Automatic storage and retrieval system

Abstract

The present disclosure relates to an automatic storage and retrieval system for storage containers, the system comprising a track system and a vehicle; the rail system includes a first set of parallel rails in a first direction, each rail in the first direction having an inner rail and an outer rail parallel to each other with respect to the vehicle, and a second set of parallel rails in a second direction perpendicular to the first direction. The vehicle includes: a vehicle body; and a first pair of wheels and a second pair of wheels for moving the vehicle in a first direction on the track system, each of the first pair of wheels and the second pair of wheels including two wheels arranged on opposite sides of the vehicle body; wherein the wheels of at least one of the first pair of wheels and the second pair of wheels are each positioned in the outer guide rail.

Description

[0001] This disclosure relates to an automated storage and retrieval system for storage containers. More specifically, this disclosure relates to an automated storage and retrieval system for storage containers, and to a vehicle for the automated storage and retrieval system. Background Technology

[0002] Traditional storage solutions typically involve arranging goods on rows of shelves within a warehouse. The shelf location of each item is recorded in an inventory list, and goods are retrieved from the shelves by pickers. As goods enter and leave the warehouse, the shelves are replenished as needed, and the inventory list is updated.

[0003] Robotic pickers and automated inventory management systems can assist warehouse staff. Automated transport systems can also be implemented in traditional warehouse facilities to move goods from their storage locations to picking and / or packing stations.

[0004] An alternative to traditional warehouse installations is an automated storage and retrieval system (AS / RS), in which robots retrieve items from a recorded location within the warehouse and deliver them to a packing station or port. This system reduces or eliminates the space required to navigate between rows of shelves to access inventory, thus eliminating the need for wide aisles within the warehouse. An example of such a system involves placing goods in boxes or containers configured to be stacked side-by-side within a three-dimensional grid. A track system is arranged on top of the grid, along which robotic container handling vehicles, configured to lift containers from the grid, can travel. The container handling vehicles are configured to transport containers from the grid to a port or station at the periphery of the grid, allowing the goods inside the containers to be picked up and packed.

[0005] Robotic container handling vehicles or robots have wheels for moving the robot along tracks in the X and Y directions.

[0006] One or more aspects of the invention described in this application are set forth in the claims. Attached Figure Description

[0007] The present disclosure will now be described in more detail with reference to several exemplary embodiments illustrated in the accompanying drawings, in which: Figure 1 A perspective view of a storage system is shown, which includes a grid and multiple robotic container handling vehicles configured to retrieve and / or rearrange goods stored within the grid. Figure 2 It shows Figure 1 A top view of the system; Figure 3A It shows that it is suitable for use in Figure 1 Side view of the first robotic container handling vehicle used in the system; Figure 3B It shows that it is suitable for use in Figure 1 Side view of the second robotic container handling vehicle used in the system; Figure 3C yes Figure 3B A three-dimensional side view of the robot; Figure 4 A computing device for implementing the operations described herein is shown; Figure 5A A top view of a dual-rail-dual-rail track system is shown. Figure 5B A top view of a single-rail-dual-rail track system is shown. Figure 6A A three-dimensional view of the wheels of a robotic container transport vehicle on a track system is shown; Figure 6B It shows Figure 6A A top view of a robotic container handling vehicle; Figure 7 A top view of the wheels of a robotic container transport vehicle on a dual-rail-dual-rail track system is shown. Figure 8 A top view of the wheels of a robotic container transport vehicle on a single-rail-dual-rail track system is shown. Figure 9 A top view of the wheels of a robotic container transport vehicle on a dual-rail-dual-rail track system is shown. Figure 10 A top view of the wheels of the robotic container transport vehicle of this disclosure on a dual-rail-dual-rail track system is shown. Figure 11 A 3D view of the service vehicle is shown. Detailed Implementation

[0008] In general, this disclosure relates to a vehicle, such as a robotic container handling vehicle or service vehicle, positioned or capable of being positioned on a track system in an automated storage and retrieval system. The track system has a first set of parallel tracks aligned in a first direction (i.e., the X-direction) and a second set of parallel tracks aligned in a second direction perpendicular to the first direction (i.e., the Y-direction). The vehicle moves along the tracks in the XY plane. The vehicle uses wheels to move along the tracks.

[0009] Each track has one or two guide rails, and the wheels are positioned (or can be positioned) inside or on the guide rails. In the case of a track with two guide rails, the wheels of existing vehicles are positioned on the guide rail closest to the vehicle body (the inner guide rail).

