Method and vehicle for rescuing stranded container handling vehicles

Abstract

A service vehicle unit (SVU) for maneuvering a stranded container handling vehicle on an automated storage and retrieval system and a method of operating the service vehicle unit, the system comprising a rail system comprising a first set of parallel rails arranged to guide movement of the container handling vehicle in a first direction across a top of a framework structure and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction perpendicular to the first direction, the first and second sets of parallel rails dividing the rail system into a plurality of grid cells, the SVU comprising a wheel module 708 configured to operate on the rail system, the SVU having a turret-mounted positioner 701 used to maneuver the container handling vehicle to a predetermined position on the grid.

Description

[Technical field]

[0001] The present invention relates to an automated storage and retrieval system for the storage and retrieval of containers, and in particular to a method and vehicle for rescuing a container handling vehicle stranded on a grid. [Background technology]

[0002] FIG. 1 discloses a prior art automated storage and retrieval system 1 having a framework structure 100, and FIGS. 2, 3 and 4 disclose three different prior art container handling vehicles 201, 301, 401 suitable for operating on such a system 1.

[0003] The framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged side by side between the upright members 102. In these storage columns 105, storage containers 106, also known as bins, are stacked on top of each other to form stacks 107. The members 102 may typically be made of metal, for example extruded aluminum profiles.

[0004] The framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 disposed across the top of the framework structure 100 on which a plurality of container handling vehicles 201, 301, 401 can be operated to raise the storage containers 106 from the storage columns 105, lower the storage containers 106 into the storage columns, and also transport the storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 disposed to guide the movement of the container handling vehicles 201, 301, 401 in a first direction X across the top of the framework structure 100, and a second set of parallel rails 111 disposed perpendicular to the first set of rails 110 to guide the movement of the container handling vehicles 201, 301, 401 in a second direction Y perpendicular to the first direction X. The containers 106 stored in the columns 105 are accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the rail system 108. The container handling vehicles 201, 301, 401 can move laterally above the storage columns 105, i.e. in a plane parallel to the horizontal XY plane.

[0005] Uprights 102 of framework structure 100 may be used to guide the storage containers during their ascent from and descent into column 105. Stack 107 of containers 106 are typically freestanding.

[0006] Each prior art container handling vehicle 201, 301, 401 comprises a body 201a, 301a, 401a and first and second sets of wheels 201b, 301b, 201c, 301c, 401b, 401c, which allow lateral movement of the container handling vehicle 201, 301, 401 in the X and Y directions, respectively. In Figures 2, 3 and 4 two wheels of each set are fully visible. The first set of wheels 201b, 301b, 401b are arranged to engage two adjacent rails of the first set 110 of rails and the second set of wheels 201c, 301c, 401c are arranged to engage two adjacent rails of the second set 111 of rails. At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be raised and lowered so that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can be engaged with the respective set of rails 110, 111 at any one time.

[0007] Each prior art container handling vehicle 201, 301, 401 also comprises a lifting device for vertically transporting the storage container 106 (e.g., raising the storage container 106 from the storage column and lowering the storage container 106 into the storage column 105). The lifting device comprises one or more gripping / engagement devices adapted to engage the storage container 106, which can be lowered from the vehicle 201, 301, 401 such that the position of the gripping / engagement device relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z perpendicular to the first direction X and the second direction Y. Part of the gripping device of the container handling vehicle 301, 401 is shown in Figures 3 and 4, indicated by reference numbers 304, 404. The gripping device of the container handling device 201 is located in the vehicle body 201a in Figure 2.

[0008] By convention, and for purposes of this application, Z=1 identifies the top layer of storage containers, i.e., the layer immediately below the rail system 108, Z=2 identifies the second layer below the rail system 108, and Z=3 identifies the third layer. In the exemplary prior art disclosed in FIG. 1, Z=8 identifies the bottom layer of storage containers. Similarly, X=1···n and Y=1···n identify the location of each storage column 105 in the horizontal plane. Thus, using the Cartesian coordinate system X, Y, Z shown in FIG. 1 as an example, the storage container identified in FIG. 1 as 106' can be said to occupy storage position X=17, Y=1, Z=5. The container handling vehicles 201, 301, 401 can be said to travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. Thus, the storage containers shown in FIG. 1 that extend above the rail system 108 are also said to be located in layer Z=0.

[0009] The storage volume of the framework structure 100 is often referred to as a grid, and the possible storage locations within this grid are referred to as storage cells. Each storage column may be identified by a location in the X and Y directions, and each storage cell may be identified by a 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 housing the storage containers 106 as they are transported across the rail system 108. The storage space may include an internally disposed cavity within the vehicle body 201a, as shown in Figures 2 and 4 and described, for example, in WO 2015 / 193278 and WO 2019 / 206487, the contents of which are incorporated herein by reference.

