Service vehicles for storage systems

Abstract

To provide a service vehicle for movement on a rail system.SOLUTION: A service vehicle (2) comprises: a container vehicle handling part (8) for interacting mechanically with a container handling vehicle (300) operating on a rail system (108); an operation part (3) for controlling an operation of the service vehicle (2); and a caterpillar truck (6) allowing movement of the service vehicle (2) on the rail system (108) during the operation.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to an automated warehouse system, a service vehicle for transporting at least one storage container vehicle, and a method thereof. [Background technology]

[0002] Figures 1A and 2A disclose a typical prior art automated warehouse system 1 having a framework structure 100. Figures 2A and 2B disclose a prior art container handling vehicle 101 that operates the system 1 disclosed in Figures 1A and 2A, respectively.

[0003] The framework structure 100 includes a plurality of upright members 102 and, optionally, a plurality of horizontal members 103 that support the upright members 102. The members 102, 103 may typically be made from metal, for example, from extruded aluminum profiles.

[0004] The framework structure 100 defines a storage grid 104 that includes storage columns 105 arranged in rows within which storage containers 106 (also known as bins) are stacked one on top of the other to form stacks 107.

[0005] Each storage container 106 can typically hold multiple product items (not shown), and the product items in a storage container 106 can be the same or can be of different product types depending on the application.

[0006] The storage grid 104 prevents horizontal movement of the containers 106 in the stack 107 and guides vertical movement of the containers 106, but typically does not otherwise support the storage containers 106 when stacked.

[0007] The automated storage and retrieval system 1 further includes a rail system 108 arranged in a grid pattern along a horizontal plane P across the top of the storage grid 104, and a plurality of container handling vehicles 200, 300 (as illustrated in FIGS. 1B and 2B ) operate on the rail system 108 to raise, lower, and transport storage containers 106 from and into the storage columns 105. The horizontal extent of one of the grid cells 122 making up the grid pattern is marked by a bold line in FIGS. 1A and 2A .

[0008] Each grid cell 122 has a width that is typically in intervals of 30 cm to 150 cm and a length that is typically in intervals of 50 cm to 200 cm. Each grid opening 115 has a width and length that are typically 2 cm to 10 cm smaller than the width and length of a grid cell 122, depending on the horizontal extent of the rails 110, 111.

[0009] The rail system 108 includes a first set of parallel rails 110 and a second set of parallel rails 111, the first set of parallel rails 110 being arranged to guide the movement of the container handling vehicles 200, 300 in a first direction X across the top of the frame structure 100, and the second set of parallel rails 111 being arranged perpendicular to the first set of rails 110 and arranged to guide the movement of the container handling vehicles 200, 300 in a second direction that is perpendicular to the first direction X. The rail system 108 guides the movement of the container handling vehicles 200, 300 in the direction Y. The rail system 108 thus defines a grid column above which the container handling vehicles 200, 300 can move laterally above the storage columns 105, i.e. in a plane that is parallel to the horizontal XY plane.

[0010] Each prior art container handling vehicle 200, 300 includes a vehicle body / framework and a wheel arrangement of eight wheels 201, 301, with a first set of four wheels allowing lateral movement of the container handling vehicle 200, 300 in the X direction and the remaining four wheels in a second set allowing lateral movement in the Y direction. One or both sets of wheels in the wheel arrangement can be lifted and lowered so that the first set of wheels and / or the second set of wheels can be engaged with the respective set of rails 110, 111 at any one time.

[0011] Each prior art container handling vehicle 200, 300 also includes a lifting device (not shown) for vertical transportation of the storage containers 106, e.g., for raising and lowering the storage containers 106 from and into the storage columns 105. The lifting device includes one or more gripping / engagement devices (not shown) adapted to engage with the storage containers 106, such that the gripping / engagement devices can be lowered from the vehicle 201, 301 and such that the position of the gripping / engagement devices relative to the vehicle 201, 301 can be adjusted in a third direction Z, the third direction Z being orthogonal to the first direction X and the second direction Y.

[0012] Conventionally, and for purposes of this application, Z=1 identifies the top layer of the grid 104, i.e., the layer immediately below the rail system 108, Z=2 identifies the second layer below the rail system 108, Z=3 identifies the third layer, and so on. In the exemplary prior art grid 104 disclosed in FIGS. 1A and 2A, Z=8 identifies the bottom layer at the bottom of the grid 104. Accordingly, by way of example and using the Cartesian coordinate system X, Y, Z shown in FIGS. 1A and 2B, a storage container identified as 106′ in FIG. 1 may be said to occupy grid location or cell X=10, Y=2, Z=3. The container handling vehicle 101 may be said to travel in layer Z=0, and each grid column may be identified by its X and Y coordinates.

[0013] Each container handling vehicle 200 includes a storage compartment or space (not shown) for receiving and storing the storage containers 106 as they are transported across the rail system 108. The storage space may include, for example, a cavity centrally located within the vehicle body, as described in WO 2014 / 090684 A1, the contents of which are incorporated herein by reference.

[0014] Alternatively, the container handling vehicle 300 may have a cantilevered structure as described in NO 317366, the contents of which are also incorporated herein by reference.

[0015] The container handling vehicle 200 may have a predetermined footprint, i.e., extent in the X and Y directions, which is generally equal to the lateral extent of a grid cell 122, i.e., as described, for example, in WO2015 / 193278A1. and generally equal to the extent of the grid cell 122 in the X and Y directions, the contents of which are incorporated herein by reference. As used herein, the term "lateral" can mean "horizontal."

[0016] Alternatively, the container handling vehicle 101 may have a footprint that is larger than the lateral area defined by the grid columns, as disclosed, for example, in WO2014 / 090684A1.

[0017] Within the storage grid 104, the majority of the grid columns are storage columns 105, i.e., grid columns 105 in which storage containers 106 are stored in stacks 107. However, the grid 104 typically has at least one grid column that is not used to store storage containers 106, but rather that includes a location where a container handling vehicle 200, 300 can drop off and / or pick up a storage container 106 so that the storage container 106 can be transported to an access station (not shown) where the storage container 106 can be accessed from outside the grid 104 or transferred out of or into the grid 104. In the art, such locations are typically referred to as "ports," and the grid columns in which the ports are located may be referred to as "port columns" 119, 120.

[0018] 1A and 2A includes two port columns 119 and 120. The first port column 119 may, for example, be a dedicated drop-off port column where container handling vehicles 200, 300 can drop off storage containers 106 for transport to an access or transfer station, and the second port column 120 may be a dedicated pick-up port where container handling vehicles 200, 300 can pick up storage containers 106 that have been transported from an access or transfer station to the storage grid 104.

[0019] An access station may typically be a picking station or stocking station, where product items are removed from or positioned into storage containers 106. At a picking station or stocking station, storage containers 106 are typically never removed from the automated warehouse system 1; once accessed, they are placed back into the storage grid 104. As an alternative to ports as part of the storage grid 104, ports for transferring storage containers out of or into the storage grid 104 may be envisioned, for example, to transfer the storage containers 106 to another storage facility (e.g., another storage grid), directly to a transport vehicle (e.g., a train or lorry), or to a production facility.

[0020] To monitor and control the automated warehouse system 1 (e.g., to monitor and control the location of each storage container 106 within the storage grid 104; the contents of each storage container 106; and the movements of the container handling vehicles 200, 300 so that the desired storage containers 106 can be delivered to the desired locations at the desired times without the container handling vehicles 200, 300 colliding with each other), the automated warehouse system 1 includes a control system (not shown), which is typically computerized and which typically includes a database for maintaining the rails of the storage containers 106.

