WO2025157374A1

WO2025157374A1 - Robotic picking vehicle, and associated system and method

Info

Publication number: WO2025157374A1
Application number: PCT/EP2024/051346
Authority: WO
Inventors: Jørgen Heggebø; Geir Vikingstad; Kenneth MÜLLER
Original assignee: Autostore Technology AS
Current assignee: Autostore Technology AS
Priority date: 2024-01-22
Filing date: 2024-01-22
Publication date: 2025-07-31
Anticipated expiration: 2026-07-22

Abstract

It is described a robotic picking vehicle (501) for operation in an automated storage and retrieval system (1) The robotic picking vehicle (501) comprises: an enclosure (E) defining an enclosed area (510); a picking device (550) arranged in the enclosed area (510), wherein the picking device (550) is configured to pick an item stored in a storage container (106) positioned within the enclosure (E); a personnel barrier (520') for allowing access for personnel into the enclosed area (510), wherein the personnel barrier is operable between a locked state and an unlocked state; and a vehicle barrier (551) for allowing entry of at least a part of a container handling vehicle (301) into the enclosed area (510), wherein the vehicle barrier is movable between an open state and a closed state. The personnel barrier (520') is configured to operate in its unlocked state only when the vehicle barrier (551) is in its closed state. 6A

Description

ROBOTIC PICKING VEHICLE, AND ASSOCIATED SYSTEM AND METHOD

[001] The invention relates to a robotic picking vehicle, an automated storage and retrieval system comprising the robotic picking vehicle and a method of personnel entry and exit into and out of the robotic picking vehicle.

BACKGROUND AND PRIOR ART

[002] Fig. 1 discloses a prior art automated storage and retrieval system 1 with a frame 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.

[003] The frame 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.

[004] The frame structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of frame structure 100, on which rail system 108 a plurality of container handling vehicles 201,301,401 maybe 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 no 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 parallel rails no 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.

[005] The upright members 102 of the frame 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.

[oo6] 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, 401b, 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 of parallel rails no, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent rails of the second set of parallel rails 111. 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 parallel rails no, 111 at any one time.

[oo7]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 Z 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. The lifting device may comprise a lifting frame 4O4d suspended from lifting bands 404a. The lifting bands 404a may provide power and communication between the container handling vehicle and the lifting frame 4O4d. The lifting frame 404b may comprise gripping engaging devices/grippers 404b for connection to gripping recesses of a storage container 106. Guide pins 404c assist in aligning the grippers 404b relative the gripping recesses of the storage container 106.

[008] 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, Z=2 the second layer below the rail system 108, Z=3 the third layer etc. In the exemplary prior art disclosed in Fig. i, 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 =iy, 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.

[009] The storage volume of the frame structure 100 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 may be identified by a position in an X- and T-direction, while each storage cell may be 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 (showing a cavity-type container handling vehicles) 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 (referred to as a cantilever-type container handling vehicle). Such a vehicle is described in detail in e.g. NO317366, the contents of which are also incorporated herein by reference.

[0012] The cavity-type 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-type container handling vehicles 401 shown in Figs. 4 and 5 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 flanges 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 frame structure 100, 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 frame structure 100 or transferred out of or into the frame 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 frame 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 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 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 frame structure 100 again once accessed. A port can also be used for transferring storage containers to another storage facility (e.g. to another frame 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 frame structures, e.g. as is described in W02014/075937A1, the contents of which are incorporated herein by reference.

[0022] A storage system may also use port columns 119,120 to transfer a storage container between the rail system 108 on top of the frame structure 100 and a container transfer vehicle arranged below a lower end of the port column. Such storage systems and suitable container transfer vehicles are disclosed in WO 2019/238694 Al and WO 2019/238697 Al, the contents of which are incorporated herein by reference.

[0023] A potential disadvantage of using a container transfer vehicle to retrieve and deliver storage containers from/to the lower end of a port column is the time dependency between the container transfer vehicle(s) and the container handling vehicles used to retrieve/deliver the storage containers through the port column.

[0024] 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 116, 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, may be 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.

[0025] 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.

[0026] 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 frame 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 i comprises a control system 500 which typically is computerized and which typically comprises a database for keeping track of the storage containers 106.

[0027] The present invention is made with the above disadvantages in mind.

SUMMARY OF THE INVENTION

[0028] 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.

[0029] The present invention is set forth and characterized in the independent claims, while the dependent claims describe other optional features. Embodiments of the present invention provide for safe entry and occupancy of personnel within a robotic picking vehicle for operating on a live grid.

[0030] Common to all of the examples of the invention as described herein is the possibility of entering and exiting a vehicle on a grid which is live. A “live” grid shall be understood to mean an automated storage and retrieval system where the container handling vehicles described e.g. with reference to Figs. 1-4 are in operation, and the system is not shut down. That is, container handling vehicles are able to move within the automated storage and retrieval system. A person is able to enter, occupy and exit the robotic picking vehicle whilst the automated storage and retrieval system is in this live state.

[0031] It is described a robotic picking vehicle for operation in an automated storage and retrieval system, the robotic picking vehicle comprising: an enclosure defining an enclosed area; a picking device arranged in the enclosed area, wherein the picking device is configured to pick an item stored in a storage container positioned within the enclosure; a personnel barrier for allowing access for personnel into the enclosed area, wherein the personnel barrier is operable between a locked state and an unlocked state; and a vehicle barrier for allowing entry of at least a part of a container handling vehicle into the enclosed area, wherein the vehicle barrier is movable between an open state and a closed state; wherein the personnel barrier is configured to operate in its unlocked state only when the vehicle barrier is in its closed state.

[0032] The robotic picking vehicle may further comprise a first transfer position arranged in the enclosed area, the first transfer position being configured for supporting a storage container; a container handling vehicle access point comprising a first opening in the enclosure; and a personnel access point comprising a second opening in the enclosure; wherein the vehicle barrier is movable between: the open state in which the vehicle barrier allows entry of at least a part of a container handling vehicle through the container handling vehicle access point into the enclosed area such that the container handling vehicle can position a storage container on the first transfer position and retrieve a storage container from the first transfer position, and the closed state in which the vehicle barrier prevents entry of a container handling vehicle through the container handling vehicle access point and into the enclosed area; wherein the personnel barrier is operable between: the unlocked state in which the personnel barrier is configured to allow access for personnel through the personnel access point into the enclosed area; and the locked state in which the personnel barrier is configured to prevent access of personnel through the personnel access point and into the enclosed area.

[0033] The robotic picking vehicle may further comprise moving means for moving the robotic picking vehicle. The moving means may be for moving the robotic picking vehicle in a first direction (X) and a second direction (Y), perpendicular to the first direction (X).

[0034] It is also described a robotic picking vehicle for operation in an automated storage and retrieval system, the robotic picking vehicle comprising: moving means for moving the robotic picking vehicle in a first direction and a second direction, perpendicular to the first direction; an enclosure defining an enclosed area; a picking device arranged in the enclosed area, the picking device being configured to pick an item stored in a storage container positioned within the enclosure; a first transfer position arranged in the enclosed area, the first transfer position being configured for supporting a storage container; a container handling vehicle access point comprising a first opening in the enclosure; a personnel access point comprising a second opening in the enclosure; a vehicle barrier movable between: an open state in which the vehicle barrier allows entry of at least a part of a container handling vehicle through the container handling vehicle access point into the enclosed area such that the container handling vehicle can position a storage container on the first transfer position and retrieve a storage container from the first transfer position, and a closed state in which the vehicle barrier prevents entry of a container handling vehicle through the container handling vehicle access point and into the enclosed area; a personnel barrier operable between: an unlocked state in which the personnel barrier is configured to allow access for personnel through the personnel access point into the enclosed area; a locked state in which the personnel barrier is configured to prevent access of personnel through the personnel access point and into the enclosed area; wherein the personnel barrier is moved into its unlocked state only when the vehicle barrier is in its closed state.

