Method and system for improving safety of manned service vehicle

Abstract

The present disclosure provides a method for improving the safety of a manned service vehicle (10) on a track system on which a remotely operated vehicle (201, 301, 401) runs, the method comprising: establishing a dynamic confinement zone (30) around the service vehicle (10); moving the service vehicle (10) along the service vehicle route (15) from the starting position (20) towards the target position (25); and providing a new teleoperated vehicle route (40) if the teleoperated vehicle (201, 301, 401) on the track system (108) has been assigned a vehicle task and the teleoperated vehicle route (35) assigned to the vehicle task includes moving toward the dynamic restricted area (30).

Description

Technical Field

[0001] The present invention relates to a method for improving the safety of manned service vehicles in a grid-type automated storage and retrieval system, and a system for implementing the method. Background Technology

[0002] Figure 1 A prior art automated storage and retrieval system 1 with a frame structure 100 is disclosed, and Figure 2 , Figures 3a to 3b Three different prior art container handling vehicles 201, 301, and 401 suitable for operation on such system 1 are disclosed.

[0003] The frame structure 100 includes upright members 102 and storage volumes comprising storage rows 105 arranged between the upright members 102. Storage containers 106, also called boxes, are stacked on top of each other in these storage rows 105 to form a container stack 107. The members 102 are typically made of metal, such as extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged across the top of the frame structure 100, through which multiple container handling vehicles 301, 401 can operate to lift storage containers 106 from and lower storage containers 106 into the storage column 105, and also transport storage containers 106 above the storage column 105. The track system 108 includes: a first set of parallel tracks 110 arranged to guide the container handling vehicles 301, 401 across the top of the frame structure 100 in a first direction X; and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 301, 401 in a second direction Y perpendicular to the first direction X. Containers 106 stored in the column 105 are accessed by the container handling vehicles 301, 401 through access openings 112 in the track system 108. Container handling vehicles 301 and 401 can move laterally above storage column 105, that is, laterally in a plane parallel to the horizontal XY plane.

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

[0006] Each prior art container handling vehicle 201, 301, 401 includes a vehicle body 201a, 301a, 401a and a first set of wheels 201b, 301b, 401b and a second set of wheels 201c, 301c, 401c, which enable the container handling vehicles 201, 301, 401 to move laterally in the X and Y directions, respectively. Figures 2 to 3b In this configuration, two wheels in each group are fully visible. The first group of wheels 201b, 301b, and 401b are arranged to engage with two adjacent tracks of the first group of tracks 110, and the second group of wheels 201c, 301c, and 401c are arranged to engage with two adjacent tracks of the second group of tracks 111. At least one group of wheels 201b, 201c, 301b, 301c, 401b, and 401c can be raised and lowered such that the first group of wheels 201b, 301b, and 401b and / or the second group of wheels 201c, 301c, and 401c can engage with the corresponding track group 110, 111 at any given time.

[0007] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device 304, 404 with a lifting frame portion 304a for vertically transporting the storage container 106. Figures 3a to 3b As can be seen in Figure 3B, for example, lifting storage container 106 from storage column 105 and lowering storage container 106 into storage column. Lifting belt 404a is also shown in Figure 3B. Lifting devices 304, 404 include one or more clamping / engaging devices adapted to engage storage container 106, and these clamping / engaging devices can be lowered from vehicles 201, 301, 401, such that they can be lowered in a third direction Z orthogonal to the first direction X and the second direction Y (e.g., in…). Figure 1 (See image) Adjust the position of the clamping / engaging device relative to vehicles 201, 301, and 401. Some parts of the clamping device on container handling vehicles 301 and 401 are... Figure 3a and Figure 3b The container handling device 201 is shown in the figure and indicated by reference numerals 304 and 404. The clamping device of the container handling device 201 is... Figure 2 It is located inside the vehicle body 201a.

[0008] Typically, and also for the purposes of this application, Z=1 denotes the uppermost layer below tracks 110 and 111 that can be used for storage containers, i.e., the layer immediately below track system 108; Z=2 denotes the second layer below track system 108; Z=3 denotes the third layer, and so on. Figure 1 In the exemplary prior art disclosed herein, Z=8 identifies the bottommost layer of the storage container. Similarly, X=1…n and Y=1…n identify the position of each storage column 105 in the horizontal plane. Therefore, as an example, and using… Figure 1The Cartesian coordinate system X, Y, Z shown can be said to be in Figure 1 The storage container labeled 106 occupies storage positions X=18, Y=1, Z=6. It can be said that container transport vehicles 201, 301, and 401 travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. Therefore, Figure 1 The storage container shown extending above the orbital system 108 is also referred to as being arranged in the layer at Z=0.

[0009] The storage volume of the frame structure 100 is generally referred to as the storage grid 104, and the possible storage locations within this grid are referred to as storage cells within storage columns. Each storage column can be identified by its position in the X and Y directions, and each storage cell can be identified by its container number in the X, Y, and Z directions.

[0010] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or space for receiving and loading the storage container 106 during transport across the track system 108. The storage space may include cavities arranged inside the vehicle body 201a, such as… Figure 2 and Figure 3b As shown, and described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0011] Figure 3a An alternative configuration of a container handling vehicle 301 with a cantilever structure is shown. Such a vehicle is described in detail, for example, in NO. 317366, the contents of which are also incorporated herein by reference.

[0012] Figure 2 The area occupied by the cavity container transport vehicle 201 shown can cover an area in the X and Y directions that is approximately equal in size to the lateral extent of the storage column 105, as described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein may mean “horizontal”.

[0013] Alternatively, the area occupied by the cavity container transport vehicle 401 can be larger than the lateral area defined by the storage column 105, such as... Figure 3b As shown, and as disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] Track system 108 typically includes tracks with grooves in which the wheels of a vehicle travel. Alternatively, the tracks may include upwardly projecting elements, where the wheels of the vehicle 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; in other track systems 108, each track in one direction may include one guide rail, and each track in another perpendicular direction may include two guide rails. The track system may also include a dual-guide rail in one of the X or Y directions, and a single-guide rail in the other. A dual-guide rail may include two track members fastened together, each track member having one guide rail.

