On-board analysis for status-based monitoring of automated vehicle of automated storage system

Abstract

A system, method, and computer program product for automatically predicting and handling status-based maintenance requirements for an automated storage and retrieval system (10) comprising a frame structure (100) having upright members (102) defining a storage column (105) for storing rows of mutually stacked storage containers (106), the frame structure (100) includes a track system (108) that enables a plurality of automated vehicles (150) to carry storage containers (106) to and out of an automated storage and retrieval system (10), where the automated storage and retrieval system (10) is controlled by a system controller (205), each automated vehicle (150) includes a computing device (200) connected to a sensor (210), where the computing device (200) is configured to receive data from the automated vehicles (150). A sensor is provided to monitor components and parts that implement autonomous operation. The computing device (200) is connected to the storage device (220) and is arranged to continuously receive, store, process and analyze sensor data from the sensors (210), where the sensor data comprises an identification of the respective monitored components and parts, and at the sensors, sensor data that is deviated from reference sensor data is identified, where the sensor data is stored in the storage device (220). A transmitter (230) connected to the computing device (200) is arranged to transmit data to the system controller (205), the deviation of which from the reference data exceeds a preset level, and wherein the system controller (205) is adapted to process and analyze the data and initiate maintenance of the identified component and / or part.

Description

Technical Field

[0001] The present invention relates to an automated storage and retrieval system for storing and retrieving storage containers, and to a system and method for detecting and handling anomalies of an automated vehicle of the automated storage and retrieval system in advance. Background Art

[0002] Figure 1 The prior art automated storage and retrieval system 10 including a frame structure 100 is disclosed, and an automated vehicle 150 for transporting a storage container 106 on the system is disclosed.

[0003] The frame structure 100 includes upright members 102 and a storage volume portion including storage rows 105 arranged in rows between the upright members 102. In these storage rows 105, storage containers 106 (also referred to as boxes) are stacked one on top of the other to form a stack 107 that extends in the Z direction as shown in the drawings. The upright 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 10 includes a track system 108 arranged across the top of the frame structure 100. The track system 108 can also be arranged below the frame structure 100. Then, the automated vehicle 150 can transport the storage containers in the storage rows 105 at different horizontal heights where the track system 108 is installed in the Z direction.

[0005] A plurality of automated vehicles 150 can operate to raise or lower the containers 106 from and into the storage rows 105, and also transport the storage containers 106 above and below the storage rows 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 automated vehicle 150 to move along a first direction X across the top of the frame structure 100, and the second set of parallel tracks is arranged perpendicular to the first set of tracks 110 to guide the automated vehicle 150 to move along a second direction Y perpendicular to the first direction X. When the tracks extending in the X direction intersect with the tracks extending in the Y direction, a track intersection is formed, and the automated vehicle 150 can change direction at the track intersection.

[0006] The storage containers 106 stored in the rows 105 are accessed by the automated vehicle 150 through access openings 112 in the track system 108.

[0007] Each automated vehicle 150 includes a vehicle body and a first set of wheels and a second set of wheels, which enable the container handling vehicle 150 to move laterally along the X direction and the Y direction, respectively. The vehicle body also includes a plurality of mechanical components and electrical parts, such as transmitters, receivers, sensors, and power supplies, so as to achieve autonomous operation.

[0008] To monitor and control the automated storage and retrieval system 10, the system includes a system controller 205 that has a database for continuously tracking the location of each storage container 106 and which storage container 106 is to be transported. Thus, the system controller 205 continuously updates the most recent overview of the location and movement of all automated vehicles 150 operating on the rail system 108. This most recent overview can be used to control the traffic flow of all automated vehicles 150, i.e., by transmitting movement instructions from the system controller 205 to the automated vehicles 150 to transport a specific storage container 106 from one location to another without collisions.

[0009] In addition to movement information, the communication between the system controller 205 and the automated vehicles 150 also includes status information transmitted from the automated vehicles 150 to the system controller 205. This status information may include the current location, battery charge, and relevant data generated by sensors built into the automated vehicles 150.

[0010] Since the automated vehicles 150 and their components are prone to wear and failure, it is crucial to detect these conditions as soon as possible to ensure the smooth and uninterrupted operation of the automated storage and retrieval system 10.