[0021] A problem associated with known automated warehouse systems 1 is that it is difficult for personnel to access the rail system 108 to perform inspections, or to perform maintenance on, or to remove, a malfunctioning container handling vehicle 200, 300.

[0022] WO 2015 / 140216 A1 discloses a service vehicle for cleaning and inspecting grids. The service vehicle is equipped with a releasable latching mechanism for docking with a malfunctioning container handling vehicle. After connecting with the vehicle, the service vehicle pulls or pushes the vehicle to a designated location on the grid for inspection and maintenance. This publication also proposes an overhead transport structure for removing malfunctioning vehicles from the grid. In this structure, either a bridge-shaped robotic vehicle or two parallel robotic vehicles connected by a crossbeam are equipped with a lift for lifting the load handling device from the grid. The malfunctioning vehicle is transported to the designated location in this lifted position. This publication also proposes that the service vehicle can be equipped with a seat for carrying a user for inspection and maintenance. This personnel-carrying version of the service vehicle can be operated manually by the user or, alternatively, remotely controlled by a control system.

[0023] However, known service vehicles are limited to following the underlying grid system (i.e., only in the X and Y directions). Therefore, the service vehicles move on the grid in the same manner as load handling devices, and therefore occupy a large amount of space during servicing procedures due to their zigzag movement patterns in both directions. Also, certain movement patterns increase the time spent on the grid. In the case of an automated warehouse system with a high density of container handling vehicles, such space and time usage can significantly reduce overall efficiency. Furthermore, the push or pull method can prove to be cumbersome, thereby adding additional operating time for the service vehicles on the rail system. Summary of the Invention [Problem to be solved by the invention]

[0024] In view of the above, it would be desirable to provide a service vehicle, an automated warehouse system using such a service vehicle, and a method thereof that solves or at least alleviates one or more of the above-mentioned problems associated with the use of prior art warehouse systems. [Means for solving the problem]

[0025] The present invention is set forth and characterized in the independent claims, while the dependent claims describe further features of the invention. In a first aspect, the present invention relates to a service vehicle for travel on a rail system including a first set of parallel rails and a second set of parallel rails, the first set of parallel rails being arranged in a horizontal plane P and extending in a first direction X, and the second set of parallel rails being arranged in the horizontal plane P and extending in a second direction Y orthogonal to the first direction X, the first and second sets of rails forming a grid pattern in the horizontal plane P, the grid pattern including a plurality of adjacent grid cells.

[0026] The service vehicle includes a vehicle body or framework and a propulsion means or mechanism (hereinafter referred to as rollers) for enabling movement of the service vehicle over the rail system during operation. The vehicle body / framework is The system contains or supports vehicle handling components / container vehicle handling parts for mechanically interacting with the container handling vehicles operating on the system, and operational components / operational parts for controlling the operation of the service vehicle other than the direct handling of the at least one container handling vehicle. The container vehicle handling parts and operational parts may be fully or partially spatially separated.

[0027] The rollers can be any propulsion means or mechanism configured to run over the top of a rail system (e.g., caterpillar tracks). Hereinafter, the term "over the top of the rail system" refers to the fact that the propulsion means is placed above the rail system but is not engaged with the rails themselves, so the service vehicle is able to move in any direction over the top of the rail system, rather than being restricted to moving only in the direction of the rails.

[0028] The rollers can advantageously have an overall length L that exceeds the distance across two grid cells in a first direction X and / or the distance across two grid cells in a second direction Y when the service vehicle is moving over the top of the rail system. In a more preferred configuration, the rollers have an overall length L that exceeds the distance across three grid cells (e.g., across 3.5 grid cells) in the first direction X and / or the second direction Y. These minimum lengths of the rollers ensure safe movement of the service vehicle over the rail system. In addition, the minimum lengths ensure that the rollers spread the weight of the service vehicle across the top of several rails at any one time.

[0029] The overall length L can be, for example, 350 cm or more. The term "overall length L" as used herein refers to the length from one end of the roller along its length to the opposite end of the roller along its length.

[0030] To further increase overall stability during operation on the rail system, and in particular to further increase directional stability, the rollers may further have an overall width W that exceeds the width of the adjacent rail (i.e., exceeds the width of a grid cell) when the service vehicle is moving on the rail system.

[0031] The term "overall width W" as used herein refers to the width from one end of the roller perpendicular to its longitudinal direction to the opposite end of the roller perpendicular to its longitudinal direction, including any gap G therebetween.

[0032] The roller may include a longitudinally extending endless belt of length L and a belt motor driving the endless belt. The belt may be made of a flexible or resilient material, such as a rubber-containing material. Alternatively or additionally, the connection of the roller to the vehicle body may include a spring arrangement. The flexibility of the roller ensures stable operation with low risk of damaging the underlying rail.

[0033] The rollers can include at least one roller wheel (preferably at least two roller wheels) in contact with the first endless belt, and the belt motor can drive the endless belt via at least one wheel, or via separate wheels, or a combination of both.

[0034] The at least one roller wheel may contact an inner surface of the endless belt, for example, by a configuration in which the endless belt surrounds the at least one roller wheel. The inner surface of the endless belt may be parallel to the axis of rotation of the belt. The term "inner surface of the endless belt" refers herein to the surface of the belt facing the volume of the belt enclosed by the width W and length L of the belt.

[0035] The at least one roller wheel can act as a propulsion unit for the belt or as a tightening means for the belt, or a combination thereof.

[0036] In the case of at least two roller wheels, it is advantageous to have a roller wheel located at each longitudinal end of the roller. The roller may further include a first caterpillar track including a longitudinally extending endless belt and a second caterpillar track including a longitudinally extending endless belt oriented parallel to the first caterpillar track (e.g., attached to opposite sidewalls of the vehicle body of the service vehicle). The first and second caterpillar tracks may be spaced apart by a gap G measured along the direction of the rotational axis of the endless belt. In this embodiment, the width of the gap G is preferably at least the width of a grid cell of the rail system in either the first direction X or the second direction Y.

[0037] The first and / or second caterpillar tracks are preferably arranged so that the endless belt extends at least partially beyond the vehicle body portion containing and / or supporting the container vehicle handling and manipulation parts in the direction of the axis of rotation to create a physical barrier that protects the operator against collision with objects positioned on the rail system.

[0038] To ensure sufficient belt stiffness and thereby ensure satisfactory movement of the service vehicle over the rail system, each belt preferably includes one or more struttings. A further desirable increase in overall roller stiffness can be achieved, for example, by adding one or more belt-contacting stabilizing wheels above the belt relative to the rail system.

[0039] Furthermore, the rollers may advantageously be connected to the vehicle body symmetrically in the horizontal plane (P). For example, the first and second caterpillar tracks may be arranged on the outer side wall of the vehicle body of the service vehicle symmetrically about a central axis of the vehicle body running perpendicular to the rotational axis of the rollers.

[0040] The container vehicle handling part may include a transfer device configured to transfer at least one container handling vehicle between an operating position above the rail system (i.e., a lower position where the container handling vehicle is movable above the rail system) and a transport position within the vehicle body during operation (i.e., an upper position where the container handling vehicle is lifted above the rail system). The container vehicle handling part may also include a transfer motor configured to power the transfer device, thereby enabling said transfer of the container handling vehicle.

[0041] If the roller includes two caterpillar tracks, the transfer device may be positioned at least partially between the first and second caterpillar tracks, for example, completely within the container vehicle handling part, and may be approximately centered within the gap G relative to the belt rotation axis.

