Fuse holder

Abstract

The disclosure relates to a fuse holder for a robotic vehicle, comprising a body comprising a cavity for receiving a fuse; first and second fuse attachment points in the cavity; and a peg insertion channel in the body for securing the fuse holder to a mounting post via a friction fit.

Description

FUSE HOLDERTECHNICAL FIELD

[0001] The disclosure relates to a fuse holder. More particularly, it relates to a fuse holder for a robotic vehicle; a kit comprising a battery and a fuse holder; a robotic vehicle comprising a fuse holder; an automated storage and retrieval system comprising a storage grid and a robotic vehicle comprising a fuse holder; a method of making a fuse holder and a method of replacing a fuse in a robotic vehicle.BACKGROUND

[0002] Traditional storage solutions usually involve the arrangement of goods on rows of shelves within a warehouse. The shelf location for each item is recorded in an inventory, and goods are retrieved from the shelves by a stock picker. The shelves are restocked and the inventory updated, as needed, as goods enter and leave the warehouse.

[0003] Warehouse workers may be assisted by robotic pickers and by automated inventory management systems. Automated transit systems may also be implemented in traditional warehouse set-ups to move goods from their inventory location to a picking and / or packing station.

[0004] An alternative to a traditional warehouse set-up is an automated storage and retrieval system in which robots retrieve items from their logged location within the warehouse and deliver the items to a packing station or port. Such systems can reduce or eliminate the space needed to pass between rows of shelves to access stock, thereby removing the need for broad aisles within the warehouse. One example of such a system involves placing goods in bins or containers that are configured to be stacked, side by side, within a three-dimensional grid. A rail system is arranged on top of the grid, along which robotic container-handling vehicles configured to lift containers from the grid can travel. The container-handling vehicles are configured to transport containers from the grid and to deliver them to ports or stations at the periphery of the grid so that the goods within the container can be picked and packed.

[0005] The large number of container-handling vehicles in such an automated storage and retrieval system means that the time required to install and maintain vehicles is an issue. Container-handling vehicles that are quicker and easier to install and maintain are therefore needed.

[0006] One or more aspects of the invention of the present application are set out in the claims.BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The disclosure will now be described in more detail in connection with a number of exemplary embodiments shown in the accompanying drawings, in which:Fig. 1 shows a perspective view of a storage system comprising a grid and a plurality of robotic container-handling vehicles configured to retrieve and / or rearrange goods stored within the grid;Fig. 2 shows a top view of the system of Fig. 1;Fig. 3A shows a side view of a first robotic container-handling vehicle suitable for use in the system of Fig. 1;Fig. 3B shows a side view of a second robotic container-handling vehicle suitable for use in the system of Fig. 1;Fig. 3C is a perspective side view of the robot of Fig. 3B;Fig. 4 shows a computing device for implementing the operations described herein;Fig. 5 shows a fuse holder;Fig. 6 shows a fuse holder body;Fig. 7 shows a fuse holder body comprising heat staking inserts;Fig. 8 shows a cross-section of the fuse holder of Fig. 5;Fig. 9 shows an x-ray view of the fuse holder of Fig.5 ;Fig. 10 shows a bracket configured to attach to the fuse holder of Fig. 5;Fig. 11 shows the fuse holder of Fig. 5 mounted on a bracket;Fig. 12 shows a fuse holder kit comprising the fuse holder of Fig. 5;Fig. 13 shows the fuse holder of Fig. 5 mounted in a robotic container-handling vehicle; andFig. 14 is a flow diagram for a method of installing a fuse in the fuse holder of Fig.5-DETAILED DESCRIPTION

[0008] In overview, the disclosure relates to a fuse holder that is reliable, simple to install in a robotic vehicle and also facilitates the changing of a fuse with very few loose parts. This is particularly advantageous in the context of a robotic vehicle since loose parts can fall into the body of the vehicle where they can get stuck or lost and cause short circuits or other problems.

