AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM WITH FIRE DETECTION DEVICE AND METHODS OF LOCATING AND/OR VERIFYING FIRE OR SMOKE IN AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM

Abstract

An automated storage and retrieval system includes a rail system, a master control system, and a plurality of remotely operated vehicles. The rail system includes a first and second set of parallel tracks arranged orthogonally in a horizontal plane. The master control system is configured to keep track of any remotely operated vehicle operating on the rail system. The plurality of remotely operated vehicles handling storage containers, which operate on the rail system, each include first and second sets of wheels for transport on the rail system, and a fire detection device configured to transmit data from the fire detection device to the master control system. The master control system includes a processing device for processing the data from the fire detection devices so as to create a heat map of the automated storage and retrieval system.

Claims

1. An automated storage and retrieval system comprising: a rail system comprising a first set of parallel tracks arranged in a horizontal plane (P) and extending in a first direction (X), and a second set of parallel tracks arranged in the horizontal plane (P) and extending in a second direction (Y) which is orthogonal to the first direction (X), which first and second sets of tracks form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent grid cells, each comprising a grid opening defined by a pair of neighboring tracks of the first set of tracks and a pair of neighboring tracks of the second set of tracks; a master control system configured to keep track of any remotely operated vehicle operating on the rail system; a plurality of remotely operated vehicles handling storage containers, the remotely operated vehicles operating on the rail system, each of the remotely operated vehicles comprising: first and second sets of wheels for transport in the X and Y directions on the rail system, a fire detection device configured to transmit data from the fire detection device to the master control system, and wherein the master control system comprises a processing device for processing the data from the fire detection devices such as to create a heat map of the automated storage and retrieval system for providing a firefighting crew with valuable information in terms of location of fire or smoke and/or the current temperature/temperature profile of the heat- or fume emission.

2. The automated storage and retrieval system according to claim 1, wherein the remotely operated vehicles are container handling vehicles comprising a lifting assembly for picking up storage containers from the storage columns to a position above the lowest level of the first and second sets of wheels, and the lifting assembly comprises a lifting frame connectable to a storage container, and the lifting frame being configured to lift and lower the storage containers from a position in the storage column to a position above the rail system.

3. The automated storage and retrieval system according to claim 1, further comprising: a plurality of stacks of storage containers arranged in storage columns located beneath the rail system, wherein each storage column is located vertically below a grid opening.

4. The automated storage and retrieval system according to claim 1, wherein remotely operated vehicles are delivery vehicles comprising a closed bottom portion and are configured to receive storage containers from above.

5. The automated storage and retrieval system according to claim 1, wherein a majority of the remotely operated vehicles comprises an interface connection of the fire detection devices.

6. A method of creating information with regards to location of any heat- or fume emission on an automated storage and retrieval system, the automated storage and retrieval system comprising: a rail system comprising a first set of parallel tracks arranged in a horizontal plane (P) and extending in a first direction (X), and a second set of parallel tracks arranged in the horizontal plane (P) and extending in a second direction (Y) which is orthogonal to the first direction (X), which first and second sets of tracks form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent grid cells, each comprising a grid opening defined by a pair of neighboring tracks of the first set of tracks and a pair of neighboring tracks of the second set of tracks; wherein the method comprises: operating a plurality of remotely operated vehicles on the rail system, the remotely operated vehicles handling storage containers, and each of the remotely operated vehicles being provided with a fire detection device, and wherein the fire detection devices are configured to transmit data from the fire detection device to a master control system; operating a master control system, which master control system keeps track of any remotely operated vehicles operating on the rail system and is configured to receive input from any of the fire detection devices; utilizing the master control system to process any data from the fire detection device from two or more of the fire detection devices and using the master control system to generate a heat map which provides a firefighting crew with valuable information in terms of location of fire or smoke and/or current temperature/temperature profile of the heat- or fume emission.

