Automatic storage and retrieval system comprising service vehicle and service carriage

Abstract

The present invention provides a storage system comprising: a frame structure (100) having a plurality of storage columns (105) for accommodating a vertical stack of storage containers (106); and a track system (108) on which the vehicles (2, 201, 301, 401) can be moved in two directions perpendicular to each other above the storage column; the rail system comprises a first set of parallel rails (110) arranged to guide the vehicle to move in a first direction (X) across the top of the frame structure and a second set of parallel rails (111) arranged perpendicular to the first set of rails to guide the vehicle to move in a second direction (Y) perpendicular to the first direction (X), the first set of parallel tracks and the second set of parallel tracks define a plurality of grid cells (122); wherein the storage system comprises a service vehicle (2) and at least one service carriage (3), the service vehicle (2) being configured for accommodating an operator, and the service vehicle comprising wheels (4a, 4b) for moving the service vehicle on the track system in a first direction and a second direction, and at least one carriage connector (5) for releasably attaching the service vehicle (2) to the service carriage (3), and the service carriage (3) is configured to slide on the track system.

Description

Technical Field

[0001] The present invention relates to an automatic storage and retrieval system comprising a service vehicle and a service carriage. Background Art

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

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

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a horizontal grid-based track system 108 (i.e., a track grid) arranged across the top of the frame structure 100, and a plurality of container handling vehicles 201, 301, 401 can operate on the track system 108 to lift and lower storage containers 106 from and into storage rows 105, and also to transport storage containers 106 over 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 container handling vehicles 201, 301, 401 in 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 parallel tracks 110 to guide the container handling vehicles 201, 301, 401 in a second direction Y that is perpendicular to the first direction X. Containers 106 stored in the row 105 are accessed by container handling vehicles 201, 301, 401 through access openings 112 in the track system 108. The track system 108 defines a plurality of grid cells 122. The lateral area of a grid cell 122 includes the access opening 112 and an area of half the track width at the perimeter of the access opening. The container handling vehicles 201, 301, 401 can move laterally over the storage row 105, i.e., in a plane parallel to the horizontal XY plane.

[0005] The upright members 102 of the frame structure 100 may be used to guide storage containers during raising and lowering of the containers from and into the row 105. The stack 107 of containers 106 is generally self-supporting.

[0006] Each prior art container handling vehicle 201, 301, 401 includes a vehicle body 201a, 301a, 401a and first and second sets of wheels 201b, 201c, 301b, 301c, 401b, 401c that enable the container handling vehicle 201, 301, 401 to move laterally in the X and Y directions, respectively. In Figures 2, 3, and 4, two wheels from each set of wheels are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage two adjacent rails in the first set of rails 110, and the second set of wheels 201c, 301c, 401c is arranged to engage two adjacent rails in the second set of rails 111. At least one of the sets of 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 be engaged with a corresponding set of rails 110, 111 at any one time.

[0007] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device 404 (i.e., a container lift) for vertically transporting storage containers 106, see FIG4 , for example, lifting storage containers 106 from and lowering storage containers 106 into storage rows 105. The lifting device 404 includes a lifting frame 404d, which includes a container connector 404b and guide pins 404c adapted to engage with the storage container 106. The lifting frame 404d can be lowered from the vehicle 201, 301, 401 such that its position relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z that is orthogonal to the first direction X and the second direction Y. In FIG2 , the lifting device of the container handling vehicle 201 is located within the vehicle body 201a.

[0008] To raise or lower the lifting frame 404d (and optionally the connected storage container 106), the lifting frame 404d is suspended from a belt drive assembly via lifting belts 404a. In this belt drive assembly, a plurality of lifting belts are typically wound around / unwound from at least one rotating lifting shaft or reel disposed in a container handling vehicle. Various designs of belt drive assemblies are described, for example, in WO 2015 / 193278 A1, WO 2017 / 129384 A1, and WO 2019 / 206438 A1.

