Automated warehousing system with fire detection device and method

Abstract

Automated warehousing systems and methods with fire detection devices are described. The automated warehousing system comprises:-a rail system comprising a first set of parallel rails arranged in a horizontal plane and extending in a first direction and a second set of parallel rails arranged in the horizontal plane and extending in a second direction orthogonal to the first direction, wherein the first and second sets of tracks form a grid pattern comprising a plurality of adjacent grid cells in a horizontal plane, each grid cell comprising a grid opening defined by a pair of adjacent tracks of the first set of tracks and a pair of adjacent tracks of the second set of tracks; and-a main control system configured to track any remotely operated vehicle operating on the rail system; -a plurality of teleoperated vehicles operating on the rail system, each of the teleoperated vehicles comprising: a first and a second wheel set for transportation on the rail system in X and Y directions, a fire detection device configured to transmit data from the fire detection device to the main control system.

Description

[0001] This application is a divisional application. The application number of the parent application is 202080030937.7, the application date is April 6, 2020, and the name of the invention is "Automated warehousing system with fire detection device and method for locating and / or verifying fire or smoke in an automated warehousing system". Technical Field

[0002] The present invention relates to an automated storage system with a fire detection device and a method for locating and / or verifying fire or smoke in an automated storage system. Background Art

[0003] Figure 1A and Figure 1C A typical prior art automated warehousing system 1 having a frame structure 100 is disclosed. Figure 1B and Figure 1D Disclosed in Figure 1A and Figure 1C Prior art container handling vehicles 200, 300 operating on the system 1 disclosed in.

[0004] The frame structure 100 includes a plurality of upright members 102 and optionally a plurality of horizontal members 103 supporting the upright members 102. The members 102, 103 are typically made of metal, such as aluminum extrusions.

[0005] The frame structure 100 defines a storage grid 104 comprising storage columns 105 arranged in rows, wherein the storage columns 105 store containers 106 , also called boxes, stacked one on top of the other to form stacks 107 .

[0006] Each storage container 106 may typically hold multiple product items (not shown), and the product items within the storage containers 106 may be the same or may be different product types depending on the application.

[0007] The storage grid 104 prevents horizontal movement of the storage containers 106 in the stack 107 and guides vertical movement of the storage containers 106, but generally does not support the storage containers 106 when stacked.

[0008] The automated warehousing system 1 comprises a rail system 108 arranged in a grid pattern on top of a storage grid 104, on which a plurality of container handling vehicles 200, 300 (eg Figure 1B and Figure 1D 105) to lift and lower storage containers 106 from and into storage columns 105, and also to transport storage containers 106 above storage columns 105. The horizontal range of one of the grid cells 122 constituting the grid pattern is Figure 1Aand Figure 1C Marked with thick lines.

[0009] Each grid unit 122 has a width typically in the interval of 30 to 150 cm and a length typically in the interval of 50 to 200 cm. Due to the horizontal extent of the guide rails 110, 111, the width and length of each grid opening 115 are typically 2 to 10 cm smaller than the width and length of the grid unit 122, respectively.

[0010] The rail system 108 includes a first set of parallel rails 110 arranged to guide movement of container handling vehicles 200, 300 across the top of the frame structure 100 in a first direction X, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 200, 300 in a second direction Y that is perpendicular to the first direction X. In this manner, the rail system 108 defines a grid column over which the container handling vehicles 200, 300 can move laterally over the storage column 105 in a plane parallel to the horizontal XY plane.

[0011] Each prior art container handling vehicle 200, 300 comprises a vehicle body and a wheel arrangement of eight wheels 201, 301, wherein a first set of four wheels enables lateral movement of the container handling vehicle 200, 300 in the X direction, while a second set of four wheels enables lateral movement in the Y direction. One or both sets of wheels in the wheel arrangement can be raised or lowered so that the first set of wheels and / or the second set of wheels can engage a corresponding set of guide rails 110, 111 at any given time.

[0012] Each prior art container handling vehicle 200, 300 further includes a lifting device (not shown) for vertically transporting the storage container 106, e.g., raising the storage container 106 from the storage row 105 and lowering the storage container 106 to the storage row. The lifting device includes one or more gripping / engaging devices (not shown) adapted to engage the storage container 106, and the gripping / engaging devices can be lowered from the vehicle 200, 300 such that the position of the gripping / engaging devices relative to the vehicle 200, 300 can be adjusted along a third direction Z, which is orthogonal to the first direction X and the second direction Y.

[0013] Typically, and also for the purposes of this application, Z=1 identifies the topmost level of the storage grid 104, i.e., the level immediately below the rail system 108, Z=2 identifies the second level below the rail system 108, Z=3 identifies the third level, etc. Figure 1A and Figure 1C In the exemplary prior art storage grid 104 disclosed in , Z=8 identifies the lowest level, the bottom level, of the storage grid 104. Thus, as an example, and using Figure 1A and Figure 1D The Cartesian coordinate system X, Y, Z shown in can be considered as Figure 1A The storage container identified as 106' in FIG. occupies grid position or cell X = 10, Y = 2, Z = 3. The container handling vehicle 101 can be considered to be traveling in level Z = 0, and each grid column can be identified by its X and Y coordinates.

[0014] Each container handling vehicle 200 includes a storage compartment or space (not shown) for receiving and loading the storage container 106 as it is transported through the rail system 108. The storage space may include a container receiving space arranged in the center of the vehicle body, such as described in WO 2014 / 090684 A1, the contents of which are incorporated herein by reference.

[0015] Alternatively, the container handling vehicle 300 may have a cantilever structure as described in NO 317366, the contents of which are also incorporated herein by reference.

[0016] The container handling vehicle 200 may have a footprint, i.e., extent, in the X and Y directions that is generally equal to the lateral extent of the grid cells 122, i.e., the extent of the grid cells 122 in the X and Y directions, as described, for example, in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" may refer to "horizontally."

[0017] Alternatively, the container handling vehicle 200 may have a footprint that is greater than the lateral extent (lateral area defined by the grid columns) of the grid columns as disclosed in WO 2014 / 090684 A1.