[0042] In a first exemplary configuration of the service vehicle, the transfer device is configured to support the container handling vehicle from below, for example by applying a base plate on which the container handling vehicle can be supported.

[0043] With respect to this first exemplary configuration, the transfer device may be configured to move between an upper position and a lower position relative to a horizontal plane P, and may further be configured to enable the container handling vehicle to move from its operating position on the rail system to a transport position on the base plate when the transfer device is in its lower position.

[0044] The operating parts may include a propulsion means motor or roller device motor (hereinafter referred to as a roller motor) that allows movement of the service vehicle along the horizontal plane P. The operating parts may further include an on-board operating system that allows an on-board operator to control and adjust both the direction and speed of the service vehicle relative to the underlying rail system. The change of direction may cover a 360° rotation of the service vehicle. Alternatively, the operating system may be remotely located, thus adjusting the direction and speed of the service vehicle by remote control.

[0045] Also, configurations of the service vehicle that allow vertical displacement of the operating parts and / or container vehicle handling parts may be envisioned, as well as speed control and regulation, including starting and stopping completely.

[0046] The service vehicle may further include an alignment unit (e.g., an image capturing unit) configured to enable visual inspection of the surroundings of the service vehicle. The image capturing unit may include, for example, a front camera and a rear camera, which are either fixed or rotatable relative to the horizontal plane P.

[0047] The service vehicle is arranged to transport at least one of the at least one container handling vehicle in the horizontal plane P, and preferably also one or more persons. Alternatively, the service vehicle may be controlled remotely.

[0048] The service vehicle may further include a transmitter and / or a receiver for establishing signal communication with the remote control system. The transfer device includes an attachment device for releasable attachment to at least one container handling vehicle, and a vertical linear actuator that is at least indirectly attached at one end to the vehicle body (e.g., via a pivot support) and at the other end to the attachment device, the vertical linear actuator configured to vertically displace the attachment device relative to the vehicle body.

[0049] The transfer device may further include a horizontal linear actuator secured to the vehicle body, the horizontal linear actuator configured to horizontally displace the mounting device relative to the vehicle body.

[0050] In a second aspect, the present invention relates to an automated warehouse system. The system is a rail system, the rail system comprising a first set of parallel rails a first set of parallel rails arranged in a horizontal plane P and extending in a first direction X, and a second set of parallel rails arranged in the horizontal plane P and extending in a second direction Y orthogonal to the first direction X, the first and second sets of rails forming a grid pattern in the horizontal plane P, the grid pattern including a plurality of adjacent grid cells; and a service vehicle as described above.

[0051] The system may further include at least one container handling vehicle configured to travel on the rail system, the at least one container handling vehicle including a wheel arrangement configured to guide the at least one storage container vehicle along the rail system in at least one of a first direction X and a second direction Y.

[0052] The service vehicle may include a vehicle body / framework containing or supporting container vehicle handling parts for mechanical interaction with at least one of the at least one container handling vehicles operating on the rail system, operational parts for controlling operation of the service vehicle, and rollers connected to the vehicle body that enable movement of the service vehicle on the rail system during operation. The rollers preferably have a length L that exceeds the distance across two grid cells in the first direction X or the second direction Y when the service vehicle is moving on the rail system, and more preferably, the length L exceeds the distance across three grid cells (e.g., between three and four grid cells).

[0053] The service vehicle may conform to any of the features described above. In a third aspect, the present invention relates to a method for operating a service vehicle including a vehicle body containing / supporting container vehicle handling and manipulation parts, the service vehicle being configured to travel over a rail system including a first set of parallel rails and a second set of parallel rails, the first set of parallel rails being disposed in a horizontal plane P and extending in a first direction X, and the second set of parallel rails being disposed in the horizontal plane P and extending in a second direction Y orthogonal to the first direction X, the first and second sets of rails forming a grid pattern in the horizontal plane P, the grid pattern including a plurality of adjacent grid cells, each grid cell including a grid opening, the grid opening being defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails.

[0054] The method is: guiding the service vehicle to a first position on the rail system adjacent to the at least one storage container vehicle by using the operating part; controlling a transport device forming part of the container vehicle handling part to transport at least one container handling vehicle between an operating position on the rail system and a transport position (e.g. in the vehicle body) above the rail system; guiding the service vehicle to a predetermined second position on the rail system; Includes.

[0055] The service vehicle used in this method can be one of the service vehicles disclosed above. In an alternative configuration, the vehicle body of the service vehicle includes a fence. The fence is configured to contain at least one storage container vehicle. The fence may further include an access ramp pivotally connected to the vehicle body portion for pivoting the access ramp between a lower position inclined relative to an underlying rail system and a closed upper position, the lower position allowing one or more storage container vehicles to be transported between the rail system and the loading area via the access ramp, and the upper position for closing off the loading area.

[0056] Also, or alternatively, the loading area of ​​the fence may be configured to accommodate one or more operators, in which case the fence acts as a protective chamber for the personnel.

[0057] The protective barrier (e.g., a protective chamber or roller connected at the outer surface of the vehicle body) is a clear advantage compared to the personnel carrying service vehicle disclosed in WO2015 / 140216A1, in which the open operating parts of the service vehicle offer little or no protection to the operator, for example in the case of a collision between the service vehicle and an obstacle on the rail system (e.g., a container handling vehicle, etc.).

[0058] In a further alternative configuration, the vehicle body is movably positioned relative to the first and second belted drive wheel assemblies between a transport position and an operating position; - in the transport position, the transfer device is at least partially within the horizontal extent of the first and / or second endless belts perpendicular to its axis of rotation for carrying the container handling vehicle during transport; - In the operating position, the transfer device is positioned outside the horizontal extent of the first and / or second endless belts, perpendicular to its axis of rotation, so as to allow lifting and lowering of the container handling vehicle.

[0059] The following drawings are included to facilitate understanding of the present invention. [Brief explanation of the drawings]