[0009] Conventionally, and also for the purposes of this application, Z=1 identifies the uppermost level below rails 110, 111 available for storage containers, i.e., the level immediately below rail system 108; Z=2 identifies the second level below rail system 108; Z=3 identifies the third level, and so on. In the exemplary prior art disclosed in FIG1 , Z=8 identifies the lowest, bottom level of storage containers. Similarly, X=1…n and Y=1…n identify the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z shown in FIG1 , the storage container designated 106′ in FIG1 can be said to occupy the storage position X=17, Y=1, and Z=6. Container handling vehicles 201, 301, 401 can be said to travel in the level Z=0, and each storage column 105 can be identified by its X and Y coordinates. Therefore, the storage containers shown in FIG1 extending above rail system 108 are also said to be arranged in the level Z=0.

[0010] The storage volume of the frame structure 100 is often referred to as a grid, wherein the possible storage locations within the grid are referred to as storage cells. Each storage column can be identified by its position in the X and Y directions, while each storage cell can be identified by its container number in the X, Y, and Z directions.

[0011] Each of the prior art container handling vehicles 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 may include a cavity arranged inside the vehicle body 201a, 401a, as shown in Figures 2 and 4 and described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0012] Figure 3 shows an alternative configuration of a container handling vehicle 301 having a cantilever structure. Such a vehicle is described in detail in, for example, US Pat. No. 317,366, the contents of which are also incorporated herein by reference.

[0013] The footprint of the chamber container handling vehicle 201 shown in FIG2 can cover an area approximately equal to the lateral extent of the storage array 105 in the X and Y directions, such as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" can mean "horizontal."

[0014] Alternatively, the footprint of the cavity container handling vehicle 401 may be larger than the lateral area defined by the storage row 105 , as shown in FIGS. 1 and 4 and disclosed, for example, in WO 2014 / 090684 A1 or WO 2019 / 206487 A1.

[0015] The lateral area defined by the storage columns is equal to the lateral area defined by the grid cells 122 of the track system 108. The lateral area of the grid cells includes the access opening 112 and the area of half the track width at the perimeter of the access opening.

[0016] Track system 108 generally includes a track with a groove, in which the wheels of the vehicle travel. Alternatively, the track can include an element extending upward, wherein the wheels of the vehicle include a flange to prevent derailment. These grooves and the element extending upward are collectively referred to as guide rails. Each track can include a guide rail, or each track 110, 111 can include two parallel guide rails. In other track systems 108, each track in one direction (e.g., X direction) can include a guide rail, and each track in another vertical direction (e.g., Y direction) can include two guide rails. Each track 110, 111 can also include two guide rail members fastened together, and each guide rail member provides a guide rail in a pair of guide rails provided by each track.

[0017] WO 2018 / 146304 A1 (the contents of which are incorporated herein by reference) shows a typical configuration of a track system 108 comprising tracks and parallel guides in both the X-direction and the Y-direction.

[0018] In the frame structure 100, most of the columns 105 are storage columns 105, i.e., columns 105 in which storage containers 106 are stored in the form of stacks 107. However, some columns 105 may have other purposes. In Figure 1, columns 119 and 120 are such dedicated columns that container handling vehicles 201, 301, 401 use to unload and / or pick up storage containers 106 so that the storage containers can be transported to access stations (not shown) where the storage containers 106 can be accessed from outside the frame structure 100 or moved out of or into the frame structure 100. In the art, such locations are generally referred to as "ports," and the columns in which the ports are located may be referred to as "port columns" 119, 120. Transport to the access stations can be carried out in any direction, i.e., horizontally, inclined, and / or vertically. For example, a storage container 106 can be placed in a random row or a dedicated row 105 within the frame structure 100, and then picked up by any container handling vehicle and transported to a port row 119, 120 for further transport to an access station. Transport from the port to the access station may require movement in a variety of different directions, such as with the aid of a delivery vehicle, a cart, or other transport routes. Note that the term "tilted" refers to transporting a storage container 106 with a general transport orientation somewhere between horizontal and vertical.

