Method for handling malfunctioning vehicles on a rail system and a storage and retrieval system using such a method

Patent metadata

Field	Value
Publication number	US-12252159-B2
Application number	US-202318545595-A
Country	US
Kind code	B2
Filing date	Dec 19, 2023
Priority date	Jun 12, 2018
Publication date	Mar 18, 2025
Grant date	Mar 18, 2025

Abstract

A method for handling malfunctioning vehicles on a rail system constituting part of a storage and retrieval system includes storing a plurality of stacks of storage containers and a control system. The storage and retrieval system includes a plurality of remotely operated vehicles configured to move laterally on the rail system. The method includes wirelessly monitoring and controlling, via the control system, movements of the plurality of vehicles. The method includes forming the control system by wireless data communication including: registering an anomaly in an operational condition of a vehicle on the rail system; registering the vehicle with the anomalous operational condition as a malfunctioning vehicle; bringing the malfunctioning vehicle to a halt; registering a halt position of the malfunctioning vehicle relative to the rail system; setting up a two-dimensional shutdown zone within the rail system into which the malfunctioning vehicle is halted; and updating movement pattern of the plurality of remotely operated vehicles outside the two-dimensional shutdown zone such that entrance into the two-dimensional shutdown zone is avoided.

First claim

What is claimed is:

1. A method for handling malfunctioning vehicles on a rail system constituting part of a storage and retrieval system, the method comprising:
storing a plurality of stacks of storage containers,
wherein the storage and retrieval system comprises a plurality of remotely operated vehicles configured to move laterally on the rail system;
wirelessly monitoring and controlling, via a control system, movements of the plurality of remotely operated vehicles;
performing steps, via the control system by wireless data communication, comprising:
A. registering an anomaly in an operational condition of a vehicle on the rail system;
B. registering the vehicle with the anomaly in the operational condition as a malfunctioning vehicle;
C. bringing the malfunctioning vehicle to a halt;
D. registering a halt position of the malfunctioning vehicle relative to the rail system;
E. setting up a two-dimensional shutdown zone within the rail system into which the malfunctioning vehicle is halted; and
F. updating a movement pattern of the plurality of remotely operated vehicles outside the two-dimensional shutdown zone such that entrance into the two-dimensional shutdown zone is avoided.

2. The method in accordance with claim 1 , wherein the method further comprises:
rerouting at least one vehicle of the plurality of remotely operated vehicles other than the malfunctioning vehicle to a position on the rail system located at a boundary of the two-dimensional shutdown zone; and
bringing the at least one vehicle to a halt.

3. The method in accordance with claim 1 , wherein the method further comprises after step E or F,
determining whether other vehicles are operating within the two-dimensional shutdown zone.

4. The method in accordance with claim 3 , wherein the method further comprises:
rerouting said other vehicles to continue operation outside the two-dimensional shutdown zone if one or more additional vehicles are operating within the two-dimensional shutdown zone.

5. The method in accordance with claim 3 , wherein the method further comprises:
bringing said other vehicles to a halt within or at the two-dimensional shutdown zone if one or more of the other vehicles are operating within the two-dimensional shutdown zone.

6. The method in accordance with claim 1 , wherein the method further comprises:
guiding a service vehicle to a position at or within the two-dimensional shutdown zone.

7. The method in accordance with claim 6 , wherein the service vehicle is guided from an access port at a lateral boundary of the rail system.

8. The method in accordance with claim 6 , wherein the service vehicle comprises a caterpillar track configured to drive on top of the rail system.

9. The method in accordance with claim 1 , wherein the method further comprises:
dynamically rerouting any operating vehicles outside the two-dimensional shutdown zone to avoid physical impact with a service vehicle during transport of the service vehicle to the two-dimensional shutdown zone and/or an operator walking to the two-dimensional shutdown zone.

