Robotic picking vehicle and related systems and methods

Abstract

A robotic picking vehicle (501) for operating in an automated storage and retrieval system (1) is described. The robotic picking vehicle (501) comprises: an enclosure (E) defining an enclosed area (510); a picking device (550) arranged in the enclosed area (510), wherein the picking device (550) is configured to pick items stored in storage containers (106) located within the enclosure (E); a personnel barrier (520') for allowing a person to enter the enclosed area (510), wherein the personnel barrier is operable between a locked state and an unlocked state; and a vehicle barrier (551) for allowing at least a portion of a container handling vehicle (301) to enter the enclosed area (510), wherein the vehicle barrier is movable between an open state and a closed state. The personnel barrier (520') is configured to operate in the unlocked state of the personnel barrier only when the vehicle barrier (551) is in its closed state.

Description

Technical Field

[0001] The present invention relates to a robotic picking vehicle, an automated storage and retrieval system including the robotic picking vehicle, and a method for personnel to enter and exit the robotic picking vehicle. Background Technology

[0002] Figure 1 The prior art automated storage and retrieval system 1 with a frame structure 100 is disclosed, and Figure 2 , Figure 3 and Figure 4 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 in rows between the upright members 102. In these storage rows 105, storage containers 106 (also referred to as boxes) are stacked one on top of another to form a stack 107. Members 102 can typically be made of metal, such as extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a guide rail system 108 arranged on top of the frame structure 100, through which multiple container handling vehicles 201, 301, and 401 can run to lift and lower storage containers 106 from and into storage columns 105, and also transport storage containers 106 above storage columns 105. The guide rail system 108 includes: a first set of parallel guide rails 110 arranged to guide the container handling vehicles 201, 301, and 401 to move in a first direction X on top of the frame structure 100; and a second set of parallel guide rails 111 arranged perpendicular to the first set of parallel guide rails 110 to guide the container handling vehicles 201, 301, and 401 to move in a second direction Y perpendicular to the first direction X. The containers 106 stored in column 105 are accessed by container transport vehicles 201, 301, and 401 through access openings 112 in the guide rail system 108. The container transport vehicles 201, 301, and 401 can move laterally above the storage column 105, that is, 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 raising and lowering of the containers into the column 105. The stack 107 of the containers 106 is typically self-supporting.

[0006] Each prior art container handling vehicle 201, 301, 401 includes a body 201a, 301a, 401a and a first set of wheels and a second set of wheels 201b, 201c, 301b, 301c, 401b, 401c, which respectively enable the container handling vehicle 201, 301, 401 to move laterally in the X and Y directions. Figure 2 , Figure 3 and Figure 4 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 rails in the first group of parallel rails 110, and the second group of wheels 201c, 301c, and 401c are arranged to engage with two adjacent rails in the second group of parallel rails 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 set of parallel rails 110 and 111 at any given time.

[0007] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device for vertically transporting the storage container 106, such as raising the storage container 106 from and lowering it into the storage row 105. The lifting device includes one or more clamping / engaging devices adapted to engage the storage container 106, and these clamping / engaging devices are lowerable from vehicles 201, 301, 401, allowing adjustment of the position of the clamping / engaging devices relative to vehicles 201, 301, 401 in a third direction Z orthogonal to the first direction X and the second direction Y. A portion of the clamping device of container handling vehicles 301, 401 is... Figure 3 and Figure 4 The figures are denoted by reference numerals 304 and 404. Figure 2 The clamping device of the container handling device 201 is located within the vehicle body 201a and is therefore not shown. The lifting device may include a lifting frame 404d suspended from the lifting belt 404a. The lifting belt 404a provides power and communication between the container handling vehicle and the lifting frame 404d. The lifting frame 404d may include a clamping engagement device / gripper 404b for connecting to the clamping recess of the storage container 106. A guide pin 404c facilitates alignment of the gripper 404b relative to the clamping recess of the storage container 106.

[0008] Generally, and for the purposes of this application, Z=1 indicates the uppermost layer below guide rails 110 and 111 that can be used to store storage containers, that is, the layer immediately below guide rail system 108; Z=2 indicates the second layer below guide rail system 108; Z=3 indicates the third layer, and so on. Figure 1In the exemplary prior art disclosed herein, Z=8 represents the bottommost layer of the storage container. Similarly, X=1…n and Y=1…n represent the position of each storage column 105 in the horizontal plane. Therefore, as an example, and using in Figure 1 The Cartesian coordinate system X, Y, Z indicated in the figure can be said to be in Figure 1 The storage container marked 106 occupies storage positions X=17, 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, it can also be said that... Figure 1 The storage container shown extends above the guide rail system 108 and is arranged in the layer at Z=0.

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

[0010] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or space for receiving and loading the storage container 106 during transport on the rail system 108. The storage space may include cavities internally arranged within the vehicle body 201a, 401a, such as… Figure 2 and Figure 4 The contents of these applications are incorporated herein by reference, as shown (illustrating a cavity container transport vehicle) and as described, for example, in WO2015 / 193278 A1 and WO 2019 / 206487 A1.

[0011] Figure 3 An alternative configuration of a container handling vehicle 301 with a cantilever structure (referred to as a cantilever container handling vehicle) is shown. Such a vehicle is described in detail in, for example, NO317366, the contents of which are also incorporated herein by reference.

[0012] Figure 2 The occupied area of ​​the cavity container handling 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, for example, as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein may mean “horizontal”.

[0013] Alternatively, Figure 4 and Figure 5 The area occupied by the cavity container transport vehicle 401 shown in the figure can be larger than that of the container transport vehicle 401 shown in the figure. Figure 1 and Figure 4 The horizontal area defined by the storage column 105 shown is, for example, as disclosed in WO 2014 / 090684 A1 or WO 2019 / 206487A1.

[0014] The guide rail system 108 typically includes guide rails with grooves in which the wheels of a vehicle travel. Alternatively, the guide rails 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 tracks. Each guide rail may include one track, or each guide rail 110, 111 may include two parallel tracks. In other guide rail systems 108, each guide rail in one direction (e.g., the X direction) may include one track and each guide rail in another perpendicular direction (e.g., the Y direction) may include two tracks. Each guide rail 110, 111 may also include two track members fastened together, each track member providing one of the two tracks provided by each guide rail.

[0015] WO 2018 / 146304 A1 (the contents of which are incorporated herein by reference) shows a common configuration of a guide rail system 108 comprising guide rails and parallel tracks in both the X and Y directions.

[0016] In the frame structure 100, most columns are storage columns 105, that is, columns 105 in which storage containers 106 are stored in a stacked manner 107. However, some columns 105 may serve other purposes. Figure 1 In this configuration, 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 in or out of it. 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 be in any direction, i.e., horizontal, inclined, and / or vertical. For example, storage containers 106 can be placed in random or dedicated columns 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 in various directions via means such as transport vehicles, trolleys, or other transport lines. It should be noted that the term "inclined" indicates that the transport of storage container 106 has a general transport direction between horizontal and vertical.

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

[0018] The storage and retrieval station is typically a picking station or a storage station where product items are removed from or placed into storage container 106. At the picking station or storage station, storage container 106 is typically not removed from the automated storage and retrieval system 1, but is returned to frame structure 100 after storage and retrieval. The port 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), transport vehicles (e.g., trains or trucks), or production facilities.

[0019] Storage containers are typically transported between port lines 119 and 120 and the access station using a conveyor system that includes conveyors.

[0020] If port columns 119, 120 and access stations are located at different horizontal levels, the conveying 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 conveying system can be arranged to transfer storage container 106 between different frame structures, for example, as described in WO 2014 / 075937 A1, the contents of which are incorporated herein by reference.

[0022] The storage system can also use port columns 119, 120 to transfer storage containers between the guide rail system 108 on top of the frame structure 100 and a container transfer vehicle arranged below the lower end of the port columns. Such a storage system and suitable container transfer vehicles are disclosed in WO 2019 / 238694 A1 and WO 2019 / 238697 A1, the contents of which are incorporated herein by reference.

[0023] A potential drawback of using container transfer vehicles to remove storage containers from the bottom of the port column and to transport them to the bottom of the port column is the time dependency between the container transfer vehicles and the container handling vehicles used to remove / transport storage containers through the port column.

[0024] When you need to access the stored Figure 1When a storage container 106 is in one of the multiple columns 105, one of the multiple container handling vehicles 201, 301, 401 is instructed to remove the target storage container 106 from its location and transport it to the unloading port column 119. This operation involves moving the container handling vehicles 201, 301, 401 to a position above the storage column 105 where the target storage container 106 is located, removing the storage container 106 from the storage column 105 using the lifting device 116 of the container handling vehicles 201, 301, 401, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are placed above the target storage container 106, the operation also involves temporarily moving the storage container placed above the target storage container before lifting the target storage container 106 from the 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 the target storage container 106 has been removed from storage column 105, the temporarily removed storage container 106 can be repositioned into the initial storage column 105. However, the removed storage container 106 can alternatively be repositioned into another storage column 105.

