Automated containment and retrieval system with barriers

Abstract

To provide an automated containment and retrieval system with barriers.SOLUTION: The automated containment and retrieval system (1) comprises: a three-dimensional storage grid (104) for storing storage containers (106); first and second container handling vehicles (201, 301) operating on the storage grid (104); and a central communication system (500) for controlling and communicating with the container handling vehicles (201, 301) for loading and unloading the storage containers (106) within the storage grid (104). The system also comprises a barrier (402) separating the three-dimensional storage grid (104) into a first section (S1) and a second section (S2), the barrier (402) having two states.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to an automated storage and retrieval system for storing and retrieving containers within a storage grid, and in particular to an automated storage and retrieval system that includes a barrier that physically prevents vehicles from moving between a first section and a second section of the storage grid. [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 the horizontal members 103. In these storage columns 105, storage containers 106, also known as receptacles, are stacked on top of each other to form 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 includes a rail system 108 arranged 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 includes a first set 110 of parallel rails arranged 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 arranged perpendicular to the first set of rails 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 may be used to guide the storage containers during their ascent out of the column 105 and their descent into the column 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 allow lateral movement of the container handling vehicle 201, 301 in the X and Y directions, respectively. In Figures 2 and 3, two wheels in each set are fully visible. The first set of wheels 201b, 301b are arranged to engage two adjacent rails of the first set of rails 110, and the second set of wheels 201c, 301c are arranged to engage two adjacent rails of the second set of rails 111. At least one of the sets of wheels 201b, 301b, 201c, 301c can be raised and lowered so that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c can be engaged with the respective set of rails 110, 111 at any one time.

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

[0008] Conventionally, and 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, and so on. 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. Thus, using, by way of example, the Cartesian coordinate system X, Y, Z shown in FIG. 1, the storage container identified as 106' in FIG. 1 can be said to occupy storage position X=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 skeletal 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 its position in the X and Y directions, while each storage cell may be identified by its 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 storing the storage containers 106 as they are transported across the rail system 108. The storage space may include a centrally arranged cavity within the vehicle body 201 a, as shown in FIG. 2 and described, for example, in WO 2015 / 193278 A1, 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 a footprint that covers 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, 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 that is larger 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 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 they can be transported to access stations (not shown), where they can be accessed from outside the skeleton structure 100 or transferred out of or into 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, then loaded by any container handling vehicle and transported to port columns 119, 120 for further transport to an access station. Note that the term "diagonal" refers to the transport of storage containers 106 having a general transport orientation somewhere between horizontal and vertical.

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

[0018] An access station may typically be a picking station or a stockpiling station where product items are removed from or placed into 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 once accessed, are 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 the 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 unloading the storage container 106 to transport it to the 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 above-positioned storage container prior to lifting the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as "excavation," may then be performed using the same container handling vehicle used to transport the target storage container to unload port column 119, or using one or more other cooperating container handling vehicles. Alternatively, or in addition, automated storage and retrieval system 1 may have a container handling vehicle dedicated specifically to the task of temporarily removing storage containers from storage column 105. Once target storage container 106 is removed from storage column 105, the temporarily removed storage container can be repositioned in the original storage column 105. However, the removed storage container may alternatively be relocated to another storage column.

[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 the storage container 106 to a location above the storage column 105 where it is to be stored. After any storage container located at or above the target location in the storage column stack 107 is removed, the container handling vehicles 201, 301 position the storage container 106 in the desired location. The removed storage container can then be lowered back into the storage column 105 or relocated to another storage column.

[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] A problem associated with known automated storage and retrieval systems 1 is that it is cumbersome for workers to access the rail system 108 to perform inspections or to perform maintenance on or remove a malfunctioning container handling vehicle.

[0026] Another significant problem with maintenance or removal of a malfunctioning vehicle is that in order for workers to access it with low or no risk of injury, a complete shutdown of the system 1 is required. Particularly for large systems 1, e.g., systems 1 with over 500 vehicles in operation simultaneously, a complete shutdown is highly undesirable due to the significant costs for the operators.

[0027] One object of the present invention is to improve the efficiency of automated containment and retrieval systems of the type described above. Another object of the present invention is to improve safety during maintenance and repair operations, as well as to improve efficiency during such maintenance and repair operations. [Prior art documents] [Patent documents]

[0028] [Patent Document 1] International Publication No. 2015 / 193278 [Patent Document 2] International Publication No. 2014 / 090684 Summary of the Invention [Means for solving the problem]

[0029] The present invention provides an automated storage and retrieval system, comprising: a three-dimensional storage grid for storing storage containers; first and second container handling vehicles operating on a storage grid; a central communications system for controlling and communicating with container handling vehicles for loading and unloading storage containers within the storage grid; Equipped with an automated containment and retrieval system comprising a barrier separating the three-dimensional containment grid into a first section and a second section; - an automated storage and retrieval system characterized in that the barrier has two states: a first state in which container handling vehicles are allowed to move between a first section and a second section, and a second state in which the barrier is used to physically prevent container handling vehicles from moving between the first and second sections.

