Inspection vehicle with vehicle fence

Abstract

To provide an inspection vehicle (50) for operating on a rail system of a storage / retrieval grid.SOLUTION: An inspection vehicle is configured to retrieve a remotely operated vehicle for inspection. The inspection vehicle comprises a first vehicle area (51) and a second vehicle area (52). The first vehicle area is configured as a vehicle fence for holding the remotely operated vehicle before entry into the second vehicle area, and the first vehicle area is connected to the second vehicle area in such a manner that the remotely operated vehicle can pass through the vehicle fence.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to an inspection vehicle for operating on a rail system of a storage and retrieval grid, the inspection vehicle being configured to retrieve a remotely operated vehicle for inspection, the inspection vehicle comprising a vehicle barrier with an entrance and exit barrier for regulating the passage of the remotely operated vehicle between a first vehicle area and a second vehicle area of ​​the inspection vehicle. [Background technology]

[0002] Background and Prior Art FIG. 1 discloses a typical prior art automated storage and retrieval system 1 with a framework structure 100, and FIGS. 2 and 3 disclose two different prior art container handling vehicles 201, 301 suitable for operating on such a system 1.

[0003] The skeletal structure 100 comprises upright members 102, horizontal members 103 and a storage volume comprising storage columns 105 arranged side by side between the upright members 102 and the horizontal members 103. In these storage columns 105, storage containers 106, also known as receptacles, are stacked on top of each other to form a stack 107. The members 102, 103 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 arranged across the top of the framework structure 100 on which a number of container handling vehicles 201, 301 are operated to lift storage containers 106 from, lower storage containers 106 into, and transport storage containers 106 up the storage columns 105. The rail system 108 comprises a first set 110 of parallel rails arranged to guide the movement of the container handling vehicles 201, 301 in a first direction X across the top of the framework structure 100, and a second set 111 of parallel rails arranged perpendicular to the first set 110 for guiding the movement of the container handling vehicles 201, 301 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 through access openings 112 in the rail system 108. The container handling vehicles 201, 301 are able to move laterally above the storage columns 105, i.e. in a plane that is parallel to the horizontal XY plane.

[0005] The uprights 102 of the skeletal structure 100 may be used to guide the storage containers during lifting out of and lowering into the column 105. The stack 107 of containers 106 is typically freestanding.

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

[0007] Each prior art container handling vehicle 201, 301 also comprises a lifting device (not shown) for vertical transport of the storage containers 106 (e.g. lifting the storage containers 106 from the storage columns 105 and lowering the storage containers 106 into the storage columns 105). The lifting device comprises one or more gripping / engagement devices adapted to engage the storage containers 106, which can be lowered from the vehicle 201, 301 such that the position of the gripping / engagement devices relative to the vehicle 201, 301 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. A portion of the gripping device of the container handling vehicle 301 is shown in FIG. 3 and is designated by reference number 304. The gripping device of the container handling device 201 is located in the vehicle body 201a of FIG. 2.

[0008] As before, 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, Z=3 identifies the third layer, and so on. 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. As a result, using the Cartesian coordinate system X, Y, Z shown in FIG. 1 as an example, the storage container identified as 106' in FIG. 1 may be said to occupy storage location X=10, Y=2, Z=3. The container handling vehicles 201, 301 may be said to travel in layer Z=0, and each storage column 105 may be identified by its X and Y coordinates.

[0009] The storage volume of the skeleton structure 100 is often referred to as a grid 104, and the possible storage locations within this grid are referred to as storage cells. Each storage column may be identified by a position in the X and Y directions, while 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 comprises a storage compartment or space for receiving and housing the storage containers 106 as they are transported across the rail system 108. As shown in FIG. 2 and described, for example, in WO 2015 / 193278 A1 (Patent Document 1), the contents of which are incorporated herein by reference, the storage space may comprise a cavity centrally arranged within the vehicle body 201a.

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

[0012] 2 may have a footprint covering an area with dimensions in the X and Y directions generally equal to the lateral extent of a storage column 105, for example, as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" may mean "horizontal."

[0013] Alternatively, the central hollow container handling vehicle 101 may have a footprint larger than the lateral area defined by the storage columns 105, for example as disclosed in WO2014 / 090684A1 (Patent Document 2).