[0035] The automated storage and retrieval system may comprise a rail system comprising a first set of parallel rails extending in a first direction across the top of a frame structure formed by a plurality of upright members, and a second set of parallel rails in the horizontal plane arranged in a second direction perpendicular to the first set of parallel rails, to guide movement of container handling vehicles in the first direction and the second direction,

[0036] The picking device is configured to pick items out from, and put items into, a storage container which is arranged within the enclosure. The picking device is not to be mixed up with the lifting device of the container handling vehicles.

[0037] The robotic picking vehicle is preferably a vehicle of sufficient size for a person, e.g. an operator or other personnel, to enter into it. When the person is inside the vehicle, he/she is preferably protected against the container handling vehicles operating in the operating area. The enclosure may encircle the person or it may provide all round protection, for example, through including a roof.

[0038] The robotic picking vehicle may comprise a rectangular vehicle base.

[0039] The enclosure may be formed by four sides forming the enclosed area.

[0040] The four sides may be connected on each side of the rectangular vehicle base.

[0041] A footprint of the vehicle base of the robotic picking vehicle may be rectangular and the robotic picking vehicle may occupy a various number of grid cells. For example, the robot can occupy:

2 grid cells, such as 2x1 grid cells,

4 grid cells, such as 2x2 grid cells or 4x1 grid cells,

6 grid cells, such as 3x2 grid cells or 6x1 grid cells,

8 grid cells, such as 4x2 grid cells),

9 grid cells, such as 3x3 grid cells,

12 grid cells, such as 3x4 grid cells or 6x2 grid cells.

[0042] When the personnel barrier is locked, it is preferably also always closed preventing passage of a person through the personnel access point.

When the personnel barrier is unlocked, it is either open allowing passage of a person through the personnel access point into the enclosed area or it can be opened, i.e. by a person, such that the person is allowed to open the personnel barrier to pass through the personnel access point into the enclosed area.

[0043] The moving means may comprise a first set of wheels for movement in the first direction and a second set of wheels for movement in the second direction.

[0044] As an alternative to wheels, the transport vehicle may have belts for moving on top of the rail system.

[0045] Alternatively, the moving means may comprise omni wheels which can rotate 90 degrees to change direction of movement between the first direction and the second direction on the rail system. [0046] The moving means may be connected to a vehicle base of the robotic picking vehicle.

[0047] The robotic picking vehicle may comprise a wheel lift mechanism operable between a first position in which the first set of wheels is above the second set of wheels such that the second set of wheels is in contact with the rail system, and a second position in which the first set of wheels is below the second set of wheels such that the first set of wheels is in contact with the rail system.

[0048] The robotic picking vehicle may comprise a wheel drive motor for driving the first set of wheels and/or the second set of wheels.

[0049] There may be one wheel drive motor for driving both the wheels in the first set of wheels and the wheels in the second set of wheels. Alternatively, there may be one wheel drive motor for driving the first set of wheels and one motor for driving the second set of wheels.

[0050] The vehicle barrier may be configured to remain in the closed state while a person may be in the enclosed area.

[0051] The vehicle barrier may be operated by a control system.

[0052] The control system may know that personnel wish to access the robotic picking vehicle, and so the vehicle barrier should be closed in different ways. For example, The person may push a button inside the enclosed area which confirms entry and that the vehicle barrier shall remain in the closed state. When the person is ready to leave, he/she may push the same or a different button signaling that he/she wants to exit. The control system may then set the personnel barrier in the unlocked state.

[0053] The robotic picking vehicle may comprise a motor for operating the vehicle barrier between the open state and the closed state.

[0054] The vehicle barrier may be a sliding door.

[0055] The sliding door may slide in a vertical direction or in a horizontal direction.

[0056] The personnel barrier of the robotic picking vehicle may be manually or automatically moved since access through the access point is allowed or prevented. [0057] The picking device may be configured to pick an item from a storage container positioned on the first transfer position.

[0058] The picking device may be arranged in a center portion or along a center line of the enclosed area.

[0059] The robotic picking vehicle may comprise a second vehicle barrier for allowing entry of at least part of a container handling vehicle into the enclosed area, wherein the second vehicle barrier is movable between an open state and a closed state.

[0060] For example, the robotic picking vehicle may comprise a second vehicle barrier and a second transfer position arranged in the enclosed area, and the second vehicle barrier is movable between:

- an open state in which the second vehicle barrier allows entry of a container handling vehicle through the container handling vehicle access point into the enclosed area such that the container handling vehicle can position a storage container on the second transfer position and retrieve a storage container from the second transfer position, and

- a closed state in which the second vehicle barrier prevents entry of a container handling vehicle through the container handling vehicle access point and into the enclosed area, where the personnel barrier is moved into its unlocked state only when the vehicle barrier and second vehicle barrier are in their closed states, and where the vehicle barrier and second vehicle barrier are configured to remain in their closed states while a person is in the enclosed area.

[0061] The picking device may is configured to pick an item from or put an item into a storage container positioned on the first transfer position and pick an item from or put an item into a storage container positioned on the second transfer position.

[0062] By positioning the picking device in the center portion or along a center line of the area, it is ensured that the picking device reaches storage containers positioned on both the first transfer position and the second transfer position. And, if the robotic picking vehicle has additional transfer positions, i.e. more than the first transfer position and the second transfer position, the picking device may reach storage containers positioned on those additional transfer positions as well. Furthermore, this positioning of the picking device ensures that space is freed up for increasing the number of transfer positions. [0063] The robotic picking vehicle may comprise a first conveyor arranged in the enclosed area and the first transfer position may be arranged at a first end of the first conveyor and the second transfer position may be arranged at a second end of the first conveyor.

[0064] The vehicle barrier and the second vehicle barrier may thus be arranged on opposite side walls of the robotic picking vehicle.

[0065] The first vehicle barrier and the first transfer position may be arranged next to the second vehicle barrier and the second transfer position.

[0066] The vehicle barrier and the second vehicle barrier may thus be arranged on the same side walls of the robotic picking vehicle.

[0067] The robotic picking vehicle may comprise a second conveyor arranged in the enclosed area.

[0068] The second conveyor may be arranged parallel to the first conveyor.

[0069] Alternatively, the second conveyor can be arranged perpendicular to the first conveyor. The first conveyor and the second conveyor may overlap, such that a storage container can pass from the first conveyor to the second conveyor, and vice versa.

[0070] The second conveyor may comprise a third transfer position and a fourth transfer position.

[0071] The robotic picking vehicle may comprise a means for turning off the picking device.

[0072] The picking device is preferably turned off prior to personnel entering the area in order to reduce risk of personnel injury due to impact with the picking device.

[0073] The means for turning off the robotic picking device may be a local controller on the robotic picking vehicle or via a main control system.

