RESCUE SYSTEM AND METHODS FOR RETRIEVING A MALFUNCTIONING VEHICLE FROM A RAIL SYSTEM

Abstract

A rescue system for retrieving a malfunctioning vehicle from a rail system of an automated storage and retrieval system includes a first rescue vehicle and a second rescue vehicle. The rail system includes a plurality of rails with tracks extending in an X-direction and a plurality of rails with tracks extending in a Y-direction perpendicular to the X-direction, and a plurality of remotely operated vehicles configured to move in the X and Y-directions on the tracks of the rail system. The first rescue vehicle is configured to run on the tracks of the rail system. The first rescue vehicle is provided with a lifting device on one side of the vehicle, which faces for engagement in a first X-direction. The second rescue vehicle is configured to run on the tracks of the rail system. The second rescue vehicle is provided with a lifting device on an opposite side of the vehicle, which faces for engagement in a second X-direction opposite to the first X-direction. The first and second rescue vehicles are configured to work in tandem so that when one of the plurality of remotely operated vehicles malfunctions, the first and second rescue vehicles can position themselves on the rail system on opposite sides of the malfunctioning vehicle to engage their respective lifting devices with the opposite sides of the malfunctioning vehicle. The first and second rescue vehicles operate their lifting devices simultaneously so as to lift the malfunctioning vehicle off the rail system and transport the malfunctioning vehicle.

Claims

1. A rescue system for retrieving a malfunctioning vehicle from a rail system of an automated storage and retrieval system, the rail system comprising a plurality of rails with tracks extending in an X-direction and a plurality of rails with tracks extending in a Y-direction perpendicular to the X-direction, a plurality of remotely operated vehicles configured to move in the X and Y-directions on the tracks of the rail system, a first rescue vehicle configured to run on the tracks of the rail system, the first rescue vehicle being provided with a lifting device on one side of the vehicle, the lifting device facing for engagement in a first X-direction, and a part of the lifting device extends into a neighboring cell when the rescue vehicle is positioned in center of a grid cell; a second rescue vehicle configured to run on the tracks of the rail system, the second rescue vehicle being provided with a lifting device on an opposite side of the vehicle, the lifting device facing for engagement in a second X-direction opposite to the first X-direction, and a part of the lifting device extends into a neighboring cell when the rescue vehicle is positioned in center of a grid cell; wherein the first and second rescue vehicles are configured to work in tandem so that when one of the plurality of remotely operated vehicles malfunctions, the first and second rescue vehicles can position themselves on the rail system on opposite sides of the malfunctioning vehicle to engage their respective lifting devices with the opposite sides of the malfunctioning vehicle and operate their lifting devices simultaneously so as to lift the malfunctioning vehicle off the rail system and transport the malfunctioning vehicle.

2. The rescue system according to claim 1, wherein the lifting device comprises a vertical plate with a lip extending therefrom. and wherein the lip is the part of the lifting device that extends into the neighboring cell.

3. A rescue system for retrieving a malfunctioning vehicle from a rail system of an automated storage and retrieval system, the rail system comprising a plurality of rails with tracks extending in an X-direction and a plurality of rails with tracks extending in a Y-direction perpendicular to the X-direction, the rails defining a plurality of grid cells, wherein a plurality of remotely operated vehicles are configured to move in the X and Y-directions on the tracks of the rail system, a first rescue vehicle comprising a first wheel base unit configured to run on the tracks of the rail system, the first wheel base unit providing a mobile platform corresponding in area to a single grid cell for a first vehicle rescue module mounted thereon, the first vehicle rescue module being orientated in a first direction of the rail system; a second rescue vehicle comprising a second wheel base unit configured to run on the tracks of the rail system, the second wheel base unit providing a mobile platform corresponding in area to a single grid cell for a second vehicle rescue module mounted thereon, the second vehicle rescue module being orientated in a second direction of the rail system opposite to the first direction; wherein the first and second rescue vehicles are configured to work in tandem to perform rescue operations on a malfunctioning vehicle of the plurality of remotely operated vehicles, the vehicle rescue modules comprising a lifting device and wherein a part of the lifting device extends into a neighboring cell when the rescue vehicle is positioned in center of a grid cell, and wherein the vehicle rescue modules are arranged to engage opposite sides of the malfunctioning vehicle and lift it off the rail system using the lifting device through being orientated in opposite facing directions.

