such that the space within the vehicle enclosure area can be used for more than one transport vehicle. For example, the vehicle enclosure area should be of sufficient size to allow personnel to enter the transport vehicle. In addition, the vehicle enclosure area should be of sufficient size to accommodate multiple container handling vehicles that require "simple" maintenance. More advanced maintenance that requires more time can be carried out, for example, in a second area.

[0043] Alternatively, the cross-sectional area or footprint of the transport vehicle can be substantially equal to the cross-sectional area or footprint of the vehicle enclosure area, such that the transport vehicle can occupy the entire vehicle enclosure area to a certain extent.

[0044] The second area can be a so-called safety area in which neither the container handling vehicle nor the transport vehicle can operate by autonomous movement. However, a container handling vehicle that needs maintenance can be pushed or lifted into the second area for maintenance.

[0045] The second area can have tracks connected to the tracks in the vehicle enclosure area, or can be without tracks.

[0046] The transport vehicle is a vehicle of sufficient size for a person (such as an operator or other person) to enter or be located thereon. When a person is inside or on the transport vehicle, he / she is protected from being injured by the container handling vehicles operating in the operating area. The enclosure can surround the person, or can provide all-round protection, for example, by including a roof. When a person is inside or on the transport vehicle, the person is protected from being injured by the container handling vehicles operating in the operating area.

[0047] The transport vehicle can be a transport vehicle whose main task is to transport people or humans.

[0048] Alternatively, the transport vehicle can be a vehicle that usually has other main tasks such as storing container handling tasks, picking tasks, etc. and has the function of transporting people or humans as a secondary task.

[0049] Preferably, the lockable barrier of the transport vehicle and the lockable first barrier of the vehicle enclosure can operate between an unlocked state allowing passage and a locked state preventing passage, such that these barriers prevent personnel from passing through unless the transport vehicle is arranged within the vehicle enclosure area and the second barrier of the vehicle enclosure is locked.

[0050] Therefore, preferably, the lockable barrier of the transport vehicle can only be unlocked and opened when the transport vehicle is positioned within the vehicle enclosure and the second barrier of the vehicle enclosure is in the locked state. This minimizes the risk of collision with any container handling vehicle during entry and exit from the first area.

[0051] When the lockable barrier is locked, it also remains in a closed state all the time, thus preventing personnel from passing through the lockable barrier.

[0052] When the lockable barrier is unlocked, it is either in an open state to allow personnel to pass through the lockable barrier or can be opened to allow personnel to pass through the lockable barrier.

[0053] The storage columns below the vehicle enclosure can be used to store containers containing maintenance tools. Alternatively or additionally, dedicated containers that can be carried by a container handling vehicle can also be stored in the storage columns below the vehicle enclosure, such as dedicated camera containers for inspecting tracks or upright members, or dedicated cleaning containers for cleaning tracks.

[0054] The vehicle enclosure can include tracks for guiding the movement of container handling vehicles and transport vehicles.

[0055] The vehicle enclosure area can include a plurality of parking positions for transport vehicles, and at least one of these parking positions can have locking means for locking the transport vehicle in place when the transport vehicle is positioned at the parking position.

[0056] The locking means can include a brake or a pile for locking with the track. This serves as a safety feature structure to prevent accidental movement of the transport vehicle. The locking means can also be a bolt that unlocks the barrier of the vehicle while being lowered.

[0057] Preferably, the barrier of the transport vehicle and the first barrier of the vehicle enclosure are fail-safe locked (automatically enter a safe state in case of failure or abnormal conditions). This ensures that when the transport vehicle is not positioned within the vehicle enclosure, the barrier of the transport vehicle and the first barrier of the vehicle enclosure are always in a locked state, thus eliminating the risk of accidental unlocking and opening of the vehicle barrier.

[0058] The transport vehicle can include a first set of wheels for traveling in a first direction and a second set of wheels for traveling in a second direction.

[0059] The transport vehicle can include a wheel lifting mechanism that can operate between a first position and a second position. In the first position, the first set of wheels is higher than the second set of wheels, such that the second set of wheels is in contact with the track system. In the second position, the first set of wheels is lower than the second set of wheels, such that the first set of wheels is in contact with the track system.

[0060] The transport vehicle may include a wheel drive motor for driving the first set of wheels and / or the second set of wheels. One wheel drive motor may be provided to drive the wheels in the first set of wheels as well as the wheels in the second set of wheels. Alternatively, one wheel drive motor may be provided to drive the first set of wheels while another motor is provided to drive the second set of wheels.

[0061] The automated storage and retrieval system may include a control system that includes a transmitter and a receiver for communicating with the container handling vehicle and the transport vehicle.

[0062] The transport vehicle may include an emergency stop device, and the emergency stop device may include a transmitter configured to send an emergency stop signal to the control system to shut down the automated storage and retrieval system.

[0063] The emergency stop device may be connected to the control system such that the control system can immediately shut down the automated storage and retrieval system upon receiving a signal from the emergency stop device. For example, the emergency stop device may include a transmitter, and the control system may include a receiver for receiving signals from the transmitter.

[0064] Similarly, the second area may also include an emergency stop device having similar features and functions.

[0065] The transport vehicle may be configured to receive route instructions from the control system to a location within the vehicle enclosure area, and when it is confirmed that the transport vehicle is within the vehicle enclosure area, the second vehicle enclosure barrier is in a locked state, and the vehicle barrier and the first vehicle enclosure barrier are in an open state, allow personnel to pass through the vehicle barrier and the first vehicle enclosure barrier.

[0066] The control system may include a verification device for verifying whether the transport vehicle is located within the vehicle enclosure area.

[0067] The verification device may include one or more sensors.

[0068] The transport vehicle may include a locking mechanism, and the vehicle enclosure area may include a complementary locking mechanism to prevent accidental movement of the transport vehicle when it is located within the vehicle enclosure area. This provides an additional safety measure to prevent accidental movement of the transport vehicle when it is located within the vehicle enclosure area. The locking mechanism of the transport vehicle and the complementary locking mechanism of the vehicle enclosure area may be mechanical, electromechanical, magnetic, or any other locking mechanism that provides the required function.

