Top level of the frame structure

Abstract

To provide a system and a method capable of improving reliability and reducing the cost of the whole processing system of a large container by using one or a plurality of robot service devices.SOLUTION: A robot service device is described for use of a grid in a robot take-out system. The robot service device is capable of being driven to any location on the grid in order to perform maintenance operations or cleaning. Additionally, the robot service device can be used to assist a plurality of robot load handling devices capable of being operated in the take-out system. The robot service device may have a releasable docking mechanism to enable it to dock and latch to the robot load handling devices. The robot service device may also have cleaning means and camera means to enable the grid and the robot load handling devices to be monitored.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention is Top level of the frame structure It is related to. child This application claims the benefit of priority from UK patent application no. GB ​​1404870.6, filed on 18 March 2014, which is incorporated herein by reference. [Background technology]

[0002] Some commercial and industrial operations require systems that allow the storage and retrieval of a large number of different commodities. One known type of system for the storage and retrieval of goods on multiple production lines involves arranging storage bins or containers one above the other in stacks and arranging these stacks in rows. The storage bins or containers are accessed from the top, with aisles between the rows being accessed, and many containers can be stored in a given space.

[0003] Methods for handling containers stacked in rows have been well known for several decades. Some such systems, such as that disclosed in U.S. Patent No. 2,701,065 to Bertel, have free-standing stacks of containers arranged in rows to reduce the storage space required to store these containers, while allowing access to specific containers as needed. Access to such desired containers can be made possible by providing a relatively complex hoisting mechanism that can be used to load and unload containers from the stacks. However, the cost of such systems makes them impractical in many situations, and they are primarily commercialized for the storage and handling of large shipping containers.

[0004] The concept of using freestanding stacks of containers and providing mechanisms for retrieval and storage of specific containers has been further developed, as disclosed, for example, in EP 0 767113 B to Cimcorp. The '113 patent discloses a mechanism for removing multiple stacked containers using a robotic load handler in the form of a rectangular tube. The tube is configured to be lowered around the stack of containers and grip a container at any level of the stack. In this manner, several containers can be lifted from the stack en masse. The movable tube can be used to move several containers from the top of one stack to the top of another, or to move containers from the stack to an off-site location, or vice versa. Such a system can be useful in practice when all of the containers in each stack are the same product (known as a single-product stack).

[0005] In the system described in '113, the height of the tubes must be at least as high as the height of the maximum height stack of the container so that a maximum height stack of the container can be removed at one time. Thus, when used in an enclosed space such as a storage facility, the maximum height of the stack is limited to the height required to accommodate the tubes of the load handler.

[0006] EP 1037828 (Autostore), the contents of which are incorporated herein by reference, discloses a system in which stacks of containers are arranged within a frame structure. A system of this type is shown diagrammatically in Figures 1 to 4 of the accompanying drawings. A robotic goods handling device can be controllably moved around the stack on top of the stack following a track system.

[0007] One form of this robotic load handling apparatus is further described in incorporated Norwegian Patent No. 317336, the contents of which are incorporated herein by reference. Figures 3(a) and 3(b) are schematic perspective views of the load handling apparatus from the rear and front, respectively, and Figure 3(c) is a schematic perspective view of the load handling apparatus from the front lifting a lidded container.

[0008] A further improvement to piled goods handling equipment is described in UK Patent Application No. 1314313.6, in which each robotic handler covers only one grid space, thus allowing for high density piled goods handlers and therefore high throughput for a system of a desired size.

[0009] In some instances of such container handling systems, there may be a large number of robotic load handlers moving on a single grid. These load handlers may experience problems from time to time that require remediation or other action to accommodate useful service. Additionally, there may be buildup or accumulation of dirt on the grid that requires cleaning.

[0010] A drawback of the above-mentioned prior art is that in order to improve the defective load handling device or to clean the grid, the user is required to access the grid on the stack and manually perform the necessary operations to secure or remove the load handling device or to clean the grid.