[0014] Rail system 108 typically includes rails with grooves along which the vehicle wheels run. Alternatively, the rails may include upwardly protruding elements and the vehicle wheels may include flanges to prevent derailment. 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.

[0015] WO2018 / 146304 (Patent Document 3), the contents of which are incorporated herein by reference, illustrates an exemplary configuration of a rail system 108 comprising rails and parallel tracks in both the X and Y directions.

[0016] In the skeleton structure 100, the majority of the columns 105 are storage columns 105, i.e., columns 105 in which the 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 used by container handling vehicles 201, 301 for unloading and / or loading the storage containers 106 so that they can be transported to an access station (not shown), where they can be accessed from outside the skeleton structure 100 or transferred out of or into the skeleton structure 100. In the art, such places are usually referred to as "ports" and the columns in which the ports are located can be referred to as "port columns" 119, 120. The transport to the access station can be in any direction: horizontal, diagonal, and / or vertical. For example, storage containers 106 may be installed in random or dedicated columns 105 in the skeletal structure 100 and then loaded by any container handling vehicle and transported to port columns 119, 120 for further transport to an access station. Note that the term "diagonal" refers to the transport of storage containers 106 having a general transport orientation somewhere between horizontal and vertical.

[0017] In FIG. 1 , the first port column 119 may be, for example, a dedicated loading port column where the container handling vehicles 201, 301 may unload storage containers 106 to be transported to an access or transfer station, and the second port column 120 may be a dedicated loading port column where the container handling vehicles 201, 301 may load storage containers 106 transported from an access or transfer station.

[0018] An access station may typically be a picking or stock station where product items 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 placed back into the backbone structure 100 once accessed. Ports can also be used to transfer storage containers to another storage facility (e.g., another backbone structure, or another automated storage and retrieval system), a transport vehicle (e.g., a train or lorry), or a production facility.

[0019] A conveyor system comprising conveyors is typically employed to transport the storage containers between the port columns 119, 120 and the access stations.

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

[0021] The conveyor system may be arranged to transport the storage containers 106 between the different skeletal structures, for example as described in WO2014 / 075937A1 (Patent Document 4), the contents of which are incorporated herein by reference.

[0022] 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 is commanded to retrieve the target storage container 106 from its location and transport it to the unloading port column 119. This operation involves moving the container handling vehicle 201, 301 to a location 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, 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., with one or more other storage containers 106 positioned above the target storage container 106, the operation also involves temporarily moving the storage container located above prior to raising the target storage container 106 out of the storage column 105. This step, sometimes referred to in the art as "digging out," may then be performed using the same container handling vehicle used to transport the target storage container to the unloading port column 119, or may be performed using one or more other associated container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201, 301 specifically 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 in the original storage column 105. However, the removed storage container 106 may alternatively be relocated to another storage column 105.

[0023] When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201, 301 is commanded to load the storage container 106 from the load port column 120 and transport it to a location above the storage column 105 where it is to be stored. After any storage container 106 located at or above the target location in the stack 107 is removed, the container handling vehicle 201, 301 positions the storage container 106 in the desired location. The removed storage container 106 may then be lowered back into the storage column 105 or relocated to another storage column 105.

[0024] To monitor and control the automated storage and retrieval system 1 (e.g., to monitor and control the location of each storage container 106 within the skeletal structure 100, the contents of each storage container 106, and the movements of the container handling vehicles 201, 301 so that the desired storage containers 106 may be delivered to the desired locations at the desired times without the container handling vehicles 201, 301 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 tracking the storage containers 106.

[0025] When a remotely operated vehicle malfunctions on a rail system, an inspection vehicle may be required to travel on the rail system and retrieve the malfunctioning vehicle for inspection. The inspection vehicle may be operated by a human operator who may in some circumstances need to move around on the deck of the inspection vehicle by shutting down the malfunctioning vehicle or provide an on-site inspection for the malfunctioning vehicle. If the remotely operated vehicle is moved unintentionally, a dangerous situation may arise.