[0009] Referring to the embodiment shown in Fig. 1, a grid too comprises a frame formed by a plurality of generally rectilinear, adjacent vertical columns 102 formed between vertical frame members 104 and extending in the X and Y directions 108, 110. The grid elements maybe fabricated of any appropriate material; for example, the frame members maybe formed of extruded aluminium. Storage containers orbins 112 are stacked on top of each other, preferably in a self-supporting manner, in the Z direction 114 in the columns 102, forming a storage volume of storage cells for respective bins 112 extending in the X, Y and Z directions 108, 110, 114.

[0010] A rail system or network 116 is formed on top of the grid too and comprises pairs of vehicle rails or tracks 118a, 118b and 120a, 120b, respectively extending in the X and Y directions 108, 110. Robotic container-handling vehicles, or robots, 122, which can be of a range of size, shape and function, are provided and configured to run on the rails 118, 120 and to transport bins 112 in both the X and Y directions 108, 110. The robots 122 are additionally configured to lift and lower bins 112 from / into the columns 102 in the Z direction 114, the bins 112 optionally being guided by the vertical frame members 104. The robots 122 access the bins 112 via access openings 124 above the columns 102 and formed between the rails 118, 120.

[0011] Some columns 102 may be used for alternative purposes than bin storage. For example, port columns 126, 128 comprise port or access columns allowing transfer of a bin 112 in and / or out of the grid too. Port columns 126, 128 provide a vertical channel for lifting of a bin 112 from, or lowering of a bin 112 to, a port or ports 130, 132. The ports 130, 132 are shown in Fig. 1 at the lowest level of the grid, however ports can be located at any vertical position along the column. The respective port columns 126, 128 can be assigned for removing (‘drop-off) and / or returning or delivering (‘pick-up’) bins 112 from / to the grid too. The ports 130, 132 are therefore configured to allow bins 112 to be removed and reintroduced (horizontally) into the associated port column. As such, a port 130, 132 can comprise a conveyor (not shown in Fig. 1) onto which a bin 112 maybe lowered and transported horizontally out of the port column. The port columns 126, 128include an opening or access point through which bins 112 can enter and leave the column.

[0012] Bins 112 can be transported along the top of the grid too to and / or from a port column 126, 128 by robots 122, and from a port 130, 132 to a location outside the grid too, which maybe an access station (not shown) for processing of the bin 112 or its contents, such as a picking station for adding content to, or removing content from, the bin 112. In alternative examples (not shown), the bin 112 maybe transported to a port of another grid on the same or another level, or to an external facility. Transport of bins 112 to and from ports 130, 132 maybe by any appropriate means (not shown) including conveyors, transport vehicles, lifts or robots.

[0013] Referring to the embodiment shown in Fig. 2, the X-Y configuration 200 of the rail system 116 can be seen in more detail, together with robots 202, 204 of different types. The rail system includes rails 206 defining between them vertical column access openings 124 for access to bins 112. The rails 206 can be any appropriate type for permitting travel of the robots 202, 204 in the X and Y directions 108, 110 thereon, including (not shown) groove-type rails for receiving vehicle wheels, or protrusion-type rails for engaging wheel recesses. Each rail 206 may comprise a single track or multiple parallel tracks in each of the X and Y directions 108, 110.

[0014] A first, ‘cantilever’ type of robot 202 is shown in more detail in Fig. 3A and includes a body 300, a set of wheels 302 and a lifting device 304. The body 300 contains operational equipment (not shown) for the robot 202 including drive, power and control systems. The wheels 302 permit movement of the robot 202 in one of the X and Y directions, an additional set of wheels (not visible in this view) permitting movement in the other of the X and Y directions, in both cases along the respective rails or tracks 206. One or both sets of wheels can be raised or lowered to permit selective engagement of the rails for movement in the desired direction. The lifting device 304 includes a cantilever element 306 extending in the X-Y plane from the top of the body 300, and a gripping device 308, which is raisable and lowerable from the cantilever element 306. The gripping device 308 is configured to grip or engage a bin 112; for example, by gripping a part of the bin 112, or by passively or actively engaging a suitably configured part of the bin 112.

