Method and associated system for providing operator access to target storage locations within an automated storage and retrieval system

Abstract

To provide an operator access to a target storage location within a preferable automatic storage and retrieval system and an associated system.SOLUTION: An automatic storage / retrieval system that is a rail system for guiding multiple container handling vehicles comprises a first set of parallel rails extending in a first direction (X) within a horizontal plane (P), and a second set of parallel rails extending in a second direction (Y) perpendicular to the first direction (X) within the horizontal plane (P), where the first and second sets of rails form a grid pattern comprising multiple adjacent grid cells within the horizontal plane (P), and each grid cell comprises a pair of neighboring rails from the first set of rails and a pair of neighboring rails from the second set of rails. The automatic storage / retrieval system further comprises a storage volume beneath the rail system.SELECTED DRAWING: Figure 7C

Description

[Background technology]

[0001] Figures 1A and 1C disclose a typical conventional automated storage and retrieval system 1 with a skeletal structure 100. Figures 1B and 1D disclose conventional container handling vehicles 200 and 300 operating on the system 1 disclosed in Figures 1A and 1C, respectively.

[0002] The skeletal structure 100 comprises a plurality of upright members 102 and a plurality of horizontal members 103 that optionally support the upright members 102. The members 102 and 103 can typically be made of metal, for example, extruded aluminum profiles.

[0003] The skeletal structure 100 defines a storage grid 104 having storage columns 105 arranged in rows, and in the storage columns 107, the storage columns 105 of storage containers 106, also known as bins, are stacked on top of each other to form a stack 107.

[0004] Each storage container 106 can typically hold multiple product items (not shown), and the product items in the storage container 106 may be identical or of different product types depending on the application.

[0005] The storage grid 104 prevents horizontal movement of the storage containers 106 within the stack 107 and guides vertical movement of the storage containers 106, but normally, once stacked, it does not support the storage containers 106 in any other way.

[0006] The automated storage and retrieval system 1 includes a rail system 108 arranged in a grid pattern across the top of the storage grid 104, on which multiple container handling vehicles 200, 300 (as illustrated in Figures 1B and 1D) are operated to raise storage containers 106 from the storage columns 105, lower the storage containers 106 into them, and also to transport the storage containers 106 above the storage columns 105. One horizontal range of the grid cells 122 forming the grid pattern is marked by a thick line in Figures 1A and 1C.

[0007] Each grid cell 122 typically has a width that is between 30 and 150 cm apart and a length that is between 50 and 200 cm apart. Each grid opening 115, due to the horizontal range of the rails 110 and 111, typically has a width and length that are 2 to 10 cm less than the width and length of the grid cell 122, respectively.

[0008] The rail system 108 comprises a first set 110 of parallel rails arranged to guide the movement of container handling vehicles 200, 300 in a first direction X that traverses the top of the frame structure 100, and a second set 111 of parallel rails arranged perpendicular to the first set 110 for guiding the movement of container handling vehicles 200, 300 in a second direction Y that is perpendicular to the first direction X. In this way, the rail system 108 defines a grid column in which the container handling vehicles 200, 300 can move laterally above the storage column 105, that is, in a plane parallel to the horizontal XY plane.

[0009] Each conventional container handling vehicle 200, 300 comprises a body and a wheel arrangement 201, 301 of eight wheels, in which a first set of four wheels allows the container handling vehicle 200, 300 to move laterally in the X direction, and a second set of the remaining four wheels allows it to move laterally in the Y direction. One or both sets of wheels in the wheel arrangement can be raised and lowered so that the first set of wheels and / or the second set of wheels can engage with the respective sets 110, 111 of rails at any given time.

[0010] Each conventional container handling vehicle 200, 300 also includes a lifting device (not shown) for vertical transport of the storage container 106, for example, raising the storage container 106 from the storage column 105 and lowering the storage container 106 into it. The lifting device includes one or more gripping / engaging devices (not shown) that are adapted to engage with the storage container 106 such that the position of the gripping / engaging devices relative to the vehicle 200, 300 can be adjusted in a third direction Z perpendicular to a first direction X and a second direction Y, and that the gripping / engaging devices can be lowered from the vehicle 200, 300.

[0011] As in the conventional method, for the purposes of this application, Z=1 identifies the top layer of the storage grid 104, i.e., the layer directly below the rail system 108; Z=2 identifies the second layer below the rail system 108; Z=3 identifies the third layer, and so on. In the exemplary prior art storage grid 104 disclosed in Figures 1A and 1C, Z=8 identifies the bottommost layer of the storage grid 104. As a result, using the Cartesian coordinate system X, Y, Z shown in Figures 1A and 1D, for example, the storage container identified as 106' in Figure 1A can be said to occupy the grid location or cell X=10, Y=2, Z=3. The container handling vehicle 101 can be said to move within layer Z=0, and each grid column can be identified by its X and Y coordinates.

[0012] Each container handling vehicle 200 is equipped with a storage compartment or space (not shown) for receiving and accommodating the storage containers 106 when transporting them across the rail system 108. The storage space may comprise a container that receives a space located in the center of the vehicle body, as described, for example, in WO2014 / 090684A1 (the contents of which are incorporated herein by reference).

[0013] Alternatively, the container handling vehicle 300 may have a cantilever structure, as described in Patent No. 317366 (the contents of which are also incorporated herein by reference).

[0014] The container handling vehicle 200 may have an occupied area, i.e., a certain range in the X and Y directions, as described, for example, in WO2015 / 193278A1 (Patent Document 1) (the contents of which are incorporated herein by reference), which is generally equal to the lateral range of the grid cell 122, i.e., the range of the grid cell 122 in the X and Y directions. The term “lateral” as used herein may mean “horizontal.”

[0015] Alternatively, the container handling vehicle 200 may have an area larger than the lateral range (the lateral area defined thereby) of the grid columns, for example, as disclosed in WO2014 / 090684A1 (Patent Document 2).

[0016] The rail system 108 may be a single-rail (also indicated as a single track) system, as shown in Figure 2A. Alternatively, the rail system 108 may be a double-rail (also indicated as a double track) system, as shown in Figure 2B, and thus may allow a container handling vehicle 200 having an occupied area corresponding to the lateral area defined by the grid columns 112 to travel along a row of grid columns, even if another container handling vehicle 200 is positioned above a grid column adjacent to its row. Both single-rail and double-rail systems, or a combination of a single-rail arrangement and a double-rail arrangement in the single-rail system 108, form a grid pattern in a horizontal plane P comprising a plurality of rectangles and uniform grid locations or grid cells 122, each grid cell 122 comprising a grid opening 115 defined by pairs of rails 110a, 110b of a first rail 110 and pairs of rails 111a, 111b of a second set of rails 111. In Figure 2B, grid cell 122 is indicated by a dashed box. For example, a section of a rail-based system made of aluminum is a rail, on which a pair of tracks exist on the upper surface of the rail over which the wheels of a vehicle run. However, the sections may each be separate rails, each with its own track.

[0017] As a result, rails 110a and 110b form a pair of rails defining parallel rows of grid cells extending in the X direction, and rails 111a and 111b form a pair of rails defining parallel rows of grid cells extending in the Y direction. Similarly, on the delivery rail system 50, rails 51a and 51b form a pair of rails defining parallel rows of grid cells extending in the X direction, and rails 52a and 52b form a pair of rails defining parallel rows of grid cells extending in the Y direction.

[0018] As shown in Figure 2C, each grid cell 122 has a width W that is typically between 30 and 150 cm. c Typically, L is located within a 50-200cm interval.c Each grid opening 115 typically has a width W of the grid cell 122. c and length L c Width W 2-10cm less o And, length L o It has the following characteristics.