[0010] The inventors have recognized that outer guide rails can also be used to position wheels. This opens up numerous possibilities for wheel layout design. By positioning the wheels in the outer guide rails instead of the inner guide rails, vehicle stability can be improved. The wheel layout of a vehicle can be specifically designed or selected to provide the required stability characteristics, depending on the vehicle's intended use. This provides design freedom, allowing designers to choose whether to position the wheels in the inner or outer guide rails when designing a vehicle, freeing them from the constraint of positioning the wheels in the inner guide rails. That is, vehicles with wheels located in either the inner or outer guide rails can be designed according to the actual needs of the vehicle.

[0011] Overview of Automated Storage and Retrieval Systems

[0012] refer to Figure 1 In the embodiment shown, the grid 100 comprises a frame consisting of a plurality of generally linear, adjacent vertical columns 102 formed between vertical frame members 104 and extending in the X direction 108 and the Y direction 110. The grid elements can be made of any suitable material; for example, the frame members can be made of extruded aluminum. Storage containers or boxes 112 are preferably stacked on top of each other in a self-supporting manner along the Z direction 114 in the columns 102, forming storage volumes for storage units of the respective boxes 112, which extend in the X direction 108, Y direction 110, and Z direction 114.

[0013] A track system or network 116 is formed on top of grid 100 and includes pairs of vehicle tracks or rails 118a, 118b and 120a, 120b extending in the X direction 108 and Y direction 110, respectively. A robotic container handling vehicle or robot 122 (which may have a range of sizes, shapes, and functions) is set up and configured to operate on tracks 118, 120 and transport containers 112 in both the X direction 108 and Y direction 110. Robot 122 is also configured to lift containers 112 from column 102 / lower containers into the column in the Z direction 114, with containers 112 optionally guided by vertical frame members 104. Robot 122 accesses containers 112 via access openings 124 located above column 102 and formed between tracks 118 and 120.

[0014] Some columns 102 can be used for purposes other than storing the bins. For example, port columns 126, 128 include port columns or access columns that allow bins 112 to be moved into and / or out of grid 100. Port columns 126, 128 provide vertical channels for lifting bins 112 from ports 130, 132 or lowering bins 112 into the ports. Ports 130, 132 in Figure 1The port is shown at the lowest horizontal level of the grid; however, the port can be located at any vertical position along the column. The corresponding port columns 126, 128 can be designated for removing (“unloading”) box 112 from grid 100 and / or returning or delivering (“picking up”) the box to the grid. Therefore, ports 130, 132 are configured to allow the removal of box 112 and the (horizontal) reintroduction of the box into the associated port column. Thus, ports 130, 132 can include a conveyor ( Figure 1 (Not shown in the image) Box 112 can be lowered onto a conveyor and transported horizontally out of the port column. Port columns 126, 128 include openings or access points through which box 112 can enter and leave the column.

[0015] Box 112 can be transported by robot 122 along the top of grid 100 to port columns 126, 128 and / or back from port columns, and from ports 130, 132 to a location outside grid 100, which may be an access station (not shown) for handling box 112 or its contents, such as a pick-up station for adding or removing contents from box 112. In an alternative example (not shown), box 112 may be transported to a port of another grid at the same or another horizontal level, or to an external facility. Transport of box 112 to and from ports 130 and 132 can be carried out by any suitable means (not shown), including conveyors, transport vehicles, lifting mechanisms, or robots.

[0016] refer to Figure 2 The illustrated embodiment provides a more detailed view of the XY configuration 200 of the track system 116 and the different types of robots 202, 204. The track system includes tracks 206, with vertical column access openings 124 defined between the tracks for accessing the bin 112. Tracks 206 can be any suitable type of track for allowing robots 202, 204 to travel along the X direction 108 and Y direction 110, including (not shown) recessed tracks for receiving vehicle wheels, or protruding tracks for engaging recesses of wheels. Each track 206 may include a single guide rail or multiple parallel guide rails in each of the X direction 108 and Y direction 110.

