SERVICE VEHICLE WITH DRONE BASES

Abstract

Embodiments of the present disclosure provide a service vehicle. In some embodiments, the service vehicle comprises a platform configured to service a container handling vehicle while the service vehicle is on a grid-based rail system of a storage grid of an automated storage system for storing storage containers, and one or more wheel modules, each wheel module configured to move the service vehicle along the grid-based rail system, wherein the platform is mounted on the one or more wheel modules and comprises an enclosure having at least one opening.

Claims

1. A service vehicle, comprising: a platform configured to service a container handling vehicle while the service vehicle is on a grid-based rail system of a storage grid of an automated storage system for storing storage containers; and one or more wheel modules, each wheel module configured to move the service vehicle along the grid-based rail system, wherein the platform is mounted on the one or more wheel modules and comprises an enclosure having at least one opening.

2. The service vehicle according to claim 1, comprising two or more wheel modules, the two or more wheel modules configured to work together as one master wheel module and one or more slave wheel modules.

3. The service vehicle according to claim 1, wherein the platform is configured to receive the container handling vehicle by lifting of the container handling vehicle onto the platform.

4. The service vehicle according to claim 1, wherein the service vehicle comprises a bay configured to hold the container handling vehicle while the service vehicle is on the grid.

5. The service vehicle according to claim 1, wherein the platform is supported on at least two wheel modules of the one or more wheel modules.

6. The service vehicle according to claim 1, comprising a set of controls configured to control a movement of the service vehicle.

7. The service vehicle according to claim 1, wherein the service vehicle is controllable by a central control center.

8. The service vehicle according to claim 1, wherein the storage grid is a three-dimensional storage grid, wherein the service vehicle comprises two or more wheel modules, each wheel module having a first set of wheels configured to move the service vehicle along a first lateral direction of the grid-based rail system and a second set of wheels configured to move the service vehicle along a second lateral direction of the grid-based rail system, the second lateral direction being perpendicular to the first lateral direction.

9. The service vehicle according to claim 1, further comprising a barrier configured to close the at least one opening of the enclosure.

10. The service vehicle according to claim 9, wherein the barrier includes an automated mechanism configured to prevent the barrier from being opened while the service vehicle is in motion.

11. The service vehicle according to claim 1, wherein the service vehicle is configured to communicate with the container handling vehicle.

12. The service vehicle according to claim 1, comprising a power connector configured to provide power to the container handling vehicle.

13. The service vehicle according to claim 1, wherein the platform is configured to rotate 360? around a vertical axis and relative to the one or more wheel modules.

14. The service vehicle according to claim 13, comprising a slewing bearing between the platform and the one or more wheel modules, the slewing bearing configured to allow the platform to rotate freely relative to the one or more wheel modules.

15. The service vehicle according to claim 13, comprising an electric motor configured to control the rotation of the platform around the vertical axis and relative to the one or more wheel modules.

16. The service vehicle according to claim 1, wherein a section of the platform comprises a height adjuster configured to lower the section onto one or more rails of the grid.

17. The service vehicle according to claim 16, wherein the height adjuster is a rack and pinion system or a set of electronic actuators.

18. The service vehicle according to claim 1, wherein the platform comprises a set of tracks matching a width of tracks on the grid.

19. A system comprising: a container handling vehicle comprising a receiver; and a service vehicle comprising: a platform configured to service the container handling vehicle while the service vehicle is on a grid-based rail system of a storage grid of an automated storage system for storing storage containers; one or more wheel modules, each wheel module configured to move the service vehicle along the grid-based rail system, wherein the platform is mounted on the one or more wheel modules and comprises an enclosure having at least one opening; and a transmitter; wherein the container handling vehicle is configured to receive remote control signals from the transmitter of the service vehicle and to maneuver the container handling vehicle in response to the remote control signals.

