System and method for state-based maintenance of ports

Abstract

A system, method, computer program product and software program product for status-based maintenance of ports (502) in an automated storage and retrieval system comprising a frame structure (100) having a track system and at least one container handling vehicle (201, 301), the invention relates to a frame structure (100) forming a three-dimensional storage grid structure (104) for storing storage containers (106) for storing articles, in which the grid structure (104) forms vertical storage columns (105), the horizontal area of each vertical storage column being defined by the dimensions of access openings (112) located between tracks of a track system (108) arranged on the frame structure (100), the track system provides an available route for the container handling vehicle (201) for handling and transferring the storage containers (106) to and from the storage column (105), the grid structure comprising one or more ports (502) for retrieving the containers (106) from the storage grid such that the containers can be selected, and wherein the automated storage and retrieval system is controlled by a central computer system (500), each port (502) comprises a computing device (504) connected to a sensor (501) arranged to monitor the component, and wherein sensor data from the sensor (501) is continuously received, stored, processed and analyzed, the sensor data comprising identification information corresponding to the component and component being monitored; comparing the sensor data with reference sensor data and identifying sensor data deviating from the reference sensor data; determining whether the deviation of the sensor data is above a preset level; sending data representing that the sensor data is above a preset level from a computing device (504) of the automated storage and retrieval system to a central computer system (500) of the automated storage and retrieval system; processing and analyzing, in the central computer system (500), data representing that the sensor data is above a preset level, and identifying corresponding components and parts; and initiating maintenance of the identified component or component based on the analysis in the central computer system (500).

Description

Technical Field

[0001] The present invention relates to an automatic storage and retrieval system for storing and retrieving containers, and in particular, to a system and method for performing state-based maintenance of a port using edge computing. 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 such a system 1 .

[0003] The frame structure 100 comprises 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, such as extruded aluminum profiles.

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

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

[0006] Each prior art container handling vehicle 201, 301, 401 includes a body 201a, 301a, 401a and a first set of wheels 201b, 301b, 401b and a second set of wheels 201c, 301c, 401c that enable lateral movement of the container handling vehicle 201, 301, 401 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 two 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 the 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 for vertically transporting storage containers 106, for example, lifting and lowering storage containers 106 from and into storage rows 105. The lifting device includes one or more gripping / engaging devices adapted to engage with storage containers 106, and the gripping / engaging devices can be lowered from the vehicle 201, 301, 401 such that their positions relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z, orthogonal to the first direction X and the second direction Y. Components of the gripping devices of the container handling vehicles 301, 401 are shown in Figures 3 and 4 and are designated by reference numerals 304 and 404. In Figure 2, the gripping devices of the container handling vehicle 201 are located within the vehicle body 201a and are therefore not shown.

[0008] 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.

[0009] The storage volume of the frame structure 100 is generally referred to as a grid 104, 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.

[0010] 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.

[0011] Figure 3 shows an alternative configuration of a container handling vehicle 301 having a cantilever configuration. 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.

[0012] The footprint of the chamber container handling vehicle 201 shown in FIG2 can cover an area having dimensions in the X and Y directions that are approximately equal to the lateral extent of the storage array 105, 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."

[0013] 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.

[0014] Track system 108 generally comprises 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 for a pair of guide rails of each track.

[0015] 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.

[0016] In the frame structure 100, most of the columns 105 are storage columns 105, i.e., columns 105 in which storage containers 106 are stored in the form of stacks 107. However, some columns 105 may have other purposes. In Figure 1, columns 119 and 120 are such dedicated columns that are used by container handling vehicles 201, 301, 401 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 the port row 119, 120 for further transport to the access station. Transport from the port to the access station may require movement in a variety of different directions with the help of a delivery vehicle, a trolley, or other transport lines. Note that the term "inclined" refers to the transport of a storage container 106 with a general transport orientation somewhere between horizontal and vertical.

[0017] 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 an access station or a transfer station.

[0018] 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 another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

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

[0020] 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.

[0021] 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.

[0022] 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 106 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; utilizing a lifting device (not shown) 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.

