Remotely operated vehicles for automated storage and retrieval systems.

Abstract

A remote operated vehicle, an automated storage and retrieval system including the remote operated vehicle, and a method of using the same are disclosed. The remote operated vehicle includes a first set of wheels (610), a second set of wheels (620), a wheel lifting mechanism (630) configured to disengage the first set of wheels (610) from the rail system (108) to engage the second set of wheels (620) with the second set of parallel rails (111) and configured to disengage the second set of wheels (620) from the rail system (108) to engage the first set of wheels (610) with the first set of parallel rails (110), and a counterweight (640) coupled to the wheel lifting mechanism (630) such that operation of the wheel lifting mechanism (630) changes the center of gravity (CoG) of the remote operated vehicle (600) in a first direction (X) and / or a second direction (Y) by movement of the counterweight.

Description

[Technical field]

[0001] FIELD OF THEINVENTION The present invention relates to a remotely operated vehicle for an automated storage and retrieval system for the storage and retrieval of containers, and in particular to a remotely operated vehicle with improved stability. [Background technology]

[0002] Background and Prior Art FIG. 1 discloses a prior art automated storage and retrieval system 1 with 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 in rows 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 arranged 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 transport the storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 arranged 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 arranged 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] The upright members 102 of the framework structure 100 may be used to guide the storage containers during lifting of the containers from the column 105 and during lowering of the containers into the column 105. The stack 107 of containers 106 is typically freestanding.

[0006] Each prior art container handling vehicle 201, 301, 401 comprises a body 201a, 301a, 401a and a first and second set of wheels 201b, 201c, 301b, 301c, 401b, 401c enabling 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 of rails 110 and the second set of wheels 201c, 301c, 401c are arranged to engage two adjacent rails of the second set of rails 111. At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be raised or 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 transporting the storage container 106 vertically, e.g. for raising the storage container 106 out of 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 with 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 orthogonal 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 and is therefore not shown.

[0008] Conventionally, and for the purposes of this application, Z=1 identifies the top layer available for storage containers below the rails 110, 111, 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. Thus, using, by way of example, the Cartesian coordinate system X, Y, Z shown in FIG. 1, the storage container identified as 106' in FIG. 1 can be said to occupy storage position X=17, Y=1, Z=6. The container handling vehicles 201, 301, 401 can be said to be moving 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 extending above the rail system 108 are also said to be located at layer Z=0.

[0009] The storage volume of the framework 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 location 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, 401 comprises 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 comprise a cavity disposed internally within the vehicle body 201a, 401a, as shown in Figures 2 and 4 and as described, for example, in WO 2015 / 193278 A1 and WO 2019 / 206487 A1, the contents of which are incorporated herein by reference.

[0011] 3 shows another configuration of a container handling vehicle 301 with a cantilever beam 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 columns 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 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 A1 or WO 2019 / 206487 A1.

[0014] The rail system 108 typically comprises rails with grooves along which the vehicle wheels run. Alternatively, the rails may comprise elements projecting upwards, and the vehicle wheels may comprise flanges to prevent derailment. These grooves and upwardly projecting elements are collectively known as tracks. Each rail may comprise a single track, or each rail 110, 111 may comprise two parallel tracks. In other rail systems 108, each rail in one direction (e.g., X direction) may comprise one track, and each rail in the other perpendicular direction (e.g., Y direction) may comprise two tracks. Also, each rail 110, 111 may comprise two track members fastened together, each track member providing one of the pair of tracks provided by each rail.

[0015] WO 2018 / 146304 A1, 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] In the framework 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, 401 to drop off and / or pick up the storage containers 106 so that they can be transported to an access station (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 called "ports" and the columns in which the ports are located may be called "port columns" 119, 120. The transport to the access station may be in any direction, i.e. horizontal, inclined and / or vertical. For example, storage containers 106 may be placed in random or dedicated columns 105 within the framework structure 100 and then picked up by any container handling vehicle and transported to port columns 119, 120 for further transport to an access station. Transport from the port to the access station may require movement along a variety of different directions by means such as delivery vehicles, dollies or other transport lines. Note that the term "inclined" refers to transport of storage containers 106 having a general transport direction somewhere between horizontal and vertical.

[0017] In FIG. 1 , the first port column 119 may, for example, be a dedicated drop-off port column where the container handling vehicles 201, 301, 401 can drop off the storage containers 106 to be transported to an access station or 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 the transported storage containers 106 from the access station or transfer station.

[0018] The access stations may typically be picking or stocking stations where product items are removed from or positioned within the storage containers 106. At picking or stocking stations, the storage containers 106 are typically not removed from the automated storage and retrieval system 1 but are returned to the framework structure 100 again once accessed. Ports may also be used to transfer storage containers to other storage facilities (e.g., to other framework structures or to another automated storage and retrieval system), to transport vehicles (e.g., trains or trucks), or to production facilities.

[0019] A conveyor system comprising conveyors is typically used 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 at 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] 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 A1, the contents of which are incorporated herein by reference.

[0022] 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 involves moving the container handling vehicle 201, 301, 401 to a position above the storage column 105 where the target storage container 106 is positioned, 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., with one or more other storage containers 106 located above the target storage container 106, the operation also involves 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 "digging", may be performed by the same container handling vehicle that is 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 additionally, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 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 within 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, 401 is directed to pick up the storage container 106 from the pickup port column 120 and transport the storage container 106 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 position in the stack 107 is removed, the container handling vehicle 201, 301, 401 positions the storage container 106 in the desired position. The removed storage container 106 may then be lowered back into the original storage column 105 or relocated to another storage column 105.

[0024] 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 container handling vehicles 201, 301, 401 can deliver the desired storage containers 106 to the desired locations at the desired times without 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.

[0025] One way to increase the efficiency of the automated storage and retrieval system is to increase the speed of the remotely operated vehicle operating in the system. With increasing speed, the risk of the remotely operated vehicle tipping increases. To increase the stability of the remotely operated vehicle, the wheelbase can be made longer. However, a longer wheelbase has the downside that the robot occupies a larger area, which may negatively affect the traffic of the automated storage and retrieval system. Another way to improve stability is to add weight to the remotely operated vehicle, preferably located centrally under it. However, with a higher weight, the remotely operated vehicle becomes less energy efficient and its batteries have to be charged more frequently.

[0026] WO 2014 / 090684 A1 discloses a remotely operated vehicle with improved stability compared to the cantilever beam design of NO317366.

[0027] Stability may depend on how the remote operated vehicle is assembled. Due to the uneven size and weight of different components, there may not be optimal weight distribution. Thus, the remote operated vehicle may be less stable when moving in a first direction than when moving in a second direction. Also, the remote operated vehicle may be less stable when moving and delivering a container and then moving again without delivering a container, or vice versa.

[0028] It is therefore an object of the present invention to provide a remotely operated vehicle with improved stability. Summary of the Invention [Means for solving the problem]

[0029] Summary of the Invention The present invention is set forth and characterized in the independent claims, while the dependent claims describe further characteristics of the invention.

[0030] The present invention relates to a remote-operated vehicle for an automated storage and retrieval system, the automated storage and retrieval system comprising a rail system comprising a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the horizontal plane and extending in a second direction perpendicular to the first direction; The remotely operated vehicle is a first set of wheels configured to move the remotely operated vehicle in a first direction along a first set of rails; a second set of wheels configured to move the remotely operated vehicle in a second direction along a second set of rails; a wheel lifting mechanism configured to disengage the first set of wheels from the rail system to engage the second set of wheels with the second set of parallel rails, and configured to disengage the second set of wheels from the rail system to engage the first set of wheels with the first set of parallel rails; a counterweight coupled to the wheel lift mechanism such that operation of the wheel lift mechanism changes the center of gravity of the remotely operated vehicle in the first direction and / or the second direction by movement of the counterweight; Equipped with.

[0031] The center of gravity (CoG) of the remotely operated vehicle may further be changed in a third direction Z by the movement of the counterweight. The third direction Z is vertical, i.e. perpendicular to both the first direction X and the second direction Y. The height of the center of gravity may also affect the stability of the remotely operated vehicle, and generally, a lower center of gravity provides better stability than a higher center of gravity. The movement of the counterweight follows a path that may have a horizontal component as well as a vertical component. If the path has a vertical component, the height of the counterweight changes as it moves. Changing the height of the counterweight changes the height of the center of gravity depending on the weight ratio between the counterweight and the remotely operated vehicle.

[0032] Thus, a remote operated vehicle is achieved which adapts its center of gravity based on which set of wheels is engaged with the rail system, i.e., based on the direction of travel of the remote operated vehicle.

[0033] The first set of wheels can define a first footprint, and the second set of wheels can define a second footprint. The first footprint and the second footprint can be different (e.g., in shape and size) and / or offset relative to one another. Thus, the preferred location of the center of gravity of the remotely operated vehicle can change depending on its direction of movement.

[0034] The location of other components of the remotely operated vehicle, such as the battery and motor, also affects the center of gravity. Furthermore, the center of gravity changes depending on whether the remotely operated vehicle is operating an article holder. Furthermore, if the remotely operated vehicle is operating an article holder, the center of gravity is affected by the type of articles and the distribution of articles in the article holder. These factors may result in a center of gravity that is appropriate when moving in a first direction but undesirable when moving in a second direction, vice versa, or undesirable for both directions of movement. Therefore, the possibility to adjust the center of gravity of the remotely operated vehicle depending on its direction of movement may be advantageous.

[0035] When the remotely operated vehicle is stationary, the resultant force vector of the remotely operated vehicle, i.e. the resultant force vector exerted by the remotely operated vehicle on the rail through its own weight, any load it is carrying, and any acceleration or deceleration forces acting on the remotely operated vehicle and any load it is carrying, is aligned with the vertical direction Z and directed downwards within the first or second footprint. During acceleration and deceleration of the remotely operated vehicle, the direction and size of the resultant force vector may shift, typically causing it to tilt through a combination of weight and acceleration / deceleration. If the resultant force vector exits outside the first or second footprint, the remotely operated vehicle will tip over or tilt. Thus, the location of the center of gravity determines the maximum acceleration / deceleration the remotely operated vehicle can achieve without tilting. The possibility of adjusting the center of gravity of the remotely operated vehicle depending on its direction of movement allows the acceleration / deceleration of the remotely operated vehicle to be increased, and therefore its efficiency.

[0036] The counterweight may be a single piece or an assembly with several parts, for example each part contributing a component of the weight of the counterweight. The counterweight may be integrated into the wheel lifting mechanism or may be located separately from the wheel lifting mechanism.