[0017] The first "cantilever" type robot 202 Figure 3AThe image, shown in more detail, includes a body 300, a set of wheels 302, and a lifting device 304. The body 300 houses operating equipment (not shown) for the robot 202, including a drive system, a power system, and a control system. The wheels 302 allow the robot 202 to move in one of the X and Y directions, while another set of wheels (not visible in this view) allows the robot to move in the other direction, in both cases, along corresponding tracks or rails 206. One or both sets of wheels can be raised or lowered to allow selective engagement of tracks, thereby enabling movement in the desired direction. The lifting device 304 includes a cantilever element 306 extending from the top of the body 300 in the XY plane; and a clamping device 308 capable of being raised and lowered relative to the cantilever element 306. The clamping device 308 is configured to clamp or engage the box 112, for example, via a portion of the clamping box 112, or by passively or actively engaging appropriately configured portions of the box 112.

[0018] The second "internal cavity" type robot 204 is in Figure 3B As shown in more detail below, and as an alternative to a cantilever lifting system, an internal cavity 310 is located within the main body 300, and a lifting device 312 including a clamping device (not shown) is positioned within this internal cavity. In this case, the main body 300 includes operating equipment for the robot and storage space for one or more boxes 112 for use, for example, during transport of the boxes 112.

[0019] Figure 3C It shows Figure 3B A stereoscopic side view of the robot, in which you can see Figure 3B The first set of wheels, 302. Mentioned above but not mentioned in... Figure 3B Another set of wheels shown in Figure 3C The first set of wheels 302 is shown as wheel 303. Another set of wheels 303 is arranged perpendicular to the first set of wheels 302 to allow the robot 204 to roll along the X and Y directions, respectively, by means of the first set of wheels 302 and the second set of wheels 303. Figure 3C The first set of wheels 302 and the second set of wheels 303 shown can be configured to descend independently to engage with the track (or rise independently to disengage from the track) to allow the robot 202 to traverse. Figure 2 The track device shown moves along the X and Y directions. Although Figure 3C The 3D diagram shown is Figure 3B Robot 204, however, should be understood that a similar arrangement of vertical wheels can also be applied. Figure 3A Robot 202 in the middle.

[0020] Control and monitoring systems

[0021] The control and monitoring of the automated storage and retrieval system (including monitoring and storing the location of the bins and controlling their delivery, retrieval, and transport, as well as robot route planning and collision avoidance) is handled by [the relevant authority / organization]. Figure 4 The control system shown communicates with the robot and / or other controllable system components to perform the control. This control can be performed locally or remotely and can be implemented by a processing system, such as a computing device. Therefore, the methods described herein can constitute all or part of a computer-implemented method, or a system configured to perform the methods described herein.

[0022] refer to Figure 4 A processing system 400 suitable for performing the methods described herein will now be described. Figure 4 A block diagram of one implementation of a processing system 400 is shown, which takes the form of a computing device within which an instruction set can run to cause the computing device to perform any or more methods described herein. In some implementations, the computing device may be connected to (e.g., networked to) other machines in a local area network (LAN), intranet, extranet, or the Internet. The computing device may operate at the capacity of a server or client machine in a client-server network environment, or at the capacity of a peer-to-peer machine in a peer-to-peer (or distributed) network environment. The computing device may be a personal computer (PC), tablet computer, set-top box (STB), personal digital assistant (PDA), cellular phone, networked home appliance, server, network router, switch, or bridge, or any machine capable of executing a set of instructions (sequentially or otherwise) specifying the actions to be taken by the machine. Furthermore, although only a single computing device is shown, the term "computing device" should also be understood to include any collection of machines (e.g., computers) that individually or collectively execute one or more instruction sets to perform any or more methods described herein.

[0023] An exemplary processing system 400 includes a processor 402, a main memory 404 (e.g., read-only memory (ROM), flash memory, dynamic random access memory (DRAM) such as synchronous DRAM (SDRAM) or Rambus DRAM (RDRAM), etc.), a static memory 406 (e.g., flash memory, static random access memory (SRAM), etc.), and a secondary memory (e.g., a data storage device 418), which communicate with each other via a bus 430.

[0024] Processor 402 represents one or more general-purpose processors, such as microprocessors, central processing units, etc. More specifically, processor 402 may be a Complex Instruction Set Computing (CISC) microprocessor, a Reduced Instruction Set Computing (RISC) microprocessor, a Very Long Instruction Word (VLIW) microprocessor, a processor implementing other instruction sets, or a processor implementing combinations of instruction sets. Processor 402 may also be one or more special-purpose processors, such as application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), network processors, etc. Processor 402 is configured to execute processing logic (instruction 422) to perform the operations and steps described herein.