[0025] When storage container 106 is to be stored in one of the multiple columns 105, one of the multiple container handling vehicles 201, 301, 401 is instructed to pick up storage container 106 from pick-up port column 120 and transport it to a position above the storage column 105 where it will be stored. After removing any storage container 106 located at or above the target position within the stack 107, container handling vehicles 201, 301, 401 position the storage container 106 at the desired location. The removed storage container 106 can then be lowered back into the storage column 105 or repositioned to another storage column 105.

[0026] In order 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, 401, so that the desired storage container 106 can be delivered to the desired location at a desired time without the container transport vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0027] The present invention is proposed in view of the above-mentioned disadvantages. Summary of the Invention

[0028] The summary of this invention is provided to illustrate the choice of concepts further described herein in a simplified form. This summary is not intended to identify key or essential features of the invention.

[0029] The invention is set forth and characterized in the independent claims, while the dependent claims describe other optional features. Embodiments of the invention enable personnel to safely enter and remain inside robotic picking vehicles operating on a running grid.

[0030] A common feature of all embodiments of the invention described herein is the possibility of entering and exiting a vehicle on an operating grid. "Operating grid" should be understood to refer to an automated storage and retrieval system, wherein, for example, reference... Figures 1 to 4 The described container handling vehicle is in operation, and the system is not shut down. That is, the container handling vehicle can move within the automated storage and retrieval system. Humans can enter, occupy, and leave the robotic picking vehicle while the automated storage and retrieval system is in this operational state.

[0031] A robotic picking vehicle for operation in an automated storage and retrieval system is described, the robotic picking vehicle comprising: -Outer shell, defining an enclosed area; - A picking device, arranged in an enclosed area, wherein the picking device is configured to pick items stored in storage containers located within a housing; - A personnel barrier for allowing personnel access to the enclosed area, wherein the personnel barrier is operable between a locked and unlocked state; and - A vehicle barrier for allowing at least a portion of a container transport vehicle to enter an enclosed area, wherein the vehicle barrier is movable between an open and closed state; - The personnel barrier is configured to operate only when the vehicle barrier is in its closed state.

[0032] The robotic picking vehicle may further include: a first transfer location, arranged in an enclosed area, configured to support a storage container; a container transport vehicle entry point, including a first opening in the housing; and a personnel entry point, including a second opening in the housing; wherein the vehicle barrier is movable between the following states: - Open state, wherein the vehicle barrier allows at least a portion of the container transport vehicle to enter the enclosed area through the container transport vehicle entry point, enabling the container transport vehicle to position the storage container at a first transfer position and remove the storage container from the first transfer position, and - Closed state, where the vehicle barrier prevents container transport vehicles from entering the closed area through the container transport vehicle entry point; The personnel barrier can operate between the following states: -Unlocked state, wherein the personnel barrier is configured to allow personnel to enter the enclosed area through personnel access points; and - Locked-out state, where personnel barriers are configured to prevent personnel from entering the enclosed area through personnel access points.

[0033] The robotic picking vehicle may also include a moving device for moving the robotic picking vehicle. The moving device can be used to move the robotic picking vehicle in a first direction (X) and a second direction (Y) perpendicular to the first direction (X).

[0034] A robotic picking vehicle for operation in an automated storage and retrieval system is also described, the robotic picking vehicle comprising: - A moving device for moving a robot picking vehicle in a first direction and a second direction perpendicular to the first direction; -Outer shell, defining an enclosed area; - Picking device, arranged in an enclosed area, configured to pick items stored in storage containers located within a housing; - A first transfer location, arranged in the enclosed area, the first transfer location being configured to support the storage container; - Container handling vehicle entry point, including the first opening located in the shell; -Personnel access points, including a second opening located within the enclosure; - Vehicle barrier, capable of moving between the following states: In the open state, the vehicle barrier allows at least a portion of the container transport vehicle to enter the enclosed area through the container transport vehicle entry point, enabling the container transport vehicle to position the storage container at a first transfer position and remove the storage container from the first transfer position. In the closed state, the vehicle barrier prevents container transport vehicles from entering the closed area through the container transport vehicle entry point. - Personnel barriers can operate between the following states: In the unlocked state, the personnel barrier is configured to allow personnel to enter the enclosed area through the personnel access point; In a locked-down state, personnel barriers are configured to prevent personnel from entering the enclosed area through personnel access points; -The personnel barrier will only move to the unlocked state when the vehicle barrier is in the closed state.

[0035] The automated storage and retrieval system may include a guide rail system comprising: a first set of parallel guide rails extending in a first direction on top of a frame structure formed by a plurality of upright members; and a second set of parallel guide rails arranged in a horizontal plane in a second direction perpendicular to the first set of parallel guide rails to guide the container handling vehicle to move in both the first and second directions. The picking device is configured to pick items from and place items into storage containers arranged within the housing. The picking device should not be confused with the lifting mechanism of a container handling vehicle.

[0036] The robotic picking vehicle is preferably of sufficient size to allow a person (e.g., an operator or other personnel) to enter it. When a person is inside the vehicle, he / she is preferably protected from the impact of container handling vehicles operating in the operating area. The shell may surround the person or the shell may provide all-around protection, for example, by including a roof.

[0037] Robotic picking vehicles may include a rectangular vehicle base.

[0038] The outer shell can be formed by the four sides that form the enclosed area.

[0039] The four sides can be attached to each side of the rectangular vehicle base.

[0040] The area occupied by the base of the robotic picking vehicle can be rectangular, and the robotic picking vehicle can occupy different numbers of grid cells. For example, the robot can occupy: - 2 grid cells, such as 2x1 grid cells, - 4 grid cells, such as 2 x 2 grid cells or 4 x 1 grid cells, - 6 grid cells, such as 3x2 or 6x1 grid cells -8 grid cells, such as 4x2 grid cells). - 9 grid cells, such as 3x3 grid cells - 12 grid cells, such as 3x4 grid cells or 6x2 grid cells.

[0041] When the personnel barrier is locked, it is preferably always closed to prevent personnel from passing through the personnel access point. When the personnel barrier is unlocked, it is either open, allowing personnel to enter the enclosed area through the personnel access point, or it is in a state where it can be opened by a person, allowing a person to open the personnel barrier to enter the enclosed area through the personnel access point.

[0042] The moving device may include a first set of wheels for moving in a first direction and a second set of wheels for moving in a second direction.

[0043] As an alternative to wheels, the transport vehicle can have a belt for moving on top of the rail system.

[0044] Alternatively, the moving device may include casters that can rotate 90 degrees to change the direction of movement between a first direction and a second direction on the guide rail system.

[0045] The mobile device can be attached to the base of the robot picking vehicle.

[0046] The robotic picking vehicle may include a wheel lifting mechanism that can operate between a first position and a second position. In the first position, a first set of wheels is above a second set of wheels, causing the second set of wheels to contact the guide rail system. In the second position, the first set of wheels is below a second set of wheels, causing the first set of wheels to contact the guide rail system.

[0047] Robotic picking vehicles may include wheel drive motors for driving the first set of wheels and / or the second set of wheels.

[0048] One wheel drive motor can be provided to drive the wheels in the first set of wheels and the wheels in the second set of wheels. Alternatively, one wheel drive motor can be provided to drive the first set of wheels and another motor can be provided to drive the second set of wheels.

[0049] Vehicle barriers can be configured to remain closed when there is a possibility of people in the enclosed area.

[0050] The vehicle barrier can be operated by the control system.

[0051] The control system can determine whether a person wishes to enter the robot picking vehicle, and therefore the vehicle barrier should close in a different manner. For example, a person can press a button within the enclosed area, which confirms entry and keeps the vehicle barrier closed. When the person is ready to leave, he / she can press the same button or another button to signal that he / she wishes to leave. The control system can then set the personnel barrier to the unlocked state.

[0052] Robotic picking vehicles may include motors for operating vehicle barriers between open and closed states.

[0053] Vehicle barriers can be sliding doors.

[0054] Sliding doors can slide vertically or horizontally.

[0055] The personnel barrier for robotic picking vehicles can be moved manually or automatically to allow or prevent personnel from entering through the access point.

[0056] The picking device can be configured to pick items from a storage container located at a first transfer position.

[0057] The picking device can be arranged in the central part of the closed area or along the center line of the closed area.

[0058] The robotic picking vehicle may include a second vehicle barrier for allowing at least a portion of the container transport vehicle to enter an enclosed area, wherein the second vehicle barrier is movable between an open state and a closed state.

[0059] For example, a robotic picking vehicle may include a second vehicle barrier and a second transfer location arranged in an enclosed area, and the second vehicle barrier may be movable between the following states: - Open state, wherein the second vehicle barrier allows container transport vehicles to enter the enclosed area through the container transport vehicle entry point, enabling the container transport vehicles to position the storage containers at the second transfer position and remove the storage containers from the second transfer position, and - In the closed state, the second vehicle barrier prevents container transport vehicles from entering the closed area through the container transport vehicle entry point. The personnel barrier moves to the unlocked state only when the vehicle barrier and the second vehicle barrier are in their closed state, and the vehicle barrier and the second vehicle barrier are configured to remain in their closed state when there are people in the enclosed area.

[0060] The picking device can be configured to pick items from or place items into a storage container located at a first transfer location, and to pick items from or place items into a storage container located at a second transfer location.