[0015] A second, ‘internal cavity’ type of robot 204 is shown in more detail in Fig. 3B and includes, as an alternative to the cantilevered lifting system, an internal cavity 310 within the body 300 and in which the lifting device 312 including a gripping device(not shown) is located. In this case, the body 300 includes the robot’s operational equipment and a storage space for one or more bins 112, for use, for example, while transporting the bin 112.

[0016] Fig. 3C shows a perspective side view of the robot of Fig. 3B in which the first set of wheels 302 from Fig. 3B are visible. The additional set of wheels referenced above but not shown in Fig. 3B are shown as wheels 303 in Fig. 3C. The additional set of wheels 303 is arranged perpendicular to the first set of wheels 302, to allow rolling of the robot 204 in the X and Y directions on the first and second set of wheels 302, 303 respectively. The first and second set of wheels 302, 303 shown in Fig. 3C maybe configured to be independently lowered into engagement with the rails (and conversely raised out of engagement with the rails) to allow the robot 202 to move in the X and Y direction across the arrangement of rails shown in Fig. 2. Although the perspective view shown in Fig. 3C is of the robot 204 of Fig. 3B, it will be appreciated that a similar perpendicular wheel arrangement maybe applied to the robot 202 of Fig. 3A.

[0017] Control and monitoring of the automated storage and retrieval system, including monitoring and storing bin position and controlling bin delivery, retrieval and transport and robot routing and collision avoidance, is performed by a control system shown in Fig. 4 in communication with the robots and / or other controllable system components. Control can be performed locally or remotely and maybe implemented by a processing system, for example in the form of a computing device. Accordingly, the methods described herein may form all or part of a computer-implemented method, or a system configured to perform the methods described herein.

[0018] With reference to Fig. 4, a processing system 400 suitable for carrying out the methods described herein will now be described. Fig. 4 shows a block diagram of one implementation of a processing system 400 in the form of a computing device within which a set of instructions for causing the computing device to perform any one or more of the methods described herein maybe executed. In some implementations, the computing device maybe connected (e.g., networked) to other machines in a Local Area Network (LAN), an intranet, an extranet, or the Internet. The computing device may operate in the capacity of a server or a client machine in a client-server network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. The computing device maybe a personal computer (PC), a tablet computer, a set-top box (STB), a Personal Digital Assistant (PDA), a cellular telephone, a web appliance, a server, a network router, switch or bridge, or any machine capable ofexecuting a set of instructions (sequential or otherwise) that specify actions to be taken by that machine. Further, while only a single computing device is illustrated, the term ‘computing device’ shall also be taken to include any collection of machines (e.g., computers) that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methods described herein.

[0019] The example processing system 400 includes a processor 402, a main memory 404 (e.g., read-only memory (ROM), flash memory, dynamic random-access memory (DRAM) such as synchronous DRAM (SDRAM) or Rambus DRAM (RDRAM), etc.), a static memory 406 (e.g., flash memory, static random-access memory (SRAM), etc.), and a secondary memory (e.g., a data storage device 418), which communicate with each other via a bus 430.

[0020] Processor 402 represents one or more general-purpose processors such as a microprocessor, central processing unit, or the like. More particularly, the processor 402 maybe a complex instruction set computing (CISC) microprocessor, reduced instruction set computing (RISC) microprocessor, very long instruction word (VLIW) microprocessor, processor implementing other instruction sets, or processors implementing a combination of instruction sets. Processor 402 may also be one or more special-purpose processors such as an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a digital signal processor (DSP), network processor, or the like. Processor 402 is configured to execute the processing logic (instructions 422) for performing the operations and steps described herein.

[0021] The processing system 400 may further include a network interface device 408. The processing system 400 also may include any of a video display unit 410 (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)), an alphanumeric input device 412 (e.g., a keyboard or touchscreen), a cursor control device 414 (e.g., a mouse or touchscreen), and an audio device 416 (e.g., a speaker).