[0019] In the X and Y directions, neighboring grid cells are arranged in contact with each other, such that there is no space between them.

[0020] In the storage grid 104, the majority of the grid columns are storage columns 105, i.e., grid columns 105 in which storage containers 106 are stored within the stack 107. However, the storage grid 104 has at least one grid column that includes a location where container handling vehicles 200, 300 can load and / or unload storage containers 106, although this location is not typically used for storing storage containers 106, so that the storage containers 106 can be transported to a second location (not shown) where the storage containers 106 are accessed from outside the storage grid 104, or where the storage grid 104 can also be moved in and out. In the art, such a location is usually referred to as a “port,” and the grid column in which the port is located may be referred to as a “port column” or “delivery column” 119, 120. The loading and unloading ports of the rail system 108 in which the container handling vehicles 200, 300 operate are referred to as “upper ports of delivery columns (119, 120).” On the other hand, the opposite end of the delivery column is called the "lower port of the delivery column."

[0021] The storage grid 104 in Figures 1A and 1C comprises two delivery columns 119 and 120. The first delivery column 119 may have a dedicated loading / unloading port from which, for example, container handling vehicles 200, 300 can load and unload storage containers 106 that are to be transported further to an access station or transfer station through the delivery column 119, and the second delivery column 120 may have a dedicated loading port from which container handling vehicles 200, 300 can load storage containers 106 that are being transported from an access station or transfer station through the delivery column 120. Each of the ports in the first and second delivery columns may have a port suitable for both loading and unloading storage containers.

[0022] The second location may typically be a picking station or stocking station where product items are removed from or placed in the storage container 106. At the picking station or stocking station, the storage container 106 is usually never removed from the automated storage and retrieval system 1, but is returned to the storage grid 104 once accessed. For the transfer of storage containers in and out of the storage grid 104, a lower port is also provided in the delivery column, such a lower port for transferring the storage container 106, for example, to another storage facility (e.g., another storage grid), directly to a transport vehicle (e.g., a train or large truck), or to production equipment.

[0023] To monitor and control the automated storage and retrieval system 1 (for example, to monitor and control the location of each storage container 106 in the storage grid 104, the contents of each storage container 106, and the movement of the container handling vehicles 200, 300 so that the desired storage containers 106 can be delivered to the desired location at the desired time without collisions between them and the container handling vehicles 200, 300), the automated storage and retrieval system 1 includes a control system (not shown) which is typically computerized and typically includes a database for tracking the storage containers 106.

[0024] A conveyor system comprising conveyors can be employed to transport storage containers between the lower port of a delivery column and an access station.

[0025] When the lower port of the delivery column and the access station are located at different levels, the conveyor system may comprise an elevating device for vertically transporting storage containers between the port and the access station.

[0026] The conveyor system may be arranged to transfer storage containers between different grids, for example, as described in WO2014 / 075937A1 (Patent Document 3), the content of which is incorporated herein by reference.

[0027] Furthermore, WO2016 / 198467A1, the content of which is incorporated herein by reference, discloses an example of a prior art access system comprising a conveyor belt (FIGS. 5a and 5b of WO2016 / 198467A1) for transporting storage containers between a delivery column and a work station where an operator can access the storage containers, and frame-mounted rails (FIGS. 6a and 6b of WO2016 / 198467A1).

[0028] When a storage container 106 stored within the storage grid 104 disclosed in Figure 1A is to be accessed, one of the container handling vehicles 200, 300 is commanded to retrieve the target storage container 106 from its position within the storage grid 104 and transport it to or through the delivery column 119. This operation involves moving the container handling vehicle 200, 300 to the grid location above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using the lifting device 16 of the container handling vehicle, and transporting the storage container 106 to the delivery column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers are located above the target storage container 106, this operation also involves temporarily moving the storage containers located above before lifting the target storage container 106 from the storage column 105. This step, sometimes referred to as "excavation" in the art, may be carried out using the same container handling vehicles 200, 300 that are subsequently used to transport the target storage container 106 to the delivery column, or using one or more other cooperating container handling vehicles 200, 300. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling vehicles 200, 300 that are dedicated in particular to the task of temporarily removing the storage container 106 from the storage column 105. Once the target storage container 106 is removed from the storage column 105, the temporarily removed storage container can be repositioned in the original storage column 105. However, the removed storage container may, as an alternative, be repositioned in another storage column 105.

[0029] When a storage container 106 is to be stored in a storage grid 104, one of the container handling vehicles 200, 300 is ordered to load the storage container 106 from the delivery column 120 and transport it to a grid location above the storage column 105 where it is to be stored. After any storage containers located at or above the target position in the storage column stack 107 are removed, the container handling vehicles 200, 300 position the storage container 106 in the desired position. The removed storage containers can then be lowered back into the storage column 105 or repositioned in other storage columns.

[0030] A problem with conventional systems is that after a sprinkler system appears to extinguish a fire within the grid, firefighters may not have sufficient access to the grid to verify that the fire has actually been extinguished.

[0031] One object of the present invention is therefore to provide firefighters with a solution that allows for the visual inspection of target storage locations within an automated storage and retrieval system.

[0032] In general, the object of the present invention is to provide a method for providing manual (i.e., operator) access to a location within a grid. [Prior art documents] [Patent Documents]

[0033] [Patent Document 1] International Application No. 2015 / 193278 [Patent Document 2] International Application No. 2014 / 090684 [Patent Document 3] International Application No. 2014 / 075937 [Overview of the project] [Means for solving the problem]

[0034] The present invention is described in the independent claims, and the dependent claims describe alternatives to the present invention.

[0035] A method for providing operator access to a target storage location within an automated storage and retrieval system is described, the automated storage and retrieval system comprising a rail system for guiding a plurality of container handling vehicles, the rail system comprising a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in a horizontal plane and extending in a second direction perpendicular to the first direction, the first and second sets of rails forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each grid cell comprising a grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails, The automated storage and retrieval system further comprises a storage volume below the rail system, the storage volume comprising storage columns for storing storage containers, and a container handling vehicle operable to retrieve storage containers from a stack of storage containers within the storage volume, the method comprising the step of assigning at least one container handling vehicle so that it can access a target storage location via the first path, and instructing a master control system to command it to remove a storage container along the first path between a position on the side edge or top surface of the storage volume and a target storage location, after at least one container handling vehicle has removed a storage container along a first path.

[0036] The method therefore includes the step of a container handling vehicle removing a storage container and creating a first path in accordance with instructions from a master control system.

[0037] A first path is created when all storage containers in all storage columns between the location on the side edge or top surface of the storage volume and the target storage location are removed by a container handling vehicle.

[0038] The master control system tracks any remotely operated vehicle operating on the rail system.

[0039] Access to specific target storage locations may be desirable to provide visual inspection after a fire occurs, for purposes such as repairing the grid, loosening or releasing non-liftable storage containers within the grid. Access may be downward from above the rail system (i.e., from the upper surface of the storage volume) into the storage column where the target storage location is located, or from a neighboring storage column to the storage column where the target storage location is located.

[0040] Storage containers may be removed or detached by container handling vehicles to provide at least a first route and moved to any available location within the automated storage and retrieval system or to a location outside the automated storage and retrieval system. Available locations may be empty storage locations within the storage volume or locations in ports. In the first case, the removed storage containers may be dispersed to unused storage locations within storage columns at any location in the grid. A certain area may be set aside to receive such removed storage containers, and that area may be enclosed within a fire barrier. The advantage of moving the storage containers to ports is that a visual inspection of the storage containers may be carried out, and any damage or smoke damage to the items stored inside the storage containers may be identified. Alternatively, a dedicated area of ​​the storage system may have available capacity to receive a large number of removed storage containers.