[0011] Figure 3 shows an alternative configuration of a container handling vehicle 301 having a cantilever structure. Such a vehicle is described in detail, for example, in Norwegian Patent No. 317366, the contents of which are also incorporated herein by reference.

[0012] 2 may have a footprint covering an area having dimensions in the X and Y directions approximately equal to the lateral extent of the storage column 105, for example, as described in WO 2015 / 193278, the contents of which are incorporated herein by reference. As used herein, the term "lateral" may mean "horizontal."

[0013] Alternatively, the cavity container handling vehicle 401 may have a footprint larger than the lateral area defined by the storage column 105 as shown in Figures 1 and 4, for example as disclosed in WO 2014 / 090684 or WO 2019 / 206487.

[0014] Rail system 108 typically includes rails having grooves in which the vehicle wheels run. Alternatively, the rails may include upwardly protruding elements and the vehicle wheels may include flanges to prevent them from disengaging. These grooves and upwardly protruding elements are collectively known as tracks. Each rail may include one track, or each rail may include two parallel tracks and each rail may include multiple sections.

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

[0016] EP 38235 A1 describes a robotic service device for use in an automated storage and retrieval system for carrying out maintenance tasks. The robotic device is provided with a docking mechanism for rescuing a failed load handling device.

[0017] In the framework structure 100, the majority of the columns 105 are storage columns 105, i.e. columns 105 in which storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In FIG. 1, columns 119 and 120 are Such dedicated columns are used by container handling vehicles 201, 301, 401 to drop off and / or pick up storage containers 106 so that they can be transported to access stations (not shown) where they can be accessed from outside the framework structure 100 or transferred to the outside or inside of the framework structure 100. In the art, such locations are usually referred to as "ports" and the columns where the ports are located may be referred to as "port columns" 119, 120. The transport to the access stations may be in any direction, i.e. horizontal, inclined and / or vertical. For example, the storage containers 106 may be placed in random or dedicated columns 105 in the framework structure 100 and then picked up by any container handling vehicle and transported to the port columns 119, 120 for further transport to the access stations. The containers may be transported on a conveyor belt from the port columns to the access stations. The containers may also be transported from the port columns to the access stations by container handling vehicles. It should be noted that the term "inclined" refers to the transportation of storage containers 106 having a general direction of transportation somewhere between horizontal and vertical.

[0018] In FIG. 1 , the first port column 119 may be, for example, a dedicated drop-off port column where the container handling vehicles 201, 301 can drop off storage containers 106 to be accessed or transported to a transfer station, and the second port column 120 may be a dedicated pick-up port column where the container handling vehicles 201, 301, 401 can pick up storage containers 106 that have been accessed or transported from the transfer station.

[0019] An access station may typically be a picking or stock station where products are removed from or placed into a storage container 106. At a picking or stock station, the storage container 106 is typically not removed from the automated storage and retrieval system 1 but is returned to the framework 100 again once accessed. A port may also be used to transfer storage containers to another storage facility (e.g., to another framework or to another automated storage and retrieval system), to a transport vehicle (e.g., to a train or truck), or to a production facility.

[0020] A conveyor system comprising conveyors is typically used to transport storage containers between the port columns 119, 120 and the access stations.

[0021] If the port columns 119, 120 and the access stations are located at different levels, the conveyor system may include a lift device having a vertical component for vertically transporting the storage containers 106 between the port columns 119, 120 and the access stations.

[0022] A conveyor system may be arranged to transport the storage containers 106 between the different framework structures, for example as described in WO 2014 / 075937, the contents of which are incorporated herein by reference.

[0023] When a storage container 106 stored in one of the columns 105 disclosed in FIG. 1 is to be accessed, one of the container handling vehicles 201, 301, 401 is instructed to retrieve the target storage container 106 from its position and transport it to the drop-off port column 119. This operation includes moving the container handling vehicle 201, 301 to a position above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using a lifting device (not shown) of the container handling vehicle 201, 301, 401, and transporting the storage container 106 to the drop-off 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 located above the target storage container 106, the operation also includes temporarily moving the storage container located above before lifting the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as "mining," may be performed by the same container handling vehicle subsequently used to transport the target storage container to the drop-off port column 119, or by one or more other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 dedicated to the task of temporarily removing the storage container 106 from the storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container 106 may be repositioned back to the original storage column 105. However, the removed storage container 106 may alternatively be relocated to another storage column 105.

[0024] When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201, 301, 401 is directed to pick up the storage container 106 from the pickup port column 120 and transport it to a position above the storage column 105 where the storage container is to be stored. After any storage container 106 located at or above the target location in the stack 107 has been removed, the container handling vehicle 201, 301, 401 places the storage container 106 in the desired location. The removed storage container 106 may then be placed back into the storage column 105 or transferred to another storage column 105.

[0025] To monitor and control the automated storage and retrieval system 1, for example, the location of each storage container 106 within the framework structure 100, the contents of each storage container 106, and the movements of the container handling vehicles 201, 301, 401 so that the desired storage containers 106 can be delivered to the desired locations at the desired times without the container handling vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 includes a control system 500 that is typically computerized and typically includes a database for tracking the storage containers 106.