[0025] The processing system 400 may also include a network interface device 408. The processing system 400 may also include any one of a video display unit 410 (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)), an alphanumeric input device 412 (e.g., a keyboard or a touch screen), a cursor control device 414 (e.g., a mouse or a touch screen), and an audio device 416 (e.g., a speaker).

[0026] Obviously, Figure 4 Some features of the processing system 400 shown may be absent. For example, the processing system 400 may not require a display device 410 (or any associated adapter). This may be the case, for example, with a particular server-side computer device that is only used for its processing capabilities and does not need to display information to a user. Similarly, a user input device 412 may not be necessary. In its simplest form, the processing system 400 includes a processor 402 and main memory 404.

[0027] Data storage device 418 may include one or more machine-readable storage media (or more specifically, one or more non-transitory computer-readable storage media) 428 storing one or more instruction sets 422 embodying any or more of the methods or functions described herein. The instructions 422 may also reside wholly or at least partially within main memory 404 and / or processor 402 during execution by processing system 400, which also constitute computer-readable storage media 428.

[0028] The various methods described herein can be implemented by a computer program. A computer program may include computer code arranged to instruct a computer to perform one or more of the various methods described herein. The computer program and / or code for performing such methods may be provided to a device, such as a computer, on one or more computer-readable media or more generally on a computer program product. The computer-readable media may be transient or non-transient. One or more computer-readable media may be, for example, an electronic system, a magnetic system, an optical system, an electromagnetic system, an infrared system, or a semiconductor system, or a propagation medium for data transmission, such as for downloading code via the Internet. Alternatively, one or more computer-readable media may take the form of one or more physical computer-readable media, such as semiconductor or solid-state memory, magnetic tape, removable computer floppy disk, random access memory (RAM), read-only memory (ROM), rigid disk, or optical disk, such as CD-ROM, CD-R / W, or DVD.

[0029] A computer program can be run by processor 402 to perform the functions of the systems and methods described herein.

[0030] In implementation, the modules, components, and other features described herein may be implemented as discrete components or integrated into the functionality of hardware components such as ASICs, FPGAs, DSPs, or similar devices.

[0031] A "hardware component" is a tangible (e.g., non-transitory) physical component (e.g., a group or more processors) capable of performing a specific operation and which can be configured or arranged in a specific physical manner. A hardware component may include dedicated circuitry or logic permanently configured to perform a specific operation. A hardware component may be a dedicated processor, or may include dedicated processors such as field-programmable gate arrays (FPGAs) or ASICs. A hardware component may also include programmable logic or circuitry temporarily configured by software to perform a specific operation.

[0032] Therefore, the phrase “hardware component” should be understood to encompass tangible entities that can be physically constructed, permanently configured (e.g., hardwired) or temporarily configured (e.g., programmed) to operate in a particular manner or perform the particular operations described herein.

[0033] Furthermore, modules and components can be implemented as firmware or functional circuitry within a hardware device. Additionally, modules and components can be implemented as any combination of hardware devices and software components, or solely as software (e.g., code stored in or otherwise embodied in a machine-readable medium or transmission medium).

[0034] Operation of the automatic storage and retrieval system

[0035] In operation, each box 112 is assigned a unique identifier, which can be marked on the box 112 using a computer-readable identifier (e.g., a barcode, quick-response code, or RFID tag) to simplify identification of the box 112. The database of the processing system 400 stores the location of each box 112 associated with the unique identifier and optionally stores the contents of that box. When a box 112 is moved (e.g., when it is removed from grid 100), the database is updated to record the change in its location.

[0036] When it is desired to retrieve box 112 from grid 100, under the control of processing system 400, robots 202 and 204 are routed via track system 116 to vertical column 102 including storage units. Box 112 is positioned at this storage unit according to a database, and lifting devices 304 and 312 (depending on robot type) are positioned above, adjacent to, or below the corresponding access opening 124. Robots 202 and 204 lower gripping device 308, which engages, grips, and lifts box 112 to robots 202 and 204. Robots 202 and 204 then transport box 112 to, for example, unloading port columns 126 and 128 for delivery to ports 130 and 132 for further processing outside grid 100. If the target or designated box 112 is located below other boxes in the stack, robots 202, 204, or multiple robots possibly dedicated to this task, are controlled during the "digging" operation to temporarily or permanently lift and reposition the boxes above the target box 112 in sequence to retrieve the target box. It should be understood that other operations related to box 112 can be performed in a similar manner. For example, box 112 can be delivered to ports 130, 132 of pick-up port columns 126, 128 for storage in grid 100, gripped and lifted by robots 202, 204, and delivered to the desired storage unit, whereby, if necessary, boxes located above the desired position can be repositioned as discussed above.