[0041] The method may further include the step of determining a target storage location prior to the step of a master control system allocating at least one container handling vehicle and instructing it to remove storage containers along a first route. The target storage location may be a storage column, a set of storage columns, or one or more specific levels within a storage column or set of storage columns.

[0042] The first path may be a loop path surrounding the target storage location, and the master control system may command at least one container handling vehicle to remove the storage container along the loop path (preferably multiple container handling vehicles to reduce the time it takes to do so). In the event of a fire, it is necessary that a 360-degree inspection of the fire site be obtainable, and therefore the loop path preferably extends 360 degrees around the fire site. However, if a visual inspection can be obtained from outside the storage volume, it may be sufficient to remove the storage container from the path within the storage volume, as long as a 360-degree inspection is obtained.

[0043] Alternatively, in some situations, it may not be necessary to remove all of the storage containers so that a 360-degree inspection is achieved. In these situations, a path may also be created that extends substantially around the target location but has sections where the storage containers are not removed from a given stack or are only partially removed (for example, allowing an observer to gaze around but not allowing the person to easily walk around without stepping over the remaining storage containers).

[0044] The method may include the steps of collecting and evaluating information regarding the location of a fire, plume, heat, or smoke in an automated storage and retrieval system, wherein collecting the information involves operating a plurality of remotely operated vehicles on a rail system, each of which is equipped with a detection device for detecting a fire, heat, plume, or smoke, and the detection devices are configured to transmit data from the detection devices to a master control system via communication means in a container handling vehicle carrying the detection devices that have collected the information; using the master control system to process any data from any of the detection devices, and using the master control system to provide information regarding the location of a fire, plume, heat, or smoke; and using the master control system to determine where a storage container should be removed and a first route should be generated.

[0045] If any of the remotely operated vehicles indicates the presence of a fire, heat, smoke, or plume of smoke, the method may further include the steps of: assigning another remotely operated vehicle equipped with a detection device for detecting a fire, heat, smoke, or smoke, and moving it to a cell near the location of the remotely operated vehicle indicating the presence of a fire, heat, smoke, or plume of smoke; and using a master control system to process data from the remotely operated vehicles and the detection device, wherein the master control system determines, based on the processing of the information from the detection device, whether it is possible to give a reasonable guess about the location of the source of the fire, smoke, smoke, or heat.

[0046] If the master control system determines that a reasonable inference can be made regarding the location of a fire, plume, smoke emission, or heat emission source, the method may further include the step of using the master control system and comparing information from at least three detection devices to determine the location of the fire, plume, smoke, or heat emission source in a triangular arrangement.

[0047] If the master control system determines that a reasonable inference can be made regarding the location of a fire, plume, smoke emission, or heat emission source, the method may further include the step of using the master control system and comparing information from at least four detection devices to determine the location of the fire, plume, smoke, or heat emission source in the form of a quadrilateral polygonal arrangement.

[0048] When involved in fire prevention operations, to provide a better basis for decision-making regarding where storage containers should be removed from aisles or pathways, the decision regarding where storage containers should be removed is a trade-off between removing containers that are close enough to obtain good visual indication of any remaining smoke or heat release near the target storage location, and removing containers that are at a sufficient distance so that it is actually possible to remove the storage containers. For storage containers to be removed or made removable, they must be in a nearly undamaged state, at least at the gripper connection points. If these points are damaged even slightly, for example, melted or misaligned due to stability issues within the lower-level storage containers of the grid or their framework, the grippers on the lift frame of the container handling vehicle will have problems when gripping the storage containers and then lifting and moving them. Therefore, damaged containers, such as those located close to the location of a fire, cannot be easily removed from the storage grid by the container handling vehicle.

[0049] Container handling vehicles may be equipped with multiple detection devices for detecting fire, smoke, or heat. All container handling vehicles operate on a rail system and may be equipped with one or more detection devices. Fire, smoke, or heat detection devices are configured to transmit data directly from the detection device to a master control system, or alternatively, via communication means present within the container handling vehicle that transports the specific detection device.

[0050] The master control system may include processing devices for processing data from detection devices to generate heat maps of the automated storage and retrieval system. The master control system is configured to track any remotely operated vehicles operating on the rail system and receive data from any of the detection devices. This can provide valuable input in assisting in determining where to create pathways regarding the estimated location and extent of a fire, plume, heat, or smoke, especially as the size of the automated storage and retrieval system increases (up to 110 x 150 meters or more, with 500,000 or more bins). For example, the master control system may be configured to generate a temperature map, i.e., a heat map, based on the data. Warehouses equipped with automated storage and retrieval systems are often dark during normal operation due to the limited requirements for light sources within the warehouse, and any external power sources that use electricity to provide light may be shut off in the event of a fire. Therefore, such temperature maps, or "heat maps," can provide valuable information, at least in the X and Y directions (in the horizontal plane), regarding the locations where a fire, plume, heat, or smoke is most likely to be located, as well as information regarding the extent of the fire, plume, heat, or smoke in the X and Y directions.

[0051] The method may further include the step of assigning at least one container handling vehicle and operating a master control system to instruct it to remove the storage containers along a second and / or first path between its position at the edge of the storage volume and the target storage location. The loop of the first path may be located at a distance of one or two storage container lengths from the source of the fire, plume, heat, or smoke and the target storage location. Alternatively, or in addition, the loop of the first path may be closer to the target storage location so that an operator can access the target storage location through either the first and / or second path.

[0052] The method therefore includes the step of a container handling vehicle removing a storage container and creating a second path in accordance with instructions from a master control system.

[0053] The method may further include a step of updating the target storage location, such as including one or more additional columns. For example, if a storage container outside the initial target storage location becomes damaged, it is likely that the fire has traveled further than initially assumed. The second path may originate from a side edge of a different storage volume than the first path, or the second path may originate from a side edge of the same storage volume as the first path.

[0054] The method may further include the steps of: using a master control system to determine where the storage container should be moved from the route; and, based on the location of the available locations, instructing a container handling vehicle to move the storage container to one of the available locations. The method may therefore also include the step of moving the storage container, which is determined to be in a first and / or second route.

[0055] Available locations can be empty storage locations or locations within ports.

[0056] The method may provide access to a non-liftable storage container within a storage column, and the step of determining a target storage location may include receiving information from a container handling vehicle indicating that a storage container at the target storage location is non-liftable, and the step of an operator using a master control system to remove the non-liftable storage container along a first path between its position at the edge of the storage volume and the target storage location where the non-liftable storage container is located, so that the non-liftable storage container is accessible. If a storage container is found to be non-liftable, it will be at the top of the stack at that point, as the lift frame of the container handling vehicle is attempting to engage it. In such a situation, the container handling vehicle will be able to provide such information as the master control system determines the location of the non-liftable storage container as it determines the location of all storage containers. In this embodiment, the operator may manually remove or slacken the container after generating a walking path to the target storage location where the non-liftable storage container is located.