[0015] WO2018 / 146304A1 (the contents of which are incorporated herein by reference) shows a typical configuration of an orbital system 108, which includes orbits and parallel guide rails in both the X and Y directions.

[0016] In the frame structure 100, most columns 105 are storage columns 105, meaning that storage containers 106 can store data in columns 105 in the form of stacks 107. However, some columns 105 may serve other purposes. Figure 1 In this context, columns 119 and 120 are dedicated columns used by container handling vehicles 201, 301, and 401 to unload and / or pick up storage containers 106, enabling the containers to be transported to retrieval stations (not shown) where they can be accessed from outside the frame structure 100 or moved into or out of the frame structure 100. In the art, such locations are commonly referred to as “ports,” and the columns containing the ports may be referred to as “port columns” 119 and 120. Transport to the retrieval station can occur in any direction (i.e., horizontal, inclined, and / or vertical). For example, the storage container 106 may be placed in a random or dedicated column 105 within the frame structure 100 and then picked up and transported by any container handling vehicle to port columns 119 and 120 for further transport to the retrieval station. Transport from the port to the retrieval station may require movement along various different directions via means such as transport vehicles, trolleys, or other transport routes. It should be noted that the term "inclined" refers to the transport of storage container 106 having a general transport orientation in a direction between horizontal and vertical.

[0017] exist Figure 1In the first port column 119, for example, it can be a dedicated unloading port column, at which container handling vehicles 201, 301 can unload storage containers 106 to be transported to the storage station or transfer station, and the second port column 120 can be a dedicated pick-up port column, at which container handling vehicles 201, 301, 401 can pick up storage containers 106 that have been transported from the storage station or transfer station.

[0018] The storage and retrieval station is typically a pick-up station or a stocking station where product items are removed from or positioned into storage containers 106. At the pick-up station or stocking station, storage containers 106 are not typically removed from the automated storage and retrieval system 1; instead, they are returned to the frame structure 100 after storage and retrieval. Ports can also be used to transfer storage containers to another storage facility (e.g., to another frame structure or another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0019] Storage containers are typically transported between port columns 119, 120 and the access station using a transmitter system.

[0020] If port columns 119, 120 and access stations are located at different heights, the conveyor system may include a lifting device with vertical components for vertically transporting storage container 106 between port columns 119, 120 and access stations.

[0021] The transport system can be arranged to transfer storage container 106 between different frame structures, such as those described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0022] When you need to access the stored Figure 1 When a storage container 106 is located in one of the columns 105 disclosed in the diagram, one of the container transport vehicles 201, 301, and 401 is instructed to perform a task: to retrieve the target storage container 106 from its location and transport it to the unloading port column 119. This vehicle task is always associated with a preferred vehicle route, i.e., the most suitable path for the container transport vehicles 201, 301, and 401 to travel between the starting grid position and the target grid position. The access operation involves moving the container transport vehicles 201 and 301 to a position above the storage column 105 where the target storage container 106 is located, using the lifting devices of the container transport vehicles 201, 301, and 401. Figure 2 Not shown in the image, but... Figure 3a and Figure 3b(As can be seen in the image) Removing storage container 106 from storage column 105 and transporting storage container 106 to unloading port column 119. If the target storage container 106 is located deep within stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, the operation also includes temporarily moving the storage container positioned above it before lifting the target storage container 106 from storage column 105. This step (sometimes referred to in the art as “digging”) can be performed using the same container handling vehicle subsequently used to transport the target storage container to unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 specifically for the task of temporarily removing storage container 106 from storage column 105. After removing the target storage container 106 from storage column 105, the temporarily removed storage container 106 can be repositioned back into the original storage column 105. However, the removed storage container 106 can be relocated to another storage column 105 instead.

[0023] When storage container 106 is to be stored in a column 105, one of the container handling vehicles 201, 301, and 401 is instructed to pick up storage container 106 from pick-up port column 120 and transport the storage container to a position above the storage column 105 in which it will be stored. After removing storage container 106 from its target position within stack 107, container handling vehicles 201, 301, and 401 position storage container 106 in the desired location. The removed storage container 106 can then be lowered back into storage column 105 or repositioned to another storage column 105.

[0024] To monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of each storage container 106 within the frame structure 100, the contents of each storage container 106, and the movement of container transport vehicles 201, 301, and 401, so that the required storage containers 106 can be delivered to the required locations at the required time points without collisions between the container transport vehicles 201, 301, and 401, the automated storage and retrieval system 1 includes a control system 500 (in... Figure 1 (as shown in the figure), the control system is typically computerized and usually includes a database for keeping track of the storage container 106.

[0025] The track systems discussed above may be affected by various operational failures, such as damage to vehicle charging stations, blockage of storage containers, and minor issues such as dust on the tracks or damage / loosening of track joints.

[0026] These malfunctions are typically handled by dispatching appropriately equipped manned service vehicles to the rail system.

[0027] It is easy to infer that the track system of an automated storage and retrieval system is a high-risk environment for operators. One way to ensure the safety of service vehicle operators during operation is to shut down the entire storage system, i.e., to immediately stop all container handling vehicles running on the track system.

[0028] This measure could have a significant negative impact on the economics of the entire system, especially for large systems that include hundreds of container handling vehicles.

[0029] In view of all the above, it is desirable to provide a solution to address or at least mitigate one or more of the aforementioned problems that belong to the prior art. Summary of the Invention

[0030] The invention is set forth and characterized in the independent claims, while the dependent claims describe other features of the invention.

[0031] A first aspect of the invention relates to an automated storage and retrieval system according to claim 1. More specifically, the first aspect of the invention relates to a method for improving the safety of a manned service vehicle in a grid-type automated storage and retrieval system, wherein the grid-type automated storage and retrieval system includes a storage grid and an overlying track system, the track system including a first set of parallel tracks arranged in a first direction and a second set of parallel tracks arranged in a second direction perpendicular to the first direction, wherein a manned service vehicle and a remotely operated vehicle capable of accessing the storage grid operate on the track system, the method comprising: - Establish a dynamic restricted zone around the service vehicle, wherein the dynamic restricted zone does not contain remotely operated vehicles and moves with the service vehicle. - To move service vehicles along a route from the starting point toward the target location. - If a remotely operated vehicle on the track system has been assigned a vehicle mission, and the vehicle route assigned to that mission includes movement toward a dynamic restricted area, then a new vehicle route is provided.