[0019] In Figure 1, the first port column 119 can be, for example, a dedicated unloading port column, at which container handling vehicles 201, 301, 401 can unload storage containers 106 to be transported to an access station or a transfer station, and the second port column 120 can be a dedicated picking port column, at which container handling vehicles 201, 301, 401 can pick up storage containers 106 that have been transported from the access station or the transfer station.

[0020] The access station can generally be a picking station or a staging station where product items are removed from or positioned in the storage container 106. At the picking station or staging station, the storage container 106 is generally not removed from the automated storage and retrieval system 1, but is returned to the frame structure 100 after access. The port can also be used to transfer the storage container to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0021] A conveyor system including conveyors is typically employed to transport storage containers between the port rows 119, 120 and the access station.

[0022] If the port rows 119 , 120 and the access station are located at different levels, the conveyor system may include a lifting device with a vertical component for transporting the storage containers 106 vertically between the port rows 119 , 120 and the access station.

[0023] The conveyor system may be arranged to transfer storage containers 106 between different frame structures, for example as described in WO 2014 / 075937 A1 , the contents of which are incorporated herein by reference.

[0024] When a storage container 106 stored in one of the plurality of rows 105 disclosed in FIG1 is to be accessed, one of the plurality of container handling vehicles 201, 301, 401 is instructed to remove the target storage container from its location and transport it to the unloading port row 119. This operation involves: moving the container handling vehicle 201, 301, 401 to a position above the storage row 105 where the target storage container 106 is located; using the lifting device 404 of the container handling vehicle 201, 301, 401 to remove the storage container 106 from the storage row 105; and transporting the storage container 106 to the unloading port row 119. If the target storage container 106 is located 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 container located above before lifting the target storage container 106 from the storage row 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 array 119, or can be performed using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have container handling vehicles 201, 301, 401 dedicated to the task of temporarily removing storage containers 106 from the storage array 105. After the target storage container 106 is removed from the storage array 105, the temporarily removed storage container 106 can be relocated to the original storage array 105. However, the removed storage container 106 can alternatively be relocated to another storage array 105.

[0025] When a storage container 106 is to be stored in a row 105, a container handling vehicle 201, 301, 401 is instructed to pick up a storage container 106 from the pick port row 120 and transport the storage container to a position above the storage row 105 where it will be stored. After removing any storage containers 106 that are at or above the target location within the stack 107, the container handling vehicle 201, 301, 401 positions the storage container 106 to the desired location. The removed storage container 106 can then be lowered back into the storage row 105 or relocated to another storage row 105.

[0026] In order to monitor and control the automatic storage and retrieval system 1, for example, to monitor and control the position of each storage container 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301, 401, so that the required storage containers 106 can be transported to the required location at the required time without the container handling vehicles 201, 301, 401 colliding with each other, the automatic storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0027] There are a variety of known solutions for service vehicles operating on the grid of storage and retrieval systems. These service vehicles can be used for various operations, such as retrieving a broken container handling vehicle, or allowing operators to access and repair broken equipment on the grid.

[0028] The object of the present invention is to provide a simple and efficient system for performing various operations on the track grid of a prior art storage and retrieval system as described above. Summary of the Invention

[0029] The present invention is defined in the appended claims and the following:

[0030] In a first aspect, the present invention provides a storage system comprising: a frame structure having a plurality of storage columns for accommodating vertical stacks of storage containers; and a track system on which vehicles can move in two directions perpendicular to each other above the storage columns; the track system comprising a first set of parallel tracks and a second set of parallel tracks, wherein the first set of parallel tracks is arranged to guide the vehicle to move across the top of the frame structure in a first direction, and the second set of parallel tracks is arranged perpendicular to the first set of tracks to guide the vehicle to move in a second direction perpendicular to the first direction, the first set of parallel tracks and the second set of parallel tracks defining a plurality of grid cells;

[0031] in,

[0032] The storage system comprises a service vehicle and at least one service carriage,

[0033] a service vehicle configured to accommodate an operator, the service vehicle comprising wheels for moving the service vehicle in a first direction and a second direction on the rail system, and at least one carriage connector for releasably attaching the service vehicle to the service carriage, and

[0034] The service carriage is configured to slide on the rail system.

