Service vehicle with center drive, method and system

Abstract

1. A service vehicle for operating on a grid of an automated storage and retrieval system, the service vehicle comprising: a base with a set of wheels for traveling in a first direction (X) and a set of wheels for traveling in a second (Y) direction, the base providing a platform for an operator and a mechanism for changing direction of travel; the service vehicle comprising a drive unit mounted on a rotatable platform portion, the drive unit comprising a foot plate for the operator to stand on, and an electric motor provided below the foot plate for driving driven wheels positioned for engagement with rails running below the service vehicle, the drive unit being positioned to require a load from the operator on the foot plate to enable the driven wheels to engage with the rails running below the service vehicle.

Description

[Technical Field]

[0001] FIELD OF THE INVENTION The present invention relates to an automated storage and retrieval system for the storage and retrieval of containers, and in particular to a service vehicle operated by an operator on the storage and retrieval system to transport personnel on the grid for servicing purposes. [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 capacity 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 (e.g., extruded aluminum).

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

[0005] The uprights 102 of the framework 100 may be used to guide the storage containers as they are raised from and lowered onto the columns 105. The stacks 107 of containers 106 are typically freestanding.

[0006] Each prior art container handling vehicle 201, 301, 401 includes a carbody 201a, 301a, 401a, a first set of wheels 201b, 301b, 401b that allow lateral movement of the container handling vehicle 201, 301, 401 in the X direction, and a second set of wheels 201c, 301c, 401c that allow lateral movement of the container handling vehicle 201, 301, 401 in the Y direction. All two wheels of each set are visible in Figures 2, 3, and 4. The first set of wheels 201b, 301b, 401b are positioned to engage two adjacent rails of the first set of rails 110, and the second set of wheels 201c, 301c, 401c are positioned to engage two adjacent rails of the second set of rails 111. At least one of the wheel sets 201b, 201c, 301b, 301c, 401b, 401c can be raised and lowered so that the first wheel set 201b, 301b, 401b can be engaged with the rail set 110 at any time and / or the second wheel set 201c, 301c, 401c can be engaged with the rail set 111 at any time.

[0007] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device for vertically transporting the storage containers 106 (e.g., raising the storage containers 106 from the storage column 105 and lowering the storage containers 106 into the storage column 105). The lifting device includes one or more gripping / engaging devices adapted to engage the storage containers 106, which can be lowered from the vehicle 201, 301, 401 so that the position of the gripping / engaging devices relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z that is perpendicular to the first direction X and the second direction Y. Portions of the gripping devices of the container handling vehicles 301, 401 are indicated by reference numerals 304, 404 in FIGS. 3 and 4. The gripping devices of the container handling device 201 are not shown in FIG. 2 because they are installed within the vehicle body 201 a.

[0008] Conventionally, and for purposes of this application, Z=1 identifies the top layer available for storage containers below rails 110, 111, i.e., the layer immediately below rail system 108; Z=2 identifies the second layer below 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 lowest bottom layer of storage containers. Similarly, X=1...n and Y=1...n identify the location of each storage column 105 in the horizontal plane. As a result, using the Cartesian coordinate system X, Y, Z shown in FIG. 1 as an example, the storage container identified as 106' in FIG. 1 can be said to be at storage location X=17, Y=1, Z=6. Container handling vehicles 201, 301, 401 can be said to travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. Thus, the storage containers shown in FIG. 1 that extend above the rail system 108 are also said to be located at tier Z=0.

[0009] The storage capacity of 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 an X and Y location, and each storage cell may be identified by an X, Y, and Z container number.

[0010] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or space for receiving and storing the storage containers 106 as they are transported across the rail system 108. The storage space may include a cavity disposed within the vehicle body 201 a, 401 a, as shown in Figures 2 and 4 and as described, for example, in International Patent Application Publication Nos. WO 2015 / 193278 and WO 2019 / 206487, the contents of which are incorporated herein by reference.

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

[0012] 2 may have a footprint covering an area with X and Y dimensions approximately equal to the lateral extent of the storage column 105, as described, for example, in International Patent Application Publication No. WO 2015 / 193278, the contents of which are incorporated herein by reference. As used herein, the term "lateral" may mean "horizontal."

[0013] Alternatively, the cavity container handling vehicle 401 may have a footprint that is larger than the lateral area defined by the storage column 105 as shown in Figures 1 and 4, as disclosed, for example, in International Patent Application Publication No. WO 2014 / 090684 or International Patent Application Publication No. WO 2019 / 206487.

[0014] The rail system 108 typically includes grooved rails within which vehicle wheels travel. Alternatively, the rails may include upwardly protruding elements, and the vehicle wheels may include flanges to prevent derailment. These grooves and upwardly protruding elements are collectively known as tracks. Each rail may include one track, or each rail 110, 111 may include two parallel tracks. In other rail systems 108, each rail in one direction (e.g., the X direction) may include one track, and each rail in the other perpendicular direction (e.g., the Y direction) may include two tracks. Each rail 110, 111 may also include two track members fastened together, each providing one of the pair of tracks provided by each rail.

[0015] International Patent Application Publication No. WO 2018 / 146304, the contents of which are incorporated herein by reference, shows a typical configuration of a rail system 108 with rails and parallel tracks in both the X and Y directions.

[0016] In the framework 100, most of the columns 105 are storage columns 105 (i.e., columns 105 where storage containers 106 are stored in stacks 107). However, some columns 105 may have other purposes. In FIG. 1 , columns 119 and 120 are dedicated columns used by container handling vehicles 201, 301, 401 to drop off and / or pick up storage containers 106 so that the storage containers 106 can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside the framework 100, or transferred from or into the framework 100. In the art, such locations are commonly referred to as "ports," and the columns on which the ports are located can be referred to as "port columns" 119, 120. Transport to the access station may be in any orientation: horizontal, inclined, and / or vertical. For example, storage containers 106 may be placed in random or dedicated columns 105 within framework 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 of delivery vehicles, trolleys, or other transport lines. Note that the term "inclined" refers to transport of storage containers 106 having an overall transport direction intermediate between horizontal and vertical.