[0057] An automated storage and retrieval system is further described, which is a rail system for guiding a plurality of container handling vehicles, the rail system comprising: a first set of parallel rails arranged in a horizontal plane and extending in a first direction; and a second set of parallel rails arranged in a horizontal plane and extending in a second direction perpendicular to the first direction, the first and second sets of rails forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each grid cell comprising a grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails; and a storage volume below the rail system, the storage volume comprising storage columns for storing storage containers, and a container handling vehicle being operable to retrieve storage containers from a stack of storage containers in the storage volume; and the rail system The system comprises at least one container handling vehicle capable of operating on a rail system, the container handling vehicle comprising a lift assembly for loading a storage container from a storage column to a position above the lowest level of the transport mechanism, the lift assembly comprising a lift frame connectable to the storage container, the lift frame configured to lift the storage container from a position within the storage column to a position above the rail system and then lower it, and a master control system configured to, once at least one container handling vehicle has removed a storage container along a first path, allow an operator to access a target storage position via the first path, and instruct it to remove the storage container along a first path between a position on the side edge or upper surface of the storage volume and a target storage position within the storage volume.

[0058] Target storage locations may be determined based on the required access to target storage locations that require inspection, maintenance, or repair.

[0059] A remotely operated vehicle may be a container handling vehicle equipped with a lift assembly for loading storage containers from a storage column to a position above the lowest level of the transport mechanism, the lift assembly may be a lift frame connectable to the storage container and configured to lift and lower the storage container from a position within the storage column to a position above the rail system. This specification also provides, for example, the following: (Item 1) A method for providing operator access to target storage locations (400, 401) within an automated storage and retrieval system (1), The automated storage and retrieval system (1) comprises a rail system (108) for guiding a plurality of container handling vehicles (200, 300), the rail system (108) comprising a first set (110) of parallel rails extending in a first direction (X) located in a horizontal plane (P), and a second set (111) of parallel rails extending in a second direction (Y) perpendicular to the first direction (X) located in the horizontal plane (P), the first and second sets of rails (110, 111) forming a grid pattern in the horizontal plane (P) comprising a plurality of adjacent grid cells (122), each grid cell (122) comprising a grid opening (115) defined by pairs of neighboring rails (110a, 110b) of the first set (110) of rails (110) and pairs of neighboring rails (111a, 111b) of the second set (111) of rails, The automated storage and retrieval system (1) further comprises a storage volume (500) below the rail system (108), the storage volume (500) comprising storage columns for storing storage containers (106), and the container handling vehicles (200, 300) being operable to retrieve storage containers (106) from a stack (107) of storage containers within the storage volume (500). The aforementioned method, The process includes the steps of allocating at least one container handling vehicle (200, 300) and operating a master control system (800) to instruct the at least one container handling vehicle (200, 300) to remove the storage containers along a first path (900) between a position on the side edge or upper surface of the storage volume (500) and the target storage position (400, 401), The operator has access to the target storage location via the first route (900) once the at least one container handling vehicle (200, 300) has removed the storage container (106) along the first route. (Item 2) The method described above is the method according to item 1, comprising the step of determining a target storage location. (Item 3) The method according to item 1, wherein the first path is a loop path (901) surrounding the target storage location, and the master control system (800) instructs the at least one container handling vehicle to remove the storage containers along the loop path (901). (Item 4) The method includes collecting and evaluating information regarding the location of the fire, plume, heat, or smoke in the automated storage and recovery system (1), and the collection of such information is A step of operating a plurality of remotely operated vehicles (200, 300) on the rail system (108), wherein each of the remotely operated vehicles (200, 300) is equipped with a detection device (150) for detecting fire, heat, smoke, or plume, and the detection device (150) is configured to transmit data from the detection device to the master control system (800) via communication means in the container handling vehicle that carries the detection device (150) that has collected the information. The steps include using the master control system to process arbitrary data from any of the detection devices (150), and using the master control system (800) to provide information about the location of the fire, plume, heat, or smoke. Using the master control system, the steps include: removing the storage container and determining the location where the first route (900) should be generated; The method described in any of items 1-3, including the method described in item 1-3. (Item 5) If any of the aforementioned remotely operated vehicles (200') indicates the presence of fire, heat, smoke emission, or plume emission, the method shall A step of assigning another remotely operated vehicle (200'') to move to a cell near the location of the remotely operated vehicle (200', 200'') indicating the presence of fire, heat, smoke emission, or plume emission, wherein the other remotely operated vehicle (200'') has a detection device (150) for detecting fire, heat, plume, or smoke; Using the master control system (800), the remotely operated vehicles (200', 200'', 200''') process the data from the detection device. It further includes, The method according to item 4, wherein the master control system (800) determines, based on processing the information from the detection device, whether it is possible to give a reasonable guess regarding the location of the fire, plume, smoke emission, or heat emission source (400). (Item 6) The method according to item 5, wherein if the master control system (800) determines that a reasonable guess regarding the location of the fire, plume, smoke, or heat source (400) can be given, the method includes the step of determining the location of the fire, plume, smoke, or heat source (400) in the form of a triangular arrangement (TA) by utilizing the master control system (800) and comparing information from at least three detection devices. (Item 7) The method according to item 6, wherein if the master control system (800) determines that a reasonable guess regarding the location of the fire, plume, smoke, or heat source (400) can be given, the method includes the step of using the master control system (800) and comparing information from at least four detection devices to determine the location of the fire, plume, smoke, or heat source (400) in the form of a quadrilateral polygon arrangement (PA). (Item 8) The method according to any one of items 1-7, comprising the steps of allocating at least one container handling vehicle and operating a master control system (800) to instruct the at least one container handling vehicle to remove a storage container along a second path between a position on the side edge of the storage volume (500) and the target storage location, wherein the operator is able to access the target storage location via either the first and / or second path. (Item 9) The method according to item 8, wherein the second path is generated from a different side edge of the storage volume (500) than the first path, or the second path is generated from the same side edge of the storage volume (500) as the first path. (Item 10) The steps include: using the master control system (800) to determine the location to which the storage container should be moved from the route; The steps include: commanding the container handling vehicle (200', 200'', 200'''') to move the storage container to one of the available locations based on where the available locations are located; The method described in any of items 1-9, further including the method described in any of items 1-9. (Item 11) The method according to item 10, wherein the available location is an empty storage location or a location in a port. (Item 12) The method provides access to a non-liftable storage container (401) within the storage column, and the step of determining the target storage location is: The steps include receiving information from a container handling vehicle indicating that the storage container at the target storage location cannot be lifted, The steps include: using the master control system (800) to remove the non-liftable storage container (401) along a first path (900) between the position on the edge of the storage volume and the target storage position where the non-liftable storage container (401) is located, so that the operator can access the non-liftable storage container (401); The method described in any of items 1-11, including the method described in any of items 1-11. (Item 13) The target storage location is determined based on the required access to the target storage location that requires inspection, maintenance, or repair, as described in any of items 1-12. (Item 14) An automated storage and retrieval system (1), wherein the automated storage and retrieval system (1) is A rail system (108) for guiding multiple container handling vehicles (200, 300), the rail system (108) comprises a first set (110) of parallel rails extending in a first direction (X) located in a horizontal plane (P), and a second set (111) of parallel rails extending in a second direction (Y) perpendicular to the first direction (X) located in the horizontal plane (P), wherein the first and second sets of rails (110, 111) form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent grid cells (122), each grid cell (122) comprising a grid opening (115) defined by pairs of neighboring rails (110a, 110b) of the first set of rails (110) and pairs of neighboring rails (111a, 111b) of the second set of rails (111), A storage volume (500) located beneath the rail system (108), wherein the storage volume (500) comprises storage columns for storing storage containers (106), and the container handling vehicles (200, 300) are operable to retrieve storage containers (106) from a stack (107) of storage containers within the storage volume (500), At least one container handling vehicle (200, 300) operable on the rail system (108), wherein the container handling vehicle (200, 300) comprises a lift assembly for loading storage containers from the storage column to a position above the lowest level of the transport mechanism, the lift assembly comprises a lift frame connectable to the storage container, and the lift frame is configured to lift and lower the storage container (106) from a position within the storage column to a position above the rail system (108), Master control system (800) and Equipped with, The master control system (800) is configured to allocate at least one of the container handling vehicles (200, 300) and to instruct at least one of the container handling vehicles (200, 300) to remove a storage container along a first path (900) between a position on the side edge or upper surface of the storage volume (500) and a target storage position (400, 401) within the storage volume (500). When at least one container handling vehicle removes the storage container along the first route (900), the operator has access to the target storage location (400, 401) via the first route (900) of the automated storage and retrieval system (1). [Brief explanation of the drawing]

[0060] The following drawings illustrate exemplary embodiments of the present invention and are attached to facilitate understanding of the invention. However, the features disclosed in the drawings are for illustrative purposes only and should not be construed as limiting.