[0061] By positioning the picking device in the central section or along the centerline of the area, it is ensured that the picking device reaches the storage containers located at both the first and second transfer positions. Furthermore, if the robotic picking vehicle has additional transfer positions—that is, more than just the first and second transfer positions—the picking device can also reach the storage containers located at those additional transfer positions. Moreover, this positioning of the picking device ensures that space is freed up to increase the number of transfer positions.

[0062] The robotic picking vehicle may include a first conveyor arranged in an enclosed area, and a first transfer position may be arranged at a first end of the first conveyor and a second transfer position may be arranged at a second end of the first conveyor.

[0063] The vehicle barrier and the second vehicle barrier can therefore be arranged on the two opposite side walls of the robot picking vehicle.

[0064] The first vehicle barrier and the first transfer location can be arranged adjacent to the second vehicle barrier and the second transfer location.

[0065] The vehicle barrier and the second vehicle barrier can therefore be arranged on the same sidewall of the robot picking vehicle.

[0066] Robotic picking vehicles may include a second conveyor deployed in an enclosed area.

[0067] The second conveyor can be arranged parallel to the first conveyor.

[0068] Alternatively, the second conveyor can be arranged perpendicular to the first conveyor. The first and second conveyors can overlap, allowing storage containers to be transferred from the first conveyor to the second conveyor and vice versa.

[0069] The second conveyor may include a third transfer position and a fourth transfer position.

[0070] Robotic picking vehicles may include devices for shutting down the picking equipment.

[0071] Preferably, the picking device is turned off before personnel enter the area to reduce the risk of personnel injury due to impact with the picking device.

[0072] The device for shutting down the robotic picking device can be a local controller on the robotic picking vehicle, or it can be shut down via a main control system. Alternatively or additionally, the device can be a switch or emergency stop button within an enclosed area.

[0073] If the robotic picking vehicle includes a first conveyor and a second conveyor, these conveyors are also preferably shut off by a shut-off device before personnel enter the area.

[0074] The guide rail system may include an operating area and multiple container handling vehicles that run on the guide rail system within the operating area.

[0075] The automated storage and retrieval system may include: - A second area, separated from the operating area, wherein the second area may include a second area personnel access point, which may include an opening; - The second-zone personnel barrier can operate between the following states: In the unlocked state, the second area personnel barrier can be configured to allow personnel to enter the closed area through the second area personnel access point; and In the locked state, the second area personnel barrier can be configured to prevent personnel from entering the closed area through the second area personnel access point.

[0076] The personnel barrier for the second zone is preferably fail-safe and lockable. This ensures that the personnel barrier is always locked when the transport vehicle is not physically (i.e., securely) connected to the second zone, thus eliminating the risk of accidental opening.

[0077] The second area can be located inside a transport vehicle that can move on a rail system.

[0078] The transport vehicle may include a shell defining a second area for transporting people therein. The shell may include a second area personnel access point in the form of a transport vehicle personnel access point, and the second area personnel barrier may be a transport vehicle personnel access barrier provided to allow or prevent entry through the second area personnel access point.

[0079] Personnel can then move safely between the second area in the transport vehicle and the area inside the robotic picking vehicle without the risk of collision with the container handling vehicle.

[0080] The second zone can be located within the service area.

[0081] The service area may include walls facing the operating area. The walls include service area personnel access points, which include openings and service area personnel barriers. These barriers are operable between the following states: In the unlocked state, the service area personnel barrier is configured to allow personnel to enter the service area through the service area personnel access point; In the locked state, the service area personnel barrier is configured to prevent personnel from entering the service area through the service area personnel access point.

[0082] If the second zone is located next to the robotic picking vehicle, the service area personnel barrier and the robotic picking vehicle personnel barrier can be located on the sides of the robotic picking vehicle and the second zone, respectively. Alternatively, if the second zone is located above the robotic picking vehicle, they can be located in the roof or ceiling of the robotic picking vehicle and in the floor of the second zone. As another alternative, if the second zone is located below the robotic picking vehicle, the robotic picking vehicle personnel barrier can be located in the floor of the robotic picking vehicle and in the roof or ceiling of the second zone. The automated storage and retrieval system may include locking components in the form of mechanical locking components, electromechanical combined locking components, magnetic locking components, or electromagnetic locking components to provide physical blocking.

[0083] The locking component can be configured to lock the docking probe, and wherein: - The locking component can be positioned in the second area or within the second area, and the docking probe can extend outward from the robotic picking vehicle, or - The locking component can be positioned at or within the robotic picking vehicle, and the docking probe can extend outward from the second area.

[0084] Locking components may include: - External component, the external component has a U-shaped shape, a receiving part is formed within the U-shaped shape, and the upper and lower outer ends of the external component can be firmly connected to the interior of the side forming the shell; - An internal component movable within a receiving portion of an external component, the internal component having a U-shape forming the receiving portion of the internal component, the internal component being oriented in the same direction as the external component, and the U-shape of the internal component having an upper end and a lower end; and The side may include a hole that is flush with the receiving portion of the internal component to allow the docking probe to pass through the hole.

[0085] The internal component can be connected to the external component by one or more preloaded springs, which apply force to the internal component in the direction toward the hole in the side.

[0086] The personnel barrier may include locking members that project laterally as an extension of the personnel barrier, and each of these locking members may include an opening such that each locking member can be configured to receive a corresponding upper and lower end of an internal member, thereby enabling the personnel barrier to be locked when the internal member is in the extended position.

[0087] The docking probe may include a pre-tightening latch mechanism that is pivotally disposed at a pivot point inside the docking probe.

[0088] The latching mechanism can be configured such that when no external force from the personnel barrier is applied to the latching mechanism, the latching mechanism can be in an extended position, in which the latching mechanism can extend laterally beyond the outer periphery of the docking probe, and when an external force from the personnel barrier is applied to the latching mechanism, the preload force can be overcome, and the latching mechanism can be forced back to a retracted position within the outer periphery of the docking probe.

[0089] When no external force from the personnel barrier is applied to the latching mechanism, the rear end of the latching mechanism can be configured to be adjacent to the side.

[0090] The portion of the internal component that can contact one or more preloaded springs may include an upper portion having a first thickness and a lower portion having a second thickness, wherein the first thickness may be greater than the second thickness, and the mating probe may initially contact the lower portion.

[0091] When the locking assembly moves vertically downward relative to the docking probe, the docking probe can be configured to contact the upper portion instead of the lower portion, thereby compressing one or more springs so that the upper and lower ends of the internal components can be disengaged from the locking relationship with the opening of the locking assembly.

[0092] The locking member can be connected to the side of the robot picking vehicle and to the side of the locking assembly. The locking member can be pre-tensioned by a locking spring and can include a wedge member. The wedge member is arranged at or below the lowest height of the docking probe, such that when the personnel barrier is locked, the wedge member is arranged on the side of the docking probe and does not affect the vertical movement of the locking assembly relative to the docking probe. When the personnel barrier is unlocked, the wedge member is arranged between the docking probe and the internal component, such that the wedge member prevents the relative vertical movement of the locking assembly relative to the docking probe, thereby preventing the robot picking vehicle from moving when the personnel barrier is unlocked.

[0093] The personnel barrier may include a pushing member disposed on the opposite side of the locking assembly compared to the locking member, and the pushing member may be configured to apply force to the locking member to move the wedge member from between the docking probe and the inner member to the side of the docking probe.

[0094] The method may include: - Control whether the vehicle barrier is open or closed, and if the vehicle barrier is open, remove any container transport vehicles present in the enclosed area and move the vehicle barrier to the closed state. - Unlock personnel barriers and allow personnel to enter the enclosed area through personnel access points.

[0095] In this specification, the term "storage container" is intended to refer to any item holding unit having a base and sides, such as a box, crate, pallet, or the like, the sides being adapted for releasable connection to a container lifting device. These sides may preferably include clamping recesses. These sides are preferably sidewalls. The height of the sidewalls may vary depending on the intended use of the automated storage and retrieval system and the goods to be stored. These clamping recesses may be located at the upper edge of these sidewalls. The horizontal outer perimeter of the storage container is preferably rectangular.

[0096] Relative terms such as “upper,” “lower,” “below,” “above,” and “higher than” should be understood in their normal sense and seen in the Cartesian coordinate system.