[0022] It will be apparent that some features of the processing system 400 shown in Fig. 4 maybe absent. For example, the processing system 400 may have no need for display device 410 (or any associated adapters). This maybe the case, for example, for particular server-side computer apparatuses which are used only for their processing capabilities and do not need to display information to users. Similarly, user input device 412 may not be required. In its simplest form, processing system 400 comprises processor 402 and main memory 404.

[0023] The data storage device 418 may include one or more machine-readable storage media (or more specifically one or more non-transitory computer-readable storage media) 428 on which is stored one or more sets of instructions 422 embodying any one or more of the methods or functions described herein. The instructions 422 may also reside, completely or at least partially, within the main memory 404 and / or within the processor 402 during execution thereof by the processing system 400, the main memory 404 and the processor 402 also constituting computer-readable storage media 428.

[0024] In an implementation, the modules, components, and other features described herein can be implemented as discrete components or integrated in the functionality of hardware components such as ASICS, FPGAs, DSPs, or similar devices.

[0025] A ‘hardware component’ is a tangible (e.g., non-transitory) physical component (e.g., a set of one or more processors) capable of performing certain operations and maybe configured or arranged in a certain physical manner. A hardware component may include dedicated circuitry or logic that is permanently configured to perform certain operations. A hardware component maybe or include a special-purpose processor, such as a field programmable gate array (FPGA) or an ASIC. A hardware component may also include programmable logic or circuitry that is temporarily configured by software to perform certain operations.

[0026] Accordingly, the phrase ‘hardware component’ should be understood to encompass a tangible entity that maybe physically constructed, permanently configured (e.g., hardwired), or temporarily configured (e.g., programmed) to operate in a certain manner or to perform certain operations described herein.

[0027] In addition, the modules and components can be implemented as firmware or functional circuitry within hardware devices. Further, the modules and components can be implemented in any combination of hardware devices and software components, or only in software (e.g., code stored or otherwise embodied in a machine- readable medium or in a transmission medium).Operation of the automated storage and retrieval system

[0028] In operation, each bin 112 is given a unique identifier, which maybe marked on the bin 112 using a computer-readable identifier (e.g., a barcode, quickresponse code or radio-frequency identification tag) to ease identification of the bin 112. A database of the processing system 400 stores, in association with the unique identifier,the position and, optionally, content of each bin 112. When a bin 112 is moved (e.g., when it is retrieved from the grid 100), the database is updated to record its change in position.

[0029] When it is desired to retrieve a bin 112 from the grid too, under control of the processing system 400, a robot 202, 204 is routed via the rail system 116 to the vertical column 102 including the storage cell where, according to the database, the bin 112 is positioned, and the lifting device 304, 312 is positioned (according to robot type) over the corresponding access opening 124, either adjacent or below the robot 202, 204. The robot 202, 204 lowers the gripping device 308 which engages, grips and lifts the bin 112 to the robot 202, 204. The robot 202, 204 then transports the bin 112, for example, to the drop-off port column 126, 128 for delivery to the port 130, 132 and subsequent processing external to the grid too. In the event that the target or designated bin 112 is below other bins in the stack then the robot 202, 204 or multiple robots, which maybe dedicated to the task, are controlled in a ‘digging’ operation to sequentially lift and reposition, temporarily or permanently, bins above the target bin 112 in order for it to be retrieved. It will be appreciated that other operations in relation to the bin 112 can be carried out in a similar manner. For example, a bin 112 can be delivered for storage in the grid too at the port 130, 132 of the pick-up port column 126, 128, gripped and lifted by a robot 202, 204 and delivered to the desired storage cell, bins above the desired position being repositioned if necessary as discussed above.

[0030] With reference to Figs. 5 to 11, a fuse holder 500 for a robotic vehicle 122, 202, 204 comprises a body 501 comprising a cavity 503 for receiving a fuse 509. The body 501 is made of an insulating material. For example, the body maybe made of a firesafe plastic such as horizontal burn rated PVC, which is considered to be selfextinguishing. Many other suitable insulating materials for the body 501 are known to the skilled person. When the fuse holder 500 comprises heat staking inserts, as discussed below, the body 501 is made of a thermoplastic.