[0026] A container handling vehicle that fails on the grid usually fails between two cells and in most cases the problem is solved by moving the container handling vehicle to a known position and restarting the vehicle. The known position can be the nearest column with respect to where the container handling vehicle has failed. However, solutions disclosed in the prior art present a solution where the stuck or broken down container handling vehicle must be brought into a service area and an operator is requested to attempt to restart the container handling vehicle.

[0027] If a container handling vehicle gets stuck or breaks down on the grid, it must be transported off the grid by having a person maneuver onto the grid and physically push the container handling vehicle to a service area, or another solution is to obtain a special service robot to transport the vehicle to the service area. All of these solutions require that the grid must be fully or partially stopped while the container handling vehicle is transported to the service area.

[0028] These solutions are time-consuming and expensive as container handling vehicles must be transported to service areas and a grid outage means that the grid is not operating at full capacity, leading to potential costs associated with downtime and lost revenue. [Prior art documents] [Patent documents]

[0029] [Patent Document 1] International Publication No. 2015 / 193278 [Patent Document 2] International Publication No. 2019 / 206487 Summary of the Invention [Means for solving the problem]

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

[0031] In one aspect, the invention relates to a Service Vehicle Unit (SVU) for maneuvering a stranded container handling vehicle on an automated storage and retrieval system, the system comprising a rail system including a first set of parallel rails arranged to guide movement of the container handling vehicle in a first direction (X) across a top of a framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) perpendicular to the first direction (X), the first and second sets of parallel rails dividing the rail system into a plurality of grid cells, At least one container handling vehicle is configured to operate on a rail system, the SVU includes a wheel module configured with first and second sets of wheels that enable movement of the container handling vehicle in X and Y directions and can be configured to operate on the rail system, the SVU has a turret and a turret-mounted positioner attached to the wheel module, the turret is used to rotate the turret-mounted positioner horizontally to attach to the container handling vehicle and steer the container handling vehicle to a predetermined position on the grid by the wheel module.

[0032] Additionally, the turret mounted positioner may have a suction device for attaching to the container handling vehicle, which may be powered by a pneumatic pump. The turret mounted positioner may have a camera with a transmitter. The turret may be rotated horizontally using a motor that drives the turret mounted positioner. The motor that rotates the turret mounted positioner may be an electric motor.

[0033] The turret mounted positioner may also have an electromagnet for attaching to the container handling vehicle, the SVU may have a linear actuator to extend and retract the turret mounted positioner, or the SVU may have a pneumatic cylinder to extend and retract the turret mounted positioner, or the SVU may have an electric motor that drives a rack and pinion system to extend and retract the turret mounted positioner, and the turret and turret mounted positioner can be controlled by the control box upper module of the SVU, and the turret mounted positioner can be raised and lowered.

[0034] Further, the suction device can be raised and lowered to engage the container handling vehicle. The center of the wheel on the wheel module can have a spacer that registers when the container handling vehicle is at a predetermined position on the grid, the spacer can register when the container handling vehicle is at a predetermined position on the grid by the container handling vehicle contacting the spacer, the predetermined position on the grid can be an empty cell between the SVU and the container handling vehicle, or the predetermined position on the grid can be a service area.

[0035] Additionally, the turret-mounted positioner may have stops to ensure that the turret-mounted positioner does not rotate beyond a maximum of 360°, and the stops may be used to calibrate the position of the turret-mounted positioner.

[0036] In a second aspect, the present invention relates to a method of operating a service vehicle unit (SVU) for maneuvering a stranded container handling vehicle on an automated storage and retrieval system, the system comprising a rail system comprising a first set of parallel rails arranged to guide movement of the container handling vehicle in a first direction (X) across a top of a framework structure and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) perpendicular to the first direction (X), the first and second sets of parallel rails dividing the rail system into a plurality of grid cells, at least one container handling vehicle is configured to operate on the rail system, and the SVU is adapted to operate on the rail system. The method includes a wheel module configured as follows: a central computer system notifying an SVU about a stranded container handling vehicle; the central computer system sending the SVU to a last known location of the stranded container handling vehicle; the central computer system positioning the SVU relative to the container handling vehicle such that a turret mounted positioner is used to steer the container handling vehicle to a predetermined cell on the grid; the SVU repositioning the stranded container handling vehicle; and the central computer system attempting to restart the container handling vehicle from the predetermined location on the grid using the central computer system.

[0037] The method also includes remotely controlling the SVU using the central computer system, and the step of repositioning the container handling vehicle further comprises the SVU extending a turret-mounted positioner and coupling it to the stranded container handling vehicle, the SVU steering the container handling vehicle using the turret to maneuver the container handling vehicle to a known position on the grid, and the SVU decoupling the turret-mounted positioner from the container handling vehicle.