[0037] Specific description of improvements

[0038] Figures 5a and 5b each show the track system of the automated storage and retrieval system from above. The tracks form a grid 100 and define vertical column access openings 124 for accessing boxes, which can be stacked within the vertical columns. Two different types of track systems are shown in Figures 5a and 5b. A first set of parallel tracks guides the vehicle across the top of the grid structure in a first direction, and a second set of parallel tracks, arranged perpendicular to the first set, guides the vehicle in a second direction perpendicular to the first direction. In this way, the track grid allows the vehicle to move in two dimensions in the XY plane, enabling the vehicle to move into any desired column access opening within the grid.

[0039] The track may include grooves in which the vehicle's wheels travel. Alternatively, the track may include upwardly projecting elements, where the vehicle's wheels include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track may include one guide rail, or each track may include two parallel guide rails.

[0040] If each wheel is located in the rail closest to the vehicle, a track with two rails allows two vehicles to pass each other on the same track. Each track with two rails can accommodate two parallel wheels, with one wheel in each adjacent rail.

[0041] The track systems in Figures 5a and 5b include: a first set of tracks 520 and 530, aligned in a first direction X to guide the vehicle's movement along the first direction X; and a second set of tracks 540 and 550, aligned in a second direction Y to guide the vehicle's movement along the second direction Y. The first set of tracks is perpendicular to the second set of tracks. The first set of tracks is referred to as the track in the X direction or X track, and the second set of tracks is referred to as the track in the Y direction or Y track. Throughout the description, X direction and Y direction are terms used to refer to the first direction and the second direction perpendicular to the first direction.

[0042] In the track system of Figure 5a, each track 520 and 530 in the X direction and each track 540 and 550 in the Y direction includes two parallel guide rails. This track system is called a dual-guide rail type track system.

[0043] In the track system of Figure 5b, each track 520 and 530 in the X direction includes two parallel guide rails, while each track 540 and 550 in the Y direction includes a single guide rail. This track system is called a single-rail-double-rail track system.

[0044] Figure 6a illustrates the wheel arrangement of a vehicle 600 on a dual-rail-dual-rail track system. The vehicle has eight wheels. It has front, rear, left, and right sides and is configured to travel in both the X and Y directions. The vehicle includes four wheels 602, 604, 606, and 608 for movement in the X direction, with two wheels on each opposite side. It also includes four wheels for movement in the Y direction, with two wheels on each opposite side.

[0045] Figure 6b shows the vehicle from above. The area occupied by the vehicle body is indicated by hash lines 618. Tracks 620 and 630 in the X direction each have two guide rails. These tracks each have inner guide rails 622 and 632 closest to the vehicle's position, and outer guide rails 624 and 634 further away from the vehicle's position. Tracks 640 and 650 in the Y direction each have two guide rails. These tracks each have inner guide rails 642 and 652 closest to the vehicle's position, and outer guide rails 644 and 654 further away from the vehicle's position.

[0046] The vehicle body 618 is shown as a square, and its dimensions are designed so that the vehicle body can be positioned over a single column access opening. In other embodiments, the vehicle body is smaller than or larger than the column access opening, or, in the case of a cantilever robot, positioned over two column access openings. In other embodiments, the vehicle body is not square; for example, the vehicle body is rectangular.

[0047] The vehicle can be a cantilever vehicle positioned over two vertical column access openings 124, with the main body positioned over the first opening and the cantilever positioned over the second column access opening. In this case, the vehicle is configured to lift the container relative to the second column.

[0048] In existing vehicles, such as those shown in Figures 6a and 6b, it is known that the vehicle's wheels 602, 604, 606, 608, 610, 612, 614, and 616 are positioned in the inner guide rails of a track system. As can be seen, two vehicles can pass each other on the same track, each having wheels positioned on the inner guide rails (relative to the corresponding vehicle). The vehicle has four wheels for moving the vehicle in the X direction, with two wheels 602 and 604 located on the lower side of the figure, and the other two wheels 606 and 608 located on the upper side. These wheels also form wheel pairs located on opposite sides, with wheels 602 and 606 forming a pair facing one end of the vehicle, and wheels 604 and 608 forming a pair facing the other end of the vehicle. The vehicle has four wheels for moving the vehicle in the Y direction, with two wheels 614 and 616 located on the right side as shown, and the other two wheels 612 and 610 located on the left side of the figure. These wheels form two pairs of wheels located on opposite sides, namely a pair of wheels 610 and 616 and a pair of wheels 612 and 614.