[0026] WO2019233632A1 (Patent Document 5) relates to an inspection vehicle for movement on a rail system. The inspection vehicle comprises a container vehicle handling part for mechanical interaction with a container handling vehicle operating on the rail system and an operating part for controlling the operation of the inspection vehicle and the caterpillar track to enable the inspection movement. One drawback of WO2019233632A1 is that it does not eliminate uncontrollable displacement of the remotely operated vehicle.

[0027] SUMMARY OF THE PRESENT EMBODIMENT It is therefore an object of the present invention to provide a safety arrangement for personnel and equipment on an inspection vehicle.

[0028] Another object of the present invention is to prevent uncontrolled movement of a remotely operated vehicle. [Prior art documents] [Patent documents]

[0029] [Patent Document 1] International Publication No. 2015 / 193278 [Patent Document 2] International Publication No. 2014 / 090684 [Patent Document 3] International Publication No. 2018 / 146304 [Patent Document 4] International Publication No. 2014 / 075937 [Patent Document 5] International Publication No. 2019 / 233632 Summary of the Invention [Means for solving the problem]

[0030] (Summary of the invention) The present invention is directed to an inspection vehicle for operation on a rail system of a storage and retrieval grid, the inspection vehicle being configured to retrieve a remotely operated vehicle for inspection.

[0031] The inspection vehicle is - a first vehicle area in which the remotely operated vehicle can be received by an inspection vehicle while the remotely operated vehicle is still on the rail system; - a second vehicle area in which the remotely operated vehicle may be supported by the inspection vehicle for inspection; Equipped with.

[0032] The first vehicle area is configured as a vehicle barrier for holding a remotely operated vehicle prior to entry into the second vehicle area, and the first vehicle area is coupled to the second vehicle area for passage of the remotely operated vehicle through the vehicle barrier.

[0033] The vehicle barrier is - an entrance barrier for regulating the entry of inspection vehicles and remotely operated vehicles into the vehicle barrier; - an exit barrier for egress from the vehicle barrier into the second vehicle area for regulating passage of the remotely operated vehicle through the first vehicle area into the second vehicle area; Equipped with.

[0034] The entrance and exit obstacles may comprise movable obstacles each movable between an open position that allows the passage of the remotely operated vehicle and a closed position that restricts the passage of the remotely operated vehicle, and the entrance and exit obstacles are adjusted or controlled such that the entrance obstacle can only be opened when the exit obstacle is closed, and vice versa.

[0035] The remotely operated vehicles may be container handling vehicles or delivery vehicles for transport of containers. The remotely operated vehicles may operate on rails at different levels of the automated storage and retrieval grid.

[0036] The rail system of the storage and retrieval grid may be a container handling vehicle rail system on which container handling vehicles operate by storing and retrieving storage containers, or the rail system may be a delivery rail system on which delivery vehicles operate by transporting storage containers between the storage grid and the access station.

[0037] The inspection vehicle may be a vehicle adapted to move on a rail system of a storage and retrieval grid by retrieving remotely operated vehicles for inspection. If the remotely operated vehicles are unable to move towards the inspection area on their own, the inspection vehicle may be arranged to collect the malfunctioning vehicle. The inspection vehicle may operate on the rail system by belt or by wheels. The inspection vehicle may be operated by a human operator seated within the inspection vehicle.

[0038] The inspection vehicle is equipped with a vehicle barrier comprising an entrance barrier and / or an exit barrier, the barrier may be movable and may be at least one of a gate, a door, or a sliding wall, and the exit barrier may be a movable bar.

[0039] One or more movable obstacles may be connected to the inspection vehicle such that they may be slid, raised, retracted, lowered, or pivoted relative to the inspection vehicle between open and closed positions.

[0040] An entrance barrier in the form of a full-height gate, door, or sliding wall may serve the dual function of not only regulating vehicle entry, but also providing a safety barrier for the operator while he or she is working within the inspection area of ​​the inspection vehicle.

[0041] In the case of an exit obstruction, a less obtrusive structure such as a bar or gate may be arranged to provide more locations for inspection of the remotely operated vehicle. It may be necessary to be able to easily close when the vehicle is within the second vehicle area. For example, a bar that can be pivoted upward and then lowered downward may be ideal.

[0042] The height of the obstacle will generally be above the vehicle base to provide an obstacle that can easily stop the vehicle. For an entrance obstacle, it may have the dual function of providing a safety obstacle, and for an exit obstacle, it needs to be at a height that opens above the height of the rest of the vehicle base.