[0037] The counterweight may be located outside the first and second sections in a space that may be considered a third section (not shown). Such a third section may not need to be defined by a physical boundary. The counterweight may be located, for example, outside the housing of the remotely operated vehicle.

[0038] The counterweight may be coupled to the wheel lifting mechanism in any manner that causes the counterweight to move horizontally in at least a first direction X and / or a second direction Y relative to the remote operated vehicle in response to vertical movement of the first set of wheels or the second set of wheels. The counterweight may be coupled to the wheel lifting mechanism by being directly or indirectly mechanically connected to the wheel lifting mechanism. The mechanical connection between the counterweight and the wheel lifting mechanism may be achieved by one or more linkages and / or one or more gears.

[0039] Alternatively, the counterweight may be coupled to the wheel lift mechanism by signal communication, by cable or wirelessly.

[0040] The movement of the counterweight may be achieved by a device different from the wheel lift motor, for example if the counterweight is connected to the wheel lift mechanism by signal communication. Such a device may be, for example, an electric actuator or any other device suitable for effecting movement of the counterweight. The wheel lift mechanism may then be operated by a motor that is not connected to the counterweight.

[0041] Alternatively, the counterweight and the wheel lifting mechanism may be operated by the same motor, with the counterweight either directly connected to the motor (i.e., without being connected to the wheel lifting mechanism) or indirectly connected to the motor (i.e., connected to the motor via the wheel lifting mechanism).

[0042] The counterweight may be configured with a delay so that the adjustment of the center of gravity occurs immediately after or just before the operation of the wheel lift mechanism.

[0043] One or several counterweights may be located on the same remotely operated vehicle. If several counterweights are located on the same remotely operated vehicle, these counterweights may be synchronized in movement and orientation.

[0044] The wheel lift mechanism is typically powered by a motor and may engage and disengage the set of wheels through linear or pivotal motion of the wheel lift device and / or the motor.

[0045] When the wheel lifting mechanism is configured to raise and lower the first set of wheels, the first set of wheels may be lowered onto the rail system so that the second set of wheels are lifted off the rail system. If the second set of wheels cannot move relative to the body of the remotely operated vehicle, the weight of the remotely operated vehicle is lifted when lifting the second set of wheels. Thus, the counterweight may be configured to counterbalance, at least to some extent, the momentum of the wheel lifting mechanism during this operation, thereby reducing the momentum experienced when lowering the second set of wheels. This may be advantageous for the operation of the wheel lifting mechanism both during the lowering and during the raising of the first set of wheels, and also as long as the first set of wheels are engaged with the rail system. Thus, less power may be required by the motor operating the wheel lifting mechanism, and a smoother operation of the wheel lifting mechanism may be achieved.

[0046] The first set of wheels may be configured to move the remote operated vehicle only in a first direction X along the first set of rails, for example by having wheels with a given axis of rotation, i.e. wheels that are not caster wheels.

[0047] The second set of wheels may be configured to move the remote operated vehicle only in the second direction Y along the second set of rails, for example by having wheels with a given axis of rotation, i.e. wheels that are not caster wheels.

[0048] The remotely operated vehicle may include a storage compartment or space for receiving and containing the item holder as it is transported across the rail system.

[0049] In one aspect, the first set of wheels may comprise a first pair of driven wheels and a first pair of non-driven wheels, and when the wheel lifting mechanism is operated to engage the first set of wheels with the rail system, the counterweight is configured to shift a center of gravity (CoG) toward the first pair of driven wheels such that the weight of the remote operated vehicle is distributed at least 60%, preferably at least 70%, more preferably at least 80%, and even more preferably at least 90% on the first pair of driven wheels when the remote operated vehicle is stationary and not manipulating an article holder.

[0050] If the location of the center of gravity is not known, the weight distributed to the first pair of drive wheels can be calculated as the weight through the first pair of drive wheels divided by the weight through the first set of wheels (multiply by 100 to express as a percentage).

[0051] If the location of the center of gravity is known, the weight distributed to the first pair of driven wheels can be calculated as the horizontal distance between the center of gravity and the first pair of non-driven wheels divided by the horizontal distance between the first pair of driven wheels and the first pair of non-driven wheels (multiply by 100 to express as a percentage).

[0052] The preferred weight distribution is typically achieved when the remotely operated vehicle is not manipulating an item holder and is moving at a constant speed or is stationary. When the remotely operated vehicle is manipulating an item holder, the weight is typically more evenly distributed between one pair of driven wheels and one pair of non-driven wheels.

[0053] The complexity of the drive mechanism and wheel lift mechanism may be reduced by a wheel set having a pair of non-driven wheels, which may reduce the overall complexity of the remote operated vehicle.

[0054] Because this improves the traction of the remotely operated vehicle, it is advantageous to have as much of the weight of the remotely operated vehicle as possible on the driven pair of wheels and as little as possible on the non-driven pair of wheels, and therefore the center of gravity is better located, with respect to traction, closer to the driven pair of wheels.

[0055] During acceleration and deceleration, the resultant force vector changes such that the felt weight distribution shifts even though the counterweight is not moved relative to the remote operated vehicle. If the non-driven wheels are leading, acceleration moves the weight distribution away from the non-driven wheels and towards the driven wheels. If the non-driven wheels are leading, deceleration moves the weight distribution towards the non-driven wheels and away from the driven wheels. If the non-driven wheels are following, acceleration moves the weight distribution towards the non-driven wheels and away from the driven wheels. If the non-driven wheels are following, deceleration moves the weight distribution away from the non-driven wheels and towards the driven wheels. If the item holder is transported by the remote operated vehicle, items stored in the item holder may slide in response to acceleration / deceleration, thus increasing the shift in weight distribution.

[0056] To avoid the non-driven pair of wheels losing contact with the rail system and to avoid the remotely operated vehicle tipping or tipping over, the center of gravity should preferably be located on the same side of the driven pair of wheels as the non-driven wheels. Thus, the weight of the remotely operated vehicle should be distributed less than 100% to the first pair of driven wheels.

[0057] The drive wheels are configured to provide propulsion and may be powered by an electric motor.

[0058] The drive wheel may be provided with a drive means located on or at least partially within the wheel, for example as disclosed in WO 2016 / 120075 A1.

[0059] The drive wheels of each set of wheels are preferably synchronized, for example in a manner similar to that disclosed in WO 2018 / 082971 A1. The non-driven wheels may rotate independently of each other.

[0060] In one embodiment, the wheels of the first pair of driven wheels may be axially aligned with one another and / or the wheels of the first pair of non-driven wheels may be axially aligned with one another.

[0061] In one aspect, the second set of wheels may comprise a second pair of driven wheels and a second pair of non-driven wheels, and when the wheel lifting mechanism may be operated to engage the second set of wheels with the rail system, the counterweight may be configured to shift the center of gravity towards the second pair of driven wheels such that the weight of the remote operated vehicle may be distributed at least 60%, preferably at least 70%, more preferably at least 80%, and even more preferably at least 90% onto the second pair of driven wheels when the remote operated vehicle is stationary and not manipulating the article holder.

[0062] A reference for the desired weight distribution between the driven and non-driven wheels may typically be a stationary remotely operated vehicle that does not operate an article holder.

[0063] Therefore, the weight of the remotely operated vehicle should be distributed less than 100% over the second pair of drive wheels.

[0064] The center of gravity may shift in a direction that affects the weight distribution between the drive wheels and the non-drive wheels in an undesirable manner when the remote operated vehicle picks up / drops off the article holders, which may depend on factors such as the configuration of the remote operated vehicle, for example if the remote operated vehicle is a cantilever type or a cavity type, and the positioning of the drive wheels relative to the location of the article holder being transported.

[0065] The storage space may comprise a cavity disposed internally within the vehicle body, for example as described in WO 2015 / 193278 A1, WO 2014 / 090684 A1, and WO 2019 / 206487 A1, the contents of which are incorporated herein by reference.

[0066] Alternatively, the remotely operated vehicle may have a cantilever structure, such a vehicle being described in detail, for example, in Norwegian Patent No. 317366, the contents of which are also incorporated herein by reference.

[0067] The counterweight should preferably be configured such that picking up / lowering the article holder does not shift the center of gravity or resultant force vector to a position outside the footprint defined by the contact points of the set of wheels engaging with the rail system.

[0068] The remotely operated vehicle may include two or more counterweights. The counterweights may be identical in shape and weight. A pair of counterweights may be provided, the counterweights being located on either side of the remotely operated vehicle. The weight of the counterweight may constitute 5-40%, preferably 10-35%, more preferably 15-30%, even more preferably 20-25% of the total weight of the remotely operated vehicle.

[0069] If two counterweights are used, each counterweight may weigh 10 kg. In that case, the total weight of the remote operated vehicle may be no more than 95 kg. In that case, the total weight of the remote operated vehicle and the fully loaded article holder may be 125 kg.

[0070] If the remotely operated vehicle is equipped with two counterweights, these may have the same weight. However, if the arrangement of components in the remotely operated vehicle causes an uneven weight distribution, for example, such that one wheel of the first pair of drive wheels is distributed with more weight than the other wheel, the two counterweights may be positioned and dimensioned to equalize the weight distribution between the wheels of the first pair of drive wheels. In the case of a first pair of drive wheels having two wheels, the weight distribution between these two wheels should preferably be 50:50.

[0071] As described herein, a remotely operated vehicle with a counterweight coupled to its wheel lifting mechanism may achieve improved weight distribution between a pair of driven and non-driven wheels, which may provide at least 10% more weight to a pair of driven wheels compared to a remotely operated vehicle with a static counterweight or a remotely operated vehicle without a counterweight.

[0072] The counterweight may be shaped to follow the contours of the remotely operated vehicle, for example the contours of the body.

[0073] The counterweight may be shaped to provide access to other components of the remotely operated vehicle, such as a hexagonal head for manual operation of the wheel lift mechanism.

[0074] The counterweight may be molded with portions configured to fit into spaces between other components of the remotely operated vehicle, for example, a protruding portion that fits between the lifting frame and the vehicle body at one location on the counterweight.

[0075] Achieving a desired weight distribution between the driven and non-driven wheels when the remotely operated vehicle is carrying an item holder may in some cases require a heavier counterweight compared to achieving a desired weight distribution between the driven and non-driven wheels when the remotely operated vehicle is not carrying an item holder, In such cases, the advantage of the desired center of gravity should be weighed against the advantage of a lighter remotely operated vehicle.