[0031] First and second fuse attachment points 505a, 505b are located in the cavity 503. There are for attaching a fuse 509 to the fuse holder 500, as shown in Figs. 8 and 9. Two peg insertion channels 507a, 507b in the body 501 are configured to secure the fuse holder 500 to mounting posts 601a, 601b via a friction fit when the fuse holder 500 is in use e.g. installed in a robotic vehicle 122, 202, 204. Examples of a friction fit include a push-fit or a snap-fit. Optionally, the fuse holder 500 may comprise only a single peg insertion channel and maybe configured to attach to a only a single mounting post. The fuse attachment points 505a, 505b also function as points to make electricalconnections to the fuse 509, as shown in Fig. 9 and discussed further below. The fuse 509 is a conventional screw-down fuse with holes for receiving screws. As such, each fuse attachment point 505a, 505b comprises a threaded portion configured to receive a screw. Advantageously, this ensures that the fuse 509 is more reliably secured in the fuse holder 500. However, it is not essential that the fuse 509 is a screw-down fuse and the fuse holder 500 can be adapted to accommodate other types of fuse such as a clip-in or bracket-mounted fuse.

[0032] In some examples, the fuse holder 500 further comprises a cap 511 configured to cover the cavity 503 in a first configuration and provide access to the cavity 503 in a second configuration. The cap 511 helps prevent foreign objects from entering the cavity 503 which could result in a short circuit forming between the ends of the fuse 509 / fuse attachment points 505a, 505b. The first configuration maybe referred to as a closed configuration wherein the fuse holder body cavity 503 is closed and the second configuration may be referred to as an open configuration wherein the fuse holder body cavity 503 is open. A first end 513a of the cap 511 is configured to rotate about a first cap attachment point 515a as the cap 511 moves between the first and second configurations. A second end 513b of the cap 511, distal to the first end 513a, comprises a hook configured to attach to or latch onto a second cap attachment point 515b in the first configuration and detach from the second cap attachment point 515b in the second configuration. The first and second cap attachment points 515a, 515b are screws that screw into the body 501. Advantageously, when the first and second cap attachment points 515a, 515b are screws, they only need to be loosened (as opposed to being removed entirely) to allow the cap 511 to be opened, meaning that there are fewer loose parts when installing or replacing a fuse. As noted above, this is particularly advantageous in the context of a robotic vehicle where loose parts can fall into the body of the vehicle and get stuck or lost, potentially causing short circuits or other problems. The screws are concentric with the peg insertion channels 507a, 507b, although this is not essential. Advantageously, when the screws are concentric with the peg insertion channels 507a, 507b, this makes the fuse holder 500 more compact and simpler to manufacture. Possibilities other than screws are envisaged for the first and second cap attachment points 515a, 515b, such as fixed posts.

[0033] Although not essential, the body 501 comprises first and second windows 517a, 517b each configured to receive a wire for connecting to the first or second fuse attachment point 505a, 505b when the cap 511 is in both the first and secondconfigurations. In other examples, the first and second windows 517a, 517b can be continuous (i.e. a single window) that provides access to both fuse attachment points 505a, 505b.

[0034] As shown in Figs. 5 and 7 to 9, each fuse attachment point 505a, 505b is a heat staking metal insert, although this is not essential and other implementations are envisaged. For example, the fuse attachment points 505a, 505b maybe threaded cavities for receiving a screw. However, heat staking inserts are more robust than metal stub and simple plastic components and have high conductivity. As shown in Figs. 8 and 9, first and second fuse-securing screws 519a, 519b are respectively inserted through securing holes in the fuse 509 and into the first and second fuse attachment points 505a, 505b. The screws may have a zinc plating to improve their corrosion resistance. A washer 521a, 521b, such as a brass washer, maybe inserted between the head of each fuse-securing screw 519a, 519b and the fuse 509 to reduce electrical resistance and more tightly secure the fuse 509 in place. In use, external electrical connectors 623a, 623b are connected to respective fuse attachment points 505a, 505b via the fuse-securing screws 519a, 519b. The external electrical connectors 623a, 623b pass through the first and second windows 517a, 517b so that the external electrical connectors 623a, 623b do not prevent the cap 511 from being closed. Thus, electrical connections can be made to the fuse holder 500 with the cap 511 in a closed configuration to reduce the risk of a short circuit.