4. The rescue system according to claim 3, wherein the vehicle rescue modules comprise a lifting plate with a lip extending at a height above an upper surface of the wheel base unit, and wherein the lip is the part of the lifting device that extends into the neighboring cell.

5. The rescue system according to claim 3, wherein the plurality of remotely operated vehicles comprise wheel base units providing mobile platforms, each corresponding in area to a single grid cell of the rail system, for storage container lifting modules mounted thereon.

6. The rescue system according to claim 3, wherein the wheel base units are identical.

7. The rescue system according to claim 1, wherein the first and second rescue vehicles comprise communication means for synchronous operation.

8. The rescue system according to claim 7, wherein the communication means enables communication between the first and second rescue vehicles.

9. The rescue system according to claim 1, wherein the system further comprises a control system, and wherein the control system comprises cooperative communication means configured to communicate with the communication means of the first and second rescue vehicles to operate synchronously.

10. The rescue system according to claim 8, wherein the first or second rescue vehicle is a master rescue vehicle and the other of said first or second rescue vehicle is a slave rescue vehicle which is at least partly operated by instructions from the master rescue vehicle.

11. The rescue system according to claim 1, wherein the rail system is at a top level of a storage and retrieval system.

12. The rescue system according to claim 1, wherein the rail system is a delivery rail system.

13. The rescue system according claim 1, wherein the rescue vehicles comprise two set of wheels for movement in the X and Y directions along the rail system.

14. The rescue system according to claim 1, wherein the lifting device comprises an actuator configured to raise and lower the malfunctioning vehicle relative the rail system.

15. The rescue system according to claim 1, wherein at least the first or second rescue vehicle comprises at least one rotary drive to winch up a lifting frame and or a track shift motor of a malfunctioning container handling vehicle.

16. The rescue system according to claim 15, wherein the at least one rotary drive is pivotable, wherein an axis of the rotary drive is configured to be pivoted between a stowed vertical position during movement of the first or second rescue vehicle on the rail system and is configured to be pivoted to a deployed horizontal position for winching up a lifting frame and or a track shift motor of a malfunctioning container handling vehicle.

17. The rescue system according to claim 16, wherein the rotary drive for the lifting frame is arranged in an upper part of the rescue vehicle and wherein, the rotary drive, when in the deployed horizontal position, the rotary drive is supported by an actuator.

18. The rescue system according to claim 15, wherein the rotary drive is connected to a linear actuator for movement between the stowed position and the deployed position, and wherein, when in the stowed position, the perimeter of the rotary drive is arranged within a horizontal perimeter of the wheel base unit, and when in the deployed position, at least a portion of the rotary drive extends beyond the perimeter of the wheel base unit.

19. A rescue vehicle for retrieving a malfunctioning vehicle from a rail system of an automated storage and retrieval system, the rail system comprising a plurality of rails with tracks extending in an X-direction and a plurality of rails with tracks extending in a Y-direction perpendicular to the X-direction, a plurality of remotely operated vehicles configured to move in the X and Y-directions on the tracks of the rail system, wherein the rescue vehicle comprises a wheel base unit configured to run on tracks of the rail system, the wheel base unit providing a mobile platform corresponding in area to a single grid cell for a vehicle rescue module mounted thereon, the vehicle rescue module being orientated in a first direction of the rail system; wherein the vehicle rescue module comprises a lip on at least one of the sides of the module arranged at a level above the level of the wheel base unit, and wherein the lip extends into a neighboring cell when the rescue vehicle is positioned in center of a grid cell.

20. The rescue vehicle according to claim 19, further comprising a rotary drive winch up a lifting frame and or a track shift motor of a malfunctioning container handling vehicle.