Alternatively, or additionally, it may be a switch or an emergency stop button inside the enclosed area.

[0074] If the robotic picking vehicle comprises a first conveyor and a second conveyor, these conveyors are also preferably turned off by the means for turning off before personnel enters into the area. [0075] The rail system may comprise an operating area and a plurality of container handling vehicles operating on the rail system in the operating area.

[0076] The automated storage and retrieval system may comprise: a second area, partitioned from the operating area, wherein the second area may comprise a second area personnel access point may comprise an opening; a second area personnel barrier operable between: an unlocked state in which the second area personnel barrier may be configured to allow access for personnel through the second area personnel access point into the enclosed area; and a locked state in which the second area personnel barrier may be configured to prevent access of personnel through the second area personnel access point and into the enclosed area.

[0077] The second area personnel barrier is preferably fail-safe locked. This ensures that the personnel barriers are always locked when the transport vehicle is not physically, i.e. securely, connected to the second area eliminating the risk of unintentional opening.

[0078] The second area may be within a transport vehicle movable on the rail system.

[0079] The transport vehicle may comprise an enclosure defining the second area for transporting a person within. The enclosure may comprise the second area personnel access point in the form of a transport vehicle personnel access point and the second area personnel barrier may be a transport vehicle personnel access barrier provided to allow or prevent access through the second area personnel access point.

[0080] Personnel may then safely move between the second area in a transport vehicle and the area inside the robotic picking vehicle without the risk of collision with container handling vehicles.

[0081] The second area may be within a service area.

[0082] The service area may comprise a wall towards an operating area.

The wall comprising a service area personnel access point comprising an opening and a service area personnel barrier operable between: an unlocked state in which the service area personnel barrier is configured to allow access for personnel through the service area personnel access point into the service area; a locked state in which the service area personnel barrier is configured to prevent access of personnel through the service area personnel access point and into the service area.

[0083] The personnel barrier of the robotic picking vehicle and the service area personnel barrier can be arranged in the sides of the robotic picking vehicle and the second area if the second area is arranged next to the robotic picking vehicle. Alternatively, if the second area is located above the robotic picking vehicle, they can be arranged in a roof or ceiling of the robotic picking vehicle and in the floor of the second area. As a further alternative, if the second area is arranged below the robotic picking vehicle, they personnel barrier of the robotic picking vehicle can be arranged in a floor of the robotic picking vehicle and in the roof or ceiling of the second area. The automated storage and retrieval system may comprise a locking assembly in the form of a mechanical locking assembly, a combination of an electric and mechanical locking assembly, a magnetic locking assembly or an electro-magnetic locking assembly providing the physical prevention.

[0084] The locking assembly may be configured to lock a docking probe, and where: the locking assembly may be arranged at or in the second area and the docking probe may extend outwardly from the robotic picking vehicle, or the locking assembly may be arranged at or in the robotic picking vehicle and the docking probe may extend outwardly from the second area.

[0085] The locking assembly may comprise: an outer member having a U-shape forming a receiving portion within the U-shape and an outer upper end and an outer lower end of the outer member may be securely connected to an inside of a side which forms the enclosure; an inner member which may be movable within the receiving portion of the outer member, the inner member may have a U-shape forming a receiving portion of the inner member oriented in the same direction as the outer member, and the U-shape of the inner member may have an upper end and lower end; and the side may comprise a hole which may be flush with the receiving portion of the inner member to allow passage of the docking probe therethrough. [0086] The inner member may be connected to the outer member by a pretension spring or springs which exert a force on the inner member in a direction towards the hole in the side.

[0087] The personnel barrier may comprise lock members which protrude sideways as an extension of the personnel barrier and each of the lock members may comprise an opening such that each of the lock member may be configured to receive the respective upper end and lower end of the inner member such that the personnel barrier may be locked when the inner member is in an extended position.

[0088] The docking probe may comprise pretensioned latching mechanism which may be pivotably arranged at pivot point inside the docking probe.

[0089] The latching mechanism may be configured such that when an outer force from the personnel barrier is not exerted on the latching mechanism, the latching mechanism may be in an extended position where it may extend sideways beyond an outer periphery of the docking probe, and when the outer force from the personnel barrier is exerted on the latching mechanism, the pretensioned force may be overcome and the latching mechanism may be forced to a retracted position inside an outer periphery of the docking probe.

[0090] When the outer force from the personnel barrier is not exerted on the latching mechanism, a back end of the latching mechanism may be configured to abut the side.

[0091] A portion of the inner member which may be in contact with the pretension spring or springs may have an upper part with a first thickness and a lower part with a second thickness, and the first thickness may be thicker than the second thickness, and the docking probe may be initially in contact with the lower part.

[0092] Upon vertical downwards movement of the locking assembly relative the docking probe, the docking probe may be configured to be in contact with the upper part instead of the lower part thereby compressing the spring or springs which involves that the upper and lower end of the inner member may be moved out of the locking relationship with the openings of the lock member.

[0093] A locking member may be connected to the side of the robotic picking vehicle to a side of the locking assembly, the locking member may be pretensioned by a lock spring and may comprise a wedge member arranged at or below a lowermost elevation of the docking probe such that when the personnel barrier is locked, the wedge member is arranged to the side of the docking probe and cannot influence vertical movement of the locking assembly relative the docking probe, and when the personnel barrier is unlocked, the wedge member is arranged between the docking probe and the inner member such that it prevents relative vertical movement of the locking assembly relative the docking probe thereby preventing that the robotic picking vehicle moves when the personnel barrier is unlocked.

[0094] The personnel barrier may comprise a push member arranged on the opposite side of the locking assembly compared to the locking member, and the push member may be configured to exert a force on the locking member to move the wedge member from between the docking probe and the inner member to the side of the docking probe.

[0095] The method may comprise:

- controlling whether the vehicle barrier is in the open state or the closed state and, if the vehicle barrier is in the open state, removing any container handling vehicles which is present in the enclosed area and moving the vehicle barrier to the closed state;

- unlocking the personnel barrier and allowing access for personnel through the personnel access point into the enclosed area.

[0096] In the present specification the term “storage container” is intended to mean any goods holder unit having a bottom plate and side portions suitable for releasable connection to the container lift device, e.g. a bin, a tote, a tray or similar. The side portions may preferably comprise gripping recesses. The side portions are preferably sidewalls. The height of the sidewalls may vary depending on the intended use of the automated storage and retrieval system and the goods to be stored. The gripping recesses may be arranged at an upper rim of the sidewalls. The outer horizontal periphery of the storage container is preferably rectangular.

[0097] The relative terms “upper”, “lower”, “below”, “above”, “higher” etc. shall be understood in their normal sense and as seen in a cartesian coordinate system.

[0098] The invention may be used in connection with storage containers and systems as described above. However, other areas where the disclosed automated storage and retrieval system and methods may be used is within vertical farming, micro-fulfilment or grocery/e-grocery.

