Automated storage and retrieval system with vehicle corral

Abstract

1. An automated storage and retrieval system comprising: a storage grid configured to store a plurality of storage containers in a vertical stack; a plurality of remotely operated vehicles; and a rail system comprising rails and tracks along which the plurality of remotely operated vehicles operate, the automated storage and retrieval system further comprising a first area and a second area, the first area connected to the second area by a vehicle corral for passage of one or more of the plurality of remotely operated vehicles, the vehicle corral comprising entrance and exit barriers for regulating passage of the one or more vehicles between the first and second areas, the entrance and exit barriers movable between an open position that allows passage of one or more of the vehicles and a closed position that restricts passage of the one or more vehicles, the entrance and exit barriers adjusted such that the entrance barrier is only open when the exit barrier is closed, and vice versa.

Description

[Technical Field]

[0001] The present invention relates to an automated storage and retrieval system comprising a first area and a second area, the first area being connected to the second area for passage of one or more of a plurality of remotely operated vehicles by a vehicle enclosure comprising an entrance barrier and an exit barrier, the entrance barrier and the exit barrier regulating passage of the one or more vehicles between the first area and the second area. [Background technology]

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

[0003] The skeletal structure 100 comprises upright members 102, horizontal members 103, and a storage volume comprising storage columns 105 arranged in rows between the upright members 102 and horizontal members 103. 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, 103 may typically be made of metal, for example, extruded aluminum profiles.

[0004] The framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 disposed across the top of the framework structure 100, on which a plurality of container handling vehicles 201, 301 are operable 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 110 of parallel rails disposed to guide movement of the container handling vehicles 201, 301 in a first direction X across the top of the framework structure 100, and a second set 111 of parallel rails disposed perpendicular to the first set 110 for guiding movement of the container handling vehicles 201, 301 in a second direction Y that is perpendicular to the first direction X. Containers 106 stored in columns 105 are accessed by container handling vehicles through access openings 112 in rail system 108. Container handling vehicles 201, 301 can move laterally above storage columns 105, i.e., in a plane that is parallel to the horizontal XY plane.

[0005] The uprights 102 of the skeletal structure 100 can be used to guide the storage containers during their ascent out of and descent into the columns 105. The stacks 107 of containers 106 are typically freestanding.

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

[0007] Each prior art container handling vehicle 201, 301 also includes a lifting device (not shown) for vertically transporting the storage containers 106, e.g., lifting the storage containers 106 from the storage columns 105 and lowering them into the storage columns 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, so that the position of the gripping / engaging devices relative to the vehicle 201, 301 can be adjusted in a third direction Z, which is perpendicular to the first direction X and the second direction Y. A portion of the gripping device of the container handling vehicle 301 is shown in FIG. 3 and is designated with reference numeral 304. The gripping device of the container handling device 201 is located within the vehicle body 301a in FIG. 2.

[0008] As is conventional, for purposes of this application, Z=1 identifies the top layer of a storage container, 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, etc. In the exemplary prior art disclosed in FIG. 1 , Z=8 identifies the lowest bottom layer of a storage container. Similarly, X=1·n and Y=1·n identify the position of each storage column 105 in the horizontal plane. Consequently, using the Cartesian coordinate system X, Y, Z shown in FIG. 1 as an example, a storage container identified as 106′ in FIG. 1 can be said to occupy storage location X=10, Y=2, Z=3. A container handling vehicle 201, 301 can be said to travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates.

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

[0010] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and loading the storage containers 106 as they are transported across the rail system 108. The storage space may include a cavity centrally located within the vehicle body 201 a, as shown in FIG. 2 and as described, for example, in WO 2015 / 193278 A1 (Patent Document 1), the contents of which are incorporated herein by reference.

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

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

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

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

[0015] WO2018146304 (the contents of which are incorporated herein by reference) illustrates a typical configuration of a rail system 108 comprising rails and parallel tracks in both the X and Y directions.

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

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

[0018] An access station may typically be a picking station or stockpiling station where product items are removed from or placed in storage containers 106. At a picking or stockpiling station, the storage containers 106 are typically not removed from the automated storage and retrieval system 1, but are accessed and then placed back into the backbone structure 100. Ports can also be used to transfer storage containers to another storage facility (e.g., to another backbone structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or lorry), or to a production facility.

[0019] A conveyor system comprising conveyors is typically employed to transport 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 transporting the storage containers 106 vertically between the port columns 119, 120 and the access stations.