[0018] The guide rail system 108 may be a single guide rail (also denoted as a single track) system, such as Figure 2A Alternatively, as Figure 2B As shown, the guide rail system 108 can be a dual-rail (also denoted double track) system, thereby allowing a container handling vehicle 200 having a footprint generally corresponding to the lateral area defined by the grid columns 112 to travel along a row of grid columns even if another container handling vehicle 200 is also located above a grid column adjacent to that row. The single and dual rail systems, or a combination of single and dual rail arrangements including the single rail system 108, form a grid pattern in the horizontal plane P that includes a plurality of rectangular and uniform grid positions or grid cells 122, wherein each grid cell 122 includes a grid opening 115 defined by a pair of rails 110a, 110b of the first set of rails 110 and a pair of rails 111a, 111b of the second set of rails 111. Figure 2B, grid cells 122 are represented by dashed boxes. For example, in a guide rail-based system, the aluminum portion is the guide rail, and a pair of rails are provided on the upper surface of the guide rail, in which the wheels of the vehicle run. However, these portions may be separate guide rails, each with its own rail.

[0019] Thus, guide rails 110a and 110b form a pair of guide rails defining parallel rows of grid cells extending in the X direction, while guide rails 111a and 111b form a pair of guide rails defining parallel rows of grid cells extending in the Y direction. Similarly, on delivery rail system 50, guide rails 51a and 51b form a pair of guide rails defining parallel rows of grid cells extending in the X direction, while guide rails 52a and 52b form a pair of guide rails defining parallel rows of grid cells extending in the Y direction.

[0020] like Figure 2C As shown, each grid cell 122 has a width W typically in the interval of 30 to 150 cm. c and a length L generally in the interval of 50 to 200 cm c Each grid opening 115 has a width W o and length L o , which is typically larger than the width W of the grid cell 122 c and length L c Small 2 to 10cm.

[0021] In the X and Y directions, adjacent grid cells are arranged to touch each other so that there is no space between them.

[0022] In storage grid 104, most grid columns are storage columns 105, i.e., grid columns 105 where storage containers 106 are stored in stacks 107. However, storage grid 104 typically has at least one grid column that is not used to store storage containers 106, but that includes a location where container handling vehicles 200, 300 can unload and / or pick up storage containers 106 so that they can be transported to a second location (not shown) where storage containers 106 can be accessed from outside of storage grid 104 or transferred out of or into storage grid 104. In the art, such locations are often referred to as "ports," and the grid columns in which these ports are located may be referred to as "port columns" or "delivery columns" 119, 120. The unloading and pickup ports of rail system 108 where container handling vehicles 200, 300 operate are referred to as "upper ports of the delivery column" 119, 120. The opposite end of the delivery column is referred to as the "lower port of the delivery column."

[0023] Figure 1A and Figure 1CThe storage grid 104 in FIG. 1 includes two delivery trains 119 and 120. For example, the first delivery train 119 may include a dedicated unloading port at which the container handling vehicles 200, 300 may unload the storage container 106 for transportation via the delivery train 119 and further to the entrance or transfer station, and the second delivery train 120 may include a dedicated pickup port at which the container handling vehicles 200, 300 may pick up the storage container 106 that has been transported via the delivery train 120 from the entrance or transfer station. Each port of the first and second delivery trains may include a port suitable for picking up and unloading a storage container.

[0024] The second location may typically be a pick-up station or storage station where product items are removed from or placed into storage containers 106. At the pick-up station or storage station, storage containers 106 are typically never removed from the automated warehousing system 1, but rather, once entered, are returned to the storage grid 104. To transfer storage containers to or from the storage grid 104, lower ports are also provided in the delivery train, which are used, for example, to transfer the storage containers 106 to another storage facility (e.g., another storage grid), directly to a transport vehicle (e.g., a train or truck), or to a production facility.

[0025] For monitoring and controlling the automated warehousing system 1 (e.g., monitoring and controlling the position of individual storage containers 106 within the storage grid 104; the contents of each storage container 106; and the movement of the container loading and unloading vehicles 200, 300, so that the required storage containers 106 can be delivered to the required location at the required time without the container loading and unloading vehicles 200, 300 colliding with each other), the automated warehousing system 1 includes a control system (not shown), which is typically computerized and typically includes a database for tracking the storage containers 106.

[0026] A conveying system including a conveyor may be used to transport storage containers between the lower port of the delivery train and the entry station.

[0027] If the lower port and the entry station of the delivery train are located at different heights, the conveying system may comprise lifting means for transporting the storage containers vertically between the port and the entry station.

[0028] The conveying system may be arranged to transfer storage containers between different grids, such as the grid described in WO 2014 / 075937 A1 , the contents of which are incorporated herein by reference.

[0029] Furthermore, WO 2016 / 198467 A1, the contents of which are incorporated herein by reference, discloses an example of a prior art access system having a conveyor belt ( Figure 5 a and Figure 5 b) and frame mounting rails (Fig. 6a and 6b in WO 2016 / 198467 A1) for transporting storage containers between delivery trains and workstations where operators can access the storage containers.

[0030] When accessing the stored Figure 1A 106 in the storage grid 104 disclosed in the embodiment of the present invention, one of the container handling vehicles 200, 300 is instructed to remove the target storage container 106 from its position in the storage grid 104 and transport it to or through the delivery line 119. This operation includes moving the container handling vehicle 200, 300 to a grid position above the storage line 105 in which the target storage container 106 is located, removing the storage container 106 from the storage line 105 using the lifting device 16 of the container handling vehicle, and transporting the storage container 106 to the delivery line 119. If the target storage container 106 is located deep within the stack 107, that is, one or more other storage containers are located above the target storage container 106, the operation also includes temporarily moving such already placed storage containers before lifting the target storage container 106 from the storage line 105. This step, sometimes referred to in the art as "digging," can be performed using the same container-handling vehicle 200, 300 that will subsequently transport the target storage container 106 to the delivery train, or using one or more other cooperating container-handling vehicles 200, 300. Alternatively or additionally, the automated warehousing system 1 can have a container-handling vehicle 200, 300 dedicated to the task of temporarily removing a storage container 106 from a storage train 105. Once the target storage container 106 has been removed from the storage train 105, the temporarily removed storage container can be relocated to the original storage train 105. Alternatively, however, the removed storage container can be relocated to another storage train 105.

[0031] When a storage container 106 is to be stored in the storage grid 104, one of the container handling vehicles 200, 300 is instructed to pick up the storage container 106 from the delivery column 120 and transport it to a grid location above the storage column 105 for storage. After any storage containers located at or above the target location within the storage column stack 107 have been removed, the container handling vehicle 200, 300 positions the storage container 106 at the desired location. The removed storage container can then be lowered back into the storage column 105 or relocated to another storage column 105.