[0030] Thus, the present invention provides an automated storage and retrieval system that has the capability to divide the working area of ​​the storage grid into isolated regions through the deployment of barriers and through a central communication system that coordinates the movement of container handling vehicles. In this way, a safe environment on the storage grid for operator access to obstacles can be provided, the safe environment being free of moving container handling vehicles.

[0031] In one aspect, the central communication system is configured to operate in conjunction with the barrier to provide a protected area on the containment grid that is free of moving container handling vehicles and allows an operator to correct a fault condition within the protected area.

[0032] In one aspect, the three-dimensional containment grid comprises a fence provided above the containment grid along its perimeter.

[0033] The term "security area" as used herein refers to an area with certain security and / or safety regulations, where some actions may be allowed within a protected area while the same actions are not allowed in other areas.

[0034] In one aspect, the system includes an actuator for moving the barrier between its first and second states, and the central communication system is configured to control the actuator.

[0035] In one aspect, the central communication system comprises: - detecting whether a fault condition exists in one of the first segment or the second segment when the barrier is in a first state; - controlling all functioning container handling vehicles to move away from the section in which the fault condition exists; controlling the actuator to move the barrier to its second state; The device is configured to:

[0036] Once all other container handling vehicles have been moved away from the section where the fault condition exists, it is then safe for personnel to correct the fault condition because other container handling vehicles are physically prevented from moving to or near the location of the fault condition.

[0037] In one aspect, once the fault condition is corrected, the central communication system is configured to control the actuator to again move the barrier to its first state and allow the container handling vehicle to move into the segment where the fault condition existed. The central communication system may also be configured to control the container handling vehicle to enter the segment where the fault previously existed.

[0038] Thus, during the repair and / or recovery period, other vehicles may carry out their normal operations in the segments where the fault condition did not exist. Thus, efficiency is improved as some vehicles are allowed to operate at all times, with one exception being a situation where a fault condition exists in all segments simultaneously.

[0039] In one aspect, the fault condition may be a vehicle that is not operating properly. In one aspect, the fault condition may be an improperly positioned storage container. In one aspect, the fault condition may be an improperly positioned product item. In one aspect, the fault condition may be automatically detected and a signal indicating that the fault condition exists is automatically sent to a central communication system. The signal may include a location relative to the fault condition. The location may include a section of the storage grid where the fault condition is detected. Alternatively, the signal may be given manually by a person.

[0040] In one aspect, the sections are substantially the same size.

[0041] In one aspect, the barrier defines a separation boundary between the first and second partitions. In one aspect, the separation boundary is linear. In one aspect, the separation boundary is located between two rows of the storage column.

[0042] In one aspect, the barrier is movable from an initial position to a next position when the barrier is in a first state, and the first and second segments at the initial position are different from the first and second segments at the new position.

[0043] Thus, if an obstacle condition exists at the boundary between the first and second segments in the initial position, the obstacle condition may prevent the barrier from moving to its second state. By moving the barrier itself to a new position, the obstacle condition is no longer an obstacle for the barrier.

[0044] According to the above, it is achieved that the separation boundary can be moved.

[0045] In one aspect, the actuator is sufficiently powerful to push the container handling vehicle into either the first section or the second section when the barrier is moving from its first state to its second state.

[0046] In one aspect, a barrier is provided at a location above or below the vehicle travel level in the first state, and a barrier is provided within the vehicle travel level in the second state.

[0047] In one aspect, the barrier comprises a rollable barrier, a collapsible barrier, a sliding barrier, a linear moving barrier, or a pivotable barrier.

[0048] In one aspect, the system further comprises a walkway provided above the containment grid, the barrier suspended below the walkway.

[0049] In one aspect, the barrier is suspended from different types of structures above the containment grid, such as the ceiling of the building in which the containment grid is located, support beams for the ceiling, etc.

[0050] In one aspect, the storage grid comprises a continuous skeletal structure comprising upright members and horizontal members, the storage containers being stored in storage columns provided between the members, and the continuous skeletal structure comprising rails for guiding the vehicles during their movement on the storage grid and during their movement between the first and second sections.

[0051] In one aspect, the barrier may comprise a physical barrier in the form of a vehicle stopping element provided below vehicle travel level in a first state, and a post elevated at vehicle travel level in a second state.

[0052] The vehicle stopping element may comprise a post, a bar, or the like.

[0053] In one aspect, the vehicle stopping element is linearly movable using a linear actuator. In one aspect, the vehicle stopping post is pivotally movable using a rotary actuator.

[0054] In one aspect, the barrier is movably connected to the upright or horizontal member, and in the first condition, the barrier is positioned vertically below the rail.

[0055] In one aspect, the container handling vehicle includes a vehicle communication system with a vehicle transmitter and a vehicle receiver for communication with a central communication system and / or other container handling vehicles.