[0060] [Figure 1] Figure 1A is a perspective view of a prior art automated storage and retrieval system showing the complete system, and Figure 1B is a perspective view of a prior art automated storage and retrieval system showing an example of a prior art container handling vehicle capable of operating the system. [Figure 2] Figure 2A is a perspective view of a prior art automated storage and retrieval system showing the complete system, and Figure 2B is a perspective view of a prior art automated storage and retrieval system showing an example of a prior art container handling vehicle capable of operating the system. [Figure 3]1 is a perspective view of a service vehicle according to a first embodiment of the present invention operating on a rail system of an automated warehouse system. FIG. [Figure 4] Figure 4A is a perspective view of the service vehicle according to Figure 3 without a container handling vehicle and including an operator, showing the front part of the service vehicle, Figure 4B is a perspective view of the service vehicle according to Figure 3 without a container handling vehicle and including an operator, showing the rear part of the service vehicle, and Figure 4C is a perspective view of the service vehicle according to Figure 3 without a container handling vehicle and including an operator, showing the service vehicle from the side. [Figure 5] Figure 5A is a side perspective view of the service vehicle according to Figures 3 and 4, showing the handling device of the service vehicle in an interaction position, and Figure 5B is a side perspective view of the service vehicle according to Figures 3 and 4, showing the handling device of the service vehicle in a transport position. [Figure 6] 6A and 6B are perspective views of a service vehicle according to a second embodiment of the present invention operating on the rail system of an automated storage system, showing the service vehicle with an operator, and a perspective view of a service vehicle according to a second embodiment of the present invention operating on the rail system of an automated storage system, showing the service vehicle without an operator. [Figure 7A] FIG. 7 is a perspective view of the service vehicle of FIG. 6, showing the handling mechanism of the service vehicle in a transport position on the rail system, positioned adjacent to the container handling vehicle that is to be serviced. [Figure 7B] FIG. 7 is a perspective view of the service vehicle according to FIG. 6, showing the handling mechanism of the service vehicle in an interaction position prior to successful interaction with a container handling vehicle. [Figure 7C] FIG. 7 is a perspective view of the service vehicle according to FIG. 6, showing the handling mechanism of the service vehicle in the interaction position after successful interaction with the container handling vehicle. [Figure 7D] FIG. 7 is a perspective view of the service vehicle according to FIG. 6, showing the service vehicle supporting the container handling vehicle through the use of a handling mechanism. [Figure 8] Figure 8A is a side perspective view from two different directions of the service vehicle according to Figures 6 and 7, showing the service vehicle supporting the container handling vehicle to be serviced. Figure 8B is a side perspective view from two different directions of the service vehicle according to Figures 6 and 7, showing the service vehicle supporting the container handling vehicle to be serviced. [Figure 9] FIG. 9 is a side perspective view of the service vehicle of FIGS. 6-8, showing an operator in a position within the service vehicle that allows the operator to access objects located above or below the rail system. [Figure 10] FIG. 10 is a side perspective view of a container handling vehicle supporting a service vehicle according to a third embodiment of the present invention, operating on a rail system of an automated warehouse system. [Figure 11] Figure 11A is a side perspective view of the service vehicle of Figure 10, showing the service vehicle approaching a container handling vehicle to be serviced and with the service vehicle's handling mechanism set in a transport position, Figure 11B is a side perspective view of the service vehicle of Figure 10, showing the service vehicle adjacent to the container handling vehicle in a position within the reach of the handling mechanism, and Figure 11C is a side perspective view of the service vehicle of Figure 10, showing the service vehicle supporting the container handling vehicle with the use of a handling mechanism. [Figure 12] FIG. 10 is a side perspective view of a service vehicle according to a fourth embodiment of the present invention operating on a rail system of an automated warehouse system. [Figure 13A] FIG. 13 is a side perspective view of the service vehicle of FIG. 12, showing the service vehicle in a transport position near a location on the rail system where a container handling vehicle will be installed. [Figure 13B] FIG. 13 is a side perspective view of the service vehicle of FIG. 12, showing the service vehicle in an interaction position that allows a container handling vehicle to be moved from the service vehicle to the rail system. [Figure 13C] FIG. 13 is a side perspective view of the service vehicle of FIG. 12 showing the service vehicle in an interaction position with the container handling vehicle in an intermediate position above the service vehicle. [Figure 13D] FIG. 13 is a side perspective view of the service vehicle of FIG. 12, showing the service vehicle in an interaction position with the container handling vehicle in an operational position on the rail system. [Figure 14] FIG. 14 is a side perspective view of the service vehicle of FIGS. 12 and 13 showing an operator in a position within the service vehicle that allows the operator to access objects located above or below the rail system. [Figure 15] 15A is a side perspective view of a service vehicle according to a fifth embodiment of the invention with a handling mechanism in a transport position, showing the service vehicle without a container handling vehicle; 15B is a side perspective view of a service vehicle according to a fifth embodiment of the invention with a handling mechanism in a transport position, showing the service vehicle on a rail system of an automated warehouse system supporting a container handling vehicle with the use of a handling mechanism; [Figure 16] Figure 16A is a side perspective view of a service vehicle according to a sixth embodiment of the present invention, configured to be remotely operated; Figure 16B is a side perspective view of a service vehicle according to a sixth embodiment of the present invention, configured to be remotely operated; and Figure 16C is a side perspective view of a service vehicle according to a sixth embodiment of the present invention, configured to be remotely operated. [Figure 17]Figure 17A is a side perspective view of the service vehicle of Figure 16 showing the service vehicle approaching a container handling vehicle to be serviced, Figure 17B is a side perspective view of the service vehicle of Figure 16 showing the service vehicle partially surrounding the container handling vehicle, and Figure 17C is a side perspective view of the service vehicle of Figure 16 showing the service vehicle grasping the container handling vehicle by use of its handling mechanism. [Figure 18] Figure 18A is a side perspective view of the service vehicle of Figures 16 and 17 showing the service vehicle in an operating position with the container handling vehicle in contact with the rail system, and Figure 18B is a side perspective view of the service vehicle of Figures 16 and 17 showing the service vehicle in a transport position with the container handling vehicle raised above the rail system. DETAILED DESCRIPTION OF THE INVENTION

[0061] In the drawings, the same reference numbers are used to denote like parts, elements, or features unless otherwise expressly stated or implicitly understood from the context.

[0062] In the following, embodiments of the invention will be discussed 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 therein.

[0063] 1 and 2, the storage grids 104 of each storage structure 1 form a framework 100 of a total of 1,144 grid cells, the width and length of the framework corresponding to the width and length of 143 grid columns. The upper layer of the framework 100 is a rail system 108 upon which a plurality of container handling vehicles 200, 300 operate.

[0064] The framework 100 of the automated storage system 1 of the present invention is constructed in accordance with the prior art framework 100 described above, i.e., constructed with a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 103, which further include a rail system 108 of parallel rails 110, 111 in the X and Y directions, respectively, which are arranged across the top of the storage columns 105. The horizontal area of ​​a single grid cell, i.e., the area along the X and Y directions, can be defined by the distance between adjacent rails 110, 111, respectively (see also FIGS. 3 and 4). In FIGS. 1 and 2, such grid cells 122 are marked above the rail system 108 by bold lines.

[0065] The rail system 108 allows the container handling vehicles 200, 300 to move horizontally between different grid locations, each of which has a grid Associated with Docel 122.

[0066] 1A and 1C, the storage grid 104 is shown with a height of eight cells. However, it is understood that the storage grid 104 can, in principle, be of any size. In particular, it is understood that the storage grid 104 can be significantly wider and / or longer than that disclosed in FIGS. 1 and 2. For example, the grid 104 can have a horizontal extent of more than 700x700 grid cells 122. The grid 104 can also be significantly deeper than that disclosed in FIGS. 1 and 2. For example, the storage grid 104 can be greater than 12 grid cells deep.

[0067] The storage container vehicles 200, 300 may be of any type known in the art, for example any one of the automated container handling vehicles disclosed in WO2014 / 090684A1, NO317366 or WO2015 / 193278A1.

[0068] 3-5 show a first embodiment of a service vehicle 2 disposed on a rail system 108. The service vehicle 3 includes a vehicle body 3 and two rollers in the form of caterpillar tracks 6, 7, each including an endless belt 6d having a length L and disposed at least partially below the vehicle body 3. Each of the rollers 6, 7 is driven with the aid of a belt motor and belt wheels 6a, 6b, which are disposed in the belt 6d at both belt ends (i.e., at the front and rear of the roller). In one exemplary configuration, a common belt motor is used for both belts 6d.

[0069] The first and second rollers 6, 7 are arranged symmetrically about the vertical mid-plane of the service vehicle 2 in the direction of travel of the service vehicle 2 and protrude at least partially from the horizontal extremities of the vehicle body 3. The service vehicle 2 can be divided into two functional parts: a container vehicle handling part 4 which includes components involved in any mechanical interaction with the container handling vehicles 200, 300 that are to be serviced, and an operating part 5 which includes any components involved in the operation of the service vehicle 2. In this particular embodiment, the two parts are spatially separated with respect to the horizontal extent of the service vehicle 2.