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

[0022] 1 is to be accessed, one of the container handling vehicles 201, 301 is commanded to retrieve the target storage container 106 from its location and transport it to the unloading port column 119. This operation involves moving the container handling vehicle 201, 301 to a location above the storage column 105 where the target storage container 106 is located, using a lifting device (not shown) on the container handling vehicle 201, 301 to retrieve the storage container 106 from the storage column 105, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are positioned above the target storage container 106, the operation also involves temporarily moving the upper-positioned storage container prior to raising the target storage container 106 out of the storage column 105. This step, sometimes referred to within the art as "digging," may be performed using the same container handling vehicle used to subsequently transport the target storage container to the unloading port column 119, or using 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 specifically dedicated to the task of temporarily removing a storage container 106 from a storage column 105. Once the target storage container 106 is removed from the storage column 105, the temporarily removed storage container 106 can be repositioned in the original storage column 105. However, the removed storage container 106 may alternatively be relocated to another storage column 105.

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

[0024] To monitor and control the automated storage and retrieval system 1, for example, to monitor and control the location of each storage container 106 within the skeletal structure 100, the contents of each storage container 106, and the movements of the container handling vehicles 201, 301 so that the desired storage containers 106 can be delivered to the desired locations at the desired times without the container handling vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0025] The automated storage and retrieval system includes separate areas that are connected to the storage areas with rails and tracks by which remotely operated vehicles can move between the areas. The areas can be separated by separation walls or fences. The separate areas can be, for example, inspection areas where vehicles are located for maintenance and inspection performed by human inspection personnel, or picking areas where items stored in storage containers can be accessed by human or robotic operators.

[0026] It is an object of the present invention to provide a safe arrangement for personnel and equipment in an automated warehouse grid when remotely operated vehicles are moving between different areas of the automated storage and retrieval system. An object of the present invention is to prevent uncontrolled movement of a remotely operated vehicle from one rail system to another. [Prior art documents] [Patent documents]

[0027] [Patent Document 1] International Publication No. 2015 / 193278 [Patent Document 2] International Publication No. 2015 / 193278 Summary of the Invention [Problem to be solved by the invention]

[0028] The present invention is directed to an automated storage and retrieval system comprising a storage grid configured to store a plurality of storage containers in a vertical stack, a plurality of remotely operated vehicles, and a rail system comprising rails and tracks along which the plurality of remotely operated vehicles operate. [Means for solving the problem]

[0029] The automated storage and retrieval system includes a first area and a second area, the first area connected to the second area by a vehicle enclosure for passage of one or more of a plurality of remotely operated vehicles, the vehicle enclosure including entrance and exit barriers for regulating passage of the one or more vehicles between the first and second areas.

[0030] The entrance and exit barriers are movable between an open position that allows passage of one or more of the vehicles and a closed position that restricts passage of one or more of the vehicles, and the entrance and exit barriers are adjusted so that the entrance barrier is only open when the exit barrier is closed, and vice versa.

[0031] The remotely operated vehicle may be a container handling vehicle or a delivery vehicle for transporting containers. The remotely operated vehicle may operate on rails at different levels of the automated warehouse grid.

[0032] The first area may be a warehouse area equipped with a rail system located above a storage grid on which the remotely operated vehicle (container handling vehicle) operates, and the second area may be an inspection area equipped with an inspection rail system connected to the first area, so that the remotely operated vehicle (container handling vehicle) can move on the rail system between the first area and the second area.

[0033] The first area may be a delivery area including a delivery rail system over which a plurality of delivery vehicles operate to transport storage containers between the storage grid and the container access station. The delivery area may be located on a lower level of the storage and retrieval grid structure. The second area may be an inspection area including an inspection rail system connected to the delivery rail system, or the second area may be a container access area including a container access rail system connected to the delivery rail system.

[0034] The first and second areas may also include other areas of the automated storage and retrieval system. The areas may be locations of the automated storage and retrieval system dedicated for a certain purpose, such as an inspection area, a main grid area, a delivery rail area, a production area, a transportation area, a parking area, a charging area, etc.

[0035] The vehicle enclosure is positioned for passage of one or more remotely operated vehicles between the first area and the second area, the vehicle enclosure including one or more entrance barriers and one or more exit barriers for regulating passage of the one or more vehicles between the first area and the second area.

[0036] The entrance and exit barriers of the vehicle enclosure may comprise one or more physical barriers configured to regulate the passage of one or more vehicles through the vehicle enclosure.

[0037] The physical barrier may be at least one of a bar, a wall, a gate, a port, a door, an enclosure, or a structure.

[0038] The terms "entrance barrier" and "exit barrier" are used to describe barriers in one direction of travel. Vehicles may, of course, also return to their original area through the vehicle enclosure, passing through the exit barrier while doing so, and then passing through the entrance barrier in reverse order. Thus, the vehicle enclosure may be used for two-way traffic.

[0039] The one or more physical barriers may comprise one or more movable barriers disposed on the rail system and movable relative to the rail system, adapted to block an entrance or exit opening of the vehicle enclosure and movable between a closed position in which the movable barrier restricts passage of one or more vehicles into or out of the vehicle enclosure through the opening, and an open position in which the movable barrier allows passage of one or more vehicles into or out of the vehicle enclosure through the opening.