[0011] To make these operations safe, all robotic material handling devices on the grid must be shut down before allowing user access. As the number of robotic material handling devices in use increases and the grid becomes larger, the probability of a failure increases, and the severity of each failure increases with the number of units that must be shut down. Summary of the Invention

[0012] According to the present invention, there is provided a servicing device for operating in a robotic picking system having two sets of rails that are substantially perpendicular to one another and that form a grid, and a robotic article handling device on the grid, the servicing device having a body mounted to two sets of wheels, the wheels of a first set being arranged to engage at least two of the rails of the first set, and the wheels of a second set being arranged to engage at least two of the rails of the second set, the wheels of the first set being arranged to engage at least two of the rails of the second set, the wheels of the first set being arranged to engage at least two of the wheels of the first set, the wheels of the first set being arranged to engage at least two of the rails of the second set, the wheels of the first set being arranged to engage at least two of the wheels of the first set being arranged to engage at least two of the wheels of the second set, the wheels of the first set being arranged to engage at least two of the wheels of the first set being arranged to engage at least two of the rails of the second set, the wheels of the first set being arranged to engage at least two of the wheels of the first set being arranged to engage at least two of the wheels of the first set being arranged to engage at least two of the wheels of the first set being arranged to engage at least two of the wheels of the second set being arranged to engage at least two of ... second set being arranged A servicing device is provided, the servicing device being drivable and movable independently of the second set of wheels so as to enable movement of the servicing device along the rails to any point on the grid by driving only the wheels, the servicing device being provided with a releasable latching device which can be operated to releasably dock the servicing device to a load handling device on the grid, and which is further operable to decouple the load handling device from the grid so that the servicing device assumes control of the load handling device and moves the load handling device to a predetermined location on the grid under the control of the removal system.

[0013] The present invention further provides a servicing device for operation with a robotic picking system having two sets of rails that are substantially perpendicular to each other and form a grid, and a robotic item handling device located on the grid, the servicing device having a body mounted on two sets of wheels, a first set of wheels arranged to engage at least two of the rails of the first set, and a second set of wheels arranged to engage at least two of the rails of the second set, the first set of wheels being drivable and movable independently of the second set of wheels such that only one set of wheels engages the grid at a time, and only the wheels of the set engaged with the rails are driven to enable movement of the servicing device along the rails to any point on the grid, and the servicing device is provided with a cleaning mechanism having means for removing contamination present on the grid.

[0014] Thus, the present invention overcomes the problems of the prior art and provides a system and method for improving reliability and reducing the overall cost of a large container processing system through the use of one or more robotic service devices.

[0015] The present invention will now be described with reference to the accompanying drawings. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is a schematic perspective view of a frame structure for containing a plurality of stacks of lidded containers in a known storage system. [Figure 2] FIG. 2 is a schematic plan view of a portion of the frame structure of FIG. [Figure 3] Figures 3(a) and 3(b) are schematic perspective views from the rear and front of one form of robotic load handling equipment for use with the frame structure of Figures 1 and 2, and Figure 3(c) is a schematic perspective view of a known load handling equipment for use in lifting a lidded container. [Figure 4] FIG. 4 is a schematic perspective view of a known storage system having multiple load handling devices of the type shown in FIGS. 3(a), 3(b), and 3(c) installed on the frame structure of FIGS. 1 and 2 together with a robotic servicing device. [Figure 5] FIG. 5 is a schematic perspective view of a robot service device. [Figure 6] 6 is a schematic perspective view of a portion of the servicing device of FIG. 5 showing a latch mechanism and camera means disposed on the robotic servicing device. [Figure 7a] FIG. 7a is a schematic side view of the robotic service device of FIGS. 5 and 6 showing the wheels, drive system, and cleaning mechanism. [Figure 7b] FIG. 7b is a schematic side view of the robotic service device of FIGS. 5 and 6 showing the wheels, drive system, and cleaning mechanism. [Figure 8] FIG. 8 is a schematic perspective view of a portion of the service device of FIGS. 5-7 in use retrieving a malfunctioning load handling device. [Figure 9] FIG. 9 is an enlarged view of a latching mechanism suitable for latching a malfunctioning load handler to a robotic servicing device. [Figure 10] FIG. 10 is a schematic perspective view of a robotic servicing apparatus on a frame structure according to an embodiment of the present invention, where the servicing apparatus is substantially bridge-shaped. [Figure 11] FIG. 11 is a schematic side view of the robotic service device of FIG. 10 showing the servicing device over a malfunctioning load handling device. [Figure 12] FIG. 12 is a schematic perspective view of a robotic service device on a frame structure according to an embodiment of the present invention, where the service device is substantially U-shaped. [Figure 13]FIG. 13 is a schematic perspective view of a robotic service apparatus with multiple service apparatuses operative to engage a malfunctioning load handling apparatus to either move it or remove it from a grid. [Figure 14] FIG. 14 is a schematic perspective view of a robotic service device showing multiple service devices of different configurations. [Figure 15] FIG. 15 is a schematic perspective view of a robotic service device showing multiple service devices in a further configuration. [Figure 16] FIG. 16 is a schematic perspective view of a robotic service device in which the service device is provided with a seat capable of carrying a passenger or user. DETAILED DESCRIPTION OF THE INVENTION