[0070] In the example shown in Figures 3-5, each of the first and second rollers 6, 7 includes a looped chain 6d and two toothed belt wheels 6a, 6b, which are arranged inside the chain 6d at each of the longitudinal ends of the rollers 6, 7. The first toothed belt wheel 6a is arranged at the terminal ends (front and rear) of the chain 6d and has a diameter large enough to engage with both the lower and upper parts of the chain 6d. The second toothed belt wheel 6b, in the example, has a smaller diameter than the first toothed belt wheel 6a and is arranged to engage with the lower part of the chain 6d at a location further toward the longitudinal center of the caterpillar tracks 6, 7.

[0071] It should be noted that the terms "upper" and "lower" are measured relative to the underlying rail system 108. The looped chains 6d that make up the two rollers 6, 7 (i.e., one chain 6d for each roller 6, 7) are preferably made of an elastic material. The elastic material can be non-damaging when moving in contact with the upper surfaces of the rails 110, 111. For example, each chain 6d can be at least partially made from or covered with an elastomer, such as polyoxymethylene (POM). Alternatively or additionally, the upper surfaces can be covered with the same or a similar material.

[0072] One or more of the toothed wheels 6a, 6b and / or one or both of the belts 6d are connected to a drive mechanism including a drive motor (not shown). For example, one or both of the first toothed belt wheels 6a of one or both of the belts 6d can function as drive wheels that engage and drive their respective rollers 6, 7. Additionally, a second drive motor can be connected to one or both of the second toothed belt wheels 6b for one or both of the rollers 6, 7.

[0073] By virtue of the arrangement of the first and second rollers 6, 7, the service vehicle 2 is arranged to move horizontally in any direction on the rail system 108 by a control system 12, which is either located on-board the service vehicle 2 or located remotely from the service vehicle 2 (see also Figures 16-18). If the control system 12 is on-board the service vehicle 2, any movement pattern and speed setting can be performed by any operator 50 located inside the service vehicle 2 by operation of one or both of the first and second rollers 6, 7 via their motors.

[0074] In the first embodiment, the container vehicle handling part 4 includes a transfer device 8, which again includes one or more transfer beams 8b extending from the operating part 5, a transfer motor 8c connected to the transfer beams 8b, and an attachment device 8d operatively connected to the transfer motor 8c. In the particular embodiment shown in Figures 3-5, the attachment device 8d includes a lifting hook attached to a winch line that is spooled onto a rotatable drum 8e. However, those skilled in the art will understand that any mechanism capable of raising and lowering the container handling vehicles 200, 300 relative to the underlying rail system 108 may be applied.

[0075] Furthermore, the operating parts 5 include an operating system 12 with a control stick for adjusting the direction of the service vehicle 2 relative to the rail system 108, and a speed regulator for adjusting the speed of the service vehicle 2 relative to the rail system 108. The operating parts 5 further include an operator chair 13 and handles 14, which are located on either side of the vehicle body 3 to facilitate the exit and entry of the operator 50 from and into the operator chair 13, respectively. The handles 14 may also be used for other purposes, such as, for example, as an attachment point during lifting or lowering procedures of the service vehicle 2 onto the rail system 108.

[0076] As can be seen in Figures 3-5, the length L of both roller or caterpillar tracks 6, 7 can extend over several grid cells 122, ensuring stable operation on the rail system 108 in all horizontal directions.

[0077] The procedure for lifting up the container handling vehicles 200, 300 according to the first embodiment can best be seen in Figure 5. The operator 50 maneuvers the service vehicle 2 to the appropriate position, where the container handling vehicle to be serviced 300 is adjacent to the part of the service vehicle 2 closest to the transfer device 8. If required, the operator 50 can fine-tune the horizontal position of the service vehicle 2 to ensure the horizontal position of the transfer device 8 ready for attachment to the container handling vehicle 300 (and lifting of the container handling vehicle 300). In the particular configuration shown in Figure 5, the vehicle body 3 can be displaced horizontally relative to the rollers 6, 7, as illustrated by the thick arrow, for example by use of a dedicated displacement motor and internal rail arrangement (not shown). When the container handling vehicle 300 has been raised to a raised position above the rollers 6, 7, the operator 50 can displace the vehicle body 3 relative to the rollers 6, 7 to a transport position in which the container handling vehicle 300 is at least partially positioned within the horizontal range of the rollers 6, 7, ensuring high stability during the horizontal movement of the service vehicle 2 over the rail system 108.

[0078] 6 to 9 show a second embodiment of the service vehicle 2 of the present invention. In this embodiment, the transfer device 8 of the service vehicle 2 comprises a base plate 8a of width G that is configured to support one or more container handling vehicles 200, 300. The width G should therefore be adapted to the overall width of the container handling vehicles 200, 300 and to the number of container handling vehicles 200, 300 that are to be serviced. For example, in order for the service vehicle 2 to allow the transport of at least one container handling vehicle 200, 300, the width G should be equal to or greater than the corresponding width of the container handling vehicle 200, 300, thereby allowing access above the base plate 8a.

[0079] The procedure for picking up a container handling device 200, 300 by a service vehicle 2 according to the second embodiment may proceed in the following manner. - (Fig. 6A) An operator 50 operating the service vehicle 2 guides the service vehicle 2 into a position adjacent to one or more container handling vehicles 200, 300 to be transported.

[0080] - (Figures 7A and 7B) When the service vehicle 2 is in position, the base plate 8a of the handling device 8 is lowered from a transport position to an interaction position, in which the base plate 8a is raised relative to the underlying rail system 108, and in which the base plate 8a is in contact or near contact with the underlying rail system 108. As is evident from the framed detail drawing in the upper right corner of Figures 7A and 7B, one edge of the base plate 8a is adjacent (Figure 7A) or in contact (Figure 7B) with the wheel arrangement 201, 301 of the container handling vehicle 200, 300.

[0081] - (Fig. 7C) When the base plate 8a is in the interaction position, one or more container handling vehicles 200, 300 are moved, for example by remote operation, above the base plate 8a so that none of the wheels in the wheel arrangements are in contact with the rail system 108. Alternatively, the container handling vehicles 200, 300 may be kept stationary and the service vehicle 2 may be moved so that the base plate 8a is pushed under the container handling vehicles 200, 300.

[0082] - (Fig. 7D) When the container handling vehicle or vehicles 200, 300 are fully in place on the base plate 8a, the operator 50 operates the transfer device 8 of the container vehicle handling part 4 so that the base plate 8a is lifted from the interaction position to the transport position.

[0083] - (FIGS. 8A and 8B) The service vehicle 2, together with one or more container handling vehicles 200, 300, is moved to its predetermined position on or outside the rail system 108.

[0084] The unloading process, i.e., the transport of one or more container handling vehicles 200, 300 by service vehicles 2 to a predetermined position on the rail system 108 for normal operation, proceeds equal to or similar to the loading process described above, but in the reverse sequence.

[0085] With particular reference to FIG. 8A, it can be seen that the length of the roller / caterpillar tracks 6, 7 extends across four grid cells 122 in this example. The grid cells 122 that make up the grid openings 115 are marked in Figures 6A and 8B by thick lines.

[0086] As for the first embodiment, the rollers 6, 7 are driven with the aid of a belt motor and belt wheels 6a, 6b, which are arranged in an endless belt 6d at both belt ends.