[0040] One or more movable barriers slide relative to the rail system between an open position and a closed position, Turning, or rise / Descent death The rail system may be connected to the rail system.

[0041] The one or more movable barriers may be ports, bars, structures, doors, enclosures, bands, loops, restraints, panels, fasteners, etc., or combinations thereof.

[0042] One or more movable barriers may be located on an inspection vehicle or a remotely operated vehicle that travels on a rail system. Thus, a vehicle enclosure may include an inspection vehicle or a remotely operated vehicle with entrance and / or exit barriers fully or partially integrated onto the vehicle. More specifically, the entrance and / or exit barriers may be located on the inspection vehicle or the remotely operated vehicle.

[0043] The movable barrier may be disposed on a chassis of the inspection vehicle and / or the remotely operated vehicle and may be movable relative to the chassis of the vehicle. The movable barrier may be at least one of a bar, a port, a structure, a door, etc. The movable barrier may slide, raise, lower, tilt, or pivot relative to the vehicle between an open position and a closed position.

[0044] The movable barrier may also comprise the remotely operated vehicle itself.

[0045] The rail system of the automated storage and retrieval system may extend across a first and second area. The rail system may include a plurality of first rails arranged in a first direction (X) and second rails arranged in a second direction (Y), each of the rails including parallel tracks arranged in a horizontal plane (P), the parallel tracks forming a grid pattern of grid cells in the horizontal plane (P). One or more remotely operated vehicles may travel on the rail system tracks between the first area and the second area.

[0046] The horizontal plane (P) is the container handling vehicle rail plane (P u ), and / or the horizontal plane (P) may be the delivery rail plane (P L ) can be.

[0047] The first area and the second area may be separated by a partition having an opening that allows at least one of the plurality of remotely operated vehicles to pass through and a gate configured to open and close the opening, and the gate may form an entrance barrier or an exit barrier to the vehicle enclosure.

[0048] A divider may be a physical barrier placed to separate areas. The divider may be a wall or a fence, or a combination thereof.

[0049] When moving from the first area into the second area, the movable barrier of the entrance barrier can be a bar positioned on the rail system of the first area, and the movable barrier of the second area can be a gate positioned to block the opening of the partition. The gate can be positioned on the rail system or on the partition. A vehicle enters the vehicle enclosure through an open bar in the entrance barrier. When the vehicle is inside the vehicle enclosure, the bar of the entrance barrier closes. The exit barrier can only be opened when the entrance barrier is closed. Thus, when the system registers that the entrance barrier is closed, it allows the exit barrier to be opened. The gate of the exit barrier opens, allowing the vehicle to pass through the vehicle enclosure and enter the second area. The system also operates in the opposite direction when the vehicle moves from the second area to the first area. In this case, the gate opens, allowing the vehicle to pass into the vehicle enclosure. The gate closes when the vehicle is inside the vehicle enclosure. The system registers that the gate is closed and opens the bars, allowing the vehicle to move out of the vehicle enclosure and into the first area.

[0050] The vehicle enclosure may also be located on the second area side to protect an inspection personnel working in the second area (i.e., the inspection area) when the remotely operated vehicle is moving from the first area into the second area. In this case, the movable barrier may be located on a rail system located in the second area. The gate may be an entrance barrier, and the movable barrier may be an exit barrier.

[0051] The vehicle enclosure may include an intermediate area located between the first area and the second area, the first, second, and intermediate areas being separated by a partition having an opening closable by a movable barrier, either an entrance barrier or an exit barrier.

[0052] The areas may be separated by partitions, such that a first partition exists between the first area and the intermediate area, and a second partition exists between the intermediate area and the second area. teeth, may comprise a first opening with a first gate and a second opening with a second gate.

[0053] When a vehicle is moving from a first area to a second area, the first gate can be an entrance barrier to the vehicle enclosure and the second gate can be an exit barrier. The first gate opens, allowing the vehicle to pass through a first opening into an intermediate area defining the vehicle enclosure. The first gate closes, and the system allows the second gate to open. The second gate opens, allowing the vehicle to enter the second area through a second opening.

[0054] The system detects when the vehicle is moving from the second area to the first area. Analogously In this case, the second gate would form the entrance barrier and the first gate would form the exit barrier of the vehicle enclosure.

[0055] The intermediate area may comprise a vehicle stopping zone that, when activated, automatically shuts down power to one or more vehicles located within the vehicle stopping zone.

[0056] The stopping area may comprise one or more grid cells of the rail system located within the intermediate area.

[0057] Activation of the stopping zone is coordinated with the opening of the entrance or exit barriers so that when the entrance or exit barriers are opened, vehicles located within the stopping zone are automatically stopped.

[0058] In an embodiment, one or more grid cells located within the intermediate area may be defined as a stop zone, and more preferably, the entire intermediate area may be a stop zone. Thus, the system may be operated such that power to one or more vehicles located within the stop zone is automatically shut off when the second gate opens, and such that vehicles located within the stop zone may be retrieved through the second opening by a human operator. The human operator may thus enter the intermediate area (vehicle enclosure) and retrieve vehicles without risk of being accidentally hit by an unintentionally moving vehicle.

