US 12,325,588 B2
Method for handling malfunctioning vehicles on a track system and a storage and retrieval system using such a method
Øystein Gjerdevik, Skjold (NO); and Ragnar Stuhaug, Skjold (NO)
Assigned to AutoStore Technology AS, Nedre Vats (NO)
Appl. No. 17/783,964
Filed by Autostore Technology AS, Nedre Vats (NO)
PCT Filed Dec. 2, 2020, PCT No. PCT/EP2020/084218
§ 371(c)(1), (2) Date Jun. 9, 2022,
PCT Pub. No. WO2021/115864, PCT Pub. Date Jun. 17, 2021.
Claims priority of application No. 20191462 (NO), filed on Dec. 10, 2019.
Prior Publication US 2023/0002156 A1, Jan. 5, 2023
Int. Cl. B65G 1/04 (2006.01); B65G 1/06 (2006.01); B65G 1/137 (2006.01); B65G 43/02 (2006.01); G05B 19/418 (2006.01); G05D 1/00 (2024.01)
CPC B65G 1/0464 (2013.01) [B65G 1/0478 (2013.01); B65G 1/0492 (2013.01); B65G 1/065 (2013.01); B65G 1/1378 (2013.01); B65G 43/02 (2013.01); G05B 19/41895 (2013.01); G05D 1/0287 (2013.01); B65G 2201/0258 (2013.01); B65G 2207/30 (2013.01); B65G 2207/40 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A method for handling malfunctioning vehicles on a track system constituting part of a storage and retrieval system configured to store a plurality of stacks of storage containers, wherein the storage and retrieval system comprises:
remotely operated vehicles configured to move laterally on the track system, and
a control system for monitoring and controlling wirelessly movements of the remotely operated vehicles, wherein the control system performs at least following steps by wireless data communication:
A. detecting an anomaly in an operational condition of a vehicle on the track system,
B. registering the vehicle with an anomalous operational condition as a malfunctioning vehicle,
C. registering a halt position of the malfunctioning vehicle relative to the track system,
D. setting up a two-dimensional shutdown zone on the track system comprising:
a malfunctioning vehicle zone including the halt position of the malfunctioning vehicle, and
an entrance zone for entry into the malfunctioning vehicle zone, the entrance zone extending between the malfunctioning vehicle zone and a location at a periphery of the track system,
E. ordering the remotely operated vehicles in operation within the shutdown zone to either move out of the shutdown zone, to halt, or to perform a combination thereof, and
F. indicating allowance of entry into the entrance zone for an external operator by at least one of:
unlocking a gateway at the periphery, and
producing an entry-allowed signal registrable by a human operator located at the periphery such that the human operator may enter the entrance zone through the gateway.