[0011] Component and part failures are the main cause of system downtime within the automated storage and retrieval system 10 or, in the best case, lead to a degradation of system performance. Predicting the status of different components and parts and detecting anomalies in advance are key factors in improving system reliability. This is particularly important when the system scale expands because a single faulty component can paralyze the automated storage and retrieval system 10 or at least reduce its efficiency.

[0012] All mechanical systems, especially moving parts, are prone to wear and failure. Many factors can affect them, such as temperature, humidity, dust, load, seasonal changes, etc. This makes it difficult to establish a unified and optimal maintenance mechanism for each individual site where the automated storage and retrieval system 10 is installed. In addition, there may be individual differences between the automated vehicles 150 within a site, and these individual differences may be difficult to identify.

[0013] WO 2021 / 198093A1 by applicant AutoStore proposes a system that alleviates some of these problems by keeping track of the status of different components and / or parts of the container handling vehicle and the storage system. By arranging sensors on the components and / or parts or connecting sensors to the components and / or parts, signs of wear or failure can be detected. The data from the sensors is transmitted to a system controller, which, after continuously analyzing all the data to evaluate the status of the components and parts and possibly concluding that certain data reflects a problem, can decide what measures to take.

[0014] Examples of sensors that can be used to detect anomalies are temperature sensors that measure the temperature of components and parts to check for abnormal heating. In addition, accelerometers attached to parts or vehicles can be used to check for any abnormal movement. Abnormal movement can be, for example, vibration. Vibration also produces sounds that can be detected by sound sensors such as microphones. In addition, the energy consumption of components and / or parts can be monitored. For example, the energy consumption of the lifting system during the raising and lowering of storage containers can be one of them. For example, a stuck storage container will cause an increase in friction, resulting in an increase in energy consumption. Energy consumption above the normal standard may indicate a problem with the components and / or parts.

[0015] Remote sensors that monitor the operation of the container handling vehicle from a distance can also be used to detect anomalies during operation. For example, a microphone can also be used as a sensor to capture the sounds emitted by components and / or parts. In addition, the speed at which parts operate can be measured by sensors.

[0016] Large-scale automated storage and retrieval systems typically include multiple different types of sensors for detecting different parameters. All these sensors generate a large amount of data signals that are transmitted to a system controller where the data is collected, prepared, and analyzed. In addition to transmitting control signals for operating the container handling vehicle, continuously transmitting these signals results in a large amount of signal transmission with the system controller that controls the operation of the automated storage and retrieval system.

[0017] Considering the available bandwidth, continuously transmitting a large amount of additional data signals generated by sensors may cause signal transmission delays and problems such as noise and interference.

[0018] The solution proposed herein is to transmit only the data that requires immediate attention. On-vehicle analysis is performed by autonomous vehicles (including container handling vehicles), and only the data related to components and / or parts that requires immediate attention is transmitted to the system controller for further processing.

[0019] In addition to reducing bandwidth usage, the solution also reduces response time to immediately address critical issues in identified components and / or parts that affect operations, and the identified components and / or parts should be replaced or maintained. SUMMARY OF THE INVENTION

[0020] The invention is set forth and characterized in the independent claims, while the dependent claims describe other features of the invention.

[0021] More specifically, the invention is defined by a system for automatically predicting and processing state-based maintenance requirements of an automated storage and retrieval system, the automated storage and retrieval system including a frame structure having upright members that define storage columns for storing multiple rows of stacked storage containers, the frame structure including a rail system that enables a plurality of automated vehicles to transport storage containers to and from the automated storage and retrieval system, wherein the automated storage and retrieval system is controlled by a system controller, and each automated vehicle includes a computing device connected to a sensor that is arranged to monitor components and parts for autonomous operation.

[0022] The computing device in each automated vehicle is connected to a storage device and is arranged to continuously receive, store, process, and analyze sensor data from the sensor, wherein the sensor data includes identification of the corresponding monitored components and parts, and at the sensor, sensor data that deviates from reference sensor data is identified.

[0023] A transmitter in each automated vehicle is connected to the computing device, the computing device being arranged to transmit data in which the deviation from the reference data exceeds a preset level to the system controller, and wherein the system controller is adapted to process and analyze the data and initiate maintenance of the identified components and / or parts.

[0024] According to one embodiment, the reference sensor data is previously stored data. This can be expected data or sensor data generated and recorded by the sensor during fault-free operation.