[0017] As shown in Figures 1 and 2, stackable containers known as lidded bins 10 are stacked one on top of the other to form a stack 12. The stacks 12 are arranged in a grid-like framework 14 at a storage or manufacturing site. Figure 1 is a schematic perspective view of the framework 14, and Figure 2 is a top view showing a single stack 12 of lidded bins 10 arranged within the framework 14. Each lidded bin 10 typically holds multiple articles of manufacture (not shown), which may be the same or different types of products depending on the application.

[0018] The frame structure 14 includes a plurality of upright members 16 supporting a plurality of horizontal members 18, 20. A first set of parallel horizontal members 18 is disposed perpendicular to a second set of parallel horizontal members 20 to form a horizontal grid structure supported by the upright members 16. The members 16, 18, 20 are typically made of metal. The containers 10 are stacked between the members 16, 18, 20 of the frame structure 14, such that the frame structure 14 prevents horizontal movement of the stack 12 of containers 10 and vertical movement of the containers 10.

[0019] The top level of the frame structure 14 includes rails 22 arranged in a grid pattern across the top surface of the stack 12. With further reference to Figures 3 and 4, the rails 22 support a plurality of robotic load handlers 30. A first set 22a of parallel rails 22 guides movement of the load handlers 30 in a first direction (X) across the top surface of the frame structure 14, and a second set 22b of parallel rails 22, perpendicular to the first set 22a, guides movement of the load handlers 30 in a second direction (Y) perpendicular to the first direction. In this manner, the rails 22 enable movement of the load handlers 30 in two directions within the XY plane, such that the load handlers 30 can be moved to a position above any stack 12.

[0020] Each load handling device 30 has a car body 32 arranged to travel in the X and Y directions on the rails 22 of the frame structure 14 above the stack 12. A first set of wheels 34, consisting of a pair of wheels 34 on the front side of the car body 32, and a second pair of wheels 34 on the rear side of the car body 32, are arranged to engage two adjacent rails of the first set 22a of rails 22. Similarly, a second set of wheels 36, consisting of a pair of wheels 36 on each side of the car body 32, are arranged to engage two adjacent rails of the second set 22b of rails 22. Each set of wheels 34, 36 can be raised and lowered so that either the first set of wheels 34 or the second set of wheels 36 engages the respective set of rails 22a, 22b at any given time.

[0021] When the first set of wheels 34 engages the first set of rails 22a and the second set of wheels 36 is securely raised from the rails 22, the wheels 34 can be driven by a drive mechanism (not shown) housed in the car body 32 to move the load handling apparatus 30 in the X direction. To move the load handling apparatus 30 in the Y direction, the first set of wheels 34 is securely raised from the rails 22 and the second set of wheels 36 is lowered into engagement with the second set of rails 22a. Thus, a drive mechanism can be used to drive the second set of wheels 36 to effect movement in the Y direction.