[0035] The at least one carriage connector is configured to cause the service carriage to mimic or follow horizontal movement of the service vehicle when the service carriage and the service vehicle are attached.

[0036] In other words, the service carriage is configured to slide on the rail system when the service carriage is attached to the service vehicle and the service vehicle moves in either of the first direction and the second direction.

[0037] In one embodiment of the storage system, the service carriage may include a floor segment having a bottom surface that is in sliding contact with the rails of the track system. The floor segment (i.e., the bottom surface of the floor segment) may be in sliding contact with the upper surface or upper portion of the track system. In other words, the bottom surface may be in contact with and supported by the rails of the track system, allowing the service carriage to slide on the track system.

[0038] In one embodiment of the storage system, the bottom surface may be flat.

[0039] In one embodiment of the storage system, the bottom surface area can be larger than the lateral area of two adjacent grid cells. In other words, the bottom surface area can be larger than the lateral area of two adjacent grid cells or cover a larger lateral area than two adjacent grid cells. The lateral area of a grid cell includes the access opening of the storage column and half the width of the track at the perimeter of the access opening.

[0040] In one embodiment of the storage system, the bottom surface may be made of a material having a lower hardness than the material of the track system. In other words, the bottom surface is made of a material suitable for preventing the track from being worn / scratched / dented.

[0041] In one embodiment of the storage system, the bottom surface can be made of a polymer material. Suitable polymer materials include HDPE, LDPE, PET, PP and PA. The hardness of the polymer material can be lower than the hardness of the track system, that is, lower than the hardness of aluminum.

[0042] In an embodiment of the storage system, the floor sections may include chamfered edges or upwardly sloping edge surfaces at the periphery of the bottom surface.

[0043] In one embodiment of the storage system, the rail system may be made of aluminum.

[0044] In an embodiment of the storage system, the service carriage may be any of the following: a platform for an operator, a cleaning tool including a brush and / or a vacuum cleaner, and a tool carriage equipped with a manual lift for retrieving storage containers.

[0045] In one embodiment of the storage system, the service carriage may include a fence. A portion of the fence may be movable between opposite sides of the service carriage so that an operator may exit the service vehicle and enter the service carriage from either of the opposite sides.

[0046] In one embodiment, the storage system may include two service carriages configured to be releasably attached at opposite sides of a service vehicle to provide a platform for an operator that extends around a perimeter of the service vehicle.

[0047] In an embodiment of the storage system, the at least one carriage connector may be configured to restrict horizontal movement of the service carriage relative to the service vehicle when the service vehicle is attached to the service carriage.

[0048] In one embodiment of the storage system, at least one carriage connector can be configured to allow vertical movement of the service vehicle relative to the service carriage when the service vehicle is attached to the service carriage. In other words, the carriage connector can be configured so that the service carriage does not raise / lower when the service vehicle changes direction of travel.

[0049] In one embodiment of the storage system, the service carriage may include at least one bracket for releasably attaching to a carriage connector. A side of the service carriage may include two brackets for releasably attaching to two corresponding carriage connectors of a service vehicle. The two brackets may be positioned at opposing edges of a side of the service vehicle. The use of two brackets and two corresponding carriage connectors prevents the service carriage from twisting in the horizontal plane.

[0050] In one embodiment of the storage system, the service carriage may include two brackets on each of two opposing sides such that a service vehicle may be releasably attached to the service carriage from either of the two opposing sides.

[0051] In one embodiment of the storage system, at least one carriage connector is configured to releasably attach the service carriage via a pin-and-hole connection. The pins may be arranged in a vertical direction to provide a pin-and-hole connection that allows vertical movement of the service carriage relative to the service vehicle while restricting horizontal movement therebetween.