[0025] According to another embodiment, the reference sensor data is data generated by the sensor in each automated vehicle during normal operation. This means that during various fault-free operations of transporting storage containers, sensor data is continuously generated. This generates a data set for the components and parts monitored by the sensor during operation. Then, this data will serve as the reference data.

[0026] Different types of sensors can be arranged to monitor the components and parts of an autonomous vehicle. According to one embodiment, the sensors for monitoring the components and parts of an autonomous vehicle include one or more of a temperature sensor, a sound sensor, a humidity sensor, a vibration sensor, and a speed sensor.

[0027] The present invention also includes a method for automatically predicting and processing the state-based maintenance requirements of an automated storage and retrieval system, which includes a frame structure having upright members that define storage columns for storing multiple rows of stacked storage containers. The frame structure includes a rail system that enables a plurality of autonomous vehicles to transport storage containers to and from the automated storage and retrieval system, wherein the automated storage and retrieval system is controlled by a system controller, and each autonomous vehicle includes a computing device connected to a storage device and sensors, and the sensors are arranged to monitor the components and parts for autonomous operation.

[0028] The method includes the following steps:

[0029] - Continuously receiving, storing, processing, and analyzing sensor data from the sensors, the sensor data including an identification of the corresponding monitored components and parts,

[0030] - Comparing the sensor data with reference sensor data and identifying sensor data that deviates from the reference sensor data,

[0031] - Determining whether the sensor data exhibits a deviation higher than a preset level,

[0032] - Transmitting data representing sensor data higher than the preset level from the computing device to the system controller of the automated storage and retrieval system,

[0033] - Processing and analyzing the data representing sensor data higher than the preset level in the system controller, identifying the corresponding components and parts, and

[0034] - Based on the analysis in the system controller, initiating maintenance of the identified components and / or parts.

[0035] The sensor data can be processed and analyzed according to an algorithm, that is, the sensor data is examined according to a set of rules. This can include, for example, checking whether the measured value of the sensor data exceeds a preset measurement value range. The analysis can also reflect the effective operating time of different components and parts, which may indicate whether replacement is required.

[0036] Recording the sounds emitted by an automated vehicle during operation may expose potential problems. For example, the emergence of new sounds (such as clicks) may indicate a problem.

[0037] According to one embodiment, the system controller controls the automated vehicle according to the required type of maintenance. If it is not very urgent, it may include reducing the operating speed of the automated vehicle until the automated storage and retrieval system is in a less active period (such as at night). It may also include only allowing the automated vehicle to pick up containers of lighter weight, or sending it for charging more frequently.

[0038] Then, the system controller can initiate the steps required to maintain the automated vehicle.

[0039] According to one embodiment, the operation start time point of the automated vehicle and the operation end time point when the operation is completed with a deviation below a preset level are recorded and stored in a storage device.

[0040] According to one embodiment, the operation start time point of the automated vehicle and the time point when the determined data is higher than the preset level are recorded and stored in a storage device.

[0041] According to one embodiment, the sensor data identified as having a deviation from the reference sensor data is sorted according to the degree of deviation, and when the automated vehicle is less active or inactive, only the sensor data with the highest degree of deviation is transmitted to the system controller for further analysis.

[0042] The automated vehicle itself can detect the activity level of the automated vehicle. If it is in a standby state and waiting for an operation instruction, it is inactive, and the motors for driving or lifting operations do not run either. A lower activity state can occur, for example, during the period between two operations, such as when the automated vehicle has just completed one operation and is ready to receive the instruction for the next operation.

[0043] In addition, it is possible to determine whether the activity level is low or inactive based on the signal transmission activity between the automated vehicle and the system controller. The minimum signal transmission activity may indicate a low activity level or inactivity.

[0044] During a period of low activity or inactivity, the bandwidth usage of the wireless network is expected to be minimal, thus minimizing the occupied wireless network bandwidth.

[0045] According to one embodiment, when the automated vehicle is less active or inactive, all the sensor data showing deviations is transmitted from the computing device to the system controller of the automated storage and retrieval system.

[0046] According to one embodiment, when the activity level of the autonomous vehicle is low or there is no activity, all the stored sensor data recorded during the period from the start to the end of the operation is transmitted from the computing device to the system controller of the automated storage and retrieval system.

