Automated storage and retrieval system with a vehicle pen

Abstract

An automated storage and retrieval system includes a storage grid configured to store a plurality of storage containers in vertical stacks, a plurality of remotely operated vehicles, and a rail system including rails and tracks onto which the plurality of remotely operated vehicle operates. The automated storage and retrieval system includes a first area and a second area. The first area is linked to the second area for passage of one or more of the plurality of remotely operated vehicles by a vehicle pen. The vehicle pen includes an entry barrier and an exit barrier to regulate the passage of the of one or more vehicles between the first and second area. The entry and exit barriers are moveable between an open position in which passage of the one or more of the vehicles is allowed, and a closed position in which passage of the one or more vehicles is restricted. The entry and exit barriers are regulated such that the entrance barrier can be opened only when the exit barrier is closed, and vice versa.

Claims

1. An automated storage and retrieval system comprising a storage grid configured to store a plurality of storage containers in vertical stacks, a plurality of remotely operated vehicles, and a rail system comprising rails and tracks onto which the plurality of remotely operated vehicles operate, wherein the automated storage and retrieval system comprises a first area and a second area, wherein the first area is linked to the second area for passage of one or more vehicles of the plurality of remotely operated vehicles by a vehicle pen comprising an entry barrier and an exit barrier to regulate the passage of the one or more vehicles between the first area and the second area, and wherein the entry and exit barriers are moveable between an open position in which passage of the one or more vehicles is allowed, and a closed position in which passage of the one or more vehicles is restricted, and wherein the entry and exit barriers are regulated such that the entry barrier can be opened only when the exit barrier is closed, and vice versa.

2. The automated storage and retrieval system according to claim 1, wherein the first area and the second area are separated by a partition comprising an opening allowing at least one of the plurality of remotely operated vehicles to pass through, and a gate configured to open and close the opening, wherein the gate is the entry barrier or the exit barrier of the vehicle pen.

3. The automated storage and retrieval system according to claim 1, wherein the first area is a rail system area located above a storage grid and the second area is a service rail system area where one or more vehicles are located for maintenance and service.

4. The automated storage and retrieval system according to claim 1, wherein the first area is a delivery rail system area located below a storage grid or on a floor level of a storage grid and the second area is an access rail area where items stored in storage containers transported on remotely operated vehicles are accessed by a human or robotic operator.

5. The automated storage and retrieval system according to claim 1, wherein a sensor is arranged to register the position of the entry and exit barriers and communicate with an automated control system for regulating the entry and exit barriers.

6. The automated storage and retrieval system according to claim 5, wherein the entry and exit barriers are configured to be remotely locked, unlocked, opened or closed by use of the automated control system.

7. The automated storage and retrieval system according to claim 1, wherein the entry and exit barriers of the vehicle pen comprise one or more moveable barriers, each moveable between the open position and the closed position.

8. The automated storage and retrieval system according to claim 7, wherein the one or more moveable barriers comprise at least one of a: bar, wall, gate, port, door, enclosure, or structure.

9. The automated storage and retrieval system according to claim 7, wherein the one or more moveable barriers are arranged on the rail system and moveable relative to the rail system.

10. The automated storage and retrieval system according to claim 1, wherein the rail system extends over the first and second areas, the rail system comprising a plurality of first rails arranged in a first direction and second rails arranged in a second direction, the rails each comprising tracks arranged in a horizontal plane, which tracks form a grid pattern of grid cells in the horizontal plane.

11. The automated storage and retrieval system according to claim 10, wherein the vehicle pen provides a holding zone for one or more remotely operated vehicles between the entry barrier and the exit barrier that is one or more grid cells in lengths and/or width.

12. The automated storage and retrieval system according to claim 11, wherein the holding zone is an intermediate area located between the first area and the second area and wherein the first, second and intermediate areas are separated by partitions comprising an opening closeable by the entry barrier or the exit barrier.

13. The automated storage and retrieval system according to claim 12, wherein the intermediate area comprises a vehicle shut down zone, which upon activation automatically shuts down the power of the one or more vehicles located in the vehicle shut down zone.