[0097] This invention can be used in conjunction with the storage containers and systems described above. However, the disclosed automated storage and retrieval systems and methods can also be applied to other fields, such as vertical agriculture, micro-fulfillment centers, or grocery / online grocery businesses. Attached Figure Description

[0098] The following figures are attached to aid in understanding the invention. The figures 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; Figure 2 This is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein; Figure 3 This is a perspective view of a prior art container handling vehicle having a cantilever for supporting storage containers below. Figure 4 This is a perspective view of a prior art container handling vehicle, as seen from below, which has a cavity for carrying storage containers arranged internally therein; Figure 5 yes Figure 4 A perspective view of a container handling vehicle that does not have side panels and a top panel; Figure 6A It is a 3D diagram of a robot picking vehicles with two sliding personnel barriers and four vehicle barriers, wherein the vehicle barriers are in the closed state and one personnel barrier is in the unlocked state. Figure 6B It is a 3D view of a robot picking vehicles with two personnel barriers and four vehicle barriers that slide laterally, wherein the vehicle barriers are in the closed state and one personnel barrier is in the unlocked state. Figure 6C It is a 3D view of a robot picking vehicles with two personnel barriers and one vehicle barrier that slide laterally, wherein the vehicle barrier is in the open state and the personnel barrier is in the locked state. Figure 7A This is a 3D view of a robotic picking vehicle located in a second area, which is adjacent to a service area. The robotic picking vehicle includes two personnel barriers that slide up and down and four vehicle barriers, wherein the vehicle barriers are in a closed state and the personnel barriers are in a locked state. Figure 7B yes Figure 7A Side view; Figure 8A This is a perspective view of a robotic picking vehicle located in a second area adjacent to a transport vehicle area. The robotic picking vehicle includes two lateral sliding personnel barriers and four vehicle barriers, wherein the vehicle barriers are closed, one personnel barrier is locked, and another personnel barrier facing the transport vehicle is unlocked. The transport vehicle includes four transport vehicle personnel barriers, wherein three of the transport vehicle personnel barriers are locked and one transport vehicle personnel barrier facing the robotic picking vehicle is unlocked. Figure 8B It shows the relationship with Figure 8A Same view, just from a different angle; Figure 8C This is a 3D view of a robotic picking vehicle located in a second area adjacent to a transport vehicle area. The robotic picking vehicle includes two laterally sliding personnel barriers and four vehicle barriers, wherein the vehicle barriers are in a closed state and the personnel barriers are in a locked state. Figures 9A to 9E Different steps of the locking sequence are shown in a first instance of a mechanical locking assembly used to physically prevent a robotic picking vehicle from moving relative to a second area; Figures 10A to 10F Different steps of the locking sequence are shown in a second instance of a mechanical locking assembly used to physically prevent the robotic picking vehicle from moving relative to a second area. Detailed Implementation

[0099] In general, a robotic picking vehicle 501 is provided for operation in an automated storage and retrieval system 1. The robotic picking vehicle 501 includes a housing E defining an enclosed area 510 and a picking device 550 disposed within the enclosed area 510. The picking device 550 is configured to pick items stored in a storage container 106 located within the housing E. The vehicle 501 also includes a personnel barrier 520' for allowing personnel access to the enclosed area 510 and a vehicle barrier 551 for allowing at least a portion of a container transport vehicle 301 to access the enclosed area 510. The personnel barrier is operable between a locked state and an unlocked state. The vehicle barrier is movable between an open state and a closed state. The personnel barrier 520' is configured to operate in its unlocked state only when the vehicle barrier 551 is in its closed state.

[0100] 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.

[0101] The framework structure 100 of the automatic storage and retrieval system 1 can be combined with the above. Figure 1 The existing frame structure 100 is constructed in a similar manner. That is, the frame structure 100 may include a plurality of upright members 102 and a guide rail system 108 extending in a first direction (X direction) and a second direction (Y direction). Specifically, the guide rail system 108 may be arranged on top of the upright members 102, and the guide rail system 108 includes a first set of parallel guide rails 110 and a second set of parallel guide rails 111 arranged perpendicular to the first set of guide rails 110. The first set of guide rails 110 and the second set of guide rails 111 provide a horizontal, grid-based guide rail system 108 defining a plurality of grid cells 130. The first set of guide rails 110 and the second set of guide rails 111 of the guide rail system 108 may include one or two rails. Preferably, the two directions of the guide rails include two rails (double rails), for example, as two parallel channels formed in the guide rails, or as channels disposed in each of a pair of guide rail members that have been fastened together to form guide rails. In this arrangement, the access opening (also called the grid opening) and the track width on each side define the "grid cell" 130. In an arrangement where there is only a single track in one direction of the guide rail, the grid cell 130 can extend the full width of the guide rail on those sides.

[0102] The frame structure 100 may include storage compartments provided between the members 102 in the form of storage columns 105, wherein storage containers 106 may be stacked in the form of stacks 107 within the storage columns 105.

[0103] The frame structure 100 can have any size. Specifically, it should be understood that the frame structure can be larger than... Figure 1The frame structure disclosed herein is wider and / or longer and / or deeper. For example, frame structure 100 may have a horizontal range of more than 700x700 columns and a storage depth of more than twelve containers.

[0104] See also existing technology container handling vehicles (cavity container handling vehicles) that include cavities for accommodating storage containers. Figure 2 , Figure 4 and Figure 5 It possesses certain advantageous features. Specifically, the guidance / support provided to the storage container when housed within a cavity allows the cavity container handling vehicle to be positioned relative to... Figure 3 The cantilevered container transport vehicle 301 shown has increased acceleration / deceleration. However, due to the instability of the cavity container transport vehicle, the potential increase in acceleration / deceleration is not fully realized. This instability is caused by the cavity container transport vehicles 201 and 401, where most of the drive, power, control, and lifting components are arranged above the cavity, resulting in a high center of gravity.

[0105] Figure 6A This is a 3D view of the robot picking vehicle 501, which has four vehicle barriers 551, 552 and two sliding personnel barriers 520'. Figure 6A In the middle, all vehicle barriers 551 are in the closed state, and one personnel barrier 520' is in the unlocked state.

[0106] Figure 6A The robotic picking vehicle 501 operates on an automated storage and retrieval system 1, which may include a guide rail system 108. The guide rail system includes a first set of parallel guide rails 110 extending in a first direction X on the top of a frame structure 100 formed by a plurality of upright members 102, and a second set of parallel guide rails 111 located in a horizontal plane and arranged in a second direction Y perpendicular to the first set of parallel guide rails 110, to guide the container handling vehicles 201, 301, 401 and the robotic picking vehicle 501 to move in the first direction X and the second direction Y.

[0107] The robotic picking vehicle 501 has a first set of wheels 501b for moving the robotic picking vehicle 501 in a first direction X and a second set of wheels 501c for moving the robotic picking vehicle 501 in a second direction Y. The first set of wheels 51b and the second set of wheels 501c are connected to the vehicle base 501a of the robotic picking vehicle 501.

[0108] Although Figure 6AAlthough not shown, the robotic picking vehicle 501 may include a wheel lifting mechanism operating between a first position and a second position. In the first position, a first set of wheels 501b is positioned above a second set of wheels 501c, such that the second set of wheels 501c is in contact with the guide rail system 108. In the second position, the first set of wheels 501b is positioned below the second set of wheels 501c, such that the first set of wheels 501b is in contact with the guide rail system 108. Furthermore, the robotic picking vehicle 501 preferably includes one or more wheel drive motors (not shown) for driving the first set of wheels 501b and / or the second set of wheels 501c.

[0109] The housing E defines an enclosed area 510 for the robotic picking vehicle 501. The housing E connects the enclosed area 510 to other container handling vehicles (…). Figure 6A The operating areas 20 (not shown in the image) are physically separated.

[0110] A picking device 550 is arranged in an enclosed area 510 and configured to pick items 556 stored in storage containers 106 located within the housing E. The picking device 550 is arranged along the centerline C of the enclosed area 510. Items 556 picked by the picking device 550 can be placed into a second storage container 106 inside the enclosed area 510. The picking device 550 therefore preferably has a relatively large operating range, allowing it to reach any storage container 106 inside the enclosed area 510.

[0111] exist Figure 6A In the diagram, a total of two storage containers 106 are shown within an enclosed region 510. The storage containers 106 are supported at corresponding second transfer positions 555'' and third transfer positions 555''' within the enclosed region 510. Furthermore, a first transfer position 555' is disclosed. The first transfer position 555' does not support a storage container. Figure 6A In one example, the robotic picking vehicle 501 includes a first conveyor 557 arranged in an enclosed area 510, and a first transfer position 555' arranged at a first end of the first conveyor 557 and a second transfer position 555'' arranged at a second end of the first conveyor 557.

[0112] The container transport vehicle 301 can place the storage container 106 onto any transfer location 555', 555'' via the container transport vehicle entry point 515 in the housing E. The container transport vehicle entry point 515 includes a first opening sized sufficiently to allow at least a portion of the container transport vehicle 301 to drive into or pass through. Vehicle barriers 551 and 552 are arranged to block or not block the respective openings of the vehicle entry point 515. Vehicle barriers 515 and 552 are arranged on the same sidewall of the robotic picking vehicle 501 and adjacent to each other, and are operable between the following states: - In the open state, vehicle barriers 551 and 552 allow at least a portion of the container transport vehicle 301 to enter the enclosed area 510 through the container transport vehicle entry point 515, enabling the container transport vehicle 301 to position the storage container 106 at the first transfer position 555' and remove the storage container 106 from the first transfer position 555'. - Closed state, wherein vehicle barriers 551 and 552 prevent container transport vehicle 301 from entering closed area 510 through container transport vehicle entry point 515.

[0113] The robotic picking vehicle 501 has a personnel entry point 514 including a second opening 514 in the housing E. The second opening is large enough for a person to pass through. A personnel barrier 520' is arranged at the second opening of the personnel entry point 514 to allow or restrict personnel from passing through the second opening. The personnel barrier 520' can operate between the following states: -Unlocked state, wherein personnel barrier 520' is configured to allow personnel to enter closed area 510 through personnel access point 514; - Locked state, wherein personnel barrier 520' is configured to prevent personnel from entering closed area 510 through personnel access point 514.