21. An automated storage and retrieval system, comprising: a framework structure comprising upright members, horizontal members and a storage volume comprising storage columns arranged in rows between the upright members and the horizontal members, a plurality of storage containers stacked one on top of one another to form stacks, a rail system comprising a plurality of rails with tracks extending in an X-direction and a plurality of rails with tracks extending in a Y-direction perpendicular to the X-direction, a plurality of remotely operated vehicles configured to move in the X and Y-directions on the tracks of the rail system, a rescue system for retrieving a malfunctioning vehicle from a rail system of an automated storage and retrieval system, the rail system comprising a plurality of rails with tracks extending in an X-direction and a plurality of rails with tracks extending in a Y-direction perpendicular to the X-direction, a plurality of remotely operated vehicles configured to move in the X and Y-directions on the tracks of the rail system, a first rescue vehicle configured to run on the tracks of the rail system. the first rescue vehicle being provided with a lifting device on one side of the vehicle, the lifting device facing for engagement in a first X-direction; a second rescue vehicle configured to run on the tracks of the rail system, the second rescue vehicle being provided with a lifting device on an opposite side of the vehicle, the lifting device facing for engagement in a second X-direction opposite to the first X-direction; wherein the first and second rescue vehicles are configured to work in tandem so that when one of the plurality of remotely operated vehicles malfunctions, the first and second rescue vehicles can position themselves on the rail system on opposite sides of the malfunctioning vehicle to engage their respective lifting devices with the opposite sides of the malfunctioning vehicle and operate their lifting devices simultaneously so as to lift the malfunctioning vehicle off the rail system and transport the malfunctioning vehicle.

22. A method of retrieving a malfunctioning container handling vehicle from a rail system with perpendicular tracks in X and Y direction and wherein a plurality of remotely operated vehicles are arranged on the rail system, and wherein each of the vehicles comprises a vehicle body and side portions, and wherein at least two opposite side portions on each vehicle comprises a recess, wherein the method comprises: determining an anomaly in an operation condition of a vehicle on the rail system, registering the vehicle with the anomalous operational condition as a malfunctioning vehicle, registering a position of the malfunctioning vehicle relative to the supporting rail system, operating a first rescue vehicle configured to run on the tracks of the rail system, the first rescue vehicle being provided with a lifting device on one side of the vehicle, the lifting device facing for engagement in a first X-direction, and a part of the lifting device extends into a neighboring cell when the rescue vehicle is positioned in center of a grid cell: operating a second rescue vehicle configured to run on the tracks of the rail system, the second rescue vehicle being provided with a lifting device on an opposite side of the vehicle, the lifting device facing for engagement in a second X-direction opposite to the first X-direction, and a part of the lifting device extends into a neighboring cell when the rescue vehicle is positioned in center of a grid cell: operating the first and second rescue vehicles in tandem by position the first and second rescue vehicles on opposite sides of the malfunctioning vehicle, engaging the respective lifting devices of the first and second rescue vehicles with the opposite sides of the malfunctioning vehicle, operating the lifting devices simultaneously so as to lift the malfunctioning vehicle off the rail system and transport the malfunctioning vehicle.

23. A method of retrieving a malfunctioning container handling vehicle from a rail system with perpendicular tracks in X and Y direction and wherein a plurality of remotely operated vehicles are arranged on the rail system, and wherein each of the vehicles comprises a vehicle body and side portions, and wherein at least two opposite side portions on each vehicle comprises a recess, wherein the method comprises: determining an anomaly in an operation condition of a vehicle on the rail system, registering the vehicle with the anomalous operational condition as a malfunctioning vehicle, registering a position of the malfunctioning vehicle relative to the supporting rail system, operating a first rescue vehicle comprising a first wheel base unit configured to run on the tracks of the rail system, the first wheel base unit providing a mobile platform corresponding in area to a single grid cell for a first vehicle rescue module mounted thereon, the first vehicle rescue module being orientated in a first direction of the rail system; operating a second rescue vehicle comprising a second wheel base unit configured to run on the tracks of the rail system, the second wheel base unit providing a mobile platform corresponding in area to a single grid cell for a second vehicle rescue module mounted thereon, the second vehicle rescue module being orientated in a second direction of the rail system opposite to the first direction; operating the first and second rescue vehicles in tandem to perform rescue operations on a malfunctioning vehicle of the plurality of remotely operated vehicles, the vehicle rescue modules comprise a lifting device and wherein a part of the lifting device extends into a neighboring cell when the rescue vehicle is positioned in center of a grid cell, engaging the part of the lifting devices which extends into the neighboring cell on opposite sides of the malfunctioning vehicle, lifting the malfunctioning vehicle off the rail system.