[0056] In one aspect, a vehicle transmitter and a vehicle receiver of a vehicle communication system are configured to communicate commands to open or close a barrier.

[0057] In one aspect, the system and vehicle transmitters and receivers are configured to use light for wireless communication, with the system transmitters and system receivers located within the automated storage system above, around, or below the storage grid.

[0058] The present invention also provides a method for correcting a fault condition in an automated storage and retrieval system, the automated storage and retrieval system comprising a three-dimensional grid for storing storage containers, first and second container handling vehicles operating on the storage grid, and a central communications system with a system transmitter and a system receiver for controlling and communicating with at least one container handling vehicle, the method comprising: - defining a three-dimensional storage grid with a first section and a second section separated from the first section; controlling a barrier of the automated storage and retrieval system between two states, a first state in which a container handling vehicle is allowed to move between the first and second sections, and a second state in which the container handling vehicle is physically prevented from moving between the first and second sections using the barrier; The present invention relates to a method comprising the steps of:

[0059] In one aspect, the method further comprises: - detecting whether a fault condition exists in one of the first segment or the second segment when the barrier is in its first state; - controlling all functioning container handling vehicles to move away from the section in which the fault condition exists; - controlling the barrier to its second state; Includes:

[0060] In one aspect, the method comprises: - When the barrier is in a first state, moving the barrier from an initial position to a next position, wherein the first and second segments at the initial position are different from the first and second segments at the new position.

[0061] In one aspect, the method comprises: - using a barrier to push the container handling vehicle into either the first section or the second section. The present invention provides, for example, the following items. (Item 1) An automated storage and retrieval system (1), comprising: a three-dimensional storage grid (104) for storing storage containers (106); - first and second container handling vehicles (201, 301) operating on said storage grid (104); a central communication system (500) for controlling and communicating with said container handling vehicles (201, 301) for loading and unloading storage containers (106) within said storage grid (104); Equipped with said automated storage and retrieval system (1) comprises a barrier (402) separating said three-dimensional storage grid (104) into a first section (S1) and a second section (S2), said barrier (402) being capable of being in two states, namely: a first state in which the container handling vehicle (201, 301) is allowed to move between the first section (S1) and the second section (S2); a second state in which the barrier (402) is used to physically prevent the container handling vehicle (201, 301) from moving between the first section (S1) and the second section (S2); An automated storage and retrieval system (1) comprising: (Item 2) Item 1. The automated storage and retrieval system (1) of item 1, wherein the central communication system (500) is configured to operate in conjunction with a barrier (402) to provide a protected area on the storage grid (104), the protected area being free of moving container handling vehicles (201, 301) and allowing an operator to correct a fault condition within the protected area. (Item 3) 3. The automated storage and retrieval system (1) of item 1 or 2, wherein the three-dimensional storage grid (104) comprises a fence (420) provided above the storage grid (104) along the boundary (B) of the three-dimensional storage grid (104). (Item 4) 4. The automated storage and retrieval system (1) of any one of items 1 to 3, wherein the system (1) comprises an actuator (M) for moving the barrier (402) between its first state and its second state, and the central communication system (500) is configured to control the actuator (M). (Item 5) The central communication system (500) - detecting whether a fault condition exists in one of the first or second segments (S1, S2) when the barrier (402) is in the first state; - controlling all functioning container handling vehicles (201, 301) to move away from said section (S1, S2) where a fault condition exists; - controlling said actuator (M) to move said barrier (402) to its second state; 5. The automated storage and retrieval system (1) according to item 4, configured to: (Item 6) 6. The automated storage and retrieval system (1) according to item 4 or 5, wherein the actuator (M) is strong enough to push a container handling vehicle (201, 301) into either the first section (S1) or the second section (S2) when the barrier (402) is moving from its first state to its second state. (Item 7) 7. The automated storage and retrieval system (1) according to any one of items 1 to 6, wherein the sections (S1, S2) are of substantially the same size. (Item 8) 8. The automated storage and retrieval system (1) of any one of items 1 to 7, wherein the barrier (402) is movable from an initial position to a next position when the barrier is in the first state, and the first and second sections (S1, S2) at the initial position are different from the first and second sections (S1, S2) at the next position. (Item 9) 9. The automated storage and retrieval system (1) of any one of items 1 to 8, wherein the system (1) further comprises an aisle (410) provided above the storage grid (104), and the barrier (402) is suspended below the aisle (410). (Item 10) 10. The automated storage and retrieval system (1) according to any one of claims 1 to 9, wherein the storage grid (104) comprises a continuous skeletal structure (100) comprising upright members (102) and horizontal members (103), the storage containers being stored in storage columns (105) provided between the members (102, 103), and the continuous skeletal structure (100) comprises rails (110, 111) for guiding the vehicles (201, 301) during their movement on the storage grid (104) and during their movement between the first section (S1) and the second section (S2). (Item 11) Item 11. The automated storage and retrieval system (1) according to item 10, wherein the barrier (402) is movably connected to the upright member (102) or the horizontal member (103), and in the first state, the barrier (402) is positioned vertically below the rails (110, 111). (Item 12) 1. A method for correcting a fault condition in an automated storage and retrieval system (1), the automated storage and retrieval system (1) comprising: a three-dimensional grid (104) for storing storage containers (106); first and second container handling vehicles (201, 301) operating on the storage grid (104); and a central communications system (500) with a system transmitter (401) and a system receiver for controlling and communicating with the at least one container handling vehicle (201, 301); The method comprises: - defining said three-dimensional storage grid (104) with a first section (S1) and a second section (S2) separated from said first section (S1); - controlling a barrier (402) of the automated storage and retrieval system (1) between two states, namely a first state in which the container handling vehicle (201, 301) is allowed to move between the first section (S1) and the second section (S2) and a second state in which the container handling vehicle (201, 301) is physically prevented from moving between the first section (S1) and the second section (S2) by means of the barrier (402); A method comprising: (Item 13) The method further comprises: - detecting whether a fault condition exists in one of the first or second segments (S1, S2) when the barrier (402) is in its first state; - controlling all functioning container handling vehicles (201, 301) to move away from said section (S1, S2) where said fault condition exists; - controlling said barrier (402) to its second state; Item 13. The method according to item 12, comprising: (Item 14) The method comprises: - When the barrier is in the first state, moving the barrier (402) from an initial position to a next position, wherein the first and second sections (S1, S2) at the initial position are different from the first and second sections (S1, S2) at the next position. (Item 15) The method comprises: - The method according to any one of items 12 to 14, comprising the step of using the barrier (402) to push the container handling vehicle (201, 301) into either the first section (S1) or the second section (S2). [Brief explanation of the drawings]