7. A method of verifying a detected heat- or fume indication on an automated storage and retrieval system, the automated storage and retrieval system comprising: a rail system comprising a first set of parallel tracks arranged in a horizontal plane (P) and extending in a first direction (X), and a second set of parallel tracks arranged in the horizontal plane (P) and extending in a second direction (Y) which is orthogonal to the first direction (X), which first and second sets of tracks form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent grid cells, each comprising a grid opening defined by a pair of neighboring tracks of the first set of tracks and a pair of neighboring tracks of the second set of tracks; wherein the method comprises: operating a plurality of remotely operated vehicles on the rail system, the remotely operated vehicles handling storage containers, and each of the remotely operated vehicles being provided with a fire detection device, wherein the fire detection devices are configured to transmit data from the fire detection device to a master control system; operating a master control system, which master control system keeps track of any remotely operated vehicles operating on the rail system and is configured to receive data from the fire detection device from any of the fire detection devices; and in event of data from the fire detection device from a heat detection device on a first remotely operated vehicle indicating a detected heat- or fume emission, the method further comprises a step of: allocating a second remotely operated vehicle with a fire detection device to move to a cell nearby the position of the remotely operated vehicle which has identified heat- or fume to verify heat- or fume emission, and utilizing the master control system to process any data from the fire detection device from two or more of the fire detection devices and using the master control system to generate a heat map which provides a firefighting crew with valuable information in terms of location of fire or smoke and/or current temperature/temperature profile of the heat- or fume emission.

8. The method according to claim 7, wherein, in case the second remotely operated vehicle provides data from the fire detection device to the master control system indicating presence of heat- or fume emission, the method further comprises the steps of: allocating a third remotely operated vehicle with a fire detection device to move to a cell nearby the position of the first and second remotely operated vehicles; and utilizing the master control system to process the data from the fire detection devices from the first, second and third remotely operated vehicles, and wherein the master control system, based on the processing of the data from the fire detection devices, decides whether a reasonable prediction on location of source of the fume- or heat emission can be given.

9. The method according to claim 8, wherein, if the master control system has decided that a reasonable prediction on location of source of the fume- or heat emission can be given, the method comprises the step of: utilizing the master control system to create a triangular arrangement enclosing the source of the fume, smoke, or heat emission.

10. The method according to claim 8, wherein, if the master control system has decided that a reasonable prediction on location of source of the fume- or heat emission cannot be given, the method comprises the step of: allocating a fourth remotely operated vehicle with a fire detection device to move to a cell nearby the position of the first, second, and third remotely operated vehicles; and utilizing the master control system to process the data from the fire detection devices from the first, second, third and fourth remotely operated vehicles, and wherein the master control system, based on the processing of the data from the fire detection devices, decides whether a reasonable prediction on location of source of the fume- or heat emission can be given.

11. The method according to claim 10, if the master control system has decided that a reasonable prediction on location of source of the fume- or heat emission can be given, the method comprises the step of: utilizing the master control system to create a four-cornered polygon enclosing the source of the fume, smoke, or heat emission.

12. The method according to claim 8, wherein the fire detection devices are fume or smoke detectors and wherein the data from the fire detection devices represents presence of fume or smoke.

13. The method according to claim 8, wherein the fire detection devices are heat detectors and wherein the data from the fire detection devices represents presence of heat.

14. The method according to claim 8, wherein fire detection devices are a combination of fume or smoke detectors and heat detectors and wherein the data from the fire detection devices represents presence of fume or smoke or heat.

15. The method according to claim 7, wherein the method comprises, at any step prior to the last step, a step of: using a stationary fire detection device arranged in or at the automated storage and retrieval system.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0086] The following drawings depict exemplary embodiments of the present invention and are appended to facilitate the understanding of the invention. However, the features disclosed in the drawings are for illustrative purposes only and shall not be interpreted in a limiting sense.

[0087] FIG. 1 A-D are perspective views of a prior art automated storage and retrieval system, where FIG. 1A and FIG. 1C show the complete system and FIG. 1B and FIG. 1D show examples of a system operable with prior art container handling vehicles;

[0088] FIG. 2A-C is a top view of a container handling vehicle rail system, where FIG. 2A shows a single rail system, FIG. 2B shows a double rail system and FIG. 2C shows a double rail system with the width and length of a container handling vehicle grid cell indicated;

[0089] FIG. 3A is a perspective view of an exemplary embodiment of a storage grid and a delivery system comprising delivery rail system and delivery vehicles;

[0090] FIGS. 3B and 3C show two examples where fume, smoke or heat emission has occurred in an automated storage and retrieval system;

[0091] FIG. 4 shows an example of a heat map created by the master control system based on input from a plurality of fire detection devices arranged on container handling vehicles;

[0092] FIG. 5 is a flow-chart of an example of steps to be taken in the event a container handling vehicle detects fume, smoke or heat;

[0093] FIGS. 6A-6D are sequential step-by-step illustrations of the flow-chart of FIG. 5, where one and one container handling vehicle with a fire detection device is instructed to drive to grid cells close to a detected fume, smoke or heat in order for the master control system to process data from the fire detection device received from the container handing vehicles to predict a location of the source of the fume, smoke or heat.