20. A method for servicing a container handling vehicle, the method comprising: maneuvering a service vehicle along a grid-based rail system to a location at which at least one opening of an enclosure of the service vehicle is positioned next to the container handling vehicle; and providing the container handling vehicle to a platform of the service vehicle via the at least one opening of the enclosure such that the container handling vehicle is received by the service vehicle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In the drawings:

[0033] FIG. 1 is a perspective view of a prior art storage grid with container handling vehicles running on top.

[0034] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for containing storage containers therein.

[0035] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever for containing storage containers underneath.

[0036] FIG. 4 is a perspective view of a prior art wheel module onto which different equipment can be mounted.

[0037] FIG. 5 is a perspective view of an exemplary service vehicle comprising a platform mounted on wheel modules placed on a grid with an operator on board maneuvering the service vehicle towards the broken-down container handling vehicle.

[0038] FIG. 6 is a perspective view of the service vehicle of FIG. 5 with the barrier open in order to gain access to the broken-down container handling vehicle.

[0039] FIG. 7 is a perspective view of the service vehicle of FIG. 5 where the operator of the platform transfers the container handling robot on to the platform.

[0040] FIG. 8 is a perspective view of the service vehicle of FIG. 5 where the container handling vehicle is onboard the platform, and the platform is equipped with guiding rails to ease the access of the container handling vehicle onto the platform.

[0041] FIG. 9 is a perspective view of another exemplary service vehicle where the platform is placed on wheel modules, but the platform has a bay in the form of a recess into which the container handling vehicle fits.

DETAILED DESCRIPTION

[0042] In the following, 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.

[0043] A typical prior art automated storage and retrieval system 10 with a framework structure 100 was described in the background section above.

[0044] The container handling vehicle rail system 108 allows the container handling vehicles 201 to move horizontally between different grid locations, where each grid location is associated with a grid cell 122.

[0045] In FIG. 1, the storage grid 104 is shown with a height of eight grid cells 122. It is understood, however, that the storage grid 104 can in principle be of any size. The storage grid 104 can be considerably wider and/or longer than disclosed in FIG. 1. For example, the grid 104 may have a horizontal extent of more than 700?700 storage columns 105. Also, the grid 104 can be considerably deeper than disclosed in FIG. 1. For example, the storage grid 104 may be more than twelve grid cells 122 deep, i.e., in the Z direction indicated in FIG. 1.

[0046] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for containing storage containers 106 therein.

[0047] The central cavity container handling vehicles 201 may have a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a grid column 112, i.e. the extent of a grid column 112 in the X and Y directions, e.g. as is described in WO2015/193278A1, the contents of which are incorporated herein by reference.

[0048] Alternatively, the central cavity container handling vehicles 101 may have a footprint which is larger than the lateral area defined by a grid column 112, e.g., as is disclosed in WO2014/090684A1.

[0049] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever for containing storage containers 106 underneath.

[0050] FIG. 4 describes a wheel module 401. The wheel module 401 may be suitable for use as a base of a delivery vehicle, for delivering storage containers on a rail system of a storage grid.

[0051] The wheel module 401 may comprise the same setup of wheels as on the container handling vehicles. The wheel module 401 features a wheel arrangement having a first set of wheels 402 for movement in a first direction upon a rail grid (i.e., any of the top rail grid and the transfer rail grid) and a second set of wheels 403 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 module 401. To change the direction in which the wheel module 401 may travel upon the rail grid, one of the sets of wheels is connected to a wheel displacement assembly. The wheel displacement assembly is able to lift and lower the connected set of wheels relative to the other set of wheels such that only the set of wheels travelling in a desired direction is in contact with the rail grid. The wheel displacement assembly is driven by an electric motor.

[0052] In the embodiment, two electric motors, powered by a rechargeable battery, are connected to the set of wheels to move the wheel module 401 in the desired direction.