[0076] If the remotely operated vehicle comprises a lifting device for lifting the article holder, the remotely operated vehicle may comprise a further counterweight. The further counterweight may for example be coupled to the lifting device such that operation of the lifting device changes the centre of gravity of the remotely operated vehicle in the first direction X and / or in the second direction Y by movement of the further counterweight. Operation of the lifting device typically involves picking up / putting down the article holder.

[0077] If the remotely operated vehicle includes a lifting device for lifting the article holder, the counterweight may be moved a given amount to account for the effect on the resultant force vector of the lifting device movement. The movement of the counterweight may also be determined based on the measured or known weight of the lifted article holder and its contents, if any. For example, the counterweight may move a smaller angular amount around the pivot for smaller loads and a larger angular amount for heavier loads to counterbalance the effect of heavy versus light loads.

[0078] In one embodiment, the wheels of the second pair of driven wheels may be aligned in a common vertical plane and / or the wheels of the second pair of non-driven wheels may be aligned in a common vertical plane. The wheels of the second pair of driven wheels may be aligned in a different vertical plane than the wheels of the second pair of non-driven wheels.

[0079] In one aspect, a remotely operated vehicle may include a car body, a first linkage coupled to the counterweight at a first end and pivotally connected to the car body at a second end, and a second linkage connected to the wheel lift mechanism at a first end and pivotally connected to an intermediate portion of the first linkage at a second end such that operation of the wheel lift mechanism pivots the first linkage.

[0080] The first linkage may allow the counterweight to move rotationally about its pivotal connection to the car body, and thus the counterweight may move primarily with both a horizontal component (first direction X and / or second direction Y) and a vertical component (third direction Z).

[0081] The first linkage may be coupled to the counterweight by being connected to the counterweight, or the first linkage may be an integral part of the counterweight.

[0082] In operation, the wheel lift mechanism moves back and forth depending on which set of wheels (the first set of wheels or the second set of wheels) should be engaged with the rail system. Movement of the wheel lift mechanism causes the connected second linkage to pull or push on the first linkage, causing it to rotate and thus move the counterweight.

[0083] The length of the first linkage can affect the movement of the counterweight in response to the operation of the wheel lifting mechanism. By increasing the length of the first linkage, the horizontal adjustment of the center of gravity can also be increased. As a result, the weight of the counterweight can be reduced, which in turn reduces the overall weight of the remotely operated vehicle.

[0084] If the first and second sections are at least partially physically separated, the separation component may serve as a mounting base for the pivot of the counterweight. The horizontal distance between the separation component and the exterior of the remotely operated vehicle may dictate the maximum length of the first linkage, unless the counterweight is located on the exterior of the remotely operated vehicle. At a given maximum length of the linkage, a required minimum weight of the counterweight may be determined.

[0085] In one aspect, the counterweight may have an initial position in which it is vertically aligned with the pivotable connection at the second end of the first linkage. In this context, vertically aligned also encompasses being slightly off vertical, such as within 10 degrees of vertical.

[0086] Movement from this initial position provides the maximum instantaneous horizontal change in the position of the counterweight in response to rotation of the first linkage, and therefore also the maximum instantaneous horizontal change in the center of gravity of the remotely operated vehicle.

[0087] In an alternative initial position, the first linkage may be oriented at 45° to the vertical, where operation of the wheel lift mechanism should preferably rotate the first linkage towards, and possibly beyond, alignment with the horizontal plane, for example if the first linkage has an angular displacement of more than 90°.

[0088] The counterweight is typically in an initial position after the wheel lift mechanism has been operated to disengage the first set of wheels and engage the second set of wheels, or vice versa.

[0089] In one embodiment, operation of the wheel lift mechanism may cause an angular displacement of the first linkage of at least 15°, preferably at least 30°, and more preferably at least 45°.

[0090] The angular displacement of the first linkage may be at least 90°.

[0091] The maximum rotation of the first linkage may be 180°.

[0092] In one aspect, the remotely operated vehicle may be configured to operate the item holder.

[0093] The article holder may be, for example, a storage container, bin, tote, pallet, tray or similar. Different types of article holders may be used in the same system. The weight of an article holder may typically be in the range of 5-35 kg, depending on its contents.

[0094] In one aspect, the remotely operated vehicle may include an item holder storage space. The article holder storage space is typically disposed in vertical alignment within the footprint of the first set of wheels and the footprint of the second set of wheels.

[0095] The remotely operated vehicle may include a lifting device for transporting the item holder vertically, such as lifting the item holder from the storage column and lowering the item holder into the storage column.

[0096] The lifting device typically comprises a lifting band, a gripper, a guide pin, a lifting frame and a lifting device motor. In this case, the lifting band is connected to the lifting frame such that winding / unwinding of the lifting band raises / lowers the lifting frame. This winding may be performed by the lifting device motor. To align the lifting frame with the article holder, the article holder may be provided with one or more (typically four) guide pins. The article holder may have a corresponding number of receptacles arranged to receive the guide pins in a guiding manner. The lifting frame may be provided with one or more grippers for engaging the article holder so that the article holder can be raised / lowered together with the lifting frame.

[0097] The lifting device may be configured to vertically lift the article holder between the storage position and the article holder storage space.

[0098] The lifting device may include one or more grippers / engagement devices adapted to engage the article holder, and the grippers / engagement devices may be lowered from the remotely operated vehicle so that the position of the grippers / engagement devices relative to the remotely operated vehicle can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y.

[0099] The gripper of the remotely operated vehicle may be located within the vehicle body.

[0100] In one embodiment, the remotely operated vehicle may include a first section and a second section adjacent to the first section, and the item holder storage space may be located in the first section.

[0101] When the remotely operated vehicle is equipped with a lifting device, the gripper is typically located in the first section and the lifting device motor is located in the second section.

[0102] The remotely operated vehicle may comprise a stopper for stopping the movement of the lifting device. The stopper may be arranged to define the uppermost point of the movement of the lifting device, i.e. the upper position of the lifting frame.

[0103] The stopper may typically be disposed on the body of the remotely operated vehicle, for example the item holder storage space, such that the lifting frame stops when it faces the stopper. Alternatively, the stopper may be disposed on the lifting frame such that the lifting frame stops when it faces a part of the body of the remotely operated vehicle, typically the item holder storage space.

[0104] The stopper may comprise a sensor. The sensor may be configured to detect the presence of an object, for example the presence of the lifting frame, at a predetermined top position of its movement. The sensor may be, for example, a touch sensor. The sensor may communicate with the lifting device motor directly or via a control system, so that the lifting of the lifting frame can be stopped at the appropriate time.

[0105] The remote operated vehicle may include more than two stops, for example four stops, which may be positioned to engage different portions of the lift frame, for example respective corners of the lift frame.

[0106] The height of the stopper, i.e. the distance the stopper extends in the vertical direction Z when placed on the remote operated vehicle, may be selected to determine the top position of the lifting frame. The height of the stopper may be selected depending on the size (height) of the article holder. The article holder should be lifted above the rail system for the remote operated vehicle to move, but in order to keep the center of gravity as low as possible, the article holder should preferably not be lifted higher than necessary. A lower center of gravity results in a more stable remote operated vehicle compared to a higher center of gravity.

[0107] Where the remote operated vehicle is capable of operating article holders of different heights, interchangeable stoppers of different heights may be provided, with the different stopper heights adapted to the different article holder heights to provide the lowest center of gravity that allows the remote operated vehicle to move whilst transporting the article holder.

[0108] As an example, the first type of stopper may have a first stopper height, the first type of article holder may have a first article holder height, the second type of stopper may have a second stopper height, and the second type of article holder may have a second article holder height. In this case, the combined height of the first stopper and the first article holder may preferably correspond to the combined height of the second stopper and the second article holder. In this case, the third type of stopper having a third stopper height and the third article holder having a third article holder height may preferably have a combined height corresponding to the combined height of the first stopper and the first article holder.

[0109] Thus, a remotely operated vehicle configured to transport article holders of different sizes, i.e. heights, with improved stability can be achieved.

[0110] The first section and the second section may be configured in a manner similar to that disclosed in WO 2019 / 206488 A1.

[0111] The first section may have a first section footprint and the second section may have a second section footprint, the footprints being defined by the horizontal perimeters in the X and Y directions of the first and second sections, respectively.

[0112] The remotely operated vehicle may have a body. The body may have a body footprint defined by a horizontal perimeter in an X and Y direction of the body.

[0113] The first section and the second section may be arranged side-by-side.

[0114] The centre point of the first section footprint may be eccentrically located relative to the centre point of the vehicle body footprint.

[0115] The first section and the second section together may form the entire remotely operated vehicle, or the remotely operated vehicle may comprise further sections in addition to the first and second sections.

[0116] The remotely operated vehicle may be divided into a first section and a second section by a vertical plane extending through the remotely operated vehicle, for example in the second direction Y. The vertical plane dividing the first section and the second section may have one or more kinks. The kinks may allow components to be positioned in a more space-efficient manner.

[0117] The first section and the second section need not be physically separated, but there may be at least a partial boundary between them.

[0118] The first section and the second section may be of different sizes. Their sizes may be set, for example, by one or more components of the remotely operated vehicle. As one example, the first section footprint may correspond to a size of an article holder storage space. As another example, the second section footprint may correspond to a size of a compartment configured to accommodate the components of the remotely operated vehicle.

[0119] The size ratio of the first section footprint to the second section footprint may be at least 2: 1. Preferably, the size ratio of the first section footprint to the second section footprint may be 3: 1, and even more preferably, the size ratio of the first section footprint to the second section footprint may be 4: 1.

[0120] A combined horizontal extent of the first section footprint and the second section footprint in the first direction X may correspond to a horizontal extent of the vehicle body in the first direction X.

[0121] The second section footprint and the vehicle body footprint may have corresponding horizontal extents in a second direction Y.

[0122] The first set of wheels may comprise four wheels. The wheels of the first set of wheels may be located on either side of the remotely operated vehicle.

[0123] The first pair of non-driven wheels may be disposed on opposite sides of the first section.

[0124] The wheels of the first pair of drive wheels may be arranged on both sides of the second section. Preferably, none of said sides is the side of the second section closest to the first section. For example, if the second section has four sides, with the second side marking the transition from the second section to the first section and the fourth side representing the side opposite the second side and remote from the first section, the wheels of the first pair of drive wheels may be arranged on the first side and on the third side. The wheels of the second pair of drive wheels may be arranged next to the second side, for example the second pair of drive wheels may be arranged on a support configured to embed the second pair of drive wheels in the area of ​​the second section while facing the first section.

[0125] The second set of wheels may comprise four wheels. The wheels of the second set of wheels may be disposed on either side of the first section.