[0069] The locking mechanism for the vehicle enclosure area is preferably arranged at the first barrier such that the first barrier can only be unlocked when all the transport vehicles within the vehicle enclosure area are locked to the first barrier. And, as mentioned above, provided that the second barrier of the vehicle enclosure is in the locked state. This will provide more additional safety measures because when the first barrier is in the unlocked state, it can prevent the transport vehicles from moving accidentally, thus ensuring the safety of personnel within the vehicle enclosure area. Since the container handling vehicles within the vehicle enclosure area can be shut down simply by pressing the emergency stop device, it is easier to prevent them from moving accidentally.

[0070] The transport vehicle can include supports for helping to stabilize the transport vehicle.

[0071] The support can move between a raised position relative to the track system and a lowered position in contact with the track system.

[0072] The support is preferably configured to interact with the track system. The support can interact with the track system to stabilize the transport vehicle during the entry and exit of personnel. During the entry and exit of personnel, in addition to lowering all the wheels to contact the track system, the support can also be used. The support can also provide additional support that may be required when bringing in or taking out container handling vehicles, tools, etc. into or out of the first area of the transport vehicle.

[0073] The second area can be a safe area for maintaining the container handling vehicle, and at this safe area, the container handling vehicle is prohibited from moving autonomously.

[0074] The operating area and the second area can be at the same height, and the tracks of the vehicle enclosure can be connected to the tracks of the operating area such that the transport vehicle and the container handling vehicle can move on the tracks when entering and leaving the vehicle enclosure area through the lockable first barrier.

[0075] The operating area and the second area can be arranged at different heights, and the vehicle enclosure can be a lift for transporting the container handling vehicle and the transport vehicle between the operating area and the second area. For example, such a solution using a lift is shown in WO2020 / 127060A1.

[0076] The second area can be an area within the operating area.

[0077] The second area can be a temporary "island" within the operating area. This "island" can be a temporary area or a permanent area. This temporary area or permanent area can be used to protect personnel during maintenance, repair, and / or installation within the operating area. That is, when the operating area is in the operating state, i.e., "in operation", the second area can be protected from the influence of the operating area.

[0078] If the second area is a temporary area, for example, it can be used as a safety area, for example, for maintaining or repairing the following:

[0079] - The various components of the rail system;

[0080] - The upright members forming part of the frame structure; or

[0081] - The charging device for the container handling vehicle, wherein the charging device can be arranged within or near the temporary second area.

[0082] The automated storage and retrieval system can include a vehicle fence confirmation device operable by a person, such that the person can confirm entry into or exit from the vehicle fence area through the first barrier of the vehicle fence.

[0083] The vehicle fence confirmation device can be a button or other confirmation device that notifies the control system that a person has entered or left the vehicle fence area, such that the control system can perform the necessary actions. These necessary actions can be, if a person enters the vehicle fence area, not allowing any transport vehicle or container handling vehicle within the vehicle fence area to move. Alternatively, if a person has confirmed leaving the vehicle fence area, allowing any transport vehicle or container handling vehicle within the vehicle fence area to move.

[0084] The transport vehicle can include a starting device operable by a person, such that the person can confirm entry into or exit from the transport vehicle through the barrier of the transport vehicle.

[0085] Preferably, the second barrier of the vehicle fence is configured to unlock in any of the following cases:

[0086] - If a person has confirmed entry into the transport vehicle via the starting device; or

[0087] - If a person has confirmed leaving the vehicle fence area via the vehicle fence confirmation device.

[0088] A method is also described for moving a transport vehicle from an operating area to a vehicle fence area in the automated storage and retrieval system defined above. The transport vehicle includes a vehicle drive device for achieving autonomous movement, a wheel lifting mechanism for changing the direction of movement, and an enclosure structure defining an enclosed first area for transporting a person within the first area. The enclosure structure includes a lockable barrier configured to allow a person to enter and exit the first area. Wherein, the method includes the following operations using a control system:

[0089] - Requesting unlocking of the lockable second barrier;

[0090] - Verify whether the first barrier is locked. If it is not locked, wait for the first barrier to be locked;

[0091] - Change the state of the lockable second barrier to unlocked;

[0092] - Instruct the transport vehicle to enter the vehicle enclosure area through the second barrier;

[0093] - Request to lock the second barrier;

[0094] - Set the vehicle drive device to the disabled mode;

[0095] - Set the wheel lifting mechanism of the vehicle to the disabled mode;

[0096] - Request to unlock the lockable barrier of the transport vehicle, verify whether the second barrier is locked. If it is not locked, wait for the second barrier to be locked;

[0097] - Request to unlock the lockable first barrier;

[0098] - Change the state of the lockable barrier to unlocked;

[0099] - Change the state of the lockable first barrier to unlocked;

[0100] - Allow the transport vehicle to enter and leave the second area through the lockable barrier and the first barrier.

[0101] The term "disabled mode" refers to a mode in which components such as the wheel lifting mechanism and the vehicle drive device are set to a non-enabled state, that is, they are not allowed to perform the dedicated functions of raising or lowering one set of wheels out of multiple sets of wheels and driving the vehicle.

[0102] Also described is a method for moving a transport vehicle from a vehicle enclosure area to an operating area in the automated storage and retrieval system defined above. The transport vehicle includes a vehicle drive device for autonomous movement, a wheel lifting mechanism for changing the moving direction, and an enclosure structure defining an enclosed first area for transporting personnel within the first area. The enclosure structure includes a lockable barrier configured to allow personnel to enter and exit the first area. Wherein, the method includes the following operations using a control system:

[0103] - Request to unlock the lockable barrier;

[0104] - Request to unlock the lockable first barrier;

[0105] - Verify whether the second barrier is locked. If it is not locked, wait for the second barrier to be locked;

[0106] - Enter the transport vehicle;

[0107] - Request to lock the lockable barrier;

[0108] - Change the state of the lockable barrier to locked;

[0109] - Request to lock the first barrier;

[0110] - Change the state of the first barrier to locked;

[0111] - Set the vehicle drive device to the operating mode;

[0112] - Set the wheel lifting mechanism of the vehicle to the operating mode;

[0113] - Request to unlock the lockable second barrier;

[0114] - Instruct the transport vehicle to leave the vehicle enclosure area via the lockable second barrier and enter the operating area.