[0049] Wheels that are diagonally opposite each other on opposite sides can also be considered as forming a pair of opposite wheels.

[0050] In the existing technology, each wheel is positioned on an inner guide rail.

[0051] The inventors of this disclosure have recognized that wheels can be positioned within outer guide rails. This can offer benefits such as improved balance and stability. It also means that different wheel layouts can be provided for the same vehicle body design; that is, vehicles with different balance and stability characteristics can be provided using the same vehicle body design. Positioning the wheels within the outer guide rails creates a wider base to support the vehicle's weight. Recognizing that any wheel can be positioned within the outer guide rails provides vehicle designers with design freedom to position the wheels within the guide rails in a way that best meets the vehicle's requirements.

[0052] Figure 7 An embodiment of the vehicle of this disclosure is shown. Two wheels 710 and 716, located on opposite sides of the vehicle body for moving the vehicle in the Y direction, are respectively positioned in outer guide rails 744 and 754. These two wheels are positioned towards the rear of the vehicle. Two wheels 706 and 708, also located on the same side (i.e., the rear) of the vehicle for moving the vehicle in the X direction, are respectively positioned in outer guide rail 724.

[0053] Wheels 712 and 714, which are positioned towards the front of the vehicle to move the vehicle in the Y direction, and wheels 702 and 704, which are located on the front of the vehicle to move the vehicle in the X direction, are each positioned in the inner guide rail.

[0054] Figure 7 The vehicle in this design has a wider base at the rear, thus improving stability. For example, this type of vehicle can be used to transport heavier loads at the rear. The two wheels at the front of the vehicle are located in inner guide rails, allowing the vehicle to pass over other vehicles located on the same guide rail at the front. Front and rear are used as relative terms to describe the opposite sides of the vehicle.

[0055] Figure 8 Another embodiment of the vehicle of this disclosure is shown. The vehicle is situated on a single-rail-double-rail track system. Two wheels 810 and 816, located on opposite sides of the vehicle body for moving the vehicle in the Y direction, are respectively positioned in outer guide rails 844 and 854. Two other wheels 812 and 814 for moving the vehicle in the Y direction are located in inner guide rails 852 and 842, respectively.

[0056] Tracks 830 and 820 in the X direction have a single guide rail. The front wheels 802 and 804, which are used to move the vehicle in the X direction, are positioned in guide rail 820 on the track, and the rear wheels 806 and 808 are positioned in guide rail 830 on the track.

[0057] It should be understood that other configurations may be provided, wherein one or more wheels are located in the outer guide rail. This disclosure includes all wheel arrangements in which each wheel may be arranged in either the inner or outer guide rail. In one example, a single wheel 910 of the vehicle is positioned in the outer guide rail 942, and the remaining wheels 902, 904, 906, 908, 912, 916, and 914 are each positioned in the inner guide rail. This is in Figure 9 As shown in the image.

[0058] In other examples, at least one wheel for moving the vehicle in the X direction and at least one wheel for moving the vehicle in the Y direction may be positioned in an outer guide rail. In examples not shown in the figures, a single wheel for moving the vehicle in the X direction and a single wheel for moving the vehicle in the Y direction may each be positioned in an outer guide rail, while the remaining wheels are each positioned in an inner guide rail.

[0059] In another example not shown in the figure, all four wheels for moving the vehicle in the X direction are positioned in the outer guide rail, while all four wheels for moving the vehicle in the Y direction are positioned in the inner guide rail. In another example, all four wheels for moving the vehicle in the X direction are positioned in the outer guide rail, while at least one wheel for moving the vehicle in the Y direction is positioned in the inner guide rail. In yet another example, in a vehicle on a single-rail-double-rail track system, all four wheels on the double-rail track are positioned in the outer guide rail.