[0032] Over the years, attempts have been made to improve fire safety in automated warehousing systems such as those described above. However, WO 2017148963 A1 discloses a dedicated fire-fighting service robot device on a grid. The disclosed service robot device is inactive during normal system operation and is deployed only in the event of a fire. The service robot device includes a fire extinguishing device and can be driven to any location on the grid to extinguish a fire. Furthermore, the service robot device may include a fire detection device.

[0033] The problem with prior art systems is that they do not provide firefighters with any information about where on the grid heat or smoke emissions exist.

[0034] It is therefore an object of the present invention to provide a solution which provides firefighters with more reliable information about the location of any heat or smoke emissions.

[0035] Another object of the present invention is to provide a solution that allows verification that detected heat or smoke emissions are genuine. Summary of the Invention

[0036] The invention is set out in the independent claim, while the dependent claims describe alternatives to the invention.

[0037] The automated storage system described includes:

[0038] - a guide rail system comprising a first set of parallel rails arranged in a horizontal plane and extending in a first direction and a second set of parallel rails arranged in the horizontal plane and extending in a second direction orthogonal to the first direction, wherein the first set of rails and the second set of rails form a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each grid cell comprising a grid opening defined by a pair of adjacent rails of the first set of rails and a pair of adjacent rails of the second set of rails; and

[0039] - a master control system configured to track any remotely operated vehicles operating on the guideway system;

[0040] - a plurality of remotely operated vehicles operating on said guideway system, each of said remotely operated vehicles comprising:

[0041] - a first wheel set and a second wheel set for transport on a rail system in the X and Y directions, and

[0042] - A fire detection device configured to transmit data from the fire detection device to the main control system.

[0043] The main control system may include processing means for processing data from the fire detection means in order to create a heat map of the automated storage system. This can provide valuable input to assist firefighters in identifying possible sources of fire or smoke, particularly as the size of the automated storage system increases (up to 110 x 150 meters and above, and with 500,000 bins or more). Since the need for light sources in a warehouse is limited during normal operation, and any external power supply to the light sources is likely to be shut off in the event of a fire, the warehouse in which the automated storage system is located is typically dark. Such a temperature map or "heat map" can provide valuable information, at least in the X and Y directions, on the locations where heat sources or smoke / fumes are most likely to be present.

[0044] The remotely operated vehicle may be a container handling vehicle including a lifting assembly for picking up a storage container from the storage column to a position above a lowest level of the transport mechanism, and the lifting assembly may include a lifting frame connectable to a storage container, the lifting frame configured to lift and lower the storage container from a position in the storage column to a position above the rail system.

[0045] The automated warehousing system may further include:

[0046] - A stack of a plurality of storage containers, the stacks being arranged in storage columns positioned below the rail system, and each storage column being vertically positionable below a grid opening.

[0047] Most, i.e. more than 50%, of the remotely operated vehicles may include an interface connection for a fire detection device. The interface may be a plug-in module that facilitates connecting the plug-in module to the corresponding remotely operated vehicle. The interface connection may be connected to the fire detection device.

[0048] Also described is a method of creating information about the location of any heat or smoke emissions on an automated storage system, the automated storage system comprising:

[0049] - a guide rail system comprising a first set of parallel rails arranged in a horizontal plane and extending in a first direction and a second set of parallel rails arranged in the horizontal plane and extending in a second direction orthogonal to the first direction, wherein the first set of rails and the second set of rails form a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each grid cell comprising a grid opening defined by a pair of adjacent rails of the first set of rails and a pair of adjacent rails of the second set of rails; wherein the method comprises:

[0050] - operating a plurality of remotely operated vehicles on the guide rail system, each remotely operated vehicle being provided with a fire detection device, wherein the fire detection device is configured to transmit data from the fire detection device to a master control system;

[0051] - operating a master control system that tracks any remotely operated vehicles operating on the guideway system and is configured to receive input from any of the fire detection devices;

[0052] - using the master control system to process any input from the fire detection device of any fire detection device and to generate a thermal map providing information about the location of heat or smoke emission sources and / or the current temperature / temperature distribution of the heat or smoke emission.

[0053] Also described is a method of verifying a heat or smoke indication detected on an automated warehousing system, the automated warehousing system comprising:

[0054] - a guide rail system comprising a first set of parallel rails arranged in a horizontal plane and extending in a first direction and a second set of parallel rails arranged in the horizontal plane and extending in a second direction orthogonal to the first direction, wherein the first set of rails and the second set of rails form a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each grid cell comprising a grid opening defined by a pair of adjacent rails of the first set of rails and a pair of adjacent rails of the second set of rails; wherein the method comprises:

[0055] - operating a plurality of remotely operated vehicles on the guide rail system, each remotely operated vehicle being provided with a fire detection device, wherein the fire detection device is configured to transmit data from the fire detection device to a master control system;

[0056] - operating a master control system that tracks any remotely operated vehicles operating on the guideway system and is configured to receive data from any fire detection device; and in the event that the data from the fire detection device from the heat detection device on the first remotely operated vehicle indicates detected heat or smoke emissions, the method further comprises the steps of:

[0057] - Assigning a second remotely operated vehicle having a fire detection device to move to a unit adjacent to the location of the remotely operated vehicle that has identified heat or smoke to verify heat or smoke emissions.

[0058] If the second remotely operated vehicle provides data from the fire detection device to the master control system indicating the presence of heat or smoke emissions, the method may further comprise the steps of:

[0059] - assigning a third remotely operated vehicle having a fire detection device to move to a unit adjacent to the locations of the first and second remotely operated vehicles; and

[0060] - using a master control system to process data from the fire detection devices of the first, second and third remotely operated vehicles, and the master control system can determine whether a reasonable prediction of the location of the smoke or heat emission source can be made based on the processing of the data from the fire detection devices.

[0061] If the master control system has determined that a reasonable prediction can be made of the location of the smoke or heat emission source, the method may include the following steps:

[0062] -Use the master control system to create a triangular arrangement surrounding the source of smoke, fog or heat emissions.

[0063] If the master control system has determined that no reasonable prediction can be made as to the location of the smoke or heat emission source, the method may include the following steps:

[0064] - assigning a fourth remotely operated vehicle having a fire detection device to move to a unit adjacent to the locations of the first, second, and third remotely operated vehicles; and

[0065] - using a master control system to process data from the fire detection devices of the first, second, third and fourth remotely operated vehicles, and the master control system can determine whether a reasonable prediction of the location of the smoke or heat emission source can be made based on the processing of the data from the fire detection devices.