[0087] FIG. 9 shows that an operator 50 operating the second embodiment service vehicle 2 can access the rail system 108 by using the base plate 8a as a support, thereby allowing access to any component on the rail system 108.

[0088] A third embodiment of the service vehicle 2 of the present invention is shown in FIGS. Similar to the first embodiment described above, the transfer device 8 includes a winch arrangement having a support 8a for supporting the container handling vehicle 200, 300 from above, a lifting mechanism 8c in the form of a rotatable handle, and a transfer drum 8e connected to the lifting mechanism 8c. As with the first and second embodiments, the caterpillar tracks / rollers 6, 7 have a length L extending across approximately four grid cells 122 and are spaced apart by a width G (see FIG. 11C ). The minimum width of G should be equal to or greater than the overall width of the container handling vehicle 200, 300 to be serviced. Furthermore, the looped chains 6d of the rollers 6, 7 are driven by belt wheels 6a, 6b disposed along both longitudinal lengths of the rollers 6, 7.

[0089] The procedure for picking up a container handling device 200, 300 by a service vehicle 2 according to the third embodiment may proceed in the following manner. - (Fig. 11A) An operator 50 located inside the service vehicle 2 guides the service vehicle 2 to a position adjacent to one or more container handling vehicles 200, 300 to be transported.

[0090] - (Fig. 11B) The position of the service vehicle 2 is fine-tuned so that the transfer device 8 is in an interaction position, i.e. directly or nearly directly above the corresponding attachment mechanism of the container handling vehicle(s) 200, 300 (not shown). This interaction position may for example be obtained by moving the service vehicle 2 so that the container handling vehicle(s) 200, 300 are positioned between the rollers 6, 7.

[0091] (FIG. 11C) When the transport device 8 is in the interaction position, the operator 50 The lifting mechanism 8c is operated either manually or by the control system 12, or a combination thereof. In Figure 11C, the lifting mechanism 8c is a crank handle coupled to a winch / drum 8e. By rotating the crank handle 8c, an attachment device 8d in the form of a hook connected to the transfer line is lowered and attached to a corresponding receiving device (not shown) on one or more container handling vehicles 200, 300.

[0092] - (Figure 11C) When the one or more container handling vehicles 200, 300 are securely attached to the mounting device 8c, the operator operates the lifting mechanism 8c, causing the one or more container handling vehicles 200, 300 to be lifted from the interaction position to a transport position away from the rail system 108.

[0093] - (Fig. 10) The service vehicle 2, together with one or more container handling vehicles 200, 300, is moved to its predetermined position on or off the rail system 108.

[0094] The unloading process, i.e., the transport of one or more container handling vehicles 200, 300 by service vehicles 2 to a predetermined position on the rail system 108 for normal operation, proceeds equal to or similar to the loading process described above, but in the reverse sequence.

[0095] With particular reference to FIG. 10, it can be seen that the length of the rollers 6, 7 also extends across four grid cells 122 in this example. Figures 12 to 14 show a fourth embodiment of a service vehicle 2 arranged on a rail system 108. The vehicle body 3 includes a safety fence 33 that defines an enclosed area, for example a protective chamber for accommodating an operator / personnel 50. The protective chamber is arranged with a seat 13 for the operator 50 in the example shown in Figures 12 to 14.

[0096] The safety fence 33 may be made from wall panels that are arranged on the horizontal base of the vehicle body 3. Furthermore, at least one of the wall panels may be made from a transparent panel.

[0097] The transfer device 8, in this embodiment, may be a hatch or any other pivotable device onto which one or more container handling vehicles 200, 300 may be driven.

[0098] The procedure for transferring one or more container handling devices 200, 300 from a service vehicle 2 to a predetermined location on the rail system 108 according to the fourth embodiment may proceed in the following manner.

[0099] - (Figures 12 and 13A) The service vehicle 2 accompanied by an operator 50 moves to a position adjacent to one or more storage grid cells 122 in which the container handling vehicles 200, 300 to be serviced are located.

[0100] - (Fig. 13B) When in position, the hatch 8 is opened either by the operator 50 (manually and / or by the on-board control system), by the remote control system, or a combination thereof. In the fully open position, the end of the hatch 8 away from the service vehicle 2 is aligned with the target grid cell 122. 110, 111 contacts the underlying rail system 108 at or near one of the rails 110, 111 that make up the rail system 108.

[0101] - (Figure 13C) One or more container handling vehicles 200, 300 are guided onto the rail system 108 through the opened hatch 8 either by an operator 50 (manually and / or by an on-board control system), by a remote control system, or a combination thereof.

[0102] - (Fig. 13D) One or more container handling vehicles 200, 300 are finely positioned by an operator 50 (manually and / or by an on-board control system), by a remote control system, or a combination thereof.

[0103] 14, in one exemplary configuration, an operator 50 can open an inspection door 34 on a side of the service vehicle 2, e.g., on the side opposite the side with the hatch 8. Such a configuration can be useful and allows for further manual inspection of the storage system 1.

[0104] A fifth embodiment of a service vehicle 2 is illustrated in Figure 15. The embodiment is similar to the third embodiment (Figures 10 and 11) except for the configuration and operation of the transport device 8.

[0105] Instead of the winch-type crane systems 8c, 8d, 8e shown in the third embodiment, the one or more container handling vehicles 200, 300 are lifted by one or more lifting hooks 8d, which are positioned on the vehicle body 3 in the container vehicle handling part 4. As with the embodiment disclosed above, the rollers 6, 7 are spaced apart by a width G.

[0106] The term lifting hook 8d should be interpreted to include any gripping mechanism capable of gripping a container handling vehicle 200, 300. In this fifth embodiment, the lifting hook 8d is connected to lifting structures 8f, 8g that enable vertical movement of the lifting hook 8d. The lifting structures can include, for example, one or more vertical linear actuators 8f that drive a frame 8g, on which the lifting hook 8d is mounted. The term "vertical linear actuator" is defined herein as any linear actuator capable of movement in a direction having a significant non-zero vertical component. However, in a preferred example, the vertical linear actuator is configured to effect vertical movement with zero (or essentially zero) horizontal displacement.

[0107] The design of the lifting hook 8d (or alternative gripping mechanism) should be such that it allows for interaction with any external design of the vehicle body of the associated container handling vehicle 200, 300. For example, the vehicle body of each container handling vehicle 200, 300 may include one or more receivers 302, such as recesses / openings / rings etc., into which the lifting hook 8d may be inserted.

[0108] The operation of the lifting hook 8d may be controlled by an operator 50 (manually and / or by an on-board control system 12), by a remote control system, or a combination thereof.

[0109] Additionally, the service vehicle 2 may be equipped with an alignment unit 9 configured to assist the operator 50 in safely maneuvering the service vehicle 2 to its final position on the rail system 108. The alignment unit 9 may be, for example, an image capturing unit 9 including a forward camera 9a and a rearward camera 9b as illustrated in FIG. 15 and / or one or more rotatable cameras. The image capturing unit 9 may be any optical instrument for recording or capturing images. The images or film may be stored locally, transmitted to a remote location, or a combination thereof.

[0110] The image capturing unit 9 may be controlled and visualized by an operator 50 on board the service vehicle 2, remotely, or a combination thereof. Furthermore, the first to fifth embodiments of the service vehicle 2 preferably include an emergency stop button 12a as shown in FIG. 15, which forms part of the on-board control system 12.

[0111] 16 to 18 show a sixth embodiment of a service vehicle 2 according to the present invention, in which all operations of the vehicle 2 are performed completely remotely, i.e. without the need for a human operator to directly interact with the control system on board the vehicle 2 during the service procedure.