[0126] The wheels of the second pair of non-driven wheels may be located on the same side of the first section.

[0127] The wheels of the second pair of drive wheels may be located on the same side of the first section.

[0128] The wheels of the second pair of drive wheels may be located on a side of the first section closest to the second section.

[0129] The wheels of the second pair of non-driven wheels and the wheels of the second pair of driven wheels may be disposed on opposite sides of the first section.

[0130] The wheels of the first set of wheels and the wheels of the second set of wheels are preferably not located on the same side of the first section. For example, if the first section has four sides, the wheels of the first set may be located on the first side and the third side, and the wheels of the second set may be located on the second side and the fourth side.

[0131] The first section may have four corners, with at least some of the wheels preferably disposed at the corners without extending beyond the first section footprint.

[0132] The second section may have four corners, with at least some of the wheels preferably disposed at the corners without extending beyond the second section footprint.

[0133] The first set of wheels and / or the second set of wheels may be disposed at or within a lateral extent of the vehicle body.

[0134] The footprint of the first section may correspond to a grid cell of the rail system, and in use, when the remotely operated vehicle is in position to raise or lower the article holder, the second section may be horizontally displaced relative to the grid cell and extend partially into an adjacent grid cell. A grid cell is defined as the cross-sectional area including the width of the rails between the midpoints of two rails extending in the X direction and the midpoints of two rails extending in the Y direction. The extent of the vehicle body footprint in the first direction LX and the second direction LY is LX=1.0 grid cell in the X direction, 1 in Y direction <LY<1.5グリッドセル、 may be also possible.

[0135] The second section may extend less than 50% into the adjacent grid opening, more preferably less than 40% into the adjacent grid opening, and even more preferably less than 30% into the adjacent grid opening.

[0136] A grid aperture may be defined as the open cross-sectional area between two opposing rails extending in the X direction and two opposing rails extending in the Y direction.

[0137] The first pair of non-driven wheels 612, the second pair of non-driven wheels 622, and the second pair of driven wheels 621 may be arranged to define a rectangle in a horizontal plane, with the first pair of driven wheels 611 positioned outside the rectangle.

[0138] In one aspect, the counterweight may be configured to move from a position in the second section to a position at least partially in the first section.

[0139] The counterweight may be slaved to the wheel lifting mechanism, for example if it is mechanically connected to the wheel lifting mechanism. However, the counterweight may also be powered by its own motor. In this case, the motor powering the counterweight may preferably be located in the second section.

[0140] In one embodiment, the wheel lift mechanism may be partially disposed in the second section.

[0141] The wheel lifting mechanism may be partially located in the first section. Preferably, the wheel lifting mechanism is configured such that a major weight thereof is located within the second section.

[0142] Any motors associated with the wheel lift mechanism are preferably located in the second section.

[0143] In one embodiment, the first set of drive wheels may be located in the second section.

[0144] The remote operated vehicle may comprise a motor for driving the first set of wheels and a further motor for driving the second set of wheels. These or any other motors associated with the first set of drive wheels and / or the second set of drive wheels may preferably be located in the second section.

[0145] Alternatively, the motor may be a hub motor disposed on each wheel of the first pair of drive wheels and / or the second set of drive wheels.

[0146] In one embodiment, a first set of non-driven wheels and / or a second set of non-driven wheels and / or a second set of driven wheels may be disposed in the first section.

[0147] Viewed from another aspect, the present invention can also be seen as relating to a remote-operated vehicle for an automated storage and retrieval system, the automated storage and retrieval system comprising a rail system comprising a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the horizontal plane and extending in a second direction perpendicular to the first direction; The remotely operated vehicle is a first set of wheels configured to move the remotely operated vehicle in a first direction along a first set of rails; a second set of wheels configured to move the remotely operated vehicle in a second direction along a second set of rails; a wheel lifting mechanism configured to disengage the first set of wheels from the rail system to engage the second set of wheels with the second set of parallel rails, and configured to disengage the second set of wheels from the rail system to engage the first set of wheels with the first set of parallel rails; a cavity for receiving and accommodating the article holder as it is transported over the rail system; a lifting device configured to vertically lift the article holder between the storage position and the cavity; a stopper for stopping the movement of the lifting device at a predetermined position within the cavity; Equipped with.

[0148] The remotely operated vehicle may have any one of the features described above. Viewed from a further aspect, the present invention can also be seen to relate to an automated storage and retrieval system, comprising: At least one remotely operated vehicle as described herein; a framework structure for storing article holders, the framework structure including a rail system on which the remotely operated vehicle can move, the rail system being arranged on top of the framework structure and comprising a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the horizontal plane and extending in a second direction perpendicular to the first direction; A plurality of article holders; Equipped with.

[0149] The first set of parallel rails and the second set of parallel rails form a grid pattern in a horizontal plane. The grid pattern may comprise a plurality of adjacent grid cells, each grid cell comprising a grid opening defined by a pair of opposing rails of the first set of parallel rails and a pair of opposing rails of the second set of parallel rails. Depending on the rail and track configuration, each grid cell may include half the width of the rails around each grid opening, corresponding to the width of the track.

[0150] The article holders may be arranged in stacks below the rail system. Multiple stacks of article holders may be arranged in storage columns positioned below the rail system, each storage column preferably positioned vertically below a grid opening.

[0151] The automated storage and retrieval system may typically be a cube storage system. Except for the remotely operated vehicle of the present invention, the automated storage and retrieval system may be similar to the type disclosed in the prior art.

[0152] As previously mentioned, the remotely operated vehicle has a first section and a second section, the footprint of the first section can be equal to the size of the underlying grid cell, and the second section can be a protruding section that extends horizontally beyond the footprint of the first section.

[0153] The footprint of the second section may be less than half the size of the footprint of the first section (a size ratio of less than 1:2 relative to the first section). The second section may extend into an adjacent grid cell when the remotely operated vehicle is positioned above the grid cell in a position where the storage container can be raised and lowered into and out of the first section. However, the footprint of the vehicle body may be less than 1.5 cells in one direction (X direction) and at most one grid cell width in the other direction (Y direction). In other words, the lateral extent of the remotely operated vehicle in the first direction corresponds to the lateral extent of the rail in one cell, and at most 1.5 grid cells in the direction perpendicular to the first direction. As a result, in one example system for storing and retrieving storage containers in which two of the remotely operated vehicles described above are operated and directed in opposite directions, the remotely operated vehicles may occupy only a maximum of three grid cells when moving in a first direction, e.g., the Y direction, but when moving in a second direction, e.g., the X direction, the remotely operated vehicles may move along adjacent rows of grid cells occupying two grid cells.

[0154] The framework structure may comprise upright members and a storage volume comprising storage columns arranged in rows between the upright members, in which the article holders can be stacked one on top of the other to form a stack. The upright members may typically be made of metal, for example extruded aluminium profiles.

[0155] When traveling on a rail system positioned across the top of the framework structure, the remotely operated vehicle may be operated to raise the item holders from the storage columns, lower the item holders into the storage columns, and transport the item holders above the storage columns.

[0156] The article holders stored in the columns are accessed through access openings in the rail system by a remotely operated vehicle which can move laterally above the storage columns, i.e. in a plane parallel to the horizontal XY plane.

[0157] The upright members of the framework structure may be used to guide the item holder during lifting the item holder out of the column and during lowering the item holder into the column. The stack of item holders is typically freestanding.

[0158] Rail systems typically include rails with grooves along which the wheels of the remotely operated vehicle run. Alternatively, the rails may include elements that protrude upwards, and the wheels of the remotely operated vehicle include flanges to prevent them from running off. These grooves and elements that protrude upwards are collectively known as tracks. Each rail may include one track, or each rail may include two parallel tracks. In other rail systems, each rail may include one track in one direction (e.g., the X direction) and two tracks in the other perpendicular direction (e.g., the Y direction). Also, each rail may include two track members fastened together, each track member providing one of the pair of tracks provided by each rail.

[0159] WO 2018 / 146304 A1, the contents of which are incorporated herein by reference, shows a typical configuration of a rail system comprising rails and parallel tracks in both the X and Y directions.

[0160] In the framework structure, the majority of the columns are storage columns, i.e. columns in which the article holders are stored in stacks. However, some columns may have other purposes. An example of such a dedicated purpose may be a column used by a remotely operated vehicle to drop off and / or pick up the article holders so that they can be accessed from outside the framework structure or transported to an access station where the article holders can be transferred from or into the framework structure. Such positions may be called ports and the columns in which the ports are located may be called port columns.

[0161] The automated storage and retrieval system may include ports and / or port columns.

[0162] When the automated storage and retrieval system includes multiple port columns, a first port column may be a drop-off port column at which a remotely operated vehicle can drop off an item holder to be transported to an access station or a transfer station, and a second port column may be a pick-up port column at which a remotely operated vehicle can pick up an item holder transported from an access station or a transfer station.

[0163] A port may typically be a picking or stock station where product items are removed from or placed into article holders, where the article holders are not typically removed from the automated storage and retrieval system, but are returned to the framework structure once accessed.

[0164] Ports may also be used to transport the article holders to other storage facilities (e.g., to other framework structures or other automated storage and retrieval systems), to transportation vehicles (e.g., trains or trucks), or to production facilities.

[0165] The automated storage and retrieval system may include a conveyor system comprising a conveyor. The conveyor system may be used to transport storage containers between the port column and the port (access station). If the port column and the port are located at different levels, the conveyor system may include a lifting device with a vertical component for vertically transporting the article holders between the port column and the port.

[0166] A conveyor system may be arranged to transport the article holders between the different framework structures, for example as described in WO 2014 / 075937 A1, the contents of which are incorporated herein by reference.

[0167] To monitor and control the automated storage and retrieval system, for example, the position of each item holder within the framework structure, the contents of each item holder, and the movements of the remote operated vehicles so that the remote operated vehicles can deliver the desired item holders to the desired locations at the desired times without colliding with each other, the automated storage and retrieval system may include a control system that is typically computerized and typically includes a database for tracking the item holders.

[0168] Viewed from yet another aspect, the present invention may also be viewed as relating to a method for operating the automated storage and retrieval system described herein, the method comprising: operating a wheel lift mechanism to engage a first set of wheels with the rail system; moving the counterweight to adjust the center of gravity for movement of the remotely operated vehicle in a first direction; moving the remotely operated vehicle a predetermined distance in a first direction; activating a wheel lift mechanism of the remotely operated vehicle to disengage the first set of wheels from the rail system and to engage the second set of wheels with the rail system; moving the counterweight to adjust the center of gravity for movement of the remotely operated vehicle in a second direction; moving the remotely operated vehicle a predetermined distance in a second direction; Includes.

