WO2025003127A1

WO2025003127A1 - A safety system

Info

Publication number: WO2025003127A1
Application number: PCT/EP2024/067795
Authority: WO
Inventors: Christian HÅLAND; Arvid PETTERSEN
Original assignee: Autostore Technology AS
Current assignee: Autostore Technology AS
Priority date: 2023-06-26
Filing date: 2024-06-25
Publication date: 2025-01-02
Anticipated expiration: 2025-12-26

Abstract

A safety system for a port column of an automated storage and retrieval system, wherein the automated storage and retrieval system comprises a frame structure comprising a port column for guiding a storage container to a station. The safety system comprises: a blocking mechanism that is configured for mounting on the frame structure between a pair of upright members of the frame structure, the blocking mechanism comprising a blocker that can be deployed to block the port column and thereby stop a delivery of a storage container via the port column to the station.

Description

A SAFETY SYSTEM

TECHNICAL FIELD

[oooi] The present disclosure relates to an automated storage and retrieval system for storage and retrieval of containers, in particular to a safety mechanism in a port in order to stop containers from being delivered during an emergency.

BACKGROUND

[0002] Fig. 1 discloses a prior art automated storage and retrieval system 1 with a framework structure 100 and Figs. 2, 3 and 4 disclose three different prior art container handling vehicles 201,301,401 suitable for operating on such a system 1.

[0003] The framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105 storage containers 106, also known as bins, are stacked one on top of one another to form stacks 107. The members 102 may typically be made of metal, e.g. extruded aluminum profiles.

[0004] The framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of framework structure 100, on which rail system 108 a plurality of container handling vehicles 201,301,401 may be operated to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 201,301,401 in a first direction X across the top of the frame structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 201,301,401 in a second direction Y which is perpendicular to the first direction X. Containers 106 stored in the columns 105 are accessed by the container handling vehicles 201,301,401 through access openings 112 in the rail system 108. The container handling vehicles 201,301,401 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.

[0005] The upright members 102 of the framework structure 100 may be used to guide the storage containers during raising of the containers out from and lowering of the containers into the columns 105. The stacks 107 of containers 106 are typically self- supporting.

[0006] Each prior art container handling vehicle 201,301,401 comprises a vehicle body 201a, 301a, 401a and first and second sets of wheels 201b, 201c, 301b, 301c, 40 lb, 401c which enable the lateral movement of the container handling vehicles 201,301,401 in the X direction and in the Y direction, respectively. In Figs. 2, 3 and 4 two wheels in each set are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails of the first set 110 of rails, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent rails of the second set 111 of rails. At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be lifted and lowered, so that the first set of wheels 201b, 301b, 401b and/or the second set of wheels 201c, 301c, 401c can be engaged with the respective set of rails 110, 111 at any one time.

[0007] Each prior art container handling vehicle 201,301,401 also comprises a lifting device for vertical transportation of storage containers 106, e.g. raising a storage container 106 from, and lowering a storage container 106 into, a storage column 105. The lifting device comprises one or more gripping / engaging devices which are adapted to engage a storage container 106, and which gripping / engaging devices can be lowered from the vehicle 201,301,401 so that the position of the gripping / engaging devices with respect to the vehicle 201,301,401 can be adjusted in a third direction which is orthogonal the first direction X and the second direction Y. Parts of the gripping device of the container handling vehicles 301,401 are shown in Figs. 3 and 4 indicated with reference number 304,404. The gripping device of the container handling device 201 is located within the vehicle body 201a in Fig. 2 and is thus not shown.

[0008] Conventionally, and also for the purpose of this application, Z=i identifies the uppermost layer available for storage containers below the rails 110,111, i.e. the layer immediately below the rail system 108, =2 the second layer below the rail system 108, =3 the third layer etc. In the exemplary prior art disclosed in Fig. 1, Z=8 identifies the lowermost, bottom layer of storage containers. Similarly, X=i...n and Y=i...n identifies the position of each storage column 105 in the horizontal plane. Consequently, as an example, and using the Cartesian coordinate system X, Y, Z indicated in Fig. 1, the storage container identified as 106’ in Fig. 1 can be said to occupy storage position X=xj, Y=i, Z=6. The container handling vehicles 201,301,401 can be said to travel in layer Z=o, and each storage column 105 can be identified by its X and Y coordinates. Thus, the storage containers shown in Fig. 1 extending above the rail system 108 are also said to be arranged in layer Z=o.

[0009] The storage volume of the framework structure too has often been referred to as a grid 104, where the possible storage positions within this grid are referred to as storage cells. Each storage column maybe identified by a position in an X- and Y-direction, while each storage cell maybe identified by a container number in the X-, Y- and Z-direction.

[0010] Each prior art container handling vehicle 201,301,401 comprises a storage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 across the rail system 108. The storage space may comprise a cavity arranged internally within the vehicle body 201a, 401a as shown in Figs. 2 and 4 and as described in e.g. WO2O15/193278A1 and W02019/206487A1, the contents of which are incorporated herein by reference.