[0115] When referring to the wheel lifting mechanism and the vehicle drive device, the term "operating mode" means the normal operating mode, i.e., allowing the wheel lifting mechanism to raise and lower one of a plurality of sets of wheels and allowing the vehicle drive device to move the transport vehicle.

[0116] A method of accessing a transport vehicle operating on the automated storage system defined above is also described, wherein the method comprises the following steps:

[0117] - Instruct the transport vehicle to leave the operating area via the second barrier of the vehicle enclosure and enter the vehicle enclosure area;

[0118] - Lock the second barrier of the vehicle enclosure;

[0119] - Unlock the barrier of the transport vehicle and the first barrier of the vehicle enclosure;

[0120] - Enter the first area through the barrier of the transport vehicle and the first barrier of the vehicle enclosure;

[0121] - Lock the barrier of the transport vehicle and the first barrier of the vehicle enclosure; and

[0122] - Unlock the second barrier of the vehicle enclosure;

[0123] - Instruct the transport vehicle to leave the vehicle enclosure area via the second barrier of the vehicle enclosure and enter the operating area.

[0124] The system may include a vehicle enclosure confirmation device operable by a person, and the method may include:

[0125] - Enter the vehicle enclosure area through the first barrier of the vehicle enclosure;

[0126] - Operate the vehicle enclosure confirmation device to confirm entry into the vehicle enclosure area.

[0127] If a person enters the vehicle enclosure area, no transport vehicle or container handling vehicle in the vehicle enclosure area is allowed to move.

[0128] The system may include a vehicle enclosure confirmation device operable by a person, and the method may include:

[0129] - Leave the vehicle enclosure area through the first barrier of the vehicle enclosure;

[0130] - Operate the vehicle enclosure confirmation device to confirm leaving the vehicle enclosure area.

[0131] If a person has confirmed leaving the vehicle enclosure area, any transport vehicle or container handling vehicle in the vehicle enclosure area is allowed to move.

[0132] The transport vehicle may include a starting device operable by a person, and the method may include:

[0133] - Enter the first area of the transport vehicle through the barrier of the transport vehicle;

[0134] - Operate the starting device to confirm entry into the vehicle enclosure area.

[0135] The transport vehicle may include a starting device operable by a person, and the method may include:

[0136] - Leave the first area of the transport vehicle through the barrier of the transport vehicle;

[0137] - Operate the starting device to confirm leaving the vehicle enclosure area.

[0138] The automated storage and retrieval system may include a plurality of upright members, and each storage column is defined by four upright members.

[0139] The track system may be arranged on top of the upright members. The track system includes a first set of parallel tracks and a second set of parallel tracks arranged perpendicular to the first set of tracks. The first set of tracks and the second set of tracks provide a horizontal grid-based track system defining a plurality of grid cells. The first set of tracks and the second set of tracks of the track system may include one or two guide rails. Preferably, the tracks include two guide rails (dual guide rails) in both directions. For example, two parallel channels are formed in one track, or one channel is provided in each of a pair of track members fastened to each other to form a track. In such an arrangement, the access opening (also referred to as a grid opening) and the width of one guide rail on each side define a "grid cell". In an arrangement where the track has only a single guide rail in one direction, the grid cell may extend the entire track width on these sides.

[0140] In this specification, the term "storage container" is intended to denote any cargo holding unit having a bottom plate and side portions adapted to be releasably connected to a container lifting device, such as a box, tote, pallet, or the like. The side portions may preferably include clamping recesses. The side portions are preferably side walls. The height of the side walls may vary depending on the intended use of the automated storage and retrieval system and the goods to be stored. The clamping recesses may be arranged at the upper edge of the side walls. The outer horizontal perimeter of the storage container is preferably rectangular.

[0141] The relative terms "upper", "lower", "beneath", "above", "higher", etc. shall be understood in their ordinary meaning and as shown in a Cartesian coordinate system.

[0142] The present invention can be used in combination with the storage containers and systems described above. However, the disclosed automated storage and retrieval systems and methods can also be used in other fields, including vertical farming, micro-fulfillment, or grocery / online grocery. BRIEF DESCRIPTION OF THE DRAWINGS

[0143] The following drawings are attached to facilitate understanding of the present invention. The drawings illustrate embodiments of the present invention, which will now be described only by way of example, in which:

[0144] Figure 1 is a perspective view of the frame structure of an automated storage and retrieval system of the prior art;

[0145] Figure 2 is a perspective view of a container handling vehicle of the prior art, which has an interior cavity for carrying a storage container therein;

[0146] Figure 3 is a perspective view of a container handling vehicle of the prior art, which has a cantilever for carrying a storage container therebeneath;

[0147] Figure 4 is a perspective view of a container handling vehicle of the prior art as viewed from beneath, which has an interior cavity for carrying a storage container therein;

[0148] Figure 5 is Figure 4 a perspective view of the container handling vehicle in

[0149] Figure 6A without side panels and a top panel;

[0150] Figure 6B is a side view of a second example of a transport vehicle for an automated storage and retrieval system;

[0151] Figures 7A to 7G Is a perspective view of an automated storage and retrieval system, the automated storage and retrieval system including an operating area, a second area, and a vehicle enclosure located between the operating area and the second area, and wherein the vehicle enclosure includes a lockable first barrier separating the vehicle enclosure area from the second area and a lockable second barrier separating the vehicle enclosure area from the operating area, and wherein, in all the figures, two container handling vehicles are positioned within the vehicle enclosure, and wherein:

[0152] Figure 7A Shows a transport vehicle identical to the Figure 6A transport vehicle in, the transport vehicle being located within the operating area, and the lockable barrier of the transport vehicle being in a locked state, and wherein both the first lockable barrier and the second lockable barrier are in a locked state;

[0153] Figure 7B Shows that the lockable barrier of the transport vehicle remains in a locked state, while the second lockable barrier is in an unlocked state, and the first lockable barrier remains in a locked state, and the transport vehicle is about to enter the vehicle enclosure through the lockable second barrier;

[0154] Figure 7C Shows that the lockable barrier of the transport vehicle remains in a locked state, the second lockable barrier remains in an unlocked state, and the first lockable barrier remains in a locked state, and the transport vehicle has entered the vehicle enclosure through the lockable second barrier;