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

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

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

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

[0066] [Figure 4] FIG. 4 diagrammatically illustrates a side view of three separate containment grids.

[0067] [Figure 5] FIG. 5 illustrates diagrammatically a side view of one containment grid separated into three sections.

[0068] [Figure 6] FIG. 6 illustrates a first embodiment of a containment grid with a first type of barrier device.

[0069] [Figure 7] FIG. 7 illustrates an enlarged view of the first type of barrier device shown in FIG.

[0070] [Figure 8] Figures 8a and 8b illustrate a first and second state of a pivotally moving type barrier device connected to the skeleton structure of a containment grid.

[0071] [Figure 9] 9a and 9b illustrate a first state and a second state of a linear movement type barrier device connected to a skeleton structure of a containment grid.

[0072] [Figure 10] 10a and 10b illustrate a first state and a second state of the horizontally moving barrier.

[0073] [Figure 11] 11a and 11b illustrate a first and second state of the upwardly pivoting barrier.

[0074] [Figure 12a] FIG. 12a illustrates a vertically movable barrier device in the form of a rollable curtain made from reinforced fabric or fabric containing reinforcement elements.

[0075] [Figure 12b] FIG. 12b illustrates a vertically movable barrier device similar to a Venetian blind or pleated blind.

[0076] [Figure 12c]FIG. 12c illustrates a vertically movable barrier device in the form of an I-beam suspended in wires.

[0077] [Figure 12d] FIG. 12d illustrates a horizontally movable hinged panel wall.

[0078] [Figure 12e] FIG. 12e illustrates a horizontally slidable panel wall. [Figure 13] No explanation provided. DETAILED DESCRIPTION OF THE INVENTION

[0079] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings, which, however, should be understood as not intended to limit the invention to the subject matter depicted therein.

[0080] The automated 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 Figures 1-3, i.e., several upright members 102 and several horizontal members 103 supported by the upright members 102, and further, the skeleton structure 100 comprises a first upper rail system 108 with rails 110, 111 in the X and Y directions.

[0081] The framework 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102, 103, with storage containers 106 stackable in stacks 107 within the storage columns 105.

[0082] 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.

[0083] FIG. 4 is a side view of an embodiment in which the central communication system 500 uses light as the medium for communication within the storage system 1.

[0084] The storage system 1 is comprised of at least one container handling vehicle 201, 301, 404 for transporting the containers 106. These container handling vehicles 201, 301, 404 can be not only vehicles 201, 301 that move over the storage grid 104 and lift the containers 106 from the grid 104, but also remotely operated delivery vehicles 404 for transporting the storage containers 106 between the storage grid 104 and, for example, a port 403 for loading and unloading of the storage containers 106. The system 1 further comprises a central communication system 500 for communicating information to all parts of the system 1. The system 1 also comprises at least one port 403 to which the containers are transported and from which associated goods are removed for shipping. After the associated goods are removed, the containers 106 are sent back to the container handling vehicle 201, 301, 404 for transport back into the storage grid 104. Additionally, system 1 may include one or more barriers 402 that separate sections of storage grid 104. System 1 may also include other portions.