[0023] 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 the storage container will be stored. After all storage containers 106 located at or above the target location within the stack 107 are removed, the container handling vehicle 201, 301, 401 positions the storage container 106 at 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.

[0024] 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 desired storage container 106 can be transported to the desired location at the desired time point 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.

[0025] Tracking the maintenance needs of all the components in an automated storage and retrieval system is no simple task. Typically, service plans are based on the estimated time required to service and replace a component, or when a component breaks down. This is a problem for the rest of the system, as it often requires shutting down every component in the entire system. If we could monitor the status of multiple components in the system, such as ports, we could replace them before they break down and every component in the system has to be shut down. Summary of the Invention

[0026] The invention is set forth and characterized in the independent claim, while the dependent claims describe further characteristics of the invention.

[0027] The present invention relates to a system for determining condition-based maintenance of ports in an automatic storage and retrieval system, the automatic storage and retrieval system comprising a frame structure having a rail system and at least one container handling vehicle, the frame structure forming a three-dimensional storage grid structure for storing storage containers for storing items, wherein the grid structure forms vertical columns, the horizontal area of each vertical column being defined by the size of an access opening, the access opening being located between rails of the rail system arranged on the frame structure, the rail system providing available routes for the container handling vehicles to transport storage containers to and from the columns, the grid structure comprising one or more ports for retrieving containers from the storage grid so that containers can be selected, and wherein the automatic storage and retrieval system is controlled by a central computer system, each port being connected to a sensor arranged to monitor components and parts, characterized in that the system comprises: a transmitter connected to a computing device and / or a sensor for sending data from the port to the central computer system; a computing device connected to a storage device and arranged to continuously receive, store and analyze sensor data from the sensor using machine learning techniques; and a central computer system suitable for processing and analyzing the data and initiating maintenance of identified components and / or parts.

[0028] In one aspect, the sensors that monitor components and parts of the port include one or more of a temperature sensor, a sound sensor, a humidity sensor, a vibration sensor, and a speed sensor.

[0029] In one aspect, the computing device uses deep learning techniques on the data to identify issues with the port.

[0030] In one aspect, each port may include computing means and storage means arranged to continuously receive, store and analyze sensor data from the sensors and then send the results to the central computer system.

[0031] In one aspect, computing devices and storage devices arranged to continuously receive, store and analyze sensor data from sensors may be centrally located to receive, store and analyze sensor data from multiple ports and then send the results to a central computer system.

[0032] In one aspect, the central computer system includes a service plan manager for creating a service plan based on the analyzed data.

[0033] The present invention relates to a method for condition-based maintenance of ports in an automated storage and retrieval system, the automated storage and retrieval system comprising a frame structure having a rail system and at least one container handling vehicle, the frame structure forming a three-dimensional storage grid structure for storing storage containers, the storage containers being used to store items, wherein the grid structure forms vertical columns, the horizontal area of each vertical column being defined by the size of an access opening, the access opening being located between rails of the rail system arranged on the frame structure, the rail system providing available routes for the container handling vehicles to carry storage containers to and from the columns, the grid structure comprising one or more ports for retrieving containers from the storage grid, enabling selection of The method comprises the steps of: continuously receiving, storing and analyzing sensor data from the sensors using machine learning techniques, the sensor data including identification information corresponding to the monitored components and parts; transmitting the data from the ports to the central computer system using a transmitter connected to a computing device and / or a sensor; processing and analyzing data indicating that the sensor data is above a preset level in the central computer system, and identifying the corresponding components and parts; and initiating maintenance on the identified components or parts based on the analysis in the central computer system.

[0034] In one aspect, the information from the sensors includes registration of problems with components of the storage and retrieval system and information about the service time and life of the components.

[0035] In one aspect, the time at which the sensor recorded the data is registered and stored in the storage device.

[0036] In one aspect, when a port is in a low activity or inactive state, all deviating sensor data is sent from the automated storage and retrieval system's computing device to the automated storage and retrieval system's central computer system.