[0017] In Figure 1, the first port column 119 may, for example, be a dedicated drop-off port column where container handling vehicles 201, 301, 401 can drop off storage containers 106 being transported to an access station or transfer station, and the second port column 120 may be a dedicated pick-up port column where container handling vehicles 201, 301, 401 can pick up storage containers 106 being transported from an access station or transfer station.

[0018] An access station may typically be a pick-up or storage station where product items are removed from or placed into storage containers 106. At the pick-up or storage station, storage containers 106 are typically not removed from the automated storage and retrieval system 1 but are accessed and then returned to the framework 100. A port may also be used to transfer storage containers to another storage facility (e.g., another framework or another automated storage and retrieval system), a transport vehicle (e.g., a train or lorry), or a production facility.

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

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

[0021] The conveyor system may be arranged to transfer the storage containers 106 between different framework structures, for example as described in International Patent Application Publication No. 2014 / 075937, the contents of which are incorporated herein by reference.

[0022] 1 , one of the container handling vehicles 201, 301, 401 is instructed to retrieve the target storage container 106 from its location and transport it to the drop-off port column 119. This action involves moving the container handling vehicle 201, 301, 401 to a location above the storage column 105 where the target storage container 106 is located, using a lifting device (not shown) of the container handling vehicle 201, 301, 401 to retrieve the storage container 106 from the storage column 105, 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., if one or more other storage containers 106 are located above the target storage container 106, this action also involves temporarily moving the above-located storage container(s) 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 later used to transport the target storage container to the drop-off port column 119, or by one or more other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 that are specifically dedicated to the task of temporarily retrieving storage containers 106 from the storage column 105. Once the target storage container 106 has been retrieved from the storage column 105, the temporarily retrieved storage container 106 may be returned to its original storage column 105 location. However, the retrieved storage container 106 may alternatively be transferred 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 it to a location above the storage column 105 where it is to be stored. After any storage container 106 located at or above the target location in the stack 107 has been removed, the container handling vehicle 201, 301, 401 positions the storage container 106 in the desired location. The removed storage container 106 may then be lowered back into the storage column 105 or transferred to another storage column 105.

[0024] To monitor and control the automated storage and retrieval system 1 (e.g., monitor and control 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 container 106 to the desired location at the desired time without colliding with each other, the automated storage and retrieval system 1 is typically computerized and typically includes a control system 500, which includes a database for tracking the storage containers 106.

[0025] WO 2020151866 describes a service vehicle for operating in an automated storage and retrieval system, the service vehicle being provided with a displacement mechanism and a hoist arrangement which cooperate to move a container handling vehicle from a grid to a loading position on the vehicle.

[0026] WO 2021110616 describes a service vehicle for operating in an automated storage and retrieval system, the vehicle being provided with a platform mounted between two wheel modules, the platform also including an enclosure with an opening that can be closed by a barrier.

[0027] WO 2021078582 relates to a service vehicle operating in an automated storage and retrieval system, the system being provided with a primary control system and a secondary control system for monitoring and controlling the movement of the service vehicle.

[0028] WO 2021249865 relates to a delivery vehicle provided with a rotary drive unit and a container carrier that rotates relative to a base.

[0029] US Patent Application Publication No. 2005047895 relates to an autonomous vehicle provided with a loading and unloading payload for transporting containers.

[0030] CN Patent Application Publication No. 111268379 describes an omnidirectional logistics handling trolley provided with a lifting mechanism with telescopic plates to support materials to be transported in a logistics environment.

[0031] There are several known solutions for service vehicles operating on the grid of a storage and retrieval system. The service vehicles can be manually operated by a person or automatically operated by a central computer system. Manually operated service vehicles are, for example, in the form of a wheelchair solution, in which an operator sits in a seat and uses arm strength to move the service vehicle on the grid. There are further solutions, in which a person is positioned inside the service vehicle, and either a central computer system or an operator can control the movement of the service vehicle. The operator can steer the service vehicle using a set of controllers, or a route can be plotted in a central computer system. A problem with such solutions is that a person manually moving and operating on the grid causes significant delays due to the time it takes to steer on the grid. When a person is on the grid, the entire grid or at least a portion of the grid must be stopped, so the grid downtime needs to be as short as possible. In solutions in which the service vehicle is operated by a central computer system, a problem is the operator's dependence on the central computer system. If the central computer system is down or does not know where on the grid a container handling vehicle requiring service is, the service vehicle cannot be used. If the service vehicle is controlled by an operator plotting a route for the service vehicle to follow on the grid, unnecessary time is spent operating the service vehicle. [Prior art documents] [Patent documents]

[0032] [Patent Document 1] International Patent Application Publication No. 2015 / 193278 [Patent Document 2] International Patent Application Publication No. 2019 / 206487 [Patent Document 3] Norwegian Patent No. 317366 Summary of the Invention [Means for solving the problem]

[0033] Summary of the Invention The invention is set forth and characterized in the independent claims, while the dependent claims describe further features of the invention.

[0034] The present invention relates to a service vehicle for operating on a grid of an automated storage and retrieval system, the automated storage and retrieval system comprising a rail system having a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction across an upper end of a framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction perpendicular to the first direction, the first set of parallel rails dividing the rail system into a plurality of grid cells, the service vehicle comprising a base having a set of wheels for running in the first direction and a set of wheels for running in the second direction. a base portion providing a platform for an operator and a mechanism for changing the direction of travel; the service vehicle comprising a drive unit mounted on the rotatable platform portion, the drive unit comprising a foot plate for the operator to stand on, and an electric motor provided below the foot plate for driving driven wheels positioned for engagement with rails running below the service vehicle, the drive unit being positioned to require weight from the operator on the foot plate to enable the driven wheels to engage the rails running below the service vehicle.