BRIEF DESCRIPTION OF THE DRAWINGS

[0099] Following drawings are appended to facilitate the understanding of the invention. The drawings will now be described by way of example only, where:

[00100] Fig. 1 is a perspective view of a frame structure of a prior art automated storage and retrieval system;

[00101] Fig. 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein;

[00102] Fig. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath;

[00103] 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;

[00104] Fig. 5 is a perspective view of the container handling vehicle in Fig. 4 without side and top panels;

[00105] Fig. 6A is a perspective view of a robotic picking vehicle with two personnel barriers sliding upwards and downwards and four vehicle barriers, and where the vehicle barriers are in a closed state and one of the personnel barriers is in an unlocked state;

[00106] Fig. 6B is a perspective view of a robotic picking vehicle with two personnel barriers sliding sideways and four vehicle barriers, and where the vehicle barriers are in a closed state and one of the personnel barriers is in an unlocked state;

[00107] Fig. 6C is a perspective view of a robotic picking vehicle with two personnel barriers sliding sideways and one vehicle barriers, and where the vehicle barriers are in an open state and the personnel barriers are in a locked state;

[00108] Fig. 7 A is a perspective view of a robotic picking vehicle positioned adjacent a second area in the form of a service area, the robotic picking vehicle comprising two personnel barriers sliding upwards and downwards and four vehicle barriers, and where the vehicle barriers are in a closed state and the personnel barriers are in a locked state;

[00109] Fig. 7B is a side view of Fig 7A;

[00110] Fig. 8A is a perspective view of a robotic picking vehicle positioned adjacent a second area in the form of a transport vehicle area, the robotic picking vehicle comprising two personnel barriers sliding sideways and four vehicle barriers, and where the vehicle barriers are in a closed state and one of the personnel barriers is in a locked state whereas the other personnel barrier facing the transport vehicle is in an unlocked state, and the transport vehicle comprises four transport vehicle personnel barriers and where three of the transport vehicle personnel barriers are in a locked state and the one transport vehicle personnel barrier facing the robotic picking vehicle is in an unlocked state;

[00111] Fig. 8B shows the same as Fig. 8Abut from a different angle;

[00112] Fig. 8C is a perspective view of a robotic picking vehicle positioned adjacent a second area in the form of a transport vehicle area, the robotic picking vehicle comprising two personnel barriers sliding sideways and four vehicle barriers, and where the vehicle barriers are in a closed state and the personnel barriers are in locked stated;

[00113] Figs. 9A-9E show different steps of a locking sequence of a first example of a mechanical locking assembly for physically preventing the robotic picking vehicle from moving relative to the second area;

[00114] Figs. 10A-10F show different steps of a locking sequence of a second example of a mechanical locking assembly for physically preventing the robotic picking vehicle from moving relative to the second area.

DETAILED DESCRIPTION OF THE INVENTION

[00115] In overview, a robotic picking vehicle (501) for operation in an automated storage and retrieval system (1) is provided. The robotic picking vehicle (501) comprises an enclosure (E) defining an enclosed area (510) and a picking device (550) arranged in the enclosed area (510). The picking device (550) is configured to pick an item stored in a storage container (106) positioned within the enclosure (E). The vehicle (501) also comprises a personnel barrier (520’) for allowing access for personnel into the enclosed area (510) and a vehicle barrier (551) for allowing entry of at least a part of a container handling vehicle (301) into the enclosed area (510). The personnel barrier is operable between a locked state and an unlocked state. The vehicle barrier is movable between an open state and a closed state. The personnel barrier (520’) is configured to operate in its unlocked state only when the vehicle barrier (551) is in its closed state.

[00116] 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.

[00117] A frame structure 100 of the automated storage and retrieval system 1 may be constructed in a similar manner to the prior art frame structure 100 described above in connection with Fig. 1. That is, the frame structure 100 may comprise a number of upright members 102, and comprise a rail system 108 extending in the first direction (X direction) and the second direction (Y direction). I.e. the rail system 108 maybe arranged on top of the upright members 102, the rail system 108 comprising a first set of parallel rails no and a second set of parallel rails 111 arranged perpendicular to the first set of rails no. The first and second set of rails 110,111 providing a horizontal grid-based rail system 108 defining a plurality of grid cells 130. The first and second set of rails 110,111 of the rail system 108 may comprise one or two tracks. Preferably both directions of rail comprise two tracks (double tracks), e.g., either as two parallel channels formed in a rail, or as a channel provided in each of a pair of rail members that have been fastened to the other to form a rail. In such arrangements the access opening (also named grid opening) and a track-width on each side defines the “grid cell” 130. In arrangements where one direction of rails has only a single track, the grid cell 130 may extend a full rail-width on those sides.

[00118] The frame structure 100 may comprise storage compartments in the form of storage columns 105 provided between the members 102 wherein storage containers 106 maybe stackable in stacks 107 within the storage columns 105.

[00119] The frame structure 100 can be of any size. In particular, it is understood that the frame structure can be considerably wider and/or longer and/or deeper than disclosed in Fig. 1. For example, the frame structure 100 may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.

[00120] The prior art container handling vehicles comprising a cavity for accommodating a storage container (cavity-type container handling vehicles), see Figs. 2, 4 and 5, have certain advantageous features. In particular, the guidance/support provided to a storage container when accommodated in the cavity entails that the cavity-type container handling vehicles may have increased acceleration/deceleration relative to the cantilever-type container handling vehicle 301 shown in Fig. 3. However, the potential increase in acceleration/ deceleration is not fully realized due to instability of the cavity-type container handling vehicles. The instability is caused by the cavity-type container handling vehicles 201,401 having most of the drive, power, control and lifting components arranged above the cavity, providing a high centre of gravity.

[00121] Fig. 6A is a perspective view of a robotic picking vehicle 501 with two personnel barriers 520’ sliding upwards and downwards and four vehicle barriers 551,552. In Fig. 6A, all of the vehicle barriers 551 are in a closed state and one of the personnel barriers 520’ is in an unlocked state.

[00122] The robotic picking vehicle 501 in Fig. 6A operates on an automated storage and retrieval system 1 which may comprise a rail system 108 comprising a first set of parallel rails no extending in a first direction X across the top of a frame structure 100 formed by a plurality of upright members 102, and a second set of parallel rails 111 in the horizontal plane arranged in a second direction Y perpendicular to the first set of parallel rails no, to guide movement of container handling vehicles 20i;30i;40i and the robotic picking vehicle 501 in the first direction X and the second direction Y.

[00123] The robotic picking vehicle 501 features a first set of wheels 501b for moving the robotic picking vehicle 501 in the first direction X and a second set of wheels 501c for moving the robotic picking vehicle 501 in the second direction Y. The first and second sets of wheels 51b, 501c are connected to a vehicle base 501a of the robotic picking vehicle 501.

[00124] Although not shown in Fig. 6A, the robotic picking vehicle 501 may comprise a wheel lift mechanism operable between a first position in which the first set of wheels 501b is above the second set of wheels 501c such that the second set of wheels 501c is in contact with the rail system 108, and a second position in which the first set of wheels 501b is below the second set of wheels 50ic such that the first set of wheels 501b is in contact with the rail system 108. Furthermore, the robotic picking vehicle 501 preferably comprises one or more wheel drive motor(s) (not shown) for driving the first set of wheels 501b and/or the second set of wheels 501c.

[00125] An enclosure E defines an enclosed area 510 of the robotic picking vehicle 501. The enclosure E physically separates the enclosed area 510 from the operating area 20 where other container handling vehicles (not shown in Fig.

6A) operate.

[00126] A picking device 550 is arranged in the enclosed area 510, the picking device 550 being configured to pick an item 556 stored in a storage container 106 positioned within the enclosure E. The picking device 550 is arranged along a center line C of the enclosed area 510. The item 556 picked by the picking device 550 can be put into a second storage container 106 inside the enclosed area 510. The picking device 550 thus preferable has a relatively large operating range such that it can reach any storage container 106 inside the enclosed area 510.