[0037] In one aspect, when the port is in a low activity or inactive state, all sensor data is sent from the automated storage and retrieval system's computing device to the automated storage and retrieval system's central computer system.

[0038] In one aspect, the central computer system includes a service plan manager for creating a service plan based on the analyzed data.

[0039] In one aspect, sensor data from sensors is continuously received, stored, and analyzed at computing devices and storage devices located at the ports, and the results are then sent to a central computer system.

[0040] In one aspect, a computing device and a storage device that continuously receives, stores, and analyzes sensor data from sensors are centrally located and arranged to continuously receive, store, and analyze sensor data from sensors of a plurality of ports.

[0041] The present invention also relates to a computer program product which, when executed in a processor by a computing device, performs the following steps to arrange the operation of a monitoring port, the port comprising a computing device connected to a storage device and a sensor: continuously receiving, storing, processing and analyzing sensor data from the sensor, the sensor data comprising identification information corresponding to the monitored components and parts; starting to send the data from the sensor from the computing device of the automatic storage and retrieval system to the central computer system of the automatic storage and retrieval system; processing and analyzing data indicating that the sensor data is above a preset level in the central computer system, and identifying the corresponding components and parts; and initiating maintenance of the identified components or parts based on the analysis in the central computer system.

[0042] The present invention also relates to a software program product which, when executed in a central computer system, performs the following steps to be arranged to control and monitor the operation of an automatic storage and retrieval system: receiving data including sensor data from ports operating in the automatic storage and retrieval system; processing and analyzing the sensor data, identifying components and parts, and initiating maintenance on the components and parts according to the type of maintenance required.

[0043] The solution allows for continuous updating of service plans based on the status of ports monitored by sensors that collect information and utilizes machine learning techniques to analyze the collected information. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The following drawings are attached to facilitate a further understanding of the present invention. The drawings illustrate embodiments of the present invention, which will now be described by way of example only. In the drawings:

[0045] FIG. 1 is a perspective view of a frame structure of an automatic storage and retrieval system in the prior art.

[0046] 2 is a perspective view of a prior art container handling vehicle having an internally disposed cavity for carrying storage containers therein.

[0047] 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers thereunder.

[0048] 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.

[0049] Figure 5 It is a block diagram of the system and how its parts fit together.

[0050] Figure 6 is a flow chart of a method for performing condition-based maintenance on a port in a storage and retrieval system. DETAILED DESCRIPTION

[0051] In the following, 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.

[0052] The frame structure 100 of the automated storage and retrieval system 1 can be constructed in a manner similar to the prior art frame structure 100 described above in conjunction with Figures 1 to 3. That is, the frame structure 100 includes a plurality of upright members 102 and includes a first upper rail system 108 extending in the X direction and the Y direction.

[0053] The frame structure 100 further comprises storage compartments in the form of storage rows 105 arranged between the components 102 , wherein storage containers 106 can be stacked to form stacks 107 within the storage rows 105 .

[0054] The frame structure 100 can be of any size. Specifically, it should be understood that the frame structure can be much 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.

[0055] Now refer to Figure 5 and Figure 6 One embodiment of the automated storage and retrieval system according to the present invention is discussed in more detail.

[0056] Figure 5 502 is a block diagram of the system and how its different parts fit together. This block diagram shows a storage and retrieval system. There is at least one port in the storage and retrieval system. Typically, there are more than one port 502. In this case, preferably, each port 502 has a computing device 504.

[0057] In an embodiment of the present invention, computing device 504 is a computer connected to storage device 505 and is configured to continuously receive, store, and analyze sensor data from sensor 501. Furthermore, there is a transmitter 506 connected to computing device 504. The transmitter is configured to transmit data to central computer system 500. The data is analyzed using machine learning techniques. By applying deep learning techniques to the data collected from the sensors, the computing device can learn to determine whether there are any anomalies in the components and parts of the port.

[0058] Data is collected by the sensors and stored on the storage device 503. The data can then be analyzed by the computing device 504 and the results sent to the central computer system. The central computer system can then formulate a service plan based on the analyzed information from the computing device.