[0052] In one embodiment of the storage system, at least one carriage connector may include a vertically movable pin, and the service carriage includes a corresponding hole into which the pin can be inserted to releasably attach the service carriage. The pin can be movable in a vertical direction between a first position, in which the hole can be arranged below or above the rod, and a second position, in which the rod can be inserted into the hole. The hole can be part of a bracket connected to the service carriage. The pin can be configured to be inserted into the hole so as to prevent or limit horizontal movement of the service carriage relative to the service vehicle when the service vehicle is attached to the service carriage. The carriage connector may include a gripping section attached to one end of the pin or forming an integral part of the pin, wherein the gripping section allows an operator to manually grasp and lift the pin.

[0053] In one embodiment of the storage system, the service vehicle may include two carriage connectors on at least one side, wherein the two carriage connectors are spaced apart in a first direction or a second direction. The service vehicle may include two connectors on each of its opposing sides, wherein the two connectors on each side are spaced apart in the first direction or the second direction. The spacing is sufficient to prevent the service carriage from twisting in the horizontal plane.

[0054] In one embodiment of the storage system, the service vehicle may include a first set of wheels and a second set of wheels, wherein at least one of the two sets of wheels may be raised and lowered such that the first set of wheels and the second set of wheels may be engaged with a corresponding set of rails at any one time.

[0055] In one embodiment, the storage system may include at least one container handling vehicle configured to move in two directions perpendicular to each other above the storage column, the container handling vehicle being capable of removing storage containers from the storage column and storing storage containers in the storage column, and transporting storage containers on a rail system.

[0056] In one embodiment of the storage system, the service vehicle may include an enclosure having a door that enables an operator to enter and exit a service carriage attached to the service vehicle.

[0057] In a second aspect, the present invention provides a method for moving a service carriage in a storage system according to any embodiment of the first aspect, comprising the steps of:

[0058] - moving the service vehicle to a first position adjacent to the service carriage;

[0059] - releasably attaching a service vehicle to the service carriage by using at least one carriage connector; and

[0060] - Sliding the service carriage on the rail system by moving the service vehicle to the second position.

[0061] The term "storage system" is intended to encompass systems comprising any type of container, box, or frame that can hold any type of item, cargo, or commodity, including growing media that can be used to grow plants. In the latter case, the container handling system can be used for vertical farming.

[0062] In an embodiment, the storage system may comprise vertical row profiles supporting the rail system from below, the row profiles defining a plurality of storage rows in which containers may be stacked on top of each other.

[0063] In one embodiment of the storage system, each storage row is defined by four vertical row profiles. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Embodiments of the present invention will be described in detail, by way of example only, with reference to the following drawings:

[0065] FIG. 1 is a perspective view of a frame structure of an automatic storage and retrieval system in the prior art.

[0066] 2 is a perspective view of a prior art container handling vehicle having an internally disposed cavity for carrying storage containers therein.

[0067] 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers thereunder.

[0068] 4 is a perspective view of a prior art container handling vehicle viewed from below, the container handling vehicle having an internally disposed cavity for carrying storage containers therein.

[0069] Figures 5 to 7 is a perspective view of a service vehicle for use with a storage system according to the present invention.

[0070] Figures 8 to 11 is a perspective view of a first exemplary storage system according to the present invention.

[0071] Figure 12 A and Figure 12 B is a perspective view of a second exemplary storage system according to the present invention.

[0072] Figure 13 is a perspective view of various service carriages for use in a storage system according to the present invention. DETAILED DESCRIPTION

[0073] Hereinafter, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

[0074] As mentioned above, service vehicles can be used to transfer operators on the rail system 108 of the storage system 1 so that, for example, maintenance can be carried out or faulty equipment can be removed, such as container handling vehicles 201, 301, 401. However, service vehicles are typically small, have room for only a single operator, and do not provide sufficient or optimal working space on the rail system. Other operations that may need to be performed on the rail system include cleaning the rail system and removing storage containers that are stuck in the storage columns. It is conceivable to use larger dedicated service vehicles to provide larger working space, clean the rail system, etc., but such service vehicles are more expensive and require extended wheel assemblies to provide sufficient support and ensure accurate movement of the service vehicle on the rail system.