[0022] In this manner, one or more robotic load handlers 30 may move around the top surface of each of the stacks 12 on the frame structure 14 under the control of a central pick system (not shown). Each robotic load handler 30 is provided with means for lifting one or more bins or containers from the stack to access the required products. In this manner, multiple products may be accessed from multiple locations within the grid and stack at one time.

[0023] 4 shows a typical storage system as described above, which includes a plurality of load handling devices 30 that are operatively connected to the stack 12. Additionally, a robotic service device is positioned on the grid 14.

[0024] It will be understood that any form of load handling equipment 30 may be used, and the robotic service equipment may be appropriately adapted to interact with such load handling equipment 30.

[0025] A first embodiment of the second type of service device 50 is described below with reference to Figures 5 to 7.

[0026] Referring to FIG. 5, the service device 50 includes a body 52 having first and second sets of wheels 54, 56 engageable with the first and second sets 22a, 22b of the rails 22, respectively.

[0027] The service apparatus 50 includes additional components in addition to those of the robotic load handling apparatus 30. As can be seen from Figures 5 and 6, the apparatus 50 includes a releasable latch mechanism 58 and a camera means 60. The apparatus 50 also includes cleaning means such as a vacuum cleaning system 64 and a brush mechanism 52 mounted adjacent each set of wheels 54, 56. The apparatus 50 also includes a spray device 66 capable of dispensing a suitable cleaning agent under the control of a central pick-up system (not shown).

[0028] Similar to the operation of the load handling apparatus 30, the first and second wheels 54, 56 of the servicing apparatus 50 may be moved vertically relative to the carbody 52 to engage and disengage the corresponding sets of rails 22a, 22b. By engaging and driving the appropriate sets of wheels 54, 56, the servicing apparatus 50 may be moved in the X and Y directions in a horizontal plane on the frame structure 14.

[0029] In the event of a malfunction or inoperability of a robotic load handling device 30a, the servicing device 50 can be moved on the grid 14 to a location near the inoperable device 30a. Once in proximity to the inoperable device 30a, the camera means 60 of the servicing device 50 can be used to view the situation from a control location (not shown). If the load handling device 30a requires removal from the grid 14, the servicing device 50 can be releasably latched onto the inoperable load handling device 30a, as shown in FIG. 8. The servicing device 50 can then be used to guide the inoperable device 30a to a location where it can be repaired or removed entirely from the grid 14.

[0030] 5-9, it will be appreciated that any suitable form of releasable latch mechanism may be used. The latch mechanism 58 may be connected to the defective robotic handling device and may lift it completely off the grid or move the defective device's set of wheels up or down so that it can be pushed, pulled, or dragged to a desired location. The latch mechanism 58 may also include a device that allows the defective unit's gripper mechanism to be retracted from the grid or other mechanical or electrical interaction with the robotic item handling device 30.

[0031] Furthermore, the service device 50 may be provided with sensor means instead of or in addition to the camera means 60. For example, the service device 50 may be provided with sensors that allow a system operator to remotely diagnose a malfunction with a malfunctioning or stalled robotic load handling device 30. This may include, but is not limited to, electrical connection means to ports on the robotic load handling device 30 to check or diagnose the malfunction via an on-board diagnostic system. This may also include sensors such as ultrasonic detectors, x-ray cameras, or sensors for evaluating data communication functions within the load handling device 30.

[0032] Furthermore, the servicing device 50 may include resetting means instead of or in addition to the sensors, so that the servicing device 50 can reset the robotic load handling device 30. The resetting means may include a remotely operated manipulator device or may include a remotely operated electrical reset device. A mechanical manipulator may also be remotely operable to push the load handling device 30 when the diagnostics indicate that the load handling device 30 is only temporarily loaded on a portion of the grid. Alternatively, a mechanical device may work in conjunction with the servicing device 50 to push the load handling device to a different position on the grid or completely off the grid.