[0169] A mechanism supporting the counterweight is typically configured to move in response to movement of the wheel lift mechanism by mechanical connection or signal communication such that the counterweight can be moved relative to the remainder of the remotely operated vehicle to change the center of gravity of the remotely operated vehicle in a direction beneficial to the movement of the remotely operated vehicle.

[0170] If an article holder stored in one of the columns is to be accessed, one of the remotely operated vehicles is instructed to retrieve the target article holder from its position and transport it to the drop-off port column. This operation involves moving the remotely operated vehicle to a position above the storage column where the target article holder is located, retrieving the article holder from the storage column using the lifting device of the remotely operated vehicle, and transporting the article holder to the drop-off port column. If the target article holder is located deep within the stack, i.e., one or more other article holders are located above the target article holder, the operation also involves temporarily moving the article holder located above before lifting the target article holder from the storage column. This step, which can be called "digging", may be performed using the same remotely operated vehicle that is subsequently used to transport the target article holder to the drop-off port column, or using one or more other cooperating remotely operated vehicles.

[0171] Alternatively or additionally, the automated storage and retrieval system may comprise a remotely operated vehicle specifically dedicated to the task of temporarily removing an item holder from a storage column. Once the target item holder has been removed from the storage column, the temporarily removed item holder may be relocated to the original storage column. However, the removed item holder may alternatively be relocated to another storage column.

[0172] If the article holder is to be stored in one of the columns, one of the remotely operated vehicles is directed to pick up the article holder from the pickup port column and transport the article holder to a location above the storage column where it is to be stored. After the article holder located at or above the target location in the stack is removed, the remotely operated vehicle positions the article holder in the desired location. The removed article holder may then be returned to the storage column or relocated to another storage column. [Brief description of the drawings]

[0173] 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.

[0174] [Figure 1] FIG. 1 is a perspective view of a framework structure of a prior art automatic storage and retrieval system.

[0175] [Diagram 2] FIG. 2 is a perspective view of a prior art container handling vehicle having an interiorly disposed cavity for transporting storage containers therein.

[0176] [Diagram 3] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever beam for transporting storage containers downward.

[0177] [Figure 4] FIG. 4 is a bottom perspective view of a prior art container handling vehicle having an interiorly disposed cavity for carrying storage containers therein.

[0178] [Diagram 5]FIG. 5 is a perspective view of a remote operated vehicle with a first set of wheels and a second set of wheels configured to move the remote operated vehicle in a first direction X and a second direction Y, respectively, within an automated storage and retrieval system.

[0179] [Figure 6] FIG. 6 is a perspective view of the remote operated vehicle of FIG. 5 with some components removed for clarity, the remote operated vehicle including a counterweight configured to alter the center of gravity (CoG) of the remote operated vehicle and a wheel lift mechanism configured to raise and lower the first set of wheels so that the first set of wheels and the second set of wheels can be engaged and disengaged from a drive surface within the automated storage and retrieval system.

[0180] [Figure 7] FIG. 7 is another perspective view of the remotely operated vehicle of FIG. 5 with some components removed for clarity, the remotely operated vehicle comprising an item holder storage space and an item holder lifting device configured to lift the item holder into the item holder storage space.

[0181] [Figure 8] FIG. 8 is a side view of the remotely operated vehicle of FIG. 5 with some components removed for clarity, the remotely operated vehicle configured to move in a second direction Y and with its center of gravity shifted accordingly.

[0182] [Figure 9] FIG. 9 is a side view of the same remotely operated vehicle as FIG. 8, with the wheel lift mechanism and counterweight operated to change the direction of travel of the remotely operated vehicle.

[0183] [Figure 10] FIG. 10 is a side view of the same remotely operated vehicle as FIG. 8, with the remotely operated vehicle configured to move in a first direction X and its center of gravity shifted accordingly.

[0184] [Figure 11] FIG. 11 is a perspective view of a detail of the remote operated vehicle of FIG. 5 and shows an example of how the wheel lift mechanism and the counterweight can be coupled such that operation of the wheel lift mechanism changes the center of gravity (CoG) of the remote operated vehicle in a first direction X by movement of the counterweight.

[0185] [Figure 12] FIG. 12 is a detailed perspective view of the remotely operated vehicle of FIG. 5 illustrating an example of a wheel lift mechanism connectable to a frame of the remotely operated vehicle and configured to lift and lower the first set of wheels.

[0186] [Figure 13] FIG. 13 is a perspective view of the remotely operated vehicle of FIG. 5 with some components removed for clarity, showing the wheel lift mechanism lifting the first set of wheels.

[0187] [Figure 14] FIG. 14 is a perspective view of the remotely operated vehicle of FIG. 5 with some components removed for clarity, showing the wheel lift mechanism lowering the first set of wheels.

[0188] [Figure 15a] 15a and 15b are schematic side views of a remotely operated vehicle in which a counterweight is moved by an actuator when the wheel lift mechanism is operated.

[0189] [Figure 15b] 15a and 15b are schematic side views of a remotely operated vehicle in which a counterweight is moved by an actuator when the wheel lift mechanism is operated.

[0190] [Figure 16a] 16a and 16b are schematic side views of a remotely operated vehicle, in which the counterweight is operated by an actuator when the lifting device is locking / unlocking the article holder.

[0191] [Figure 16b] 16a and 16b are schematic side views of a remotely operated vehicle, in which the counterweight is operated by an actuator when the lifting device is locking / unlocking the article holder. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0192] Detailed Description of the Invention Embodiments of the invention will now be described in more detail with reference to the accompanying drawings, in which it should be understood, however, that the drawings are not intended to limit the invention to the subject matter shown in the drawings.

[0193] The framework structure 100 of the automated storage and retrieval system 1 is constructed in a similar manner to the prior art framework structure 100 described above in relation to Figures 1-3, that is, the framework structure 100 comprises several upright members 102 and a first upper rail system 108 extending in the X and Y directions.

[0194] The framework structure 100 further comprises storage compartments in the form of storage columns 105 disposed between the members 102, with the storage containers 106 being stackable in stacks 107 within the storage columns 105.

[0195] The framework structure 100 can be of any size. In particular, it is understood that the framework structure can be significantly wider and / or longer and / or deeper than disclosed in Figure 1. For example, the framework structure 100 may have a horizontal extent of more than 700 x 700 columns and a storage depth of more than 12 containers.

[0196] Next, an embodiment of the automatic storage and retrieval system according to the present invention will be described in more detail with reference to Figs.

[0197] 5 shows a perspective view of a remotely operated vehicle 600 suitable for operation in an automated storage and retrieval system 1. The automated storage and retrieval system 1 may typically be a prior art automated storage and retrieval system 1 as disclosed in FIG.

[0198] Such an automated storage and retrieval system 1 typically comprises a framework structure 100. The framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, article holders such as storage containers 106, also known as bins, can be stacked one on top of the other to form stacks 107. The upright members 102 may typically be made of metal, for example extruded aluminum profiles.

[0199] The automated storage and retrieval system 1 typically comprises a rail system 108 disposed across the top of the framework structure 100 on which a plurality of remotely operated vehicles 201, 301, 401, 600 can operate to raise and lower article holders from and into the storage columns 105 and transport article holders above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 disposed to guide movement of the remotely operated vehicles 201, 301, 401, 600 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 movement of the remotely operated vehicles 201, 301, 401, 600 in a second direction Y perpendicular to the first direction X. The article holders stored in the columns 105 are accessed by the remotely operated vehicles 201, 301, 401, 600 through access openings 112 in the rail system 108. The remotely operated vehicles 201, 301, 401, 600 can move laterally above the storage columns 105, i.e. in a plane parallel to the horizontal XY plane.

[0200] The upright members 102 of the framework structure 100 may be used to guide the item holders during lifting of the item holders from the columns 105 and during lowering of the item holders into the columns. The stacks 107 of item holders are typically freestanding.

[0201] The remotely operated vehicle 600 comprises a first set of wheels 610 and a second set of wheels 620. Although only two wheels of the first set of wheels 610 are visible in Figure 5, the first set of wheels 610 typically comprises four wheels. Similarly, although only two wheels of the second set of wheels 620 are visible in Figure 5, the second set of wheels 620 typically comprises four wheels.

[0202] The first set of wheels 610 is configured to move the remotely operated vehicle 600 in a first direction X along two adjacent rails of the first set of rails 110, and the second set of wheels 620 is configured to move the remotely operated vehicle 600 in a second direction Y along two adjacent rails of the second set of rails 111.

[0203] The remotely operated vehicle 600 comprises a body. The extent of the body in both the first direction LX and the second direction LY defines a body footprint.

[0204] The remotely operated vehicle 600 may include a cover plate 606 to protect the components located behind it.

[0205] The remote operated vehicle 600 may be configured to communicate with a control system 500. The control system 500 may be configured to control the operation of one or more remote operated vehicles 201, 301, 401, 600 in the automated storage and retrieval system 1.

[0206] Figure 6 shows a perspective view of the remotely operated vehicle 600 shown in Figure 5, with some components removed. The remotely operated vehicle 600 includes a wheel lift mechanism 630. The wheel lift mechanism 630 is configured to raise and lower the first set of wheels 610, so that the first set of wheels 610 and / or the second set of wheels 620 can engage with the respective sets of rails 110, 111 at any one time. Details of the wheel lift mechanism 630 are shown in Figure 12, and Figures 13 and 14 show the operation of the wheel lift mechanism 630.

[0207] The remotely operated vehicle 600 may include an item holder storage space 650 and a lifting device 604. The lifting device 604 is configured to lift the item holders from the storage columns 105 and into the item holder storage space 650. Details of the lifting device 604 are shown in FIG.

[0208] The remotely operated vehicle 600 comprises a counterweight 640. The counterweight 640 is coupled to the wheel lifting mechanism 630 such that operation of the wheel lifting mechanism 630 changes the center of gravity CoG of the remotely operated vehicle 600 in a first direction X and / or a second direction Y by movement of the counterweight 640. Figure 11 shows an example of how the counterweight can be connected to the wheel lifting mechanism 630, while Figures 8, 9 and 10 show the operation of the counterweight 640 and how the operation of the counterweight 640 can affect the center of gravity CoG. In this example, the center of gravity CoG is changed mainly in the first direction X.

[0209] Figure 7 shows a perspective view of the remotely operated vehicle 600 shown in Figure 5, with some components removed. Three wheels of a first set of wheels 610 and four wheels of a second set of wheels 620 are visible in Figure 7. A fourth wheel of the first set of wheels 610 is visible in Figure 6.