[0047] The present invention also includes a computer program product which is configured to monitor the autonomous operation of an autonomous vehicle by performing the following steps when executed in a processor of a computing device, the autonomous vehicle including a computing device connected to a storage device and sensors:

[0048] - Continuously receive, store, process, and analyze sensor data from the sensors, the sensor data including the identification of the corresponding components and parts being monitored,

[0049] - Compare the sensor data with reference sensor data and identify sensor data that deviates from the reference sensor data,

[0050] - Determine whether the sensor data exhibits a deviation higher than a preset level,

[0051] - Initiate the transmission of data representing sensor data higher than the preset level from the computing device to the system controller of the automated storage and retrieval system.

[0052] The present invention also includes a software program product which is configured to control and monitor the operation of the automated storage and retrieval system by performing the following steps when executed in the system controller:

[0053] - Receive data consisting of sensor data from an autonomous vehicle operating on the automated storage and retrieval system,

[0054] - Process and analyze the sensor data, identify, and initiate maintenance of components and parts according to the required type of maintenance.

[0055] In addition to the data transmission issues mentioned, when transmitting a large amount of data over a wireless network with limited bandwidth, the computing device in each autonomous vehicle (which is configured to continuously receive, store, process, and analyze sensor data from the sensors) can also reduce the response time when a fault that requires immediate attention is detected. By only transmitting data reflecting faults that require immediate attention to the system controller controlling multiple autonomous vehicles, the amount of data that the system controller needs to centrally process can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The following drawings are attached to facilitate understanding of the present invention. The drawings illustrate some embodiments of the present invention, which will now be described only by way of example, in which:

[0057] Figure 1 A perspective view of the frame structure of an existing automatic storage and retrieval system.

[0058] Figure 2 Shows a computing device connected to a storage device and sensors, where the sensors are arranged to monitor components and parts of an automated vehicle and communicate with a system controller.

[0059] Figure 3 A flowchart of a method for automatic maintenance based on status, showing the basic concept and operation of a computing device connected to sensors arranged to monitor components and parts of an automated vehicle.

[0060] Figure 4 A flowchart showing an embodiment of a method for automatic maintenance based on status, where an automated vehicle with a lower level of activity transmits data showing less severe deviations.

[0061] Figure 5 A flowchart of another embodiment of automatic maintenance of an automated vehicle based on status, including sorting data. Detailed Description

[0062] In the following description, the present invention will be explained in more detail only by way of example and 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.

[0063] In the above background art section, reference is made to Figure 1 A typical prior art automatic storage and retrieval system 10 with a frame structure 100 is described.

[0064] The frame structure 100 can have any size, and it should be understood that the frame structure can be wider and / or longer and / or deeper than the Figure 1 frame structure disclosed therein. For example, the frame structure 100 can have a horizontal range of more than 700×700 storage columns 105 and a storage depth for storing more than eight stacks of storage containers 106, and where the storage containers 106 are carried by hundreds of automated vehicles 150 traveling on a track system 108. The track system can be installed on top of the frame structure 100 and / or in the middle of the frame structure 100 and / or below the frame structure 100. Then, the automated vehicles can carry the storage containers 106 in the storage columns 105 at different positions where the track system is installed in the Z direction.

[0065] In addition, the frame structure 100 can be deeper than the Figure 1 frame structure disclosed therein. For example, the frame structure 100 can have a depth of more than eight grid cells 122 (in Figure 1in the Z direction as shown in ).

[0066] To monitor and control the automated storage and retrieval system 10, the system controller 205 with a database keeps track of the location of each storage container 106 and which storage container 106 is to be moved. The system controller 205 also controls each automated vehicle 150 by transmitting control commands and receiving confirmation signals.

[0067] For large systems including hundreds or even thousands of automated vehicles 150, real-time communications between the automated vehicles 150 and the system controller 205 can be very cumbersome and susceptible to interference. The quality of wireless communications is also limited by the available bandwidth.

[0068] Increasing the need to predict and process condition-based maintenance for the automated storage and retrieval system 10 can increase the communication burden between the storage container 106 and the system controller 205, which can lead to failures.

[0069] The present solution addresses this problem by monitoring components and parts of the automated vehicle 150 and transmitting only data related to components and parts that require immediate attention to the system controller 205, or transmitting data during periods of low or no activity of the automated vehicle 150.