DETAILED DESCRIPTION OF THE INVENTION

[0094] In the following, different alternatives will be discussed in more detail with reference to the appended drawings. It should be understood, however, 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 to the system only, it is apparent that they are valid for the related methods as well, and vice versa.

[0095] With reference to FIGS. 1A-D the storage grid 104 of each storage structure 1 constitutes a framework 100 of in total 143 grid columns 112 (see grid column 112 in top front corner, i.e. grid location or cell X=11, Y=1, Z=0), where the width and length of the framework corresponds 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 a plurality of container handling vehicles 200,300 are operated.

[0096] The framework 100 of the storage system 1 is constructed in accordance with the above mentioned prior art framework 100 described above, i.e. a plurality of upright members 102 and a plurality of horizontal members 103 which are supported by the upright members 102, and further that the horizontal members 103 includes a container handling vehicle rail system 108 of parallel rails 110,111 in the X direction and the Y direction, respectively, arranged across the top of storage columns 105. The horizontal area of a single grid opening 115, i.e. along the X and Y directions, may be defined by the distance between adjacent rails 110 and 111, respectively (see also FIGS. 2A-2C). In FIGS. 1A and 1C, a grid cell 122 is marked on the rail system 108 by thick lines. The area between adjacent rails is the grid opening 115—the grid cell 122 is the area to the outer side edges of the opposing rails running along the opposite sides of the grid opening. Alternatively, if these are defined in terms of double-tracked rails, then the area is to the midpoint or centre of each adjacent rail.

[0097] The container handling vehicle rail system 108 allows the container handling vehicles 200,300 to move horizontally between different grid locations, where each grid location is associated with a grid cell 122.

[0098] In FIGS. 1A and 1C the storage grid 104 is shown with a height of eight cells. It is understood, however, that the storage grid 104 can in principle be of any size. In particular it is understood that storage grid 104 can be considerably wider and/or longer than disclosed in FIGS. 1A and 1C. For example, the storage grid 104 may have a horizontal extent of more than 700×700 grid cells 122, or any size in between these examples, e.g. 100×100 grid cells, 200×200 grid cells, 500×500 grid cells etc. Also, the grid 104 can be considerably deeper than disclosed in FIGS. 1A and 1C. For example, the storage grid 104 may be more than twelve grid cells deep.

[0099] The storage grid 104 is equal or similar to the prior art storage grid 104 as described above, i.e. a storage grid 104 comprising a rail system 108; a plurality of stacks 107 of storage containers 106, a plurality of container handling vehicles 300 for lifting and moving storage containers 106 stacked in the stacks 107 and a delivery column 119,120 configured to receive a storage container 106 from a container handling vehicle 200,300.

[0100] The rail system 108 comprises a first set of parallel trails 110 arranged in a horizontal plane (P) and extending in a first direction (X) and a second set of parallel rails 111 arranged in the horizontal plane (P) and extending in a second direction (Y) which is orthogonal to the first direction (X). 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.

[0101] Each grid cell 122 displays a grid opening defined by a pair of neighbouring rails of the first set of rails 110 and a pair of neighbouring rails of the second set of rails 111.

[0102] The plurality of stacks 107 are arranged in storage columns 105 located beneath the rail system 108, wherein each storage column 105 is located vertically below a grid cell 122.

[0103] Each container handling vehicle 200,300 is configured to move on the rail system 108 above the storage columns 105.

[0104] The storage container vehicles 200,300 may be of any type known in the art, e.g. any one of the automated container handling vehicles disclosed in WO2014/090684 A1, in NO317366 or in WO2015/193278A1.

[0105] The rail system 108 may be a single rail system, as is shown in FIG. 2A. Alternatively, the rail system 108 may be a double rail system, as is shown in FIG. 2B. In a further alternative, the rail system 108 may be a combination of single and double rail system. Details of the single and double rail systems are disclosed in this specification under the section of background and prior art.

[0106] Perspective views of an automated storage and retrieval system are shown in FIG. 3A. The automated storage and retrieval system comprises a storage grid 104, onto which a plurality of container handling vehicles 200,300 operates, and a delivery system 140 comprising a delivery rail system 50 onto which a plurality of delivery vehicles 30 operates. The delivery vehicles 30 are provided with wheel arrangement 31 comprising first and second sets of wheels for driving the delivery vehicles in the first direction (X) and the second direction (Y). A master control system 800 keeps track of the container handling vehicles 200,300 operating on the storage grid 104 and the delivery vehicles 30 operating on the delivery rail system 30.