[0035] In one aspect, the rotatable platform portion is positioned between a plurality of brackets attached to the underside of the base and a set of brackets mounted to the upper side of the base.

[0036] In one aspect, each of the brackets mounted on the underside of the base has a rolling device (optionally a wheel) on which a rotatable platform portion rests.

[0037] In one aspect, the brackets mounted to the upper end of the base each have a lip that extends beyond the edge of the rotatable platform portion.

[0038] In one aspect, rotation of the rotatable platform portion is controlled by a rotation lock pedal.

[0039] In one aspect, the rotation lock pedal has a lock clip to stop the platform from rotating, the lock clip corresponding to a notch in a bracket below the base.

[0040] In one aspect, the service vehicle is powered by an electric motor connected to a source of electrical energy.

[0041] In one embodiment, the mechanism for changing the direction of travel is controlled by a handle on a lever for raising and lowering the wheels for travel in one direction.

[0042] In one aspect, the drive unit has a stand facing the direction of travel.

[0043] In one aspect, the stand has a control panel with a control for initiating rotation of the driven wheels at a first speed.

[0044] In one aspect, the control for initiating rotation of the driven wheels at the first speed is at least one button.

[0045] In one embodiment, the set of bars on the base includes at least one closable barrier.

[0046] In one aspect, at least one closeable barrier must be securely closed and locked in order for the vehicle to operate.

[0047] In one aspect, the barrier has rubber blocks for engaging other vehicles.

[0048] In one aspect, the footplate has a track detector down pedal that can be depressed by the operator to assist the operator in locating the track underneath the service vehicle.

[0049] In one aspect, the service vehicle has guide lines to indicate the correct position of the vehicle for when changing direction of travel.

[0050] In one aspect, the driven wheels engage both tracks of the rails that run underneath the service vehicle. In one aspect, the service vehicle is at least the size of a 2x2 grid cell and is positioned so that the rails that the driven wheels engage run under the center of the vehicle.

[0051] In one aspect, the footplate can have a seat attached.

[0052] In one embodiment, the service vehicle has two speed buttons that must be pressed simultaneously to cause the electric motor to start turning the driven wheels.

[0053] A system for operating service vehicles for operating on a grid of an automated storage and retrieval system, the automated storage and retrieval system comprising a framework structure having upright members and storage volumes with storage columns arranged in rows between the upright members, storage containers being stacked on top of each other within the storage columns to form stacks, and a rail system, the rail system having a first set of parallel rails arranged to guide vehicle movement in a first direction across an upper end of the framework structure and a second set of parallel rails arranged to guide vehicle movement in a second direction perpendicular to the first direction. and a second set of parallel rails arranged perpendicular to the first set of rails, the first set of parallel rails and the second set of parallel rails dividing the rail system into a plurality of grid cells, the service vehicle 501 consisting of a base with a set of wheels for running in a first direction and a set of wheels for running in a second direction, the base providing a platform for an operator and a mechanism for changing direction of travel, the service vehicle being at least 2x2 grid cell in size and positioned so that the rails with which the driven wheels engage run under the center of the vehicle.

[0054] The present invention also relates to a method for operating a service vehicle for operation on a grid of an automated storage and retrieval system, the automated storage and retrieval system comprising a rail system comprising a first set of parallel rails arranged to guide movement of the vehicle in a first direction across an upper end of a framework structure and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the vehicle in a second direction perpendicular to the first direction, the first set of parallel rails dividing the rail system into a plurality of grid cells, the service vehicle including a base with a set of wheels for traveling in the first direction and a set of wheels for traveling in the second direction, the base providing a platform for an operator and a mechanism for changing direction of travel, the method comprising the steps of applying a load to a foot plate to engage driven wheels with rails running beneath the service vehicle, initiating rotation of the driven wheels using a controller on a control panel, and removing the load from the foot plate to disengage the driven wheels from the rails running beneath the service vehicle.

[0055] In one aspect, the barrier for the service vehicle is closed and locked.

[0056] In one aspect, it ensures that the stand with the control panel is oriented in the desired direction of travel.

[0057] In one embodiment, a lever is used to raise and lower the wheels to switch to the required wheel set.

[0058] In one aspect, using the controller on the control panel involves pressing a button on the control panel to rotate the driven wheels at a first speed.

[0059] In one embodiment, two buttons on a control panel are pressed to cause the driven wheels to rotate at a second speed.

[0060] In one aspect, changing the direction of the service vehicle includes stopping at the correct position, moving the track shift lever, releasing the rotation stop, and rotating the drive unit to a new direction that is 90 degrees relative to the previous direction.

[0061] This solution makes it easier to handle service issues on the grid because the operator can quickly and easily enter the grid and handle any issues that need to be resolved. Furthermore, the operator can control the service vehicle when operating on the grid, which makes it easier for the operator to navigate on the grid because the operator can find the problem more easily than the central computer system. This is especially true when there are container handling vehicles whose correct location on the grid is not known to the central computer system. The operator can see where the problem is, maneuver the service vehicle to the correct position, and transport the malfunctioning service vehicle back to the service area. This solution, in certain situations, reduces the time required to shut down the grid to perform service or maintenance tasks. Furthermore, the fact that the service vehicle is operated by the operator, both in terms of direction of travel and speed of travel, makes it possible to operate the service vehicle if the central computer system is down or if the communication system is down. [Brief explanation of the drawings]

[0062] The following drawings are included to facilitate an understanding of the invention, and illustrate embodiments of the invention, which are described herein by way of example only.