[0114] To ensure that personnel are not harmed by container transport vehicles operating in operating area 20, personnel barrier 520' can be moved to the unlocked state only when vehicle barrier 551 is in the closed state. Therefore, vehicle barrier 551 is preferably configured to remain closed when a person is in enclosed area 510.

[0115] Vehicle barrier 551 (and second vehicle barrier 552) can be operated by control system 500. The control system can determine whether a person wishes to enter the enclosed area 510 of the robotic picking vehicle 501, and therefore can close vehicle barriers 551 and 552 in different ways. For example, a person can press a button within the enclosed area 510, which confirms entry and keeps vehicle barriers 551 and 552 closed. When the person is ready to leave, he / she can press the same or a different button to signal that he / she wishes to exit. Control system 500 can then set personnel barrier 520' to the unlocked state.

[0116] When personnel barrier 520' is locked, the personnel barrier is always closed, thus preventing personnel from passing through personnel entry point 514.

[0117] When personnel barrier 520' is unlocked, the personnel barrier is open, thereby allowing personnel to enter the enclosed area 510 through personnel access point 514, or the personnel barrier can be opened by a person, thereby allowing a person to open the personnel barrier to enter the enclosed area 510 through personnel access point 514.

[0118] Figure 6A The vehicle barriers 551 and 552 and the personnel barrier 520' are both in the form of sliding doors that can slide vertically.

[0119] Figure 6A The robotic picking vehicle 501 occupies 6 grid cells (2x3 grid cells), however, it is obvious that the robotic picking vehicle 501 can occupy a different number of grid cells. Figure 6A The robotic picking vehicle 501 has a rectangular vehicle base 501a. An outer shell E is formed by four sides, with one side attached to each side of the rectangular vehicle base 501a. The four sides form an enclosed area 510 inside the outer shell E. The four sides can be attached to each side of the rectangular vehicle base 501a.

[0120] The robotic picking vehicle 501 may include means for shutting down the robotic picking vehicle 501 and any of its moving parts, such as any conveyors 557, 558 and picking devices 550. The means for shutting down the robotic picking vehicle 501 is illustrated as an emergency stop button 516 within an enclosed area 510.

[0121] Figure 6B This is a 3D view of the robot picking vehicle 501, which has four vehicle barriers 551, 552 and two personnel barriers 520' that slide laterally, wherein the vehicle barriers 551, 552 are in the closed state and one personnel barrier 520' is in the unlocked state. Figure 6B Features of the robotic picking vehicle 501 Figure 6A Similar to the robotic picking vehicle 501, it will not be repeated here. The main difference lies in the form of the personnel barrier 520', which slides laterally instead of moving vertically, and... Figure 6A Conveyor 557 exists, and Figure 6B The robotic picking vehicles in the video do not have conveyors.

[0122] Figure 6C This is a perspective view of a robot picking a vehicle 501, which has a vehicle barrier 551 and two laterally sliding personnel barriers 520', wherein the vehicle barrier 551 is in an open state and the personnel barriers 520' are in a locked state. When... Figure 6C Robotic picking vehicle 501 and Figure 6A and Figure 6BWhen comparing the robot picking vehicle 501 in the middle, it can be seen that Figure 6C The vehicle 501 has a vehicle barrier 551 covering the entire side of the vehicle 501, such that when the vehicle barrier 551 is in a position as Figure 6C When the container is in the open state, the entire width of the enclosed area 510 is exposed and the container transport vehicle (not shown) enters through the vehicle entry point 514 and approaches the two transfer positions 555', 555''' (i.e., the first transfer position 555' and the third transfer position 555'''). Figure 6C The robotic picking vehicle 501 has a second conveyor 558 arranged in an enclosed area 510. The second conveyor 558 is arranged parallel to the first conveyor 557. Figure 6C The remaining features of the robotic picking vehicle 501 are similar to Figure 6A The robotic picking vehicle 501 is similar and will not be repeated here.

[0123] Figure 7A This is a perspective view of a robotic picking vehicle 501 positioned in a second area 30, adjacent to a service area 30. The robotic picking vehicle 501 includes four vehicle barriers 551, 552 and two vertically sliding personnel barriers 520'. Figure 7A Robotic picking vehicle 501 and Figure 6A The robotic picking vehicle 501 is the same. Figure 7A In the middle, vehicle barriers 551 and 552 are in the closed state, and personnel barrier 520' is in the locked state.

[0124] Figure 7A An automated storage and retrieval system 1 is shown, comprising a service area 30 separated from the operating area 20 and a robotic picking vehicle 501. The robotic picking vehicle 501 can be positioned on a rail system 108 adjacent to a wall 32 that separates the service area 30 from the operating area 20. The service area 30 includes a service area personnel access point 39, which includes an opening. The service area 30 has a service area personnel barrier 52 that can operate between the following states: -Unlocked state, wherein the service area personnel barrier 52 is configured to allow personnel to enter the service area 30 through the service area personnel access point 39; - Locked state, wherein the service area personnel barrier 52 is configured to prevent personnel from entering the service area 30 through the service area personnel access point 39.

[0125] Figure 7B yes Figure 7A Side view.

[0126] Figure 8AThis is a perspective view of a robotic picking vehicle 501 positioned adjacent to a second area 610, which is in the form of a transport vehicle area 610. The robotic picking vehicle 501 includes four vehicle barriers 551, 552 and two laterally sliding personnel barriers 520'. Vehicle barriers 551, 552 are closed, and one personnel barrier 520' is locked, while the other personnel barrier 520' facing the transport vehicle 601 is unlocked. The transport vehicle 601 has four transport vehicle personnel barriers 612, and three of the transport vehicle personnel barriers 612 are locked, while one transport vehicle personnel barrier 612 facing the robotic picking vehicle 501 is unlocked.

[0127] Personnel can then safely move between the service area 30 and the enclosed area 610 within the robotic picking vehicle 510 without the risk of collision with the container handling vehicle.

[0128] Figure 8A An automated storage and retrieval system 1 is shown, comprising a transport vehicle area 610 within a transport vehicle 601, wherein the transport vehicle area 610 is separated from an operating area 20 and a robotic picking vehicle 501. The transport vehicle 601 has a housing E defining a second area 610 for transporting people therein. The transport vehicle area 610 includes a transport vehicle personnel access point 611 with an opening. The transport vehicle area 610 has a transport vehicle personnel barrier 612, which is operable between the following states: -Unlocked state, wherein the transport vehicle personnel barrier 612 is configured to allow personnel to enter the transport vehicle area 610 through the transport vehicle personnel access point 611; - Locked state, wherein the transport vehicle personnel barrier 612 is configured to prevent personnel from entering the transport vehicle area 610 through the transport vehicle personnel access point 611.

[0129] Personnel can then move safely between the transport vehicle area 610 in transport vehicle 601 and the enclosed area 610 within robotic picking vehicle 501 without the risk of collision with container handling vehicles.

[0130] Figure 8B It shows the relationship with Figure 8A Same view, just from a different angle.

[0131] Figure 8C Is with Figure 8A A similar view is shown where all four transport vehicle personnel barriers 612 are locked and all personnel barriers 520' are locked. This prevents personnel from entering through either transport vehicle personnel entry point 611 or personnel entry point 514.

[0132] In the following text, and refer to Figures 9A to 9E and Figures 10A to 10F The description will cover the connection of the robotic picking vehicle 501 to the second areas 30, 610 in the transport vehicle 601 (see [link]). Figures 8A to 8C ) or service area (see Figure 7A , 7B Two different examples of the mechanical locking assembly 33: Figures 9A to 9E First instance of mechanical locking assembly 33 Figures 9A to 9E The diagram illustrates different steps in the locking sequence of a first instance of a mechanical locking assembly 33 used to physically prevent the robotic picking vehicle 501 from moving relative to the second areas 30, 610. Regardless of whether the second area 30 is... Figures 7A to 7B The illustrated service area 30—where a person or operator 50 can maintain or repair container handling vehicles 201, 301, and 401—or the second area 610 located as follows: Figures 8A to 8C In all the illustrated transport vehicles 601, the mechanical locking assembly 33 is identical. However, in Figures 9A to 9E In the example shown, the second area 30 is the service area 30. The robot picking vehicle 501 has the following characteristics: Figures 6A to 6C The robot picking vehicle 501 is the same.

[0133] Figure 9A This is a perspective view of the wall 32 with barrier 31, within the operating area 20 of the robotic picking vehicle 501, near the second area 30. A person 50 is located within the enclosed area 510 of the robotic picking vehicle 501. The personnel barrier 520' of the robotic picking vehicle 501 is in the form of a sliding door, wherein each door includes a handle 503 for facilitating opening and closing.