[0107] Further, the delivery system 140 comprises one or more of the delivery vehicles 30 as described above, i.e. delivery vehicles 30 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 positions outside the storage grid 104. The predetermined positions may for example be a second location, a container accessing station, a conveyor line, another storage container, or a transport vehicle such as a truck.

[0108] The delivery system 140 may further comprise a delivery rail system 50 situated below a delivery port of the one or more delivery columns 119,120.

[0109] As shown in FIG. 3, the delivery rail system 50 may be constructed in the same way or a similar way as the rail system 108 for the container handling vehicles 200,300.

[0110] Hence, the delivery rail system 50 may comprise a first set of parallel rails 51 arranged in a horizontal plane (P1) and extending in a first direction (X), and a second set of parallel rails 52 arranged in the horizontal plane (P1) and extending in a second direction (Y) which is orthogonal to the first direction (X).

[0111] The delivery rail system 50 may also be a double rail system, as is shown in FIG. 2B, thus allowing a delivery vehicle 30 having a footprint generally corresponding to the lateral area defined by a delivery grid column to travel along a row of grid columns even if another delivery vehicle 30 is positioned above a grid column neighbouring that row.

[0112] Both the single and double rail system, or a combination comprising a single and double rail arrangement in a single rail system, forms a grid pattern in the horizontal plane P1 comprising a plurality of rectangular and uniform grid locations or grid cells, where each grid cell comprises a grid opening being delimited by a pair of rails of the first rails and a pair of rails of the second set of rails.

[0113] In contrast to the container handling vehicles 200,300 operating on the storage grid 104, which container handling vehicles 200,300 comprise a lifting device 16 for lifting and lowering storage containers 106 from below, the delivery vehicles 30 comprises a closed bottom portion and are configured to receive storage containers 106 from above (for example from container handling vehicles 200,300 operating on storage grid 104 at a level above the delivery system 140 where the delivery vehicles 30 operate).

[0114] FIGS. 3B and 3C show two examples where fume, smoke or heat emission 400 has occurred on a storage grid 104 in an automated storage and retrieval system 1. A plurality of container handling vehicles 200, 200′ operates on a rail system 108 of a storage grid 104 in an automated storage and retrieval system 1 and communicates with a master control system 800. Some of the container handling vehicles 200, 200′ have been equipped with fire detection device 150. However, preferably a majority, preferably above 50%, of the container handling vehicles 200, 200′ comprises a fire detection device 150, possibly together with stationary fire detection devices 150 arranged on the storage grid 104.

[0115] It is clear that, although not disclosed, that the delivery vehicles 30 operating on a delivery rail system 50 of a delivery system 140 like the one in FIG. 3A, may also be equipped with, or comprise, fire detection device(s) 150 in order to detect any fume, smoke or heat emission 400 within the delivery system 140, possibly together with stationary fire detection devices 150 arranged on the delivery system 140.

[0116] FIG. 4 shows an example of a heat map created by the master control system based on input from a plurality of fire detection devices 150 arranged on container handling vehicles 200,300.

[0117] In the following, an example of utilizing fire detection devices 150 on container handling vehicles 200′, 200.sup.x such as to create a heat map 160 will be described in greater detail. However, it is apparent, as is also shown in FIG. 4, fire detection devices 150 may also be arranged on delivery vehicles 30 such that a similar heat map ay be created based on data from the fire detection device from fire detection devices 150 on delivery vehicles 30. Order for the master control system 800 to provide the heat map 160, preferably three or more fire detection devices 150 which can provide additional input to the master control system 800 with regards to concentration of fume or smoke, or in case of heat detection, additional input from e.g. an infra-red camera or temperature sensor on the container handling vehicle 200′,200.sup.x, are utilized. Then, based on the location of the container handling vehicle 200′,200.sup.x on the rail system 108 and the concentration of fume or smoke measured by the heat detection device 150, the master control system 800 can create a heat map 160 which indicates the probable location of the source of the fume, smoke or heat emission (see FIGS. 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 indicated that it is certain that the source of the fume, smoke or heat emission 400 is within the outer portion 161, and almost certain that the source of the fume, smoke or heat emission 400 is within the striped portion 161, and very likely that the source of the fume, smoke or heat emission 400 is within the inner portion 162. If the master control system 800 has drawn up such a heat map 160, it is most promising for any fire-fighting crew to focus their initial fire-fighting in the inner portion 162 (i.e. within cell locations B7-B10 and C7-C10) on FIG. 4. Although the figure is shown in relation to container handling vehicles on a storage grid, a similar figure may be made based on input from fire detection devices arranged on delivery vehicles operating on a delivery rail.