[0070] The monitored automated vehicle 150 may be any type of vehicle operating on the automated storage and retrieval system 10 , such as a vehicle that retrieves a storage container 106 from a storage column 105 and transports the storage container to a designated location, or a vehicle that picks up a storage container and places the storage container in a storage column 105 .

[0071] The automated vehicle 150 may also be a drone that transports storage containers 106 between storage columns 105, or a picking robot that picks up items and places them in storage containers 106. It may also be configured as a maintenance vehicle that is configured to perform maintenance on other types of automated vehicles 150.

[0072] Different types of automated vehicles 150 may run on a rail system 108 installed at different levels of the automated storage and retrieval system, for example, on top of the frame structure 100 , in the middle of the frame structure 100 , or below the frame structure 100 .

[0073] Figure 2FIG. 200 shows a computing device 200 connected to a storage device 220 and a sensor 210, where the sensor is arranged to monitor components and parts of an autonomous vehicle 150 and communicate with a system controller 205. The computing device can be a separate computing device running monitoring software. The monitoring software can also run on a computing device that controls the operation of the autonomous vehicle 150. An operation assigned to the autonomous vehicle 150 can be, for example, driving to a storage row 105 at a specified location to store or retrieve a storage container 150.

[0074] Figure 3 FIG. 300 is a flowchart of the basic concept of a method 300 for automatically maintaining an autonomous vehicle 150 based on its status. The flowchart shows the basic concept and operation of a computing device 200 connected to a sensor 210, where the sensor is arranged to monitor components and parts of the autonomous vehicle 150.

[0075] When the autonomous vehicle 150 performs an operation (step 310), the components and parts that implement the operation are monitored by the sensor 210 that generates sensor data. The sensor data is continuously recorded and stored in a storage device 220 connected to the computing device 200 in the autonomous vehicle 150 (step 320).

[0076] The generated sensor data is continuously processed and analyzed (step 330). The generated sensor data can be processed and analyzed according to an algorithm, that is, the sensor data is examined according to a set of rules. This can include, for example, checking whether the measured value of the sensor data exceeds a preset measurement value range.

[0077] During the process of processing the sensor data (step 330), it is checked whether there is data reflecting a significant deviation from the expected sensor data (step 340). A significant deviation may be, for example, a rapid increase in the temperature of a component or the sudden appearance of new and abnormal sounds.

[0078] If a significant deviation occurs, the system controller 205 is immediately notified by transmitting the relevant sensor data to the system controller 205 (step 350). The system controller will then further evaluate the received sensor data and control the autonomous vehicle 150 that transmitted the deviated sensor data. Then, the control method of the system controller 205 for the autonomous vehicle 150 is determined according to the type of fault.

[0079] It may be important to continuously and centrally monitor a selected number of sensors that measure components or parts in one or more autonomous vehicles 150 that are particularly vulnerable. Such sensor data can be continuously transmitted to the system controller 205 whether or not a significant deviation is detected in the sensor data.

[0080] Figure 4 is a flowchart showing an embodiment of a state-based method 400, in which when the activity level of the autonomous vehicle 150 is low, less severely deviated data is transmitted from the autonomous vehicle. This method is based on the above method, but includes the following additional steps.

[0081] Record the start time point of the operation of the autonomous vehicle 150 (step 410), and continuously record sensor data and store the sensor data in the storage device 220 connected to the computing device 200 in the autonomous vehicle 150 (step 420). During the processing of the sensor data (step 430), check whether there is data reflecting a deviation from the expected sensor data (step 440). If such data exists, further check whether the deviation reflects a serious problem that requires immediate follow-up (step 450).

[0082] If the deviation does reflect a serious problem, immediately notify the system controller 205 by transmitting the time point of the problem occurrence (step 490) and the relevant sensor data to the system controller 205 (step 495). The system controller will then further evaluate the received sensor data and control the autonomous vehicle 150.

[0083] On the other hand, if the deviation does not reflect a serious problem, check whether the autonomous vehicle 150 has completed its current operation (step 460). If not, continue the current operation of the nth autonomous vehicle 150 after recording the time point (return to step 410).

[0084] When a less severe deviation is found in the sensor data and the operation has been completed, record the end time point of the operation (step 470), and store the sensor data recorded during the period from the start time point of the operation to the end time point of the operation in the storage device 220 connected to the computing device 200 in the autonomous vehicle 150.