[00127] In Fig. 6A, a total of two storage containers 106 are shown inside the enclosed area 510. The storage containers 106 are supported on a respective second transfer position 555” and a third transfer position 555”’ in the enclosed area 510. In addition, a first transfer position 555’ is disclosed. The first transfer position 555’ does not support a storage container. In the example of Fig. 6A, the robotic picking vehicle 501 comprises a first conveyor 557 arranged in the enclosed area 510 and the first transfer position 555’ is arranged at a first end of the first conveyor 557 and the second transfer position 555” is arranged at a second end of the first conveyor 557.

[00128] Container handling vehicles 301 may put a storage container 106 onto any of the transfer positions 555’, 555” through a container handling vehicle access point 515 in the enclosure E. The container handling vehicle access point 515 comprises a first opening of a sufficient size for at least parts of the container handling vehicles 301 to drive into or through. A vehicle barrier 551 and a second vehicle barrier 552 are arranged to block or unblock respective openings of the vehicle access point 515. The vehicle barrier 515 and the second vehicle barrier 552 are arranged on the same side wall of the robotic picking vehicle 501 and next to each other, and are operable between:

- an open state in which the vehicle barrier 551,552 allows entry of at least a part of a container handling vehicle 301 through the container handling vehicle access point 515 into the enclosed area 510 such that the container handling vehicle 301 can position a storage container 106 on the first transfer position 555’ and retrieve a storage container 106 from the first transfer position 555’, and

- a closed state in which the vehicle barrier 551,552 prevents entry of a container handling vehicle 301 through the container handling vehicle access point 515 and into the enclosed area 510.

[00129] The robotic picking vehicle 501 features a personnel access point 514 comprising a second opening 514 in the enclosure E. The second opening is of a sufficient size for personnel to pass through. A personnel barrier 520’ is arranged at the second opening of the personnel access point 514 for allowing or restricting passage of personnel through the second opening. The personnel barrier 520’ is operable between:

- an unlocked state in which the personnel barrier 520’ is configured to allow access for personnel through the personnel access point 514 into the enclosed area 510;

- a locked state in which the personnel barrier 520’ is configured to prevent access of personnel through the personnel access point 514 and into the enclosed area 510.

[00130] In order to ensure that personnel is not hurt by container handling vehicles operating in the operating area 20, the personnel barrier 520’ can be moved into its unlocked state only when the vehicle barrier 551 is in its closed state. As such, the vehicle barrier 551 is preferably configured to remain in the closed state while a person is in the enclosed area 510.

[00131] The vehicle barrier 551 (and the second vehicle barrier 552) may be operated by a control system 500. The control system may know that personnel wish to access the enclosed area 510 of robotic picking vehicle 501, so the vehicle barrier 551,552 could be closed in different ways. For example, the person may push a button inside the enclosed area 510 which confirms entry and that the vehicle barrier 551,552 shall remain in the closed state. When the person is ready to leave, he/she may push the same or a different button signaling that he/she wants to exit. The control system 500 may then set the personnel barrier 520’ in the unlocked state.

[00132] When the personnel barrier 520’ is locked, it is also always closed preventing passage of a person through personnel access point 514. [00133] When the personnel barrier 520’ is unlocked, it is either open allowing passage of a person through the personnel access point 514 into the enclosed area 510 or it can be opened, i.e. by a person, such that the person is allowed to open the personnel barrier to pass through the personnel access point 514 into the enclosed area 510.

[00134] Both the vehicle barrier 551,552 and the personnel barrier 520’ in Fig. 6A are in the form of a sliding door which may slide in a vertical direction.

[00135] The robotic picking vehicle 501 in Fig. 6A occupies 6 grid cells (2x3 grid cells), however it is clear that the robotic picking vehicle 501 may occupy a various number of grid cells. The robotic picking vehicle 501 in Fig. 6A has a rectangular vehicle base 501a. The enclosure E is formed by four sides, one side connected on each side of the rectangular vehicle base 501a. The four sides forming the enclosed area 510 inside the enclosure E. The four sides maybe connected on each side of the rectangular vehicle base 501a.

[00136] The robotic picking vehicle 501 may comprise means for turning off the robotic picking vehicle 501, including any moving components of the robotic picking vehicle such as any conveyor(s) 557,558 and the picking device 550. The means for turning off the robotic picking vehicle 501 is exemplified as an emergency stop button 516 inside the enclosed area 510.

[00137] Fig. 6B is a perspective view of a robotic picking vehicle 501 with two personnel barriers 520’ sliding sideways and four vehicle barriers 551,552, and where the vehicle barriers 551,552 are in a closed state and one of the personnel barriers 520’ is in an unlocked state. The features of the robotic picking vehicle 501 in Fig. 6B are similar to the robotic picking vehicle 501 in Fig. 6A and will not be repeated herein. The main differences being the form of the personnel barriers 520’ which slide sideways instead of moving upwards and downwards as well as the presence of the conveyor 557 in Fig. 6A which is not present in the robotic picking vehicle in Fig. 6B.

[00138] Fig. 6C is a perspective view of a robotic picking vehicle 501 with two personnel barriers 520’ sliding sideways and one vehicle barrier 551, and where the vehicle barrier 551 is in an open state and the personnel barriers 520’ are in a locked state. When comparing the robotic picking vehicle 501 in Fig. 6C with the robotic picking vehicle 501 in Figs. 6A and 6B, it can be seen that the vehicle 501 in Fig. 6C has one vehicle barrier 551 which covers a whole side of the vehicle 501, such that when the vehicle barrier 551 is in an open state as in Fig. 6C, the whole width of the enclosed area 510 is exposed and access to two transfer positions 555’, 555”’ (i.e. a first and a third transfer position 555’, 555”’) are accessible for the container handling vehicles (not shown) through the vehicle access point 514. The robotic picking vehicle 501 in Fig. 6C features a second conveyor 558 arranged in the enclosed area 510. The second conveyor 558 is arranged parallel to the first conveyor 557. Th remaining features of the robotic picking vehicle 501 in Fig. 6C are similar to the robotic picking vehicle 501 in Fig. 6A and will not be repeated herein.

[00139] Fig. 7 A is a perspective view of a robotic picking vehicle 501 positioned adjacent a second area 30 in the form of a service area 30. The robotic picking vehicle 501 comprising two personnel barriers 520’ sliding upwards and downwards and four vehicle barriers 551,552. The robotic picking vehicle 501 in Fig. 7 A is identical to the robotic picking vehicle 501 in Fig. 6A. In Fig. 7 A, the vehicle barriers 551,552 are in a closed state and the personnel barriers 520’ are in a locked state.

[00140] Fig. 7 A shows an automated storage and retrieval system 1 comprising a service area 30 partitioned from the operating area 20 and the robotic picking vehicle 501. The robotic picking vehicle 501 can be positioned on the rail system 108 adjacent a wall 32 separating the service area 30 from the operating area 20. The service area 30 comprises a service area personnel access point 39 comprising an opening. The service area 30 features a service area personnel barrier 52 which is operable between:

- an unlocked state in which the service area personnel barrier 52 is configured to allow access for personnel through the service area personnel access point 39 into the service area 30;

- a locked state in which the service area personnel barrier 52 is configured to prevent access of personnel through the service area personnel access point 39 and into the service area 30.