[0038] Additionally, the central computer system locates the stranded container handling vehicle using a camera, which may be mounted on the end of a turret on the SVU. The method includes remotely controlling the SVU using an operator to locate the stranded container handling vehicle and steer the SVU.

[0039] The method includes attaching the turret mounted positioner to the container handling vehicle using a suction device on an end of a turret of the SVU, or the method includes coupling the turret mounted positioner to the container handling vehicle using an electromagnet on an end of a turret of the SVU, or the method includes pushing the container handling vehicle using a suction device to push the container handling vehicle, or the method includes pushing the container handling vehicle using an electromagnet.

[0040] The method also includes receiving images from a camera mounted on the end of the turret-mounted positioner to enable an operator to operate the turret and the turret-mounted positioner, or receiving images from a camera mounted on the end of the turret-mounted positioner to enable a central computer system to steer the turret-mounted positioner based on image recognition software applied to the images from the camera.

[0041] The method includes extending and retracting a turret-mounted positioner using a pneumatic cylinder powered by a pneumatic pump, an electric motor powering a rack and pinion system, or a linear actuator.

[0042] The wheelbase may have a body that corresponds to the grid spacing of a single cell. It is lower in height than a container handling vehicle. It is motorized and can move in the x and y directions. It is powered by a battery that drives the motor. In addition, it includes the mount and control system for the turret. The small footprint allows it to lower its wheels and lock into the grid. It also allows for precise positioning of stranded vehicles to adjacent cells. [Brief description of the drawings]

[0043] The following drawings are included to facilitate an understanding of the invention and illustrate embodiments of the invention, herein described by way of example only:

[0044] [Figure 1] FIG. 1 is a perspective view of a framework of a prior art automated storage and retrieval system. [Diagram 2] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers therein. [Diagram 3] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever beam for carrying storage containers downward. [Figure 4] FIG. 4 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers therein having a footprint larger than the lateral area defined by a storage column. [Diagram 5] FIG. 5 is a perspective view of a service vehicle unit (SVU) having a turret mounted positioner. [Figure 6] FIG. 6 is an opposite side perspective view of the service vehicle unit (SVU) having the turret mounted positioner shown in FIG. [Figure 7] 7 to 13 are perspective views of a service vehicle unit (SVU) that performs rescue of a container handling vehicle stranded on a grid according to an embodiment of the present invention. [Figure 8]7 to 13 are perspective views of a service vehicle unit (SVU) that performs rescue of a container handling vehicle stranded on a grid according to an embodiment of the present invention. [Figure 9] 7 to 13 are perspective views of a service vehicle unit (SVU) that performs rescue of a container handling vehicle stranded on a grid according to an embodiment of the present invention. [Figure 10] 7 to 13 are perspective views of a service vehicle unit (SVU) that performs rescue of a container handling vehicle stranded on a grid according to an embodiment of the present invention. [Figure 11] 7 to 13 are perspective views of a service vehicle unit (SVU) that performs rescue of a container handling vehicle stranded on a grid according to an embodiment of the present invention. [Figure 12] 7 to 13 are perspective views of a service vehicle unit (SVU) that performs rescue of a container handling vehicle stranded on a grid according to an embodiment of the present invention. [Figure 13] 7 to 13 are perspective views of a service vehicle unit (SVU) that performs rescue of a container handling vehicle stranded on a grid according to an embodiment of the present invention. [Figure 14] Figures 14-16 are perspective views of a service vehicle unit (SVU) performing rescue of a stranded container handling vehicle on a grid according to an embodiment of the present invention, where the SVU engages the stranded or disabled container handling vehicle from a side that is 90° to the side shown in Figures 7-13. [Figure 15] Figures 14-16 are perspective views of a service vehicle unit (SVU) performing rescue of a stranded container handling vehicle on a grid according to an embodiment of the present invention, where the SVU engages the stranded or disabled container handling vehicle from a side that is 90° to the side shown in Figures 7-13. [Figure 16]Figures 14-16 are perspective views of a service vehicle unit (SVU) performing rescue of a stranded container handling vehicle on a grid according to an embodiment of the present invention, where the SVU engages the stranded or disabled container handling vehicle from a side that is 90° to the side shown in Figures 7-13. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0045] Embodiments of the invention will now be described in more detail with reference to the accompanying drawings, in which it will be understood, however, that the drawings are not intended to limit the invention to the subject matter shown in the drawings.

[0046] The framework structure 100 of the automated storage and retrieval system 1 is constructed according to the prior art framework structure 100 described above in relation to Figures 1 to 3, i.e. several upright members 102, and further the framework structure 100 comprises a first upper rail system 108 in the X and Y directions.

[0047] The framework 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102, 103, within which storage containers 106 are stackable in stacks 107.

[0048] The skeleton structure 100 can be of any size. In particular, it is understood that the skeleton structure can be significantly wider and / or longer and / or deeper than is disclosed in Figure 1. For example, the skeleton structure 100 can have a horizontal extent of greater than 700 x 700 columns and a storage depth of greater than 12 containers.