[0035] Also disclosed herein is a method of making a fuse holder 500 using heat staking, also known as thermoplastic staking. The method comprises providing a fuse holder body 501; heating a heat staking metal insert 505a, 505b; and inserting the heated heat staking metal insert 505a, 505b into a corresponding cavity in the body 501. The inventors have identified that using heat staking to make the fuse holder 500 provides a fuse holder with particularly secure fuse attachment points 505a, 505b that provides a low resistance electrical contact to a fuse 509. For completeness, it is noted that the fuse attachment points 505a, 505b of the above-described fuse holder can be made in other ways such as by press fitting cold metal inserts or by tapping holes in the fuse holder body 501 to create threaded holes.

[0036] Fig. 11 shows a fuse holder assembly 600, comprising a fuse holder 500 as disclosed above and a bracket 601 comprising two pegs 603a, 603b, wherein each peg 603a, 603b is inserted into a corresponding peg insertion channel 507a, 507b of the fuse holder 500. The pegs 603a, 603b are made of any suitable material, including suitable metals and plastics, and are configured to compress inward when inserted into a peginsertion channel, such that spring action helps further secure the peg, although this is not essential and a simple friction fit is sufficient to secure the fuse holder 500 to the bracket 601. An example peg is a SNAP -TOP® Standoff made by PEM®. The backet 601 is shown in isolation in Fig. 10. The use of pegs avoids the use of screws, simplifying installation and removal of the fuse holder 500 and reducing the number of loose parts.

[0037] Fig. 12 shows a kit comprising a battery 603 and the fuse holder 500 of Fig. 11. The fuse holder 500 is electrically connected to a terminal of the battery 603 via a first wire 605a connected to the first fuse attachment point 505a. A second wire 605b for connecting the kit to a robotic vehicle control system 607 or other part of a robotic vehicle maybe connected to the second fuse attachment point 505b. Since the fuse holder 500 is configured to be friction-fit to a bracket 601 in a robotic vehicle 122, 202, 204, as described above, the kit has the advantage that the fuse holder 500 can be supplied already connected to a battery 603, such that when a battery is installed in a robotic vehicle, or needs replacing, installation is greatly simplified since the battery can be provided to the installer already connected to the fuse holder.

[0038] Fig. 13 shows the inside of a robotic vehicle 122, 202, 204 comprising a fuse holder assembly 600 as described above. The fuse holder 500 of the fuse holder assembly 600 is connected between a battery 603 and a robotic vehicle control system 607. The bracket 601 of the fuse holder assembly 600 secures the fuse holder 500 and fixes battery 603 in place inside the robotic vehicle 122, 202, 204.

[0039] Fig. 14 is a flow diagram for a method 700 of installing a fuse 509 in a robotic vehicle 122, 202, 204. With reference to the robotic vehicle 122, 202, 204 comprising a fuse holder assembly 600 shown in Fig. 13, the method 700 comprises rotating S701 the cap 511 about the first cap attachment point 515a from the first configuration to the second configuration to open the fuse holder cavity 503. If necessary, the method 701 may comprise first partially loosening the first cap attachment point 515a screw and / or the second cap attachment point 515b screw, such that the cap 511 is free to rotate.