[0155] Figure 7D Shows that the lockable barrier of the transport vehicle remains in a locked state, while the second lockable barrier is in a locked state, and the first lockable barrier remains in a locked state, and the transport vehicle is positioned within the vehicle enclosure close to the lockable first barrier;

[0156] Figure 7E Shows that the lockable barrier of the transport vehicle is in an unlocked state, while the second lockable barrier remains in a locked state, and the first lockable barrier is in an unlocked state, and the transport vehicle is still positioned within the vehicle enclosure close to the lockable first barrier;

[0157] Figure 7F Is a view similar to Figure 7E except that another lockable first barrier located between the vehicle enclosure area and the second area is in an unlocked state, while the lockable barrier of the transport vehicle remains in an unlocked state;

[0158] Figure 7G Is a view similar to Figure 7FSimilar view, except that the person has entered the vehicle enclosure area through another lockable first barrier in the unlocked state located between the vehicle enclosure area and the second area;

[0159] Figures 8A to 8C is a perspective view of an automated storage and retrieval system that includes an operating area, a second area, and a vehicle enclosure located between the operating area and the second area. Among them, as Figure 6B illustrated, the transport vehicle is positioned within the vehicle enclosure, and the size of the vehicle enclosure is substantially the same as the size of the transport vehicle, such that only one transport vehicle can be positioned within the vehicle enclosure at a time, where:

[0160] Figure 8A shows that the lockable first barrier separating the vehicle enclosure area from the second area is in the locked state, and the lockable second barrier separating the vehicle enclosure area from the operating area is in the unlocked state;

[0161] Figure 8B shows the same as Figure 8A except that it is observed from a perspective opposite to Figure 8A ;

[0162] Figure 8C shows that the lockable first barrier separating the vehicle enclosure area from the second area is in the unlocked state, and the lockable second barrier separating the vehicle enclosure area from the operating area is in the locked state;

[0163] Figure 9 shows the automated storage and retrieval system, where the operating area and the second area are at different heights, and where the vehicle enclosure is a lift for the container handling vehicle and the transport vehicle to transport the container handling vehicle and the transport vehicle between the operating area and the second area. Detailed Description of the Invention

[0164] 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.

[0165] The frame structure 100 of the automated storage and retrieval system 1 can be in a manner combined with the above Figure 1The frame structure 100 of the described prior art is constructed in a similar manner. That is, the frame structure 100 may include a plurality of upright members 102 and include a track system 108 extending in a first direction (X direction) and a second direction (Y direction). That is, the track system 108 may be disposed on top of the upright members 102, and the track system 108 includes a first set of parallel tracks 110 and a second set of parallel tracks 111 disposed perpendicular to the first set of tracks 110. The first set of tracks 110 and the second set of tracks 111 provide a horizontal grid-based track system 108 that defines a plurality of grid cells 130. The first set of tracks 110 and the second set of tracks 111 of the track system 108 may include one or two guide rails. Preferably, the tracks include two guide rails (double guide rails) in both directions. For example, two parallel channels are formed in one track, or one channel is provided in each of a pair of track members fastened to each other to form a track. In such an arrangement, the access opening (also referred to as a grid opening) and the width of one guide rail on each side define the "grid cell" 130. In an arrangement where the track has only a single guide rail in one direction, the grid cell 130 may extend the entire track width on these sides.

[0166] The frame structure 100 may include storage compartments in the form of storage columns 105 disposed between the members 102, wherein storage containers 106 can be stacked in the storage columns 105 in the form of stacks 107.

[0167] The frame structure 100 can have 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 Figure 1 For example, the frame structure 100 can have a horizontal extent of more than 700×700 columns and a storage depth of more than twelve containers.

[0168] A prior art container handling vehicle including a cavity for accommodating a storage container (a cavity-type container handling vehicle, see Figure 2 , Figure 4 and Figure 5 ) has certain advantageous features. Specifically, providing guidance / support to the storage container accommodated in the cavity enables the cavity-type container handling vehicle to have a greater acceleration / deceleration compared to the cantilever-type container handling vehicle 301 shown in Figure 3 .

[0169] Figure 6A Details of an exemplary transport vehicle 501' for an automated storage and retrieval system 1 are shown.

[0170] Transport vehicle 501’ includes an enclosure E that defines an enclosed first area 510 for transporting personnel 50 within the first area. The enclosure E is composed of four sides, namely the first side S1, the second side S2, the third side S3, and the fourth side S4. In the example of FIG. 6, a lockable barrier 520’ configured to allow personnel to enter and exit the first area 510 is provided on each of the four sides S1, S2, S3, S4, such that the transport vehicle 501’ can be connected to a second area 30 arranged on any one of the four sides S1, S2, S3, S4.

[0171] Transport vehicle 501’ includes a vehicle body 501a’. A first set of wheels 501b for traveling in a first direction X and a second set of wheels 501c for traveling in a second direction Y are arranged on the vehicle body 501a’.

[0172] Although not shown, the transport vehicle 501’ preferably includes a wheel lifting mechanism that can operate between a first position and a second position. In the first position, the first set of wheels 501b is higher than the second set of wheels 501c, such that the second set of wheels 501c contacts the track system 108. In the second position, the first set of wheels 501b is lower than the second set of wheels 501c, such that the first set of wheels 501b contacts the track system 108.

[0173] In addition, although not shown, the transport vehicle 501’ preferably includes a vehicle drive device or a wheel drive motor for driving the first set of wheels 501b and / or the second set of wheels 501c to move the transport vehicle 501’ on the track system.

[0174] Transport vehicle 501’ preferably communicates with a control system 500 such that the control system 500 issues instructions to the transport vehicle 501’ indicating where to move within the operating area 20 of the track system 108 without the risk of collision with container handling vehicles 201, 301, 501.

[0175] Transport vehicle 501’ may also include an emergency stop device 40. The emergency stop device 40 may include a transmitter configured to send an emergency stop signal to the control system 500. For example, the emergency stop device may include a transmitter, and the control system 500 may include a receiver for receiving signals from the transmitter. Then, the control system may send a stop signal to all container handling vehicles and transport vehicles, or may cut off the power supply.