[0066] If the master control system has determined that a reasonable prediction can be made of the location of the smoke or heat emission source, the method may include the following steps:

[0067] -Use the master control system to create a four-cornered polygon surrounding the source of smoke, fog or heat emissions.

[0068] The fire detection device may be a smoke or flue gas detector and the data from the fire detection device may be indicative of the presence of smoke or flue gas.

[0069] The fire detection device may be a heat detector and the data from the fire detection device may be indicative of the presence of heat.

[0070] The fire detection device may be a combination of a smoke or smoke detector and a heat detector, and the data from the fire detection device may indicate the presence of smoke or smoke or heat. In the latter aspect, since the master control system can combine different types of data from heat detection devices (e.g., smoke, smoke, and heat) to produce an even more reliable heat map or predicted location of the source, an increased likelihood of locating the actual source of the smoke, smoke, or heat emissions is provided.

[0071] The fire detection device may be an ionization (ion) type or photoelectric (optical) type smoke detector, or a combination of ionization and photoelectric types. Furthermore, as described above, the fire detection device may be a combination of multiple sensor types, such as heat detection, optical smoke detection, and carbon monoxide detection, to produce a fast-acting and fail-safe multi-sensor smoke detector to reduce false alarms while providing the earliest possible warning of a fire. The fire detection device may also or additionally include an infrared sensor, a camera, a CO concentration meter, a CO2 concentration meter, a temperature sensor, an opacity meter, and the like.

[0072] Opacity meters detect and measure the amount of light blocked and are defined as a measure of the impermeability of electromagnetic radiation through a sample. Opacity instruments are commonly used to analyze air and smoke, and media types can be described as "clean" or "dirty" based on their opacity. Opacity measurements are largely dependent on the concentration of particles in the sample. When electromagnetic radiation, such as visible light or infrared radiation, is directed toward a sample, suspended solids scatter, reflect, and absorb the radiation, preventing it from passing through. Opacity sensors measure the amount of transmitted light and convert it into a relevant value.

[0073] The method may further comprise the steps prior to the final step:

[0074] - Use of fixed fire detection systems arranged in or at the automated storage system. Fixed fire detection systems can be arranged on or in the storage grid or delivery system or adjacent to the storage grid or delivery system.

[0075] Remotely operated vehicles are typically widely distributed across a grid, so if at least a majority of the remotely operated vehicles are equipped with fire detection devices, there is a higher likelihood of early detection of heat or smoke emissions. Therefore, it is not necessary for all remotely operated vehicles to be equipped with fire detection devices. Furthermore, since the master control system tracks the locations of all remotely operated vehicles (i.e., any container handling vehicles and delivery vehicles), if any heat or smoke detection device senses smoke or heat, the master control system automatically knows the location of the remotely operated vehicle (and therefore the location of the heat or smoke emission).

[0076] An advantage of providing a remotely operated vehicle with heat or smoke detection means, either inside or outside the remotely operated vehicle, is that potential heat or smoke emissions are identified earlier than with a solution having heat or smoke detectors in the ceiling.

[0077] In one aspect, if the master control system receives data indicating heat or smoke information, it can utilize the system's so-called XHandler ("exception handling") program. The XHandler program automatically handles specific error exceptions in the automated warehousing system without shutting down operations. For example, if a container handling vehicle loses its position, the XHandler will block the safety area around the container handling vehicle and help determine the location by identifying nearby box patterns. If the XHandler cannot determine this, another container handling vehicle will create a unique box pattern (multiple boxes deep). If not, another container handling vehicle will create a unique box pattern by removing several boxes.

[0078] In the present case, if the main control system receives data indicating heat or smoke or fume information, it can use the XHandler program to instruct other container handling vehicles or delivery vehicles to the location where heat or smoke has been detected in order to confirm whether there is actually heat or fume emission that requires attention or whether there is a false alarm.

[0079] False alarms can occur from many different events, such as a short spark or ignition due to friction between the remotely operated vehicle's wheels and the track, internal heating inside the remotely operated vehicle due to overloads in the remotely operated vehicle, motor failure, lift motor failure, etc.

[0080] The heat or smoke detection device may transmit at least data indicative of heat or smoke emissions from the fire detection device to the main control system.

[0081] The fire detection device may include a combined transmitter and receiver, enabling data to be transmitted from the fire detection device to the master control system and received from the fire detection device. The fire detection device's transmitter and receiver may be connected to a controller, which may be similar to the controller used for general communications between the master control system and the remotely operated vehicle. Alternatively, the controller used for the transmitter and receiver may be different from the controller used for general communications. Those skilled in the art will understand how to program such a controller to communicate with the master control system, so this will not be described in further detail here. Furthermore, the fire detection device may also be capable of transmitting data from the fire detection device to other fire detection devices, and receiving data from other fire detection devices.

[0082] The main grid may be a storage grid, and the plurality of remotely operated vehicles may be container handling vehicles operating on the storage grid, the container handling vehicles including lifting devices for lifting and lowering storage containers from below to a position above the highest point of the rail system of the storage grid.

[0083] Alternatively, the master grid may be a delivery grid, and the plurality of remotely operated vehicles may be delivery vehicles. The remotely operated vehicles may be delivery vehicles comprising a closed bottom and configured to receive storage containers from above. In contrast to container handling vehicles operating on a storage grid, which include a lifting device for lifting and lowering storage containers from below, the delivery vehicles comprise a closed bottom and are configured to receive storage containers from above (e.g., from container handling vehicles operating on a storage grid at a level above the delivery system in which the delivery vehicles operate).

[0084] If multiple remotely operated vehicles are provided with fire detection devices, input from the fire detection devices in the form of data from two or more fire detection devices on at least two remotely operated vehicles may be processed to generate a "heat map" that may provide firefighters with valuable information regarding the location of the fire or smoke and / or the current temperature / temperature distribution of the heat or smoke emissions. In order to obtain a more reliable heat map than one based on fire detection devices that only provide a "yes / no" input regarding the presence of heat or smoke, it may be advantageous to utilize three or more fire detection devices that may provide additional input to the main control system regarding the concentration of smoke or fumes, or in the case of heat detection, utilize additional input from infrared cameras or temperature sensors on the remotely operated vehicles.

[0085] Some or all of the remotely operated vehicles may include an interface connection for the fire detection device. The interface may be a plug-in module that facilitates connection of the plug-in module to the respective remotely operated vehicle.