[0043] A remotely operated vehicle may be received within the vehicle barrier in a first vehicle area when the entrance barrier is open, in which case, in accordance with the present invention, the exit barrier is closed to prevent the remotely operated vehicle from moving uncontrolled into a second vehicle area.

[0044] The remotely operated vehicle may move under self-propulsion into the first vehicle area, or the inspection vehicle may move or position itself relative to the remotely operated vehicle for entry into the first vehicle area. While inside the vehicle barrier of the first vehicle area, the entrance barrier closes and the exit barrier opens, allowing the vehicle to enter into the second vehicle area.

[0045] The remotely operated vehicle may self-propel into the second vehicle area, or the remotely operated vehicle may shut down and move into the second vehicle area with assistance from a human operator or through assistance from handling equipment on the inspection vehicle.

[0046] Thus, a human operator may have access to the remotely operated vehicle while it is located within the vehicle corral so that the remotely operated vehicle may be shut down and / or operated.

[0047] The inspection vehicle may include a partition for separating a human operator area from the first and second vehicle areas. The partition may include at least one gate, door, or sliding wall for the human operator to travel between the human operator area and the second vehicle area.

[0048] The partition may be a wall arranged around the perimeter of the inspection vehicle. The wall may be transparent to allow an operator to easily see through. The partition may comprise at least one of a wall, a fence, or a structure.

[0049] The inspection vehicle may include a vehicle base with motorized wheels arranged to move the vehicle in a first lateral direction (X) and a second lateral direction (Y) of the rail system.

[0050] The vehicle base may comprise one single unit with motorized wheels arranged to move the vehicle in a first lateral direction (X) and a second lateral direction (Y) of the rail system.

[0051] The vehicle base may have a footprint corresponding in area to the size of a storage grid cell so that two or more vehicle bases may be connected and moved as a unit on a rail system in both the X and Y directions.

[0052] The vehicle base may include a plurality of wheel modules, each having a first set of wheels configured to move the inspection vehicle along a first lateral direction (X) of the rail system and a second set of wheels configured to move the inspection vehicle along a second lateral direction (Y) of the rail system, the second direction (Y) being perpendicular to the first direction (X).

[0053] The wheel modules may be configured to cooperate as one master wheel module and one or more slave wheel modules.

[0054] The height of each wheel module may be shallow compared to the height of the remotely operated vehicle they are rescuing. Their height may be approximately 30-50% of the height of the remotely operated vehicle. The height of the wheel modules provides a good working height for a human operator when servicing a malfunctioning remotely operated vehicle.

[0055] The rectangular footprint of the inspection vehicle may be missing a wheel module to provide a vehicle barrier for the remotely operated vehicle.

[0056] The footprint of the wheel module may provide a recess creating a "dock" or "bay" for the remotely operated vehicle to land within the perimeter of the inspection vehicle. The sides of the three adjacent wheel modules present a low wall to stop the vehicle from moving uncontrollably towards an operator standing on the work platform of the vehicle base. The vehicle barrier obstacle further serves to trap the remotely operated vehicle.

[0057] The first vehicle area may be visible at rail height, where a space exists between a pair of wheel modules. As for the second vehicle area, this may be at the height of the work platform on top of the vehicle base. The second vehicle area may also be on top of the wheel modules.

[0058] The vehicle base of the inspection vehicle may include one or more vehicle module platforms arranged between the wheel modules. The vehicle module platforms are arranged to create the required space for the first and second vehicle areas within the rectangular perimeter of the inspection vehicle. A cab for a human operator may be provided by one or more vehicle module platforms arranged between the two wheel modules.

[0059] The vehicle module platform may have a size that corresponds to the size of the vehicle module and, in turn, to the size of a grid cell of the rail system, such that when provided on the inspection vehicle, the inspection vehicle has a size that corresponds to several grid cells such that the inspection vehicle may move in both the X and Y directions on the rail system.

[0060] Several different arrangements of the wheel modules are possible, however, in the case of a 3×3 vehicle, the location of the second vehicle area would typically be in the center of the inspection vehicle, allowing access to the malfunctioning vehicle for human operators on either side.