24. The method according to claim 22, wherein the method further comprises, prior to engaging the lifting devices on opposite sides of the malfunctioning vehicle, operating a rotary drive to winch up a lifting frame and or a track shift motor of a malfunctioning container handling vehicle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0104] FIG. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system;

[0105] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein;

[0106] FIG. 3A is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath;

[0107] FIGS. 3B and 3C are perspective views of an exemplary automated storage and retrieval system according to the invention, where FIG. 3B shows a part of the system having a delivery rail system with container delivery vehicles operating below the rail system of container handling vehicles and FIG. 3C shows an example of a container delivery vehicle having a storage container stored within;

[0108] FIGS. 4A, 4B and 4C are perspective views of a rescue vehicle seen from different sides, where the rescue vehicle comprises a pivotable actuator for moving the rotary drive;

[0109] FIGS. 5A and 5B show an example of a rescue vehicle comprising a linear actuator for moving the rotary drive;

[0110] FIGS. 6A-6E show step-by-step two rescue vehicles of FIGS. 4A-4C when they are rescuing a container handling vehicle with a cantilever construction;

[0111] FIGS. 7A-7E show step-by-step two rescue vehicles of FIGS. 4A-4C when they are rescuing a container handling vehicle in the form of a delivery vehicle configured to receive storage containers from above;

[0112] FIGS. 8A and 8B show an exemplary wheel base unit;

[0113] FIGS. 9A-9C show an example of the rescue vehicle of FIGS. 4A-C illustrating step by step the moving of the rotary drive from the stowed vertical to position to the deployed position using a pivotable actuator for manipulating the track shift motor of a container handling vehicle;

[0114] FIGS. 10A and 10B show an example of the rescue vehicle of FIGS. 9A-9C for manipulating a lifting frame motor of a container handling vehicle;

DETAILED DESCRIPTION OF THE INVENTION

[0115] In the following, embodiments of the invention 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 invention to the subject-matter depicted in the drawings.

[0116] The framework structure 100 of the automated storage and retrieval system 1 is constructed in accordance with the prior art framework structure 100 described above in connection with FIGS. 1-3, i.e. a number of upright members 102 and a number of horizontal members 103, which are supported by the upright members 102, and further that the framework structure 100 comprises a first, upper rail system 108 in the X direction and Y direction.

[0117] The framework structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102, 103, where storage containers 106 are stackable in stacks 107 within the storage columns 105.

[0118] The framework structure 100 can be of any size. In particular it is understood that the framework structure can be considerably wider and/or longer and/or deeper than disclosed in FIG. 1. For example, the framework structure 100 may have a horizontal extent of more than 700×700 columns and a storage depth of more than twelve containers.

[0119] A different automated storage and retrieval system 1 is shown in part in FIG. 3B. The upright members 102 constitute part of a framework structure 100 onto which a transport rail system 108 with a plurality of container handling vehicles 201,301 are operating.

[0120] Below this transport rail system 108, near the floor level, another framework structure 300 is shown which partly extends below some of the storage columns 105 of the framework structure 100. As for the other framework structure 100, a plurality of vehicles 340 may operate on a rail system 308 comprising a first set of parallel rails 310 directed in a first direction X and a second set of parallel rails 311 directed in a second direction Y perpendicular to the first direction X, thereby forming a grid pattern in the horizontal plane P.sub.L, comprising a plurality of rectangular and uniform grid locations or grid cells 322. Each grid cell of this lower rail system 308 comprises a grid opening 315 being delimited by a pair of neighboring rails 310a,310b of the first set of rails 310 and a pair of neighboring rails 311a,311b of the second set of rails 311.

[0121] The part of the lower rail system 308 that extends below the storage columns 105 are aligned such that its grid cells 322 are in the horizontal plane P.sub.L, coincident with the grid cells 122 of the upper rail system 108 in the horizontal plane P.

[0122] Hence, with this particular alignment of the two rail systems 108,308, a storage container 106 being lowered down into a storage column 105 by a container handling vehicle 250 can be received by a delivery vehicle 340 configured to run on the rail system 308 and to receive storage containers 106 down from the storage column 105. In other words, the delivery vehicle 340 is configured to receive storage containers 106 from above, preferably directly from the container handling vehicle 201,301.

[0123] FIG. 3C shows an example of such a delivery vehicle 340 comprising a wheel assembly 351 similar to the wheel assembly 251 described for the prior art container handling vehicle 250 and a storage container support 352 for receiving and supporting a storage container 106 delivered by an above container handling vehicle 201,301.

[0124] After having received a storage container 106, the delivery vehicle 340 may drive to an access station adjacent to the rail system 308 (not shown) for delivery of the storage container 106 for further handling and shipping.