[0063] [Figure 1] FIG. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.

[0064] [Figure 2]FIG. 2 is a perspective view of a prior art container handling vehicle having a cavity disposed therein for carrying storage containers therein.

[0065] [Figure 3] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.

[0066] [Figure 4] FIG. 4 is a perspective view from below of a prior art container handling vehicle having a cavity disposed therein for carrying storage containers therein.

[0067] [Figure 5] FIG. 5 is a perspective view of one embodiment of the present invention showing a service vehicle with an operator positioned on the footplate.

[0068] [Figure 6] FIG. 6 is a partial cutaway perspective view of the bottom of one embodiment of the present invention with an operator aboard the service vehicle.

[0069] [Figure 7] FIG. 7 is a side view of one embodiment of the present invention.

[0070] [Figure 8] FIG. 8 is a perspective view from below of the service vehicle of FIG. 5, showing the underside of the platform and the drive unit as well as the mechanical solution for changing the direction of travel.

[0071] [Figure 9] FIG. 9 is a top view of the service vehicle of FIG. 5 showing the stand with control panel and controls of the service vehicle.

[0072] [Figure 10]FIG. 10 is a perspective view of the drive unit with the stand of the service vehicle as seen in FIG. 5 and with the control panel of the service vehicle.

[0073] [Figure 11] 11 is a perspective view of the stand with control panel of the service vehicle of FIG. 5, with the service vehicle operator positioned on the foot plate of the drive unit.

[0074] [Figure 12] 12 and 13 show an alternative embodiment of the present invention in which the footplate 506 has an attached seat 1301. [Figure 13] 12 and 13 show an alternative embodiment of the present invention in which the footplate 506 has an attached seat 1301. DETAILED DESCRIPTION OF THE INVENTION

[0075] 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.

[0076] The framework 100 of the automated storage and retrieval system 1 is constructed in a similar manner to the prior art framework 100 described above in relation to Figures 1-3, i.e., the framework 100 comprises a number of upright members 102 and a first upper rail system 108 extending in the X and Y directions.

[0077] The framework 100 further comprises storage compartments in the form of storage columns 105 disposed between the members 102, and the storage containers 106 are stackable in stacks 107 within the storage columns 105.

[0078] The framework structure 100 can be of any dimension. In particular, it is understood that the framework structure can be significantly wider and / or longer and / or deeper than that disclosed in Figure 1. For example, the framework structure 100 may have a horizontal extent of greater than 700 x 700 rows and a storage depth of greater than 12 containers.

[0079] One embodiment of an automated storage and retrieval system according to the present invention will now be discussed in more detail with reference to FIGS.

[0080] FIG. 5 is a perspective view of one embodiment of the present invention in which a service vehicle 501 is shown with an operator positioned on footplate 506 .

[0081] The service vehicle 501 comprises a base 504 with a set of protective fences 507 surrounding the area where the operator is located.

[0082] The base 504 covers an area of ​​at least 2x2 grid cells. The area covered by the service vehicle 501 can be larger than this. A coverage area of ​​at least 2x2 cells is beneficial for the drive units to function and engage with the tracks on the rails of the grid.

[0083] The service vehicle 501 has at least eight wheels that determine how the service vehicle 501 travels. There are at least four sets of wheels for travel in a first, X direction. Additionally, the service vehicle 501 has at least four sets of wheels for travel in a second, Y direction. The direction of travel depends on which set of wheels is in contact with the rail tracks that form the grid of the storage and retrieval system.

[0084] Which wheel set is in contact with the grid tracks is determined by lever 503. Lever 503 has a handle and can be manually switched between at least two positions: one position for engaging the wheel set with the grid tracks for travel in a first X direction, and another position for engaging the wheel set with the grid tracks for travel in a second Y direction.

[0085] In addition to these two positions, there may be a third position in which both the first set of wheels for traveling in the X direction and the second set of wheels for traveling in the Y direction engage with the tracks on the grid. This position is intended to secure the service vehicle 501 so that it does not move. This may be desirable to stabilize the service vehicle 501 when an operator enters the vehicle, or when the operator is initiating a procedure to operate the service vehicle 501, or when the service vehicle 501 is changing direction of travel.

[0086] In an alternative solution, which wheel sets engage the tracks can be controlled by an automatic solution, which can be operated by buttons or the like that control motors that change which wheel sets engage the tracks of the grid.

[0087] Manually changing the direction of travel may be preferable as it may be more reliable and safer for the operator on board the service vehicle 501.

[0088] Additionally, the fence 507 surrounding the base where the operator is positioned may have a barrier 601 that can be opened and closed. This barrier 601 makes it easier for the operator to enter the service vehicle 501. However, the barrier 601 must be securely closed before the service vehicle 501 can move with the operator on board. Therefore, the barrier 601 may have a sensor that disables operation of the service vehicle 501 until the sensor detects that the barrier 601 is properly locked. This barrier 601 may be in the form of a hinged door or may be in the form of a bar on the fence 507 that can be lifted to provide easier access to the base 504 of the service vehicle 501.

[0089] Additionally, the barrier 507 may have a set of rubber blocks 505 positioned to ensure that the rubber blocks 505 are the only part of the service vehicle 501 that comes into contact with the container handling vehicle that the service vehicle 501 is servicing.

[0090] 5, it can be seen that the operator is standing on a foot plate 506 of the drive unit of the service vehicle 501. The foot plate 506 may be part of a stand with control panel 502. Controls for operating the service vehicle 501 may be located on the stand with control panel 502. Additionally, the stand with control panel 502 may have a handle for the operator to grasp in order to stabilize the operator as the service vehicle 501 moves over the grid of the storage and retrieval system.