[0032] By creating a dynamic restricted zone free of remotely operated vehicles and subsequently preventing operational remotely operated vehicles from entering said zone, a traffic-free zone can be established around an operator-carrying interventional service vehicle. This eliminates the risk of a remotely operated vehicle colliding with a service vehicle and potentially injuring the operator. This advantage is achieved without completely shutting down the entire system, and the system can continue to operate, albeit with a reduced capacity. This is particularly relevant for modern storage and retrieval systems with track systems extending over large areas and equipped with numerous container handling vehicles. In fact, with this invention, the capacity reduction for a system of this size is very small. It should be understood here that the order of the method steps of claim 1 can be implemented in any given order.

[0033] Another advantage of this solution is that it can be implemented using existing components and communication protocols. In fact, sensors and transceivers used in known remotely operated vehicles can be integrated into the service vehicle of this invention. The same applies to current protocols used for communication between the control system of the storage and retrieval system and the remotely operated vehicle; that is, these protocols can be directly used for communication between the control system of the storage and retrieval system and the service vehicle.

[0034] Another aspect of the invention relates to a grid-type automated storage and retrieval system according to claim 10, in which the above-described method can be implemented. For the sake of brevity, the advantages discussed above in conjunction with the method of claim 1 can even be associated with the corresponding system, and will not be discussed further.

[0035] In one aspect, the invention is intended for use in a grid track system arranged across and forming part of a frame structure. More specifically, upright members support the track system. Here, multiple remotely operated vehicles travel on the track system and are used to lift and lower cargo holders from storage columns and into the storage columns, and also to transport cargo holders above the storage columns. During this transport, the remotely operated vehicles move in a horizontal plane.

[0036] In this context, the present invention is intended for use with various types of remote handling vehicles, such as cantilever-based container handling vehicles or container handling vehicles with cavities arranged inside.

[0037] In one aspect, the invention is intended for use in a scenario of an SDG-based track system. Here, SDG stands for single / dual grid. This design is implemented with a single-track guide along one axis and a dual-track guide along the other axis. Using a single track in one direction requires a unit between robots that need to meet. The tracks in an SDG system have different widths. In another aspect, the invention is intended for use in a DDG-based track system. Here, DDG stands for dual / dual grid. This design is implemented with dual-track guides in both directions so that robots can pass each other in both directions. In a DDG system, the walls of all columns will have the same thickness.

[0038] For the purposes of this application, the term "container handling vehicle" as used in the "Background Art" section of this application and the term "remotely operated vehicle" as used in the remainder of this application are synonymous and define autonomous wheeled vehicles that operate on a track system arranged across the top of a frame structure as part of an automated storage and retrieval system.

[0039] Similarly, the terms "storage container" and "storage box" used in the "Background Art" section of this application are synonymous with the term "cargo holder" used in the remainder of this application and define a receiver for storing articles. In the relevant context, the cargo holder of this application can be any of a box, transport box, pallet, tray, or the like. Different types of cargo holders can be used in the same automated storage and retrieval system.

[0040] The relative terms “up,” “down,” “below,” “above,” “higher,” etc., should be understood in their usual sense and as shown in a Cartesian coordinate system. When referring to an orbital system, “up” or “above” should be understood as a position closer to the orbital system (relative to another component), while the terms “down” or “below” should be understood, conversely, as a position further away from the orbital system (relative to another component). Attached Figure Description

[0041] The following figures are attached to aid in understanding the present invention. The figures illustrate embodiments of the invention, which will now be described by way of example only, in which: Figure 1 This is a three-dimensional diagram of the framework structure of an existing automated storage and retrieval system.

[0042] Figure 2 This is a perspective view of a prior art container handling vehicle / remotely operated vehicle having a centrally located cavity for carrying storage containers therein.

[0043] Figure 3a This is a perspective view of a prior art container handling vehicle / remotely operated vehicle having a cantilever for supporting storage containers below.

[0044] Figure 3b This is a perspective view of a prior art container handling vehicle / remotely operated vehicle, viewed from below, having an internally arranged cavity for carrying storage containers therein.

[0045] Figure 4 This is a perspective view of a service vehicle used in an automated storage and retrieval system according to an embodiment of the present invention.

[0046] Figure 5 This is one embodiment of the present invention, which schematically illustrates an implementation of a method for improving the safety of manned service vehicles in a grid-type automated storage and retrieval system.

[0047] Figure 6 This is another embodiment of the present invention, which schematically illustrates an implementation of a method for improving the safety of manned service vehicles in a grid-type automated storage and retrieval system.

[0048] Figure 7 This is another embodiment of the invention, which schematically illustrates an implementation of a method for improving the safety of manned service vehicles in a grid-type automated storage and retrieval system. Detailed Implementation

[0049] In summary, a method is provided for improving the safety of manned service vehicles, such as those carrying operators handling operational failures on a track system, comprising: establishing a dynamic confinement zone (30) around the service vehicle (10); and providing new remotely operated vehicle routes (40) to its assigned route (35), including remotely operated vehicles moving toward the dynamic confinement zone (30). Thus, the operator is protected in this high-risk environment without having to shut down the entire storage system, i.e., without immediately stopping all container handling vehicles operating on the track system. This system also allows operation without additional dedicated components (such as location beacons), relying instead on appropriately modified existing route controllers and existing route hardware and components.

[0050] In the following, embodiments of the invention 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 invention to the subject matter depicted therein.

[0051] The framework structure 100 of the automatic storage and retrieval system 1 is based on the above. Figures 1 to 3bThe existing frame structure 100 is described as being constructed, that is, including a plurality of upright members 102, wherein the frame structure 100 also includes a track system 108 in the X and Y directions.