[0085] In a preferred embodiment of the present invention, a central communications system 500 communicates information to different portions of storage system 1 via multiple transmitters 401. These transmitters 401 use light as the medium for communication. The transmitters 401 are positioned around the perimeter of the storage grid 104 within the facility housing storage system 1, ensuring that all areas of storage system 1 are within line of sight of at least one transmitter 401.

[0086] The transmitter 401 can be in the form of an LED lamp to transmit information. A camera can be used to receive information. However, any other form of device for transmitting and receiving information using light as a medium for communication can also be used.

[0087] In the solution presented in this invention, where light is used as the medium of communication, it is essential that the transmitter 401 and receiver are within line of sight of each other. Thus, in large storage facilities, it may be necessary to use several transmitters 401 and receivers distributed within the facility housing the storage system 1 in order to cover all areas of the storage system 1.

[0088] If all transmitters and receivers on a container handling vehicle are unable to communicate via optical signals, the container handling vehicle automatically navigates to an inspection station. Alternatively, the container handling vehicles 201, 301, 404 can have a backup communication system. This backup communication system can be Wi-Fi. If the communication system that uses light as a medium for communication fails for some reason, the Wi-Fi system can take over communication with the central communication system 500.

[0089] In yet another alternative solution, communication between the central communication system 500 and the rest of the storage system 1 can be by using both optical and Wi-Fi as communication channels. Optical can be used as the medium for communication for communication from the central communication system 500 to the vehicles, ports, and barriers, and Wi-Fi can be used for communication from the vehicles, ports, and barriers to the central communication system 500.

[0090] To prevent light interference, the storage system 1 can be divided into sections. These sections can be separated by opaque dividers. These dividers can be curtains, screens, or barriers that can be raised or lowered when needed. This makes it possible to separate communication within one section from the rest of the section. One such section can be a grid separated from other grids, or a part of a grid separated from the rest of the grid. The storage grid can be separated into several such sections.

[0091] An associated advantage is that it makes it easier to perform maintenance on container handling vehicles on the grid. Furthermore, these sections can be protected areas in case of fire. An additional advantage of using light as a means of communication is that it is safer when there is a need for an emergency shutdown for the entire storage system. Because Wi-Fi is susceptible to interference from signals outside the storage system 1, there is a possibility that the interference could cause the container handling vehicles to perform unintended operations. By using light as a means of communication within the storage system 1, which is shielded from optical interference from outside, the possibility of unintended operation of the container handling vehicles is reduced to almost zero.

[0092] Furthermore, by separating the containment grid into sections that can be isolated from communication from outside the section, this makes it easier to ensure that container handling vehicles in a section are shut down, or alternatively, that container handling vehicles in a section are operable while the rest of the containment system 1 is shut down.

[0093] Figure 5 shows an embodiment of the present invention, where other types of communication can be used as an alternative to light being used as the medium in Figure 4. Thus, electromagnetic communication, such as radio-based communication, can also be used. Some types of such electromagnetic communication are commonly used in storage systems today and will not be discussed in further detail herein.

[0094] The central communication system 500 is connected to or integrated with a control system for operating the automated storage and retrieval system 1. Hence, the central communication system and control system are generally referred to in the drawings as 500.

[0095] 5, there is one large three-dimensional grid 104 that is separated into first, second, and third sections S1, S2, and S3. A first boundary B1-2 separates the first and second sections S1 and S2. A second boundary B2-3 separates the second and third sections S2 and S3.

[0096] There is one common rail system 108 with rails 110, 111 for the top level of the storage grid 104 to guide the vehicles 201, 301 during their operation on the storage grid 104 and during their movement between segments S1, S2, S3.

[0097] The automated storage and retrieval system 1 of Figure 5 includes two barriers 402. The barriers 402 have two states: a first state in which the container handling vehicles 201, 301 are allowed to travel between segments S1, S2, and S3, and a second state in which the barriers 402 are used to physically prevent the container handling vehicles 201, 301 from traveling between segments S1, S2, and S3. Note that the barriers 402 can be independently controlled. Thus, when the left barrier is in the second state and the right barrier is in the first state, vehicles can travel between the second and third segments S2, S3, but cannot travel between the first and second segments S1, S2.

[0098] Thus, when all barriers 402 are in the first state, container handling vehicles 201, 301 can operate on the entire grid 104 as if no divisions were defined at all.

[0099] However, when the barrier 402 is in a second state, the first section S1 provides a first protection area, the second section S2 provides a second protection area, and the third section S3 provides a third protection area, and all the protection areas are isolated from each other. Thus, some actions may be allowed in one protection area, while the same actions are not allowed in other protection areas.

[0100] The system 1 further comprises an actuator M for moving the barrier(s) 402 between its first and second states. Preferably, the central communication system 500 is configured to control the actuator M. The actuator M can be an electric motor, an electric and / or hydraulic actuator, etc. and is deemed to be known to those skilled in the art.