[0061] [Figure 1-1] Figures 1A-D are perspective views of a conventional automated storage and retrieval system, with Figures 1A and 1C showing the complete system and Figures 1B and 1D showing an example of a system that can be operated using a conventional container handling vehicle. [Figure 1-2]Figures 1A-D are perspective views of a conventional automated storage and retrieval system, with Figures 1A and 1C showing the complete system and Figures 1B and 1D showing an example of a system that can be operated using a conventional container handling vehicle. [Figure 2] Figures 2A-C are top views of container handling vehicle rail systems, where Figure 2A shows a single rail system, Figure 2B shows a double rail system, and Figure 2C shows a double rail system with the width and length of the container handling vehicle grid cells shown. [Figure 3-1] Figure 3A is a perspective view of an exemplary embodiment of a delivery system comprising a storage grid, a delivery rail system, and a delivery vehicle. [Figure 3-2] Figures 3B and 3C show two examples of plumes, smoke, or heat release occurring within an automated storage and recovery system. [Figure 4] Figure 4 shows an example of a heatmap generated by a master control system based on inputs from multiple fire detection devices placed on a container handling vehicle. [Figure 5A] Figure 5A is a flowchart illustrating how an operator may be able to provide access to a target storage location within an automated storage and retrieval system. [Figure 5B] Figure 5B is a flowchart illustrating an example of steps that should be taken in the event that a container handling vehicle detects a plume, smoke, or heat. [Figure 6-1] Figures 6A-6D are step-by-step diagrams of the flowchart in Figure 5B, in which each container handling vehicle equipped with a fire detection device is instructed to drive to the grid cell closest to the detected plume, smoke, or heat source, so that the master control system can process the data from the fire detection device received from the container handling vehicle to infer the location of the plume, smoke, or heat source. [Figure 6-2]Figures 6A-6D are step-by-step diagrams of the flowchart in Figure 5B, in which each container handling vehicle equipped with a fire detection device is instructed to drive to the grid cell closest to the detected plume, smoke, or heat source, so that the master control system can process the data from the fire detection device received from the container handling vehicle to infer the location of the plume, smoke, or heat source. [Figure 7A] Figure 7A shows, for example, a fire scene after it has been extinguished by a sprinkler. [Figure 7B] Figure 7B shows an example where a container handling vehicle removes stored containers and creates a loop route around the fire site. [Figure 7C] Figure 7C shows an example where a container handling vehicle removes a storage container to create a first path extending from its position at the side edge of the storage volume to a loop path around the fire site in Figure 7B. [Figure 7D] Figure 7D shows an example where a container handling vehicle removes a storage container to create a second path extending from its position at the side edge of the storage volume to a loop path around the fire site in Figures 7B and 7C. [Figure 8] Figure 8 shows an example where the fire site, i.e., the target storage location, is close to a corner of the storage volume, and the container handling vehicle creates an L-shaped path within the storage volume, extending between the first side edge and the second side edge of the storage volume. [Figure 9A] Figure 9A shows non-liftable storage containers within the storage volume. [Figure 9B] Figure 9B shows an example where a container handling vehicle removes a storage container to create a first path extending from its position at the side edge of the storage volume to the unliftable storage container in Figure 9A. [Figure 10A] Figure 10A shows the non-liftable storage container in a different location within the storage volume compared to Figure 9A. [Figure 10B]Figure 10B shows an example where a container handling vehicle removes a storage container to create a first path extending from its position at the side edge of the storage volume to the unliftable storage container in Figure 10A. [Figure 11] Figure 11 is a perspective view of the automated storage and retrieval system, illustrating that the system may have side panels on the side edges, which are removed to allow access to the storage volume below the rail system. [Modes for carrying out the invention]

[0062] Different alternatives will be discussed in more detail below with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the scope of the invention to the subject matter depicted in the drawings. Furthermore, even if some of the features are described in relation only to the system, it is evident that they are equally valid with respect to the related methods, and vice versa.

[0063] Referring to Figures 1A-D, each storage structure 1's storage grid 104 forms a framework 100 within a total of 143 grid columns 112 (the grid column 112 at the upper front corner, i.e., grid location or cell reference at X=11, Y=1, Z=0), with the width and length of the framework corresponding to the width and length of 13 and 11 grid columns 112, respectively. The top layer of the framework 100 is a container handling vehicle rail system / rail system 108 on which multiple container handling vehicles 200, 300 operate.

[0064] The framework 100 of storage system 1 is constructed of the prior art framework 100 described above, namely a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102, further comprising a container handling vehicle rail system 108 of parallel rails 110, 111 in the X and Y directions, positioned across the top of the storage column 105. The horizontal area of ​​a single grid opening 115, i.e., the area along the X and Y directions, can be defined by the distance between adjacent rails 110 and 111 (see also Figures 2A-2C). In Figures 1A and 1C, grid cells 122 are marked on the rail system 108 by thick lines. The area between adjacent rails is the grid opening 115, and the grid cell 122 is the area up to the outer edge of the opposing rails extending along both sides of the grid opening. Alternatively, if these are defined in terms of double-track rails, the area is up to the midpoint or center of each adjacent rail.

[0065] The container handling vehicle rail system 108 allows container handling vehicles 200 and 300 to move horizontally between different grid locations, each grid location being associated with a grid cell 122.

[0066] In Figures 1A and 1C, the storage grid 104 is shown with a height of eight cells. However, it should be understood that the storage grid 104 can be any size in principle. In particular, it should be understood that the storage grid 104 can be significantly wider and / or longer than that disclosed in Figures 1A and 1C. For example, the storage grid 104 may have a horizontal range exceeding 700 × 700 grid cells 122, or any size between these examples, e.g., 100 × 100 grid cells, 200 × 200 grid cells, 500 × 500 grid cells, etc. The grid 104 can also be significantly deeper than that disclosed in Figures 1A and 1C. For example, the storage grid 104 may be deeper than 12 grid cells.

[0067] The storage grid 104 is equivalent to or similar to the conventional storage grid 104 described above, namely, the storage grid 104 comprises a rail system 108, a plurality of stacks 107 of storage containers 106, a plurality of container handling vehicles 300 for lifting and moving the storage containers 106 stacked in the stacks 107, and delivery columns 119, 120 configured to receive the storage containers 106 from the container handling vehicles 200, 300.

[0068] The rail system 108 comprises a first set 110 of parallel rails extending in a first direction (X) located in a horizontal plane (P), and a second set 111 of parallel rails extending in a second direction (Y) perpendicular to the first direction (X) located in the horizontal plane (P). The first and second sets of rails 110, 111 form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent grid cells 122. Each grid cell 122 displays a grid opening defined by pairs of neighboring rails in the first set 110 and pairs of neighboring rails in the second set 111.