[0053] The horizontal periphery of the wheel module 401 may be dimensioned to fit within the horizontal area defined by a grid cell of the rail grid such that two wheel modules 401 may pass each other on any adjacent grid cell of the rail grid. In other words, the wheel module 401 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. Each wheel of a set of wheels may be arranged to run along a track of a double-track rail that extends along an edge of a grid cell. The second track of the rail may allow a vehicle to pass in a neighboring grid cell with a clearance between the two vehicles.

[0054] FIG. 5 is a perspective drawing of an exemplary service vehicle 501 on wheel modules 401 placed on a grid 104 with an operator 505 on board maneuvering the service vehicle 501 towards a container handling vehicle 201, 301. The service vehicle 501 comprises a platform 502 mounted on four wheel modules 401. An enclosure 503 surrounds the platform 502. This enclosure 503 comprises a framework of bars. Furthermore, the enclosure 503 is made of a transparent material like reinforced glass or plexiglass. The main purpose of the enclosure 503 is to protect the operator 505 on board the service platform 502. The enclosure 503 has at least one opening that allows access to a container handling vehicle. This opening has a closable barrier 504. The closable barrier 504 may comprise either one or more doors, e.g., either hinged doors or sliding doors. In yet another embodiment, the barrier 504 can be in the form of a drop door. This drop door can have rails or tracks on the inside matching the width and shape of the rails/tracks on the grid. These rails/tracks make it possible to roll the container handling vehicle onboard the service vehicle 501. The barrier, e.g., in the form of a door has an automatic locking mechanism that ensures that the door cannot be opened while the service vehicle 501 is in motion. A typical scenario of events is that the service vehicle 501 is maneuvered towards the container handling vehicle in question. If the doors are ordinary hinged doors or sliding doors, the doors are opened when the service vehicle 501 is positioned next to the container handling vehicle and the container handling vehicle is lifted onto the service vehicle 501. If the service vehicle 501 has a drop-down door, the door is dropped down onto the grid. The door is positioned such that the upper most edge of the door is next to the container handling vehicle when it is dropped down. The vehicle is then lifted onto the door and maneuvered, using hand power, on to the platform 502 of the service vehicle 501. The service can be performed while the service platform 502 is on the grid and the container handling vehicle is placed back on the grid. Alternatively, the container handling vehicle can be transported back to a service station for further repair.

[0055] The service platform 502 can communicate either wirelessly with the container handling vehicle, or the operator 505 can connect the service vehicle 501 directly to the container handling vehicle if it is not possible to communicate wirelessly. The operator 505 on the service vehicle 501 can then remote control the container handling vehicle.

[0056] Although it is described here that the platform 502 is mounted on four wheel modules 401, the number of modules can vary, there can be any number of modules from two and up. If two wheel modules are used the service platform and the wheel modules may take up 3 grid cells. If four wheel modules are used, the service platform and the wheel modules can take up anything from 4 grid cells and up and having either a square or rectangular size. Additional number of wheel modules can be used if a longer or wider service vehicle is used.

[0057] FIG. 6 is a perspective view of the service vehicle 501 of FIG. 5 comprising a service platform 502 supported on wheel modules 401 with the barrier 504 open to gain access to the container handling vehicle. In this figure the service vehicle 501 has reached the container handling vehicle that has broken down. The operator 505 has opened the barrier 504 of the enclosure 503 to gain access to the container handling vehicle. The operator 505 can lift the container handling vehicle onboard the service platform 502 of the service vehicle 501. The operator 505 can either fix the container handling vehicle on the grid or he/she can transport it back to a service station. There is a benefit for fixing the container handling vehicle on the grid. The benefit is that the container handling vehicle can start operating where it stopped after it has been fixed.

[0058] FIG. 7 is a perspective view of the service vehicle 501 of FIG. 5 comprising a service platform 502 on wheel modules 401 where the operator 505 of the platform 502 transfers the container handling robot onto the platform 502. The operator 505 can either lift the container handling vehicle onto the platform 502 or the operator 505 can connect to the container handling vehicle either wired or wirelessly and remotely control the container handling vehicle onto the platform 502.