[0176] Transport vehicle 501’ may include a lock state detector 71 configured to detect whether the barrier 520’ on the transport vehicle 501’ is in an unlocked state or a locked state. The lock state detector 71 may include a transmitter (not shown) for communicating with the control system 500.

[0177] The transport vehicle 501' may include one or more supports 509 for stabilizing the transport vehicle 501'. The support 509 is movable between a raised position elevated relative to the track system 108 and a lowered position contacting the track system 108. The support 509 is preferably configured to interact with the track system 108. The support 509 may interact with the track system 108 to stabilize the transport vehicle during entry and exit of personnel. During entry and exit of personnel 50, in addition to lowering all wheels to contact the track system 108, the support 509 may also be used. The support may also provide additional support that may be required when bringing the container handling vehicles 201, 301, 401, tools, etc. into or out of the first area 510 of the transport vehicle 501'.

[0178] The occupied area of the transport vehicle 501' on the track system 108 disclosed herein covers a total of twelve grid cells 130 (i.e., 4 grid cells in the first direction X and 3 grid cells in the second direction Y). Then, when the control system 500 provides route instructions to the transport vehicle 501' and all container handling vehicles 201, 301, 401 within the operating area 20, it generally takes into account the total size of the occupied area of the transport vehicle 501'.

[0179] Figure 6B is a side view of a second example of the transport vehicle 501' for the automated storage and retrieval system 1. The transport vehicle 501' in FIG. 7 has common features with the exemplary transport vehicle in FIG. 6, and these features will not be described again here.

[0180] Figures 7A to 7G is a perspective view of the automated storage and retrieval system 1, which includes an operating area 20, a second area 30, and a vehicle enclosure 60 located between the operating area 20 and the second area 30, and wherein the vehicle enclosure 60 includes a lockable first barrier 31 separating the vehicle enclosure area 61 from the second area 30 and a lockable second barrier 32 separating the vehicle enclosure area 61 from the operating area 20, and wherein, in Figures 7A to 7G in all of the figures, two container handling vehicles 201, 301 are positioned within the vehicle enclosure 60.

[0181] From Figures 7A to 7GAs can be seen in all of the figures, the illustrated track system 108 includes a first set of parallel tracks 110 and a second set of parallel tracks 111. The first set of parallel tracks extends along a first direction X across the top of a frame structure 100 formed by a plurality of upright members 102, and the second set of parallel tracks is arranged in a horizontal plane along a second direction Y perpendicular to the first set of parallel tracks 110 to guide the movement of the container handling vehicles 201; 301 in the first direction X and the second direction Y. The track system 108 includes an operation area 20. The track system 108 disclosed herein also extends into the vehicle enclosure area 61 and partially into the second area 30.

[0182] The transport vehicle 501' can move on the track system 108. This transport vehicle is the same as the transport vehicle shown in Figure 6A and its features will not be repeated here.

[0183] A vehicle enclosure 60 located between the operation area 20 and the second area 30 defines a vehicle enclosure area 61, and the vehicle enclosure includes: a lockable first barrier 31 for separating the vehicle enclosure area 61 from the second area 30; and a lockable second barrier 32 for separating the vehicle enclosure area 61 from the operation area 20. The wall 32 separates the vehicle enclosure area 61 from the operation area 20 and the second area 30. In Figures 7A to 7G it is shown that there are a total of three lockable first barriers 31, 31', 31'' along the wall 32. These three lockable first barriers 31, 31', 31'' are identical, and each of them has the same function when a person (or the container handling vehicles 201, 301, 401) moves between the second area 30 and the first area 510 within the vehicle enclosure area 61 or the transport vehicle 501'.

[0184] The vehicle enclosure area 61 may include a plurality of parking positions 10 for the transport vehicle 501', and at least one of these parking positions 10 may have locking means for locking the transport vehicle in place when the transport vehicle 501' is positioned at the parking position 10.

[0185] The first barrier 31 of the vehicle enclosure 60 is configured to:

[0186] - When the second barrier 32 of the vehicle enclosure 60 is in an unlocked state, the first barrier locks to prevent a person 50 from passing through the first barrier; and

[0187] - When the second barrier 32 of the vehicle enclosure 60 is in a locked state, the first barrier unlocks to allow a person 50 to pass through the first barrier, and

[0188] The lockable barrier 520' of the transport vehicle 501' is configured to:

[0189] - When the second vehicle enclosure barrier 32 of the vehicle enclosure 60 is in the unlocked state, the lockable barrier is locked, thereby preventing the person 50 from passing through the lockable barrier; and

[0190] - When the transport vehicle 501' is positioned within the vehicle enclosure area 61 and the second vehicle enclosure barrier 32 of the vehicle enclosure 60 is in the locked state, the lockable barrier is unlocked, thereby allowing the person 50 to pass through the lockable barrier.

[0191] The locking and unlocking of the lockable barrier 520' of the transport vehicle 501', the lockable first barrier 31, and the lockable second barrier 32 are controlled by the control system 500, and the following will refer to the views in Figures 7A to 7G to show different positions:

[0192] In Figure 7A the transport vehicle 501' is located within the operation area 20. The lockable barrier 520' of the transport vehicle 501' is in the locked state, and both the first lockable barrier 31 and the second lockable barrier 32 are in the locked state.

[0193] Figure 7B shows that the lockable barrier 520' of the transport vehicle 501' remains in the locked state, while the second lockable barrier 32 is in the unlocked state, and the first lockable barrier 31 remains in the locked state. By unlocking the lockable second barrier 32, the transport vehicle 501' can enter the vehicle enclosure 60 through the lockable second barrier 32.

[0194] Figure 7C shows that the lockable barrier 520' of the transport vehicle 501' remains in the locked state, the second lockable barrier 32 remains in the unlocked state, and the first lockable barrier 31 remains in the locked state. However, the transport vehicle 501' has entered the vehicle enclosure 60 through the lockable second barrier 32.

[0195] Figure 7D shows that the lockable barrier 520' of the transport vehicle 501' remains in the locked state, while the second lockable barrier 32 is in the locked state, and the first lockable barrier 31 remains in the locked state. The transport vehicle 501' is positioned within the vehicle enclosure 60 near the lockable first barrier 31.