[0091] The stand can also be rotated so that the operator of the service vehicle 501 always faces the direction of travel. The foot plate 506 is provided as part of the drive unit. The drive unit includes an electric motor 805 that can turn driven wheels 806. The driven wheels 806 are attached to the foot plate 506 and can be pressed down into the rail tracks below by the weight of an operator standing on the foot plate 506. When the foot plate 506 is pressed down by the operator's weight, the driven wheels 806 engage with the rail tracks of the grid of the storage and retrieval system, and the operator can start the electric motor 805, causing the driven wheels 806 to begin rotating and propelling the service vehicle 501 forward.

[0092] The sides of the service vehicle 501 are stepped inward from the rails, which allows the service vehicle 501 to approach, for example, a derailed container handling vehicle.

[0093] FIG. 6 is a partial cutaway perspective view of the lower portion of the present invention with an operator aboard service vehicle 501.

[0094] The set of wheels in contact with the tracks on the grid is controlled by a lever 503. The lever 503 can be in the form of a handle that can be manually switched between at least two positions: one position for engaging the set of wheels with the tracks of the grid for travel in a first X direction, and another position for engaging the set of wheels with the tracks of the grid for travel in a second Y direction.

[0095] In addition to these two positions, there may be a third position in which both the first set of wheels for traveling in the X direction and the second set of wheels for traveling in the Y direction are engaged with the tracks on the grid. This position is intended to secure the service vehicle 501 so that it does not move. This may be necessary as an intermediate position to stabilize the service vehicle 501 when an operator enters the vehicle or when the operator is initiating a procedure to operate the service vehicle 501 or when the service vehicle 501 is changing direction of travel.

[0096] The footplate 506 has a pedal that allows the operator to depress a trajectory detector 810 to help the operator find the correct position.

[0097] FIG. 7 is a side view of one embodiment of the present invention. Here, the controller of the stand with control panel 502 can be seen. At the top end of the stand with control panel 502 is an emergency stop button 602. This emergency stop button 602 is for stopping the service vehicle 501 in an emergency, for example, if the service vehicle 501 is unstable or if there is some malfunction with the service vehicle 501. Additionally, the stand with control panel 502 is shown to have two speed buttons 701. The two speed buttons 701 allow an operator to control the speed at which the service vehicle 501 travels. When the operator's weight presses down on the footplate 506 and the operator presses one button, the service vehicle 501 travels at a first speed. When the operator presses both buttons, the service vehicle 501 travels at a second speed. In one embodiment of the present invention, pressing one button causes the service vehicle 501 to travel at a first, slow speed (e.g., 0.05 m / s). Pressing both buttons causes the service vehicle 501 to travel at a second speed (eg, 0.5 m / s).

[0098] In an alternative solution, the two speed buttons 701 may have different speed indications. The service vehicle 501 may have three different driving speeds. A first button propels the service vehicle 501 at one speed, a second button propels the service vehicle 501 at a second speed, and pressing both buttons propels the service vehicle 501 at a third speed. The speeds may be arranged to change depending on the number of times the buttons are pressed.

[0099] Additionally, the control stand has an on / off button 702. This button turns the service vehicle 501 on and off.

[0100] FIG. 8 is a perspective view from below of the service vehicle 501 showing the drive unit and the mechanical solution for changing the direction of travel.

[0101] In one embodiment of the present invention, the wheels for traveling in the X direction are connected in pairs by axles 803 that span the width of the service vehicle 501. One end of the axles 803 is connected to a mechanism for changing the direction of travel. The mechanism for changing the direction of travel allows the wheels for traveling in the X direction to be raised and lowered. When the wheels are raised, the service vehicle 501 can travel in the Y direction, and when the wheels are lowered, the service vehicle 501 can travel in the X direction. When the wheels for traveling in the X direction are raised, the wheels for traveling in the Y direction contact the tracks, and when the wheels for traveling in the X direction are lowered, the X wheels contact the tracks of the X direction rails and the Y wheels are lifted and free. Furthermore, both the wheels for traveling in the X direction and the wheels for traveling in the Y direction can contact the tracks of the X direction rails and the Y direction rails at the same time. This is to ensure that the service vehicle 501 does not move and remains locked in one position. This may be necessary while the service vehicle 501 is on the grid or servicing other vehicles, or may be necessary when an operator enters or exits the service vehicle 501, or when the service vehicle 501 is parked and not in use.

[0102] The wheels for travel in the Y direction are not connected to an axle: they are attached to the body of the service vehicle 501 and cannot be raised or lowered other than by lifting and lowering the X direction wheels and moving the entire base of the service vehicle.

[0103] In an embodiment of the present invention, the mechanism for changing the direction of travel includes a wheel lift mechanism. The wheel lift mechanism includes a connecting link, a first rocker link, a second rocker link, a pivot link, and a wheel lift gear 809. The first rocker link connects the connecting link to the body of the service vehicle 501, and the second rocker link connects the connecting link to the body of the service vehicle 501. The pivot link connects the connecting link to the central axis C of the wheel lift gear 809.

[0104] The pivot link includes a first link and a second link. The first link is pivotally connected at a first end to the wheel lift gear 809 (via the central axis C of the wheel lift gear 809) and at a second end to a first end of a second link. The second end of the second link is pivotally connected to the connecting link. The first link and the second link rotate together.

[0105] The lever 503 of the wheel lift mechanism assembly is manually operable by an operator to actuate the wheel lift mechanism between a first position and a second position. The actuator assembly includes an actuator gear 807, and the lever 503 is connected to the actuator gear 807.

[0106] The wheel lift mechanism is disclosed with a wheel lift gear 809 that engages with an actuator gear 807. As shown, the actuator gear 807 has a larger gear circumference than the wheel lift gear 809.

[0107] In an alternative solution, the mechanism for changing the direction of travel is controlled in the same way as for container handling vehicles: in this solution, the wheels for travel in the X direction can be raised and lowered by electric motors.