[0011] Fig. 3 shows an alternative configuration of a container handling vehicle 301 with a cantilever construction. Such a vehicle is described in detail in e.g. NO317366, the contents of which are also incorporated herein by reference.

[0012] The cavity container handling vehicle 201 shown in Fig. 2 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 storage column 105, e.g. as is described in WO2O15/193278A1, the contents of which are incorporated herein by reference. The term ‘lateral’ used herein may mean ‘horizontal’.

[0013] Alternatively, the cavity container handling vehicles 401 may have a footprint which is larger than the lateral area defined by a storage column 105 as shown in Fig. 1 and 4, e.g. as is disclosed in W02014/090684A1 or W02019/206487A1.

[0014] The rail system 108 typically comprises rails with grooves in which the wheels of the vehicles run. Alternatively, the rails may comprise upwardly protruding elements, where the wheels of the vehicles comprise protruding elements to prevent derailing. These grooves and upwardly protruding elements are collectively known as tracks. Each rail may comprise one track, or each rail 110,111 may comprise two parallel tracks. In other rail systems 108, each rail in one direction (e.g. an X direction) may comprise one track and each rail in the other, perpendicular direction (e.g. a Y direction) may comprise two tracks. Each rail 110,111 may also comprise two track members that are fastened together, each track member providing one of a pair of tracks provided by each rail.

[0015] W02018/146304A1, the contents of which are incorporated herein by reference, illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both X and Y directions.

[0016] In the framework structure too, a majority of the columns 105 are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In Fig. 1, columns 119 and 120 are such special-purpose columns used by the container handling vehicles 201,301,401 to drop off and/or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside of the framework structure 100 or transferred out of or into the framework structure 100. Within the art, such a location is normally referred to as a ‘port’ and the column in which the port is located maybe referred to as a ‘port column’ 119,120. The transportation to the access station maybe in any direction, that is horizontal, tilted and/or vertical. For example, the storage containers 106 maybe placed in a random or dedicated column 105 within the framework structure 100, then picked up by any container handling vehicle and transported to a port column 119,120 for further transportation to an access station. The transportation from the port to the access station may require movement along various different directions, by means such as delivery vehicles, trolleys or other transportation lines. Note that the term ‘tilted’ means transportation of storage containers 106 having a general transportation orientation somewhere between horizontal and vertical.

[0017] In Fig. 1, the first port column 119 may for example be a dedicated drop-off port column where the container handling vehicles 201,301,401 can drop off storage containers 106 to be transported to an access or a transfer station, and the second port column 120 maybe a dedicated pick-up port column where the container handling vehicles 201,301,401 can pick up storage containers 106 that have been transported from an access or a transfer station.

[0018] The access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers 106. In a picking or a stocking station, the storage containers 106 are normally not removed from the automated storage and retrieval system 1, but are returned into the framework structure too again once accessed. A port can also be used for transferring storage containers to another storage facility (e.g. to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.

[0019] A conveyor system comprising conveyors is normally employed to transport the storage containers between the port columns 119,120 and the access station.

[0020] If the port columns 119,120 and the access station are located at different levels, the conveyor system may comprise a lift device with a vertical component for transporting the storage containers 106 vertically between the port column 119,120 and the access station.

[0021] The conveyor system may be arranged to transfer storage containers 106 between different framework structures, e.g. as is described in W02014/075937A1, the contents of which are incorporated herein by reference.

[0022] When a storage container 106 stored in one of the columns 105 disclosed in Fig. 1 is to be accessed, one of the container handling vehicles 201,301,401 is instructed to retrieve the target storage container 106 from its position and transport it to the drop-off port column 119. This operation involves moving the container handling vehicle 201,301,401 to a location above the storage column 105 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the container handling vehicle’s 201,301,401 lifting device (not shown), and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within a stack 107, i.e. with one or a plurality of other storage containers 106 positioned above the target storage container 106, the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container 106 from the storage column 105. This step, which is sometimes referred to as “digging” within the art, maybe performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port column 119, or with one or a plurality of other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201,301,401 specifically dedicated to the task of temporarily removing storage containers 106 from a storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers 106 can be repositioned into the original storage column 105. However, the removed storage containers 106 may alternatively be relocated to other storage columns 105.

[0023] When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201,301,401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a location above the storage column 105 where it is to be stored. After any storage containers 106 positioned at or above the target position within the stack 107 have been removed, the container handling vehicle 201,301,401 positions the storage container 106 at the desired position. The removed storage containers 106 may then be lowered back into the storage column

105 or relocated to other storage columns 105.

[0024] For monitoring and controlling the automated storage and retrieval system 1, e.g. monitoring and controlling the location of respective storage containers

106 within the framework structure 100, the content of each storage container 106, and the movement of the container handling vehicles 201,301,401 so that a desired storage container 106 can be delivered to the desired location at the desired time without the container handling vehicles 201,301,401 colliding with each other, the automated storage and retrieval system 1 comprises a control system 500 which typically is computerized and which typically comprises a database for keeping track of the storage containers 106.