[0086] Remotely operated vehicles can be equipped with lights to assist firefighters, particularly in the event of a power outage that shuts down normal light sources. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] The following drawings illustrate exemplary embodiments of the present invention and are appended to help understand the present invention. However, the features disclosed in the drawings are for illustration purposes only and should not be interpreted as limiting.

[0088] Figure 1A-1D is a perspective view of an automated warehousing system of the prior art, wherein Figure 1A and Figure 1C The whole system is shown, Figure 1B and Figure 1DAn example of a system operable with a prior art container handling vehicle is shown;

[0089] Figure 2A-2C This is a top view of the guide rail system for container loading and unloading vehicles, where Figure 2A A single rail system is shown, Figure 2B shows a dual rail system, Figure 2C A dual guide rail system is shown, with the width and length of the grid cell for container handling vehicles shown;

[0090] Figure 3A is a perspective view of an exemplary embodiment of a storage grid and a delivery system including a delivery rail system and a delivery vehicle;

[0091] Figure 3B and Figure 3C Two examples of smoke, fumes or heat emissions occurring in automated storage systems are shown;

[0092] Figure 4 shows an example of a heat map created by a master control system based on input from a plurality of fire detection devices arranged on a container handling vehicle;

[0093] Figure 5 is a flow chart of examples of steps to be taken if smoke, fumes, or heat are detected by a container handling vehicle;

[0094] Figures 6A-6D yes Figure 5 A sequential step-by-step illustration of a flow chart of a method for controlling a container handling vehicle having a fire detection device is provided, wherein a container handling vehicle having a fire detection device is instructed to travel to a grid cell proximate to a detected smoke, fumes, or heat so that a main control system processes data from the fire detection device received from the container handling vehicle to predict the location of the smoke, fumes, or heat source. DETAILED DESCRIPTION

[0095] In the following, different alternatives will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the scope of the present invention to the subject matter depicted in the drawings. Furthermore, even if some features are described only with respect to the system, it is clear that they are also valid for the related method, and vice versa.

[0096] refer to Figure 1A-1D The storage grids 104 of each storage structure 1 form a frame 100 comprising a total of 143 grid columns 112 (see the grid column 112 in the top front corner, i.e., grid position or cell X=11, Y=1, Z=0), wherein the width and length of the frame correspond to the width and length of 13 and 11 grid columns 112, respectively. The top layer of the frame 100 is a container handling vehicle guide rail system / guide rail system 108, on which a plurality of container handling vehicles 200, 300 operate.

[0097] The frame 100 of the storage system 1 is constructed according to the prior art frame 100 described above, i.e., a plurality of upright members 102 and a plurality of horizontal members supported by the upright members 102, and the horizontal members 103 further include a container handling vehicle rail system 108 consisting of parallel rails 110, 111 in the X and Y directions, respectively, arranged across the top of the storage column 105. The horizontal area of a single grid opening 115, i.e., along the X and Y directions, can be defined by the distance between adjacent rails 110 and 111, respectively (see also Figure 2A-2C ).exist Figure 1A and Figure 1C , grid cells 122 are indicated by thick lines on the rail system 108. The area between adjacent rails is the grid opening 115 - grid cells 122 are the areas extending along opposite sides of the grid opening to the outside edges of the opposing rails. Alternatively, if these are defined in terms of a dual track rail system, the area is to the midpoint or center of each adjacent rail.

[0098] The container handling vehicle rail system 108 allows the container handling vehicles 200 , 300 to move horizontally between different grid positions, where each grid position is associated with a grid cell 122 .

[0099] exist Figure 1A and Figure 1C In FIG. 1 , the storage grid 104 is shown as having a height of eight cells. However, it will be appreciated that the storage grid 104 can in principle be of any size. In particular, it will be appreciated that the storage grid 104 can be larger than Figure 1A and Figure 1C For example, the storage grid 104 may have a horizontal extent exceeding 700×700 grid cells 122, or any size between these examples, such as 100×100 grid cells, 200×200 grid cells, 500×500 grid cells, etc. Also, the grid 104 may be larger than Figure 1A and Figure 1C For example, the storage grid 104 may be more than twelve grid cells deep.

[0100] The storage grid 104 is equal to or similar to the prior art storage grid 104 described above, i.e., the storage grid 104 includes a rail system 108; a stack 107 of multiple storage containers 106, a plurality of container handling vehicles 300 for lifting and moving the storage containers 106 stacked in the stack 107, and delivery trains 119, 120 configured to receive the storage containers 106 from the container handling vehicles 200, 300.

[0101] The guide rail system 108 includes a first set of parallel guide rails 110 arranged in a horizontal plane (P) and extending along a first direction (X), and a second set of parallel guide rails 111 arranged in the horizontal plane (P) and extending along a second direction (Y) orthogonal to the first direction (X). The first set of guide rails 110 and the second set of guide rails 111 form a grid pattern in the horizontal plane (P) that includes a plurality of adjacent grid cells 122. Each grid cell 122 includes a grid opening defined by a pair of adjacent guide rails of the first set of guide rails 110 and a pair of adjacent guide rails of the second set of guide rails 111.

[0102] A plurality of stacks 107 are arranged in storage columns 105 beneath a rail system 108 , wherein each storage column 105 is located vertically below a grid unit 122 .

[0103] Each container handling vehicle 200 , 300 is configured to move on a rail system 108 above the storage row 105 .

[0104] The container handling vehicles 200, 300 may be of any type known in the art, such as any of the automated container handling vehicles disclosed in WO2014 / 090684A1, NO317366 or WO2015 / 193278A1.

[0105] like Figure 2A As shown, the guide rail system 108 can be a single guide rail system. Alternatively, the guide rail system 108 can be a double guide rail system, such as Figure 2B In another alternative, the guide rail system 108 can be a combination of a single guide rail system and a double guide rail system. The details of the single guide rail and double guide rail systems are disclosed in the background section and the prior art section of this specification.

[0106] Figure 3A A perspective view of an automated warehousing system is shown. The automated warehousing system includes a storage grid 104, on which a plurality of container handling vehicles 200 and 300 operate, and a delivery system 140, which includes a delivery rail system 50, on which a plurality of delivery vehicles 30 operate. The delivery vehicles 30 are provided with a wheel arrangement 31, which includes a first set of wheels and a second set of wheels for driving the delivery vehicles in a first direction (X) and a second direction (Y). A master control system 800 tracks the container handling vehicles 200 and 300 operating on the storage grid 104 and the delivery vehicles 30 operating on the delivery rail system 30.