[00141] Fig. 7B is a side view of Fig 7A.

[00142] Fig. 8A is a perspective view of a robotic picking vehicle 501 positioned adjacent a second area 610 in the form of a transport vehicle area 610. The robotic picking vehicle 501 comprising two personnel barriers 520’ sliding sideways and four vehicle barriers 551,552. The vehicle barriers 551,552 are in a closed state and one of the personnel barriers 520’ is in a locked state whereas the other personnel barrier 520’ facing the transport vehicle 601 is in an unlocked state. The transport vehicle 601 features four transport vehicle personnel barriers 612 and three of the transport vehicle personnel barriers 612 are in a locked state and the one transport vehicle personnel barrier 612 facing the robotic picking vehicle 501 is in an unlocked state.

[00143] Personnel may then safely move between the service area 30 and the enclosed area 610 inside the robotic picking vehicle 510 without the risk of collision with container handling vehicles.

[00144] Fig. 8A shows an automated storage and retrieval system 1 comprising a transport vehicle area 610 within a transport vehicle 601, wherein the transport vehicle area 610 is partitioned from the operating area 20 and the robotic picking vehicle 501. The transport vehicle 601 featuring an enclosure E defining the second area 610 for transporting a person within. The transport vehicle area 610 comprises a transport vehicle personnel access point 611 comprising an opening. The transport vehicle area 610 features a transport vehicle personnel barrier 612 which is operable between:

- an unlocked state in which the transport vehicle personnel barrier 612 is configured to allow access for personnel through the transport vehicle personnel access point 611 into the transport vehicle area 610;

- a locked state in which the transport vehicle personnel barrier 612 is configured to prevent access of personnel through the transport vehicle personnel access point 611 and into the transport vehicle area 610.

[00145] Personnel may then safely move between the transport vehicle area 610 in a transport vehicle 601 and the enclosed area 610 inside the robotic picking vehicle 501 without the risk of collision with container handling vehicles.

[00146] Fig. 8B shows the same as Fig. 8Abut from a different angle.

[00147] Fig. 8C is a similar view as Fig. 8A where all four of the transport vehicle personnel barriers 612 are in the locked state and all of the personnel barriers 520’ are in the locked stated. Accordingly, personnel are prevented from entering through any of the transport vehicle personnel access point 611 and the personnel access point 514.

[00148] In the following, and with reference to Figs. 9A-9E and Figs. 10A- 10F, two different examples of mechanical locking assemblies 33 for connecting the robotic picking vehicle 501 to a second area 30,610 in a transport vehicle 601 (see Figs. 8A-8C) or a service area (see Figs 7A,yB) will be described:

First example of a mechanical locking assembly 33, Figs. 9A-9E [00149] Figs. 9A-9E show different steps of a locking sequence of a first example of a mechanical locking assembly 33 for physically preventing that the robotic picking vehicle 501 move relative the second area 30,610. The mechanical locking assembly 33 is the same regardless of whether the second area 30 is a service area 30 where persons or operators 50 can perform maintenance or repair on the container handling vehicles 201,301,401 as exemplified in Figs. 7A-7B or if the second area 610 is in a transport vehicle 601 as exemplified in Figs. 8A-8C. However, in the illustrated example in Figs. 9A- 9E, the second area 30 is a service area 30. The features of the robotic picking vehicle 501 is the same as the robotic picking vehicle 501 of Figs. 6A-6C.

[00150] Fig. 9A is a perspective view of a robotic picking vehicle 501 within an operating area 20 approaching a wall 32 with a barrier 31 of the second area 30. A person 50 is positioned within the enclosed area 510 of the robotic picking vehicle 501. The personnel barriers 520’ of the robotic picking vehicle 501 are in the form of sliding doors, where each door comprises a handle 503 to ease opening and closing of the doors.

[00151] The robotic picking vehicle 501 is shown with a docking probe 502 on an outer surface of the third side S3 facing the personnel barrier 31 of the second area 30. The docking probe 502 is oriented outwardly towards the second area 30 and at the same height as a locking assembly 33 on the wall 32 next to the personnel barrier 31 of the second area 30. Similarly, in order to further lock the robotic picking vehicle 501 to the wall 32 between the operating area 20 and the second area 30, a docking probe 502 is arranged on the wall 32 next to the personnel barrier 31 and the robotic picking vehicle 501 has a locking assembly 33 at the same height as the docking probe 502. The docking probe 502 is shaped to cooperate with the locking assembly 33 to provide a safe interconnection therebetween with minimum risk of unintentional disengagement of the robotic picking vehicle 501 when it is locked to the second area by the personnel barriers 31,520’.

[00152] Fig. 9B is an enlarged view of section A in Fig. 9A showing details of the locking assembly 33 when the personnel barrier 520’ of the robotic picking vehicle 501 is locked preventing movement of the robotic picking vehicle 501. The locking assembly 33 comprising an outer member 34 having a U-shape forming a receiving portion 37 of the outer member 34. The two ends (indicated as outer upper end 34’ and outer lower end 34”) are securely connected to the inside of the third side S3 of the enclosure E of the robotic picking vehicle 501. The locking assembly 33 further comprising an inner member 35 movable within the receiving portion 37 of the outer member 34. The inner member 35 having a U-shape forming a receiving portion 38 of the inner member 35 oriented in the same direction as the outer member 34. The U-shape of the inner member 35 has an upper end 35’ and lower end 35”. The inner member 35 is connected to the outer member 34 by pretension springs 36 which exert a force on the inner member in a direction towards the third side S3. The personnel barrier 520’ of the robotic picking vehicle 501 comprises lock members 540’, 540”. The lock members 540’, 540” protrude sideways as an extension of the personnel barrier 520’ and each comprises an opening 541’, 541” (see details in Figs. 9D and 9E) such that each of the lock member 540’, 540” is configured to receive the respective upper end 35’ and lower end 35” of the inner member 35 such that the personnel barrier is locked when the inner member 35 is in the extended position as shown in Fig. 9B.

[00153] The third side S3 has a hole 530 of sufficient size to allow passage of the docking probe 502 which is arranged on the wall 32. The hole 530 is flush with the receiving portion 38 of the inner member 35.

[00154] In Fig. 9C, the robotic picking vehicle 501 has moved somewhat closer to the personnel barrier 31 in the wall 32. This can be seen when comparing the extension of the docking probe 502 in the receiving portion 38 of the inner member 35.

[00155] In Fig. 9D, the robotic picking vehicle 501 has moved somewhat even closer to the personnel barrier 31 in the wall 32. This can be seen when comparing the extension of the docking probe 502 in the receiving portion 38 of the inner member 35. In addition, the docking probe 502 pushes towards an inner part of inner member 35 against the pretension force of the springs 36. As seen in Fig. 9D, the springs 36 have been compressed, which involves that the ends 35’, 35” of the inner member 35 are moved out of the locking relationship with the openings 541’, 541” of the lock member 540’, 540”.