[0125] FIGS. 4A, 4B and 4C are perspective views of a rescue vehicle 40 seen from different sides. The rescue vehicle 40 comprises a wheel base 2 and a rescue module 48 mounted thereon. The lifting device 41 is disclosed with a vertical plate 42 with a lip 43 extending therefrom. In the disclosed example, the lifting device 41 is on a short side of the rescue vehicle 40 and the lip 43 extends along the whole side and further around a corner of the rescue vehicle 40 and at least partly along an adjacent long side. The part of the lip 43 on the long side of the rescue vehicle may extend shorter and or along the whole length of long side. In one example, there may be a continuous lip 43 around the whole rescue vehicle 40, i.e. there may be a lip 43 on all sides of the rescue vehicle 40.

[0126] The rescue vehicle 40 is disclosed with visual inspection means 44 such as to perform visual inspection on the rail system 108,308 or control or check vehicles that have problems on the rail system 108, 308, and or to monitor or assist in rescuing operations. The visual inspection means 44 may comprise one or more cameras.

[0127] The rescue vehicle is disclosed with two pivotable actuators 45′,45″ for moving two rotary drives 49′,49″, respectively. The rotary drive denoted 49′ is for manipulating the track shift motor of a malfunctioning container handling vehicle, whereas the rotary drive denoted 49″ is for manipulating a lifting frame/gripper motor of a malfunctioning container handling vehicle to rotate the lifting frame motor and any carried storage container 106 up and above the top of the rail system 108,308 such that the malfunctioning vehicle can be transported across the rail system 108,308. In all FIGS. 4A-4C, the rotary drives 49′,49″ are in the stowed vertical position. Furthermore, as disclosed in all FIGS. 4A-4C, the footprint of the rescue vehicle 40 is equal to or less than a grid of the underlying rail system 108,308.

[0128] FIGS. 5A and 5B show an example of a rescue vehicle 40 comprising a wheel base unit 2 and a vehicle rescue module 48 mounted thereon. Instead of the pivotable actuator of the rescue vehicle 40 in FIGS. 4A-4C, the rescue vehicle 20 comprises a linear actuator 46 for moving the rotary drive 49′″. The linear actuator 46 is arranged for moving the rotary drive 49′″ between the stowed position (FIG. 5A) and the deployed position (FIG. 5B). As shown in FIG. 5A, when in the stowed position, the perimeter of the rotary drive 49′″ is arranged within a horizontal perimeter of the wheel base unit 2 of the rescue vehicle 40, and when in the deployed position, at least a portion of the rotary drive 49′″ may extend beyond the perimeter of the wheel base unit 2. The other components of the rescue vehicle 40 may be similar to the ones described in relation to FIGS. 4A-4C.

[0129] FIGS. 6A-6E show step-by-step two rescue vehicles of FIGS. 4A-4C when they are rescuing a container handling vehicle 240 with a cantilever construction (i.e. a prior art container handling vehicle 301 as shown in FIG. 3A).

[0130] In FIG. 6A, the container handling vehicle 240 has malfunctioned with the lifting frame carrying a storage container 106 in an upper position (i.e. a lowermost part of the storage container 106 is above the underlying rail system 108,308 such that the container handling vehicle can be transported on the rail system 108, 308). The first rescue vehicle 40 comprises a lifting device 41 and is facing for engagement in a first direction, whereas the second rescue vehicle 40 comprises a lifting device on an opposite side of the vehicle relative the first rescue vehicle 40, the lifting device 41 facing for engagement in a second direction opposite to the first direction. In FIGS. 6A and 6B both of the rescue vehicles 40 are positioned in a distance away from the malfunctioning container handling vehicle 240.

[0131] In FIG. 6C, one of the rescue vehicles 40 has positioned itself in a neighboring cell to the malfunctioning container handling vehicle 240, on one of the opposite sides of the container handling vehicle 240 which comprise a recess 50 for engagement with the lifting device 40 of the rescue vehicle 40. In the disclosed example, the lifting device 41 comprises a vertical plate 43 with a lip 43 for engagement with the recess 50.