[0210] The first set of wheels 610 may include a first pair of driven wheels 611 and a first pair of non-driven wheels 612. The second set of wheels 620 may include a second pair of driven wheels 621 and a second pair of non-driven wheels 622. The remotely operated vehicle may be divided into a first section S1 and a second section S2, as shown in Figure 8. A first pair of driven wheels 611 and a second pair of driven wheels 621 may be disposed in the second section S2. A first pair of non-driven wheels 612 and a second pair of non-driven wheels 622 may be disposed in the first section S1.

[0211] When the first set of wheels 610 are engaged with the rail system 108, the weight of the remote operated vehicle 600 is distributed among the wheels of the first set of wheels 610. If the center of gravity CoG of the remote operated vehicle 600 is located the same distance from each wheel of the set of wheels engaged with the rail system 108, the weight will be distributed evenly among these wheels. However, the weight does not necessarily have to be distributed evenly among the wheels. Since the distribution of weight among the engaged wheels correlates with the distribution of traction among the engaged wheels, it is preferable from a traction standpoint to have the center of gravity in a position where the weight is distributed towards the driven wheels 611, 621 rather than the non-driven wheels 612, 622.

[0212] By placing most of the components in the second section S2, the center of gravity CoG can be located closer to the driven wheels 611, 621 than to the non-driven wheels 621, 622. However, to avoid the remotely operated vehicle 600 tipping over, some of the weight should be distributed to the non-driven wheels 612, 622 located in the first section S1.

[0213] If the remotely operated vehicle has a set of wheels in which all the wheels are driven, the preferred location of the center of gravity CoG in terms of traction is typically the same distance from each wheel of the set of wheels that is engaged with the rail system 108.

[0214] The first section S1 and the second section S2 may be configured in a manner similar to that disclosed in WO 2019 / 206488 A1.

[0215] The first section S1 may have a first section footprint and the second section S2 may have a second section footprint, the footprints being defined by horizontal perimeters in a first direction X and a second direction Y of the first section S1 and the second section S2, respectively.

[0216] The remotely operated vehicle 600 may have a body 601. The body 601 may have a body footprint defined by a perimeter in a horizontal direction in a first direction X and a second direction Y of the body 601. The body 601 may include a frame and a wheel lifting mechanism 630.

[0217] The first section S1 and the second section S2 may be arranged side-by-side.

[0218] The centre point of the footprint of the first section S1 may be eccentrically positioned relative to the centre point of the vehicle body footprint.

[0219] The first section S1 and the second section S2 may constitute the entire remotely operated vehicle 600. Alternatively, the remotely operated vehicle 600 may include further sections in addition to the first section S1 and the second section S2.

[0220] The remotely operated vehicle 600 is aligned with a vertical plane P extending, for example, in a second direction Y through the remotely operated vehicle 600. V The vertical plane P may divide the first section S1 and the second section S2. V may be an imaginary surface to which most (but not necessarily all) of the internal structure may be aligned.

[0221] The first section S1 and the second section S2 do not have to be physically separated, but there may be at least a partial boundary, such as a plate, between them. The wheels of the second pair of drive wheels 621 are located in the first section S1, but are aligned with the vertical plane P V The recess may be attached to a structure that extends into a recess in a wall (e.g., formed at least in part by a plate) that conceptually defines the recess.

[0222] The first section S1 and the second section S2 may have different sizes. Their sizes may be set, for example, by one or more components of the remote operated vehicle 600. As one example, the first section footprint may correspond to the size of the item holder storage space 650. As another example, the second section footprint may correspond to the size of a compartment configured to accommodate the components of the remote operated vehicle 600.

[0223] The size ratio of the first section footprint to the second section footprint may be at least 2: 1. Preferably, the size ratio of the first section footprint to the second section footprint may be 3: 1, and even more preferably, the size ratio of the first section footprint to the second section footprint may be 4: 1.

[0224] A combined horizontal extent of the first section footprint and the second section footprint in the first direction X may correspond to a horizontal extent of the vehicle body in the first direction X.

[0225] The second section footprint and the body footprint may have corresponding horizontal extents in the second direction Y. The first section footprint and the body footprint may have corresponding horizontal extents in the second direction Y. The first section footprint and the second section footprint may have corresponding horizontal extents in the second direction Y.

[0226] The first set of wheels 610 may comprise four wheels. The wheels of the first set of wheels 610 may be located on either side of the remotely operated vehicle 600.

[0227] The wheels of the first pair of non-driven wheels 612 may be disposed on opposite sides of the first section S1.

[0228] The wheels of the first pair of drive wheels 611 may be arranged on both sides of the second section S2. Preferably, none of said opposing sides is the side of the second section S2 adjacent to the first section S1. For example, if the second section S2 has four sides and the second side marks the transition from the second section S2 to the first section S1, the wheels of the first pair of drive wheels 611 may be arranged on the first side and on the third side. The wheels of the second pair of drive wheels 621 may be arranged adjacent to the second side, for example, the second pair of drive wheels 621 may be arranged on a support configured to embed the second pair of drive wheels 621 in the area of ​​the second section S2 while facing the first section S1.

[0229] The second set of wheels 620 may comprise four wheels. The wheels of the second set of wheels 620 may be arranged on either side of the first section S1.

[0230] The wheels of the second pair of non-driven wheels 622 may be disposed on the same side of the first section S1.

[0231] The wheels of the second pair of drive wheels 621 may be arranged on the same side of the first section S1.

[0232] The wheels of the second pair of drive wheels 621 may be disposed on the side of the first section S1 closest to the second section S2.

[0233] A second pair of non-driven wheels 622 and a second pair of driven wheels 621 may be disposed on opposite sides of the first section S1.

[0234] It is preferred that the wheels of the first set of wheels 610 and the wheels of the second set of wheels 620 are not located on the same side of the first section S1. For example, if the first section has four sides, the first set of wheels 610 may be located on the first side and the third side, while the second set of wheels 620 may be located on the second side and the fourth side.

[0235] The first section S1 may have four corners, with at least some of the wheels preferably being located at the corners without extending beyond the first section footprint.

[0236] The second section S2 may have four corners, with at least some of the wheels preferably being located at the corners without extending beyond the second section footprint.

[0237] The first set of wheels 610 and / or the second set of wheels 620 may be disposed at or within a lateral extent of the vehicle body 601 .

[0238] The footprint of the first section S1 may correspond to a grid cell 130 of the rail system 108, and in use, when the remote operated vehicle 600 is in a position to lift or lower an item holder, the second section S2 may be horizontally displaced relative to the grid cell 130 and extend partially into an adjacent grid cell 130.

[0239] For a rail system with rails having double tracks in both a first direction X and a second direction Y, a grid cell 130 is defined as the cross-sectional area including the width of the rail 111 between the midpoint of the two rails 110, 111 extending in the X direction and the midpoint of the two rails 110 extending in the Y direction.

[0240] The extent of the vehicle body footprint in the first direction LX and the second direction LY is LX=1.0 grid cell in the X direction, 1 in Y direction <LY<1.5グリッドセル、 may be also possible.

[0241] The second section S2 may extend less than 50% into the adjacent grid opening 112, more preferably less than 40% into the adjacent grid opening 112, and even more preferably less than 30% into the adjacent grid opening 112.

[0242] A grid aperture 112 may be defined as the open cross-sectional area between two opposing rails 110 extending in the X direction and two opposing rails 111 extending in the Y direction.

[0243] The first pair of non-driven wheels 612, the second pair of non-driven wheels 622, and the second pair of driven wheels 621 may be arranged to define a rectangle in a horizontal plane, with the first pair of driven wheels 611 positioned outside the rectangle.

[0244] FIG. 8 shows a side view of the remotely operated vehicle 600. The remote operated vehicle 600 may comprise a first set of wheels 610 configured to move the remote operated vehicle 600 in a first direction X along the first set of rails 110, a second set of wheels 620 configured to move the remote operated vehicle 600 in a second direction Y along the second set of rails 111, a wheel lifting mechanism 630 configured to disengage the first set of wheels 610 from the rail system 108 to engage the second set of wheels 620 with the second set of parallel rails 111 and to disengage the second set of wheels 620 from the rail system 108 to engage the first set of wheels 610 with the first set of parallel rails 110, and a counterweight 640 coupled to the wheel lifting mechanism 630 such that operation of the wheel lifting mechanism 630 changes the center of gravity CoG of the remote operated vehicle 600 in the first direction X and / or the second direction Y due to movement of the counterweight 640. 8 to 10, the center of gravity CoG changes in the first direction X. In the example of FIG.

[0245] In FIG. 8, the counterweight 640 is connected to the vehicle body 601 by a first arm 641. The first arm 641 is coupled to the counterweight 640 at a first end and pivotally connected to the vehicle body 601 at a second end. The counterweight 640 is coupled to the wheel lifting mechanism 630 by a second arm 642. The second linkage 642 is connected to the wheel lifting mechanism 630 at a first end and pivotally connected to an intermediate portion of the first linkage 641 at a second end. Thus, the operation of the wheel lifting mechanism 630 causes the first linkage 641 to pivot, thereby moving the counterweight 640 in the first direction X.

[0246] 8, the first set of wheels 610 are raised by the wheel lifting mechanism 630 so that the second set of wheels 620 can engage with the rail system 108. The counterweight 640 is in what may be referred to as an initial position just above the point where the first linkage 641 is connected to the carbody 601. The first linkage 641 is oriented vertically, i.e., its longitudinal direction is parallel to the third direction Z.

[0247] FIG. 8 shows the approximate location of the center of gravity CoGy of the remote operated vehicle 600 when set to move in the second direction Y. The center of gravity CoGy is closer to the second pair of driven wheels 621 than to the second pair of non-driven wheels 622. Also, the counterweight 640 is closer to the second pair of driven wheels 621 than to the second pair of non-driven wheels 622. If the counterweight 640 is removed from the remote operated vehicle 600, the center of gravity CoGy shifts to a position further away from the second pair of driven wheels 621. Thus, the counterweight 640 is configured to move the center of gravity CoG toward the second pair of driven wheels 621 such that the weight of the remote operated vehicle 600 is distributed at least 60%, preferably at least 70%, more preferably at least 80%, and even more preferably at least 90% to the second pair of driven wheels 621 when the remote operated vehicle 600 is stationary and not manipulating the article holder. To prevent the remote operated vehicle 600 from tipping over, the weight of the remote operated vehicle 600 should preferably be distributed by less than 100% to the second pair of drive wheels 621 .