[0025] If an emergency situation occurs at a port where a person picks items from containers, he or she has to push an emergency button in order to stop the delivery of containers to the port. However, there is a delay in the system from when the emergency button is pushed until the container handling vehicles stop delivering containers to the port. It is therefore a risk that for a period of time after the emergency button has been pushed that the container handling vehicles will continue delivering containers to the port. This constitutes a risk for the person operating the port in that further injury to the person or damage to the picking station can occur.

[0026] It is therefore a need for a solution that can reduce the risk of injury and damage in an emergency situation by hindering the container handling vehicles from delivering containers to the port. However, there would be a benefit if the container handling vehicles would be able to pick up containers from the port even after the emergency button has been pushed. SUMMARY

[0027] This summary is provided to introduce in simplified form a selection of concepts that are further described herein. The summary is not intended to identify key or essential features of the invention.

[0028] The present disclosure is set forth and characterized in the independent claims, while the dependent claims describe other characteristics of the present disclosure.

[0029] The present disclosure relates to a safety system for a port column of an automated storage and retrieval system, wherein the automated storage and retrieval system comprises a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction across a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction which is perpendicular to the first direction, the first and second sets of parallel rails dividing the rail system into a plurality of cells having access openings, the access openings leading to a plurality of columns in the frame structure and being configured to allow passage of storage containers therethrough, and wherein at least one of the columns is configured as a port column for guiding a storage container to a station, characterized in that the safety system comprises:

[0030] a blocking mechanism that is configured for mounting on the frame structure below a rail of the rail system between a pair of upright members of the frame structure, the blocking mechanism comprising a blocker that can be deployed to block the port column and thereby stop a delivery of a storage container via the port column to the work station; and an emergency stop device that is configured to control the blocker directly via a closed circuit connection so that when the emergency stop device is activated, the emergency stop device, via the closed circuit connection, controls the deployment of the blocker from a stowed position to a blocking position where the blocker extends into the column to block the cell.

[0031] In one aspect, the closed circuit connection comprises electrical wires coupling the emergency stop device to the blocking mechanism to control release of the blocker from a stowed position to a blocking position.

[0032] In one aspect, the wires are configured to provide electrical current to a solenoid for holding the blocker in a stowed position. [0033] Iⁿ one aspect, a spring-bias is provided to urge the blocker into a blocking position.

[0034] In one aspect, the blocking mechanism is in the form of a cassette having first and second opposed ends configured for attachment to the upright members.

[0035] The attachment is through the use of fasteners extending through said first and/or second opposed ends to the respective upright member.

[0036] In one aspect, the blocking mechanism comprises a body providing a cross-member dimensioned to extend between the pair of upright members and configured to provide a pivotal mount for the blocker, the blocker being pivotable between a vertical stowed position and a tilted blocking position.

[0037] In one aspect, the blocker is tilted by between 5 and 45 degrees from vertical in the blocking position.

[0038] In one aspect, the body of the blocking mechanism comprises a bent plate with the first and second ends defining a U-shape which is configured for alignment with an edge of a rail.

[0039] In one aspect, a solenoid is mounted to the body of the blocking mechanism in the U-shape of the bent plate so as to be positioned under a rail when mounted between the pair of upright members of the frame structure.

[0040] In one aspect, the blocker comprises an upper edge that is configured for engagement with a lower surface of a storage container to block the storage container’s movement.

[0041] In one aspect, the blocking mechanism is positioned just below the rail allowing the blocked storage container to protrude above the rails.

[0042] In one aspect, the blocker is connected to and controlled by the emergency stop device via a solenoid.

[0043] In one aspect, the emergency stop device is configured to be connected to a second blocking mechanism mounted to a second pair of upright members of the frame structure on an opposite side of the port column, both blocking mechanisms being under direct control of the emergency stop device for simultaneous deployment of the blockers from both sides of the port column.

[0044] In one aspect, the blocker comprises a spring-loaded blocker. [0045] Iⁿ one aspect, the emergency stop device is configured to send a message to a computer system.

[0046] In one aspect, the emergency stop device is configured with:

[0047] a closed circuit connection for activating the blocking mechanism; and

[0048] a network connection for communicating with a computer system to notify the computer system that the blocking mechanism has been activated.

[0049] In one aspect, the blocker is hinged at its bottom.

[0050] The present disclosure also relates to an automated storage and retrieval system comprising:

[0051] a frame structure comprising upright members defining a plurality of columns, wherein at least one of the columns is configured as a port column for guiding a storage container to a station, and a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction across the frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction which is perpendicular to the first direction, the first and second sets of parallel rails dividing the rail system into a plurality of cells having access openings to the plurality of columns for allowing passage of storage containers; and

[0052] the safety system of any preceding claim, wherein the emergency stop device is positioned at the station, and the blocking mechanism is mounted to a pair of upright members of the port column and a closed circuit is provided between the emergency stop device and the blocking mechanism to control the deployment of the blocker.

[0053] The present disclosure also relates to the blocking mechanism is provided as a cassette which mounts below a rail of the rail system in a portion of the port column above the station, optionally in an upper portion of the port column.