[0134] The robotic picking vehicle 501 is shown with a docking probe 502 on the outer surface of the third side S3 of the personnel barrier 31 facing the second area 30. The docking probe 502 is oriented outward toward the second area 30 and is at the same height as the locking assembly 33 on the wall 32 of the personnel barrier 31 adjacent to the second area 30. Similarly, to further lock the robotic picking vehicle 501 to the wall 32 between the operating area 20 and the second area 30, the docking probe 502 is arranged adjacent to the personnel barrier 31 on the wall 32, and the locking assembly 33 of the robotic picking vehicle 501 is at the same height as the docking probe 502. The docking probe 502 is shaped to cooperate with the locking assembly 33 to provide a secure interconnection when the robotic picking vehicle 501 locks into the second area via the personnel barriers 31, 520', while minimizing the risk of accidental disengagement of the robotic picking vehicle.

[0135] Figure 9B yes Figure 9AAn enlarged view of Part A shows details of the locking assembly 33 when the personnel barrier 520' of the robotic picking vehicle 501 is locked to prevent movement of the robotic picking vehicle 501. The locking assembly 33 includes an outer member 34 having a U-shape forming a receiving portion 37. Both ends (represented as an outer upper end 34' and an outer lower end 34'') are fixedly connected to the interior of the third side S3 of the housing E of the robotic picking vehicle 501. The locking assembly 33 also includes an inner member 35 movable within the receiving portion 37 of the outer member 34. The inner member 35 has a U-shape forming a receiving portion 38, and is oriented in the same direction as the outer member 34. The U-shape of the inner member 35 has an upper end 35' and a lower end 35''. The inner member 35 is connected to the outer member 34 by preloaded springs 36 that apply force to the inner member in a direction toward the third side S3. The personnel barrier 520' of the robotic picking vehicle 501 includes locking members 540', 540''. The locking members 540', 540'' protrude laterally as extensions of the personnel barrier 520', and each locking member includes openings 541', 541'' (see...). Figure 9D and Figure 9E (Details in the text) such that each of the locking members 540', 540'' is configured to receive the corresponding upper end 35' and lower end 35'' of the inner member 35, thereby locking the personnel barrier when the inner member 35 is in the extended position, as... Figure 9B As shown.

[0136] The third side surface S3 has a hole 530, which is large enough to allow the mating probe 502 arranged on the wall 32 to pass through. The hole 530 is flush with the receiving portion 38 of the internal member 35.

[0137] In Figure 9C, the robotic picking vehicle 501 has moved slightly closer to the personnel barrier 31 in the wall 32. This can be seen by comparing the amount of protrusion of the docking probe 502 in the receiving part 38 of the internal component 35.

[0138] exist Figure 9D In the process, the robotic picking vehicle 501 has moved slightly closer to the personnel barrier 31 in the wall 32. This can be seen by comparing the extension of the docking probe 502 in the receiving part 38 of the internal component 35. Furthermore, the docking probe 502 pushes inward against the preload of the spring 36 towards the interior of the internal component 35. As in Figure 9D As seen in the image, the spring 36 has been compressed, which causes the two ends 35', 35'' of the internal member 35 to move out of the locking relationship with the openings 541', 541'' of the locking members 540', 540''.

[0139] like Figure 9D (and Figure 9E As shown, the docking probe 502 includes a preloaded latching mechanism 504, which is pivotally disposed at a pivot point 505 inside the docking probe 502. The preload of the latching mechanism 504 can be provided by a spring or the like. When no external force is applied to the latching mechanism 504 (see...), Figure 9E (When viewed from above) the latching mechanism is in the extended position, in which it extends laterally beyond the outer periphery of the mating probe 502. And (when viewed from above) when an external force is applied to the latching mechanism 504 (see... Figure 9D When this occurs, the preload is overcome, and the latching mechanism 504 is forced back to its retracted position within the outer periphery of the docking probe 502. This is achieved through comparison. Figure 9D (Retraction) and Figure 9E The relative positions of the (extended) latching mechanism 504 show the difference between the extended position and the retracted position of the latching mechanism 504.

[0140] Refer again Figure 9D Personnel barrier 520' is now theoretically unlocked. This means that personnel barrier 520' is allowed to slide open (slide to the right in the figure). However, the final locking step, which prevents the robotic picking vehicle 501 from moving relative to wall 32 by using latching mechanism 504, is not activated because end face 521 of personnel barrier 520' forces latching mechanism 504 back to the retracted position.

[0141] Reference Figure 9E Personnel barrier 520' has moved to the right, and since the end face of personnel barrier 520' is no longer in contact with latching mechanism 504 to force it back to the retracted position, the preload of latching mechanism 504 is released, thereby forcing latching mechanism 504 outward. The shaded area 507 of latching mechanism 504 shows the area in contact with end face 521 of personnel barrier 520'.

[0142] The rear end 506 of the latching mechanism 504 is adjacent to the interior of the third side S3.

[0143] When the personnel barrier 520' should be in the unlocked state that prevents the robot picking vehicle 501 from moving ( Figure 9E When the robot returns to the locked state, allowing the picking vehicle 501 to move relative to the second areas 30 and 610, the operation is performed in reverse order. Figures 9A to 9E The order described in [the document]. Then, in the simplified steps, this order may include: - Move personnel barrier 520' to the left, thereby closing personnel barrier 520' and forcing latching mechanism 504 back to the retracted position due to contact with end face 521 of personnel barrier 520'; -Optional: Raise or lower the first set of wheels 501b or the second set of wheels 501c; - Cause the robot to drive away from vehicle 501.

[0144] Figures 10A to 10F Second instance of mechanical locking assembly 33

[0145] Figures 10A to 10F Different steps of the locking sequence are shown in a second instance of a mechanical locking assembly 33 used to physically prevent the robotic picking vehicle 501 from moving relative to the second areas 30, 610. Regardless of whether the second area 30 is as follows... Figure 7A To the service area 30 illustrated in Figure 7C—where a person or operator 50 can maintain or repair container handling vehicles 201, 301, 401—or the second area 610 located as shown in Figure 7C— Figures 8A to 8C In all the illustrated transport vehicles 601, the mechanical locking assembly 33 is identical. However, in Figures 10A to 10F In the example shown, the second area 30 is the service area. The characteristics of the robot picking vehicle 501 are... Figures 6A to 6B The robot picking vehicle 501 is the same.

[0146] Figure 10A This is a perspective view of the robotic picking vehicle 501 approaching the wall 32 with barrier 31 within the operating area 20 of the second area 30. A person 50 is located within the enclosed area 510 of the robotic picking vehicle 501. The personnel barrier 520' of the robotic picking vehicle 501 is in the form of a sliding door, where each door includes a handle 503 to facilitate opening and closing the personnel barrier 520' (door).

[0147] The robotic picking vehicle 501 is shown with a docking probe 502 on the outer surface of the third side S3 of the personnel barrier 31 facing the second area 30. The docking probe 502 is oriented outward toward the second area 30 and is at the same height as the locking assembly 33 on the wall 32 of the personnel barrier 31 adjacent to the second area 30. Similarly, to further lock the robotic picking vehicle 501 to the wall 32 between the operating area 20 and the second area 30, the docking probe 502 is arranged adjacent to the personnel barrier 31 on the wall 32, and the locking assembly 33 of the robotic picking vehicle 501 is at the same height as the docking probe 502. The docking probe 502 is shaped to cooperate with the locking assembly 33 to provide a secure interconnection when the robotic picking vehicle 501 locks into the second area via the personnel barriers 31, 520', while minimizing the risk of accidental disengagement of the robotic picking vehicle 501.

[0148] Figure 10B yes Figure 10AAn enlarged view of Part B shows details of the locking assembly 33 when the personnel barrier 520' of the robotic picking vehicle 501 is locked to prevent movement of the robotic picking vehicle 501. The locking assembly 33 includes an outer member 34 having a U-shape forming a receiving portion 37. Both ends (represented as an upper outer end 34' and a lower outer end 34'') are fixedly connected to the interior of the third side S3 of the housing E of the robotic picking vehicle 501. The locking assembly 33 also includes an inner member 35 movable within the receiving portion 37 of the outer member 34. The inner member 35 has a U-shape forming a receiving portion 38, and is oriented in the same direction as the outer member 34. The U-shape of the inner member 35 has an upper end 35' and a lower end 35''. The inner member 35 is connected to the outer member 34 by preloaded springs 36 that apply force to the inner member in a direction toward the third side S3. The portion of the internal component 35 that contacts the spring 36 includes an upper portion 35''' with a first thickness T1 and a lower portion 35'''' with a second thickness T2. The first thickness T1 is greater than the second thickness T2 (T1>T2).

[0149] The personnel barrier 520' of the robotic picking vehicle 501 includes locking members 540', 540''. The locking members 540', 540'' protrude laterally as extensions of the personnel barrier 520', and each locking member includes openings 541', 541'' (see...). Figures 10D to 10F (details in the text) such that each of the locking members 540', 540'' is configured to receive the corresponding upper end 35' and lower end 35'' of the inner member 35, thereby locking the personnel barrier 520' when the inner member 35 is in the extended position, as... Figure 10B As shown.

[0150] The third side surface S3 has a hole 530, which is large enough to allow the mating probe 502 arranged on the wall 32 to pass through. The hole 530 is flush with the receiving portion 38 of the internal member 35.

[0151] exist Figure 10C In the process, the robotic picking vehicle 501 has moved close to the personnel barrier 31 in the wall 32. This can be seen by comparing the extension of the docking probe 502 in the receiving part 38 of the internal component 35. The docking probe 502 is in contact with the lower part 35'''' of the internal component 35.