[0108] The drive mechanism comprises a driven wheel 806 for engaging with the tracks of the rail. The driven wheel 806 can be one track wide. A one track wide driven wheel 806 engages with only one track on the rail. Alternatively, the driven wheel 806 can be two tracks wide. A two track wide driven wheel 806 engages with both tracks of the rail. This solution provides a better frictional grip between the driven wheel 806 and the tracks of the rail and ensures a lower risk of the driven wheel 806 slipping during operation.

[0109] The driven wheels 806 are connected to an electric motor 805 via a drive belt 804. The drive belt 804 is connected to the rotor of the electric motor 805. The belt 804 is further connected to the axle of the driven wheels 806. The electric motor 805 is powered by a power source such as a battery or a capacitor, or both. Both the electric motor 805 and the driven wheels 806 are attached to a framework structure. The framework structure is attached to a foot plate 506 by mounting fixtures 802. The foot plate 506 is positioned within a rotatable platform portion 801 that can be rotated 360° in either direction. The rotatable platform portion 801 is secured to the base 504 by several brackets 808. In a preferred embodiment, there are four brackets 808. The brackets 808 are attached to the base 504 of the service vehicle 501. The brackets 808 are bolted to the bottom of the base 504 of the service vehicle 501. Wheels are provided on each of the brackets 808. The rotatable platform portion 801 rests on the wheels, which allow the rotatable platform portion 801 to rotate. At the top of the base 504, the rotatable platform portion 801 is held in place by a set of plates that are mounted to the top side of the base 504 and have a lip that extends beyond the edge of the rotatable platform portion 801. The wheels on the underside and the lip that extends beyond the edge of the rotatable platform portion 801 hold the rotatable platform portion 801 in place within the base 504 and allow the rotatable platform portion to rotate.

[0110] The rotation of the rotatable platform portion 801 is locked in place by a locking clip 811 attached to the rotatable platform portion 801. The locking clip 811 is positioned to interact with a bracket 808 that holds the wheel on which the rotatable platform portion 801 rests. The bracket 808 has a notch 812 into which the locking clip 811 fits. The brackets 808 are spaced 90° apart from each other, allowing the rotatable platform portion 801, together with the foot plate 506 and the stand with control panel 502, to be locked in place so that it faces the direction of travel of the service vehicle 501. The locking clip 811 is controlled by a pedal on the top side of the rotatable platform portion 801. The pedal that controls the locking clip 811 is used to release the rotatable platform portion 801 from its locked state, allowing the rotatable platform portion 801 to rotate.

[0111] The driven wheel 806 rotates about a vertical axis that coincides with the intersection of the rails as it is turned (when changing direction of travel) as a result of the central drive location of the driven wheel 806 in the middle of the vehicle. The horizontal axis of rotation of the driven wheel 806 is offset with respect to the vertical axis of rotation of the driven wheel 806 and rotatable platform portion so that the driven wheel 806 is ultimately directly under the operator's load. This aids the frictional grip of the driven wheel on the underlying rail. This also allows sensors to be positioned on a vertical axis that is coincident with the intersection of the rails.

[0112] Positioned below electric motor 805 is track detector 810. Track detector 810 allows an operator to detect the position of the track below service vehicle 501. Track detector 810 helps the operator accurately position service vehicle 501 to change direction of travel.

[0113] The track detector 810 is connected to the track detector down pedal 603. When the operator presses the track detector down pedal 603, the track detector 810 is depressed and the driven wheels interact with the track (which runs perpendicular to the track they engage underneath the service vehicle 501). The track detector 810 is a plate that allows the operator to detect the track underneath the service vehicle 501 when the track detector down pedal 603 is depressed. The operator can change direction of travel when they feel the track detector 810 interacting with the track. The track detector can engage with one track or both tracks. The operator will know if the track detector is engaged with the track when the pedal is depressed and the service vehicle does not move.

[0114] The operator may be assisted by a line marked on the top edge of the service vehicle's base which, when the service vehicle is properly positioned, aligns with the track that runs underneath the service vehicle.

[0115] FIG. 9 shows a top view of the service vehicle 501, displaying the stand 502 with the service vehicle's control panel and controls. A handle for the lever 503 for changing the direction of travel is displayed along the side of the service vehicle 501. Additionally, a circular rotatable platform portion 801 is centered in the base 504 of the service vehicle 501. The circular rotatable platform portion 801 can rotate 360° in both directions. The rotation of the rotatable platform portion 801 is controlled by a rotation stopper 901 pedal. The rotation stopper 901 is a locking clip 811 that engages with a notch 812 on a bracket below the base 504 of the service vehicle 501. Pressing the rotation stopper pedal 901 releases the locking clip 811, allowing the rotatable platform portion 801 to rotate. As the rotatable platform portion 801 rotates, the locking clip 811 engages with the next notch 812 in the bracket unless the rotation stopper pedal 901 is depressed.

[0116] In addition, the trajectory detector 810 down pedal 603 is positioned towards the front of the footplate 506 .

[0117] To drive the service vehicle 501, the following steps must occur: The barrier(s) 601 must be properly closed. The drive unit must be in the correct orientation. The handle for shifting the direction of travel must be pushed in the direction that allows the correct set of wheels to engage the rail tracks. The operator stands on the foot plate 506 which presses down on the driven wheels 806, thus engaging the rail tracks. The operator's weight on the foot plate 506 causes the foot plate to pivot relative to the base of the service vehicle, triggering a sensor that verifies the presence of an operator on the service vehicle. The operator must then press at least one of the speed buttons 701 (e.g., for high speed drive (0.5 m / s), hold both buttons down; for low speed drive, press either button 1 (0.05 m / s)).