[0054] The present disclosure also relates to a the stopping mechanism comprises at least two cassettes mounted between opposing pairs of upright members.

[0055] The present disclosure also relates to a computer system for controlling operation of the container handling vehicles. [0056] The present disclosure also relates to the emergency stop device is configured to send a message to the computer system which informs the computer system that the blocker has been deployed, to stop storage containers being sent to the port column until the blocker has been reset to its stowed position.

[0057] The present disclosure also relates to a the port column is one of a plurality of port columns, and wherein, upon receipt of the message, the computer system is configured to stop sending storage containers to the plurality of ports.

[0058] The present disclosure also relates to a method of blocking a port column using a safety system with a direct connection to the emergency stop device of an automated storage and retrieval system, the automated storage and retrieval system comprising a frame structure comprising upright members defining a plurality of columns, wherein at least one of the columns is configured as a port column, and a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction across the frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction which is perpendicular to the first direction, the first and second sets of parallel rails dividing the rail system into a plurality of cells having access openings to the plurality of columns for allowing passage of storage containers, the method comprising:

• pushing an emergency stop device associated with the port,

• activating the safety system to deploy a blocker, the blocker being configured to prevent a storage container from being delivered to a station via the port column; and

• resetting the blocker once the emergency has passed.

[0059] The present disclosure also relates to a activating the safety system comprises deactivating a solenoid in the safety system to release the blocker to its blocking position, and resetting the blocker comprises reactivating the solenoid to hold the blocker in its stowed position.

[0060] As seen here the present disclosure is solves the problem stated above by having a spring loaded blocker placed in the shaft of the grid cell that is used for feeding container to the port by the container handling vehicles. By being spring loaded this blocker can be used to hinder containers to entering the shaft of the grid cell that is used to load containers into the port system, however, the container handling vehicles will still be able to pick up containers that is in the shaft of the grid cell after the emergency button has been pushed.

BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Following drawings are appended to facilitate the understanding of the present disclosure. The drawings show embodiments of the present disclosure, which will now be described by way of example only, where:

[0062] Fig. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.

[0063] Fig. 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0064] Fig. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.

[0065] Fig. 4 is a perspective view, seen from below, of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0066] Fig. 5a is a perspective view of a blocker mechanism mounted in a grid cell.

[0067] Fig. 5b is a detailed view of the blocker mechanism shown in fig. 5a.

[0068] Fig. 6ai-d 2is a perspective view with a detailed sideview of the different stages of an emergency situation at a port using an embodiment of the present disclosure.

[0069] Fig. 7ai-b2 is a perspective view with a detailed side view of how a container handling vehicle is able to lift a container up from the delivery column after the blocker system ‘has been activated.

[0070] Fig. 8a-8b is a perspective view with a detailed side view of how the system works even with just one blocker activated.

DETAILED DESCRIPTION

[0071] In overview, embodiments provide a safety system for a port column of an automated storage and retrieval system, the safety system comprising a blocking mechanism which can be configured to block the port column and thereby stop the delivery of storage containers via the port column to a station. Such a blocking mechanism can cause more efficient servicing of the automated storage and retrieval system as by blocking port columns the system can be serviced without the need to stop the system’s operation. Further embodiments provide a safety system which comprises an emergency stop device that is configured to control the blocking mechanism via a closed circuit connection. The blocking mechanism can be controlled to block and unblock the port column. The emergency stop device and closed circuit connection can interact to provide reduced communication delay and reliable control of the blocking mechanism. The safety system can be mounted below a rail system of the automated storage and retrieval system. In mounting the safety system below a rail of the rail system, an access opening of the rail system can be blocked preventing storage containers from entering the port column. These features can interact to prevent one or more storage containers blocked by the safety system from stacking one on top of the other within the port column, thereby improving safety of the system. In one embodiment, the blocking mechanism is positionedjust below the rail allowing a blocked storage container to protrude above the rails. This overview is provided to introduce in simplified form a selection of concepts that are further described herein. The overview is not intended to identify key or essential features of the invention.

[0072] In the following, embodiments of the disclosure 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 present disclosure to the subject-matter depicted in the drawings.

[0073] The framework structure too of the automated storage and retrieval system 1 is constructed in a similar manner to the prior art framework structure too described above in connection with Figs. 1-3. That is, the framework structure too comprises a number of upright members 102, and comprises a first, upper rail system 108 extending in the X direction and Y direction.

[0074] The framework structure too further comprises storage compartments in the form of storage columns 105 provided between the members 102 wherein storage containers 106 are stackable in stacks 107 within the storage columns 105.

[0075] The framework structure too 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 too may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.

[0076] One embodiment of the automated storage and retrieval system according to the present disclosure will now be discussed in more detail with reference to Figs.sa - 7b2.

[0077] Fig. 5a is a perspective view of a blocker mechanism mounted in a grid cell. A grid cell is defined as the space between four adjacent vertical members. A first and second sets of parallel rails divides the rail system into a plurality of cells having access openings, the access openings lead to a plurality of columns in the frame structure and being configured to allow passage of storage containers (106) therethrough. The rails defining the opening of the grid cell is 50mm wide.