[0101] In Figures 5, 6 and 7, barrier 402 is a rollable type barrier in the form of a curtain similar to the separation walls commonly used in sports halls to separate the hall into smaller hall sections. This type of rollable barrier is also illustrated in Figure 12a. The curtain can be made from a reinforced fabric or a fabric containing reinforcement elements.

[0102] One alternative is shown in Figure 12b, which illustrates a vertically movable barrier device similar to a Venetian or pleated blind. Another alternative is shown in Figure 12c, where the barrier comprises a beam, such as an I-beam or H-beam, suspended using wires.

[0103] 5, a vehicle is shown moving within a vehicle travel level Z0, which indicates the height of the vehicle. In a first state, the barrier 402 is suspended above the vehicle travel level Z0. In a second state, the barrier is moved to this vehicle travel level Z0, physically preventing the vehicle from moving between sections S1, S2, and S3.

[0104] 6 and 7, barrier 402 is suspended below walkway 410, which is for use as a shortcut for people walking from one side of the grid to the other side of the grid. Alternatively, barrier 402 may be suspended from a different type of structure above the containment grid, such as the ceiling of the building in which the containment grid is located, support beams for the ceiling, etc.

[0105] In Figure 12d, an alternative barrier 402 in the form of a horizontally movable hinged panel wall is shown, where in a first state the barrier 402 is provided to the side of the vehicle travel zone Z0 and in a second state is slid or otherwise moved laterally into the vehicle travel zone Z0.

[0106] In Figure 12e, an alternative barrier 402 is shown in the form of a horizontally slidable panel wall 402a. The slidable panel wall 402a is slidably engaged with and rests on rails 403b above the grid structure. The slidable panel wall 402a may also be slidably engaged with the rails 110, 111 used by the container handling vehicles. There may be several such panel walls adjacent to each other along the boundary between the two regions S1, S2.

[0107] Reference is now made to Figures 8a and 8b, where a barrier 402 comprises a number of pivotable vehicle stopping elements 412 which, in a first state, are provided below the vehicle travel zone Z0 and, in a second state, are pivoted upward into the vehicle travel zone Z0.

[0108] Reference is now made to Figures 9a and 9b, where a barrier 402 comprises a number of linearly moving vehicle stopping elements 412 which, in a first state, are provided below the vehicle travel area Z0 and, in a second state, are displaced vertically upward into the vehicle travel area Z0.

[0109] The vehicle stopping element 412 does not need to be as tall as the vehicle or vehicle travel zone Z0, as long as it is tall and sturdy enough to physically prevent the vehicle from moving between the two sections. The vehicle stopping element 412 may comprise a post, a bar, etc.

[0110] The vehicle stopping elements 412 are provided along the first and / or second boundaries B1-2, B2-3 between sections S1, S2, S3. Typically, there is one vehicle stopping element 412 per storage column 105.

[0111] 13a and 13b, where an alternative vehicle stopping element 412 is shown slidably connected to the upright member 102 of the skeleton structure 100. The vehicle stopping element is here L-shaped so that in a first state it provides an element vertically below the rails 110, 111, yet still allows the vehicle stopping element to be pivoted upward into vehicle travel level Z0.

[0112] In this manner, the barrier 402 can be retrofitted to an existing storage grid 104 so that the storage grid can have the same number of columns without any horizontal expansion of the storage grid. operation

[0113] The operation of the barrier 402 is described in further detail below.

[0114] If a fault condition exists in one of the segments S1, S2, S3, the barrier 402 is engaged. The central communication system 500 then controls all of the container handling vehicles 201, 301 that are functioning to move away from the segment in which the fault condition exists, and then controls the actuator M to move the barrier 402 to its second state to isolate the fault condition to one of the segments.

[0115] Once all other container handling vehicles 201, 301 have been moved away from the section where the fault condition exists, it is then safe for the operator to correct the fault condition, as other container handling vehicles are physically prevented from moving to or near the location of the fault condition.

[0116] Once the fault condition has been corrected, the central communication system 500 is configured to control the actuator M to again move the barrier 402 to its first state and allow the container handling vehicles 201, 301 to move into the sections S1, S2 where the fault condition existed.

[0117] Thus, during the repair and / or recovery period, other vehicles may carry out their normal operations in the segment or segments where the fault condition did not exist. Thus, efficiency is improved as some vehicles are allowed to operate at all times, with one exception being a situation where a fault condition exists in all segments simultaneously.

[0118] Some further examples are given below. [Example]

[0119] In this example, the fault condition is a malfunctioning vehicle that cannot move to the inspection station by itself. The malfunctioning vehicle is parked in the first section S1. As a result, the malfunctioning vehicle must be retrieved from the grid to the inspection station and / or repaired on the grid, often requiring a person to move onto the grid using the inspection vehicle. The inspection vehicle may provide sufficient protection from moving vehicles adjacent to the inspection vehicle. However, in many cases, a person will need to extend their arm outward to reach the malfunctioning vehicle during repair / retrieval, or exit the inspection vehicle and stand on the storage grid. Thus, a potential risk of injury caused by adjacent moving vehicles exists.