[0107] Furthermore, the delivery system 140 includes one or more delivery vehicles 30 as described above, i.e., the delivery vehicles 30 are configured to receive and support one or more storage containers 106 for transport between one or more delivery trains 119, 120 of the storage grid 104 and one or more predetermined locations outside of the storage grid 104. The predetermined locations may be, for example, a second location, a container access station, a conveyor line, another storage container, or a transport vehicle such as a truck.

[0108] The delivery system 140 may also include a delivery rail system 50 positioned below the delivery ports of one or more delivery trains 119 , 120 .

[0109] like Figure 3A As shown, the delivery rail system 50 may be configured in the same or similar manner as the rail system 108 of the container handling vehicles 200 , 300 .

[0110] Therefore, the delivery guide rail system 50 may include a first set of parallel guide rails 51 arranged in a horizontal plane (P1) and extending along a first direction (X), and a second set of parallel guide rails 52 arranged in a horizontal plane (P1) and extending along a second direction (Y) orthogonal to the first direction (X).

[0111] like Figure 2B As shown, the delivery rail system 50 can also be a dual rail system, thereby allowing a delivery vehicle 30 having a footprint generally corresponding to the lateral area defined by a delivery grid column to travel along a row of grid columns even if another delivery vehicle 30 is also located above a grid column adjacent to that row.

[0112] The single rail and double rail systems, or a combination of single rail and double rail arrangements in a single rail system, form a grid pattern in the horizontal plane P1, the grid pattern comprising a plurality of rectangular and uniform grid positions or grid cells, wherein each grid cell comprises a grid opening defined by a pair of rails of the first set of rails and a pair of rails of the second set of rails.

[0113] In contrast to the container handling vehicles 200, 300 operating on the storage grid 104, which include a lifting device 16 for lifting and lowering the storage container 106 from below, the delivery vehicle 30 includes a closed bottom and is configured to receive the storage container 106 from above (e.g., from the container handling vehicles 200, 300 operating on the storage grid 104 at a level above the delivery system 140 on which the delivery vehicle 30 operates).

[0114] Figure 3B and Figure 3CTwo examples are shown in which smoke, fumes, or heat emissions 400 occur on a storage grid 104 in an automated storage system 1. In the automated storage system 1, a plurality of container handling vehicles 200, 200' operate on a rail system 108 of the storage grid 104 and communicate with a master control system 800. Some of the container handling vehicles 200, 200' are already equipped with fire detection devices 150. However, preferably, a majority, preferably greater than 50%, of the container handling vehicles 200, 200' include fire detection devices 150, possibly in conjunction with fixed fire detection devices 150 arranged on the storage grid 104.

[0115] Apparently, although not publicly available, in a similar Figure 3A The delivery vehicle 30 operating on the delivery rail system 50 of the delivery system 140 may also be equipped with or include a fire detection device 150 to detect any smoke, fumes or heat emissions 400 within the delivery system 140, and there may also be a fixed fire detection device 150 arranged on the delivery system 140.

[0116] Figure 4 An example of a heat map created by a master control system based on input from a plurality of fire detection devices 150 arranged on a container handling vehicle 200, 300 is shown.

[0117] Hereinafter, the container loading and unloading vehicles 200', 200 will be described in more detail. x The above example uses the fire detection device 150 to create a heat map 160. However, it is clear that Figure 4 As shown, fire detection devices 150 may also be arranged on the delivery vehicle 30 so that similar heat maps are generated based on the fire detection data from the fire detection devices 150 on the delivery vehicle 30. Instructing the main control system 800 to provide the heat map 160, preferably three or more fire detection devices 150 may provide additional input to the main control system 800 regarding smoke or smog concentrations, or in the case of heat detection, using data from, for example, the container handling vehicles 200', 200 x Then, based on the additional input of the infrared camera or temperature sensor on the rail system 108, the container loading and unloading vehicles 200 ', 200 x Based on the location of the smoke or smog and the concentration of smoke or fumes measured by the heat detection device 150, the main control system 800 can generate a heat map 160 that indicates the possible location of the smoke, smog or heat emission source (see Figure 3B and Figure 3C). The disclosed heat map 160 includes an outer portion 161 indicated by thick lines, a middle portion 162 indicated by stripes, and an inner portion 163 indicated by solid black. The heat map 160 may indicate that the smoke, mist, or heat emission source 400 is definitely within the outer portion 161, the smoke, mist, or heat emission source 400 is almost definitely within the striped portion 162, and the smoke, mist, or heat emission source 400 is probably definitely within the inner portion 163. If the master control system 800 has drawn such a heat map 160, it is most likely that any firefighters will focus their initial firefighting efforts on Figure 4 Although the diagram is shown with respect to container handling vehicles on the storage grid, a similar diagram can be made based on input from fire detection devices arranged on delivery vehicles operating on the delivery rails.

[0118] Figure 5 This is a flow chart of an example of steps taken if a container handling vehicle or delivery vehicle detects smoke, fumes, or heat. This process may include the following steps:

[0119] Step 501: Vehicle detects smoke / heat,

[0120] Step 502: The first vehicle 200' transmits data from the fire detection device to the main control system 800,

[0121] Step 503: The main control system 800 determines the position of the first vehicle 200'.

[0122] Step 504: The main control system 800 processes the data from the fire detection device received from the first vehicle 200'.

[0123] Step 505: The main control system 800 instructs the second vehicle 200″ to move to a location close to the vehicle 200′.

[0124] Step 506: The second vehicle 200" senses and transmits data from the fire detection device to the main control system 800,

[0125] Step 507: The main control system 800 processes the data from the fire detection devices of the first vehicle 200' and the second vehicle 200",

[0126] Step 508: The main control system 800 instructs the third vehicle 200'' to move to a location close to the first vehicle 200' and the second vehicle 200''.

[0127] Step 509: The main control system 800 instructs the third vehicle 200'' to move to a location close to the first vehicle 200' and the second vehicle 200''.

[0128] Step 510: The third vehicle 200'' senses and transmits data from the fire detection device to the main control system 800,

[0129] Step 511: The main control system 800 processes the data from all vehicles 200', 200", 200'", ... 200 x Data of fire detection devices,

[0130] Step 512: Based on the processing in step 511, does the main control system 800 obtain a reasonable prediction about the location of the smoke / heat source?