[0061] Floor panels may also be provided within the vehicle corral area such that when the remotely operated vehicle reaches and inspects the second vehicle area, the floor panels may prevent the operator from stepping into or dropping equipment into the lower storage containers.

[0062] An upper surface of the vehicle base or an upper surface of one or more wheel modules may provide a walking surface for a human operator.

[0063] The first vehicle area and the second vehicle area can be located between at least a pair of wheel modules. A human operator can have access to the remotely operated vehicle in the first or second vehicle area while standing on the walking surface.

[0064] The first vehicle area may be at rail height, where a space exists between a pair of wheel modules. The second vehicle area may be at a work platform height above the rail height. The second vehicle area may also be on top of the wheel modules and be located in a plane between the two wheel modules on either side.

[0065] The second vehicle area may include a work platform or vehicle support for supporting one or more remotely operated vehicles such that the wheels are elevated above the rail system. In this manner, it may be possible for a human operator to inspect the malfunctioning vehicle, or the malfunctioning vehicle may be transported to the inspection area for inspection.

[0066] The vehicle support may be a platform on which one or more remotely operated vehicles may move. The platform may include lifting and tilting means so that the vehicles may be easily moved from the rail onto the platform. The inspection vehicle may also include a winch so that the remotely operated vehicles may be hoisted onto the platform and secured.

[0067] A human operator may manually push the vehicle upward from the first vehicle area into the second vehicle area, or there may be a drive on a mechanical lifting surface(s) that raises the remotely operated vehicle to the operating inspection height.

[0068] The vehicle barrier may provide a holding area for the remotely operated vehicle between the entrance and exit obstacles, generally having length and / or width dimensions corresponding to the length and / or width dimensions of the remotely operated vehicle.

[0069] Sensors may be arranged to sense the position of the movable obstacles at the entrance and exit obstacles and communicate with an automatic control system to coordinate movement of the movable obstacles.

[0070] The sensors may communicate with an automatic control system to coordinate locking or closing when the barrier is open, and unlocking or opening when the barrier is closed.

[0071] The sensors may be located on the wheel modules adjacent to the movable barriers of the entrance and exit barriers. The sensors may be optical sensors that detect the reflection of lighting. Other or additional sensors to detect the movable gates may also be used, such as acoustic sensors or magnetically coded sensors. A sensor with a narrow beam may be advantageous in terms of the signal it needs to output to provide a stronger peak / trough signal.

[0072] The entry and exit barriers may be configured to be locked, unlocked, opened, or closed remotely through the use of an automatic control system.