[0033] In another use of the robotic servicing device 50, the device 50 may travel over the grid 14 to stabilize the condition of the grid 14. For example, spills or dust may accumulate on the grid 14 over time. The servicing device 50 may be provided with a traction measurement system so that, for example, in the event of a spill and thus a loss of traction for the robotic handler 30 on the grid 14, one or more wheels 56 may be driven while one or more wheels 54 are braked to achieve stability. For this purpose, the servicing device 50 may be deployed over the grid 14, and a camera means 60 may be used to remotely view the condition of the grid 14. The brush mechanism 62, cleaning agent dispensing means 66, and vacuum system 66 may thus be used as appropriate to clean the grid 14.

[0034] A spill of a product such as oil on the grid, which would cause the grid to become slippery, can be detected by a typical robotic load handler using wheel slippage detection. It is then important to immediately treat the spill to prevent the oil from spreading over a large portion of the grid. The proposed method uses some form of robotic servicing to treat the spill. In use, the robotic device causing the spill is deactivated. Other robotic devices within a predetermined radius of the potential spill are also deactivated. The pick-up control system can be used to block all potentially affected areas of the grid in software to prevent other robotic devices 30, 50 from accessing the affected area. One or more robotic servicing devices can then be deployed to first clean the area around the now-stationary robotic device. The drive mechanism of the deployed servicing device 50 can then be used to measure traction so that the spill is properly removed. The robotic load handling device 30 can then be used to pick up and remove the affected robotic load handling device 30 to a maintenance area so that the wheels can be cleaned. Additional robotic service devices can be deployed to finish cleaning the affected area until there is sufficient traction on all parts of the grid.

[0035] Additionally, the robotic service device 50 may be provided with means for assessing the condition of the track and grid. For example, the service device 50 may use the sensor or camera means described above to assess the condition of the grid, in addition to or alternatively to assessing the condition of the robotic material handling device 30. For example, the robotic service device may be deployed on the grid during a housekeeping phase to ensure the stability and integrity of the track and grid.

[0036] It will be understood that the service device 50 may include all, one, or any combination of the components described above, and that having all of the sensors and components described above is not essential to the present invention. fruit 1 shows an embodiment. Robot Service Equipment Components similar to those described with reference to are given the same reference numerals.

[0037] FIG. 10 illustrates a different configuration of a robotic service apparatus 150. The robotic service apparatus 150 includes a substantially bridge-shaped body 152. Referring to FIGS. 10 and 11, the robotic service apparatus 150 includes a body 152 having first and second sets of wheels 154, 156 engageable with the first and second sets of rails 22a, 22b, respectively. The bridge-shaped body 152 is sized to straddle the load handling apparatus 30. The service apparatus 150 includes a releasable latch or hook mechanism 158 that is deployable from the underside of the bridge portion.

[0038] In use, the first and second sets of wheels 154, 156 of the robotic service device 150 can be moved vertically relative to the car body 152 to engage or disengage the wheels 154, 156 with the corresponding sets of rails 22 a, 22 b. By engaging and driving the appropriate sets of wheels 154, 156, the robot 150 can be moved in the X and Y directions in a horizontal plane on the top surface of the frame structure 14.

[0039] In this manner, the servicing apparatus 150 can be deployed on the grid 14 and driven to any desired location. At this point, the servicing apparatus straddles the malfunctioning loaded item handling apparatus 30 so that the hook mechanism 158 can be used to lift the malfunctioning apparatus 30 from the grid 14. The removal control system can then be used to move the servicing apparatus 150 to a predetermined location on the grid 14. At this predetermined location, the malfunctioning loaded item handling apparatus 30 can be removed, if desired. Although not shown in the drawings, it will be appreciated that the servicing apparatus of this second embodiment can also include the components described with reference to the first embodiment. These components include, but are not limited to, the brush mechanism 62, vacuum system 64, spray system 66, traction measurement system, and camera means 60, all of which operate in a manner similar to that described above.

[0040] FIG. 12 shows the structure of the present invention. A robot service device on a frame structure of an embodiment 1 shows an embodiment of the present invention. previously mentioned Components similar to those described with reference to the embodiments are labeled with the same reference numerals.