[0248] In its initial position, the counterweight 640 may be partially located in the first section S1 and partially located in the second section S2.

[0249] In FIG. 8, a vertical plane P 1 separates the first section S1 and the second section S2. V Located within is the point at which the first linkage 641 is pivotally connected to the body 601 .

[0250] In the initial position of the counterweight 640, the point at which the second linkage 642 is pivotally connected to the first linkage 641 is in a vertical plane P that separates the first section S1 and the second section S2. V It is located within.

[0251] Figure 9 shows a side view of the remote operated vehicle 600 of Figure 8 where the wheel lift mechanism 630 has been operated to partially lower the first set of wheels 610. Operation of the wheel lift mechanism 630 causes movement of the second linkage 642, which pulls the first linkage 641 as it rotates (counterclockwise in Figure 9), resulting in a change in position of the counterweight 640 in a first direction X (to the left in Figure 9).

[0252] Compared to the situation in Figure 8, the counterweight 640 has moved further away from the first pair of non-driven wheels 612 and the second pair of non-driven wheels 622 in Figure 9. Compared to the situation in Figure 8, the center of gravity CoG has also moved further away from the first pair of non-driven wheels 612 and the second pair of non-driven wheels 622 in Figure 9.

[0253] In FIG. 9, the counterweight 640 is located in the second position S2.

[0254] In FIG. 9, a vertical plane P 1 separates the first section S1 from the second section S2. V Located within is the point at which the first linkage 641 is pivotally connected to the body 601 .

[0255] In FIG. 9, the point at which the second linkage 642 is pivotally connected to the first linkage 641 is located in the second section S2.

[0256] Figure 10 shows a side view of the remote operated vehicle 600 of Figure 8 where the wheel lift mechanism 630 has been operated to fully lower the first set of wheels 610 so that they can engage the rail system 108. Further operation of the wheel lift mechanism 630 causes further movement of the counterweight 640. The first linkage 641 has rotated an angle α relative to the initial position of Figure 8.

[0257] 10 shows the approximate location of the center of gravity CoGx of the remote operated vehicle 600 when set to move in a first direction X. The center of gravity CoGx is closer to the first pair of driven wheels 611 than to the first pair of non-driven wheels 612. The counterweight 640 is also closer to the first pair of driven wheels 611 than to the first pair of non-driven wheels 612, and is positioned on the opposite side of the first pair of driven wheels 611 from the non-driven wheels 612.

[0258] The center of gravity CoGx of the remote operated vehicle 600 when set to move in the first direction X is closer to the first pair of drive wheels 611, compared to the center of gravity CoGy of the remote operated vehicle 600 when set to move in the second direction Y. Since the weight of the remote operated vehicle 600 is no longer supported by the second set of wheels 620, the center of gravity CoGx may be directly above the second pair of drive wheels 621, or may be on the opposite side of the second non-drive wheels 622 relative to the second pair of drive wheels 621. Thus, the counterweight 640 is configured to move the center of gravity CoG towards the first pair of drive wheels 611, such that the weight of the remote operated vehicle 600 is distributed at least 60%, preferably at least 70%, more preferably at least 80%, and even more preferably at least 90% on the first pair of drive wheels 611 when the remote operated vehicle 600 is stationary and not manipulating the article holder. To prevent the remote operated vehicle 600 from tipping over, the weight of the remote operated vehicle 600 should preferably be distributed by less than 100% to the first pair of drive wheels 611 .

[0259] In FIG. 10, the counterweight 640 is located in the second position S2.

[0260] In FIG. 10, a vertical plane P 1 separates the first section S1 and the second section S2. V Located within is the point at which the first linkage 641 is pivotally connected to the carbody 601. This point can therefore be stationary as the counterweight 640 changes its position.

[0261] In FIG. 10, the point at which the second linkage 642 is pivotally connected to the first linkage 641 is located in the second section S2.

[0262] FIG. 11 shows a perspective view of the remotely operated vehicle 600 of FIGS. 6-10, with further components removed.

[0263] 11 shows the lifting device 604 in an upper position above the article holder storage space 650. The lifting device 604 may include a lifting band 604a, a gripper 604b, a guide pin 604c, a lifting frame 604d, and a lifting device motor 604e. In the configuration of FIG. 11, the lifting band 604a, the gripper 604b, the guide pin 604c, and the lifting frame 604d are disposed in the first section S1, and the lifting device motor 604e is disposed in the second section S2.

[0264] The lifting device motor 604e is configured to lift the lifting frame 604d by the lifting band 604a connected to the top of the lifting frame 604d. Thus, the lifting frame 604d can be lowered into the storage column 105 to retrieve the article holder. The gripper 604b is configured to lock onto the article holder. The guide pin 604c is configured to ensure accurate alignment between the lifting frame 604d and the article holder. Once locked onto the article holder, the lifting device 604 can be raised into the article holder storage space 650 while transporting the article holder, so that the article holder can be accommodated in the article holder storage space 650.

[0265] 11, the item holder storage space 650 is disposed in the first section S1. Therefore, the item holder accommodated in the item holder storage space 650 is also disposed in the first section S1.

[0266] The upper position of the lifting frame 604d may be determined by one or several stoppers 605, which provide an end stop for the lifting frame 604d. The stoppers 605 may be arranged on the vehicle body 601 and have a height H. The stop position of the lifting frame 604d may be given by the lower end of the stopper 605, which the lifting frame 604d can contact when it is lifted. The height H of the stopper 605, i.e. the vertical range of the stopper, determines the stop position. By providing interchangeable stoppers 605 of different heights, the upper position of the lifting frame 604d can be adjusted. The upper position can typically be adjusted when the remotely operated vehicle 600 is caused to operate article holders of different heights. At this time, the upper position can be kept as low as possible in order to keep the center of gravity CoG as low as possible.

[0267] 11 also illustrates how the remotely operated vehicle 600 can include two counterweights 640. Also illustrated is how one or two counterweights 640 can be coupled to the wheel lifting mechanism 630 via respective first and second linkages 641 and 642. The wheel lifting mechanism 630 can include a drive wheel bracket 633 to which the second linkage 642 can be pivotally connected.

[0268] Figure 12 shows a perspective view of the remotely operated vehicle 600 of Figure 11 with additional components removed. Figure 12 shows an example of a wheel lift mechanism 630 including a wheel lift motor 631, a wheel lift linkage 632, a driven wheel bracket 633, a wheel lift linkage plate 634, a non-driven wheel bracket 635, a driven wheel axle 636, and a spacer 637.

[0269] The wheel lift motor 631 may be connected to the car body 601 and disposed in the second section S2. The wheel lift linkage 632 may be pivotally connected to the wheel lift motor 631 at a first end and pivotally connected to the drive wheel bracket 633 at a second end. Torque from the wheel lift motor 631 causes a reciprocating motion of the wheel lift linkage 632. The reciprocating motion of the wheel lift linkage 632 displaces the drive wheel bracket 633 downward.

[0270] The drive wheel bracket 633 may be configured to suspend the drive wheels 611 or the drive wheel axles 636. Typically, there are two drive wheel brackets 633 disposed on either side of the second section S2. For example, by being connected by the drive wheel axles 636, the two drive wheel brackets 633 move together in response to the reciprocating motion of the wheel lift linkage 632. In this manner, the first pair of drive wheels 611 suspended by the drive wheel brackets 633 can be lowered and raised in response to the operation of the wheel lift motor 631.

[0271] The drive wheel bracket 633 may be configured to hold the motor 613 and associated motor shaft 614 for the first pair of drive wheels 611.

[0272] Typically, there are two non-driven wheel brackets 635 located on either side of the first section S1. The non-driven wheel brackets 635 may be pivotally connected to the vehicle body 601 and configured to suspend the first pair of non-driven wheels 612.

[0273] A driven wheel bracket 633 and a non-driven wheel bracket 635 located on the same side of the remote operated vehicle 600 may be connected by a wheel raising linkage plate 634. Lowering and raising the first pair of driven wheels 611 also lowers and raises the first pair of non-driven wheels 612. The driven wheel bracket 633 and the non-driven wheel bracket 635 may be connected at a distance from the wheel raising linkage plate 634, for example by a spacer 637.

[0274] Figures 13 and 14 show perspective views of the remote operated vehicle 600 of Figure 5 with some components removed. In Figure 13, the wheel lift mechanism 630 is raising the first set of wheels 610, and in Figure 14, the wheel lift mechanism 630 is lowering the first set of wheels 610. The full stroke of the wheel lift linkage 632 can be achieved with half a rotation of the wheel lift motor 631.

[0275] 15a and 15b show diagrammatically how the counterweight 640' can be moved by the actuator 643. In FIG. 15a, the second set of wheels 620 can be engaged with the rail system 108. The counterweight 640' is then in an initial position influencing the center of gravity CoG in a manner favorable for the remotely operated vehicle 600 to move in the second direction Y. In FIG. 15b, on the other hand, the first set of wheels 610 can be engaged with the rail system 108. The counterweight 640' is then in a subsequent position influencing the center of gravity CoG in a manner favorable for the remotely operated vehicle 600 to move in the first direction X.

[0276] When the control system 500 sends a signal to the wheel lift mechanism 630 instructing it to lower the first set of wheels 610, a signal may be sent simultaneously (or immediately before / after) to the actuator 643 instructing it to move the counterweight 640' from its initial position to its subsequent position.

[0277] When the control system 500 sends a signal to the wheel lift mechanism 630 instructing it to lift the first set of wheels 610, a signal may be sent simultaneously (or immediately before / after) to the actuator 643 instructing it to move the counterweight 640' from its subsequent position to its initial position.

[0278] The initial and subsequent positions of the counterweight 640' may have the same vertical height.

[0279] The counterweights 640', 640'' may be held by an actuator. Alternatively, the counterweights 640', 640'' may be movable along the support, for example by means of a sliding or rolling interface.

[0280] 16a and 16b show diagrammatically how the counterweight 640″ can be moved by the actuator 643. In FIG. 16a, the remote operated vehicle 600 is not carrying an article holder. The counterweight 640″ is then in an initial position where the counterweight influences the center of gravity CoG in a manner favorable for the movement of the remote operated vehicle 600 without the additional weight of the article holder and the article stored therein, if any. Meanwhile, in FIG. 16b, the remote operated vehicle 600 is carrying an article holder. The counterweight 640″ is then in a subsequent position where the counterweight influences the center of gravity CoG in a manner favorable for the movement of the remote operated vehicle 600 with the additional weight of the article holder and the article stored therein, if any.