[0112] In the sixth embodiment, the service vehicle 2 comprises two caterpillar tracks / rollers 6, 7 connected to two opposite vertical sides of the vehicle body 3. At least one of the two other vertical sides of the vertical body 3 is configured to receive at least one container handling vehicle 200, 300 that is to be serviced.

[0113] Figures 16 to 18 show a particular configuration in which the service vehicle 2 includes two guiding pins 35 mounted on each of the opposite vertical sides of the vehicle body 3 to which the caterpillar tracks 6, 7 are connected. The end of each guiding pin 35 nearest the container handling vehicle receiving side of the vehicle body 3 exhibits a wedge shape which enables the container handling vehicle 200, 300 to be correctly guided into the vehicle body 3. Remotely operated alignment units 9 in the form of a front camera 9a and a rear camera 9b are mounted on the upper horizontal sides of the vehicle body 3.

[0114] The transfer device 8 includes a lifting mechanism 8c that includes one or more vertical linear actuators 8f. Each of the actuators 8f has one end connected to a pivot support 8h that is pivotally coupled to the vehicle body 3 with an axis of rotation parallel to the underlying rail system 108, and the other end connected to a lifting claw 8d. The lifting claw 8d may be horizontally displaceable relative to the vehicle body 3 (i.e., have a non-zero horizontal component) by using a horizontal linear actuator 8i.

[0115] The service vehicle 2 is operated remotely by a remote control system via one or more on-board transmitters 36. Exemplary locations for such transmitters 36 are on the vertical linear actuators as shown in Figures 16-18. Alternatively or additionally, similar transmitters 36 may be located on the vehicle body 3, in the alignment unit 9, on one or both of the rollers 6, 7, etc.

[0116] For the embodiments disclosed above, the caterpillar tracks / rollers 6, 7 have a length L that extends across a plurality of grid cells 122 (preferably four or more).

[0117] In the sixth embodiment, the opening in the vertical container handling vehicle receiving side of the vehicle body 3, including any guiding pins 35, has a minimum width G equal to or greater than the overall width of the container handling vehicles 200, 300 to be serviced.

[0118] The procedure for picking up a container handling device 200, 300 by a service vehicle 2 according to the third embodiment may proceed in the following manner. - (Fig. 17A) The service vehicle 2 approaches a suitable position adjacent to one or more container handling vehicles 200, 300 to be transported using signal communication between the remote control system and one or more of the on-board transmitters / receivers. If required, the orientation of the service vehicle 2 is changed so that the vehicle receiving opening of the service vehicle 2 faces towards the container handling vehicles 200, 300.

[0119] - (Figures 17B and 17C) The service vehicle 2 is remotely guided so that the container handling vehicle 200, 300 enters through the receiving opening of the vehicle body 3 between the two caterpillar tracks / rollers 6, with the transfer device 8 in the interacting position, i.e. with the plurality of lifting claws 8d located on two opposite vertical sides of the or each container handling vehicle 200, 300. Alternatively, the service vehicle 2 can be kept stationary and the container handling vehicle 200, 300 can be remotely guided into the vehicle receiving opening. The correct horizontal position of the container handling vehicle 200, 300 inside the vehicle body 3 can be further controlled by stops 37 located on the opposite vertical sides of the receiving opening. Such stops 37 also contribute to increasing the stability of the container handling vehicle 200, 300 inside the vehicle body 3. In the example shown in Figures 16 to 18, this stopper is illustrated as a horizontally extending bar that is positioned to abut against the container handling vehicle 200, 300 when the container handling vehicle 200, 300 is completely inside the vehicle body 3 of the service vehicle 2.

[0120] - (Figure 18A) When the transfer device 8 is in an interaction position relative to the container handling vehicle 200, 300, the lifting claw 8d is displaced horizontally using the horizontal linear actuator 8i until the lifting claw 8d makes physical contact with the container handling vehicle 200, 300.

[0121] - (Fig. 18B) The vertical linear actuator 8f is remotely operated and causes, due to pivotal movement of the pivot support 8h, the vehicle body 3 to be lifted from the rail system 108. Due to the established physical contact between the lifting claw 8d and the container handling vehicle 200, 300, the container handling vehicle 200, 300 is lifted from the rail system 108, thereby setting the service vehicle 2 into a transport position.

[0122] - The service vehicle 2 is connected to one or more container handling vehicles 200, 300 Both are moved into their predetermined positions on the rail system 108 or moved off the rail system 108 .

[0123] The unloading process, i.e., the transport of one or more container handling vehicles 200, 300 by a service vehicle 2 to a predetermined position on the rail system 108 for normal operation, proceeds equal to or similar to the loading process described above, but in the reverse sequence.

[0124] In all embodiments, the rollers 6, 7 include a looped chain 6d driven by toothed belt wheels 6a, 6b disposed within the chain 6d. However, configurations in which one or more of the toothed wheels 6a, 6b are disposed outside the looped chain 6d are also envisioned. Instead of toothed wheels 6, 7, the rollers 6, 7 can include alternative drive mechanisms, such as wheels having other types of means for meshing or coupling with their respective chains 6d. Furthermore, the rollers 6, 7 can be comprised of components other than endless belts, for example, a set of wheels wide enough to cover at least one grid cell 122.

[0125] Although only the sixth embodiment is disclosed without a dedicated space for a human operator, all embodiments of the service vehicle 2 can be easily configured to be operated on the rail system 2 without the need for an on-board operator 50, for example, with operations performed fully by a remotely located human operator 50, or by a fully or partially automated control system, or a combination thereof.

[0126] Also, embodiments may be envisioned in which the complete operation of the service vehicle 2 is attributable in part to the actions of an on-board operator and in part to a remotely located human operator, or alternatively, to a combination between the actions of an on-board operator and a fully or partially automated control system.

[0127] In the preceding description, various aspects of the vehicle and storage system according to the present invention have been described with reference to illustrative embodiments. For purposes of explanation, specific numbers, systems, and configurations have been set forth to provide a thorough understanding of the vehicle and its operation. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the vehicle that are apparent to those skilled in the art of the disclosed subject matter, are deemed to be within the scope of the present invention. [Explanation of symbols]

[0128] 1. Warehouse Systems / Storage Structures 2 Service vehicles 3 Vehicle body 4 Container vehicle handling parts 5 Operation parts 6 First propulsion means / propulsion mechanism / rolling means / roller / caterpillar track 6a: First toothed belt wheel for each of the endless belts 6, 7 6b Second toothed belt wheel for each of the endless belts 6, 7 6c Inner surface of endless belts 6 and 7 6d Loop Chain / Endless Belt 7 Secondary propulsion means / propulsion mechanism / rolling means / roller / caterpillar track ck 8. Transport Devices 8a Base Plate / Transfer Device Support 8b Transfer beam 8c Transfer motor / lifting mechanism 8d Mounting Device / Lifting Hook / Lifting Claw 8e Transfer drum 8f Vertical Linear Actuator Frame connected to 8g vertical linear actuator and lifting hook 8h Pivoting support for vertical linear actuators 8i Horizontal Linear Actuator 9 Alignment unit / Image capturing unit 9a Front camera 9b Rear camera 12 Operating Systems / Control Systems 12a Emergency stop 14 Handle 13 Operator chair 33 Safety Fence 34 Inspection Door 35 Guiding pin 35a Wedge shape at the end of the guiding pin 36 Transmitter / Receiver 37 Stopper 50 Operators 100 Framework Structure 102 Framework structure upright members 103 Horizontal members of framework structures 104 Storage Grid / 3D Grid 105 Storage Column 106 Storage Container 107 stacks 108 Rail System 110 First set of parallel rails in the first direction (X) 111 A second set of parallel rails in the second direction (Y) 115 Grid Opening 119 Drop-off Port Column 120 Pickup port column 122 grid cells 200 First Container Handling Vehicle 201 Wheel structure 300 Second Container Handling Vehicle 301 Wheel structure 302 Receptacle (for lifting hook 8d) X first direction Y Second direction P horizontal plane L length of propulsion means 6, 7 W width of propulsion means 6, 7 G. Width of the gap between the first and second endless belts 6, 7