[0075] The present invention provides a storage system in which a variety of operations can be performed on a rail system in a cost-effective and simple manner.

[0076] The storage system of the present invention comprises a service vehicle 2 and at least one service carriage 3, see Figures 7 to 10 and Figure 11 .

[0077] The service carriage 3 can be configured for various services or uses, see Figure 12 , such as a platform 9 with a workspace for an operator, a cleaning tool 10 with a brush and / or vacuum cleaner 17 for removing debris / spills on a rail system 108, or a tool carriage 11 equipped with a manual lifting device 18 for retrieving storage containers that cannot be retrieved by a container handling vehicle.

[0078] Figures 5 to 7 An exemplary service vehicle 2 is disclosed in [ 1 ]. The service vehicle 2 is configured to accommodate an operator and includes a wheel assembly having a first set of wheels 4 a and a second set of wheels 4 b for moving the service vehicle in two mutually perpendicular directions on a track system 108. One of the two sets of wheels can be raised and lowered so that the first set of wheels 4 a and the second set of wheels 4 b are engaged with a corresponding set of rails 110 , 111 at any one time. In the disclosed service vehicle, only the second set of wheels 4 b is vertically movable relative to the vehicle body 19 of the service vehicle. Thus, when the service vehicle is traveling on the second set of wheels, the vehicle body 19 is at a higher level relative to the track system than when traveling on the first set of wheels 4 a.

[0079] The service vehicle 2 comprises four separate carriage connectors 5 for releasably attaching the service vehicle 2 to the service carriage 3, see Figures 7 to 9A pair of carriage connectors 5 are arranged on each of two separate sides of the service vehicle, allowing the service carriage 3 to be attached to either of the two opposing sides by the service vehicle 2. The carriage connectors 5 are configured such that, when attached to the service carriage 3 and the service vehicle 2, the service carriage 3 mimics the horizontal movement of the service vehicle. In the illustrated embodiment, each carriage connector 5 is configured to releasably attach the service carriage 3 via a pin-and-hole connection mechanism. The pin-and-hole connection mechanism consists of a vertically movable pin 13 of the carriage connector 5 and a corresponding hole 14 in a bracket 12 of the service carriage 3. The pin-and-hole connection mechanism is configured to allow vertical movement between the service vehicle 2 and the attached service carriage 3. The relative vertical movement permitted by the pin-and-hole connection mechanism is required to maintain a constant horizontal height of the attached service carriage 3 during movement of the service vehicle 2 in any direction. In other embodiments, the service vehicle and the service carriage may be releasably attached via any suitable connection mechanism that allows for relative vertical movement while restricting horizontal movement between the service carriage 3 and the service vehicle 2. In other embodiments, the service vehicle 2 may have wheel assemblies in which the vehicle body remains at the same level regardless of the direction of travel, and the relative vertical movement provided by the pin-and-hole connection may not be required.

[0080] When the service carriage 3 is attached to the service vehicle 2, it is configured to slide on the rail system as the service vehicle 2 moves. The service carriage 3 includes a floor section 6 having a flat bottom surface 7 that slides in contact with the rails 110, 111 of the rail system 108. The area of the bottom surface 7 is greater than the lateral area of two adjacent grid cells 122 to ensure that the rail system provides adequate support for the service carriage. Configuring the service carriage 3 to slide on the rails 110, 111, rather than using a wheel assembly similar to that used on a service vehicle, provides a very simple, durable, and cost-effective solution for transport on the rail system 108. The rails are typically made of aluminum, and to minimize wear, the bottom surface 7 is preferably made of a material with a lower hardness than the aluminum alloy of the rails. Preferably, the bottom surface can be made of a polymer material, such as an appropriate grade of HDPE, LDPE, PET, PP, or PA. To further reduce wear on the rails, the floor section 6 can include a chamfered edge 16 or an upwardly angled edge surface around the perimeter of the bottom surface 7.