[0052] The frame structure 100 also includes storage compartments in the form of storage columns 105 disposed between the members 102, wherein storage containers / cargo holders 106 can be stacked in the storage columns 105 in the form of stacks 107.

[0053] The frame structure 100 can have any size. In particular, it should be understood that the frame structure can be larger than... Figure 1 The disclosed frame structure is much wider and / or much longer and / or much deeper. For example, frame structure 100 may have a horizontal range of more than 700 × 700 columns and a storage depth of more than twelve containers.

[0054] As mentioned above, Figure 1 The system includes a control system 500. This control system is compatible with multiple remotely operated vehicles (such as...). Figures 2 to 3b (As shown in detail) radio communication is conducted. More precisely, each remotely operated vehicle has a vehicle controller (not shown) that sends information to / receives information from the control system 500. In a similar manner, the control system 500 also communicates with the vehicle controller of the service vehicle (in conjunction with...). Figure 4 (Discussed in more detail). The control system 500 always has a grasp of the current position of all vehicles, at least the routes of container transport vehicles, and permanent and temporary congestion occurring on the track system 108. To optimize system operation, the control system 500 periodically uses this information to recalculate vehicle routes. The control system 500 also adjusts the routes of specific vehicles from time to time. These route adjustments are then transmitted to the vehicle controllers of the relevant vehicles. The implementation of control steps by the control system 500 can be executed by any suitable type of computer processor or distributed computer processor to run any suitable form of instructions stored in any suitable type of computer-readable medium (including software, firmware, and hardware), as known to those skilled in the art.

[0055] Now refer to Figures 4 to 7 The various aspects of the invention will be discussed in more detail below.

[0056] Figure 4 This is a perspective view of a service vehicle 10 for use in an automated storage and retrieval system according to an embodiment of the present invention. The service vehicle 10 shown can transport the operator 12 along the entire track system 108. The vehicle 10 has a winch mechanism 14 for removing damaged remotely operated vehicles 201, 301, 401 from the track system 108. However, other designs for the service vehicle are also conceivable.

[0057] Service vehicle 10 can be controlled by a control system (500; such as Figure 1 (As shown in the diagram) Full control is achieved. The control system then tracks the movement of the service vehicle 10, for example, by using known radio positioning methods or any other known method the system uses to track remotely operated vehicles. For instance, the robot can count units as it moves on the track system and then report that count to the control system, which thus determines the robot's position on the track system. In another embodiment, the service vehicle 10 can be controlled by an onboard operator 12, but still needs to maintain contact with the control system, i.e., continuously provide its position to the control system. This approach does not require further adjustments to the control system 500.

[0058] Service vehicle 10 may be equipped with an emergency stop device. Figure 4 (Not shown in the image). When the onboard operator 12 deems it appropriate, he / she may shut off by activating the emergency stop device. Figure 1 The entire system. This emergency stop device can also be linked to any access point on the service vehicle itself, so that the emergency stop device can be automatically activated in the event of an unexpected change in the service vehicle, such as when the vehicle's exit door is opened.

[0059] Figure 5 This is one embodiment of the present invention, which schematically illustrates a method for improving... Figure 1 The method for ensuring the safety of the manned service vehicle 10 in the grid-type automated storage and retrieval system shown is implemented.

[0060] More specifically, Figure 5 A portion of the grid-type automated storage and retrieval system 1, as seen from above, is shown. (As combined) Figure 1 As fully discussed, the grid-type automated storage and retrieval system 1 includes a storage grid and an overlay track system 108. For example... Figure 1 As shown, the track system 108 includes a first set of parallel tracks arranged in a first direction X and a second set of parallel tracks arranged in a second direction Y perpendicular to the first direction X. A manned service vehicle (10; as shown in conjunction with...) is also shown. Figure 4 (Shown and discussed) and multiple remotely operated vehicles (201, 301, 401; as combined) capable of accessing the storage grid. Figures 1 to 3b (As shown and discussed), both operate on orbital system 108.

[0061] refer to Figure 5 Furthermore, in a non-limiting embodiment, the control system (500; such as) of the grid-type automatic storage and retrieval system 1 Figure 1 (As shown) can establish service vehicle routes along which service vehicles move (15; as shown) Figure 7 (As shown in the diagram). Typically, this route is then transmitted to service vehicle 10 in the manner described above. The control system then establishes a dynamic restriction zone 30 around service vehicle 10. No remotely operated vehicles 201, 301, or 401 are in dynamic restriction zone 30, and they move with service vehicle 10. Alternatively, the service vehicle route can be provided by the onboard operator of service vehicle 10. Service vehicle 10 then moves along the route while control system 500 ensures that all remotely operated vehicles 201, 301, and 401 avoid dynamic restriction zone 30 to maintain a state where no remotely operated vehicles are present within the dynamic restriction zone. More specifically, if remotely operated vehicles 201, 301, and 401 on track system 108 have been assigned vehicle tasks, and the assigned vehicle task's route includes movement toward dynamic restriction zone 30, control system 500 provides new vehicle routes so that remotely operated vehicles 201, 301, and 401 can avoid dynamic restriction zone 30. This will combine... Figure 6 A more detailed explanation is needed. Please refer to [the original source]. Figure 5 This scenario applies to the four remotely operated vehicles 201, 301, and 401 associated with the route arrows, i.e., those remotely operated vehicles facing the dynamic restriction zone 30. The remaining remotely operated vehicles 201, 301, and 401 are free to move on the track system 108. It should be understood that route calculations for remotely operated vehicles 201, 301, and 401 to ensure they avoid the dynamic restriction zone 30 may include flight time or other time calculations that take into account the future positions of remotely operated vehicles 201, 301, and 401 and the service vehicle, if either or both are moving.