[0069] Multiple stacks 107 are placed within storage columns 105 located directly below the rail system 108, with each storage column 105 positioned vertically below the grid cells 122.

[0070] Each container handling vehicle 200, 300 is configured to move on a rail system 108 above the storage column 105.

[0071] The storage container vehicles 200, 300 may be any type known in the art, for example, one of the automated container handling vehicles disclosed in WO2014 / 090684 A1, NO317366, or WO2015 / 193278A1.

[0072] Rail system 108 may be a single rail system, as shown in Figure 2A. Alternatively, rail system 108 may be a double rail system, as shown in Figure 2B. Further alternatives may be a combination of a single rail system and a double rail system. Details of the single rail system and the double rail system are disclosed herein in the Background Art section.

[0073] A perspective view of the automated storage and retrieval system is shown in Figure 3A. The automated storage and retrieval system comprises a storage grid 104 on which multiple container handling vehicles 200, 300 operate, and the delivery system 140 comprises a delivery rail system 50 on which multiple delivery vehicles 30 operate. The delivery vehicles 30 are equipped with a wheel arrangement 31 having first and second sets of wheels for driving the delivery vehicles in a first direction (X) and a second direction (Y). A master control system 800 tracks the container handling vehicles 200, 300 operating on the storage grid 104 and the delivery vehicles operating on the delivery rail system 30.

[0074] Furthermore, the delivery system 140 comprises one or more of the delivery vehicles 30 described above, namely, the delivery vehicle 30 is configured to receive and support one or more storage containers 106 for transport between one or more delivery columns 119, 120 of the storage grid 104 and one or more predetermined locations outside the storage grid 104. The predetermined locations may be, for example, a second location, a container access station, a conveyor line, another storage container, or a transport vehicle such as a truck.

[0075] The delivery system 140 may further comprise a delivery rail system 50 positioned below the delivery ports of one or more delivery columns 119, 120.

[0076] As shown in Figure 3, the delivery rail system 50 can be constructed in the same manner as or similar to the rail system 108 for container handling vehicles 200, 300.

[0077] Accordingly, the delivery rail system 50 may comprise a first set 51 of parallel rails arranged in a horizontal plane (P1) and extending in a first direction (X), and a second set 52 of parallel rails arranged in the horizontal plane (P1) and extending in a second direction (Y) orthogonal to the first direction (X).

[0078] Figures 3B and 3C show two examples in which fumes, smoke, or heat emission 400 occurs on a storage grid 104 within an automated storage and retrieval system 1. A plurality of container handling vehicles 200, 200' operate on a rail system 108 of the storage grid 104 within the automated storage and retrieval system 1 and communicate with a master control system 800. Some of the container handling vehicles 200, 200' are equipped with a fire detection device 150. However, preferably a majority, preferably more than 50%, of the container handling vehicles 200, 200' are equipped with a fire detection device 150, possibly together with a stationary fire detection device 150 arranged on the storage grid 104.

[0079] Figure 4 shows an example of a heat map generated by a master control system based on inputs from a plurality of fire detection devices 150 arranged on container handling vehicles 200, 300.

[0080] In the following, an example for generating a heat map 160 or the like using the fire detection device 150 x on container handling vehicles 200', 200 will be described in more detail. In order for the master control system 800 to provide the heat map 160, preferably three or more fire detection devices 150, which can provide the master control system 800 with additional inputs regarding fume or smoke concentration (or in the case of heat detection, additional inputs from for example infrared cameras or temperature sensors on the container handling vehicles 200', 200 x ), are used. Then, the container handling vehicles 200', 200 on the rail system 108 xBased on the location and the concentration of the plume or smoke measured by the thermal detection device 150, the master control system 800 can generate a heat map 160 showing the estimated location of the source of the plume, smoke, or heat emission (see Figures 3B and 3C). The disclosed heat map 160 comprises an outer portion 161 indicated by coarse grains, an intermediate portion 161 indicated by stripes, and an inner portion 162 indicated by solid black. The heat map 160 may indicate that it is certain that the source of the plume, smoke, or heat emission 400 is within the outer portion 161, that it is fairly certain that the source of the plume, smoke, or heat emission 400 is within the striped portion 161, and that it is very likely that the source of the plume, smoke, or heat emission 400 is within the inner portion 162. If the master control system 800 has created such a heatmap 160, it is most likely that any firefighter will concentrate their initial firefighting efforts on the inner portion 162 on Figure 4 (i.e., within cell locations B7-B10 and C7-C10).

[0081] Figure 5A is a flowchart illustrating how an operator may be provided with access to target storage locations 400, 401 within the automated storage and retrieval system 1. Such an operation may include the following steps: Step 601: Identify the target storage locations (400, 401) within the target storage volume (500). Step 602: The master control system 800 determines the location of the target storage positions (400, 401). Step 603: Operate the master control system to allocate and command at least one container handling vehicle. Step 604: Under command from the master control system (800), remove the stored containers using at least one container handling vehicle (200, 300). Step 605: Have all storage containers (106) in the storage column been removed so that a first path is created from their position on the side edge or top surface of the storage volume (500)? If the answer in step 605 is "yes", proceed to step 606: finish. The operator can access target storage locations 400, 401 via the first path 900. If the answer in step 605 is "No", proceed to step 607: The master control system 800 instructs the container handling vehicle to remove the remaining storage containers in order to form the first route (900), etc.

[0082] Figure 5B is a flowchart illustrating an example of steps that should be taken in the event that a container handling vehicle detects a plume, smoke, or heat. Such a process may include the following steps: Step 501: The vehicle detects smoke / heat. Step 502: The first vehicle 200' transmits data from the fire detection device to the master control system 800. Step 503: The master control system 800 determines the position of the first vehicle 200'. Step 504: The master control system 800 processes the data from the fire detection device received from the first vehicle 200'. Step 505: The master control system 800 commands the second vehicle 200'' to drive to a cell adjacent to vehicle 200'. Step 506: The second vehicle 200'' senses data from the fire detection device and transmits it to the master control system 800. Step 507: The master control system 800 processes data from the fire detection devices of the first and second vehicles 200' and 200''. Step 508: The master control system 800 commands the third vehicle 200'''' to drive to a cell adjacent to the first and second vehicles 200', 200''. Step 509: The master control system 800 commands the third vehicle 200'''' to drive to a cell adjacent to the first and second vehicles 200', 200''. Step 510: The third vehicle 200'' senses data from the fire detection device and transmits it to the master control system 800. Step 511: The master control system 800 processes data from fire detection devices from all vehicles 200', 200'', 200''', ..., 200x. Step 512: Based on the processing in Step 511, does the master control system 800 have a reasonable guess regarding the location of the plume / heat source? If the answer in step 512 is "yes", proceed to step 514: Allocate at least one container handling vehicle and instruct it to remove the storage container along a first path between its position on the side edge or top surface of the storage volume and the target storage location. If the answer in step 512 is "no", proceed to step 513. The master control system 800 commands other vehicles 200'''', ..., 200x to drive to cells adjacent to the first, second, and third vehicles 200', 200'', 200''''.

[0083] Figures 6A-6D are step-by-step diagrams of the flowchart in Figure 5B, showing one 200' container handling vehicle with a fire detection device. ···x However, the master control system 800 uses container handling vehicles 200' to infer the location of the plume, smoke, or heat source 400. ···x To process data received from fire detection devices, the vehicle is instructed to drive to a grid cell adjacent to the container handling vehicle 200' that has detected plume, smoke, or heat 400.