[0059] In another embodiment of the present invention, the central computer system 500 is adapted to utilize machine learning techniques (such as deep learning) to process and analyze the data and initiate maintenance on the identified components and / or parts. In an alternative solution, all recorded data may also be sent. The sending may occur during periods of low or no activity on port 502.

[0060] Sensors 501 monitoring components and parts of port 502 may include one or more of a temperature sensor, a sound sensor, a humidity sensor, a vibration sensor, and a speed sensor. Sensor data includes identification information corresponding to the monitored components and parts, and sensor data that deviates from reference sensor data can be identified. Furthermore, in embodiments of the present invention, the computing device may be an edge computing device.

[0061] Figure 6is a flow chart of a method for performing condition-based maintenance on a port in a storage and retrieval system.

[0062] A method for condition-based maintenance of a port in a storage and retrieval system is described herein. The flowchart illustrates the basic concepts and operation of a computing device connected to sensors arranged to monitor components and parts of a port 502.

[0063] When the port 502 performs operations, the components and parts that implement the operations are monitored by sensors that generate sensor data. A storage device connected to the computing device in the port 502 continuously registers and stores the sensor data.

[0064] The generated sensor data is continuously processed and analyzed. The processing and analysis of the generated sensor data is completed through machine learning techniques (such as deep learning).

[0065] During the analysis of sensor data, check for significant deviations from expected sensor data. For example, a significant deviation could be a rapid increase in component temperature or the sudden appearance of new, unusual sounds.

[0066] When a serious deviation occurs, the central computer system 500 is notified by sending the relevant sensor data to the central computer system 500, which then further evaluates the received sensor data and controls the port 502 that sent the deviated sensor data. The central computer system 500 then controls the port 502 based on the error type.

[0067] It may be important to continuously and centrally monitor a selected number of sensors that are measuring particularly vulnerable components or parts in one or more ports 502. Such sensor data may be continuously sent to the central computer system 500 regardless of whether severe discrepancies are detected in the sensor data.

[0068] The automated storage and retrieval system is controlled by a central computer system 500. Each port 502 includes a computing device 504 connected to a sensor 501 configured to monitor components. The computing device continuously receives, stores, and analyzes sensor data from the sensor 501. The sensor data includes identification information corresponding to the monitored components and parts. Furthermore, the sensor data is compared with reference sensor data. This allows identification of sensor data that deviates from the reference sensor data and whether the deviation of the sensor data exceeds a preset level. Furthermore, data indicating that the sensor data exceeds the preset level is transmitted from the computing device 504 of the automated storage and retrieval system to the central computer system 500 of the automated storage and retrieval system.

[0069] When the port 502 is in a low activity or inactive state, all sensor data that are deviating are sent from the automated storage and retrieval system computing device 504 to the automated storage and retrieval system central computer system 500 .

[0070] The identified sensor data that deviates from the reference sensor data may be sorted according to the degree of deviation, and when the port 502 is in a low activity or inactive state, only the sensor data with the highest degree of deviation may be sent to the central storage system 500 for further analysis.

[0071] In addition, the present invention also includes a computer program product, which, when executed in a processor by a computing device 504, performs the following steps to arrange the operation of a monitoring port 502, wherein the port includes the computing device 504, which is connected to a storage device 505 and a sensor 501: continuously receiving, storing, processing and analyzing sensor data from the sensor 501, the sensor data including identification information corresponding to the monitored components and parts; comparing the sensor data with reference sensor data and identifying sensor data that deviates from the reference sensor data; determining whether the deviation of the sensor data is higher than a preset level; and initiating the sending of data indicating that the sensor data is higher than a preset level from the computing device 504 of the automatic storage and retrieval system to the central computer system 500 of the automatic storage and retrieval system.

[0072] In addition, the present invention includes a software program product that, when executed in a central computer system 500, performs the following steps to arrange to control and monitor the operation of an automatic storage and retrieval system: receiving data including sensor data from a port 502 operating in the automatic storage and retrieval system; processing and analyzing the sensor data, identifying components and parts, and initiating maintenance on the components and parts based on the type of maintenance required.