[0062] Here, the dynamic restriction zone 30 is typically quadrilateral in shape and its size is adjustable. Specifically, the size of the dynamic restriction zone can be adjusted as the service vehicle 10 moves from a starting position to a target position. The size of the dynamic restriction zone 30 may depend on whether the service vehicle 10 is stationary or in motion. Therefore, a stationary vehicle 10 requires a smaller area 30 than a moving vehicle 10. In another embodiment, the size of the dynamic restriction zone 30 may depend on the speed of the moving service vehicle 10; generally, the faster the vehicle 10 moves, the larger the area 30 required.

[0063] In one example, the dynamic confinement zone 30 has a fixed size during the movement of the service vehicle 10 and moves with the service vehicle 10. In other words, during the movement of the service vehicle 10, remotely operated vehicles 201, 301, and 401 are prevented from approaching a fixed proportion of the storage columns 105. The fact that the dynamic confinement zone 30 moves with the service vehicle 10 means that remotely operated vehicles 201, 301, and 401 can subsequently approach the storage columns 105 that were previously within the dynamic confinement zone 30. This minimizes the proportion of storage columns 105 that cannot be approached by remotely operated vehicles 201, 301, and 401. Once the service vehicle 10 stops at its intended location, the size of the dynamic confinement zone 30 can be reduced. This increases the proportion of operable storage columns 105. Once the service vehicle 10 has completed its task at its intended location, the dynamic confinement zone 30 can be increased back to its previous size before the service vehicle 10 moves again.

[0064] Still referencing Figure 5 In the embodiment shown, the square arrows indicate the direction of movement of service vehicle 10. The previously mentioned route arrows associated with certain individual remotely operated vehicles indicate the direction in which these remotely operated vehicles can move after being provided with new vehicle routes. This will combine... Figure 6 To explain in more detail.

[0065] By creating a dynamic restricted zone 30 free of remotely operated vehicles 201, 301, and 401, and subsequently preventing operational remotely operated vehicles 201, 301, and 401 from entering said zone 30, a traffic-free zone can be established around the operator-carrying interventional service vehicle 10. This eliminates the risk of remotely operated vehicles 201, 301, and 401 colliding with the service vehicle 10 and potentially injuring the operator. This advantage is achieved without completely shutting down the entire system 1, allowing the system 1 to continue operating, although with a reduction in capacity. This is particularly concerning for modern storage and retrieval systems with track systems extending over large areas and equipped with numerous container handling vehicles. In fact, with the present invention, the capacity reduction for a system of this size can be very small.

[0066] Another general advantage of this solution is that it can be implemented using existing components and communication protocols. In fact, the sensors and transceivers used in the known remotely operated vehicles 201, 301, and 401 can be integrated into the service vehicle 10. The same applies to the protocols currently used for communication between the control system of the storage and retrieval system 1 and the remotely operated vehicles 201, 301, and 401; that is, these protocols can be directly used for communication between the control system of the storage and retrieval system 1 and the service vehicle 10.

[0067] Route changes can take various forms. In one implementation, remotely operated vehicles 201, 301, and 401 can be instructed to adjust their speed and / or direction. More specifically, the speeds of remotely operated vehicles 201, 301, and 401 can be adjusted to higher values ​​to reduce the risk of them entering the dynamic restriction zone 30. This scenario can be applied when remotely operated vehicles 201, 301, and 401 are facing the dynamic restriction zone 30 and their assigned vehicle routes include vehicle tasks moving away from the dynamic restriction zone 30. In a related context, remotely operated vehicles 201, 301, and 401 can be instructed to reverse their direction of movement. This scenario can be applied when remotely operated vehicles 201, 301, and 401 suddenly face the dynamic (i.e., moving) restriction zone 30 and move towards the service vehicle 10 located within the dynamic restriction zone 30. Furthermore, remotely operated vehicles 201, 301, and 401 can be instructed to stop.

[0068] Additionally, the routes of remotely operated vehicles 201, 301, and 401 can be implemented or adjusted so that they do not cross the storage column 105 aligned with (i.e., in the direction of the dynamic restriction zone 30). For example, if Figure 5 If the vehicles 201, 301, and 401 at the top of the list associated with the route arrow are assigned a vehicle task involving traversing three storage columns 105 in the negative Y direction and ten storage columns 105 in the positive X direction, then the routes of these remotely operated vehicles 201, 301, and 401 can be implemented or adjusted such that they traverse ten storage columns 105 in the positive X direction and then traverse three storage columns 105 in the negative Y direction. This implementation or adjustment of the route prevents the remotely operated vehicles 201, 301, and 401 from traversing the storage columns 105 aligned with the dynamic restriction zone 30 in the negative Y direction (i.e., moving towards the dynamic restriction zone 30). As another example, if Figure 5 The rightmost vehicles 201, 301, and 401 associated with the route arrow are assigned vehicle tasks involving traversing seven storage columns in the negative X direction and eight storage columns in the positive Y direction. The routes of these remotely operated vehicles 201, 301, and 401 can then be implemented or adjusted such that they traverse eight storage columns 105 in the positive Y direction and then seven storage columns 105 in the negative X direction. This route implementation and adjustment reduces the risk of remotely operated vehicles 201, 301, and 401 moving into the dynamic restriction zone 30.

[0069] Still referencing Figure 5The illustrated implementation envisions providing any of the aforementioned instructions only to remotely operated vehicles 201, 301, and 401 located within a predetermined distance of service vehicle 10. This ensures that all other remotely operated vehicles 201, 301, and 401, regardless of their respective positions on the orbital system 108, are not subject to any form of behavioral constraint. This implementation is particularly noteworthy in large systems comprising numerous remotely operated vehicles. For example, time-of-flight calculations can be considered to assess the likelihood of future positional overlap, thereby informing selection.

[0070] Figure 6 This is another embodiment of the present invention, which schematically illustrates an implementation of a method for improving the safety of manned service vehicles in a grid-type automated storage and retrieval system.