[0078] Between two adjacent vertical members it mounted a cassette. This cassette can be mounted to each of the vertical members using a plurality of methods, like screws, clips, clamps or similar. The cassette is comprised of a sheet of material which can be plastic, metal or any other material which is stiff. In this figure the cassette has a rectangular shape stretching the length between the two vertical members. At each end of the rectangular shape there is a 90° angle vertically resulting in a mounting bracket at each side. The mounting brackets are attached to the vertical members and the cassette is hence positioned between two vertical members of a grid cell.

[0079] In a preferred embodiment of the present disclosure the grid cells are rectangular and the cassettes is mounted in the short sides of the rectangle and just below the rails allowing the containers to stick up through the grid cell opening when the blocking mechanism is activated.

[0080] There can be mounted up to four cassettes at the same height in the grid cell working together as a safety device for a grid cell. In the embodiment shown in figure 5a, there is two cassettes mounted in a grid cell opposing each other. In the embodiment shown in figure 5a the cassette is comprised of a rectangular piece of material like metal or hard plastic or the like making out the body of the cassette. Further there is placed a blocker in the cassette. The blocker is in the form of a rectangular piece of metal or hard plastic or similar material. Further the blocker is controlled by a solenoid. This solenoid can be controlled by an emergency button positioned at a port that the grid cell is working as a delivery column for. The blocker is hinged at the bottom to the cassette. So that when the solenoid is deactivated the blocker rotates around the hinge, into the space of the column of the grid cell. The blocker can have a protruding element at the back stopping the blocker from pivoting more than a predetermined distance. The pivoting of the blocker can be due to gravity working on the blocker pulling it into the column of the grid cell. Further the blocker can be pushed into the column of the grid cell by a spring attached between the blocker and the cassette and that is compressed when the blocker is in its upright position. In this embodiment the solenoid prevents the blocker from entering the column of the grid cell. When the solenoid is deactivated, the blocker is pushed into the column of the grid cell by the spring or by the force of gravity working on it.

[0081] If the solenoid is activated the blocker is pushed into the upright position again.

[0082] In figure 5b, there is a more detailed view of one of the cassettes with the blocker installed in the column of the grid cell. Here it can be seen that the solenoid is attached to the cassette on the left hand side and underneath the blocker. The solenoid has a movable plunger protruding upwards and blocking the blocker from entering the space of the column of the grid cell. When electricity is introduced to a coil wire around the plunger, the plunger is retracted, and the blocker falls into the space of the column of the grid cell all the way until the protruding element stops against the back side of the cassette. The blocker is hinged at both sides at the bottom to the cassette. This ensures that the top part of the blocker falls into the column of the grid cell and the bottom part allows things to pass upwards through the column of the grid cell, while stopping things to go downwards through the column of the grid cell.

[0083] The release of the cell blocker can also be controlled by pneumatic release systems and mechanical release systems.

[0084] In addition, the cell blockers can be in the form of rods that are pushed into the column of the grid cell.

[0085] Fig. 6ai-6d2 is a perspective view with a detailed sideview of the different stages of an emergency situation at a port using an embodiment of the present disclosure.

[0086] Figure 6ai show a container handling vehicle delivering a container to a port via a grid cell of a storage and retrieval system. The container handling vehicle has not arrived at the grid cell. [0087] In the detailed cut through of the grid cell fig. 6a2 it is shown that the blockers are retracted and allow free passage of containers and lifting frames in both directions of the column of the grid cell.

[0088] In fig. 6bi an emergency button on the port has been pushed by the operator at the port. By pushing the emergency button at a solenoid controlling the blockers in the cassettes mounted in the column of the grid cell is activated and they are pushed into the space of the column of the grid cell that works as a delivery column for the containers that is fed to the port. These blockers prevent container handling vehicles from delivering containers to the delivery column by the blockers stopping the containers and the lifting frames of the container handling vehicles from being lowered into the delivery column.

[0089] In the detailed view of 6b2 it is possible to see that the blockers on both the cassettes is now protruding into the column of the grid cell acting as the delivery column of container to the port in question.

[0090] In figure 6ci it is possible to see that the container handling vehicle has arrived at the grid cell that is acting as the delivery column to the port after the emergency button has been pushed.

[0091] In the detailed view of figure 6c2 it is possible to see that the blockers on both the cassettes is now protruding into the column of the grid cell acting as the delivery column of container to the port in question.

[0092] In figure 6di it is possible to see that the blockers prevent the container handling vehicle from lowering the container into the grid cell acting as the delivery column for the port where the cassettes are installed.

[0093] In the detailed view of figure 6d2 it is illustrated how the container is resting on the blockers that is protruding into the column of the grid cell acting as the delivery column to the port.

[0094] In this serious of images, it is illustrated that the blockers are activated directly by the button and thus are alerted earlier than the container handling vehicles that get their orders from a central computer system. The central computer system can also be alerted by the pushing of the emergency button on the port and will then stop sending container handling vehicles to the port. Further the central computer system can send also stop sending containers to neighboring ports of the port that has had its emergency button pushed.