[0196] Figure 7EIt shows that the lockable barrier 520' of the transport vehicle 501' is unlocked, while the second lockable barrier 32 remains locked and the first lockable barrier 31 is unlocked. The lockable first barrier 31 has been moved to one side. Similarly, the lockable barrier 520' of the transport vehicle 501' has been moved to one side to enable a person 50 to pass through. The transport vehicle 501' is still positioned within the vehicle enclosure 60 near the lockable first barrier 31. The person 50 located within the first area 510 of the transport vehicle 501 can now leave the transport vehicle 501 through the vehicle barrier 520' and the lockable first barrier 31.

[0197] Figure 7F is similar to Figure 7E except that another lockable first barrier 31' located between the vehicle enclosure area 61 and the second area 60 is in the unlocked state, while the lockable barrier 520' of the transport vehicle 501' remains in the unlocked state.

[0198] Figure 7G is similar to Figure 7F except that the person 50 has moved from the second area 30 and entered the vehicle enclosure area 61 through the unlocked lockable first barrier 31' between the vehicle enclosure area 61 and the second area 30.

[0199] Figures 8A to 8C is a perspective view of the automated storage and retrieval system 1, which includes an operating area 20, a second area 30, and a vehicle enclosure 60 located between the operating area 20 and the second area 30. As Figure 6B illustrated, the transport vehicle 501' is positioned within the vehicle enclosure 60. The dimensions of the vehicle enclosure 60 are substantially the same as those of the transport vehicle 501' such that only one transport vehicle 501' can be positioned within the vehicle enclosure 60 at a time.

[0200] As can be seen from Figures 8A to 8C all the figures, the illustrated track system 108 includes a first set of parallel tracks 110 and a second set of parallel tracks 111, wherein the first set of parallel tracks extends along a first direction X across the top of a frame structure 100 composed of a plurality of upright members 102, and the second set of parallel tracks is arranged in a horizontal plane in a second direction Y perpendicular to the first set of parallel tracks 110 to guide the movement of the container handling vehicles 201; 301 (only one container handling vehicle 301 is shown in the operating area 20) in the first direction X and the second direction Y. The track system 108 includes the operating area 20. The track system 108 disclosed herein also extends into the vehicle enclosure area 61. The second area has a floor 51 but no tracks.

[0201] A vehicle enclosure 60 located between the operation area 20 and the second area 30 defines a vehicle enclosure area 61, and the vehicle enclosure includes: a lockable first barrier 31 for separating the vehicle enclosure area 61 from the second area 30; and a lockable second barrier 32 for separating the vehicle enclosure area 61 from the operation area 20. The wall 32 separates the vehicle enclosure area 61 from the operation area 20 and the second area 30.

[0202] The first barrier 31 of the vehicle enclosure 60 is configured to:

[0203] - be locked when the second barrier 32 of the vehicle enclosure 60 is in an unlocked state, thereby preventing a person 50 from passing through the first barrier; and

[0204] - be unlocked when the second barrier 32 of the vehicle enclosure 60 is in a locked state, thereby allowing a person 50 to pass through the first barrier, and

[0205] The lockable barrier 520' of the transport vehicle 501' is configured to:

[0206] - be locked when the second vehicle enclosure barrier 32 of the vehicle enclosure 60 is in an unlocked state, thereby preventing a person 50 from passing through the lockable barrier; and

[0207] - be unlocked when the transport vehicle 501' is positioned within the vehicle enclosure area 61 and the second vehicle enclosure barrier 32 of the vehicle enclosure 60 is in a locked state, thereby allowing a person 50 to pass through the lockable barrier.

[0208] The locking and unlocking of the lockable barrier 520' of the transport vehicle 501', the lockable first barrier 31, and the lockable second barrier 32 are controlled by a control system 500, and the following will show different positions with reference to the views in Figures 8A to 8C :

[0209] Figure 8A It shows that the lockable first barrier 31 separating the vehicle enclosure area 61 from the second area 30 is in a locked state, and the lockable second barrier 32 separating the vehicle enclosure area 61 from the operation area 20 is in an unlocked state.

[0210] Figure 8B It shows the same view as Figure 8A except that it is observed from a perspective opposite to Figure 8A :

[0211] Figure 8C It shows that the lockable first barrier 31 separating the vehicle enclosure area 61 from the second area 30 is in an unlocked state, and the lockable second barrier 32 separating the vehicle enclosure area 61 from the operation area 20 is in a locked state. Although Figure 8CAlthough not shown here, at this time the lockable barrier 520' can be unlocked so that personnel can enter and leave the first area 510 from the second area 30.

[0212] Figure 9 An automated storage and retrieval system 1 is shown, where the operating area 20 and the second area 30 are at different heights, and where the vehicle enclosure 60 is a lift 600 for the container handling vehicle and the transport vehicle 501'. The lift 600 can transport the container handling vehicles 201, 301, 401 and the transport vehicle 501' between the operating area 20 and the second area 30. In Figure 9 the prior art container handling vehicle 301 is arranged in the lift 600 and at the level of the second area 30. The vehicle enclosure 60 (i.e., the lift 600) includes a lockable first barrier 31 facing the second area 30 and a lockable second barrier 32 facing the operating area 20. The first barrier 31 and the second barrier 32 follow the vertical movement of the lift 600. The movement of the lift 600 is indicated by the arrow A.

[0213] Referring to FIGS. 7 to Figure 9 different examples of the automated storage and retrieval system shown, an exemplary method of moving the transport vehicle 501' sequentially from the operating area 20 to the vehicle enclosure area 61 in the automated storage and retrieval system 1 by utilizing the control system 500 may include the following steps:

[0214] - Request to unlock the lockable second barrier 32;

[0215] - Verify whether the first barrier 31 is locked. If not locked, wait for the first barrier 31 to be locked;

[0216] - Change the state of the lockable second barrier 32 to unlocked;

[0217] - Instruct the transport vehicle 501 to enter the vehicle enclosure area 61 through the second barrier 32;

[0218] - Request to lock the second barrier 32;

[0219] - Set the vehicle drive device to the disabled mode;

[0220] - Set the wheel lifting mechanism of the vehicle to the disabled mode;

[0221] - Request to unlock the lockable barrier 520' of the transport vehicle 520', verify whether the second barrier 32 is locked. If not locked, wait for the second barrier 32 to be locked;

[0222] - Request to unlock the lockable first barrier 31;

[0223] - Change the state of the lockable barrier 520' to unlocked;

[0224] - Change the state of the lockable first barrier 31 to unlocked;

[0225] - Allow the transport vehicle 501' to enter and leave the second area 30 through the lockable barrier 520' and the first barrier 31.