[0081] The service vehicle 2 comprises, on at least one side thereof, an enclosure 15 having a door 15a. The door 15a allows a human operator to enter and exit the attached service carriage 3.

[0082] When used as an operator's platform 9, the service carriage 3 may also include a fence 8. In order to allow the operator to leave the service vehicle 2 and enter the platform 9 from either of the opposite sides, a portion 8a of the fence 8 can be moved between the opposite sides of the service carriage 3.

[0083] In an exemplary embodiment, the storage system of the present invention may include two separate service carriages 3 configured to be releasably attached at opposite sides of a service vehicle 2. The service carriages provide a common platform 9a, 9b extending around the perimeter of the service vehicle 2 for operators.

[0084] Reference Signs List

[0085] 1. Automatic storage and retrieval system of existing technology

[0086] 2 service vehicles

[0087] 3 Service carriages

[0088] 4a, 4b wheels, first set of wheels, second set of wheels

[0089] 5 Slide connector

[0090] 6 floor sections

[0091] 7 Bottom surface

[0092] 8 Fence

[0093] 8a Removable fence section

[0094] 9 Platform

[0095] 10. Cleaning tools

[0096] 11 Tool carriage

[0097] 12 brackets

[0098] 13 pins

[0099] 14 holes

[0100] 15 Fence

[0101] Door 15a

[0102] 16 Chamfered Edges

[0103] 17 Vacuum Cleaner

[0104] 18 Manual lifting device

[0105] 19 Vehicle body

[0106] 100 frame structure

[0107] 102 Vertical members of frame structure

[0108] 104 Storage Grid

[0109] 105 storage columns

[0110] 106 Storage Containers

[0111] 106' storage container at a specific location

[0112] 107 Stacking

[0113] 108 Track System

[0114] 110 Parallel tracks in the first direction (X)

[0115] 112 access opening

[0116] 119 First port column

[0117] 120 Second port column

[0118] 201 Container handling vehicle of prior art

[0119] 201a Vehicle body of container transport vehicle 201

[0120] 201b Drive device / wheel device / first set of wheels in the first direction (X)

[0121] 201c Drive device / wheel device / second set of wheels in the second direction (Y)

[0122] 301 Prior Art Cantilever Container Handling Vehicle

[0123] 301a Vehicle body of the container transport vehicle 301

[0124] 301b Drive device in the first direction (X) / first set of wheels

[0125] 301c Drive device in the second direction (Y) / second set of wheels

[0126] 304 clamping device

[0127] 401 Container handling vehicle of prior art

[0128] 401a Vehicle body of container transport vehicle 401

[0129] 401b Drive device in the first direction (X) / first set of wheels

[0130] 401c Drive device in the second direction (Y) / second set of wheels

[0131] 404 Clamping Device

[0132] 404a Lifting belt

[0133] 404b gripper

[0134] 404c guide pin

[0135] 404d lifting frame

[0136] 500 control system

[0137] X first direction

[0138] Y second direction

[0139] Z third direction

Claims

1. A storage system comprising: A frame structure (100) having a plurality of storage columns (105) for accommodating vertical stacks of storage containers (106); and a track system (108), wherein vehicles (2, 201, 301, 401) are capable of moving in two directions perpendicular to each other on the track system above the storage row; the track system 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 vehicles to move in a first direction (X) across the top of the frame structure, and the second set of parallel tracks is arranged perpendicular to the first set of tracks to guide the vehicles to move in a second direction (Y) perpendicular to the first direction (X), and the first set of parallel tracks and the second set of parallel tracks define a plurality of grid cells (122); in, The storage system comprises a service vehicle (2) and at least one service carriage (3), The service vehicle (2) is configured for accommodating an operator and comprises wheels (4a, 4b) for moving the service vehicle in the first direction and the second direction on the rail system, and at least one carriage connector (5) for releasably attaching the service vehicle (2) to the service carriage (3), and The service carriage (3) is configured to slide on the rail system.