[0120] According to the present invention, this can be avoided because all container handling vehicles 201, 301 except the malfunctioning one are moved away from the segment S1 where the fault condition exists. Of course, it is possible to use the central communication system 500 to command functioning vehicles to stay a predetermined distance away from the malfunctioning vehicle, or to command functioning vehicles to operate only in the second and / or third segments S2, S3. However, for persons performing inspection operations on the malfunctioning vehicle, the barrier 402 represents an added safety feature, as it physically prevents the vehicle from operating in the vicinity of the malfunctioning vehicle. [Example]

[0121] In this example, the obstruction condition is an improperly positioned storage container, i.e., a storage container that is in a position that does not allow a container handling vehicle to connect to it, where the storage container creates an obstruction for a storage container below the improperly positioned storage container and / or creates an obstruction for the movement of the container handling vehicle.

[0122] In a similar manner to the first embodiment, and now a person is required to move over the grid, for example using an inspection vehicle. [Example]

[0123] In this example, the obstruction condition is an improperly positioned product item, i.e., a product item that has fallen out of a storage container and is in a position where a container handling vehicle cannot connect to the storage container, where the storage containers cannot be stacked on top of each other, or where it creates an obstruction for the movement of a container handling vehicle.

[0124] Again, a person is required to move onto the grid, for example using an inspection vehicle.

[0125] In the above examples, detection of a fault condition may be detected automatically, for example, using a camera detecting a non-moving vehicle, an error signal transmitted from a malfunctioning vehicle, a camera detecting a storage container in a suspicious location, or a fallen object blocking a vehicle path. Detection of a fault condition may also be provided manually, for example, by a person pressing a button (such as an emergency button near the grid, a button on a user interface, etc.) based on observation of a fault condition. The person then typically presses the button indicating the section in which the fault condition exists.

[0126] 5, 6, and 7, three-dimensional storage grid 104 is shown with a fence 420 provided above storage grid 104 along its boundary B (shown as dashed line B in FIG. 1). Fence 420 can be used to prevent people from accessing a first section of storage grid 104, i.e., to prevent collisions between people and container handling vehicles operating on storage grid 104 or to prevent people from being injured by falling into the storage columns of the storage grid. In addition, fence 420 physically prevents container handling vehicles from traveling beyond boundary B of storage grid 104. Fence 420, together with barrier 402 in its second state, separates zones S1, S2 of storage grid 104 into enclosed safety or protection areas. [Example]

[0127] 10a, where a fault condition in the form of a malfunctioning vehicle has been detected on the boundary B1-2 between the first and second segments S1, S2. Thus, the fault condition itself may prevent the barrier 402 from entering the second state.

[0128] In this example, when the barrier is in a first state, the barrier 402 is movable from an initial position shown in FIG. 10a to a next position shown in FIG. 10b. The barrier 402 is then placed in a second state. At the next position, the obstacle condition no longer prevents the barrier from moving to the second state. Note that the first and second segments S1, S2 in the initial position are different from the first and second segments S1, S2 in the new position.

[0129] According to the above, it is achieved that the separation boundary B1-2 can be moved. [Example]

[0130] Reference is now made to Figure 11a, which shows a similar situation as in Example 4, where the obstacle condition is a malfunctioning vehicle present on the boundary B1-2 between the first and second segments S1, S2. Here, the barrier 402 is of the type shown in Figures 8a and 8b, i.e., a pivoting type barrier provided below the vehicle travel level Z0 in a first state.

[0131] The actuator M of the barrier 402 is now strong enough to push the container handling vehicle 201, 301 into the first section S1 when the barrier 402 is moving from its first state to its second state. When the actuator M is strong enough to push the vehicle, the actuator can push the storage container away from the boundary B1-2.

[0132] 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 numbers, systems, and configurations have been set forth to provide a thorough understanding of the system and its operation. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the 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. [Explanation of symbols]

[0133] Reference Number List Prior Art (Figures 1-4): 1. Prior Art Automated Storage and Retrieval Systems 100 Skeletal Structure 102 Upright members of skeletal structure 103 Horizontal members of skeletal structure 104 Storage Grid 105 Storage Column 106 Storage Container 106' Specific location of containment container 107 stacks 108 Rail System 110 Parallel rails in the first direction (X) 110a: First rail in first direction (X) 110b second rail in the first direction (X) 111 Parallel rails in the second direction (Y) 111a first rail in second direction (Y) 111b second rail in second direction (Y) 112 Access opening 119 First Port Column 120 Second Port Column 201 Prior Art Storage Container Vehicles 201a Storage container vehicle 201 body 201b Drive means / wheel arrangement, first direction (X) 201c Drive means / wheel arrangement, second direction (Y) 301 Prior art cantilevered containment container vehicle 301a Body of storage container vehicle 301 301b Driving means in the first direction (X) 301c Driving means in the second direction (Y) 304 Grasping Device 401 System Transmitter 402 Barrier 410 Passage 420 Fence 500 Control System X first direction Y Second direction Z third direction M Actuator B boundary