[0281] When the control system 500 sends a signal to the lifting device 604 instructing it to engage the article holder, a signal may be sent to the actuator 643 at the same time (or just before / just after) instructing it to move the counterweight 640'' from its initial position to its subsequent position.

[0282] When the control system 500 sends a signal to the lifting device 604 instructing it to disengage from the article holder, a signal may be sent to the actuator 643 at the same time (or just before / just after) instructing it to move the counterweight 640'' from its subsequent position to its initial position.

[0283] The first initial position and the subsequent position of the counterweight 640'' may have the same vertical height.

[0284] The counterweight 640' of Figures 15a-15b may be used in combination with the counterweight 640'' of Figures 16a-16b.

[0285] Alternatively, the actuator 643 may be configured to move the counterweights 640′, 640″ by a given horizontal distance in response to the lifting device 604 engaging / disengaging with the article holder, and by a given horizontal distance in response to the operation of the wheel lifting mechanism 630. At this time, the counterweights 640′, 640″ may be moved in the following four scenarios: a) the remote operated vehicle 600 does not carry an article holder while the first set of wheels 610 is engaged with the rail system 108; b) the remote operated vehicle 600 does not carry an article holder while the second set of wheels 620 is engaged with the rail system 108; c) the remote operated vehicle 600 carries the article holder while the first set of wheels 610 are engaged with the rail system 108; d) the remote operated vehicle 600 carries the article holder while the second set of wheels 620 is engaged with the rail system 108; There may be different given positions for the scenario.

[0286] The lifting device 604 may include a load cell configured to measure the weight of the article holder and its contents, if any. Based on the measured weight, the control system 500 may calculate the appropriate position of the counterweight 640, 640', 640'' (taking into account whether the first set of wheels 610 or the second set of wheels 620 are engaged) and send a signal to the actuator 643 instructing the actuator 643 to move the counterweight 640, 640', 640'' to the appropriate position. At this time, the CoG shifts to improve the operating condition of the remote operated vehicle 600.

[0287] The actuator 643 may typically be an electric actuator.

[0288] The actuator 643 may be a linear actuator as shown in Figures 15a-16b, or the actuator 643 may be a rotary actuator.

[0289] 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. (Explanation of symbols)

[0290] List of Reference Numbers 1. Prior Art Automatic Storage and Retrieval System 100 Framework Structure 102 Upright members of framework 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) 111 Parallel rail in the second direction (Y) 112 Access opening / grid opening 119 First Port Column 120 Second Port Column 130 grid cells 201 Prior art container handling vehicle 201a Body of container handling vehicle 201 201b Driving means in first direction (X) / wheel device / first set of wheels 201c second direction (Y) driving means / wheel device / second set of wheels 301 Prior art cantilever container handling vehicle 301a Body of container handling vehicle 301 301b Drive means in first direction (X) / first set of wheels 301c second direction (Y) drive means / second set of wheels 304 Grasping Device 401 Prior art container handling vehicle 401a Body of container handling vehicle 401 401b Drive means in first direction (X) / first set of wheels 401c second direction (Y) drive means / second set of wheels 404 Grasping Device 404a Ascending and descending band 404b Gripper 404c Guide pin 404d Lifting Frame 500 Control System 600 Remotely Operated Vehicles 601 Main unit 602 battery 604 Lifting Device 604a Lifting band 604b Gripper 604c Guide pin 604d Lifting Frame 604e Lifting device motor 605 Stopper 606 Cover Plate 610 First set of wheels 611 First pair of driving wheels 612 First pair of non-driven wheels 613 Motor for first pair of drive wheels 614 Motor shaft 620 Second set of wheels 621 Second pair of driving wheels 622 Second pair of non-driven wheels 623 Motor for second pair of driving wheels 630 Wheel lift mechanism 631 Wheel lift motor 632 Wheel lift linkage 633 Driving wheel bracket 634 Wheel lift linkage plate 635 Non-driving wheel bracket 636 Driving wheel axle 637 Spacer 640,640',640'' Counterweight 641 First Linkage 642 Second Linkage 643 Actuator for Counterweight 650 Item holder storage space 660 Control System 661 Truck Sensor 662 Stop Sensor X First Direction Y Second Direction Z third direction CoG center of gravity CoGx Center of gravity adapted to the movement of the remotely operated vehicle in the first direction X CoGy Center of gravity adapted to the movement of the remotely operated vehicle in a second direction Y S1 First Section of the Remotely Operated Vehicle S2 Second Section of the Remotely Operated Vehicle α Rotation angle LX Extent of the vehicle footprint in the first direction X LY Extent of the vehicle footprint in the second direction Y H Stopper height P V vertical plane P H horizontal plane

Claims

1. A remotely operated vehicle (600) for an automated storage and retrieval system (1), said automated storage and retrieval system (1) being located on a horizontal surface (P Ｈ a first set of rails (110) disposed within said horizontal plane (P) and extending in a first direction (X); Ｈ a rail system (108) comprising a second set of rails (111) disposed within the first set of rails (111) and extending in a second direction (Y); The remotely operated vehicle (600) a first set of wheels (610), the first set of wheels (610) configured to move the remotely operated vehicle (600) in the first direction (X) along the first set of rails (110); a second set of wheels (620), the second set of wheels (620) configured to move the remotely operated vehicle (600) in the second direction (Y) along the second set of rails (111); a wheel lifting mechanism (630) configured to disengage the first set of wheels (610) from the rail system (108) to engage the second set of wheels (620) with the second set of rails (111), and configured to disengage the second set of wheels (620) from the rail system (108) to engage the first set of wheels (610) with the first set of rails (110); and a counterweight (640) coupled to the wheel lifting mechanism (630) such that operation of the wheel lifting mechanism (630) changes the center of gravity (CoG) of the remotely operated vehicle (600) in the first direction (X) and / or the second direction (Y) by movement of the counterweight (640); A remotely operated vehicle (600).

2. the first set of wheels (610) comprises a first pair of drive wheels (611) and a first pair of non-drive wheels (612); When the wheel lifting mechanism (630) is operated to engage the first set of wheels (610) with the rail system (108), the counterweight (640) is configured to move the center of gravity (CoGx) toward the first pair of drive wheels (611) so that the weight of the remotely operated vehicle (600) is distributed at least 60% to the first pair of drive wheels (611) when the remotely operated vehicle (600) is stationary and not operating an article holder. The remotely operated vehicle (600) of claim 1.

3. the wheels of said first pair of drive wheels (611) are axially aligned with one another, and / or the wheels of said first pair of non-driven wheels (612) are axially aligned with one another; The remotely operated vehicle (600) of claim 2.

4. the second set of wheels (620) comprises a second pair of drive wheels (621) and a second pair of non-drive wheels (622); When the wheel lifting mechanism (630) is operated to engage the second set of wheels (620) with the rail system (108), the counterweight (640) is configured to move the center of gravity (CoGy) toward the second pair of drive wheels (621) such that the weight of the remotely operated vehicle (600) is distributed at least 60% to the second pair of drive wheels (621) when the remotely operated vehicle (600) is stationary and not manipulating an article holder. The remotely operated vehicle (600) of claim 1.

5. the wheels of said second pair of drive wheels (621) are aligned in a common vertical plane, and / or the wheels of said second pair of non-driven wheels (612) are aligned in a common vertical plane; The remotely operated vehicle (600) of claim 4.

6. The remotely operated vehicle (600) A car body (601), a first linkage (641), the first linkage (641) being coupled to the counterweight (640) at a first end and pivotally connected to the carbody (601) at a second end; a second linkage (642) connected at a first end to the wheel lift mechanism (630) and pivotally connected at a second end to an intermediate portion of the first linkage (641) such that movement of the wheel lift mechanism (630) causes the first linkage (641) to pivot; The remotely operated vehicle (600) of claim 1, comprising:

7. 7. The remotely operated vehicle (600) of claim 6, wherein the counterweight (640) has an initial position in which it is vertically aligned with the pivotable connection at the second end of the first linkage (641).

8. 7. The remotely operated vehicle (600) of claim 6, wherein operation of the wheel lift mechanism (630) causes an angular displacement of the first linkage (641) of at least 15 degrees.

9. The remotely operated vehicle (600) of claim 1, wherein the remotely operated vehicle (600) is configured to operate an article holder.

10. The remotely operated vehicle (600) of claim 1, wherein the remotely operated vehicle (600) comprises an item holder storage space (650).

11. The remotely operated vehicle (600) comprises a first section (S1) and a second section (S2) adjacent to the first section (S1); The remotely operated vehicle (600) of claim 10, wherein the item holder storage space (650) is located in the first section (S1).

12. 12. The remotely operated vehicle (600) of claim 11, wherein the counterweight (630) is positioned to be moved from a position in the second section (S2) to a position at least partially in the first section (S1).

13. The remotely operated vehicle (600) of claim 11, wherein the wheel lifting mechanism (630) is partially disposed in the second section (S2).

14. 12. The remotely operated vehicle (600) of claim 11, wherein the first set of drive wheels (611) are disposed in the second section (S2).

15. 12. The remotely operated vehicle (600) of claim 11, wherein the first set of non-driven wheels (612) and / or the second set of non-driven wheels (622) and / or the second set of driven wheels (621) are disposed in the first section (S1).

16. An automated storage and retrieval system (1), comprising: At least one remotely operated vehicle (600) according to any one of claims 1 to 15; A framework structure (100) for storing article holders, said framework structure including a rail system (108) on which said remotely operated vehicle (600) can move, said rail system (108) being arranged on top of said framework structure (100) and located on a horizontal surface (P Ｈ a first set of rails (110) disposed within said horizontal plane (P) and extending in a first direction (X); Ｈ a framework structure (100) comprising a second set of rails (111) disposed within the first set of rails (111) and extending in a second direction (Y); A plurality of article holders; An automated storage and retrieval system (1) comprising:

17. 17. A method for operating an automated storage and retrieval system (1) according to claim 16, said method comprising: operating the wheel lift mechanism (630) to engage the first set of wheels (610) with the rail system (108); moving the counterweight (640) to adjust the center of gravity (CoGx) for movement of the remotely operated vehicle (600) in the first direction (X); moving the remotely operated vehicle (600) a predetermined distance in the first direction (X); operating a wheel lift mechanism (630) of the remotely operated vehicle (600) to disengage the first set of wheels (610) from the rail system (108) and engage the second set of wheels (620) with the rail system (108); moving the counterweight (640) to adjust the center of gravity (CoGy) for movement of the remotely operated vehicle (600) in the second direction (Y); moving the remotely operated vehicle (600) a predetermined distance in the second direction (Y); A method comprising:

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