[0152] exist Figure 10DIn this configuration, the robotic picking vehicle 501 and therefore the locking assembly 33 have been lowered relative to the wall 32 and therefore the docking probe 502. This lowering can be achieved using a track switching mechanism or a wheel lifting mechanism of the robotic picking vehicle 501, thereby lowering the robotic picking vehicle 501 so that all wheels in the first set of wheels 501b and the second set of wheels 501c are in contact with the guide rails 110, 111. This lowering can be seen when comparing the positions of the docking probe 502 relative to the upper portion 35''' and the lower portion 35'''' of the internal member 35. Figure 10D In the middle, the docking probe 502 contacts the upper part 35''', while Figure 10C In the middle, the docking probe 502 contacts the lower portion 35'''. As a result of the docking probe 502 contacting the upper portion 35''', which has a thickness T1 greater than the thickness T2 of the lower portion (see... Figure 10B The spring 36 connecting the inner member 35 to the outer member 24 is compressed, causing the two ends 35', 35'' of the inner member 35 to move out of the locking relationship with the openings 541', 541'' of the locking members 540', 540''. The personnel barrier 520' is now theoretically unlocked. This means that the personnel barrier 520' is allowed to slide open (slide to the right in the figure).

[0153] However, the final locking step to prevent the robotic picking vehicle 501 from moving relative to wall 32 was not activated. The following will refer to... Figure 10E and Figure 10F Describe the locking steps.

[0154] Reference Figure 10E A push member 508 is disclosed at the end of the personnel barrier 520' closest to the locking assembly 33. The push member 508 follows the movement of the personnel barrier 520'. The push member 508 is configured to apply force to the locking member 511. The locking member 511 is connected to the third side S3 of the robotic picking vehicle 501 and is located on the side of the locking assembly 33 opposite to the push member 508. The locking member 511 may be preloaded by, for example, a locking spring 512. As shown, the locking member 511 and the push member 508 may contact above the docking probe 502. The locking member 511 has a wedge member 513 arranged at or below the lowest height of the docking probe 502, such that when the personnel barrier 520' is locked, the wedge member is arranged on the side of the docking probe 502 and does not affect the vertical movement of the locking assembly 33 relative to the docking probe 502 (see [reference]). Figure 10D When the personnel barrier 520' is unlocked, the wedge member 513 is positioned between the docking probe 502 and the internal member 35, such that the wedge member prevents the locking assembly 33 from relative vertical movement with respect to the docking probe 502 (see [link]). Figure 10ETherefore, when the robot picking vehicle 501 is lowered, all wheels are in contact with rails 110, 111 and the personnel barrier 520' is unlocked, it is impossible to raise any of the sets of wheels 501b, 501c because the locking component 33 prevents the locking component from moving vertically upward relative to the docking probe 502.

[0155] The relationship between the pushing component 508 and the locking component 511 is such that when the personnel barrier 520' is closed (i.e., Figure 10D (as shown in the image), the pushing member 508 overcomes the force of the locking spring 512 and the locking member 511 is in... Figure 10E The center is located to the left of the docking probe 502. Furthermore, when all wheels of the robot picking vehicle 501 contact the guide rails 110 and 111, the personnel barrier 520' is unlocked, and the pushing component 508 can move to the right along with the personnel barrier 520' (see...). Figure 10E And it does not contact the locking member 511. The force from the locking spring 512 will then push the locking member 511 toward the docking probe 502, and the wedge member 513 will move into the space below the docking probe 502 and above the inner member 35.

[0156] Figure 10F This shows the same unlocked state of personnel barrier 520' after it moved to the right, as seen from another angle.

[0157] When the personnel barrier 520' should be in the unlocked state that prevents the robot picking vehicle 501 from moving ( Figure 10E and Figure 10F When the robot returns to the locked position that allows the picking vehicle 501 to move relative to the second areas 30 and 610, the operation is performed in reverse order. Figures 10A to 10E The order described in / F. Then, in the simplified steps, this order may include: - The personnel barrier 520' is moved to the left, thereby closing the personnel barrier 520', and the locking member 511 and thus the wedge member 513 are forced to move to the left due to contact with the pushing member 508 on the personnel barrier 520', thereby disengaging from the docking probe 502; - Elevate either the first set of wheels 501b or the second set of wheels 501c; - Cause the robot to drive away from vehicle 501.

[0158] Although many features of the robotic picking vehicle 501 have been described, it should be noted that they also apply to a method of operating the robotic picking vehicle 501 and an automated storage and retrieval system 1 that includes multiple robotic picking vehicles 501 (and any possible second areas 30, 610).

[0159] The methods described herein can be implemented using computer-executable instructions. Therefore, one aspect of the invention provides a computer program, such as a computer program on a carrier medium (e.g., a non-transitory carrier medium), comprising computer-executable instructions that, when executed by at least one processor, perform or implement the methods described herein.

[0160] In the foregoing description, various features of the embodiments have been described. Specific reference numerals, systems, and configurations have been set forth for illustrative purposes to provide a thorough understanding of the system and how it operates. However, this description 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 the invention as defined in the appended claims.

[0161] List of reference numerals

Claims

1. A robotic picking vehicle (501) for operation in an automated storage and retrieval system (1), the robotic picking vehicle (501) comprising: The outer casing (E) defines an enclosed area (510); A picking device (550) is arranged in the enclosed area (510), wherein the picking device (550) is configured to pick items stored in a storage container (106) located within the outer casing (E); Personnel barrier (520') for allowing personnel access to the enclosed area (510), wherein the personnel barrier is operable between a locked state and an unlocked state; and A vehicle barrier (551) for allowing at least a portion of a container transport vehicle (301) to enter the enclosed area (510), wherein the vehicle barrier is movable between an open state and a closed state; The personnel barrier (520') is configured to operate only when the vehicle barrier (551) is in the closed state, and only when the personnel barrier is in the unlocked state.

2. The robotic picking vehicle (501) according to claim 1 further includes: A first transfer position (555') is arranged in the enclosed area (510), and the first transfer position (555') is configured to support the storage container (106). The container handling vehicle entry point (515) includes a first opening (515) located in the housing (E); and Personnel access point (514) includes a second opening (514) located in the housing (E); The vehicle barrier (551) is movable between the following states: In the open state, the vehicle barrier (551) allows at least a portion of the container transport vehicle (301) to enter the enclosed area (510) through the container transport vehicle entry point (515), enabling the container transport vehicle (301) to position the storage container (106) at the first transfer position (555') and to remove the storage container (106) from the first transfer position (555'). In the closed state, the vehicle barrier (551) prevents the container transport vehicle (301) from entering the closed area (510) through the container transport vehicle entry point (515). The personnel barrier (520') can operate between the following states: The unlocked state, wherein the personnel barrier (520') is configured to allow personnel to enter the enclosed area (510) through the personnel access point (514); and The locked state, wherein the personnel barrier (520') is configured to prevent personnel from entering the enclosed area (510) through the personnel access point (514).

3. The robotic picking vehicle (501) according to claim 1 or claim 2 further comprises: Mobility devices (501b; 501c) for moving the robotic picking vehicle (501), optionally wherein the mobility devices are used to move the robotic picking vehicle in a first direction (X) and a second direction (Y) perpendicular to the first direction (X).

4. The robotic picking vehicle (501) according to claim 3, wherein, The moving device (501b; 501c) includes a first set of wheels (501b) for moving in the first direction (X) and a second set of wheels (501c) for moving in the second direction (Y).

5. The robotic picking vehicle (501) according to any one of the preceding claims, wherein, The vehicle barrier (551) is configured to remain in the closed state when there are people in the enclosed area (510).

6. The robotic picking vehicle (501) according to any one of the preceding claims, wherein, The vehicle barrier (551) is operated by the control system (500).

7. The robotic picking vehicle (501) according to any one of the preceding claims, wherein, The robotic picking vehicle (501) includes a motor for operating the vehicle barrier (551) between the open state and the closed state.

8. The robotic picking vehicle (501) according to any one of the preceding claims, wherein, The vehicle barrier (551) is a sliding door.

9. The robotic picking vehicle (501) according to any one of the preceding claims, wherein, The personnel barrier (520') is a sliding door.

10. The robotic picking vehicle (501) according to any one of the preceding claims, wherein, The picking device (550) is configured to pick items (556) from a storage container (106) located at the first transfer position (555').

11. The robotic picking vehicle (501) according to any one of the preceding claims, wherein, The picking device (550) is arranged in the central part of the closed area (510) or along the center line (C) of the closed area.

12. The robotic picking vehicle (501) according to any one of the preceding claims, wherein, The robotic picking vehicle (501) includes a second vehicle barrier (552) for allowing at least a portion of the container handling vehicle to enter the enclosed area, wherein the second vehicle barrier is movable between the open state and the closed state, and optionally, the robotic picking vehicle further includes a second transfer position (555'') arranged in the enclosed area (510), and wherein the second vehicle barrier (552) is movable between the following states: - In the open state, the second vehicle barrier (552) allows a container transport vehicle (301) to enter the enclosed area (510) through the container transport vehicle entry point (515), enabling the container transport vehicle (301) to position the storage container (106) at the second transfer position (555'') and remove the storage container (106) from the second transfer position (555'). - In the closed state, the second vehicle barrier (552) prevents the container transport vehicle (301) from entering the closed area (510) through the container transport vehicle entry point (515). The personnel barrier (520') moves to the unlocked state only when the vehicle barrier (551) and the second vehicle barrier (552) are in their closed state, and the vehicle barrier (551) and the second vehicle barrier (552) are configured to remain in the closed state when there are people in the enclosed area (510).