[0118] FIG. 5 is a flow-chart of an example of steps to be taken in the event a container handling vehicle or delivery vehicle detects fume, smoke or heat. Such a process may include the following steps:

[0119] Step 501: VEHICLE DETECTS FUME/HEAT

[0120] Step 502: FIRST VEHICLE 200′ TRANSMITS DATA FROM THE FIRE DETECTION DEVICE TO MASTER CONTROL SYSTEM 800

[0121] Step 503: MASTER CONTROL SYSTEM 800 DECIDES POSITION OF FIRST VEHICLE 200′

[0122] Step 504: MASTER CONTROL SYSTEM 800 PROCESSES THE DATA FROM THE FIRE DETECTION DEVICE RECEIVED FROM FIRST VEHICLE 200′

[0123] Step 505: MASTER CONTROL SYSTEM 800 INSTRUCTS SECOND VEHICLE Step 200″ TO DRIVE TO A CELL CLOSE TO VEHICLE 200′

[0124] Step 506: SECOND VEHICLE 200″ SENSES AND TRANSMITS DATA FROM THE FIRE DETECTION DEVICE TO MASTER CONTROL SYSTEM 800

[0125] Step 507: MASTER CONTROL SYSTEM 800 PROCESSES THE DATA FROM THE FIRE DETECTION DEVICE FROM FIRST AND SECOND VEHICLES 200′, 200″

[0126] Step 508: MASTER CONTROL SYSTEM 800 INSTRUCTS THIRD VEHICLE 200′″ TO DRIVE TO A CELL CLOSE TO FIRST AND SECOND VEHICLES 200′, 200″

[0127] Step 509: MASTER CONTROL SYSTEM 800 INSTRUCTS THIRD VEHICLE 200′″ TO DRIVE TO A CELL CLOSE TO FIRST AND SECOND VEHICLES 200′, 200″

[0128] Step 510: THIRD VEHICLE 200′″ SENSES AND TRANSMITS DATA FROM THE FIRE DETECTION DEVICE TO MASTER CONTROL SYSTEM 800

[0129] Step 511: MASTER CONTROL SYSTEM 800 PROCESSES THE DATA FROM THE FIRE DETECTION DEVICE FROM ALL VEHICLES 200′, 200″, 200′″, . . . 200.sup.x

[0130] Step 512: BASED ON PROCESSING IN STEP 511, HAS THE MASTER CONTROL SYSTEM 800 A REASONABLE PREDICTION ON LOCATION OF SOURCE OF THE FUME/HEAT?

[0131] IF “YES” IN STEP 512 proceed to step 514: END

[0132] IF “NO” IN STEP 512: proceed to step 513: MASTER CONTROL SYSTEM 800 INSTRUCTS ANOTHER VEHICLE 200″″ . . . 200x TO DRIVE TO A CELL CLOSE TO FIRST, SECOND AND THIRD VEHICLES 200′, 200″, 200′″

[0133] FIGS. 6A-6D are sequential step-by-step illustrations of the flow-chart of FIG. 5, where one and one container handling vehicle 200.sup.′ . . . x with a fire detection device is instructed to drive to grid cells close to a container handling vehicle 200′ that has detected fume, smoke or heat 400 in order for the master control system 800 to process data from the fire detection device received from the container handing vehicles 200.sup.′ . . . x to predict location of the source of the fume, smoke or heat 400.

[0134] In FIG. 6A a first container handling vehicle 200′ in cell H5, which first container handling vehicle 200′ is provided with a fire detection device (not shown in FIG. 6A), detects fume, smoke or heat 400. The first container handling vehicle 200′ transmits data from the fire detection device to master control system 800. The master control system 800 keeps continuous track of all of the container handling vehicles 200′, and thus know the position of the first container handling vehicle 200′ which has detected fume, smoke or heat 400. The master control system 800 processes the data from the fire detection device received data from the fire detection device received from the first container handling vehicle 200′.

[0135] In FIG. 6B the master control system 800, based on the input from the first container handling vehicle 200′, has instructed a 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 expected to be closer to the source of the fume, smoke or heat emission 400). When the second container handling vehicle 200″ enters or has entered cell G3, 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 data from the fire detection device from the first and second container handling vehicles 200′, 200″.