[0084] In Figure 6A, the first container handling vehicle 200', located in cell H5 equipped with a fire detection device (not shown in Figure 6A), detects plume, smoke, or heat 400. The first container handling vehicle 200' transmits data from the fire detection device to the master control system 800. The master control system 800 then controls the container handling vehicle 200' ···xAll of these are continuously tracked, and therefore the location of the first container handling vehicle 201' that detected the plume, smoke, or heat 400 is determined. The master control system 800 processes the data from the fire detection device received from the first container handling vehicle 200'.

[0085] In Figure 6B, the master control system 800, based on input from the first container handling vehicle 200', commands the second container handling vehicle 200'', initially positioned in cell E3, to move to cell G3 (as illustrated by arrow AR-1), which is closer to the first container handling vehicle 200' (and is expected to be closer to the source of plume, smoke, or heat emission 400). When the second container handling vehicle 200'' enters cell G3, and upon entering, the fire detection device of the second container handling vehicle 200'' transmits data from the fire detection device to the master control system 800. The master control system 800 processes the data from the fire detection devices of the first and second container handling vehicles 200' and 200''.

[0086] In Figure 6C, the master control system 800, based on inputs from the first and second container handling vehicles 200', 200'', commands the third container handling vehicle 200'''', initially positioned in cell F8, to move to cell F6 (as illustrated by arrow AR-2), which is closer to the first and second container handling vehicles 200', 200'' (and is expected to be closer to the source of plume, smoke, or heat emission 400). When the third container handling vehicle 200'''' enters cell F6, and upon entering, the fire detection device of the third container handling vehicle 200'''' transmits data from the fire detection device to the master control system 800. The master control system 800 processes the data from the fire detection devices of the first, second, and third container handling vehicles 200', 200'', 200''''. If the master control system 800 has a reasonable guess regarding the location of the plume, smoke, or heat source 400 based on its processing, then a further container handling vehicle 200 is ordered to move closer to the expected source 400 of the plume, smoke, or heat emission. x It does not exist. Normally, positioning three container handling vehicles 200', 200'', 200'''' within a triangular arrangement TA surrounding the source 400 of the plume, smoke, or heat emission would be sufficient to establish a reasonable guess about the location of the source 400 of the plume, smoke, or heat emission. However, if a reasonable guess about the location of the source 400 of the plume, smoke, or heat emission cannot be established, yet another container handling vehicle 200 x However, the situation is commanded to move to a cell closer to the source 400 from which the plume, smoke, or heat emission is expected, as shown in Figure 6D.

[0087] In Figure 6D, the master control system 800 commands the fourth container handling vehicle 200'''', initially positioned in cell J1, to move to cell J3 (as illustrated by arrow AR-3), which is closer to the first, second, and / or third container handling vehicles 200', 200'', 200''' (and is expected to be closer to the source of plume, smoke, or heat emission 400), based on inputs from the first, second, and third container handling vehicles 200', 200'', 200''''. As the fourth container handling vehicle 200'''' enters and is entering cell J3, the fire detection device of the fourth container handling vehicle 200'''' transmits data from the fire detection device to the master control system 800. The master control system 800 processes data from fire detection devices from the first, second, and third container handling vehicles 200', 200'', 200''', and 200''''. A total of four container handling vehicles 200', 200'', 200''', and 200'''' are arranged as a rectangular polygon PA surrounding the source of the plume, smoke, or heat emission 400. This setup is almost certainly sufficient to establish a reasonable location for the source of the plume, smoke, or heat emission 400. However, in events where four container handling vehicles 200', 200'', 200''', and 200'''' are unlikely to be sufficient, the master control system 800 will add further container handling vehicles 200 with fire detection devices. x It may be ordered to move closer to the expected location of the source 400 of the plume, smoke, or heat emission.

[0088] Figure 7A shows, for example, a fire scene 400 after it has been extinguished by a sprinkler. The expected fire scene 400 is located within the storage column represented by cells G4, G5, H4, and H5 in Figure 7A.

[0089] Referring to Figure 7B, an example is disclosed in which a container handling vehicle 200 removes a storage container and generates a loop path 901 around the fire site, the loop path 901 extending 360 degrees around the fire site 400. The loop path 901 is located within storage columns represented by cells E3-E6, E6-I6, I6-I3, and I3-E3, which form a rectangular pattern (i.e., a loop) around the fire site 400.

[0090] Referring to Figure 7C, an example is disclosed in which a container handling vehicle 200 removes storage containers to generate a first path 900 that extends from a position on the side edge of a storage volume 500 to a loop path around the fire site in Figure 7B. In Figure 7C, the first path 900 is generated from the side edge on the left side of the figure, and storage containers in cells A5-D5 are removed to generate the first path 900.

[0091] Referring to Figure 7D, an example is disclosed in which a container handling vehicle removes a storage container to generate a second path 902 that extends from its position at the side edge of a storage volume 150 to a loop path 901 around the fire site 400 in Figures 7B and 7C. In Figure 7D, the second path 902 is generated from the side edge at the top of the figure, and the storage container in cell G1-G2 is removed to generate the second path 902.

[0092] Figure 8 shows an example where the fire site 400, i.e., the target storage location, is close to the corner of the storage volume 500 (the lower right corner in Figure 8), and a container handling vehicle 200 is creating an L-shaped path 900 within the storage volume 500. The L-shaped path 900 extends between the first side edge of the storage volume 150 and the second side edge of the storage volume 500. The path 900 in Figure 8 extends through the storage columns represented by cells G8-G6 and G6-J6. In the particular example in Figure 8, a 360-degree visual inspection is achieved from the outside of the storage volume 500, i.e., from the two side edges on the right and bottom sides of the figure.

[0093] Figure 9A shows an example of a non-liftable storage container within a storage volume of 150. The non-liftable storage container is located in target storage location 401, represented by a cell numbered F4.

[0094] Figure 9B shows an example in which a container handling vehicle removes a storage container to generate a first path 900 from a position on the side edge of a storage volume 150 to an unliftable storage container in a target storage position 401. The first path 900 in Figure 9B extends from the lower side edge of the storage column represented by cell G8, through positions G7, G6, and G5, to the storage column represented by cell G4.

[0095] Figure 10A shows a non-liftable storage container in a storage volume of 150 at a different location than the non-liftable storage container in Figure 9A. In Figure 10A, the non-liftable storage container is located in the target storage location 401, represented by cell I7.

[0096] Referring to Figure 10B, an example is shown in which a container handling vehicle 200 removes a storage container to generate a first path 900 that extends from a position at the lower edge of the storage volume 150 to the unliftable storage container in Figure 10A.

[0097] Figure 11 is a perspective view of the automated storage and retrieval system 1, illustrating that the system may have side panels 25 on its side edges. The side panels 25 can be removed to allow access to the storage volume 150 below the rail system 108 at ground level.

[0098] In the preceding description, various aspects of the automated storage and retrieval systems, vehicles, and methods according to the present invention are described with reference to illustrative embodiments. For example, in most of the figures, a container handling vehicle operating on a storage grid rail system is disclosed, but it is obvious that the same system and configuration also apply to a delivery vehicle operating on a delivery rail in a delivery rail system. Therefore, this description is not intended to be constrained. Various modifications and variations of the illustrative embodiments, and other embodiments of the system, which will be obvious to those skilled in the art, are considered to be within the scope of the present invention as defined by the following claims.