13. The robotic picking vehicle (501) according to claim 12, wherein, The picking device (550) is configured to pick up or place items from a storage container (106) located at the first transfer position (555') or place items into the storage container, and to pick up or place items from a storage container (106) located at the second transfer position (555'') or place items into the storage container.

14. The robotic picking vehicle (501) according to claim 12 or 13, wherein, The robotic picking vehicle (501) includes a first conveyor (557) arranged in the enclosed area (510), wherein the first transfer position (555') is arranged at a first end of the first conveyor (557), and the second transfer position (555'') is arranged at a second end of the first conveyor (557).

15. The robotic picking vehicle (501) according to claim 12 or 13, wherein, The first vehicle barrier (551) and the first transfer position (555') are arranged adjacent to the second vehicle barrier (552) and the second transfer position (555'').

16. The robotic picking vehicle (501) according to claim 14 or 15, wherein, The robotic picking vehicle (501) includes a second conveyor (558) arranged within the enclosed area (510).

17. The robotic picking vehicle (501) according to claim 16, wherein, The second conveyor (558) includes a third transfer position (555', 555'', 555''', 555'''') and a fourth transfer position (555', 555'', 555''', 555'''').

18. The robotic picking vehicle (501) according to any one of the preceding claims, wherein, The robotic picking vehicle (501) includes a device for shutting down the picking device (550).

19. An automatic storage and retrieval system (1), comprising: - Robotic picking vehicle (501) according to any one of claims 1 to 18; as well as - Multiple container handling vehicles (201; 301; 401).

20. The automatic storage and retrieval system (1) according to claim 19, further comprising: The guide rail system (108) includes: a first set of parallel guide rails (110) extending in a first direction (X) on top of a frame structure (100) formed by a plurality of upright members (102); and a second set of parallel guide rails (111) located in a horizontal plane, arranged in a second direction (Y) perpendicular to the first set of parallel guide rails (110) to guide container handling vehicles (201; 301; 401) to move in the first direction (X) and the second direction (Y), and wherein the guide rail system (108) includes a running area (20). The plurality of container handling vehicles (201; 301; 401) are used to run on the guide rails (110, 111) in the operating area (20).

21. The automatic storage and retrieval system (1) according to claim 19 or 20, wherein, The automatic storage and retrieval system (1) includes: - A second area (30; 610) is separated from the operating area (20), wherein the second area includes a second area personnel access point (39; 611) with an opening. - The second zone personnel barrier (52; 612) can operate between the following states: In the unlocked state, the second area personnel barrier (52; 612) is configured to allow personnel to enter the second area (30; 610) through the second area personnel access point (39; 611). In a locked state, the personnel barrier (52; 612) of the second area is configured to prevent personnel from entering the second area (30; 610) through the personnel access point (39; 611) of the second area.

22. The automatic storage and retrieval system (1) according to claim 21, wherein, The second area (610) is located within a transport vehicle (601) that can move on the guide rail system (108).

23. The automatic storage and retrieval system (1) according to claim 21, wherein, The second area is located within the service area (30).

24. The automatic storage and retrieval system (1) according to any one of claims 19 to 23, wherein, The automatic storage and retrieval system (1) includes a locking component (33) in the form of a mechanical locking component (33), an electromechanical combination locking component (60), a magnetic locking component, or an electromagnetic locking component, for providing physical blocking.

25. The automatic storage and retrieval system (1) according to claim 24, wherein, The locking component (33) is configured to lock the docking probe (502), and wherein: - The locking component (33) is arranged at or in the second region (30; 610), and the docking probe (502) extends outward from the robotic picking vehicle (501), or - The locking component (33) is arranged at or in the robot picking vehicle (501), and the docking probe (502) extends outward from the second region (30; 610).

26. The automatic storage and retrieval system (1) according to claim 25, wherein, The locking component (33) includes: An external member (34) having a U-shape, within which a receiving portion (37) is formed, wherein the upper outer end (34') and the lower outer end (34'') of the external member (34) are securely connected to the interior of the sides (S1, S2, S3, S4) forming the outer casing (E); and An internal component (35) is movable within a receiving portion (37) of an external component (34), wherein the internal component (35) has a U-shaped shape that forms a receiving portion (38) of the internal component (35), the internal component (35) is oriented in the same direction as the external component (34), and wherein the U-shaped shape of the internal component (35) has an upper end (35') and a lower end (35''). The side surfaces (S1, S2, S3, S4) include holes (530) that are flush with the receiving portion (38) of the internal component (35) to allow the docking probe (502) to pass through the holes.

27. The automatic storage and retrieval system (1) according to claim 26, wherein, The inner member (35) is connected to the outer member (34) by one or more preload springs (36), which apply force to the inner member (35) in the direction toward the holes (530) in the sides (S1, S2, S3, S4).

28. The automatic storage and retrieval system (1) according to claim 27, wherein, The personnel barrier (520') includes locking members (540', 540'') that project laterally as an extension of the personnel barrier (520'), and each of the locking members (540', 540'') includes an opening (541', 541'') such that each of the locking members (540', 540'') is configured to receive a corresponding upper end (35') and lower end (35'') of the inner member (35), thereby locking the personnel barrier (520') when the inner member (35) is in the extended position.

29. The automatic storage and retrieval system (1) according to any one of claims 25 to 28, wherein, The docking probe (502) includes a pre-tightening latch mechanism (504) which is pivotally arranged at a pivot point (505) inside the docking probe (502).

30. The automatic storage and retrieval system (1) according to claim 26, wherein, The latching mechanism (504) is configured such that when no external force from the personnel barrier (520') is applied to the latching mechanism (504), the latching mechanism (504) is in an extended position, in which the latching mechanism extends laterally beyond the outer periphery of the docking probe (502), and when an external force from the personnel barrier (520') is applied to the latching mechanism (504), the preload force is overcome and the latching mechanism (504) is forced back to a retracted position within the outer periphery of the docking probe (502).

31. The automatic storage and retrieval system (1) according to claim 30, wherein, When no external force from the personnel barrier (520') is applied to the latching mechanism (504), the rear end (506) of the latching mechanism (504) is configured to abut the side (S1, S2, S3, S4).

32. The automatic storage and retrieval system (1) according to any one of claims 27 or 28, wherein, The portion of the internal component (35) that contacts one or more of the preload springs (36) has an upper portion (35''') and a lower portion (35''''), the upper portion having a first thickness (T1) and the lower portion having a second thickness (T2), wherein the first thickness (T1) is greater than the second thickness (T2), and wherein the docking probe (502) initially contacts the lower portion (35'''').

33. The automatic storage and retrieval system (1) according to claim 32, wherein, When the locking assembly (33) moves vertically downward relative to the docking probe (502), the docking probe (502) is configured to contact the upper portion (35''') instead of the lower portion (35''''), thereby compressing one or more springs (36) so that the upper and lower ends (35', 35'') of the inner member (35) are disengaged from the locking relationship with the opening (541', 541'') of the locking member (540', 540'').

34. The automatic storage and retrieval system (1) according to claim 33, wherein, A locking member (511) is connected to the side (S1, S2, S3, S4) of the robotic picking vehicle (501) and to the side of the locking assembly (33). The locking member (511) is pre-tensioned by a locking spring (512), and the locking member includes a wedge member (513) arranged at or below the lowest height of the docking probe (502), such that when the personnel barrier (520') is locked, the wedge member (513) is positioned at the docking probe. The locking component (33) is positioned on the side of the docking probe (502) and does not affect the vertical movement of the locking component (33) relative to the docking probe (502). When the personnel barrier (520') is unlocked, the wedge member (513) is arranged between the docking probe (502) and the internal component (35) such that the wedge member prevents the relative vertical movement of the locking component (33) relative to the docking probe (502), thereby preventing the robot picking vehicle (501) from moving when the personnel barrier (501) is unlocked.

35. The automatic storage and retrieval system (1) according to claim 34, wherein, The personnel barrier (520') includes a push member (508) disposed on the opposite side of the locking assembly (33) compared to the locking member (511), wherein the push member (508) is configured to apply force to the locking member (511) to move the wedge member (513) from between the docking probe (502) and the inner member (35) to the side of the docking probe (502).

36. A method for personnel to enter and exit a robotic picking vehicle (501) according to any one of claims 1 to 18, wherein, The method includes: - Control the vehicle barrier (551) to be in an open or closed state, and if the vehicle barrier (551) is in the open state, remove any container transport vehicles present in the closed area (510) and move the vehicle barrier (551) to the closed state. - Unlock the personnel barrier (520') and allow personnel to enter the enclosed area (510) through the personnel access point (514).

37. A computer program comprising executable instructions that, when executed by at least one processor, implement the method of claim 36.

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