[0073] The present invention is also directed to a method of gaining access to a remotely operated vehicle using an inspection vehicle, the method comprising: - moving an inspection vehicle over the rail system towards the remotely operated vehicle requesting inspection; - optionally, if the entrance barrier is not already open, opening an entrance barrier of the vehicle barrier after it has been determined by the one or more sensors that the exit barrier is closed; - moving the remotely operated vehicle over an entrance barrier of the vehicle barrier or moving the inspection vehicle so that the remotely operated vehicle passes through the entrance barrier of the vehicle barrier and enters the vehicle barrier; - closing an entrance barrier while the remotely operated vehicle is located within the vehicle barrier; - verifying that the inlet barrier is in a closed or locked position; - unlocking or releasing the exit obstruction; - moving the remotely operated vehicle over the exit obstacle and into a second vehicle area of ​​the inspection vehicle; - optionally closing the exit obstruction. Includes. The present invention provides, for example, the following: (Item 1) An inspection vehicle (50) for operation on a rail system (108) of a storage and retrieval grid (1), said inspection vehicle configured to retrieve a remotely operated vehicle (201, 301) for inspection, said inspection vehicle (50) comprising: - a first vehicle area (51) in which the remotely operated vehicle (201, 301) can be received by the inspection vehicle (50) while the remotely operated vehicle (201, 301) is still on the rail system (108); - a second vehicle area (52) in which the remotely operated vehicle (201, 301) can be supported by the inspection vehicle for inspection; Equipped with the first vehicle area (51) is configured as a vehicle barrier (53) for retaining the remotely operated vehicle (201, 301) prior to entry into the second vehicle area, the first vehicle area (51) being connected to the second vehicle area (52) for passage of the remotely operated vehicle (201, 301) via the vehicle barrier (53); The vehicle fence (53) is - an entrance barrier (55) for regulating the entry of the remotely operated vehicles (201, 301) into the inspection vehicle (50) and into the vehicle barrier (53); - an exit barrier (56) for egress from the vehicle barrier into the second vehicle area (52) for regulating the passage of the remotely operated vehicles (201, 301) through the first vehicle area (51) into the second vehicle area (52); An inspection vehicle equipped with (Item 2) 2. The inspection vehicle of claim 1, wherein the entrance and exit obstacles (55, 56) comprise movable obstacles each movable between an open position allowing the passage of the remotely operated vehicle (201, 301) and a closed position restricting the passage of the remotely operated vehicle (201, 301), and the entrance and exit obstacles (55, 56) are adjusted such that the entrance obstacle (55) can only be opened when the exit obstacle (56) is closed, and vice versa. (Item 3) 3. The inspection vehicle of claim 1, wherein the entrance obstacle is at least one of a gate, a door, or a sliding wall, and the exit obstacle is a movable bar. (Item 4) The inspection vehicle (50) according to any one of items 1 to 3, further comprising a partition (57) for separating a human operator area from the first and second vehicle areas (51, 52). (Item 5) 5. The inspection vehicle of claim 4, wherein the partition (57) comprises at least one gate, door (58), or sliding wall for a human operator to move between the human operator area and the second vehicle area. (Item 6) The inspection vehicle of any one of the preceding items, wherein the inspection vehicle (50) comprises a vehicle base with motorized wheels arranged to move the vehicle in a first lateral direction (X) and a second lateral direction (Y) of the rail system (108). (Item 7) 7. The inspection vehicle of claim 6, wherein the vehicle base comprises a plurality of wheel modules (60), each wheel module (60) having a first set of wheels configured to move the inspection vehicle along the first lateral direction (X) of the rail system (108) and a second set of wheels configured to move the inspection vehicle along the second lateral direction (Y) of the rail system (108), the second direction (Y) being perpendicular to the first direction (X). (Item 8) 8. The inspection vehicle of claim 7, wherein the wheel modules (60) are configured to cooperate as one master wheel module and one or more slave wheel modules. (Item 9) 9. An inspection vehicle as described in item 7 or item 8, wherein an upper surface of the wheel module provides a walking surface for the human operator. (Item 10) The inspection vehicle according to items 7 to 9, wherein the first vehicle area (51) and the second vehicle area (52) are each located between at least a pair of wheel modules (60). (Item 11) The inspection vehicle of any one of the preceding items, wherein the second vehicle area (52) is provided with a vehicle support for supporting the one or more remotely operated vehicles (201, 301) so that their wheels are lifted above the rail system (108). (Item 12) 12. The inspection vehicle of claim 11, wherein the vehicle support is a platform (59) on which the one or more remotely operated vehicles may move. (Item 13) The vehicle described in any one of the preceding items, wherein the vehicle barrier (10) provides a holding area (19) for the remotely operated vehicle (201, 301) between the entrance and exit barriers (55, 56) having length and / or width dimensions corresponding to the length and / or width dimensions of the remotely operated vehicle. (Item 14) Item 14. The vehicle of item 13, wherein the entrance and exit barriers (55, 56) are configured to be remotely locked, unlocked, opened, or closed by use of an automatic control system (109). (Item 15) A method for gaining access to a remotely operated vehicle using an inspection vehicle according to any one of claims 1 to 14, the method comprising: - moving the inspection vehicle over the rail system towards the remotely operated vehicle requesting inspection; - opening the entrance barrier of the vehicle barrier after one or more sensors have determined that the exit barrier is closed; - moving the remotely operated vehicle over the entrance barrier of the vehicle barrier or moving the inspection vehicle so that the remotely operated vehicle passes through the entrance barrier of the vehicle barrier and enters the vehicle barrier; - closing the entrance barrier while the remotely operated vehicle is located within the vehicle barrier; - verifying with the one or more sensors that the inlet obstruction is in the closed or locked position; - unlocking or opening the exit obstruction; - moving the remotely operated vehicle past the exit barrier and into the second vehicle area of ​​the inspection vehicle; - closing said exit obstruction. A method comprising: [Brief description of the drawings]

[0074] BRIEF DESCRIPTION OF THE DRAWINGS 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:

[0075] [Figure 1] FIG. 1 is a perspective view of the framework of a prior art automated storage and retrieval system.