[0131] If the answer is "yes" in step 512, proceed to step 514: end,

[0132] If “No” in step 512 , the process proceeds to step 513 : the master control system 800 instructs the other vehicles 200 ″ . . . 200x to move to a location close to the first vehicle 200 ′, the second vehicle 200 ″ and the third vehicle 200 ′″.

[0133] Figures 6A-6D yes Figure 5 A flowchart of a sequential step-by-step illustration, wherein a container handling vehicle 200' having a fire detection device is indicated …x Travel to a grid cell close to a container handling vehicle 200' where smoke, fumes or heat 400 has been detected so that the master control system 800 processes the container handling vehicle 200'. ...x Data received from fire detection devices is used to predict the location of smoke, fog or heat sources 400.

[0134] exist Figure 6A In the unit H5, a fire detection device ( Figure 6A The first container handling vehicle 200' (not shown) detects smoke, fumes or heat 400. The first container handling vehicle 200' transmits data from the fire detection device to the main control system 800. The main control system 800 continuously tracks all container handling vehicles 200' ...x , thereby knowing the position of the first container handling vehicle 200', which has detected smoke, fumes or heat 400. The main control system 800 processes the data from the fire detection device received from the first container handling vehicle 200'.

[0135] exist Figure 6BIn the embodiment of the present invention, the main control system 800 has instructed the second container handling vehicle 200″, which was originally located in the cell E3, to move to the cell G3 (as indicated by arrow AR-1), which is closer to the first container handling vehicle 200′ (and is expected to be closer to the smoke, fumes or heat emission source 400), based on the input from the first container handling vehicle 200′. When the second container handling vehicle 200″ enters or has entered the cell G3, the fire detection device of the second container handling vehicle 200″ transmits data from the fire detection device to the main control system 800. The main control system 800 processes the data of the fire detection devices of the first container handling vehicle 200′ and the second container handling vehicle 200″.

[0136] exist Figure 6C In the embodiment of the present invention, the main control system 800 instructs the third container handling vehicle 200''', which is initially located in the cell F8, to move to the cell F6 (as indicated by arrow AR-2) which is closer to the first and second container handling vehicles 200', 200' (and expectedly closer to the smoke, fumes, or heat emission source 400), based on input from the first and second container handling vehicles 200', 200'. When the third container handling vehicle 200''' enters or has entered the cell F6, the fire detection device of the third container handling vehicle 200''' transmits data from the fire detection device to the main control system 800. The main control system 800 processes the data from the fire detection devices of the first, second, and third container handling vehicles 200''. If, based on the processing, the main control system 800 has a reasonable prediction of the location of the smoke, fumes, or heat emission source 400, it no longer instructs the other container handling vehicles 200''. x Approach the expected smoke, fumes or heat emission source 400. Typically, it is sufficient to arrange three container handling vehicles 200', 200", 200" in a triangle arrangement TA to enclose the smoke, fumes or heat emission source 400 in order to establish a reasonable prediction of the location of the smoke, fumes or heat emission source 400. However, if a reasonable prediction of the location of the smoke, fumes or heat emission source 400 cannot be established, instruct another container handling vehicle 200 to x Move to a unit closer to the expected source of smoke, fumes or heat emissions 400, such as Figure 6D shown.

[0137] exist Figure 6DIn the embodiment of the present invention, the main control system 800 instructs the fourth container handling vehicle 200"", which is initially located in the cell J1, to move to the cell J3 (as indicated by arrow AR-3) which is closer to the first container handling vehicle 200', the second container handling vehicle 200", and / or the third container handling vehicle 200" (and is expected to be closer to the smoke, fumes or heat emission source 400), based on inputs from the first container handling vehicle 200', the second container handling vehicle 200", and the third container handling vehicle 200"'. When the fourth container handling vehicle 200"" enters or has entered the cell J3, the fire detection device of the fourth container handling vehicle 200"" transmits data from the fire detection device to the main control system 800. The main control system 800 processes the data from the fire detection devices of the first container handling vehicle 200', the second container handling vehicle 200", the third container handling vehicle 200", and the fourth container handling vehicle 200". A total of four container handling vehicles 200', 200", 200'", 200"" are arranged in a four-cornered polygon PA surrounding the smoke, fumes or heat emission source 400. This arrangement is almost certainly sufficient to establish a reasonable location for the smoke, fumes or heat emission source 400. However, in the unlikely event that four container handling vehicles 200', 200", 200'", 200"" are insufficient, the master control system 800 may instruct an additional container handling vehicle 200 having a fire detection device to be positioned. x Move closer to the expected location of the smoke, fog or heat emission source 400 .

[0138] In the foregoing description, various aspects of the automated warehousing system, vehicle, and method according to the present invention have been described with reference to illustrative embodiments. For example, in most of the figures, container handling vehicles operating on a guideway system of a storage grid have been disclosed, but it is apparent that the same system and configuration are applicable to delivery vehicles operating on delivery tracks in a delivery guideway system. Therefore, this description is not intended to be construed in a limiting sense. Various modifications and variations of the exemplary embodiments, as well as other embodiments of the system, that are apparent to those skilled in the art are considered to fall within the scope of the present invention as defined by the appended claims.

[0139] Reference List:

[0140] 1. Automated warehousing system

[0141] 30 Delivery vehicles, remotely operated vehicles

[0142] 31 Wheel Arrangement Delivery Vehicle

[0143] 50 Delivery Rail System

[0144] 51 The first set of parallel guide rails and delivery guide rail system

[0145] 51a, 51b A pair of guide rails of the first set of guide rails in the delivery guide rail system

[0146] 52 Second set of parallel guide rails, delivery guide rail system

[0147] 52a, 52b A pair of rails of the second set of rails in the delivery rail system

[0148] P1 Horizontal plane of the delivery rail system

[0149] 100 frame structure

[0150] 102 Vertical members of frame structure

[0151] 103 Horizontal members of frame structures

[0152] 104 Storage Grid / 3D Grid

[0153] 105 storage columns

[0154] 106 storage containers

[0155] 107 Stacking

[0156] 108 Guide rail system / container loading and unloading vehicle guide rail system

[0157] 110 The first set of parallel guide rails in the first direction X

[0158] 110a, 110b A pair of guide rails of the first set of guide rails

[0159] 111 The second set of parallel guide rails in the second direction Y

[0160] 111a, 111b A pair of guide rails of the second set of guide rails

[0161] 112 grid columns

[0162] 115 Grid Opening

[0163] 119 Delivery Column

[0164] 120 Delivery Column

[0165] 122 grid cells

[0166] 140 Delivery System

[0167] 150 Fire detection device

[0168] 160 heatmaps

[0169] 161 External part, coarse grain

[0170] 162 middle part, black stripe

[0171] 163 inner part, pure black

[0172] 200, 300 container loading and unloading vehicles, remotely operated vehicles

[0173] 200', 200", ..., 200 x First, second, ..., X vehicle, remotely operated vehicle

[0174] 201 wheel layout

[0175] 301 wheel layout

[0176] 800 Main Control System

[0177] X first direction

[0178] Y second direction

[0179] P Horizontal plane of the guide rail system

[0180] P1 Horizontal plane of the delivery rail system

[0181] W c Grid cell width

[0182] L c Grid cell length

[0183] W o Grid opening width

[0184] L o Grid opening length.