[0040] The method 700 further comprises connecting S703 a fuse between the first and second fuse attachment points 505a, 505b. This may include unscrewing fusesecuring screws 519a, 519b and unmaking electrical connections to the fuse holder 500 before connecting S703 a fuse between the first and second fuse attachment points 505a, 505b and / or screwing in fuse-securing screw 519a, 519b to make electrical connections to the fuse holder 500 after or at the same time as connecting S703 a fuse between thefirst and second fuse attachment points 505a, 505b. If there is already a fuse 509 in the fuse holder 500 (i.e. an exiting fuse is being replaced), then the method 700 further comprises removing the existing fuse so that it can be replaced with a new fuse.

[0041] The method 700 further comprises rotating S705 the cap 511 about the first cap attachment point 515a from the second configuration to the first configuration to close the fuse holder cavity 503. The method 700 may comprise tightening the first cap attachment point 515a screw and / or the second cap attachment point 515b screw such that the cap 511 can no longer rotate. In addition or alternatively, in order to facilitate installation of the fuse 509, the method 700 may comprise removing the fuse holder 500 from a bracket 601, installing the fuse 509 and then reinstalling the fuse holder 500 on the bracket 601.

[0042] It is to be understood that the above description is intended to be illustrative, and not restrictive. Many other implementations will be apparent to those of skill in the art upon reading and understanding the above description. Although the present disclosure has been described with reference to specific example implementations, it will be recognized that the disclosure is not limited to the implementations described, but can be practiced with modification and alteration within the spirit and scope of the appended claims. Accordingly, the specification and drawings are to be regarded in an illustrative sense rather than a restrictive sense. The scope of the disclosure should, therefore, be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

Claims

CLAIMS1. A fuse holder for a robotic vehicle, comprising: a body comprising a cavity for receiving a fuse; first and second fuse attachment points in the cavity; and a peg insertion channel in the body for securing the fuse holder to a mounting post via a friction fit.

2. A fuse holder according to claim 1, further comprising a cap configured to cover the cavity in a first configuration and provide access to the cavity in a second configuration.

3. A fuse holder according to claim 2, wherein a first end of the cap is configured to rotate about a first cap attachment point as the cap moves between the first and second configurations, and wherein a second end of the cap, distal to the first end, comprises a hook configured to attach to a second cap attachment point in the first configuration and detach from the second cap attachment point in the second configuration.

4. A fuse holder according to claim 2 or 3, wherein the first and second cap attachment points are screws, and optionally wherein one of the screws is concentric with the peg insertion channel.

5. A fuse holder according to any of claims 2 to 4, wherein the body comprises a window configured to receive a wire for connecting to the first or second fuse attachment point when the cap is in both the first and second configurations.

6. A fuse holder according to any preceding claim, wherein each fuse attachment point comprises a threaded portion configured to receive a screw.

7. A fuse holder according to claim 6, wherein each fuse attachment point is a heat staking metal insert.

8. A fuse holder according to any preceding claim, wherein the fuse holder comprises two peg insertion channels.

9. A fuse holder according to any preceding claim, further comprising a fuse connected between the first and second terminals, optionally via screws at the first and second fuse attachment points.

10. A fuse holder assembly, comprising: a fuse holder according to any preceding claim; and a bracket comprising a peg, wherein the peg is inserted into the peg insertion channel of the fuse holder.

11. A kit comprising: a battery; and the fuse holder of any of claims 1 to 9 or fuse holder assembly of claim 10, wherein the fuse holder is electrically connected to the battery.

12. A robotic vehicle comprising the fuse holder of any of claims 1 to 9, the fuse holder assembly of claim 10 or the kit of claim 11.

13. An automated storage and retrieval system comprising a storage grid and the robotic vehicle of claim 12 arranged to traverse the storage grid.

14. A method of making a fuse holder according to claim 7, the method comprising: providing a fuse holder body;heating a heat staking metal insert; and inserting the heated heat staking metal insert into a corresponding cavity in the body.

15. A method of installing a fuse in the robotic vehicle of claim 12 when dependent on claim 3, the method comprising: rotating the cap about the first cap attachment point from the first configuration to the second configuration; connecting a fuse between the first and second fuse attachment points; and rotating the cap about the first cap attachment point from the second configuration to the first configuration.

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