[0071] More specifically, Figure 6 It shows Figure 5 A portion of the grid-type automatic storage and retrieval system 1 shown. Figure 6 The scenario shown can be applied to remotely operating vehicle controlled systems 201, 301, and 401 (e.g., 500). Figure 1 As shown, a vehicle task is assigned to approach the storage unit 50 located between the remotely operated vehicles 201, 301, 401 and the boundary 33 of the dynamic restriction zone 30. Typically, and for efficiency reasons, this vehicle task will involve a vehicle route (35; in) that involves the remotely operated vehicles 201, 301, 401 moving in a straight line or directly toward the storage unit 50. Figure 6 (Represented by dashed lines) are associated. However, this vehicle task must be completed without violating primary operating guidelines, namely, the vehicle route must not include movement of remotely operated vehicles 201, 301, and 401 toward the dynamic restriction zone 30, ultimately ensuring that remotely operated vehicles 201, 301, and 401 avoid the dynamic restriction zone 30. In response, the control system 500 needs to provide a new vehicle route 40. More specifically, and as... Figure 6As seen in the diagram, the new vehicle route is implemented as follows: First, remotely operated vehicles 201, 301, and 401 are instructed to move parallel to the boundary 33 until they are no longer facing the dynamic restriction zone 30. Then, they are instructed to move perpendicular to the boundary 33 until they are aligned with the storage unit 50. Finally, they are instructed to move parallel to the boundary 33 until they reach the storage unit 50. The movement of remotely operated vehicles 201, 301, and 401 along the new route 40 is visualized using route arrows. In this way, remotely operated vehicles 201, 301, and 401 can approach a specific storage unit 50 without violating system policies; that is, vehicles 201, 301, and 401 complete the task of approaching a specific storage unit but do not move towards the service vehicle 10 and its surrounding dynamic restriction zone 30.

[0072] In other words, if remotely operated vehicles 201, 301, and 401 are assigned a task to approach storage unit 50 located between remotely operated vehicles 201, 301, and 401 and dynamic restriction zone 30, the following steps are performed: instructing remotely operated vehicles 201, 301, and 401 to move along a first direction (e.g., the X or Y direction) to a storage column 105 not aligned with dynamic restriction zone 30; instructing remotely operated vehicles 201, 301, and 401 to move in a second direction perpendicular to the first direction to a storage column 105 aligned with the storage unit 50 to be approached; and instructing remotely operated vehicles 201, 301, and 401 to move upwards in a third direction opposite to the first direction to the storage unit 50 to be approached. Figure 5 The rightmost vehicles 201, 301, and 401 associated with the line arrow are assigned vehicle tasks to reach storage unit 50, instructing vehicles 201, 301, and 401 to: move in the negative Y direction (first direction) to a storage column 105 not aligned with the dynamic restriction zone 30; move in the negative X direction (second direction) to a storage column 105 aligned with storage unit 50; and move in the positive Y direction (third direction) to storage unit 50. This reduces the risk of remotely operating vehicles 201, 301, and 401 moving into the dynamic restriction zone 30.

[0073] Figure 7 This is another embodiment of the present invention, which schematically illustrates an implementation of a method for improving the safety of a manned service vehicle 10 in a grid-type automated storage and retrieval system 1.

[0074] More specifically, Figure 7 An exemplary grid-type automated storage and retrieval system 1, as shown from above, is illustrated. (As in conjunction with...) Figure 5The fully discussed grid-type automated storage and retrieval system 1 includes a storage grid and an overlying track system 108. Multiple remotely operated vehicles ( Figure 7 (Not shown) operates on the track system. Service vehicle 10 has been dispatched to repair a track system malfunction. Therefore, a route 15 has been established (by the control system or operator) for the service vehicle 10, positioned at the starting position 20, to reach the target position 25. As can be seen, the service vehicle 10, moving along said route 15, is approximately positioned midway between the starting position 20 and the target position 25. A dynamic confinement zone 30, without a remotely operated vehicle and moving with the service vehicle, is also shown.

[0075] like Figure 7 As shown, the control system establishes channels 45 extending on both sides of the service vehicle route 15. The width of the dynamic restriction zone 30 should be equal to or greater than the width of the channels 45. The purpose of the channels 45 is to optimize the operation of the service vehicle 10 without interrupting the important operation of excavating cargo retainers. Therefore, if cargo retainer excavation is being carried out within the channels 45, the excavated cargo retainers should be (temporarily) placed outside the channels 45.

[0076] Still referencing Figure 7 The returning service vehicle 10 typically travels along the same route 15, but in the opposite direction. This helps to minimize the number of vehicle route adjustments required for remotely operated vehicles and improves overall system efficiency.

[0077] This article also discloses several instances based on the following numbered clauses.

[0078] Clause 1. A method for improving the safety of a manned service vehicle (10) in a grid-type automated storage and retrieval system (1), wherein the grid-type automated storage and retrieval system (1) includes a storage grid (104) and an overlying track system (108), the track system (108) including a first set of parallel tracks (110) arranged in a first direction (X) and a second set of parallel tracks (111) arranged in a second direction (Y) perpendicular to the first direction (X), wherein the manned service vehicle (10) and remotely operated vehicles (201, 301, 401) capable of accessing the storage grid (104) operate on the track system (108), the method comprising: - A dynamic restriction zone (30) is established around the service vehicle (10), wherein no remotely operated vehicles (201, 301, 401) are present in the dynamic restriction zone (30) and move with the service vehicle (10). - To move the service vehicle (10) along the route (1) from the starting position (20) toward the target position (25), - If a remotely operated vehicle (201, 301, 401) on the track system (108) has been assigned a vehicle task and the vehicle route (35) assigned to that vehicle task includes movement toward the dynamic restricted area (30), then a new vehicle route (40) is provided.

[0079] Clause 2. The method described in Clause 1, wherein the step of providing a new vehicle route (40) includes: - Instruct remotely operated vehicles (201, 301, 401) to adjust their speed and / or direction.

[0080] Clause 3. The method according to Clause 2, wherein the step of instructing the remotely operated vehicle (201, 301, 401) to adjust its speed and / or direction includes: adjusting the speed of the remotely operated vehicle (201, 301, 401) to a preset value.

[0081] Clause 4. The method according to any one of Clauses 2 to 3, wherein the step of instructing the remotely operated vehicle (201, 301, 401) to adjust its speed and / or direction of movement comprises: reversing the direction of movement of the remotely operated vehicle (201, 301, 401).