14. The automated storage and retrieval system according to claim 13, wherein the activation of the vehicle shut down zone is regulated with the opening of the entry barrier or the exit barrier, such that vehicles located in the vehicle shut down zone are automatically shut down in an event the entry barrier or the exit barrier is opened.

15. A computer-implemented method of moving at least one of a plurality of remotely operated vehicles between a first area and a second area of an automated storage and retrieval system, the automated storage and retrieval system comprising a storage grid configured to store a plurality of storage containers in vertical stacks, the plurality of remotely operated vehicles, and a rail system comprising rails and tracks onto which the plurality of remotely operated vehicles operate, wherein the automated storage and retrieval system comprises the first area and the second area, wherein the first area is linked to the second area for passage of one or more vehicles of the plurality of remotely operated vehicles by a vehicle pen comprising an entry barrier and an exit barrier to regulate the passage of the one or more vehicles between the first area and the second area, wherein the entry and the exit barriers are moveable between an open position in which passage of the one or more of the vehicles is allowed, and a closed position in which passage of the one or more vehicles is restricted, wherein the entry and exit barriers are regulated such that the entry barrier can be opened only when the exit barrier is closed, and vice versa, and wherein the computer-implemented method comprises: moving the at least one of the plurality of remotely operated vehicles on the first area towards the entry barrier of the vehicle pen, opening the entry barrier after being confirmed that the exit barrier is closed, moving the at least one of the plurality of remotely operated vehicles through the entry barrier of the vehicle pen, closing the entry barrier while the vehicle is in the vehicle pen, confirming that the entry barrier is in the closed position, unlocking or opening the exit barrier, wherein the exit barrier may be opened manually or automatically, moving vehicle through the exit barrier and into the second area, and closing the exit barrier.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Following drawings are appended to facilitate the understanding of the invention. The drawings show embodiments of the invention, which will now be described by way of example only, where:

(2) FIG. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.

(3) FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein.

(4) FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.

(5) FIG. 4 is a side view of a vehicle pen arranged to regulate the passage of the of one or more vehicles between the first and second area.

(6) FIG. 5 is a perspective view of the embodiment in FIG. 4.

(7) FIG. 6 is a perspective view of a vehicle pen with one of the moveable barrier of the entry or exit barrier in an open position.

(8) FIG. 7 is a perspective view of the embodiment in FIG. 6 from another angle.

(9) FIG. 8 is a side view of a vehicle pen comprising physical barriers.

(10) FIG. 9 is a perspective view of the embodiment in FIG. 8.

(11) FIG. 10 is a perspective view of a vehicle pen where the moveable barrier of the entry and exit barrier is an enclosure.

(12) FIG. 11 is a perspective view of a vehicle pen as an intermediate area located between the first and second area.

(13) FIG. 12 is another perspective view of the embodiment in FIG. 11.

(14) FIG. 13 is a top view of the embodiment in FIGS. 11 and 12.

(15) FIG. 14 is a side view of an automated storage and retrieval system.

DETAILED DESCRIPTION OF THE INVENTION

(16) 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.

(17) 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.

(18) 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.

(19) 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 700700 columns and a storage depth of more than twelve containers.

(20) One embodiment of the automated storage and retrieval system according to the invention will now be discussed in more detail with reference to FIGS. 4-13.

(21) FIG. 4 shows a side view of the system comprising a first area 11 and a second area 12. The first area 11 is linked to the second area 12 for passage a remotely operated vehicle 200,300 by a vehicle pen 10 comprising an entry barrier 13 and an exit barrier 14 to regulate the passage of the vehicle 200,300 between the first and second area 11,12.

(22) The entry barrier 13 and exit barrier 14 are defined by the moving direction of the vehicle 200,300. The entry and exit barriers 13,14 are moveable between an open position in which it allows passage of the vehicle 200,300, and a closed position in which it restricts passage of the vehicle 200,300, and wherein the entry and exit barriers 13,14 are regulated such that the entry barrier 13 can be opened only when the exit barrier 14 is closed, and vice versa.