[0049] Next, one embodiment of the automatic storage and retrieval system according to the present invention will be described in more detail with reference to Figs. 5 to 13.

[0050] FIG. 4 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers, the container handling vehicle having a footprint larger than the lateral area defined by a storage column 105.

[0051] FIG. 5 is a perspective view of a service vehicle unit (SVU) having a turret mounted positioner 701.

[0052] The present invention relates to a Service Vehicle Unit (SVU) for assisting container handling vehicles that are stuck or broken down on the grid. When a container handling vehicle gets stuck or broken down on the grid, usually between two cells, in most cases the problem is resolved by moving the container handling vehicle to a known location and restarting the vehicle. The known location can be the nearest column (grid space) relative to where the container handling vehicle broke down.

[0053] The SVU is comprised of at least one wheel module 708. The wheel module 708 comprises a body and first and second sets of wheels, which allow lateral movement of the container handling vehicle in the X and Y directions, respectively. The first set of wheels is arranged to engage two adjacent rails of the first set of rails, and the second set of wheels is arranged to engage two adjacent rails of the second set of rails. The SVU may be configured such that the wheel module 708 corresponds in size to the area of ​​a single storage column 105 (grid space), including the area of ​​the rail track on which the wheels run. At least one of the wheel sets can be raised and lowered, such that the first set of wheels and / or the second set of wheels can be engaged with the respective set of rails at any one time. Additionally, the wheel module 708 comprises an electric motor for powering the wheel set. The wheel module 708 may also have a battery capable of powering the electric motor. The battery is rechargeable (either on-site or remote from the SVU) and can also power the rest of the SVU.

[0054] A top module is attached to the wheel module 708. The top module is comprised of an SVU controller 802. The top module further includes a positioner connected to the SVU controller. The SVU controller controls the position and rotation of the turret mounted positioner 701. The turret mounted positioner 701 is rotated by an electric motor, which rotates a gear and the turret mounted positioner 701 in either direction via a belt 709.

[0055] The turret mounted positioner 701 may be comprised of at least two parts. The turret mounted positioner 701 may be telescopic, for example as shown in FIG. 9, and extend at least the width of a cell. The telescopic movement of the turret mounted positioner 701 may be performed by a pneumatic cylinder 705. Alternatively, the telescopic movement of the turret mounted positioner 701 may be achieved by a rack and pinion system. If the telescopic movement is performed by a pneumatic cylinder 705, the pneumatic cylinder 705 may be controlled by an air reservoir 710. Additionally, there may be a compressor to maintain the air pressure in the air reservoir 710.

[0056] In a preferred solution, the extension and retraction of the turret mounted positioner 701 is performed by a linear actuator.

[0057] Figures 5 and 6 show perspective views of the SVU from different sides. The turret-mounted positioner 701 is controlled by a positioner controller box 702. The upper module controller box operates the turret-mounted positioner 701 based on instructions from a central computer system. Alternatively, the instructions can be sent by an operator.

[0058] The command is received by a radio receiver. The central computer system or operator receives images from the camera 704 connected to the transmitter. The camera 704 allows the central computer system or operator to locate the stuck or broken down container handling vehicle so that it is precisely located. Furthermore, it allows the central computer system or operator to control the connection to the stuck or broken down container handling vehicle. Since the central computer system does not know exactly where the stuck or broken down container handling vehicle is, the central computer system needs to separately determine the location of the stuck or broken down container handling vehicle in order to know how to attach to it and move it. In a preferred embodiment, the camera 704 and transmitter are located at the end of the turret mounted positioner 701. However, the camera 704 can be located elsewhere on the SVU that gives the camera 704 a view of the container handling vehicle.

[0059] At the end of the turret mounted positioner 701 there is an engagement surface 801 for connecting to a container handling vehicle. The engagement surface 801 has a means for attaching the turret mounted positioner 701 to a stranded or broken down container handling vehicle.

[0060] In a preferred embodiment of the present invention, the means for attaching the turret mounted positioner 701 to the container handling vehicle can be a set of suction devices 706. The suction devices 706 can be connected to any side of the container handling vehicle. The suction devices 706 can be powered by the wheel module 708, or a battery in the top module (which may include its own power source (e.g., a battery or capacitor)).

[0061] In a preferred embodiment of the present invention, the suction device 706 or electromagnet used to attach to the container handling vehicle to pull the container handling vehicle towards the SVU can also be used to push the container handling vehicle into a free cell on the other side of the container handling vehicle relative to the SVU.

[0062] In another solution, the turret mounted positioner 701 can be attached to the container handling vehicle by using electromagnets. The electromagnets can be powered by a battery in the wheel module 708 or another power source (e.g., a battery or capacitor in the top module). In yet another solution, the turret mounted positioner 701 can be attached to the container handling vehicle by using hooks or loops made from wire or rope or the like. These solutions can be added to the suction cups 706 or electromagnets.