[0082] Clause 5. The method according to any one of the preceding clauses, wherein a new vehicle route (40) is provided to a remotely operated vehicle (201, 301, 401) located at a predetermined distance from the service vehicle (10).

[0083] Clause 6. The method according to any one of the preceding clauses, wherein the method comprises: - A passageway (45) extending on both sides of the service vehicle route (15), wherein the width of the dynamic restriction zone (30) is equal to or greater than the width of the passageway (45).

[0084] Clause 7. The method according to Clause 6, wherein the method comprises: - If cargo holder excavation is being carried out inside the passage (45), the excavated cargo holder is placed outside the passage (45).

[0085] Clause 8. The method according to any one of the preceding clauses, wherein the dynamic restriction area (30) is quadrilateral in shape and the size of the dynamic restriction area is adjustable.

[0086] Clause 9. The method according to any one of the preceding clauses, wherein the method comprises: - If a remotely operated vehicle (201, 301, 401) on the track system (108) has been assigned a vehicle task close to the storage unit (50), and the storage unit is located between the remotely operated vehicle (201, 301, 401) and the boundary (33) of the dynamic restriction zone (30) facing the vehicle (201, 301, 401), a new remotely operated vehicle route (40) is provided, specifically including the following steps: - Instruct the remotely operated vehicles (201, 301, 401) to move parallel to the boundary (33) until the remotely operated vehicles (201, 301, 401) are no longer facing the dynamic restriction zone (30). - Instruct the remotely operated vehicles (201, 301, 401) to move perpendicularly to the boundary (33) until the remotely operated vehicles (201, 301, 401) are aligned with the storage unit (50). - Instruct the remotely operated vehicles (201, 301, 401) to move parallel to the boundary (33) until they reach the storage unit (50).

[0087] Clause 10. A grid-type automated storage and retrieval system (1) comprising a storage grid (104) and an overlying track system (108), the track system (108) comprising a first set of parallel tracks (110) arranged in a first direction (X) and a second set of parallel tracks (111) arranged in a second direction (Y) perpendicular to the first direction (X), wherein the system (1) comprises a manned service vehicle (10) operating on the track system (108) to move along a service vehicle route (15) from a starting position (20) toward a target position (25), wherein the system (1) comprises remotely operated vehicles (201, 301, 401) operating on the track system (108) and capable of accessing the storage grid (104), the system (1) being configured to: - A dynamic restriction zone (30) is established around the service vehicle (10), wherein the dynamic restriction zone (30) is not occupied by remotely operated vehicles (201, 301, 401) and moves with the service vehicle (10), and - If a remotely operated vehicle (201, 301, 401) on the track system (108) has been assigned a vehicle task and the vehicle route (35) assigned to that vehicle task includes movement toward the dynamic restricted area (30), then a new vehicle route (40) is provided.

[0088] Clause 11. The grid-type automated storage and retrieval system (1) as described in Clause 10, the system (1) being configured to instruct remotely operated vehicles (201, 301, 401) to adjust their speed and / or direction of movement.

[0089] Clause 12. The grid-type automated storage and retrieval system (1) as described in Clause 11, the system (1) being configured to adjust the speed of remotely operated vehicles (201, 301, 401) to a preset value.

[0090] Clause 13. A grid-type automated storage and retrieval system (1) according to any one of Clauses 11 to 12, said system (1) being configured to reverse the direction of movement of the remotely operated vehicles (201, 301, 401).

[0091] Clause 14. A grid-type automated storage and retrieval system (1) according to any one of Clauses 10 to 13, the system (1) being configured to provide a new remotely operated vehicle route (40) to a remotely operated vehicle (201, 301, 401) located at a predetermined distance from the service vehicle (10).

[0092] Clause 15. A grid-type automated storage and retrieval system (1) according to any one of Clauses 10 to 14, the system (1) being configured to establish a passageway (45) extending on both sides of a service vehicle route (15), wherein the width of a dynamic restriction zone (30) is equal to or greater than the width of the passageway (45).

[0093] Clause 16. The grid-type automated storage and retrieval system (1) according to Clause 15, the system (1) is configured to place the excavated cargo retainer outside the channel (45) if a cargo retainer excavation operation is being carried out in the channel (45).

[0094] Clause 17. A grid-type automatic storage and retrieval system (1) according to any one of Clauses 10 to 16, wherein the dynamic restriction zone (30) is quadrilateral in shape and the size of the dynamic restriction zone is adjustable.

[0095] Clause 18. A grid-type automated storage and retrieval system (1) according to any one of Clauses 10 to 17, wherein if a remotely operated vehicle (201, 301, 401) has been assigned a vehicle task by the system (1) to approach a storage unit (50), and the storage unit is located between the remotely operated vehicle (201, 301, 401) and the boundary (33) of the dynamic restriction zone (30) facing the vehicle (201, 301, 401), the system (1) is configured to provide a new remotely operated vehicle route (40) as follows: - Instruct the remotely operated vehicles (201, 301, 401) to move parallel to the boundary (33) until the remotely operated vehicles (201, 301, 401) are no longer facing the dynamic restriction zone (30). The remotely operated vehicles (201, 301, 401) are instructed to move perpendicularly to the boundary (33) until the remotely operated vehicles (201, 301, 401) are aligned with the storage unit (50). - Instruct the remotely operated vehicles (201, 301, 401) to move parallel to the boundary (33) until they reach the storage unit (50).

[0096] In the foregoing description, various aspects of a method for improving the safety of manned service vehicles operating on a grid-type automated storage and retrieval system have been described with reference to illustrative embodiments. Specific figures, systems, and configurations have been set forth for illustrative purposes to provide a comprehensive understanding of the system and its operation. However, this specification is not intended to be interpreted in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, that will be apparent to those skilled in the art to which the disclosed subject matter pertains, are considered to fall within the scope of this invention.