[0076] [Diagram 2] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for holding storage containers therein.

[0077] [Diagram 3] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever for holding storage containers underneath.

[0078] [Figure 4] FIG. 4 shows an inspection vehicle moving towards a malfunctioning remotely operated vehicle located on a rail system (not shown).

[0079] [Diagram 5] FIG. 5 shows an inspection vehicle with a remotely operated vehicle located within a first vehicle area.

[0080] [Figure 6] FIG. 6 shows the inspection vehicle with the remotely operated vehicle located within the first vehicle area and the inspection vehicle entrance barrier in a closed position.

[0081] [Figure 7] FIG. 7 shows the remotely operated vehicle in a second location in the second vehicle area.

[0082] [Figure 8] FIG. 8 shows an inspection vehicle on a rail system with the remotely operated vehicle at a second location in a second vehicle area.

[0083] [Figure 9] 9-10 show different views of the embodiment of FIG. [Figure 10] 9-10 show different views of the embodiment of FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0084] Detailed Description of the Invention In the following, embodiments of the invention will be discussed 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 depicted therein.

[0085] The skeleton structure 100 of the automated storage and retrieval system 1 is constructed according to the prior art skeleton structure 100 described above in relation to Figures 1-3, i.e. with a number of upright members 102 and a number of horizontal members 103 supported by the upright members 102, the skeleton structure 100 further comprising a first upper rail system 108 in the X and Y directions.

[0086] The skeleton structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102, 103, wherein the storage containers 106 are stackable in stacks 107 within the storage columns 105.

[0087] Skeleton structure 100 can be of any size. In particular, it is understood that the skeletal structure can be significantly wider and / or longer and / or deeper than that disclosed in Figure 1. For example, skeletal structure 100 can have a horizontal extent of greater than 700 x 700 columns and a storage depth of greater than 12 containers.

[0088] One embodiment of an inspection vehicle 50 according to the present invention will now be considered in more detail with reference to Figures 4-8.

[0089] Figure 4 shows an inspection vehicle 50 according to a preferred embodiment of the present invention. The inspection vehicle is arranged to operate on a rail system of a storage and retrieval grid (not shown). The rail system may be a container handling vehicle rail system or a delivery vehicle rail system on which a number of remotely operated vehicles 201, 301 operate.

[0090] The inspection vehicle 50 is configured to retrieve and / or receive the remotely operated vehicles 201, 301 for inspection. As shown in Figure 4, the remotely operated vehicle 201 is a container handling vehicle 201 adapted to travel on a rail system (not shown) located above the storage columns 105 in which the storage containers 106 are stackable in stacks 107.

[0091] If the remotely operated vehicle 201 is malfunctioning and is not capable of self-propelling itself towards the inspection area, an inspection vehicle 50 with a human operator may travel on the rail system 108 to collect the malfunctioning vehicle 201 or to provide inspection for it.

[0092] The inspection vehicle 50 comprises a first vehicle area 51 where the container handling vehicle 201 can be received by the inspection vehicle 50 while the container handling vehicle 201 is still on the rail system 108, and a second vehicle area 52 where the container handling vehicle 201 can be supported by the inspection vehicle 50 for inspection.

[0093] The first vehicle area 51 is configured as a vehicle barrier 53 for holding the container handling vehicle 201 prior to entry (i.e., controlled entry) into the second vehicle area 52, and the first vehicle area 51 is connected to the second vehicle area 52 for passage of the container handling vehicle 201 via the vehicle barrier 53.

[0094] The vehicle barrier 53 includes an entrance barrier 55 to allow entry of the container handling vehicle 201 into the inspection vehicle 50 and into the vehicle barrier 53, and an exit barrier 56 for exit from the vehicle barrier into the second vehicle area 52 to regulate the passage of the container handling vehicle 201 through the first vehicle area 51 into the second vehicle area 52.