[0118] In one embodiment of the present invention, both speed buttons must be pressed simultaneously for the electric motor to start turning and the driven wheels to start spinning. In this embodiment, the buttons are located near the handlebars on both sides of the control panel. This ensures that the operator can keep both hands inside the service vehicle when it is moving.

[0119] To change direction of travel, the following steps must be taken: Stop at the intersection of the rails below that run above the four cells and under the service vehicle and use the lever to perform a track shift; Release the rotation stop pedal; Rotate the drive unit with hand force in the new direction; Use the operator's weight to depress the driven wheels 806 by having the operator step on the footplate of the drive unit; Press one or both drive buttons (or activate a separate drive control provided in place of the buttons).

[0120] 10 and 11 are perspective views of a stand with control panel 502 and a drive mechanism of a service vehicle 501. The stand with control panel 502 (L-shaped body) comprises a foot plate 506 mounted on the upper end of a framework that holds the drive mechanism. Furthermore, the frame that holds the foot plate and the drive unit is connected to an upright part. The upright part comprises a control panel. The control panel holds buttons for operating the service vehicle 501. The upright part also comprises a handle that is used by the operator to grab while the service vehicle 501 is moving.

[0121] The stand is pivotally mounted on the rotatable platform portion 801. When an operator positions themselves on the foot plate 506, this changes the angle of the stand by pivoting the L-shaped body relative to the rest of the service vehicle 501. This, in turn, presses against the struts 508 mounted between the upright portion of the stand and the rotatable platform portion 801. The pressure of the struts 508 resists the bias provided by the springs and / or compressed fluid. When the operator is no longer positioned on the foot plate 506, the struts 508 ensure that the driven wheels 806 are lifted off the rail tracks. The struts 508 are attached to both sides of the upright portion. The mounting points 1102 of the struts 508 are located on the sides of the upright portion. Furthermore, the upright portion can hold the service vehicle's 501 power storage unit and a connector 1101 for charging the power storage.

[0122] 12 and 13 are an alternative embodiment of the invention in which the foot plate 506 has an attached seat 1301. The seat 1301 is attached to the foot plate 506 so that the operator's weight rests on the foot plate 506 to depress the driven wheels 806. Additionally, the lever 503 for manual track shifting has a locking device 1302 that ensures the lever stays in place while traveling.

[0123] In the foregoing description, various aspects of the delivery vehicle and automated storage and retrieval system according to 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 workings. 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]

[0124] List of Reference Numbers Prior art (Figures 1 to 4): 1. Prior Art Automated 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 stacks 108 Rail System 110 Parallel rail in the first direction (X) 112 Access opening 119 First port pillar 120 Second port pillar 201 Prior Art Container Handling Vehicle 201a Vehicle body of container handling vehicle 201 201b Driving means / Wheel arrangement / First wheel set in first direction (X) 201c Driving means / Wheel arrangement / Second wheel set in second direction (Y) 301 Prior Art Cantilever Container Handling Vehicle 301a Vehicle body of container handling vehicle 301 301b Driving means / first wheel set in first direction (X) 301c Drive means / second wheel set in second direction (Y) 304 Grasping Device 401 Prior Art Container Handling Vehicle 401a Vehicle body of container handling vehicle 401 401b Driving means / first wheel set in first direction (X) 401c Driving means / second wheel set in second direction (Y) 404 Grasping Device 404a Lift Band 404b Grip 404c guide pin 404d lift frame 500 Control System 501 Service Vehicle 502 Stand with Control Panel 503 (Manual Track Shift) Lever 504 Base 505 Rubber Block 506 Footplate 507 Protective fence 508 Strut 601 Barrier 602 Emergency Stop Button 603 Trajectory Detector Down Pedal 701 Speed ​​Button 702 On / Off Button 801 Rotatable platform part / platform 802 (for the frame of the driven wheel mechanism) Mounting tool 803 (for wheels moving in the X direction) axle 804 Drive belt (for transmitting energy from the motor to the driven wheels) 805 Electric Motor 806 Driven wheels 807 Actuator Gear 808 Bracket (Base Mounting Bracket) 809 Wheel lift gear 810 Orbit Detector 811 Lock Clip 812 Notch (to accept locking clip) C Center axis of wheel lift gear 901 Rotation stopper pedal 1101 (charger) connector 1102 (for telescopic strut) mounting point 1301 seats 1302 Lock Device X first direction Y Second direction Z third direction

Claims

1. A service vehicle (501) for operating on a grid of an automated storage and retrieval system, the automated storage and retrieval system comprising a rail system, the rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) across an upper end of a framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) perpendicular to the first direction (X), the first set of parallel rails and the second set of parallel rails dividing the rail system into a plurality of grid cells, the service vehicle (501) comprising a base (504) having a set of wheels for running in the first direction (X) and a set of wheels for running in the second direction (Y). a base portion providing a platform for an operator and a mechanism for changing the direction of travel, the service vehicle (501) comprising a drive unit mounted on a rotatable platform (801) portion, the drive unit comprising a foot plate (506) for the operator to stand on, and an electric motor (805) provided below the foot plate (506) for driving driven wheels (806) arranged for engagement with rails running below the service vehicle (501), the drive unit being arranged to require a load from the operator on the foot plate (506) to enable the driven wheels (806) to engage with the rails running below the service vehicle (501).

2. 2. The service vehicle (501) of claim 1, wherein the rotatable platform (801) portion is positioned between a plurality of brackets (808) attached to the underside of the base (504) and a set of brackets mounted on the upper side of the base (504).

3. 3. The service vehicle (501) of claim 2, wherein each of the brackets (808) mounted on the underside of the base (504) has a rolling device (optionally a wheel) on which the rotatable platform portion (801) rests.

4. 4. A service vehicle (501) according to claim 2 or claim 3, wherein each of the brackets mounted on the upper end of the base (504) has a lip that extends beyond the edge of the rotatable platform portion (801).