[0085] After the operation is completed, check whether the activity level of the autonomous vehicle 150 is low or inactive (step 485). For example, if another operation starts immediately after the previous operation is just completed, the autonomous vehicle 150 remains active and continues the operation (return to step 410) until a potentially serious problem that requires immediate follow-up is detected (step 450).

[0086] If it is determined that the activity level of the autonomous vehicle 150 is low or inactive, transmit the sensor data showing the deviation from the transmitter 230 of the autonomous vehicle 150 to the system controller 205 of the automated storage and retrieval system 10. The system controller will then further evaluate the received sensor data and control the autonomous vehicle 150 that transmitted the sensor data with the deviation.

[0087] Figure 5 is a flowchart showing yet another embodiment of automatically maintaining an autonomous vehicle 150 based on status, wherein data sorting is performed (step 500). The method includes: sorting sensor data that deviates from reference sensor data.

[0088] Record the start time point of operation of the autonomous vehicle 150 (step 505), and continuously record sensor data and store the sensor data in a storage device 220 connected to a computing device 200 in the autonomous vehicle 150 (step 510). During the process of processing the sensor data (step 515), check whether there is data reflecting a deviation from the expected sensor data (step 520). If there is such data, further check whether the deviation reflects a serious problem that requires immediate follow-up (step 525).

[0089] If the deviation reflects a serious problem, immediately notify the system controller 205 by transmitting the time point of the problem occurrence (step 560) and the relevant sensor data to the system controller 205 (step 565), and the system controller will then further evaluate the received sensor data and control the autonomous vehicle 150.

[0090] On the other hand, if the deviation does not reflect a serious problem, check whether the autonomous vehicle 150 has completed its current operation (step 530). If not, continue the current operation of the autonomous vehicle until the operation is completed (return to step 505).

[0091] When a less serious deviation is found in the data and the operation has been completed, record the end time point of the operation (step 535), and record the sensor data recorded during the period from the start time point of the operation to the end time point of the operation in the storage device 220 connected to the computing device 200 in the autonomous vehicle 150 (step 540). Then, classify and sort the sensor data reflecting deviations during the operation according to the severity of the reflected faults (step 545).

[0092] Then, check whether the highest-level fault in the sorting needs to be processed as soon as possible. If so, check whether the autonomous vehicle 150 is less active or inactive (step 555). If the answer is no, the autonomous vehicle 150 continues its operation (i.e., returns to step 505) until a potentially serious problem that requires immediate follow-up is detected (step 525), or until the autonomous vehicle 150 is less active or inactive.

[0093] If it is determined that the degree of activity of the automated vehicle 150 is low or there is no activity, the sensor data of the display deviation that needs to be processed immediately is transmitted from the transmitter 230 of the nth automated vehicle 150 to the system controller 205 of the automated storage and retrieval system 10 (step 565). The system controller 205 will then further evaluate the received sensor data and control the automated vehicle 150 that transmitted the sensor data with deviations.

[0094] As mentioned above, different types of failures may occur during the operation of the automated vehicle 150. Some failures are only minor failures and do not require immediate processing. By recording the sensor data representing minor failures and storing it locally in the automated vehicle 150, the signal transmission to and from the automated vehicle 150 can be reduced, thereby reducing the bandwidth requirements when operating the automated storage and retrieval system 10.

Claims

1. A system for automatically predicting and processing state-based maintenance requirements of an automated storage and retrieval system (10), the automated storage and retrieval system comprising a frame structure (100) having upright members (102), the upright members defining storage columns (105) for storing multiple rows of stacked storage containers (106), the frame structure (100) including a track system (108) that enables a plurality of automated vehicles (150) to transport the storage containers (106) into and out of the automated storage and retrieval system (10), wherein, The described automatic storage and retrieval system (10) is controlled by a system controller (205), and each automatic vehicle (150) includes a computing device (200) connected to a sensor (210), the sensor being arranged to monitor components and parts for autonomous operation, wherein: - The computing device (200) is connected to a storage device (220), and the computing device is arranged to continuously receive, store, process, and analyze sensor data from the sensor (210), wherein the sensor data includes the identification of the corresponding monitored components and parts, and at the sensor, sensor data having a deviation from the reference sensor data is identified. - A transmitter (230) connected to the computing device (200) is arranged to transmit data having a deviation from the reference data exceeding a preset level to the system controller (205), and wherein the system controller (205) is adapted to process and analyze the data and initiate maintenance of the identified components and / or parts.