[0041] 12, the robot 250 includes a body 252 with first and second sets of wheels 254, 256 engageable with the rails 22 of the first and second sets 22a, 22b, respectively, of the grid 14. The U-shaped body 252 is sized to enclose the load handling device 30. The service device 250 includes releasable latches or locks deployable from within the U-shaped portion. Hook mechanism However, it has been established.

[0042] In use, the first and second sets of wheels 254, 256 of the robotic service apparatus 250 can be moved vertically relative to the car body 252 to engage or disengage the wheels 254, 256 with the corresponding sets of rails 22 a, 22 b. By engaging and driving the appropriate sets of wheels 254, 256, the robotic service apparatus 250 can be moved in the X and Y directions in a horizontal plane on the top surface of the grid 14.

[0043] In this manner, the service device 250 can be positioned on the grid 14 and driven to any point where the service device can be operated by a latch or Hook mechanism surrounds the malfunctioning load handling device 30 so that it can be used to pull, push, or otherwise manipulate the malfunctioning device 30. The pick control system then 250 The service device 30 may be used to move the malfunctioning load to a predetermined position on the grate 14, where the malfunctioning load handling device 30 may be removed, if desired. Although not shown in the drawings, it will be appreciated that the service device of this third embodiment may also include the components described with reference to the first and second embodiments. These components include, but are not limited to, the brush mechanism 62, the vacuum system 64, the spray system 66, the traction measurement system, and the camera means 60, all of which operate in a manner similar to that described above.

[0044] It will be appreciated that the latching device need not necessarily be in the form of a hook, but any suitable latching means may be used. For example, the latching means may be magnetic or electromagnetic. Furthermore, the latching means may be located anywhere on the service apparatus, and multiple latching mechanisms may be used on all sides of the service apparatus so that load handling devices may be approached and latched from any direction on the grid.

[0045] Additionally, the latching mechanism of the servicing device may interact with the load handling device in a manner suitable for removing the load handling device from the grid. There may be any form of electrical communication or mechanical interaction between the servicing device and the load handling device to remove the load handling device from the grid. 13-15 show a further embodiment of a robotic service machine 50. As shown in FIG. previously mentioned Similar components are labeled with the same reference numbers.

[0046] 13, a pair of robotic servicing devices 450 are shown connected by suitable members 452 that allow the two separate robotic servicing devices 450 to function as a single unit. Members 452 are further provided with connecting, latching, and lifting means 454, 456.

[0047] The interconnected robotic service devices 450 are remotely operated into position so that they occupy a space in the grid near the malfunctioning load handling device 30. From this position, the latching means 454 can be lowered or adjusted to engage with a cooperating latch point 456 on the robotic load handling device 30. Once engaged, the lifting means 456 is operated to sufficiently lift the malfunctioning load handling device 30 from the grid and track. Once sufficiently lifted, the connected robotic service devices 450 are remotely commanded to move to a predetermined position in the grid to allow repair of the robotic handling device.

[0048] 14 and 15 show different configurations of the robotic servicing device 450 connected together and different locations of the member 452 and connecting latch and lifting means 454, 456.

[0049] It will be appreciated that in this embodiment of the present invention, the robotic servicing apparatus 450 is connected to the loaded item handling apparatus 30 by a rigidly mounted coupling, allowing the robotic loaded item handling apparatus to be approached and lifted from any point on the grid, including at any corner, edge, or nearby support structure.

[0050] It will be appreciated that the configurations shown in Figures 13-15 are only a few of many possible configurations, and the invention of the fourth embodiment is not limited to these configurations. The connecting, latching, and lifting means may be a single component, or three separate components. The connecting and latching mechanism may include mechanical, magnetic, or electromagnetic means, or other suitable means. The lifting means may include winch means 458 or any suitable lifting means.

[0051] 16, the service apparatus 350 has a substantially flat body 352 with first and second sets of wheels 354, 356 engageable with the first and second sets 22a, 22b, respectively, of rails 22 of the grid 14. The flat body 352 is provided with seating means 353 so that it can carry a user. The service apparatus 350 can be remotely controlled by the control of the retrieval system, but can also be manually driven by a user (not shown).