2. The storage system according to claim 1, wherein: The service carriage (3) comprises a floor section (6) having a rail (110) which is aligned with the rail system (108). 111) bottom surface (7) of sliding contact.

3. The storage system according to claim 2, wherein: The bottom surface (7) is flat.

4. The storage system according to claim 2 or 3, wherein: The area of the bottom surface (7) is larger than the lateral area of two adjacent grid units (122).

5. The storage system according to any one of claims 2 to 4, wherein: The bottom surface (7) is made of a material having a lower hardness than the material of the rail system.

6. The storage system according to any one of claims 2 to 5, wherein: The bottom surface (7) is made of polymer material.

7. The storage system according to any one of claims 2 to 6, wherein: The floor section (6) includes a chamfered edge (16) or an upwardly inclined edge surface at the periphery of the bottom surface (7).

8. A storage system according to any one of the preceding claims, wherein The track system (108) is made of aluminum.

9. A storage system according to any one of the preceding claims, wherein: The service carriage (3) is any one of the following: a platform (9) for an operator, a cleaning tool (10) including a brush and / or a vacuum cleaner (17), and a tool carriage (11) equipped with a manual lifting device (18) for removing storage containers.

10. A storage system according to any one of the preceding claims, wherein The service carriage (3) comprises a fence (8).

11. The storage system according to claim 10, wherein: A portion (8a) of the fence (8) is movable between opposite sides of the service carriage (3).

12. A storage system according to any one of the preceding claims, comprising two service carriages (3) configured to be releasably attached at opposite sides of the service vehicle (2) to provide a platform (9a, 9b) for operators extending around the periphery of the service vehicle.

13. A storage system according to any one of the preceding claims, wherein: The at least one carriage connector (5) is configured to restrict horizontal movement of the service carriage (3) relative to the service vehicle (2) when the service vehicle is attached to the service carriage.

14. A storage system according to any one of the preceding claims, wherein The at least one carriage connector (5) is configured to allow vertical movement of the service vehicle (2) relative to the service carriage (3) when the service vehicle is attached to the service carriage.

15. A storage system according to any one of the preceding claims, wherein The service carriage (3) comprises at least one bracket (12) for releasably attaching to the carriage connector (5).

16. A storage system according to any one of the preceding claims, wherein The at least one carriage connector (5) is configured to releasably attach the service carriage via a pin-and-hole connection (13, 14).

17. A storage system according to any one of the preceding claims, wherein The at least one carriage connector (5) comprises a vertically movable pin (13), and the service carriage comprises a corresponding hole (14) into which the rod can be inserted.

18. A storage system according to any one of the preceding claims, wherein Two carriage connectors (5) are included on at least one side of the service vehicle (2), wherein the two carriage connectors (5) are arranged in a spaced-apart manner along the first direction (X) or the second direction (Y).

19. A storage system according to any one of the preceding claims, wherein The service vehicle (2) comprises a first set of wheels (4a) and a second set of wheels (4b), wherein at least one of the two sets of wheels can be raised and lowered so that the first set of wheels (4a) and the second set of wheels (4b) can engage with a corresponding set of rails (110, 111) at any one time.

20. The storage system according to any one of the preceding claims comprises at least one container handling vehicle (201, 301, 401) configured to move in two directions perpendicular to each other above the storage column, the container handling vehicle being capable of removing storage containers (106) from the storage column (105) and storing storage containers in the storage column, and transporting the storage containers on the rail system (108).

21. A storage system according to any one of the preceding claims, wherein The service vehicle (2) includes an enclosure (15) having a door (15a) that enables an operator to enter and exit a service carriage attached to the service vehicle.

22. A method of moving a service carriage in a storage system according to any one of claims 1 to 21, comprising the steps of: - moving the service vehicle to a first position adjacent to the service carriage; - releasably attaching the service vehicle to the service carriage by using the at least one carriage connector; as well as - Sliding the service carriage on the rail system by moving the service vehicle to a second position.

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