[0059] Sensors may be positioned to register the positions of the entrance and exit barriers and to communicate with an automatic control system for adjusting the movable barriers.

[0060] The sensors may communicate with an automatic control system to coordinate locking or closing when the barrier is open, and to coordinate unlocking or opening when the barrier is closed.

[0061] The sensors may be located on the rail system or on the dividers adjacent to the entrance and exit barriers. The sensors may be optical sensors that detect light reflections. Other or additional sensors for detecting the movable gates may also be used, such as acoustic sensors. Sensors with narrow beams may be advantageous in terms of the signal they would need to output to provide a stronger peak / trough signal.

[0062] The movable barriers of the entrance and exit barriers may be configured to be locked, unlocked, opened or closed remotely through the use of an automatic control system.

[0063] Some systems require the movable barrier to be opened manually, i.e., the inspection area gate (movable barrier) is opened into the inspection area. In this case, an automatic control system unlocks the inspection area gate once the entrance barrier is closed. The gate can then be opened manually by inspection personnel, who open the inspection area gate and retrieve the vehicle. The vehicle can be stopped by the control system prior to the inspection personnel moving into the vehicle enclosure.

[0064] The movable gate may also be opened automatically, i.e., the main grid area gate located between the storage grid area and the intermediate area may be an automatically openable and closable gate. When the automatic control system registers that the entrance barrier is closed, the main grid area gate may be automatically opened and vehicles may move into the storage grid area.

[0065] The present invention is also directed to a method for moving at least one of a plurality of remotely operated vehicles between a first area and a second area of ​​an automated storage and retrieval system, the system comprising a first area and a second area, the first area connected to the second area by a vehicle corral for passage of one or more of the plurality of remotely operated vehicles, the vehicle corral comprising entrance and exit barriers for regulating passage of the one or more vehicles between the first and second areas.

[0066] The entrance and exit barriers are movable between an open position that allows passage of one or more of the vehicles and a closed position that restricts passage of one or more of the vehicles, and the entrance and exit barriers are adjusted so that the entrance barrier is only open when the exit barrier is closed, and vice versa.