[0095] 5 shows a container handling vehicle 201 entering into a first vehicle area 51 after making entry through an entrance barrier 55, which is a movable door 55. The movable door may slide open to allow the container handling vehicle to be received into the first vehicle area 51. An exit barrier 56, which is a movable bar 56, prevents the container handling vehicle 201 from moving into or being further received into a second vehicle area 52.

[0096] The entry and exit barriers 55, 56 may be adapted to be movable between an open position which allows the passage of the container handling vehicle 201 and a closed position which restricts the passage of the container handling vehicle 201, and the entry and exit barriers 55, 56 are arranged such that the entry barrier 55 may only be open when the exit barrier 56 is closed, and vice versa, to prevent container handling vehicles from unintentionally moving from one area to another.

[0097] 4-10, the inspection vehicle 50 includes a partition 57, such as a wall, for separating a human operator area from the first and second vehicle areas 51, 52. The wall 57 may be arranged around the periphery of the inspection vehicle 50.

[0098] The partition 57 may include a sliding door 58 arranged to allow a human operator access to the first and second vehicle areas 51,52.

[0099] The inspection vehicle 50 comprises a vehicle base with motorized wheels arranged to move the vehicle in a first lateral direction (X) and a second lateral direction (Y) of the rail system 108.

[0100] As shown in Figures 8-10, the vehicle base includes a plurality of wheel modules 60, each having a first set of wheels configured to move the inspection vehicle along a first lateral direction (X) of the rail system 108 and a second set of wheels configured to move the inspection vehicle along a second lateral direction (Y) of the rail system 108, the second lateral direction (Y) being perpendicular to the first direction (X).

[0101] Each of the wheel modules 60 may have a similar size and footprint relative to the size and footprint of a grid cell of the rail system 108 such that the inspection vehicle may move on the rail system 108 in both the X and Y directions.

[0102] The wheel module 60 may have a width corresponding to the width of the malfunctioning vehicle 201 so that the malfunctioning vehicle may be received within the first vehicle area 51 of the inspection vehicle 50.

[0103] The rectangular footprint of the inspection vehicle 50 may be arranged such that one or more wheel modules 60 are missing to provide first and optionally second vehicle areas 51, 52 of the inspection vehicle 50. The areas of the missing wheel modules 60 provide recesses that create a "dock" or "bay" for landing the remotely operated vehicles 201, 301 within the perimeter of the inspection vehicle 50.

[0104] The sides of the wheel modules may present a low barrier to stop the vehicle 201, 301 from moving uncontrollably towards an operator standing on the work platform of the vehicle base. The vehicle barrier obstacles 55, 56 further function to trap the remotely operated vehicle 201, 301.

[0105] Different arrangements of the wheel modules 60 are possible. However, in this case of a 3×3 vehicle shown in Figures 8-10, a location of the second vehicle area in the center of the inspection vehicle, where access to the robot is generally made available to human operators on both sides, may be advantageous.

[0106] The upper surface of the wheel module 60 or vehicle base may provide a walking surface for a human operator.

[0107] 4-7, the vehicle base of the inspection vehicle 50 may include one or more vehicle module platforms 61 to provide additional space for the first and second areas, arranged between the wheel modules 60. A cab for a human operator may be provided by one or more vehicle module platforms 61.

[0108] The vehicle module platform 61 may have a size that corresponds to that of the vehicle base or wheel module 60 such that the vehicle module platform 61 may replace the wheel module 60 .

[0109] In Figures 8-10, the wheel module 60 is arranged between two wheel modules 60 such that there are three wheel modules 60 arranged one after the other. In Figures 4-7, the central wheel module 60 is replaced by a vehicle module platform 61 allowing for a simpler construction with fewer wheels but having the same footprint.

[0110] The second vehicle area 52 may include vehicle supports for supporting one or more remotely operated vehicles 201, 301 such that the wheels are elevated above the rail system 108. This allows the vehicles 201, 301 to be carried by the inspection vehicle 50 and moved further to the inspection area.

[0111] The support may be a platform 59 onto which the remotely operated vehicle may be pushed, dragged or raised or lowered.

[0112] List of reference numbers [Table 1-1]

Table 1-2

Claims

[Claim 1] The invention described in this specification.

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