[0226] Refer to FIGS. 7 to Figure 9 In different examples of the shown automated storage and retrieval system, an exemplary method for moving the transport vehicle 501' in the automated storage and retrieval system 1 from the vehicle enclosure area 61 to the operation area 20 in sequence by utilizing the control system 500 may include the following steps:

[0227] - Request to unlock the lockable barrier 520';

[0228] - Request to unlock the lockable first barrier 31;

[0229] - Verify whether the second barrier 32 is locked. If not locked, wait for the second barrier 32 to be locked;

[0230] - Enter the transport vehicle 520';

[0231] - Request to lock the lockable barrier 520';

[0232] - Change the state of the lockable barrier 520' to locked;

[0233] - Request to lock the first barrier 31;

[0234] - Change the state of the first barrier 31 to locked;

[0235] - Set the vehicle drive device to the operating mode;

[0236] - Set the wheel lifting mechanism of the vehicle to the operating mode;

[0237] - Request to unlock the lockable second barrier 32;

[0238] - Instruct the transport vehicle 501' to leave the vehicle enclosure area 61 and enter the operation area 20 via the lockable second barrier 32.

[0239] In the foregoing description, various features of the embodiments have been described. For purposes of illustration, specific numbers, systems, and configurations have been set forth in order 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, as well as other embodiments of the system, which are obvious to those of ordinary skill in the art to which the disclosed subject matter pertains, are considered to be within the scope of the invention as defined by the appended claims.

[0240] List of Reference Numerals

[0241]

Claims

1. An automatic storage and retrieval system (1), comprising: - A rail system (108), including a first set of parallel rails (110) and a second set of parallel rails (111), wherein the first set of parallel rails extends along a first direction (X) across the top of a frame structure (100) composed of a plurality of upright members (102), and the second set of parallel rails is arranged in a horizontal plane along a second direction (Y) perpendicular to the first set of parallel rails (110) to guide the movement of container handling vehicles (201; 301; 401) in the first direction (X) and the second direction (Y), and wherein the rail system (108) includes an operation area (20); - A plurality of container handling vehicles (201; 301; 401), operating in the operation area (20); - A transport vehicle (501'), capable of moving on the rail system (108), the transport vehicle (501') including an enclosure structure (E) defining an enclosed first area (510) for transporting personnel within the first area, and the enclosure structure includes a lockable barrier (520') configured to allow personnel to enter and exit the first area (510); - A second area (30), separated from the operation area (20); - A vehicle fence (60), located between the operation area (20) and the second area (30), wherein the vehicle fence (60) defines a vehicle fence area (61), and the vehicle fence includes a lockable first barrier (31) for separating the vehicle fence area (61) from the second area (30) and a lockable second barrier (32) for separating the vehicle fence area (61) from the operation area (20); Wherein the first barrier (31) of the vehicle fence is configured to: - When the second barrier (32) of the vehicle fence is in an unlocked state, the first barrier is locked to prevent personnel from passing through the first barrier; and - When the second barrier (32) of the vehicle fence is in a locked state, the first barrier is unlocked to allow personnel to pass through the first barrier; and Wherein the lockable barrier (520') of the transport vehicle is configured to: - When the second vehicle fence barrier (32) of the vehicle fence is in an unlocked state, the lockable barrier is locked to prevent personnel from passing through the lockable barrier; and - When the transport vehicle (501') is positioned within the vehicle fence area (61) and the second vehicle fence barrier (32) of the vehicle fence is in a locked state, the lockable barrier is unlocked to allow personnel to pass through the lockable barrier.

2. The automatic storage and retrieval system (1) according to claim 1, wherein, The vehicle fence (60) includes rails (110, 111) for guiding the movement of the container handling vehicles (201; 301; 401) and the transport vehicle (501').

3. The automatic storage and retrieval system according to any one of the preceding claims, wherein, The vehicle enclosure area (61) includes a plurality of parking positions for the transport vehicle (501'), and at least one of the plurality of parking positions has locking means for locking the transport vehicle in place when the transport vehicle is positioned at the parking position (10).

4. The automatic storage and retrieval system according to claim 3, wherein, The locking means includes a brake or a stake for locking with the track (110, 111).

5. The automatic storage and retrieval system (1) according to any one of the preceding claims, wherein, The barrier (520') of the transport vehicle and the first barrier (31) of the vehicle enclosure are fail-safe locked.

6. The automatic storage and retrieval system (1) according to any one of the preceding claims, wherein, The transport vehicle (501') includes a first set of wheels (501b) for traveling in the first direction (X) and a second set of wheels (501c) for traveling in the second direction (Y).

7. The automatic storage and retrieval system (1) according to claim 6, wherein, The transport vehicle (501') includes a wheel lifting mechanism operable between a first position and a second position. In the first position, the first set of wheels is higher than the second set of wheels (42b) such that the second set of wheels (42b) contacts the track system (108). In the second position, the first set of wheels (42a) is lower than the second set of wheels (42b) such that the first set of wheels (42a) contacts the track system (108).

8. The automatic storage and retrieval system (1) according to claim 6 or claim 7, wherein, The transport vehicle (501') includes a wheel drive motor for driving the first set of wheels (501b) and / or the second set of wheels (501c).

9. The automatic storage and retrieval system (1) according to any one of the preceding claims, wherein, The system (1) includes a control system (500), and the control system includes a transmitter and a receiver for communicating with the container handling vehicle (201; 301; 401) and the transport vehicle (501').

10. The automatic storage and retrieval system (1) according to claim 9, wherein, The transport vehicle (501') includes an emergency stop device (40), and the emergency stop device (40) includes a transmitter configured to send an emergency stop signal to the control system (500) to shut down the automated storage and retrieval system (1).