[0136] In FIG. 6C the master control system 800, based on the input from the first and second container handling vehicles 200′, 200″, has instructed a 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 expected to be closer to the source of the fume, smoke or heat emission 400). When the third container handling vehicle 200′″ enters or has entered cell F6, 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 data from the fire detection device from the first, second and third container handling vehicles 200′, 200″, 200′″. If the master control system 800, based on the processing has a reasonable prediction on the location of the source of the fume, smoke or heat 400, no further container handling vehicles 200.sup.x are instructed to move closer to the expected source of the fume, smoke or heat emission 400. Normally, arranging three container handling vehicles 200′, 200″, 200′″ in a triangular arrangement TA enclosing the source of the fume, smoke or heat emission 400, will be sufficient in order to establish a reasonable prediction on location of the source for the fume, smoke or heat emission 400 is. However, if a reasonable prediction on the location of the source of the fume, smoke or heat 400 cannot be established, yet another container handling vehicle 200.sup.x is instructed to move to a cell closer to the expected source of the fume, smoke or heat emission 400, which situation is indicated in FIG. 6D.

[0137] In FIG. 6D the master control system 800, based on the input from the first, second and third container handling vehicles 200′, 200″, 200′″, has instructed a 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 expected to be closer to the source of the fume, smoke or heat emission 400). When the fourth container handling vehicle 200″″ enters or has entered 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 the fire detection devices from the first, second, third container handling vehicles 200′, 200″, 200′″, 200″″. A total of four container handling vehicles 200′, 200″, 200′″, 200″″ are arranged as a four-cornered polygon PA enclosing the source of the fume, smoke or heat emission 400. This setup is almost certainly enough to establish a reasonable location for the source of the fume, smoke or heat emission 400. However, in the unlikely event that four container handling vehicles 200′, 200″, 200′″, 200″″ are not sufficient, the master control system 800 may instruct further container handling vehicles 200.sup.x with fire detection device to move closer to the expected location of the source of the fume, smoke or heat emission 400.

[0138] In the preceding description, various aspects of an automated storage and retrieval system, vehicle and methods according to the invention have been described with reference to the illustrative embodiment. For example, in most of the figures, container handling vehicles operating on a rail system of a storage grid have been disclosed, but it is obvious that the same system and setup applies to delivery vehicles operating on a delivery rail in a delivery rail system. Thus, the description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, which are apparent to persons skilled in the art, are deemed to lie within the scope of the present invention as defined by the following claims.

LIST OF REFERENCES

[0139] 1 Automated storage and retrieval system [0140] 30 Delivery vehicle, remotely operated vehicle [0141] 31 Wheel arrangement delivery vehicle [0142] 50 Delivery rail system [0143] 51 First set of parallel rails, delivery rail system [0144] 51a,51b Pair of rails of the first rails in delivery rail system [0145] 52 Second set of parallel rails, delivery rail system [0146] 52a,52b Pair of rails of the second set of rails in delivery rail system [0147] P1 Horizontal plane of delivery rail system [0148] 100 Framework structure [0149] 102 Upright members of framework structure [0150] 103 Horizontal members of framework structure [0151] 104 Storage grid/three-dimensional grid [0152] 105 Storage column [0153] 106 Storage container [0154] 107 Stack [0155] 108 Rail system/Container handling vehicle rail system [0156] 110 First set of parallel rails in first direction X [0157] 110a,110b Pair of rails of the first rails [0158] 111 Second set of parallel rails in second direction Y [0159] 111a,111b Pair of rails of the second set of rails [0160] 112 Grid column [0161] 115 Grid opening [0162] 119 Delivery column [0163] 120 Delivery column [0164] 122 Grid cell [0165] 140 Delivery system [0166] 150 Fire detection device [0167] 160 Heat map [0168] 161 Outer portion, course-grain [0169] 162 Intermediate portion, striped black [0170] 163 Inner portion, solid black [0171] 200,300 Container handling vehicle, remotely operated vehicle [0172] 200′, 200″, . . . , 200.sup.x First, second, . . . , x vehicle, remotely operated vehicle [0173] 201 Wheel arrangement [0174] 301 Wheel arrangement [0175] 800 Master control system [0176] X First direction [0177] Y Second direction [0178] P Horizontal plane of rail system [0179] P1 Horizontal plane of delivery rail system [0180] W.sub.c Width of grid cell [0181] L.sub.c Length of grid cell [0182] W.sub.o Width of grid opening [0183] L.sub.o Length of grid opening