[0063] In another solution, the turret mounted positioner 701 can also be moved vertically. This is to allow for better connection to a stuck or broken down container handling vehicle. If the container handling vehicle has for example a cantilever solution, connecting to the cantilever side can be problematic. Therefore, it can be advantageous to raise or lower the turret mounted positioner 701 vertically to properly connect with the container handling vehicle.

[0064] When the turret-mounted positioner 701 is connected to a container handling vehicle by the suction device 706, the turret-mounted positioner 701 can use the suction force provided by the suction device 706 to attract the container handling vehicle to the nearest free column.

[0065] The suction device 706 can also be raised and lowered to allow proper connection with a container handling vehicle.

[0066] Alternatively, the turret mounted positioner 701 can push or shove the container handling vehicle to the nearest free column.

[0067] When the SVU is moving the container handling vehicle, all the wheels of the wheel module 708 can be lowered to lock the SVU in place. The SVU can also control the wheels of the container handling vehicle so that it can steer. The footprint of the SVU can be the size of a single cell or larger. When the SVU has all its wheels lowered, it has its front side at most flush with the center of the rail and is locked in place above the storage column 105. That way, the SVU can pull the stuck vehicle back to a position where it is directly above the storage column 105, and then the SVU can help reset the positioning sensors.

[0068] The act of knowing that it can have all eight wheels in contact with the rails signals the robot that it is at a given grid position.

[0069] SVU can also transport container handling vehicles to dedicated service stations for further repairs.

[0070] When the SVU is in the desired position, the system can send a track shift command to the stranded container handling vehicle, which will cause it to place itself in a "midpos" with all eight wheels down. From that position, the robot can attempt to restart itself or remain parked until a later time. If the robot is parked (at a "delay stop") and waiting for a rescue drone or an operator to come and retrieve the robot, the bin below may be needed. In such cases, the rescue drone will often move the robot one cell away for the container below to be accessed.

[0071] The present invention solves the problem by moving the container handling vehicle to the nearest available cell. The SVU is composed of a wheel module 708 on which a turret with a positioner is mounted. The turret can swing the turret mounted positioner 701 in both directions and is driven by an electric motor 703. The turret mounted positioner 701 is originally intended to be movable only in a horizontal plane, but in an alternative embodiment of the present invention, it can also move the turret mounted positioner 701 in a vertical plane so that it can be adapted to different types of container handling vehicles. In yet another embodiment of the present invention, the engagement surface 801 at the end of the turret mounted positioner 701 can be steered so that it can be adapted to different types of container handling vehicles. It may also be necessary to adjust the height of the turret so that it can be attached to the cantilever side of the container handling vehicle by a cantilever solution.

[0072] There are two ways to attach to the container handling vehicle. The turret mounted positioner 701 can have a suction device 706 powered by a pneumatic pump that can be connected to any side of the container handling vehicle. In an alternative solution, the suction device 706 can be replaced with an electromagnet.

[0073] The turret mounted positioner 701 can also be used to push container handling vehicles to the cells, therefore the turret mounted positioner 701 can have padded plates on the ends to avoid harming the container handling vehicles.

[0074] The method is that the SVU approaches the failed container handling vehicle. The SVU positions itself so that it can connect to the container handling vehicle. The SVU has a camera 704 on the end of a turret mounted positioner 701 that allows an operator to remotely operate the turret and the turret mounted positioner 701. The turret mounted positioner 701 is extended so that it interacts with the container handling vehicle. Either a suction or an electromagnet is attached to the side of the container handling vehicle and the SVU pulls the container handling vehicle towards itself until it is positioned in an available cell.

[0075] Alternatively, the SVU can use its positioner to push the container handling vehicle to a cell on the grid that is available and the central computer system can attempt to restart the container handling vehicle.

[0076] FIG. 6 is a perspective view of the opposite side of the service vehicle unit (SVU) having the turret mounted positioner 701 shown in FIG.

[0077] This is an image of the SVU opposite the one shown in Figure 5. In the image, engagement surface 801 is attached to the end of turret mounted positioner 701. The device used to attach turret mounted positioner 701 to the container handling vehicle can be secured to engagement surface 801. The device used to attach turret mounted positioner 701 to the container handling vehicle can be a suction device or an electromagnet as described above.

[0078] Additionally, the SVU controller can be seen, which controls the position and rotation of the upper module.

[0079] In a preferred embodiment of the present invention, the SVU has the footprint of a single cell. However, the SVU may have a larger footprint. This may be because the wheel module 708 is larger than a single cell, or it may be because there are multiple wheel modules 708.

[0080] A larger wheel module 708 or several wheel modules 708 can ensure a better foundation for the SVU, ensuring that it is more sturdy when pushing or pulling the container handling vehicle.