[0052] In use, the first and second wheels 354, 356 of the servicing apparatus 350 can be moved vertically relative to the car body 352 to engage or disengage the wheels 354, 356 with the corresponding sets of rails 22a, 22b. By engaging and driving the appropriate sets of wheels 354, 356, the servicing apparatus 350 can be moved in the X and Y directions in a horizontal plane above the grid 14.

[0053] In this manner, the service device 350 is deployed on the grid 14 and driven to predetermined points on the grid where maintenance is to be performed.

[0054] Although not shown in the drawings, the service device 350 of the fifth embodiment has the following features: previously mentioned It will be appreciated that the embodiments may have the components described with reference to the embodiments, including, but not limited to, the brush mechanism 62, the vacuum system 64, the spray system 66, the traction measurement system, and the camera means 60, all of which operate in a manner similar to that described above.

[0055] In this way, the integrity of large, robotically controlled unloading systems can be maintained, malfunctioning load handling equipment can be recovered, or spills on the grates can be cleaned without shutting down the entire system. In systems of any size, this can represent a substantial reduction in system downtime.

[0056] Furthermore, the robotic service devices described in all or some of the above embodiments can be adapted to support barrier-like equipment (not shown). Remotely operable mechanical handling means may place barriers around portions of the grid for safety reasons, for example, if an operator is required to be on top of the grid.

[0057] It will be appreciated that a robotic service device such as that described above can include one or all of the components described above. For example, the service device can lift a malfunctioning load handling device off a grid and remove it to a maintenance station on the grid, which also includes a towing monitoring means and a cleaning means. Additionally, a rider-on service device can also be provided with means for pulling a malfunctioning load handling device off the grid.

[0058] Additionally, the robotic service device 50 may have a load-carrying portion similar to the load handling device, which may be configured with maintenance and cleaning facilities as described above, and which may be interchangeable so that a service device can perform different functions depending on the load-carrying portion previously installed.

[0059] It will be appreciated that the robotic load handling device 30 may be configured as a cantilever, as shown in Figures 1-4, occupying two grid spaces, or alternatively, the robotic load handling device 30 may be configured as shown in Figures 13-15, occupying only a single grid space.

[0060] Many variations and modifications not expressly described may also be possible without departing from the scope of the present invention as defined in the appended claims. The following additional notes apply to the matters described in the claims as originally filed. [1] A service device for operating with a robotic picking system having two sets of substantially perpendicular rails forming a grid, and a robotic item handling device on the grid, comprising: The servicing device has a body mounted on two sets of wheels, a first set of wheels arranged to engage at least two of the rails of the first set and a second set of wheels arranged to engage at least two of the rails of the second set, the first set of wheels being drivable and movable independently of the second set of wheels such that only one set of wheels is previously engaged with the grid and only the wheels of the set engaged with the rails are driven to allow movement of the servicing device along the rails to any point on the grid; and the service equipment is provided with a releasable latching device operable to releasably dock the service equipment to the load handling equipment on the grid; and The latching device is further operable to decouple the load handling device from the grid so that the servicing device assumes control of the load handling device and moves the load handling device to a predetermined location on the grid under the control of the removal system. [2] The service device described in [1], wherein the latch device has a means for securely lifting the load handling device from the rail and moving the load handling device to a predetermined position on the grid. [3] The servicing device described in [1], wherein the latching device has means for releasably docking the servicing device to the load handling device, and the servicing device further has means for releasing both sets of wheels from the rails of the removal system so that the servicing device can push or pull the load handling device into a predetermined position on the grid. [4] The service apparatus according to any one of [1] to [3], further comprising a traction measurement system having drive means for driving one set of wheels engaged with the grid while disengaging the other set of wheels from the grid, the drive means being controlled by suitable electrical control means. [5] The service device according to [4], wherein the electrical control means has means for monitoring the rotation of all sets of wheels so that the traction of the wheels on the grid can be measured, said measurement being compared with predetermined traction data to effect the required grid cleaning. [6] The service device according to any one of [1] to [5], further comprising a cleaning device. [7] The service device of [6], wherein the cleaning device comprises a vacuum cleaner and / or several brushes and / or spray devices configured to treat spills on the grate. [8] The service device of any one of [1] to [7], further comprising camera means for providing a vision system that allows a user to remotely observe the robotic load handling device or grid. [9] A service device as described in any one of [1] to [8], further comprising a seat means suitable for a user so that the service device can be used in situ when manual intervention on the grid is required.