5. 10. The service vehicle (501) of the preceding claim, wherein the rotation of the rotatable platform portion (801) is controlled by a rotation lock pedal.

6. A service vehicle (501) according to claim 5 when dependent on claims 2 to 4, wherein the rotation lock pedal has a lock clip (811) for stopping the rotation of the platform (801), the lock clip (811) corresponding to a notch (812) in the bracket (808) below the base (504).

7. 10. A service vehicle (501) according to any of the preceding claims, wherein said service vehicle (501) is powered by said electric motor (805) connected to a source of electrical energy.

8. 10. A service vehicle (501) according to any of the preceding claims, wherein the mechanism for changing the direction of travel is controlled by a handle on a lever for raising and lowering the wheels for travel in one direction.

9. 10. A service vehicle (501) according to any of the preceding claims, wherein the drive unit has a stand facing the direction of travel.

10. 10. The service vehicle (501) of claim 9, wherein the stand has a control panel with controls for initiating rotation of the driven wheels (806) at a first speed.

11. 11. The service vehicle (501) of claim 10, wherein the control for initiating the rotation of the driven wheels (806) at a first speed is at least one button.

12. 10. A service vehicle (501) according to any preceding claim, wherein the set of barriers (507) provided on the base (504) comprises at least one closable barrier (601).

13. 13. The service vehicle (501) of claim 12, wherein the at least one closable barrier (601) must be securely closed and locked in order to operate the vehicle (501).

14. 14. A service vehicle (501) according to claim 12 or claim 13, wherein the barrier has rubber blocks (505) for engaging other vehicles.

15. 10. A service vehicle (501) according to any preceding claim, wherein the footplate (506) has a track detector (810) down pedal (603) that can be depressed by the operator to assist the operator in finding the track underneath the service vehicle (501).

16. 10. A service vehicle (501) according to any of the preceding claims, wherein said service vehicle (501) has guide lines for indicating the correct position of said vehicle for when changing the direction of travel.

17. 10. A service vehicle (501) according to any preceding claim, wherein the driven wheels (806) engage with both tracks of a rail running underneath the service vehicle.

18. 10. A service vehicle (501) as claimed in any preceding claim, wherein the service vehicle (501) is at least the size of a 2x2 grid cell and the rails engaged by the driven wheels (806) are positioned so as to run under the centre of the vehicle.

19. A service vehicle (501) according to any of the preceding claims, wherein said footplate (506) can have a seat (1301) attached thereto.

20. 10. A service vehicle (501) according to any preceding claim, wherein the service vehicle (501) comprises two speed buttons (701), and both speed buttons (701) must be pressed simultaneously in order for the electric motor (805) to start turning the driven wheels (806).

21. A system for operating a service vehicle (501) according to claims 1 to 20 for operating on a grid of an automated storage and retrieval system, the automated storage and retrieval system comprising a framework structure (100) comprising upright members (102) and a storage capacity comprising storage columns (105) arranged in rows between the upright members (102), storage containers (106) stacked on top of each other within the storage columns (105) to form stacks (107), and a rail system, the rail system comprising a first set of parallel rails arranged to guide the movement of the vehicle in a first direction (X) across the top of the framework structure, and a second set of parallel rails arranged to guide the movement of the vehicle in a second direction (X) perpendicular to the first direction (X). and a second set of parallel rails arranged perpendicular to the first set of rails to guide the movement of the vehicle in (Y), the first set of parallel rails and the second set of parallel rails dividing the rail system into a plurality of grid cells, the service vehicle (501) comprising a base with a set of wheels for traveling in a first direction (X) and a set of wheels for traveling in the second (Y) direction, the base providing a platform for an operator and a mechanism for changing the direction of travel, the service vehicle (501) being at least 2x2 grid cell in size and positioned so that the rails with which the driven wheels (806) engage run below the center of the vehicle.

22. 1. A method for operating a service vehicle (501) for operation on a grid of an automated storage and retrieval system, the automated storage and retrieval system comprising a rail system, the rail system comprising a first set of parallel rails arranged to guide movement of the vehicle in a first direction (X) across an upper end of a framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the vehicle in a second direction (Y) perpendicular to the first direction (X), the first set of parallel rails and the second set of parallel rails dividing the rail system into a plurality of grid cells, the service vehicle (501) including a base with a set of wheels for traveling in the first direction (X) and a set of wheels for traveling in the second (Y) direction, the base providing a platform for an operator and a mechanism for changing the direction of travel, the method comprising: applying a load to the footplate (506) to engage the driven wheels (806) with rails running underneath said service vehicle (501); Initiating rotation of the driven wheels (806) using a controller on the control panel; removing the load from the footplate (506) and disengaging the driven wheels (806) from the rails running underneath the service vehicle (501); A method comprising:

23. 23. The method for operating a service vehicle (501) of claim 22, further comprising closing and locking a barrier (601) of the service vehicle.

24. 23. The method for operating a service vehicle (501) of claim 22, further comprising ensuring that the stand with control panel (502) is oriented in the desired direction of travel.

25. 23. A method for operating a service vehicle (501) as recited in claim 22, comprising using a lever to raise and lower the wheels to switch to the required wheel set.

26. 23. The method for operating a service vehicle (501) of claim 22, wherein using the controller on the control panel comprises pressing a button on the control panel to rotate the driven wheels (806) at a first speed.

27. A method for operating a service vehicle (501) according to any one of claims 22 to 26, wherein pressing two buttons on the control panel causes the driven wheels (806) to rotate at a second speed.

28. changing the direction of the service vehicle (501); stopping at the correct position; moving a track shift lever; Releasing the rotation stopper (901); rotating the drive unit to a new orientation 90 degrees relative to its previous orientation; A method for operating a service vehicle (501) according to any of claims 22 to 27, comprising:

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