[0073] In the foregoing description, various aspects of the delivery vehicle and automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. For illustrative purposes, specific numbers, systems, and configurations have been set forth to provide a thorough understanding of the system and its operation. However, this 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, that are apparent to those skilled in the art to which the disclosed subject matter pertains are considered to fall within the scope of the present invention.

[0074] Reference Signs List

[0075] Prior art (Figures 1 to 4):

[0076] 1. Automatic storage and retrieval system of existing technology

[0077] 100 frame structure

[0078] 102 Vertical members of frame structure

[0079] 104 Storage Grid

[0080] 105 storage columns

[0081] 106 Storage Containers

[0082] Specific location of the 106' storage container

[0083] 107 Stacking

[0084] 108 Track System

[0085] 110 Parallel tracks in the first direction (X)

[0086] 112 access opening

[0087] 119 First port column

[0088] 120 Second port column

[0089] 201 Container handling vehicle of prior art

[0090] 201a Body of the container transport vehicle 201

[0091] 201b Drive device / wheel arrangement / first set of wheels in first direction (X)

[0092] 201c Drive device / wheel arrangement / second set of wheels in the second direction (Y)

[0093] 301 Prior Art Cantilever Container Handling Vehicle

[0094] 301a Body of the container transport vehicle 301

[0095] 301b Drive device in the first direction (X) / first set of wheels

[0096] 301c Drive device in the second direction (Y) / second set of wheels

[0097] 401 Container handling vehicles of the prior art

[0098] 401a Body of container transport vehicle 401

[0099] 401b Drive device in the first direction (X) / first set of wheels

[0100] 401c Drive device in the second direction (Y) / second set of wheels

[0101] 404 Clamping Device

[0102] 404a Lifting belt

[0103] 404b gripper

[0104] 404c guide pin

[0105] 404d lifting frame

[0106] 500 control system

[0107] X first direction

[0108] Y second direction

[0109] Z third direction

Claims

1. A system for determining condition-based maintenance of a port (502) in an automated storage and retrieval system, the automated storage and retrieval system comprising a frame structure (100) having a track system (108) and at least one container handling vehicle (201, 301), the frame structure forming a three-dimensional storage grid structure (104) for storing storage containers (106) for storing items, wherein: The grid structure (104) forms vertical columns (105), the horizontal area of each of the vertical columns being defined by the size of an access opening (112), the access opening being located between the rails of a rail system (108) arranged on the frame structure (100), the rail system (108) providing a usable route for container handling vehicles (201) to transport the storage containers (106) to the columns (105) and to transfer the storage containers from the columns, the grid structure comprising one or more ports (502) for retrieving the containers (106) from the storage grid, enabling the containers to be picked up, and wherein the automated storage and retrieval system is controlled by a central computer system (500), each of the ports (502) being connected to a sensor (501) arranged to monitor components and parts, characterised in that the system comprises: a transmitter (505), connected to the computing device (504) and / or to the sensor (501), for transmitting data relating to the port (502) from the sensor to the central computer system (500), - said computing means (504), connected to the storage means (503) and arranged to continuously receive, store and analyse sensor data from said sensors (501) using machine learning techniques, - said central computer system (500) adapted to process and analyse the data from said sensors and to initiate maintenance on identified components and / or parts.

2. The system according to claim 1, wherein: The sensors (501) that monitor components and parts of the port (502) include one or more of a temperature sensor, a sound sensor, a humidity sensor, a vibration sensor, and a speed sensor.

3. The system according to claim 1 or 2, wherein: The computing device (504) uses deep learning techniques on the data to identify problems with the port.

4. A system according to any one of the preceding claims, wherein: Each of the ports comprises computing means (504) and storage means (503), which are arranged to continuously receive, store and analyse sensor data from the sensors (501) and then send the results to the central computer system (500).

5. The system according to any one of claims 1 to 3, wherein: A computing device (504) and a storage device (503) arranged to continuously receive, store and analyze sensor data from the sensors (501) are centrally located to receive, store and analyze sensor data from a plurality of the ports (502) and then send the results to the central computer system (500).