[0081] The turret mounted positioner 701 comprises a cantilevered arm. The cantilevered arm has a length greater than the grid spacing. Furthermore, the cantilevered arm is telescopic and is made up of at least two parts that slide relative to one another. Since it is not lifting a load, the end of the turret mounted positioner 701 can extend a greater distance than the cantilever of the cantilevered container handling vehicle. The fact that the cantilever extends rearward from the SVU allows the extension of the turret mounted positioner 701 to be counterbalanced by the remaining cantilever of the turret mounted positioner when the turret mounted positioner 701 is extended. This allows the device to support a larger rotational moment and reach further.

[0082] Stops 803 are used to ensure that the turret mounted positioner does not rotate beyond the maximum of 360°, and can be used to calibrate the position of the turret mounted positioner. The stops also ensure that the cables internal to the turret and turret mounted positioner are not twisted excessively.

[0083] The center of the wheel on the wheel module has a spacer 804 which registers when the container handling vehicle is in position on the grid by the container handling vehicle touching the spacer 804. The SVU registers the container handling vehicle touching the spacer and sends a signal to the central computer system that the container handling vehicle is in position on the grid and an attempt to restart the container handling vehicle can be initiated.

[0084] In an alternative solution to this embodiment, the SVU's telescoping positioner could be replaced by a robotic arm that could have a gripper on the end that would grab a portion of the container handling vehicle and allow it to be maneuvered into position.

[0085] 7 to 13 are perspective views of a service vehicle unit (SVU) that performs rescue of a container handling vehicle stranded on a grid according to an embodiment of the present invention.

[0086] FIG. 7 shows a central computer system that notifies the SVU of stranded container handling vehicles.

[0087] FIG. 8 shows a central computer system sending an SVU to the last known location of a stranded container handling vehicle.

[0088] Figure 9 shows a central computer system locating a stranded container handling vehicle using a camera 704 mounted on the end of a turret mounted positioner 701 on the SVU. The central computer system positions the SVU relative to the container handling vehicle so that the turret mounted positioner 701 can be used to steer the container handling vehicle to a predetermined cell on the grid, and the SVU extends the turret mounted positioner 701 and couples it to the stranded container handling vehicle.

[0089] FIG. 10 shows that the SVU uses a turret and turret mounted positioner 701 to steer container handling vehicles to known positions on the grid.

[0090] FIG. 11 shows the wheel module 708 going from an upright position to a running position. This is done by raising one set of wheels so that not all wheels are down at once. The upright position is considered to be the position where all wheels are placed on the track of the grid (e.g., as shown in FIG. 10). This upright position serves to lock the SVU in place on the grid to prevent it from moving while handling a stuck (or stalled) container handling vehicle. The running position is the position where the wheels in only one direction touch the track on the grid.

[0091] FIG. 12 shows the SVU decoupling the turret mounted positioner 701 from the container handling vehicle.

[0092] FIG. 13 shows the central computer system attempting to restart a container handling vehicle using the central computer system from a location on the grid, and the SVU moving away from the container handling vehicle.

[0093] Figures 14-16 are perspective views of a Service Vehicle Unit (SVU) performing rescue of a stranded container handling vehicle on a grid according to an embodiment of the present invention, where the SVU engages the stranded (or disabled) container handling vehicle from a side that is 90° to the side shown in Figures 7-13. This is to demonstrate that the SVU can engage a container handling vehicle from any side.

[0094] FIG. 14 shows that the central computer system positions the SVU relative to the container handling vehicle so that the turret mounted positioner 701 can be used to steer the container handling vehicle to a given cell on the grid, and the SVU extends the turret mounted positioner 701 and couples it to the stranded container handling vehicle.

[0095] FIG. 15 shows a turret and turret mounted positioner 701 mounted on a stranded container handling vehicle.

[0096] FIG. 16 shows an SVU using a turret and turret mounted positioner 701 to maneuver a container handling vehicle to a known position on a grid.

[0097] Furthermore, solutions exist where the SVU can steer the container handling vehicle back into service for further maintenance. The SVU may also be capable of maneuvering the wheels of the container handling vehicle to ensure that it can move the container handling vehicle.

[0098] Steering of the wheels of the container handling vehicle may be accomplished mechanically by rotating a winding mechanism accessible on the container handling vehicle to raise or lower the set of wheels.

[0099] In the preceding description, various aspects of the delivery vehicle and automated storage and retrieval system of the present invention have been described with reference to exemplary embodiments. For purposes of explanation, specific numbers, systems and configurations have been set forth to provide a thorough understanding of the system and its operation. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the exemplary embodiments, as well as other embodiments of the system that are apparent to those skilled in the art to which the disclosed subject matter pertains, are deemed to be within the scope of the present invention.