[00156] As seen in Fig. 9D (and Fig. 9E) the docking probe 502 comprises pretensioned latching mechanism 504 which is pivotably arranged at pivot point 505 inside the docking probe 502. The pretension of the latching mechanism 504 maybe a spring or similar. When an outer force is not exerted on the latching mechanism 504 (see. Fig. 9E), the latching mechanism is in an extended position where it extends sideways beyond an outer periphery of the docking probe 502 (when seen from above). And when an outer force is exerted on the latching mechanism 504 (see Fig. 9D), the pretensioned force is overcome and the latching mechanism 504 is forced to a retracted position inside an outer periphery of the docking probe 502 (when seen from above). The difference between the extended position of the latching mechanism 504 and the retracted position of the latching mechanism 504 is illustrated by comparing the relative positions of the latching mechanism 504 in Fig. 9D (retracted) and Fig. 9E (extended).

[00157] Referring to Fig. 9D again, the personnel barrier 520’ is now in theory unlocked. This means that the personnel barrier 520’ is allowed to slide open (to the right in the Figure). However, the final locking step which prevents movement of the robotic picking vehicle 501 relative the wall 32 by using the latching mechanism 504 is not activated because the end face 521 of the personnel barrier 520’ forces the latching mechanism 504 to the retracted position.

[00158] Referring to Fig. 9E, the personnel barrier 520’ has been moved to the right and, since the end face of the personnel barrier 520’ is no longer in contact with the latching mechanism 504 forcing it to the retracted position, the pretension of the latching mechanism 504 is released forcing the latching mechanism 504 outwardly. The sketched area 507 of the latching mechanism 504 illustrates the area which is in contact with the end face 521 of the personnel barrier 520’.

[00159] A back end 506 of the latching mechanism 504 is abutting the inside of the third side S3.

[00160] When the personnel barrier 520’ shall be moved back from unlocked where movement of the robotic picking vehicle 501 is prevented (Fig. 9E) and to locked where movement of the robotic picking vehicle 501 is allowed relative to the second area 305610, the described sequence in Figs. 9A-9E is performed in reverse order. The sequence may then involve, in simplified steps:

- Moving the personnel barrier 520’ to the left thereby closing the personnel barrier 520’ and forcing the latching mechanism 504 to the retracted position due to contact with the end face 521 of the personnel barrier 520’;

- Optional: lifting or lowering the first set of wheels 501b or the second set of wheels 501c;

- Moving the robotic picking vehicle 501 away. Second example of a mechanical locking assembly 33, Figs. 10A-10F

[00161] Figs. 10A-10F show different steps of a locking sequence of a second example of a mechanical locking assembly 33 for physically preventing that the robotic picking vehicle 501 move relative the second area 30,610. The mechanical locking assembly 33 is the same regardless of whether the second area 30 is a service area 30 where persons or operators 50 can perform maintenance or repair on the container handling vehicles 201,301,401 as exemplified in Figs. 7A-7C or if the second area 610 is in a transport vehicle 601 as exemplified in Figs. 8A-8C. However, in the illustrated example in Figs. 10A- 10F, the second area 30 is a service area. The features of the robotic picking vehicle 501 is the same as the robotic picking vehicle 501 of Figs. 6A-6B.

[00162] Fig. 10A is a perspective view of a robotic picking vehicle 501 within an operating area 20 approaching a wall 32 with the personnel barrier 31 of the second area 30. A person 50 is positioned within the enclosed area 510 of the robotic picking vehicle 501. The personnel barriers 520’ of the robotic picking vehicle 501 are in the form of sliding doors, where each door comprises a handle 503 to ease opening and closing of the personnel barriers 520’ (doors).

[00163] The robotic picking vehicle 501 is shown with a docking probe 502 on an outer surface of the third side S3 facing the personnel barrier 31 of the second area 30. The docking probe 502 is oriented outwardly towards the second area 30 and at the same height as a locking assembly 33 on the wall 32 next to the personnel barrier 31 of the second area 30. Similarly, in order to further lock the robotic picking vehicle 501 to the wall 32 between the operating area 20 and the second area 30, a docking probe 502 is arranged on the wall 32 next to the personnel barrier 31 and the robotic picking vehicle 501 has a locking assembly 33 at the same height as the docking probe 502. The docking probe 502 is shaped to cooperate with the locking assembly 33 to provide a safe interconnection therebetween with minimum risk of unintentional disengagement of the robotic picking vehicle 501 when it is locked to the second area by the personnel barriers 31,520’.

[00164] Fig. 10B is an enlarged view of section B in Fig. 10A showing details of the locking assembly 33 when the personnel barrier 520’ of the robotic picking vehicle 501 is locked preventing movement of the robotic picking vehicle 501. The locking assembly 33 comprising an outer member 34 having a U-shape forming a receiving portion 37 of the outer member 34. The two ends (indicated as outer upper end 34’ and outer lower end 34”) are securely connected to the inside of the third side S3 of the enclosure E of the robotic picking vehicle 501. The locking assembly 33 further comprising an inner member 35 movable within the receiving portion 37 of the outer member 34. The inner member 35 having a U-shape forming a receiving portion 38 of the inner member 35 oriented in the same direction as the outer member 34. The U-shape of the inner member 35 has an upper end 35’ and lower end 35”. The inner member 35 is connected to the outer member 34 by pretension springs 36 which exert a force on the inner member in a direction towards the third side S3. The portion of the inner member 35 which is in contact with the springs 36 has an upper part 35”’ with a first thickness Ti and a lower part 35”” with a second thickness T2. The first thickness Ti is thicker than the second thickness T2 (T1>T2).

[00165] The personnel barrier 520’ of the robotic picking vehicle 501 comprises lock members 540’, 540”. The lock members 540’, 540” protrude sideways as an extension of the personnel barrier 520’ and each comprises an opening 541’, 541” (see details in Figs. 10D-10F) such that each of the lock member 540’, 540” is configured to receive the respective upper end 35’ and lower end 35” of the inner member 35 such that the personnel barrier 520’ is locked when the inner member 35 is in the extended position as shown in Fig. 10B.

[00166] The third side S3 has a hole 530 of sufficient size to allow passage of the docking probe 502 which is arranged on the wall 32. The hole 530 is flush with the receiving portion 38 of the inner member 35.

[00167] In Fig. 10C, the robotic picking vehicle 501 has moved close to the personnel barrier 31 in the wall 32. This can be seen when comparing the extension of the docking probe 502 in the receiving portion 38 of the inner member 35. The docking probe 502 is in contact with the lower part 35”” of the inner member 35.

[00168] In Fig. 10D, the robotic picking vehicle 501 and thus the locking assembly 33 has been lowered relative the wall 32 and thus the docking probe 502. The lowering can be performed by using a track shift or wheel lift mechanism of the robotic picking vehicle 501 to lower the robotic picking vehicle 501 such that all of the wheels in both the first set of wheels 501b and the second set of wheels 501c are in contact with the rails 110,111. The lowering is visible when comparing the position fog the docking probe 502 relative the upper part 35”’ and the lower part 35”” of the inner member 35. In Fig. 10D, the docking probe 502 is in contact with the upper part 35”’ whereas in Fig. 10C the docking probe 502 is in contact with the lower part 35””. As a result that the docking probe 502 is in contact with the upper part 35”’ which has larger thickness Ti than the lower part T2 (see Fig. 10B), the springs 36 connecting the inner member 35 to the outer member 24 are compressed which involves that the ends 35’, 35” of the inner member 35 are moved out of the locking relationship with the openings 541’, 541” of the lock member 540’, 540”. The personnel barrier 520’ is now in theory unlocked. This means that the personnel barrier 520’ is allowed to slide open (to the right in the Figure).