[0067] The operation of the remotely operated vehicle, along with the opening, unlocking, closing and locking of the entrance and exit barriers, may be performed by an automated control system comprising a central computer. - moving a remotely operated vehicle in the first area toward an entrance barrier of the vehicle enclosure; - opening the entrance barrier after determining that the exit barrier is closed; - moving at least one of the plurality of remotely operated vehicles through an entrance barrier of a vehicle enclosure; - closing the entrance barrier while the vehicle is within the vehicle enclosure; - verifying that the entrance barrier is in a closed or locked position; - unlocking or opening the exit barrier, which may be opened manually or automatically; - moving the vehicle through an exit barrier into a second area; - Steps for closing the exit barrier; may be arranged to control and execute The present invention further provides, for example, the following: (Item 1) 1. An automated storage and retrieval system, comprising: a storage grid (104) configured to store a plurality of storage containers (106) in a vertical stack (107); a plurality of remotely operated vehicles (200, 300, 30); a rail system (108) having rails and tracks, on which the plurality of remotely operated vehicles (200, 300, 30) operate; Equipped with The automated storage and retrieval system comprises a first area (11) and a second area (12), the first area (11) being connected to the second area by a vehicle enclosure (10) for passage of one or more of the plurality of remotely operated vehicles (200, 300, 30), the vehicle enclosure (10) comprising an entrance barrier (13) and an exit barrier (14) for regulating passage of the one or more vehicles (200, 300, 30) between the first and second areas (11, 12); an automated storage and retrieval system, wherein the entrance and exit barriers (13, 14) are movable between an open position that allows the passage of the one or more of the vehicles (200, 300, 30) and a closed position that restricts the passage of the one or more vehicles (200, 300, 30), and the entrance and exit barriers (13, 14) are coordinated such that the entrance barrier (13) can be opened only when the exit barrier (14) is closed, and vice versa. (Item 2) Item 1. The automated storage and retrieval system of item 1, wherein the entrance and exit barriers (13, 14) of the vehicle enclosure (10) comprise one or more movable barriers (15), each movable between the open position and the closed position. (Item 3) Item 3. The automated storage and retrieval system of item 2, wherein the one or more movable barriers (15) comprise at least one of a bar, a wall, a gate, a port, a door, an enclosure, or a structure. (Item 4) 4. The automated storage and retrieval system according to item 2 or 3, wherein the one or more movable barriers (15) are arranged on the rail system (108) and are movable relative to the rail system (108). (Item 5) 5. The automated storage and retrieval system of any one of items 1-4, wherein the first area (11) and the second area (12) are separated by a partition (17) having an opening (18) that allows at least one of the plurality of remotely operated vehicles (200, 300, 30) to pass through and a gate (19) configured to open and close the opening (18), and the gate (18) is the entrance barrier (13) or the exit barrier (14) of the vehicle enclosure (10). (Item 6) 6. The automated storage and retrieval system of any one of items 1-5, wherein the rail system (108) extends across the first and second areas (11, 12), the rail system (108) comprising a plurality of first rails arranged in a first direction (X) and second rails arranged in a second direction (Y), each of the rails comprising a track (110, 111) arranged in a horizontal plane (P), the tracks (110, 111) forming a grid pattern of grid cells in the horizontal plane (P). (Item 7) Item 7. The automated storage and retrieval system of item 6, wherein the vehicle enclosure (10) provides a holding area (19) for the one or more remotely operated vehicles (200, 300, 30) between the entrance and exit barriers (13, 14), the holding area (19) being one or more grid cells in length and / or width. (Item 8) Item 8. The automated storage and retrieval system of item 7, wherein the holding area (19) is an intermediate area (23) located between the first area (11) and the second area (12), and the first, second, and intermediate areas (11, 12, 23) are separated by a partition (17) having an opening (18) that can be closed by the entrance barrier (13) or the exit barrier (14). (Item 9) Item 9. The automated storage and retrieval system of item 8, wherein the intermediate area (23) comprises a vehicle stopping area that, when activated, automatically shuts down electrical power to the one or more vehicles (200, 300) located within the vehicle stopping area. (Item 10) 10. The automated storage and retrieval system according to claim 9, wherein the activation of the stopping area is coordinated with the opening of the entrance or exit barriers (13, 14) such that when the entrance or exit barriers (13, 14) are opened, vehicles (200, 300, 30) located within the stopping area are automatically stopped. (Item 11) 11. The automated storage and retrieval system according to any one of items 1-10, wherein a sensor (20) is arranged to register the position of the entrance and exit barriers (13, 14) and to communicate with an automatic control system (109) for adjusting the entrance and exit barriers (13, 14). (Item 12) Item 12. The automated storage and retrieval system according to item 11, wherein the entrance and exit barriers (13, 14) are configured to be remotely locked, unlocked, opened or closed by use of the automated control system (109). (Item 13) An automated storage and retrieval system according to any one of items 1-12, wherein the first area (11) is a rail system area located above a storage grid, and the second area (12) is an inspection rail system area where one or more vehicles (200, 300) are located for maintenance and inspection. (Item 14) The automated storage and retrieval system of any one of items 1-12, wherein the first area (11) is a delivery rail system area located below the storage grid or above the floor level of the storage grid, and the second area (12) is an access rail area where items stored in storage containers (106) transported on remotely operated vehicles (30) are accessed by a human operator or a robotic operator. (Item 15) A method for moving at least one of a plurality of remotely operated vehicles (200, 300, 30) between a first area and a second area of ​​the automated storage and retrieval system according to item 1, comprising: - moving the remotely operated vehicle in the first area toward the entrance barrier of the vehicle enclosure; - opening the entrance barrier after it has been determined that the exit barrier is closed; - moving the at least one of the plurality of remotely operated vehicles through the entrance barrier of the vehicle enclosure; - closing the entrance barrier while the vehicle is within the vehicle enclosure; - verifying that the entrance barrier is in the closed or locked position; - unlocking or opening the exit barrier, which can be opened manually or automatically; - moving the vehicle through the exit barrier into the second area; - closing the exit barrier; A method, arranged to control and carry out [Brief explanation of the drawings]

[0068] The following drawings are included to facilitate an understanding of the invention: The drawings illustrate embodiments of the invention, which will now be described by way of example only.

[0069] [Figure 1] FIG. 1 is a perspective view of the skeletal structure of a prior art automated storage and retrieval system. [Figure 2] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally located cavity for holding a storage container therein. [Figure 3] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever beam for supporting a storage container underneath. [Figure 4]FIG. 4 is a side view of a vehicle enclosure arranged to regulate the passage of one or more vehicles between a first area and a second area. [Figure 5] FIG. 5 is a perspective view of the embodiment of FIG. [Figure 6] FIG. 6 is a perspective view of the vehicle enclosure with one of the movable barriers, either the entrance or exit barrier, in an open position. [Figure 7] FIG. 7 is a perspective view of the embodiment of FIG. 6 from another angle. [Figure 8] FIG. 8 is a side view of a vehicle enclosure with a physical barrier. [Figure 9] FIG. 9 is a perspective view of the embodiment of FIG. [Figure 10] FIG. 10 is a perspective view of a vehicle enclosure in which the entrance and exit barriers are movable barriers. [Figure 11] FIG. 11 is a perspective view of the vehicle enclosure when the intermediate area is located between the first area and the second area. [Figure 12] FIG. 12 is another perspective view of the embodiment of FIG. [Figure 13] FIG. 13 is a top view of the embodiment of FIGS. [Figure 14] FIG. 14 is a side view of an automated storage and retrieval system. DETAILED DESCRIPTION OF THE INVENTION

[0070] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings, however, it should be understood that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

[0071] The skeleton structure 100 of the automated storage and retrieval system 1 is constructed in accordance with the prior art skeleton structure 100 described above in connection with FIGS. 1-3 , i.e., constructed in accordance with several upright members 102 and several horizontal members 103 supported by the upright members 102, and the skeleton structure 100 further comprises a first upper rail system 108 in the X and Y directions.