[10] A service device for operating with a robotic picking system having two sets of substantially perpendicular rails forming a grid, and a robotic item handling device on the grid, comprising: the servicing device has a body mounted on two sets of wheels, a first set of wheels arranged to engage at least two of the rails of the first set and a second set of wheels arranged to engage at least two of the rails of the second set, the first set of wheels being drivable and movable independently of the second set of wheels such that only one set of wheels engages the grid at a time and only the wheels of the set engaged with the rails are driven to allow movement of the servicing device along the rails to any point on the grid; and The service device is provided with a cleaning mechanism having means for removing contamination present on said grid.

[11] The service device according to

[10] , wherein the cleaning mechanism comprises a vacuum cleaner and / or a number of brushes and / or spray devices configured to treat spills on the grate.

[12] The service device of

[11] , further comprising camera means for providing a vision system that allows a user to remotely observe the robotic load handling device or grid.

[13] The service apparatus is further provided with a releasable latching device operable to releasably dock the service apparatus to the load handling apparatus on the grid; and The latch device is further operable to separate the load handling device from the grid so that the servicing device exerts control over the load handling device and moves the load handling device to a predetermined location on the grid under the control of the removal system.

[14] The service device described in

[13] , wherein the latch device has means for securely lifting the load handling device from the rail and moving the load handling device to a predetermined position on the grid.

[15] A servicing apparatus as described in

[13] , wherein the latching device has means for releasably docking the servicing apparatus to the load handling apparatus, and the servicing apparatus further has means for releasing both sets of wheels from the rails of the removal system so that the servicing apparatus can push or pull the load handling apparatus into position on the grid.

[16] The service apparatus according to any one of

[10] to

[15] , further comprising a traction measurement system having drive means for driving one set of wheels engaged with the grid while disengaging the other set of wheels from the grid, the drive means being controlled by suitable electrical control means.

[17] The service device according to

[16] , wherein the electrical control means has means for monitoring the rotation of all sets of wheels so that the traction of the wheels on the grid can be measured, said measurement being compared with predetermined traction data to effect the required grid cleaning.

[18] The service device of any one of [1] to

[17] , further comprising seat means for enabling a user to move over the grate to perform maintenance or observation functions.

Claims

[Claim 1] A top level of a frame structure (14), comprising a first set of rails (22a) extending in an X-direction and a second set of rails (22b) extending in a Y-direction, said X-direction and Y-direction being in a horizontal plane of the top level of the frame structure; the first and second sets of rails (22a, 22b) form a uniform grid pattern of an array of apertures, each aperture being rectangular and having a width in the X direction and a length in the Y direction; Each opening is surrounded along its width and length by a raised lip provided by rails (22a, 22b); each rail of the first and second sets of rails (22a, 22b) comprising a longitudinally extending split structure centrally dividing the respective rail into two adjacent tracks, each track engageable by a wheel of a robotic servicing device (50); the dividing structure of each rail of the first set of rails (22a) comprises a series of raised partitions, each of which extends along and parallel to the full width of an adjacent opening; the dividing structure of each rail of the second set of rails (22b) comprises a series of raised partitions, each of which extends along and parallel to the entire length of an adjacent opening; a top level of the frame structure (14), wherein each raised partition of the partition structure of each rail of the first set of rails (22a) does not extend beyond the width of a respective adjacent opening, and each raised partition of the partition structure of each rail of the second set of rails (22b) does not extend beyond the length of a respective adjacent opening.

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