Claims

1. a storage grid including storage columns arranged in rows, wherein the storage containers are a storage grid stacked one on top of the other within the tube column; A rail system disposed in a horizontal plane and extending in a first direction. a first set of parallel rails and a second set of parallel rails disposed in the horizontal plane and extending in the first direction; a second set of parallel rails extending in a second orthogonal direction, and the second set of rails form a grid pattern in the horizontal plane. a rail system, the grid pattern including a plurality of adjacent grid cells; At least one of the first direction and the second direction on the rail system at least one container handling vehicle configured to move in one of the 、 a service vehicle for travel on said rail system; Including, The service vehicle is said at least one container handling vehicle operating on said rail system; a container vehicle handling part for mechanically interacting with the Operation parts for controlling the operation of the service vehicle; Located at the bottom of the service vehicle, it extends in any direction over the top of the rail system. a propulsion means for enabling movement of the service vehicle in the direction Including, The propelling means includes an endless belt extending in a longitudinal direction and a drive shaft for driving the endless belt. a belt motor for driving the The propelling means may be configured to move the two grips in the first direction and / or the second direction. and having an overall length L that exceeds the distance across the dosel. Automated warehouse system.

2. The propulsion means, more specifically, a first caterpillar track including a longitudinally extending first endless belt; The first caterpillar track is oriented parallel to the first endless belt. a second caterpillar track including a second longitudinally extending endless belt attached thereto; And, the belt motor driving at least one of the first and second endless belts; and Including, The first and second caterpillar tracks extend over the top of the rail system. When moving in the first direction and the second direction, two grid cells and having an overall length L that exceeds the distance across the Movement of the caterpillar tracks over the top of the rail system A tapilar track is supported on the rail system but engages the rail itself. It shows that The automated warehouse system according to claim 1 .

3. The first caterpillar track is in contact with the first endless belt. further including at least one first belt wheel; The belt motor drives the first belt wheel through the at least one first belt wheel. The endless belt is configured to drive the The second caterpillar track is in contact with the second endless belt. further including at least one second belt wheel; The belt motor drives the second belt wheel through the at least one second belt wheel. configured to drive an endless belt of The automated warehouse system according to claim 2.

4. The first caterpillar track contacts the inner surface of the first endless belt. at least one first belt wheel; The at least one first belt wheel is connected to a rotation axis of the first endless belt. having an axis of rotation parallel to the line, The second caterpillar track contacts the inner surface of the second endless belt. at least one second belt wheel; The at least one second belt wheel is connected to a rotation axis of the second endless belt. having an axis of rotation parallel to the line, The automated warehouse system according to claim 2.

5. The first caterpillar track and the second caterpillar track are The first and second endless belts are spaced apart from each other along the direction of the rotation axis of the first or second endless belt. It is arranged as follows: The automated warehouse system according to claim 4.

6. The container vehicle handling parts of the service vehicle include: At least one station is located between the operating position on the rail system and the transport position in the vehicle body. a transfer device configured to transfer two container handling vehicles; powering the transport device to enable transport of the container handling vehicle; a transport motor configured to Including, The automated warehouse system according to claim 1 .

7. At least a portion of the transport device extends along a direction generally perpendicular to the horizontal plane. configured to move between an upper position and a lower position; The upper and lower positions are located above the horizontal plane. The automated warehouse system according to claim 6.

8. The container vehicle handling parts of the service vehicle include: At least one station is located between the operating position on the rail system and the transport position in the vehicle body. a transfer device configured to transfer two container handling vehicles; powering the transport device to enable transport of the container handling vehicle; a transport motor configured to Including, The transport device includes the first caterpillar track and the second caterpillar track. and at least partially disposed between the The automated warehouse system according to claim 2.

9. The transfer device is configured to support the container handling vehicle from below. It is being The automated warehouse system according to claim 6.

10. the transfer device includes a base plate; The container handling vehicle may be supported on the base plate. The automated warehouse system according to claim 6.

11. The operation parts of the service vehicle include: a propulsion motor enabling movement of said service vehicle along said horizontal plane; 、 Operates both the direction and speed of movement of the service vehicle relative to the rail system. and an operating system that allows the computer to control and regulate Including, The automated warehouse system according to claim 1 .

12. The service vehicle is configured to allow visual inspection of the surroundings of the service vehicle. an alignment unit including: The automated warehouse system according to claim 1 .

13. The service vehicle is of the at least one container handling vehicle in the horizontal plane. and arranged to transport at least one arranged to transport one or more persons, The automated warehouse system according to claim 1 .

14. The service vehicle includes a transmitter for establishing signal communication with a remote control system. Including, The automated warehouse system according to claim 1 .

15. The container vehicle handling parts of the service vehicle are mounted on the rail system. and a transport position in the vehicle body. a transport device configured to transport the vehicle; The transfer device comprises: attachment for releasable attachment to said at least one container handling vehicle; a mounting device; one end of the vehicle body at least indirectly attached to the vehicle body; a vertically oriented mounting device at least indirectly attached to the mounting device; Linear Actuators and Including, The vertical linear actuator is attached to the vehicle body by the mounting device. configured to vertically displace the chair; The automated warehouse system according to claim 1 .

16. A method for operating a service vehicle in an automated warehouse system according to claim 1. hand, By operating the operation parts, the at least one container handling a guide rail for guiding the service vehicle to a first position on the rail system adjacent to a service vehicle; And, between a working position above the rail system and a transport position above the rail system A transport device is controlled to transport the at least one container handling vehicle. And, Guiding the service vehicle to a predetermined second location on or outside the rail system. To do A method comprising:

17. A service vehicle for movement on a rail system of an automated warehouse system, The automated warehouse system a storage grid including storage columns arranged in rows, wherein the storage containers are a storage grid stacked one on top of the other within the tube column; A rail system disposed in a horizontal plane and extending in a first direction. a first set of parallel rails and a second set of parallel rails disposed in the horizontal plane and extending in the first direction; a second set of parallel rails extending in a second orthogonal direction, and the second set of rails form a grid pattern in the horizontal plane. a rail system, the grid pattern including a plurality of adjacent grid cells; At least one of the first direction and the second direction on the rail system at least one container handling vehicle configured to move in one of the Including, The service vehicle is a container for mechanically interacting with said at least one container handling vehicle; Tena vehicle handling parts and Operation parts for controlling the operation of the service vehicle; Located at the bottom of the service vehicle, it extends in any direction over the top of the rail system. a propulsion means for enabling movement of the service vehicle in the direction Including, The propelling means includes an endless belt extending in a longitudinal direction and a drive shaft for driving the endless belt. a belt motor for driving the The propelling means may be configured to move the two grips in the first direction and / or the second direction. and having an overall length L that exceeds the distance across the dosel. Service vehicle.

Images