Claims

1. A method for verifying the location of heat or smoke emissions in an automated storage system (1), the method comprising: Operating a plurality of remotely operated vehicles (200, 300) in the automated warehousing system (1); 30), each of the remotely operated vehicles (200, 300; 30) is provided with a fire detection device (150), the fire detection device being configured to transmit data to a master control system (800); operating a master control system (800) configured to track the plurality of remotely operated vehicles (200, 300; 50); Data from two or more of the fire detection devices (150) is processed using the master control system to verify the location of the source of the heat or smoke emission (400).

2. A method for generating information about the location of heat or smoke emissions in an automated storage system (1), the method comprising: Operating a plurality of remotely operated vehicles (200, 300) in the automated warehousing system (1); 30), each of the remotely operated vehicles (200, 300; 30) is provided with a fire detection device (150), the fire detection device being configured to transmit data to a master control system (800); operating a master control system (800) configured to track the plurality of remotely operated vehicles (200, 300; 50); The master control system is used to process data from two or more of the fire detection devices (150) to create a thermal map (160) of the automated warehouse system (1).

3. The method according to claim 1 or claim 2, further comprising: In the event that data from a fire detection device of a first remotely operated vehicle of the plurality of remotely operated vehicles (200'; 30) indicates detected heat or smoke emissions, allocating a second remotely operated vehicle (200'; 30) to move to a position proximate to the position of the first remotely operated vehicle of the plurality of remotely operated vehicles (200'; 30).

4. The method according to claim 3, wherein: If the second remotely operated vehicle (200') provides data indicating the presence of heat or smoke emissions to the master control system (800), the method further comprises: allocating a third remotely operated vehicle (200'"); 30) to move to a position proximate to the position of the first and second remotely operated vehicles (200', 200"; 30) of the plurality of remotely operated vehicles; and The master control system (800) is utilized to: processing data from fire detection devices of the first, second, and third remotely operated vehicles (200', 200", 200'"; 30) of the plurality of remotely operated vehicles; and Based on the processing of the data from the fire detection device, it is determined whether a reasonable prediction of the location of the source (400) of the smoke or heat emissions can be made.

5. The method according to claim 4, wherein If the master control system (800) determines that a reasonable prediction can be made of the location of the source (400) of smoke or heat emissions, the method further comprises using the master control system (800) to create a triangular arrangement (TA) surrounding the source (400) of smoke or heat emissions.

6. The method according to claim 4 or 5, wherein: If the master control system (800) determines that no reasonable prediction can be made as to the location of the source (400) of the smoke or heat emissions, the method further comprises: assigning a fourth remotely operated vehicle (200"") of the plurality of remotely operated vehicles; 30) to move to a position proximate to the position of a first remotely operated vehicle, a second remotely operated vehicle, and a third remotely operated vehicle (200', 200", 200'"; 30) of the plurality of remotely operated vehicles; and The master control system (800) is utilized to: processing data from fire detection devices of a first remotely operated vehicle, a second remotely operated vehicle, a third remotely operated vehicle, and a fourth remotely operated vehicle (200', 200", 200'", 200""; 30) of the plurality of remotely operated vehicles; and Based on the processing of the data from the fire detection device, it is determined whether a reasonable prediction of the location of the source (400) of the smoke or heat emissions can be made.

7. The method according to claim 6, wherein: If the master control system (800) determines that a reasonable prediction can be made of the location of the source (400) of smoke or heat emissions, the method further comprises using the master control system (800) to create a four-cornered polygon (PA) surrounding the source (400) of smoke or heat emissions.

8. The method according to claim 1 or 2, wherein: The fire detection device (150) is a smoke or fume detector, and wherein data from the fire detection device indicates the presence of smoke or fume.

9. The method according to claim 1 or claim 2, wherein: The fire detection device (150) is a heat detector, and wherein data from the fire detection device indicates the presence of heat.

10. The method according to claim 1 or 2, wherein: The fire detection device (150) is a combination of a smoke or fog detector and a heat detector, and wherein data from the fire detection device indicates the presence of smoke or fog or heat.

11. The method according to claim 1 or claim 2, wherein: The automated warehousing system includes a guide rail system (108, 50), wherein the guide rail system includes: a first set of parallel rails (110; 51) arranged in a horizontal plane (P) and extending in a first direction (X); and a second set of parallel tracks (111; 52) arranged in said horizontal plane (P) and extending in a second direction (Y) orthogonal to said first direction (X); The first and second groups of tracks (110, 111; 51, 52) form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent grid cells, each grid cell comprising a grid opening (115) defined by a pair of adjacent tracks (110a, 110b; 51a, 51b) of the first group of tracks (110; 51) and a pair of adjacent tracks (111a, 111b; 52a, 52b) of the second group of tracks (111; 52).

12. The method according to claim 1 or claim 2, wherein: The automated storage system includes one or more fixed fire detection devices arranged on a storage grid of the automated storage system.

13. The method according to claim 1, wherein The master control system processes data from two or more of the fire detection devices (150) to create a thermal map of the automated warehouse system.

14. The method according to claim 2, wherein: The master control system processes data from two or more of the fire detection devices (150) to verify the location of the source (400) of the heat or smoke emissions.

15. The method according to claim 1 or claim 2, wherein: The remotely operated vehicle (200, 300; 30) is adapted to handle storage containers (106) stored in the automated warehousing system (1).

16. A master control system (800) configured to execute the method according to claim 1 or claim 2.

17. An automated warehousing system comprising: a main control system (800), the main control system being configured to execute the method according to claim 1 or claim 2; as well as A plurality of remotely operated vehicles (200, 300; 30), each of the remotely operated vehicles (200, 300; 30) comprising a fire detection device (150) configured to transmit data to the master control system (800).

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