2. The system according to claim 1, wherein The sensor for monitoring components and parts of the automatic vehicle (150) includes one or more of a temperature sensor, a sound sensor, a humidity sensor, a vibration sensor, and a speed sensor.

3. A method for automatically predicting and processing state-based maintenance requirements of an automated storage and retrieval system (10), the automated storage and retrieval system including a frame structure (100) having upright members (102) that define storage columns (105) for storing multiple rows of stacked storage containers (106), the frame structure (100) including a rail system (108) that enables a plurality of automated vehicles (150) to transport storage containers (106) to and from the automated storage and retrieval system (10), wherein, The described automatic storage and retrieval system (10) is controlled by a system controller (205), and each automatic vehicle (150) includes a computing device (200) connected to a storage device (220) and a sensor (210), the sensor being arranged to monitor components and parts for autonomous operation, wherein the method includes the following steps: - Continuously receive, store, process, and analyze sensor data from the sensor (210), the sensor data including the identification of the corresponding monitored components and parts. - Compare the sensor data with reference sensor data and identify sensor data having a deviation from the reference sensor data. - Determine whether the sensor data exhibits a deviation higher than a preset level. - Transmit data representing sensor data higher than the preset level from the computing device (200) to the system controller (205) of the automatic storage and retrieval system (10). - Process and analyze data representing sensor data higher than the preset level in the system controller (205) and identify the corresponding components and parts. - Based on the analysis in the system controller (205), initiate maintenance of the identified components and / or parts.

4. The method according to claim 3, wherein the start time point of the operation of the automatic vehicle (150) and the end time point of the operation when the operation is completed in the case of a deviation below the preset level are recorded and stored in the storage device (220).

5. The method according to claim 3, wherein the start time point of the operation of the automatic vehicle (150) and the time point when it is determined that the data is higher than the preset level are recorded and stored in the storage device (220).

6. The method according to claim 3 or 4, wherein The identified sensor data that deviates from the reference sensor data is sorted according to the degree of deviation, and wherein, when the activity level of the autonomous vehicle (150) is low or there is no activity, only the sensor data with the highest degree of deviation is transmitted to the system controller (205) for further analysis.

7. The method according to claim 3 or 4, wherein When the activity level of the autonomous vehicle (150) is low or there is no activity, all the sensor data showing deviation is transmitted from the computing device (200) to the system controller (205) of the automated storage and retrieval system (10).

8. The method according to claim 3 or 4, wherein When the activity level of the autonomous vehicle (150) is low or there is no activity, all the stored sensor data recorded during the period from the start to the end of the operation is transmitted from the computing device (200) to the system controller (205) of the automated storage and retrieval system (10).

9. The method according to any one of claims 3 to 8, wherein The reference sensor data is pre - stored data.

10. The method according to any one of claims 3 to 8, wherein The reference sensor data is data generated by the sensors in each autonomous vehicle (150) during normal operation.

11. The method according to any one of claims 3 to 10, wherein, The system controller (205) controls the autonomous vehicle (150) according to the required type of maintenance.

12. A computer program product, which is configured to monitor the autonomous operation of an autonomous vehicle (150) by performing the following steps when executed in a processor of a computing device (200), the autonomous vehicle including the computing device (200) connected to a storage device (220) and sensors (210): - Continuously receive, store, process, and analyze sensor data from the sensors (210), the sensor data including the identification of the corresponding components and parts being monitored, - Compare the sensor data with reference sensor data and identify sensor data that deviates from the reference sensor data, - Determine whether the sensor data exhibits a deviation higher than a preset level, - Initiate the transmission of data representing sensor data higher than the preset level from the computing device (200) to the system controller (205) of the automated storage and retrieval system (10).

13. A software program product, which is configured to control and monitor the operation of an automated storage and retrieval system (10) by performing the following steps when executed in a system controller (205): - Receive data consisting of sensor data from an autonomous vehicle (150) operating on the automated storage and retrieval system (10), - Process and analyze the sensor data, identify and initiate maintenance of components and parts according to the required type of maintenance.

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