[0072] The skeleton structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102, 103, and the storage containers 106 are stackable in stacks 107 within the storage columns 105.

[0073] Skeleton structure 100 can be of any size. In particular, it should be understood that skeletal structure can be significantly wider and / or longer and / or deeper than that disclosed in Figure 1. For example, skeletal structure 100 can have a horizontal extent of greater than 700 x 700 columns and a storage depth of greater than 12 containers.

[0074] One embodiment of an automated storage and retrieval system according to the present invention will now be discussed in more detail with reference to Figures 4-13.

[0075] 4 shows a side view of the system comprising a first area 11 and a second area 12. The first area 11 is connected to the second area 12 for the passage of remotely operated vehicles 200, 300 by a vehicle enclosure 10 comprising an entrance barrier 13 and an exit barrier 14 to regulate the passage of the vehicles 200, 300 between the first and second areas 11, 12.

[0076] The entrance barrier 13 and the exit barrier 14 are defined by the direction of travel of the vehicles 200, 300. The entrance barrier and the exit barrier 13, 14 are movable between an open position where it allows the passage of the vehicles 200, 300 and a closed position where it restricts the passage of the vehicles 200, 300, and the entrance barrier and the exit barrier 13, 14 are adjusted such that the entrance barrier 13 can only be open when the exit barrier 14 is closed, and vice versa.

[0077] In Figure 4, vehicles 200, 300 are located within the holding area of ​​vehicle pen 10 between entrance and exit barriers 13, 14. A first area 11 may be a storage grid area, and a second area may be an inspection area where vehicles 200, 300 are located for inspection and maintenance. Vehicle pen 10 is located within the inspection area of ​​the automated storage and retrieval system so that it provides safety for personnel (not shown) operating within the inspection area. Vehicle pen 10 includes an entrance barrier, which is a gate 21, and an exit barrier, which is a movable barrier 15, to regulate the passage of vehicles 200, 300 into the inspection area.

[0078] When the vehicle 200, 300 is moving from the inspection area into the storage grid area, the entrance barrier 13 may comprise a movable boom 15 that can be raised or lowered between an open position and a closed position, and the exit barrier 14 may be a closable gate 21 positioned within an opening 18 in a partition 17 between the main grid area and the inspection grid area.

[0079] In addition to providing a rail system connection between the two areas, the vehicle enclosure 10 may also be located over the first area and / or the second area. Thus, the vehicle enclosure 10 may be located over the inspection area, as described above, and / or it may be located over the storage grid area.

[0080] FIG. 5 shows a perspective view of the system of FIG. 4, where both the inlet and outlet barriers 13, 14 are closed.

[0081] 6 and 7 show the movable boom 15 in an open position such that vehicles 220, 300 may be moved from the holding section 19 of the vehicle enclosure 10 into the main grid area (first area) 11.

[0082] The entrance or exit barriers 13, 14 may comprise a movable barrier 15. The movable barrier may be a bar, a wall, a gate, a port, a door, an enclosure, or a structure. The movable barrier 15 may be disposed on a rail system 108 and be movable relative to the rail system 108.

[0083] The first area 11 and the second area 12 may be separated by a partition 17, as shown in FIGS. 5-12 . The partition 17 may include an opening 18 that allows the remotely operated vehicles 200, 300 to pass through and a gate 19 configured to open and close the opening 18. The gate 21 may be the entrance barrier 13 or the exit barrier 14 of the vehicle enclosure 10. The vehicle enclosure 10 may be located in the first area 11 or the second area 12.

[0084] 8 and 9 show a vehicle enclosure 10 including a fence 22 that creates a holding area 19 of the vehicle enclosure 10 between a first area 11 and a second area 12. The vehicle enclosure 10 includes an entrance barrier 13 and an exit barrier 14 that are coordinated such that the entrance barrier 13 can only be opened when the exit barrier 14 is closed, and vice versa.

[0085] FIG. 10 shows an entrance or exit barrier 13, 14 with a movable enclosure 15 that can be raised between an open position and a closed position of the entrance or exit barrier 13, 14. I was forced to or descent can be forced .