(23) In FIG. 4, the vehicle 200,300 is located in a holding zone of the vehicle pen 10, between the entry and exit barrier 13,14. The first area 11 may be a storage grid area and the second area may be a service area where vehicles 200,300 are placed for service and maintenance. The vehicle pen 10 is located in a service area of the automated storage and retrieval system, such that it provides safety for the workers (not shown) operating in the service area. The vehicle pen 10 comprises an entry barrier which is a gate 21 and exit barrier 14 which is the moveable barrier 15, to regulate the passage of the vehicle 200,300 into the service area.

(24) When the vehicle 200,300 is moving from the service area and into the storage grid area, the entry barrier 13 may comprise a moveable boom 15 that can be raised or lowered between the open and closed position, and the exit barrier 14 may be a closeable gate 21 arranged in an opening 18 of a partition 17 between the main grid area and the service grid area.

(25) In addition to providing a linking part of the rail system between the two zones, the vehicle pen 10 may also be located on the first area and/or second area. Thus, the vehicle pen 10 may be located on the service area as described above, and/or it may be located on the storage grid area.

(26) FIG. 5, shows a perspective view of the system in FIG. 4, where both entry and exit barrier 13,14 are closed.

(27) FIGS. 6 and 7 shows the moveable boom 15 in the open position, such that the vehicle 220,300 may move from the holding zone 19 of the vehicle pen 10 and into the main grid area (first area) 11.

(28) The entry or exit barrier 13,14 may comprise a moveable barrier 15. The moveable barrier may be at least anyone of a; bar, wall, gate, port, door, enclosure or structure. The moveable barrier 15 may be arranged on the rail system 108 and moveable relative to the rail system 108.

(29) The first area 11 and the second area 12 may be separated by a partition 17, as shown in FIGS. 5-12. The partition 17 may comprise an opening 18 allowing the remotely operated vehicle 200,300 to pass through, and a gate 19 configured to open and close the opening 18. The gate 21 may be the entry barrier 13 or the exit barrier 14 of the vehicle pen 10. The vehicle pen 10 may be established at the first area 11 or at the second area 12.

(30) FIGS. 8 and 9 shows a vehicle pen 10 comprising a fence 22 creating the holding zone 19 of the vehicle pen 10 between the first area 11 and the second area 12. The vehicle pen 10 comprises the entry barrier 13 and exit barrier 14 that are regulated such that the entry barrier 13 can be opened only when the exit barrier 14 is closed, and vice versa.

(31) FIG. 10 shows the entry or exit barrier 13,14 comprising a moveable enclosure 15, the movable enclosure 15 may be raised or lowered between the open and closed position of the entry or exit barrier 13,14.

(32) The automated storage and retrieval system comprises a rail system 108 which extends over the first and second areas 11,12 such that the remotely operated vehicle can move between the areas 11,12 via the vehicle pen 10. The rail system 108 comprising a plurality of first rails arranged in a first direction (X) and second rails arranged in a second direction (Y), the rails each comprising tracks 110, 111 arranged in a horizontal plane (P), which tracks 110,111 form a grid pattern of grid cells in the horizontal plane (P).

(33) The vehicle pen 10 provides a holding zone 19 for the one or more remotely operated vehicles 200,300 between the entry and exit barriers 13,14, the holding zone being at least one grid cell in length and/or width. FIG. 10 shows the holding zone 19 with 2 grid cells, while FIG. 11 shows the holding zone 19 with 16 grid cells. Within the scope of the invention, any number of grid cells for the holding zone may be applicable.

(34) The holding zone 19 may also be used as a vehicle parking area or vehicle charging area.

(35) As shown in FIGS. 10-13, the holding zone 19 may be an intermediate area 23 located between the first area and the second area 11,12 and wherein the first, second and intermediate areas 11,12,23 are separated by partitions comprising an opening closeable by the entry barrier or the exit barrier 13,14.