[0100] (List of reference numbers) Conventional technology (Figs. 1 to 4): 100 Frame structure 102 Upright members of frame structures 103 Horizontal members of frame structures 104 Storage Grid 105 Storage Column 106 Storage Container 106' Specific location of storage container 107 Stack 108 Rail System 110 Parallel rail in the first direction (X) 110a: first rail in first direction (X) 110b second rail in first direction (X) 111 Parallel rail in the second direction (Y) 111a First rail in second direction (Y) 111b second rail in second direction (Y) 112 Access opening 119 First Port Column 120 Second Port Column 201 Prior art storage container vehicle 201a Storage container vehicle 101 body 201b Drive means / wheel arrangement, first direction (X) 201c Drive means / wheel arrangement, second direction (Y) 301 Prior art cantilever storage container vehicle 301a Storage container vehicle 101 body 301b Driving means in the first direction (X) 301c second direction (Y) driving means 401 Prior art container handling vehicles 401a Body of container handling vehicle 401 401b Driving means in the first direction (X) 401c Driving means in the second direction (Y) X First Direction Y Second Direction Z third direction 701 Turret-mounted positioner 702 Positioner Controller Box 703 Motor driving turret-mounted positioner 704 Camera with transmitter 705 Pneumatic Cylinder 706 Suction Cup 707 Turret 708 Wheel Module 709 Belt from motor to positioner. 710 Air Reservoir 801 Engagement surface 802 SVU Controller 803 Stopper 804 Spacer

Claims

1. 1. A service vehicle unit (SVU) for maneuvering a stranded container handling vehicle on an automated storage and retrieval system, the SVU comprising a wheel module comprised of first and second sets of wheels, the wheel module enabling movement in a first direction and a second direction and configured to operate on a rail system, the rail system comprising a grid, the SVU having a turret and a turret mounted positioner attached to the wheel module, the turret configured to rotate the turret mounted positioner, the turret mounted positioner configured to attach to the container handling vehicle, the turret mounted positioner configured to maneuver the container handling vehicle to a predetermined position on the grid.

2. The SVU of claim 1 , wherein the turret mounted positioner has a suction device for attaching to the container handling vehicle.

3. The SVU of claim 2 , wherein the suction device is powered by a pneumatic pump.

4. The SVU of claim 1 , wherein the turret mounted positioner has a camera with a transmitter.

5. The SVU of claim 1 , wherein the turret is rotated horizontally using a motor that drives the turret mounted positioner.

6. The SVU of claim 1 , wherein the turret mounted positioner has an electromagnet for attaching to the container handling vehicle.

7. 10. The SVU of claim 1, wherein the SVU has a linear actuator, a pneumatic cylinder, or an electric motor that drives a rack and pinion system to extend and retract the turret mounted positioner.

8. The SVU of claim 1 , wherein the turret mounted positioner can be raised and lowered.

9. 2. The SVU of claim 1, wherein the centers of the wheels on the wheel modules have spacers that register when the container handling vehicle is in the predetermined position on the grid.

10. 10. The SVU of claim 9, wherein the spacer registers when the container handling vehicle is at the predetermined position on the grid by the container handling vehicle contacting the spacer.

11. The SVU of claim 10, wherein the predetermined location on the grid is either an empty cell between the SVU and the container handling vehicle or a service area.

12. 12. The SVU of claim 11, wherein the turret mounted positioner has stops to ensure that the turret mounted positioner does not rotate beyond a maximum of 360 degrees.

13. The SVU of claim 12 , wherein the stops can be used to calibrate the position of the turret mounted positioner.

14. A method of operating a service vehicle unit (SVU) according to any one of claims 1 to 13, said method comprising: a. a central computer system notifying said SVU of a stranded container handling vehicle; b. the central computer system sending the SVU to the last known location of the stranded container handling vehicle; c) the central computer system positions the SVU relative to the container handling vehicle such that the turret mounted positioner can be used to maneuver the container handling vehicle to a predetermined cell on the grid; d. the SVU repositioning the stranded container handling vehicle; A method comprising:

15. The method of claim 14, comprising the central computer system attempting to restart the container handling vehicle from the predetermined position on the grid using the central computer system.

16. repositioning the container handling vehicle f. the SVU extending the turret mounted positioner and coupling it to the stranded container handling vehicle; g. the SVU maneuvering the container handling vehicle using the turret to maneuver the container handling vehicle to a known position on the grid; h. the SVU decoupling the turret mounted positioner from the container handling vehicle; 15. The method of claim 14, comprising:

17. 15. The method of claim 14, wherein the method includes remotely controlling the SVU using an operator to locate the stranded container handling vehicle and steer the SVU.

18. 15. The method of claim 14, wherein the method includes receiving images from a camera mounted on the end of a turret-mounted positioner to enable the central computer system to steer the turret-mounted positioner based on image recognition software applied to the images from the camera.

19. The method of claim 14, wherein the method includes extending and retracting the turret-mounted positioner using a pneumatic cylinder powered by a pneumatic pump, an electric motor powering a rack and pinion system, or a linear actuator.

20. A storage and retrieval system having a grid-based rail system and an SVU described in any one of claims 1 to 13.

Images