[0095] Fig. 7ai-7b2 is a perspective view with a detailed side view of how a container handling vehicle is able to raise the container from the column of the grid cell that works as a delivery column for the port where the emergency button has been pushed even after the blockers has been activated and are blocking things from entering the columns.

[0096] In figure yai and 732 it is shown that the blocker is activated from the emergency button being pushed and that the container handling vehicle at that time was attempting to deliver a container to the port. The lifting platform of the container handling vehicle is gripping a container at the time it receives an order from the central computer system to stop delivering containers to the port due to the emergency button being pushed.

[0097] In figure ybi and 7b2 it is shown that the container handling vehicle is able to lift up the container from the delivery column to the port where the emergency button has been pushed even though the blockers are activated. The reason for this is that the blockers can be pushed back in the upright position by container or lifting frames that is lifted by the container handling vehicles.

[0098] Fig. 8a-8b is a perspective view with a detailed side view of how the system works even with just one blocker activated. In this image it is possible to se that if something should happen that for some reason only one of the blockers are activated, or the container in lowered into the column at an angle and interacting with just one blocker, the system would still work with just one blocker since the container would be prevented from entering the column since the container would be at an angle squeezed between the rail on one side and the blocker on the other. Hence the blocker works with only one blocker.

[0099] In the preceding description, various aspects of the delivery vehicle and the automated storage and retrieval system according to the present disclosure 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 disclosure.

[0100] Also described herein are the following numbered clauses:

Clause 1. A safety system for a port column of an automated storage and retrieval system, wherein the automated storage and retrieval system comprises a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) across a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) which is perpendicular to the first direction (X), the first and second sets of parallel rails dividing the rail system into a plurality of cells having access openings, the access openings leading to a plurality of columns in the frame structure and being configured to allow passage of storage containers therethrough, and wherein at least one of the columns is configured as a port column for guiding a storage container to a station, characterized in that the safety system comprises: a blocking mechanism that is configured for mounting on the frame structure below a rail of the rail system between a pair of upright members of the frame structure, the blocking mechanism comprising a blocker that can be deployed to block the port column and thereby stop a delivery of a storage container via the port column to the work station; and an emergency stop device that is configured to control the blocker directly via a closed circuit connection so that when the emergency stop device is activated, the emergency stop device, via the closed circuit connection, controls the deployment of the blocker from a stowed position to a blocking position where the blocker extends into the column to block the cell.

Clause 2. The safety system according to clause 1 wherein the closed circuit connection comprises electrical wires coupling the emergency stop device to the blocking mechanism to control release of the blocker from a stowed position to a blocking position.

Clause 3. The safety system according to clause 2 wherein the wires are configured to provide electrical current to a solenoid for holding the blocker in a stowed position. Clause 4. The safety system according to clause 1 wherein a spring-bias is provided to urge the blocker into a blocking position.

Clause 5. The safety system according to clause 1 wherein the blocking mechanism is in the form of a cassette having first and second opposed ends configured for attachment to the upright members,

Clause 6. The safety system according to clause 5 wherein the attachment is through the use of fasteners extending through said first and/or second opposed ends to the respective upright member.

Clause 7. The safety system according to any of the preceding clauses wherein the blocking mechanism comprises a body providing a cross-member dimensioned to extend between the pair of upright members and configured to provide a pivotal mount for the blocker, the blocker being pivotable between a vertical stowed position and a tilted blocking position.

Clause 8. The safety system according to any of the preceding clauses wherein the blocker is tilted by between 5 and 45 degrees from vertical in the blocking position.

Clause 9. The safety system according to any of the preceding clauses wherein the body of the blocking mechanism comprises a bent plate with the first and second ends defining a U-shape which is configured for alignment with an edge of a rail.

Clause 10. The safety system according to any of the preceding clauses wherein a solenoid is mounted to the body of the blocking mechanism in the U-shape of the bent plate so as to be positioned under a rail when mounted between the pair of upright members of the frame structure.

Clause 11. The safety system according to any of the preceding clauses wherein the blocker comprises an upper edge that is configured for engagement with a lower surface of a storage container to block the storage container’s movement.

Clause 12. The safety system according to any of the preceding clauses wherein the blocking mechanism is positioned just below the rail allowing the blocked storage container to protrude above the rails.

Clause 13. The safety system according to any of the preceding clauses, wherein the blocker is connected to and controlled by the emergency stop device via a solenoid. Clause 14. The safety mechanism according to any of the preceding clauses, wherein the emergency stop device is configured to be connected to a second blocking mechanism mounted to a second pair of upright members of the frame structure on an opposite side of the port column, both blocking mechanisms being under direct control of the emergency stop device for simultaneous deployment of the blockers from both sides of the port column.

Clause 15. The safety system according to any of the preceding clauses, wherein the blocker comprises a spring-loaded blocker.