[0060] Figure 10 An embodiment of the vehicle of this disclosure is shown. All wheels of the vehicle are positioned in outer guide rails. All four wheels for moving the vehicle in the X direction are positioned in outer guide rails: wheels 1002 and 1004 are positioned in guide rail 1034, and wheels 1006 and 1008 are positioned in guide rail 1024. All four wheels for moving the vehicle in the Y direction are positioned in outer guide rails: wheels 1010 and 1012 are positioned in guide rail 1044, and wheels 1014 and 1016 are positioned in guide rail 1034.

[0061] Positioning all wheels within the outer rails creates a wider base to support the vehicle's weight. This helps provide stability. This can be beneficial, for example, for transporting heavier loads across a grid.

[0062] In some examples, Figure 6 to Figure 10 The vehicle shown is a robotic container handling vehicle configured to move and reposition containers between vertical columns around a grid.

[0063] Alternatively, in other examples, the vehicle is a service vehicle having a connection for attaching to a container transport vehicle located on the track system. The service vehicle can be used to access container transport vehicles located on a grid. For example, a service vehicle can be used if a container transport vehicle fails on the grid and cannot return to a location on the grid where it can be repaired or removed. To remove the damaged or malfunctioning container transport vehicle from the grid, the service vehicle moves to the container transport vehicle, attaches to it, and then moves to a repair location. The service vehicle pushes, pulls, or guides the container transport vehicle to the repair location. In some examples, the service vehicle is configured to attach to a container transport vehicle whose wheels are all positioned in inner rails of the track system.

[0064] The area occupied by a vehicle can be less than, equal to or greater than the size of the column access opening.

[0065] An example that might require additional stability is such as Figure 11 The service vehicle 1102 is shown. This service vehicle includes an enclosed area 1110 for accommodating operator 1112. The enclosed area 1110 is separated from the rest of the grid by a wall 1114. This means that operator 1112 is separated from the area where multiple container handling vehicles operate and cannot access that area. This ensures operator safety. The wall 1114 has an openable passage 1116, which allows the operator to access the exterior of the service vehicle when necessary, such as to approach container handling vehicles or debris on the grid. The passage 1116 is closed by default and when the service vehicle is moving.

[0066] exist Figure 11 In the example, all eight wheels of the service vehicle are positioned within the outer guide rails of the track system. Therefore, the service vehicle has a wide base to maintain stability.

[0067] The accompanying drawings illustrate several specific embodiments of the wheel layout. However, it should be understood that this disclosure is not limited to the specific embodiments shown in the drawings. The inventors have recognized that the outer guide rail can be flexibly used for any one wheel, any subset of wheels, or all wheels on a vehicle. Therefore, the designed vehicle wheel arrangement is such that each wheel can be positioned in either the inner or outer guide rail.

[0068] For example, this disclosure covers one embodiment in which a single wheel of the vehicle is positioned in an inner guide rail, while the remaining wheels are all positioned in outer guide rails. In another embodiment, a single wheel of the vehicle is positioned in an outer guide rail, while the remaining wheels are all positioned in an inner guide rail.

[0069] In one embodiment, at least one wheel in the X direction is positioned in an outer guide rail, and at least one wheel in the Y direction is positioned in an outer guide rail. In another embodiment, a pair of wheels on opposite sides in the X direction are each positioned in an outer guide rail, while the remaining two wheels are each positioned in an inner guide rail. The pair of wheels on opposite sides in the outer guide rails can be positioned toward the same end of the vehicle, for example, both wheels can be positioned toward the front of the vehicle. Alternatively, the pair of wheels in the outer guide rails can be positioned diagonally opposite each other.

[0070] The examples in the accompanying diagrams all show a total of eight wheels on the vehicle. However, different numbers of wheels may be included. For example, additional wheels.

[0071] In this disclosure, if reference is made to an automated storage and retrieval system for storage containers, the system includes a track system and a vehicle, and the vehicle is also independently covered in this disclosure. That is, if an automated storage and retrieval system for storage containers is disclosed, which includes a track system and a vehicle, a vehicle having the characteristics of the vehicle disclosed in the system is also disclosed.

[0072] It should be understood that the above description is intended to be illustrative and not restrictive. Many other implementations will be apparent to those skilled in the art upon reading and understanding the above description. Although this disclosure has been described with reference to specific exemplary implementations, it should be recognized that this disclosure is not limited to the described implementations but can be practiced with modifications and alterations falling within the spirit and scope of the appended claims. Therefore, the specification and drawings are to be regarded in an illustrative sense and not a restrictive sense. Consequently, the scope of this disclosure should be determined by reference to the appended claims and the full scope of their equivalents.