[0059] FIG. 8 is a perspective view of the service vehicle 501 of FIG. 5 where the container handling vehicle is onboard the platform 502. The platform 502 may be equipped with guiding tracks/rails 801 to ease the access of the container handling vehicle onto the platform 502. After the first set of wheels of the container handling vehicle has been lifted onto the track/rails in the platform 502, it can be pushed easily all the way in.

[0060] As it can be seen in this embodiment the service vehicle 501 comprises four wheel modules 401 for transporting the operator on the grid. To these wheel modules 401 there is mounted a platform 502. The platform 502 has two zones where the operator(s) 505 are situated, suitable for two operators. Between the two zones where the operators 505 are seated there is a space or bay for the container handling vehicle. The space or bay for the container handling vehicle is positioned lower down than the rest of the platform 502. This is in order to make it easier to get the container handling vehicle onto the platform 502. In a preferred embodiment of the present invention the space or bay for the container handling vehicle can be lowered in order to accommodate the container handling vehicle. During travel and when the operator 505 is working on the container handling vehicle the space for accommodating the container handling vehicle can be lifted. This allows the operator 505 greater access to the container handling vehicle when it is being worked on. Also, lifting the space for the container handling vehicle during travel makes it easier to maneuver the service vehicle 501 without the risk of the bottom of the platform hitting the top of the grid. The lifting and lowering of the platform 502 can be done, for example, by a rack and pinion system, hydraulics or electrical actuators.

[0061] FIG. 9 is a perspective view of another embodiment of the service vehicle where the platform 502 is placed on wheel modules 401 and has a bay 901 in the form of a recess into which the container handling vehicle fits. The bay 901 of the service vehicle 501 is of such a size that the container handling vehicle fits into the bay 901 with the barrier closed. The benefit of using a bay 901 in the form of a recess is that there is no lifting and movement of the container handling vehicle before repairing it, and the container handling vehicle can continue its operation from the exact same place it stopped. Further the bay 901 in the form of a recess is beneficial since it allows the operator 505 to safely repair the container handling vehicle while the rest of the grid is still operating.

[0062] In this embodiment, the platform 502 can be turned 360? in either direction around a vertical axis and relative to the wheel modules 401. The platform 502 can be turned relative to the wheel modules 401 using a stewing bearing mounted between the wheel modules 401 and the platform 502. The bearing can be turned by an electric motor. The electric motor turning the platform 502 relative to the wheel modules 401 can get its power from a set of rechargeable power sources mounted on the service vehicle 501.

[0063] The wheel modules 401 can be connected using a master and slave solution. In this context the master/slave configuration is used for load sharing purposes when two identical motors connected to two different drives are coupled to a common load. One drive is defined as the master and is configured for running in the speed-control mode whereas the other defined as slave is configured for running in torque-control mode.

LIST OF REFRENCE NUMBERS

[0064] 1 automated storage and retrieval system [0065] 100 framework structures [0066] 102 upright members [0067] 103 horizontal members [0068] 104 storage grid [0069] 105 storage columns [0070] 106 storage containers [0071] 106 storage containers [0072] 107 stacks [0073] 108 rail system [0074] 110 a first set of parallel rails [0075] 111 a second set of parallel rails [0076] 115 grid columns [0077] 119 port [0078] 120 port [0079] 122 grid cell [0080] 250 container handling vehicle [0081] 201 container handling vehicle [0082] 301 container handling vehicle [0083] 401 wheel module [0084] 402 Wheels for container handling vehicle [0085] 403 Wheels for container handling vehicle [0086] 501 service vehicle [0087] 502 platform on service vehicle [0088] 503 enclosure [0089] 504 barrier [0090] 505 operator [0091] 801 tracks on service vehicle platform [0092] 901 service vehicle bay [0093] 902 service vehicle controls