6. A system according to any one of the preceding claims, wherein: The central computer system (500) includes a service plan manager for creating a service plan based on the analyzed data.

7. A method for condition-based maintenance of a port (502) in an automated storage and retrieval system, the automated storage and retrieval system comprising a frame structure (100) having a track system (108) and at least one container handling vehicle (201, 301), the frame structure forming a three-dimensional storage grid structure (104) for storing storage containers (106) for storing articles, wherein: The grid structure (104) forms vertical columns (105), the horizontal area of each of the vertical columns being defined by the size of an access opening (112), the access opening being located between rails of a rail system (108) arranged on the frame structure (100), the rail system (108) providing a usable route for container handling vehicles (201) to carry the storage containers (106) to the columns (105) and to transfer the storage containers from the columns, the grid structure comprising one or more ports (502) for retrieving the containers (106) from the storage grid, enabling access to the containers, and wherein the automated storage and retrieval system is controlled by a central computer system (500), each of the ports (502) being connected to a sensor (501) arranged to monitor components and parts, and wherein the method comprises the following steps: - continuously receiving, storing and analyzing sensor data from said sensors (501) using machine learning techniques, said sensor data including identification information corresponding to monitored components and parts, - sending data relating to said port (502) from said sensor to said central computer system (500) using a transmitter connected to a computing device (504) and / or to said sensor (501), - processing and analyzing data indicating that the sensor data is above a predetermined level in the central computer system (500) and identifying corresponding components and parts, and - Based on the analysis in the central computer system (500), maintenance of the identified components or parts is initiated.

8. The method according to claim 7, wherein: The information from the sensors (501) includes registration of problems with components of the storage and retrieval system and information about the service time and life of the components.

9. The method according to claim 7 or 8, wherein The time when the sensor records the data is registered and stored in the storage device (503).

10. The method according to any one of claims 7 to 9, wherein When the port (502) is in a low activity or inactive state, all sensor data that are deviating are sent from the automated storage and retrieval system computing device (504) to the automated storage and retrieval system's central computer system (500).

11. The method according to any one of claims 7 to 9, wherein: When the port (502) is in a low activity or inactive state, all sensor data is sent from the automated storage and retrieval system's computing device (504) to the automated storage and retrieval system's central computer system (500).

12. The method according to any one of claims 7 to 11, wherein The central computer system (500) includes a service plan manager for creating a service plan based on the analyzed data.

13. The method according to any one of claims 7 to 11, wherein Sensor data from the sensor (501) is continuously received, stored and analyzed at the computing device (504) and storage device (503) located at the port, and the results are then sent to the central computer system (500).

14. The system according to any one of claims 7 to 12, wherein: The computing device (504) and the storage device (503) for continuously receiving, storing and analyzing the sensor data from the sensors (501) are centrally located and arranged to continuously receive, store and analyze the sensor data from the sensors (501) of the plurality of ports (502), and then send the results to the central computer system (500).

15. A computer program product, which, when executed in a processor by a computing device (504), performs the following steps arranged to monitor the operation of a port (502), the port comprising the computing device (504) connected to a storage device (503) and a sensor (501): - continuously receiving, storing, processing and analyzing sensor data from said sensors (501), said sensor data including identification information corresponding to the components and parts being monitored, - starting to transmit the data from the sensors from the computing device (504) of the automatic storage and retrieval system to the central computer system (500) of the automatic storage and retrieval system, - processing and analyzing data indicating that the sensor data is above a predetermined level in the central computer system (500) and identifying corresponding components and parts, and - Based on the analysis in the central computer system (500), maintenance of the identified components or parts is initiated.

16. A software program product which, when executed in a central computer system (500), performs the following steps arranged to control and monitor the operation of an automated storage and retrieval system: - receiving data including sensor data from a port (504) operating in said automated storage and retrieval system, - Processing and analyzing the sensor data, identifying components and parts, and initiating maintenance on the components and parts depending on the type of maintenance required.

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