Clause 16. The safety system according to any preceding clause, wherein the emergency stop device is configured to send a message to a computer system.

Clause 17. The safety system according to any preceding clause, wherein the emergency stop device is configured with: a closed circuit connection for activating the blocking mechanism; and a network connection for communicating with a computer system to notify the computer system that the blocking mechanism has been activated.

Clause 18. The safety system according to any preceding clause, wherein the blocker is hinged at its bottom.

Clause 19. An automated storage and retrieval system comprising: a frame structure comprising upright members defining a plurality of columns, wherein at least one of the columns is configured as a port column for guiding a storage container to a station, and a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) across the frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) which is perpendicular to the first direction (X), the first and second sets of parallel rails dividing the rail system into a plurality of cells having access openings to the plurality of columns for allowing passage of storage containers (106); and the safety system of any preceding clause, wherein the emergency stop device is positioned at the station, and the blocking mechanism is mounted to a pair of upright members of the port column and a closed circuit is provided between the emergency stop device and the blocking mechanism to control the deployment of the blocker.

Clause 20. The automated storage and retrieval system of clause 19, wherein the blocking mechanism is provided as a cassette which mounts below a rail of the rail system in a portion of the port column above the station, optionally in an upper portion of the port column.

Clause 21. The automated storage and retrieval system of clause 20, wherein the stopping mechanism comprises at least two cassettes mounted between opposing pairs of upright members.

Clause 22. The automated storage and retrieval system according to any of the clauses 19-21, comprising a computer system for controlling operation of the container handling vehicles.

Clause 23. The automated storage and retrieval system of clause 19, wherein the emergency stop device is configured to send a message to the computer system which informs the computer system that the blocker has been deployed, to stop storage containers being sent to the port column until the blocker has been reset to its stowed position.

Clause 24. The automated storage and retrieval system of clause 23, wherein the port column is one of a plurality of port columns, and wherein, upon receipt of the message, the computer system is configured to stop sending storage containers to the plurality of ports.

Clause 25. Method of blocking a port column using a safety system with a direct connection to the emergency stop device of an automated storage and retrieval system, the automated storage and retrieval system comprising a frame structure comprising upright members defining a plurality of columns, wherein at least one of the columns is configured as a port column, and a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) across the frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) which is perpendicular to the first direction (X), the first and second sets of parallel rails dividing the rail system into a plurality of cells having access openings to the plurality of columns for allowing passage of storage containers, the method comprising: • pushing an emergency stop device associated with the port,

• resetting the blocker once the emergency has passed. Clause 26. The method of clause 25, wherein activating the safety system comprises deactivating a solenoid in the safety system to release the blocker to its blocking position, and resetting the blocker comprises reactivating the solenoid to hold the blocker in its stowed position.

LIST OF REFERENCE NUMBERS

Prior art (figs 1-4):

1 Prior art automated storage and retrieval system too Framework structure

102 Upright 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 ( )

112 Access opening

119 First port column

120 Second port column

201 Prior art container handling vehicle

201a Vehicle body of the container handling vehicle 201

201b Drive means / wheel arrangement / first set of wheels in first direction ( )

201c Drive means / wheel arrangement / second set of wheels in second direction (V)

301 Prior art cantilever container handling vehicle

301a Vehicle body of the container handling vehicle 301

301b Drive means / first set of wheels in first direction (X)

301c Drive means / second set of wheels in second direction (V)

304 Gripping device 401 Prior art container handling vehicle

401a Vehicle body of the container handling vehicle 401

401b Drive means / first set of wheels in first direction ( )

401c Drive means / second set of wheels in second direction (V)

404 Gripping device

404a Lifting band

404b Gripper

404c Guide pin

404b Lifting frame

500 Control system

501 Cassette

502 Solenoid

600 Port

601 Blocker

602 Vertical member

603 Emergency stop button

First direction

Y Second direction

Z Third direction

Claims

1. A safety system for a port column of an automated storage and retrieval system (1) , wherein the automated storage and retrieval system comprises a frame structure comprising a port column for guiding a storage container to a station, wherein the safety system comprises: a blocking mechanism that is configured for mounting on the frame structure between a pair of upright members of the frame structure, the blocking mechanism comprising a blocker that can be deployed to block the port column and thereby stop a delivery of a storage container via the port column to the station.

2. The safety system of claim 1, further comprising an emergency stop device that is configured to control the blocker directly via a closed circuit connection so that when the emergency stop device is activated, the emergency stop device, via the closed circuit connection, controls the deployment of the blocker from a stowed position to a blocking position where the blocker extends into the column to block the cell.

3. The safety system of claim 1 or claim 2, wherein the automated storage and retrieval system comprises a rail system and the blocking mechanism is further configured for mounting on the frame structure below a rail of the rail system.

4. The safety system of claim 3 wherein the frame structure comprises a plurality of columns, and wherein at least one of the columns is configured as the port; and wherein the rail system comprises a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) across the frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) which is perpendicular to the first direction (X), the first and second sets of parallel rails dividing the rail system into a plurality of cells having access openings, the access openings leading to the plurality of columns in the frame structure and being configured to allow passage of storage containers (106) therethrough.