Claims

1. An automated storage and retrieval system, comprising: a three-dimensional storage grid for storing storage containers, the three-dimensional storage grid configured to allow a first container handling vehicle and a second container handling vehicle to operate on the three-dimensional storage grid; at least one barrier for separating the three-dimensional storage grid into a first partition and a second partition, the at least one barrier having two states, a first state and a second state; In the first state, the first container handling vehicle and the second container handling vehicle are permitted to move between the first section and the second section; at least one barrier, wherein in the second state, the at least one barrier physically prevents the first container handling vehicle and the second container handling vehicle from traveling between the first section and the second section; at least one actuator for moving each barrier between its first state and its second state; Central communication system and Equipped with the central communication system is configured to control the first container handling vehicle and the second container handling vehicle to handle the storage containers stored within the three-dimensional storage grid, to communicate with the first container handling vehicle and the second container handling vehicle, and to control the at least one actuator, the at least one actuator being powerful enough to cause the at least one barrier to push a container handling vehicle into either the first section or the second section when the respective barrier is moving from its first state to its second state.

2. The automated storage and retrieval system of claim 1, wherein the central communication system is configured to provide a protected area on the three-dimensional storage grid by operating the at least one barrier, the protected area being free of moving container handling vehicles and allowing an operator to correct obstruction conditions within the protected area.

3. An automated storage and retrieval system as described in claim 1 or claim 2, wherein the three-dimensional storage grid is provided with a fence located above the three-dimensional storage grid along the boundary of the three-dimensional storage grid.

4. The central communication system comprises: detecting whether a fault condition exists within one of the first partition or the second partition when the at least one barrier is in the first state; controlling all functioning container handling vehicles to move away from the segment in which the obstruction condition exists; controlling the at least one actuator to move the at least one barrier to its second state; 4. The automated storage and retrieval system of claim 1, 2 or 3, configured to:

5. An automated storage and retrieval system as described in any one of claims 1 to 4, wherein the first section and the second section are substantially the same size.

6. An automated storage and retrieval system as described in any one of claims 1 to 5, wherein the at least one barrier is movable from an initial position to a next position when the at least one barrier is in the first state, and the first division and the second division at the initial position are different from the first division and the second division at the next position.

7. An automated storage and retrieval system as described in any one of claims 1 to 6, wherein the three-dimensional storage grid comprises a framework structure having a plurality of upright members and a plurality of horizontal members, the storage containers being stored in storage columns provided between the plurality of upright members, the plurality of horizontal members comprising a plurality of rails, the plurality of rails being for guiding the first container handling vehicle and the second container handling vehicle during operation of the first container handling vehicle and the second container handling vehicle on the three-dimensional storage grid and during movement of the first container handling vehicle and the second container handling vehicle between the first section and the second section.

8. An automated storage and retrieval system as described in claim 7, wherein the at least one barrier is movably connected to the plurality of upright members or the plurality of horizontal members, and the at least one barrier is positioned vertically below the plurality of rails in the first state.

9. A method for correcting a fault condition in an automated storage and retrieval system, the automated storage and retrieval system comprising a three-dimensional storage grid for storing storage containers, and a central communication system, the three-dimensional storage grid configured to enable a first container handling vehicle and a second container handling vehicle to operate on the three-dimensional storage grid, the central communication system having transmitters and receivers for controlling and communicating with the container handling vehicles; The method comprises: defining a first partition and a second partition separated from the first partition on the three-dimensional storage grid; controlling at least one actuator of the automated storage and retrieval system to move at least one respective barrier of the automated storage and retrieval system between two states, a first state and a second state; In the first state, the first container handling vehicle and the second container handling vehicle are allowed to move between the first section and the second section; In the second state, the at least one barrier physically prevents the first container handling vehicle and the second container handling vehicle from traveling between the first and second segments. A method comprising:

10. The method comprising: detecting whether a fault condition exists within one of the first segment or the second segment when the at least one barrier is in its first state; controlling all functioning container handling vehicles to move away from the segment in which the obstruction condition exists; controlling the at least one actuator to move the at least one respective barrier to its second state; 10. The method of claim 9, further comprising:

11. The method comprising: moving the at least one barrier from an initial position to a next position when the at least one barrier is in the first state; further comprising 11. The method of claim 9 or claim 10, wherein the first and second segments at the initial position are different from the first and second segments at the next position.

12. The method comprising: pushing the container handling vehicle into either the first section or the second section by at least one barrier moved by the respective actuator; further comprising 12. The method of claim 9, 10 or 11, wherein the respective actuator is sufficiently powerful to cause the at least one barrier to push the container handling vehicle into either the first or second section of the three-dimensional containment grid.

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