[0099] List of reference numbers: [Table 1-1] [Table 1-2]

Claims

1. A method for providing operator access to target storage locations (400, 401) within an automated storage and retrieval system (1), The automated storage and retrieval system (1) includes a rail system (108) for guiding a plurality of container handling vehicles (200, 300), the rail system (108) forming a grid pattern comprising a plurality of adjacent grid cells (122), each grid cell (122) comprising a grid opening (115) defined by four neighboring rails, The automated storage and retrieval system (1) further comprises a storage volume (500) below the rail system (108), the storage volume (500) comprising storage columns for storing storage containers (106), and the container handling vehicles (200, 300) are operable to retrieve the storage containers (106) from the storage columns in the storage volume (500). The aforementioned method, The process includes the steps of allocating at least one container handling vehicle (200, 300), and operating a master control system (800) to command the at least one container handling vehicle (200, 300) to remove at least one storage container along a first path (900) between a position on the side edge or upper surface of the storage volume (500) and the target storage position (400, 401), The operator is able to observe or access the target storage location via the first path (900) once the at least one container handling vehicle (200, 300) has removed the at least one storage container (106) along the first path.

2. The method according to claim 1, wherein the rail system comprises a first set (110) of parallel rails extending in a first direction (X) located in a horizontal plane (P), and a second set (111) of parallel rails extending in a second direction (Y) perpendicular to the first direction (X) located in the horizontal plane (P), the first and second sets of rails (110, 111) form the grid pattern in the horizontal plane (P), and each grid opening (115) is defined by pairs of neighboring rails (110a, 110b) of the first set (110) of rails (110) and pairs of neighboring rails (111a, 111b) of the second set (111) of rails.

3. The method according to claim 1 or claim 2, further comprising the step of determining a target storage location.

4. The method according to claim 1 or 2, wherein the first path is a loop path (901) surrounding the target storage location, and the master control system (800) commands the at least one container handling vehicle to remove the storage containers along the loop path (901).

5. The method includes collecting and evaluating information relating to the location of the fire, plume, heat, or smoke in the automated storage and recovery system (1), and determining the target storage location based at least in part on the information, wherein the collection of the information is A step of operating a plurality of remotely operated vehicles (200, 300) on the rail system (108), wherein each of the remotely operated vehicles (200, 300) is equipped with a detection device (150) for detecting fire, heat, smoke, or plume, and the detection device (150) is configured to transmit data from the detection device to the master control system (800) via communication means in the container handling vehicle that carries the detection device (150) that has collected the information. The steps include using the master control system to process arbitrary data from any of the detection devices (150), and using the master control system (800) to provide information about the location of the fire, plume, heat, or smoke. Using the master control system, the steps include: removing the storage container and determining the location where the first route (900) should be generated; The method according to any one of claims 2-4, including the method described above.

6. If any of the remotely operated vehicles (200') indicates the presence of fire, heat, smoke emission, or plume emission, the method shall A step of allocating another remotely operated vehicle (200'') to move to a cell near the location of the remotely operated vehicle (200', 200'') indicating the presence of fire, heat, smoke emission, or plume emission, wherein the other remotely operated vehicle (200'''') has a detection device (150) for detecting fire, heat, plume, or smoke; Using the master control system (800), the remotely operated vehicles (200', 200'', 200''') process the data from the detection device. It further includes, The method according to claim 5, wherein the master control system (800) determines, based on processing the information from the detection device, whether it is possible to give a reasonable guess regarding the location of the source (400) of the fire, plume, smoke emission, or heat emission.

7. The method according to claim 6, wherein if the master control system (800) determines that a reasonable guess regarding the location of the source (400) of the fire, plume, smoke, or heat release can be given, the method includes the step of using the master control system (800) and comparing information from at least three detection devices to determine the location of the source (400) of the fire, plume, smoke, or heat release in a triangular arrangement (TA).

8. The method according to claim 7, wherein if the master control system (800) determines that a reasonable guess regarding the location of the source (400) of the fire, plume, smoke, or heat release can be given, the method includes the step of using the master control system (800) and comparing information from at least four detection devices to determine the location of the source (400) of the fire, plume, smoke, or heat release in the form of a quadrilateral polygon arrangement (PA).

9. The method according to any one of claims 1-8, comprising the steps of allocating at least one container handling vehicle and operating a master control system (800) to command the at least one container handling vehicle to remove a storage container along a second path between a position on the side edge of the storage volume (500) and the target storage location, wherein the second path is different from the first path and the operator can access the target storage location through either the first and / or second path.

10. The method according to claim 9, wherein the second path is generated from a side edge of the storage volume (500) that is different from the first path, or the second path is generated from the same side edge of the storage volume (500) as the first path.

11. The steps include: using the master control system (800) to determine the location to which the storage container should be moved from the route; The steps include: commanding the container handling vehicle (200', 200'', 200'''') to move the storage container to one of the available locations based on where the available locations are located; The method according to any one of claims 1 to 10, further comprising:

12. The method according to claim 11, wherein the available location is an empty storage location or a location in a port column of a storage grid.

13. The method provides access to a non-liftable storage container (401) within the storage column, and the step of determining the target storage location is: The steps include receiving information from a container handling vehicle indicating that the storage container at the target storage location cannot be lifted, The steps include: using the master control system (800) to remove the non-liftable storage container (401) along the first path (900) between the position at the edge of the storage volume and the target storage position where the non-liftable storage container (401) is located, so that the operator can access the non-liftable storage container (401); The method according to any one of claims 1 to 12, including the method described above.

14. The method according to any one of claims 1 to 13, wherein the target storage location is determined based on the required access to a location within the storage volume that requires inspection, maintenance, or repair.

15. An automated storage and retrieval system (1), wherein the automated storage and retrieval system (1) is A rail system (108) for guiding multiple container handling vehicles (200, 300), wherein the rail system (108) forms a grid pattern comprising multiple adjacent grid cells (122), and each grid cell (122) comprises a grid opening (115) defined by four neighboring rails, A storage volume (500) located beneath the rail system (108), wherein the storage volume (500) comprises storage columns for storing storage containers (106), and the container handling vehicles (200, 300) are operable to retrieve the storage containers (106) from the storage columns within the storage volume (500), At least one container handling vehicle (200, 300) operable on the rail system (108), wherein the container handling vehicle (200, 300) comprises a lift assembly for loading storage containers from the storage column to a position above the lowest level of the transport mechanism, the lift assembly comprises a lift frame connectable to the storage container, and the lift frame is configured to lift and lower the storage container (106) from a position within the storage column to a position above the rail system (108), Master control system (800) and Equipped with, The master control system (800) is configured to allocate at least one of the container handling vehicles (200, 300) and to instruct at least one of the container handling vehicles (200, 300) to remove at least one storage container along a first path (900) between a position on the side edge or upper surface of the storage volume (500) and a target storage position (400, 401) within the storage volume (500). An automated storage and retrieval system (1) wherein, once the at least one container handling vehicle has removed the at least one storage container along the first path (900), an operator can access or observe the target storage locations (400, 401) via the first path (900).

16. The rail system comprises a first set (110) of parallel rails extending in a first direction (X) located in a horizontal plane (P), and a second set (111) of parallel rails extending in a second direction (Y) perpendicular to the first direction (X) located in the horizontal plane (P), wherein the first and second sets of rails (110, 111) form the grid pattern in the horizontal plane (P), and each grid opening (115) is defined by pairs of neighboring rails (110a, 110b) of the first set (110) and pairs of neighboring rails (111a, 111b) of the second set (111), the automatic storage and retrieval system (1) according to claim 15.

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