5. The safety system according to any of claims 2-4 wherein the closed circuit connection comprises electrical wires coupling the emergency stop device to the blocking mechanism to control release of the blocker from a stowed position to a blocking position.

6. The safety system according to claim 5 wherein the wires are configured to provide electrical current to a solenoid for holding the blocker in a stowed position.

7. The safety system according to any previous claim wherein a spring-bias is provided to urge the blocker into a blocking position.

8. The safety system according to any previous claims wherein the blocking mechanism is in the form of a cassette having first and second opposed ends configured for attachment to the upright members,

9. The safety system according to claim 8 wherein the attachment is through the use of fasteners extending through said first and/or second opposed ends to the respective upright member.

10. The safety system according to any of the preceding claims wherein the blocking mechanism comprises a body providing a cross-member dimensioned to extend between the pair of upright members and configured to provide a pivotal mount for the blocker, the blocker being pivotable between a vertical stowed position and a tilted blocking position.

11. The safety system according to any of the preceding claims wherein the blocker is tilted by between 5 and 45 degrees from vertical in the blocking position.

12. The safety system according to any of the preceding claims wherein the body of the blocking mechanism comprises a bent plate with first and second ends defining a U- shape which is configured for alignment with an edge of a rail.

13. The safety system according to any of the preceding claims wherein a solenoid is mounted to the body of the blocking mechanism in the U-shape of the bent plate so as to be positioned under a rail when mounted between the pair of upright members of the frame structure.

14. The safety system according to any of the preceding claims wherein the blocker comprises an upper edge that is configured for engagement with a lower surface of a storage container to block the storage container’s movement.

15. The safety system according to any of the preceding claims wherein the blocking mechanism is positioned just below the rail allowing the blocked storage container to protrude above the rails.

16. The safety system according to any of the preceding claims, wherein the blocker is connected to and controlled by the emergency stop device via a solenoid.

17. The safety system according to any of the preceding claims, wherein the emergency stop device is configured to be connected to a second blocking mechanism mounted to a second pair of upright members of the frame structure on an opposite side of the port column, both blocking mechanisms being under direct control of the emergency stop device for simultaneous deployment of the blockers from both sides of the port column.

18. The safety system according to any of the preceding claims, wherein the blocker comprises a spring-loaded blocker.

19. The safety system according to any preceding claim, wherein the emergency stop device is configured to send a message to a computer system.

20. The safety system according to any preceding claim, wherein the emergency stop device is configured with: a closed circuit connection for activating the blocking mechanism; and a network connection for communicating with a computer system to notify the computer system that the blocking mechanism has been activated.

21. The safety system according to any preceding claim, wherein the blocker is hinged at its bottom.

22. An automated storage and retrieval system (1) comprising: a frame structure comprising upright members defining a plurality of columns, wherein at least one of the columns is configured as a port column for guiding a storage container to a station, and a rail system; and, the safety system of any preceding claim, wherein the blocking mechanism is mounted to a pair of upright members of the port column.

23. The automated storage and retrieval system of claim 22, wherein the emergency stop device is positioned at the station and a closed circuit is provided between the emergency stop device and the blocking mechanism to control the deployment of the blocker.

24. The automated storage and retrieval system of claim 22 or claim 23, wherein the frame structure further comprises a rail system.

25. The automated storage and retrieval system of any of claims 22-24 wherein the rail system comprises a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) across the frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) which is perpendicular to the first direction (X), the first and second sets of parallel rails dividing the rail system into a plurality of cells having access openings to the plurality of columns for allowing passage of storage containers (106).

26. The automated storage and retrieval system of claim 24 or 25 , wherein the blocking mechanism is provided as a cassette which mounts below a rail of the rail system in a portion of the port column above the station, optionally in an upper portion of the port column.

27. The automated storage and retrieval system of any of claims 22-26, wherein the stopping mechanism comprises at least two cassettes mounted between opposing pairs of upright members.

28. The automated storage and retrieval system according to any of the claims 22-27, comprising a computer system for controlling operation of the container handling vehicles.

29. The automated storage and retrieval system of claim 28, wherein the emergency stop device is configured to send a message to the computer system which informs the computer system that the blocker has been deployed, to stop storage containers being sent to the port column until the blocker has been reset to its stowed position.

30. The automated storage and retrieval system of claim 29, wherein the port column is one of a plurality of port columns, and wherein, upon receipt of the message, the computer system is configured to stop sending storage containers to the plurality of ports.

31. A method of blocking a port column for the automated storage and retrieval system (1) according to any of claims 22 - 30, the method comprising: pushing an emergency stop device associated with the port column; activating a safety system to deploy a blocker, the blocker being configured to prevent a storage container from being delivered to a station via the port column; and resetting the blocker once the emergency has passed.

32. The method of claim 31 wherein activating the safety system comprises deactivating a solenoid in the safety system to release the blocker to its blocking position, and resetting the blocker comprises reactivating the solenoid to hold the blocker in its stowed position.