[0086] The automated storage and retrieval system includes a rail system 108 extending across first and second areas 11, 12 so that remotely operated vehicles can move between areas 11, 12 through vehicle enclosure 10. Rail system 108 includes a plurality of first rails arranged in a first direction (X) and second rails arranged in a second direction (Y), each of the rails having tracks 110, 111 arranged in a horizontal plane (P), the tracks 110, 111 forming a grid pattern of grid cells in the horizontal plane (P).

[0087] The vehicle enclosure 10 provides a holding area 19 for one or more remotely operated vehicles 200, 300 between the entrance and exit barriers 13, 14, and the holding area teeth , in length and / or width At least one 10 shows a holding area 19 with two grid cells, while FIG. 11 shows a holding area 19 with sixteen grid cells. Within the scope of the present invention, any grid cell for the holding area may be applicable.

[0088] The holding area 19 may also be used as a vehicle parking area or a vehicle charging area.

[0089] As shown in Figures 10-13, the holding area 19 may be an intermediate area 23 located between the first and second areas 11, 12, the first, second, and intermediate areas 11, 12, 23 being separated by a partition having an opening that can be closed by an entrance barrier or an exit barrier 13, 14.

[0090] The intermediate area may comprise a vehicle stopping zone that, when activated, automatically shuts down power to one or more vehicles 200, 300 located within the vehicle stopping zone. The stopping zone may include all grid cells within the intermediate area 23, or the stopping zone may include one or more grid cells within the intermediate area 23.

[0091] Activation of the stopping area may be coordinated with the opening of the entrance or exit barriers 13, 14, so that vehicles 200, 300 located within the stopping area are automatically stopped when the entrance or exit barriers 13, 14 are opened.

[0092] 12 shows that sensors 20 may be positioned to read and register the position of the movable barriers 15 of the entrance and exit barriers 13, 14. One or more sensors 20 communicate with an automatic control system (not shown) to regulate the entrance and exit barriers 13, 14. The entrance and exit barriers 13, 14 may be configured to be remotely locked, unlocked, opened, or closed through use of the automatic control system.

[0093] FIG. 14 shows a side view of an automated storage and retrieval system comprising a container handling vehicle rail system (on which container handling vehicles 200, 300 operate) and a delivery rail system (on which delivery vehicle 30 operates).

[0094] The first area 11 may be a warehouse area equipped with a rail system located above a storage grid, and the second area 12 may be an inspection area equipped with an inspection rail system connected to the first area so that the container handling vehicles 200, 300 can move on the rail system between the first and second areas 11, 12.

[0095] The first area 11 may be a delivery area including a delivery rail system on which a plurality of delivery vehicles 30 operate and transport storage containers 106 between the storage grid and the container access station. The delivery area may be located on the lowest level of the storage and retrieval grid structure. The second area may be an inspection area including an inspection rail system connected to the delivery rail system, or the second area may be a container access area including a container access rail system connected to the delivery rail system.

[0096] The vehicle enclosure is located on the container handling vehicle rail plane (P u ) and / or the vehicle enclosure may be located on a horizontal delivery rail plane (P L )

[0097] The first area 11 is connected to the second area for the passage of one or more of a plurality of remotely operated vehicles 200, 300, 30 by a vehicle enclosure 10 having an entrance barrier 13 and an exit barrier 14, which regulates the passage of the one or more vehicles 200, 300 between the first and second areas 11, 12, the entrance barrier and exit barrier 13, 14 being movable between an open position which allows the passage of one or more of the vehicles 200, 300, 30 and a closed position which restricts the passage of the one or more vehicles 200, 300, 30, and the entrance barrier and exit barrier 13, 14 being adjusted so that the entrance barrier 13 is only open when the exit barrier 14 is closed, and vice versa.

[0098] The first area and the second area may be separated by a partition 17 having an opening 18 that allows at least one of the multiple remotely operated vehicles 200, 300, 30 to pass through and a gate 21 configured to open and close the opening 20, and the gate may form an entrance barrier 13 or an exit barrier to the vehicle enclosure 10.

[0099] The entrance and exit barriers 13, 14 are movable between an open position that allows the passage of one or more of the vehicles 200, 300, 30 and a closed position that restricts the passage of one or more of the vehicles 200, 300, 30, and the entrance and exit barriers 13, 14 are adjusted such that the entrance barrier 13 can only be open when the exit barrier 14 is closed, and vice versa.

[0100] In the foregoing description, various aspects of the automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. For purposes of explanation, specific values, 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 illustrative embodiments, and other embodiments of the system, that are obvious to those skilled in the art to which the disclosed subject matter pertains, are deemed to be within the scope of the present invention.