10. The method in accordance with claim 9 , wherein the method further comprises:
rerouting operating vehicles other than the malfunctioning vehicle to positions on the rail system located at a boundary of the two-dimensional shutdown zone to create a physical barrier of vehicles around the malfunctioning vehicle; and
bringing the operating vehicles other than the malfunctioning vehicle to a halt.

11. The method in accordance with claim 10 , wherein the method further comprises guiding the service vehicle to a position at or within the two-dimensional shutdown zone, and wherein the physical barrier of vehicles comprises an opening with a width larger than the width of the service vehicle, thereby allowing the service vehicle to enter into the two-dimensional shutdown zone or to form part of the physical barrier of vehicles.

12. The method in accordance with claim 1 , wherein the rail system comprises:
a first rail system;
a second rail system; and
a vehicle blocking barrier arranged between the first rail system and the second rail system,
wherein the vehicle blocking barrier comprises a vehicle passage having a minimum lateral width allowing one of the plurality of remotely operated vehicles to move into the vehicle passage.

13. The method in accordance with claim 12 , wherein the method further comprises:
rerouting at least one vehicle of the plurality of remotely operated vehicles other than the malfunctioning vehicle to a position within the vehicle passage; and
bringing the at least one vehicle to a halt.

14. The method in accordance with claim 1 , wherein the storage and retrieval system comprises:
a transport rail system at height H.sub.T onto which a plurality of remotely operated container handling vehicles are configured to move laterally; and
a delivery rail system at height the height H.sub.D less than the height H.sub.T onto which a plurality of remotely operated container delivery vehicles are configured to move laterally and to receive storage containers from higher located container handling vehicles,
wherein steps B-F of the method are performed for
the plurality of remotely operated container handling vehicles in a case where the control system registers an anomaly in an operational condition of a container handling vehicle; or
the plurality of remotely operated container delivery vehicles in a case where the control system registers an anomaly in an operational condition of a container delivery vehicle; or
the plurality of remotely operated container handling vehicles and for the plurality of remotely operated container delivery vehicles in a case where the control system registers an anomaly in an operational condition of both a container handling vehicle and a container delivery vehicle.

15. The method in accordance with claim 14 , further comprising:
lifting, via each of the plurality of remotely operated container handling vehicles, the storage containers stacked in the plurality of stacks through openings in the transport rail system using a lifting device, wherein the transport rail system comprises a first set of parallel rails arranged in a first direction and a second set of parallel rails arranged in a second direction orthogonal to the first direction;
moving, via each of the plurality of remotely operated container handling vehicles, the storage containers to other locations on the transport rail system; and
lowering, via each of the plurality of remotely operated container handling vehicles, the storage containers down to the delivery rail system using the lifting device.

16. The method in accordance with claim 14 ,
wherein each of the plurality of remotely operated container delivery vehicles comprises:
a set of wheels configured to move the container delivery vehicle along rails of the delivery rail system;
a drive motor configured to provide rotational power to the set of wheels; and
a container carrier configured to receive a storage container from above and onto, or at least partly into, the container carrier,
wherein the delivery rail system comprises a first set of parallel rails arranged in a first direction and a second set of parallel rails arranged in a second direction orthogonal to the first direction.

17. The method in accordance with claim 14 ,
wherein the transport rail system comprises a plurality of laterally spaced apart transport rail system modules onto which the plurality of remotely operated container handling vehicles are moving, and
wherein t

Assignees

• Autostore Tech As

Inventors

• Stuhaug Ragnar
• Gjerdevik Øystein

Classifications

• G05D1/692

  involving a plurality of disparate vehicles · CPC title

• G05D1/43

  Control of position or course in two dimensions [2D] · CPC title

• G05D1/223

  Command input arrangements on the remote controller, e.g. joysticks or touch screens · CPC title

• G05D1/69

  Coordinated control of the position or course of two or more vehicles · CPC title

• G05D1/247

  using signals provided by artificial sources external to the vehicle, e.g. navigation beacons · CPC title