[0097] List of reference numerals

[0098] 1. Storage and Retrieval System

[0099] 10 service vehicles

[0100] 12 operators

[0101] 14. Winch Mechanism

[0102] 15 Service Vehicle Routes

[0103] 20 starting position

[0104] 25 Target Location

[0105] 30 Dynamic Restricted Zones

[0106] 33. Boundaries of the dynamic restriction zone

[0107] 35 Remote-operated vehicle routes

[0108] 40 new remote-operated vehicle routes

[0109] 45 channels

[0110] 50 storage units

[0111] 100 frame structure

[0112] 102. Upright members of the frame structure

[0113] 104 storage grid

[0114] 105 storage columns

[0115] 106 Storage Container / Cargo Holder

[0116] Specific location of 106' storage container

[0117] 107 Stacking of storage containers

[0118] 108 orbital system

[0119] 110 Parallel track in the first direction (X)

[0120] 111 Parallel track in the second direction (Y)

[0121] 112 Access Opening

[0122] 119 First Port Column

[0123] 201 is a container handling vehicle belonging to the prior art.

[0124] 201a Container Handling Vehicle 201 Vehicle Body

[0125] 201b Drive unit / wheel unit, first direction (X)

[0126] 201c drive unit / wheel unit, second direction (Y)

[0127] 301 Cantilever-based container handling vehicle

[0128] 301a Container Handling Vehicle 301 Vehicle Body

[0129] 301b Drive device in the first direction (X)

[0130] 301c Drive device in the second direction (Y)

[0131] 401 refers to container handling vehicles that are part of the prior art.

[0132] 401a Container Handling Vehicle 401 Vehicle Body

[0133] 401b Drive device in the first direction (X)

[0134] X First Direction

[0135] Y second direction

[0136] Z Third-party direction

[0137] 500 control system

Claims

1. A method for improving the safety of manned service vehicles (10) on a rail system, wherein remotely operated vehicles (201, 301, 401) operate on the rail system, the method comprising: A dynamic restricted zone (30) is established around the service vehicle (10). The service vehicle (10) is moved from the starting position (20) toward the target position (25) along the service vehicle route (15). If a remotely operated vehicle (201, 301, 401) on the track system (108) has been assigned a vehicle task, and the remotely operated vehicle route (35) assigned to that vehicle task includes movement toward the dynamic restricted area (30), then a new remotely operated vehicle route (40) is provided.

2. The method according to claim 1, used in a grid-type automated storage and retrieval system (1), wherein, The grid-type automatic storage and retrieval system (1) includes a storage grid (104), and the track system includes an overlying track system (108), which includes a first set of parallel tracks (110) arranged in a first direction (X) and a second set of parallel tracks (111) arranged in a second direction (Y) perpendicular to the first direction (X).

3. The method according to claim 2, further comprising: Keep the remotely operated vehicles (201, 301, 401) out of the dynamic restricted area (30).

4. The method according to claim 2 or claim 3, wherein, The method further includes moving the dynamic restriction zone along with the service vehicle (10).

5. The method according to claim 4, wherein, The size of the dynamic restriction zone is fixed during the movement of the service vehicle (10).

6. The method according to claim 1, wherein, The steps for providing new vehicle routes (40) include: Instructing the remotely operated vehicles (201, 301, 401) to adjust their speed and / or direction, and preferably, the step of instructing the remotely operated vehicles (201, 301, 401) to adjust their speed and / or direction includes: adjusting the speed of the remotely operated vehicles (201, 301, 401) to a preset value.

7. The method according to claim 6, wherein, The step of instructing the remotely operated vehicles (201, 301, 401) to adjust their speed and / or direction includes reversing the direction of movement of the remotely operated vehicles (201, 301, 401).

8. The method according to any one of the preceding claims, wherein, The new vehicle route (40) is provided to the remotely operated vehicles (201, 301, 401) located at a predetermined distance from the service vehicle (10).

9. The method according to any one of the preceding claims, wherein, The method includes: A passageway (45) extending on both sides of the service vehicle route (15) is established, wherein the width of the dynamic restriction zone (30) is equal to or greater than the width of the passageway (45).

10. The method according to claim 9, wherein, The method includes: If cargo holder excavation is being carried out within the channel (45), the excavated cargo holder is placed outside the channel (45).

11. The method according to any one of the preceding claims, wherein, The dynamic restriction area (30) is quadrilateral in shape, and the size of the dynamic restriction area is adjustable.

12. The method according to any one of the preceding claims, wherein, The method includes: If a remotely operated vehicle (201, 301, 401) on the track system (108) has been assigned a vehicle task close to the storage unit (50), and the storage unit is located between the remotely operated vehicle (201, 301, 401) and the boundary (33) of the dynamic restriction zone (30) facing the vehicle (201, 301, 401), a new remotely operated vehicle route (40) is provided, specifically including the following steps: The remotely operated vehicles (201, 301, 401) are instructed to move parallel to the boundary (33) until the remotely operated vehicles (201, 301, 401) are no longer facing the dynamic restriction zone (30). The remotely operated vehicles (201, 301, 401) are instructed to move perpendicularly to the boundary (33) until the remotely operated vehicles (201, 301, 401) are aligned with the storage unit (50). The remotely operated vehicles (201, 301, 401) are instructed to move parallel to the boundary (33) until they reach the storage unit (50).

13. A computer-readable medium storing instructions for implementing the method according to any one of claims 1 to 12.

14. A grid-type automatic storage and retrieval system (1), comprising: The track system, the manned service vehicle (10) and the remotely operated vehicle (201, 301, 401) operate on the track system; And a controller configured to execute instructions for implementing the method according to any one of claims 1 to 13.

15. The grid-type automated storage and retrieval system (1) according to claim 14, comprising a storage grid (104), and the track system comprising an overlying track system (108), the overlying track system comprising a first set of parallel tracks (110) arranged in a first direction (X) and a second set of parallel tracks (111) arranged in a second direction (Y) perpendicular to the first direction (X), wherein, The manned service vehicle (10) is capable of operating (108) to move from the starting position (20) toward the target position (25) along the service vehicle route (15), and wherein the remotely operated vehicles (201, 301, 401) are capable of approaching the storage grid (104).

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