[0101] (Reference number list)

Table 1

Claims

1. 1. An automated storage and retrieval system, comprising: a storage grid (104) configured to store a plurality of storage containers (106) in a vertical stack (107); a plurality of remotely operated vehicles (200, 300, 30); a rail system (108) having rails and tracks, on which the plurality of remotely operated vehicles (200, 300, 30) operate; Equipped with The automated storage and retrieval system comprises a first area (11) and a second area (12), the first area (11) being connected to the second area by a vehicle enclosure (10) for passage of one or more of the plurality of remotely operated vehicles (200, 300, 30), the vehicle enclosure (10) comprising an entrance barrier (13) and an exit barrier (14) for regulating passage of the one or more vehicles (200, 300, 30) between the first and second areas (11, 12); the entrance and exit barriers (13, 14) are movable between an open position that allows the passage of the one or more of the vehicles (200, 300, 30) and a closed position that restricts the passage of the one or more vehicles (200, 300, 30), and the entrance and exit barriers (13, 14) are adjusted such that the entrance barrier (13) can only be opened when the exit barrier (14) is closed, and vice versa.

2. 2. The automated storage and retrieval system of claim 1, wherein the entrance and exit barriers (13, 14) of the vehicle enclosure (10) comprise one or more movable barriers (15), each movable between the open position and the closed position.

3. The automated storage and retrieval system of claim 2 , wherein the one or more movable barriers (15) comprise at least one of a bar, a wall, a gate, a port, a door, an enclosure, or a structure.

4. 4. The automated storage and retrieval system of claim 2 or 3, wherein the one or more movable barriers (15) are arranged on the rail system (108) and are movable relative to the rail system (108).

5. 5. The automated storage and retrieval system of claim 1, wherein the first area (11) and the second area (12) are separated by a partition (17) having an opening (18) that allows at least one of the plurality of remotely operated vehicles (200, 300, 30) to pass through and a gate (19) configured to open and close the opening (18), and the gate (18) is the entrance barrier (13) or the exit barrier (14) of the vehicle enclosure (10).

6. 6. The automated storage and retrieval system of claim 1, wherein the rail system (108) extends across the first and second areas (11, 12), the rail system (108) comprising a plurality of first rails arranged in a first direction (X) and second rails arranged in a second direction (Y), each of the rails comprising a track (110, 111) arranged in a horizontal plane (P), the tracks (110, 111) forming a grid pattern of grid cells in the horizontal plane (P).

7. 7. The automated storage and retrieval system of claim 6, wherein the vehicle enclosure (10) provides a holding area (19) for the one or more remotely operated vehicles (200, 300, 30) between the entrance barrier and the exit barrier (13, 14), the holding area (19) being at least one grid cell in length and / or width.

8. 8. The automated storage and retrieval system of claim 7, wherein the holding area (19) is an intermediate area (23) located between the first area (11) and the second area (12), and the first, second, and intermediate areas (11, 12, 23) are separated by a partition (17) having an opening (18) that can be closed by the entrance barrier (13) or the exit barrier (14).

9. 9. The automated storage and retrieval system of claim 8, wherein the intermediate area (23) comprises a vehicle stopping zone that, when activated, automatically shuts down electrical power to the one or more vehicles (200, 300) located within the vehicle stopping zone.

10. 10. The automated storage and retrieval system of claim 9, wherein the activation of the vehicle stopping area is coordinated with the opening of the entrance or exit barriers (13, 14) such that when the entrance or exit barriers (13, 14) are opened, vehicles (200, 300, 30) located within the vehicle stopping area are automatically stopped.

11. 11. The automated storage and retrieval system of any one of claims 1 to 10, wherein sensors (20) are arranged to register the positions of the entrance and exit barriers (13, 14) and to communicate with an automatic control system (109) for adjusting the entrance and exit barriers (13, 14).

12. 12. The automated storage and retrieval system of claim 11, wherein the entrance and exit barriers (13, 14) are configured to be remotely locked, unlocked, opened, or closed by use of the automated control system (109).

13. 13. The automated storage and retrieval system of any one of claims 1 to 12, wherein the first area (11) is a rail system area located above a storage grid, and the second area (12) is an inspection rail system area where one or more vehicles (200, 300) are located for maintenance and inspection.

14. 13. The automated storage and retrieval system of any one of claims 1 to 12, wherein the first area (11) is a delivery rail system area located below a storage grid or above floor level of the storage grid, and the second area (12) is an access rail area where items stored in storage containers (106) transported on remotely operated vehicles (30) are accessed by a human operator or a robotic operator.

15. 10. A method for moving at least one of a plurality of remotely operated vehicles (200, 300, 30) between a first area and a second area of ​​an automated storage and retrieval system according to claim 1, comprising: - moving the remotely operated vehicle on the first area towards the entrance barrier of the vehicle enclosure; - opening the inlet barrier after it has been determined that the outlet barrier is closed; - moving said at least one of said plurality of remotely operated vehicles through said entrance barrier of said vehicle enclosure; - closing the entrance barrier while the vehicle is within the vehicle enclosure; - verifying that said entrance barrier is in said closed or locked position; - unlocking or opening the exit barrier, which can be opened manually or automatically; - moving the vehicle through the exit barrier into the second area; - closing said exit barrier; A method, arranged to control and carry out

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