(36) The intermediate area may comprise a vehicle shutdown zone, which upon activation automatically shuts down the power of the one or more vehicles 200,300 located in the vehicle shut down zone. The shutdown zone may include all grid cells in the intermediate area 23, or the shutdown zone may include one or more grid cells within the intermediate area 23.

(37) Activation of the shutdown zone may be regulated with the opening of the entry or exit barrier 13,14, such that vehicle 200,300 located in the shutdown zone are automatically shut down in the event the entry or exit barriers 13,14 are opened.

(38) FIG. 12 shows that a sensor 20 may be arranged to read and register the position of the movable barrier 15 of the entry and exit barrier 13,14. The one or more sensors 20 communicates with an automated control system (not shown) for regulating the entry and exit barriers 13,14. The entry and exit barriers 13,14 may be configured to be remotely locked, unlocked, opened or closed by use of the automated control system.

(39) FIG. 14 shows a side view of an automated storage and retrieval system comprising a container handling vehicle rail system onto which the container handling vehicles 200,300 operates, and a delivery rail system onto which the delivery vehicles 30 operates.

(40) The first area 11 may be a storage and retrieval area comprising a rail system located on top of a storage grid, and the second area 12 may be a service area comprising a service rail system connected to the first area, such that a container handling vehicle 200,300 may move on the rail system between the first and second area 11,12.

(41) The first area 11 may be a delivery area comprising a delivery rail system onto which a plurality of delivery vehicles 30 operates to transport storage container 106 between the storage grid and a container accessing station. The delivery area may be located at the bottom floor of a storage and retrieval grid structure. The second area may be a service area comprising service rail system connected to the delivery rail system, or the second area may be a container accessing area comprising a container access rail system connected to the delivery rail system.

(42) The vehicle pen may be located on a container handling vehicle rail plane (P.sub.u) on top of a storage and retrieval grid and/or the vehicle pen may be located at a horizontal delivery rail plane (P.sub.L) located at the lower part of a storage and retrieval grid.

(43) The first area 11 is linked to the second area for passage of one or more of the plurality of remotely operated vehicles 200,300,30 by the vehicle pen 10 comprising an entry barrier 13 and an exit barrier 14 to regulate the passage of the one or more vehicles 200,300 between the first and second area 11,12, and wherein the entry and exit barrier 13,14 are moveable between an open position in which it allows passage of the one or more of the vehicles 200,300,30 and a closed position in which it restricts passage of the one or more vehicles 200,300,30 and wherein the entry and exit barriers 13,14 are regulated such that the entry barrier 13 can be opened only when the exit barrier 14 is closed, and vice versa.

(44) The first area and the second area may be separated by a partition 17 comprising an opening 18 allowing at least one of the plurality of remotely operated vehicles 200,300,30 to pass through, and a gate 21 configured to open and close the opening 20, wherein the gate 21 may constitute the entry barrier 13 or the exit barrier of the vehicle pen 10.

(45) The entry and exit barriers 13,14 are moveable between an open position in which it allows passage of the one or more of the vehicles 200,300,30 and a closed position in which it restricts passage of the one or more vehicles 200,300,30 and wherein the entry and exit barriers 13,14 are regulated such that the entry barrier 13 can be opened only when the exit barrier 14 is closed, and vice versa.

(46) 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

(47) 1 Prior art automated storage and retrieval system 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 201 201b Drive means/wheel arrangement, first direction (X) 201c Drive means/wheel arrangement, second direction (Y) 301 Prior art cantilever storage container vehicle 301a Vehicle body of the storage container vehicle 301 301b Drive means in first direction (X) 301c Drive means in second direction (Y) 304 Gripping device 500 Control system X First direction Y Second direction Z Third direction 10 Vehicle Pen 11 First area 12 Second area 13 Entry barrier 14 Exit barrier 15 Moveable barrier 17 Partition 18 Opening 19 Holding zone 20 Sensor 21 Gate/Door 22 Fence 23 Intermediate area 109 Central computer system