Claims

1. An automated storage and retrieval system for storing containers, the automated storage and retrieval system comprising a rail system and a vehicle; the rail system comprising a first set of parallel rails in a first direction and a second set of parallel rails in a second direction perpendicular to the first direction, each rail in the first direction having an inner rail and an outer rail parallel to each other relative to the vehicle; the vehicle comprising: a vehicle body; and a first pair of wheels and a second pair of wheels for moving the vehicle on the rail system in the first direction, each pair of wheels comprising two wheels arranged on opposite sides of the vehicle body; wherein the wheels in at least one of the first pair of wheels and the second pair of wheels are each positioned in an outer rail.

2. The automated storage and retrieval system of claim 1, wherein, The wheels in each of the first pair of wheels and the second pair of wheels are positioned in an outer rail.

3. The automated storage and retrieval system of claim 1 or claim 2, wherein, The first pair of wheels are positioned towards a front end of the vehicle and the second pair of wheels are positioned towards a rear end of the vehicle.

4. The automated storage and retrieval system of any preceding claim, further comprising a third pair of wheels and a fourth pair of wheels for moving the vehicle on the rail system in the second direction, each pair of wheels comprising two wheels arranged on opposite sides of the vehicle body.

5. The automated storage and retrieval system of claim 4, wherein, Each rail in the second direction comprises an inner rail and an outer rail relative to the vehicle.

6. The automated storage and retrieval system of claim 5, wherein, The wheels in at least one of the third pair of wheels and the fourth pair of wheels are each positioned in an outer rail.

7. The automated storage and retrieval system of claim 5, wherein, The first pair of wheels are positioned towards the front end of the vehicle and each wheel in the first pair of wheels is positioned in an outer rail, and the second pair of wheels are positioned towards the rear end of the vehicle and each wheel in the second pair of wheels is positioned in an inner rail; and wherein the two wheels for moving the vehicle in the second direction at the front end of the vehicle are positioned in an outer rail.

8. The automated storage and retrieval system of claim 5, wherein, Each wheel in the first pair of wheels, the second pair of wheels, the third pair of wheels and the fourth pair of wheels is positioned in an outer rail.

9. The automated storage and retrieval system of any preceding claim, wherein, The vehicle is a container handling vehicle.

10. The automated storage and retrieval system of claim 9, wherein, The container handling vehicle comprises a cantilever.

11. The automated storage and retrieval system of any of claims 1 to 8, wherein, The vehicle comprises a service vehicle for connecting to a container handling vehicle located on the rail system.

12. The automated storage and retrieval system of any of claims 1 to 8, wherein, The vehicle comprises an enclosed area for accommodating an operator, wherein the enclosed area is spaced apart from an area in which a plurality of container handling vehicles operate.

13. A vehicle for use in an automated storage and retrieval system according to any preceding claim, wherein, The vehicle comprises a vehicle body and a first pair of wheels and a second pair of wheels for moving the vehicle on the rail system in the first direction, each pair of wheels comprising two wheels arranged on opposite sides of the vehicle body; wherein the wheels in at least one of the first pair of wheels and the second pair of wheels are positioned in an outer rail of the rail system.

14. An automated storage and retrieval system for storing containers, the automated storage and retrieval system comprising a rail system and a vehicle; The track system comprises a first set of parallel tracks in a first direction and a second set of parallel tracks in a second direction perpendicular to the first direction, each track having inner and outer guide rails parallel to each other relative to the vehicle; The vehicle comprises: a vehicle body; a first pair of wheels and a second pair of wheels for moving the vehicle on the track system in the first direction; and a third pair of wheels and a fourth pair of wheels for moving the vehicle on the track system in the second direction; wherein at least one wheel for moving the service vehicle in the first direction and at least one wheel for moving the vehicle in the second direction is positioned in the outer guide rail.

15. An automated storage and retrieval system for storage containers, the automated storage and retrieval system comprising a track system and a vehicle; The track system comprises a first set of parallel tracks in a first direction and a second set of parallel tracks in a second direction perpendicular to the first direction, each track in the first direction having an inner rail and an outer rail parallel to each other relative to the vehicle; and The vehicle comprises: a vehicle body; a set of wheels for moving the vehicle on the track system in the first direction, wherein a single one of the wheels for moving the vehicle in the first direction is positioned in the outer guide rail and the remaining wheels for moving the vehicle in the first direction are positioned in the inner guide rail.

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