[0132] In FIG. 6D, the second rescue vehicle 40 has positioned itself on the opposite side of the malfunctioning container handling vehicle 240 and the lip 43 of the lifting device 41 has engaged with the recess 50. As is further seen in FIG. 6D, the first and second rescue vehicles 40 have lifted the malfunctioning container handling vehicle 240 off the rail system 108,308 by operating the lifting devices 41 simultaneously (i.e. in tandem). The malfunctioning container handling vehicle 240 may be transported off the rail system 108,308 to a dedicated area, such that a service area or similar. FIG. 6E is an opposite view of FIG. 6D.

[0133] FIGS. 7A-7E show step-by-step two rescue vehicles of FIGS. 4A-4C when they are rescuing a malfunctioning container handling vehicle in the form of a delivery vehicle 340 (see e.g. FIG. 3C). Similar rescue vehicles 40 as the ones disclosed in FIGS. 6A-6E are used when rescuing the delivery vehicle 340. The delivery vehicle 340 comprises a recess 50 around the whole circumference of the delivery vehicle 340 for engagement with the lifting device 40 of the rescue vehicle 40. The recess 340 may be arranged between a wheel base unit 2 of the delivery vehicle 340 and a container supporting unit 3 of the delivery vehicle 340.

[0134] Referring to FIG. 7A, one of the rescue vehicles 40 has positioned itself in a neighboring cell to the malfunctioning container handling vehicle 340, on one of the opposite sides of the malfunctioning delivery vehicle 340. The other rescue vehicle 40 is arranged in a distance from the malfunctioning delivery vehicle 340.

[0135] Referring to FIGS. 7B and 7C, the other of the rescue vehicles 40 has positioned itself on an opposite side of the malfunctioning delivery vehicle 340. FIG. 7C is an opposite view of FIG. 7B.

[0136] Referring to FIGS. 7D and 7E, the first and second rescue vehicles 40 have lifted the malfunctioning delivery vehicle off the rail system 108,308 by operating the lifting devices 41 simultaneously (i.e. in tandem). The malfunctioning delivery vehicle 340 may be transported off the rail system 108,308 to a dedicated area, such that a service area or similar. FIG. 7E is a perspective side view of FIG. 7D.

[0137] An exemplary combined wheel base unit for the rescue vehicles 40 and the delivery vehicles 340 is shown in FIGS. 8A and 8B. The wheel base unit 2 features a wheel arrangement 32a,32b having a first set of wheels 32a for movement in a first direction upon a rail system (i.e. any of the top rail system 108 and the delivery rail system 308) and a second set of wheels 32b for movement in a second direction perpendicular to the first direction. Each set of wheels comprises two pairs of wheels arranged on opposite sides of the wheel base unit 2. To change the direction in which the wheel base unit may travel upon the rail system, one of the sets of wheels 32b is connected to a wheel displacement assembly 7. The wheel displacement assembly is able to lift and lower the connected set of wheels 32b relative to the other set of wheels 32a such that only the set of wheels travelling in a desired direction is in contact with the rail system. The wheel displacement assembly 7 is driven by an electric motor 8. Further, two electric motors 4,4′, powered by a rechargeable battery 6, are connected to the set of wheels 32a,32b to move the wheel base unit in the desired direction.

[0138] Further referring to FIGS. 8A and 8B, the horizontal periphery of the wheel base unit 2 is dimensioned to fit within the horizontal area defined by a grid cell, such that two wheel base units may pass each other on any adjacent grid cells of the rail system 108, 308. In other words, the wheel base unit 2 may have a footprint, i.e. an extent in the X and Y directions, which is generally equal to the horizontal area of a grid cell, i.e. the extent of a grid cell in the X and Y directions, e.g. as is described in WO2015/193278A1, the contents of which are incorporated herein by reference. The wheel base unit 2 has a top panel/flange 9 (i.e. an upper surface) configured as a connecting interface for connection to a connecting interface of a selected vehicle rescue module 48 or container supporting unit 3. The top panel 9 have a centre opening 20 and features multiple through-holes 10 (i.e. connecting elements) suitable for a bolt 11 connection via corresponding through-holes 10′ in the connecting interface of a vehicle rescue module 48 or container supporting unit 3. In other embodiments, the connecting elements of the top panel 9 may for instance be threaded pins for interaction with the through-holes 10′ of the connecting interface of the vehicle rescue module 48 or container supporting unit 3, or vice versa. The presence of a centre opening 20 is advantageous as it provides access to internal components of the wheel base unit, such as the rechargeable battery 6 and an electronic control system 21. The access allows the rechargeable battery 6 and the electronic control system 21 to be easily connected to a rescue module connected to the wheel base unit 2, thus the vehicle rescue module 48 nor container supporting unit 3 is not required to have its own dedicated power source and/or control system.