11. The automated storage and retrieval system (1) according to claim 9 or 10, wherein, The transport vehicle (501') is configured to receive route instructions from the control system (500) to a position within the vehicle enclosure area, and personnel can pass through the vehicle barrier and the first vehicle enclosure barrier only when it is confirmed that the transport vehicle (501') is within the vehicle enclosure area (61), the second vehicle enclosure barrier (32) is in a locked state, and the vehicle barrier (520') and the first vehicle enclosure barrier (31) are in an open state.

12. The automatic storage and retrieval system (1) according to claim 11, wherein, The control system (500) includes verification means for verifying whether the transport vehicle (501') is located within the vehicle enclosure area (61).

13. The automatic storage and retrieval system (1) according to claim 12, wherein, The verification means includes one or more sensors.

14. The automatic storage and retrieval system according to any one of the preceding claims, wherein, The transport vehicle (501') includes a locking mechanism, and the vehicle enclosure area (61) includes a complementary locking mechanism to prevent the transport vehicle (501') from moving accidentally when it is located within the vehicle enclosure area (61).

15. The automatic storage and retrieval system according to claim 14, wherein, The locking mechanism of the vehicle enclosure area (61) is arranged at the first barrier (31) such that the first barrier (31) can only be unlocked when all the transport vehicles (501') within the vehicle enclosure area (61) are locked to the first barrier (31).

16. The automatic storage and retrieval system (1) according to any one of the preceding claims, wherein, The transport vehicle (501') includes a support member (509) for assisting in stabilizing the transport vehicle (501').

17. The automated storage and retrieval system (1) according to claim 16, wherein, The support member (509) is movable between a raised position elevated relative to the track system (108) and a lowered position in contact with the track system (108).

18. The automatic storage and retrieval system (1) according to any one of the preceding claims, wherein, The second area (30) is a safety area for maintaining the container handling vehicle (201; 301; 401), and in this safety area, the container handling vehicle (201; 301; 401) is prohibited from moving autonomously.

19. The automated storage and retrieval system (1) according to any one of the preceding claims 2 to 18, wherein, The operation area (20) and the second area (30) are at the same height, and wherein the tracks (110, 111) of the vehicle enclosure (51) are connected to the tracks (110, 111) of the operation area (20) such that the transport vehicle (501') and the container handling vehicle (201; 301; 401) can move on the tracks (110; 111) when entering and leaving the vehicle enclosure area (61) through the lockable first barrier (31).

20. The automatic storage and retrieval system (1) according to any one of the preceding claims 2 to 18, wherein The operation area (20) and the second area (30) are arranged at different heights, and wherein the vehicle enclosure (60) is a lift (600) for transporting the container handling vehicle (201; 301; 401) and the transport vehicle (501') between the operation area (20) and the second area (30).

21. The automatic storage and retrieval system (1) according to any one of the preceding claims 1 to 19, wherein, The second area is an area within the operation area (20).

22. The automatic storage and retrieval system (1) according to any one of the preceding claims, wherein, The automated storage and retrieval system includes a vehicle enclosure confirmation device operable by a person such that the person can confirm entry into or exit from the vehicle enclosure area (61) through the first barrier of the vehicle enclosure.

23. The automated storage and retrieval system (1) according to any one of the preceding claims, wherein, The transport vehicle (501') includes an activation device operable by a person such that the person can confirm entry into or exit from the transport vehicle (501') through the lockable barrier (520') of the transport vehicle.

24. The automated storage and retrieval system (1) according to claim 16 or 17, wherein, The second barrier (32) of the vehicle enclosure (60) is configured to be unlocked in any of the following cases: - If a person (50) has confirmed entry into the transport vehicle (501') via the activation device; or - If a person (50) has confirmed exit from the vehicle enclosure area (61) via the vehicle enclosure confirmation device.

25. A method for moving a transport vehicle (501') from an operating area (20) to a vehicle enclosure area (61) in an automated storage and retrieval system (1) according to any one of the preceding claims 1 to 24, the transport vehicle (501') including a vehicle drive device for enabling autonomous movement, a wheel lifting mechanism for changing a direction of movement, and an enclosure (E) defining an enclosed first area (510) for transporting a person (50) within the first area, the enclosure including a lockable barrier (520') configured to enable a person to enter and exit the first area (510), wherein, The method includes performing the following operations using a control system (500): - Requesting unlocking of the lockable second barrier (32); - Verifying whether the first barrier (31) is locked, and if not, waiting for the first barrier (31) to be locked; - Changing the state of the lockable second barrier (32) to unlocked; - Instruct the transport vehicle (501) to enter the vehicle enclosure area (61) through the second barrier (32); - Request to lock the second barrier (32); - Set the vehicle drive device to the disabled mode; - Set the wheel lifting mechanism of the vehicle to the disabled mode; - Request to unlock the lockable barrier (520’) of the transport vehicle (520’), verify whether the second barrier (32) is locked, and if not locked, wait for the second barrier (32) to be locked; - Request to unlock the lockable first barrier (31); - Change the state of the lockable barrier (520’) to unlocked; - Change the state of the lockable first barrier (31) to unlocked; - Allow the transport vehicle (501’) to enter or leave the second area (30) through the lockable barrier (520’) and the first barrier (31).

26. A method for moving a transport vehicle (501’) from a vehicle enclosure area (61) to an operation area (20) in an automated storage and retrieval system (1) according to any one of the preceding claims 1 to 24, the transport vehicle (501’) comprising a vehicle drive device for achieving autonomous movement, a wheel lifting mechanism for changing the direction of movement, and an enclosure structure (E) defining an enclosed first area (510) for transporting a person (50) within the first area, the enclosure structure comprising a lockable barrier (520’) configured such that a person can enter the first area (510), wherein, The method includes the following operations using a control system (500): - Request to unlock the lockable barrier (520’); - Request to unlock the lockable first barrier (31); - Verify whether the second barrier (32) is locked, and if not locked, wait for the second barrier (32) to be locked; - Enter the transport vehicle (520’); - Request to lock the lockable barrier (520’); - Change the state of the lockable barrier (520’) to locked; - Request to lock the first barrier (31); - Change the state of the first barrier (31) to locked; - Set the vehicle drive device to the operating mode; - Set the wheel lifting mechanism of the vehicle to the operating mode; - Request to unlock the lockable second barrier (32); - Instruct the transport vehicle (501’) to leave the vehicle enclosure area (61) via the lockable second barrier (32) and enter the operating area (20).

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