[0139] FIGS. 9A-9C show an example of the rescue vehicle 40 of FIGS. 4A-C illustrating step by step the moving of the rotary drive 49′ from the stowed vertical to the deployed horizontal position using a pivotable actuator 45′ for manipulating the track shift motor of a container handling vehicle 240. FIGS. 9A and 9B are two different perspective views of a rescue vehicle 40 where the rotary drive 49′ for manipulating track shift has been pivoted to a deployed horizontal position using a pivotable actuator 45′. In FIG. 9C the rotary drive 49′ is connected to the track shift of the malfunctioning container handling vehicle 240 and can manipulate the track shift motor. The other rotary drive 49″ for manipulating the lifting frame/gripper motor of a malfunctioning vehicle 240 is in the stowed vertical position in all FIGS. 9A-9C.

[0140] FIGS. 10A and 10B show an example of the rescue vehicle 40 of FIGS. 9A-9C for manipulating a lifting frame motor of a container handling vehicle, where in FIG. 10A the rotary drive 49″ for manipulating the lifting frame motor is in a deployed horizontal position actuated by a pivotable actuator 4″ but not connected to a container handling vehicle 240, whereas in FIG. 10B the rotary drive 49″ is connected to an interface for winching up the lifting frame motor of the container handling vehicle 240 such that the lifting frame (possibly carrying a storage container 106) can be lifted up and above the rail system making it possible to transport the container handling vehicle 240. When the rotary drive 49″ is in the stowed position, the rescue vehicle 40 has a footprint equal to or less than a grid cell of the rail system and in the deployed position, the rotary drive 49″ extend into a neighboring grid cell by being pivoted from the deployed vertical position to the deployed horizontal position. This provides for the possibility that the service vehicle 40 does not occupy more than one cell when moving on the rail system.

[0141] In the preceding description, various aspects of the delivery vehicle and the automated storage and retrieval system according to the invention have been described with reference to the illustrative embodiment. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiment, as well as other embodiments of the system, which are apparent to persons skilled in the art to which the disclosed subject matter pertains, are deemed to lie within the scope of the present invention.

LIST OF REFERENCE NUMBERS

[0142]

TABLE-US-00001   1 Prior art storage and retrieval system   2 Wheel base unit   3 Container supporting unit 4, 4′ Electric motor   6 Rechargeable battery   7 Wheel displacement assembly   8 Electric motor for wheel displacement assembly   9 Top panel/flange  10 Through-holes  11 bolt  20 Centre opening  21 Electronic control system 32a, b Wheel arrangement on wheel base unit, first and second set of wheels  40 Rescue vehicle  41 Lifting device  42 Vertical plate  43 lip  44 Visual inspection means/camera 45′, 45″ Pivotable actuator  46 Linear actuator  48 Rescue module 49′, 49″, 49′′′ Rotary drive  50 Recess 100 Framework structure 102 Upright members of framework structure 103 Horizontal members of framework structure 104 Storage grid 105 Storage column 106 Storage container 106′ Particular position of storage container 107 Stack 108 Rail system 110 Parallel rails in first direction (X) 110a First rail in first direction (X) 110b Second rail in first direction (X) 111 Parallel rail in second direction (Y) 111a First rail of second direction (Y) 111b Second rail of second direction (Y) 112 Access opening 119 First port column 120 Second port column 201 Prior art storage container vehicle 201a Vehicle body of the storage container vehicle 101 201b Drive means/wheel arrangement, first direction (X) 201c Drive means/wheel arrangement, second direction (Y) 240 Malfunctioning container handling vehicle 300 Delivery framework structure 301 Prior art cantilever storage container vehicle 301a Vehicle body of the storage container vehicle 101 301b Drive means in first direction (X) 301c Drive means in second direction (Y) 308 Delivery rail system 310 First set of parallel rails in first direction (X) on delivery rail system 311 Second set of parallel rails in second direction (Y) on delivery rail system 315 Grid opening in delivery rail system 322 Grid cell of delivery rail system 340 Malfunctioning container delivery vehicle 351 Wheel assembly for container delivery vehicle 352 Storage container support 500 Control system X First direction Y Second direction Z Third direction