[00169] However, the final locking step which prevents movement of the robotic picking vehicle 501 relative the wall 32 has not been activated. This locking step will be described with reference to Figs. 10E and 10F below.

[00170] Referring to Fig. 10E, it is disclosed a push member 508 at the end portion of the personnel barrier 520’ closest to the locking assembly 33. The push member 508 follows the movement of the personnel barrier 520’. The push member 508 is configured to exert a force on a locking member 511. The locking member 511 is connected to the third side S3 of the robotic picking vehicle 501 on the opposite side of the locking assembly 33 compared to the push member 508. The locking member 511 can be pretensioned by for example a lock spring 512. As illustrated, the locking member 511 and the push member 508 can come into contact above the docking probe 502. The locking member 511 has a wedge member 513 arranged at or below a lowermost elevation of the docking probe 502 such that when the personnel barrier 520’ is locked, the wedge member is arranged to the side of the docking probe 502 and cannot influence vertical movement of the locking assembly 33 relative the docking probe 502 (see Fig. 10D), and when the personnel barrier 520’ is unlocked, the wedge member 513 is arranged between the docking probe 502 and the inner member 35 such that it prevents relative vertical movement of the locking assembly 33 relative the docking probe 502 (see Fig. 10E). As such, when the robotic picking vehicle 501 is lowered with all wheels in contact with the rails 110,111 and the personnel barrier 520’ is unlocked, it is not possible to raise any of the sets of wheels 501b, 501c since the vertical upward movement of the locking assembly 33 relative the docking probe 502 is prevented.

[00171] The relationship between the push member 508 and the locking member 511 is such that when the personnel barrier 520’ is closed, i.e. the position shown in Fig. 10D, the push member 508 overcomes the force of the lock spring 512 and locking member 511 is to the left of the docking probe 502 in Fig. 10E. And, when all wheels of the robotic picking vehicle 501 are in contact with the rails 110,111 the personnel barrier 520’ is unlocked and the push member 508 can be moved to the right (see Fig. 10E) together with the personnel barrier 520’ and out of contact with the locking member 511. The force from the lock spring 512 will then push the locking member 511 towards the docking probe 502 and the wedge member 513 will move into the space below the docking probe 502 and above the inner member 35.

[00172] Fig. 10F shows the same unlocked state of the personnel barrier 520’ with the personnel barrier 520’ moved to the right from a different angle.

[00173] When the personnel barrier 520’ shall be moved back from unlocked where movement of the robotic picking vehicle 501 is prevented (Figs. 10E and 10F) and to locked where movement of the robotic picking vehicle 501 is allowed relative to the second area 305610, the described sequence in Figs. 10A- 10E/F is performed in reverse order. The sequence may then involve, in simplified steps:

- Moving the personnel barrier 520’ to the left thereby closing the personnel barrier 520’ and forcing the locking member 511, and thus the wedge member 513, to the left out of contact with the docking probe 502 due to contact with push member 508 on the personnel barrier 520’;

- Lifting the first set of wheels 501b or the second set of wheels 501c;

- Moving the robotic picking vehicle 501 away.

[00174] Although many of the features have been described in relation to the robotic picking vehicle 501, it shall be noted that they also apply to the methods of operating the robotic picking vehicle 501 as well as a an automated storage and retrieval system 1 comprising a number of the robotic picking vehicle 501 (and any possible second areas 305610.

[00175] The methods described herein may be implemented using computer-executable instructions. Accordingly, an aspect of the present invention provides a computer program such as a computer program on a carrier medium (e.g. a non-transitory carrier medium) comprising computer-executable instructions which, when executed by at least one processor, cause the methods described herein to be performed or implemented. [00176] In the preceding description, various features of the embodiments have been described. 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 as defined in the attached claims.

LIST OF REFERENCE NUMBERS

Claims

1. A robotic picking vehicle (501) for operation in an automated storage and retrieval system (1), the robotic picking vehicle (501) comprising: an enclosure (E) defining an enclosed area (510); a picking device (550) arranged in the enclosed area (510), wherein the picking device (550) is configured to pick an item stored in a storage container (106) positioned within the enclosure (E); a personnel barrier (520’) for allowing access for personnel into the enclosed area (510), wherein the personnel barrier is operable between a locked state and an unlocked state; and a vehicle barrier (551) for allowing entry of at least a part of a container handling vehicle (301) into the enclosed area (510), wherein the vehicle barrier is movable between an open state and a closed state; wherein the personnel barrier (520’) is configured to operate in its unlocked state only when the vehicle barrier (551) is in its closed state.

2. The robotic picking vehicle (501) of claim 1, further comprising: a first transfer position (555’) arranged in the enclosed area (510), the first transfer position (555’) being configured for supporting a storage container (106); a container handling vehicle access point (515) comprising a first opening (515) in the enclosure (E); and a personnel access point (514) comprising a second opening (514) in the enclosure (E); wherein the vehicle barrier (551) is movable between: the open state in which the vehicle barrier (551) allows entry of at least a part of a container handling vehicle (301) through the container handling vehicle access point (515) into the enclosed area (510) such that the container handling vehicle (301) can position a storage container (106) on the first transfer position (555’) and retrieve a storage container (106) from the first transfer position (555’), and the closed state in which the vehicle barrier (551) prevents entry of a container handling vehicle (301) through the container handling vehicle access point (515) and into the enclosed area (510); wherein the personnel barrier (520’) is operable between: the unlocked state in which the personnel barrier (520’) is configured to allow access for personnel through the personnel access point (514) into the enclosed area (510); and the locked state in which the personnel barrier (520’) is configured to prevent access of personnel through the personnel access point (514) and into the enclosed area (510).

3. The robotic picking vehicle (501) of claim 1 or claim 2, further comprising: moving means (50ib;50ic) for moving the robotic picking vehicle (501), optionally wherein the moving means is for moving the robotic picking vehicle in a first direction (X) and a second direction (Y), perpendicular to the first direction (X).

4. The robotic picking vehicle (501) according to claim 3, wherein the moving means (5Oib;soic) comprises a first set of wheels (501b) for movement in the first direction (X) and a second set of wheels (501c) for movement in the second direction (Y).

5. The robotic picking vehicle (501) according to any of the preceding claims, wherein the vehicle barrier (551) is configured to remain in the closed state while a person is in the enclosed area (510).

6. The robotic picking vehicle (501) according to any of the preceding claims, wherein the vehicle barrier (551) is operated by a control system (500).

7. The robotic picking vehicle (501) according to any of the preceding claims, wherein the robotic picking vehicle (501) comprises a motor for operating the vehicle barrier (551) between the open state and the closed state.

8. The robotic picking vehicle (501) according to any of the preceding claims, wherein the vehicle barrier (551) is a sliding door.

9. The robotic picking vehicle (501) according to any of the preceding claims, wherein the personnel barrier (520’) is a sliding door.

10. The robotic picking vehicle (501) according to any of the preceding claims, wherein the picking device (550) is configured to pick an item (556) from a storage container (106) positioned on the first transfer position (555’).

11. The robotic picking vehicle (501) according to any of the preceding claims, wherein the picking device (550) is arranged in a center portion or along a center line (C) of the enclosed area (510).

12. The robotic picking vehicle (501) according to any of the preceding claims, wherein the robotic picking vehicle (501) comprises a second vehicle barrier (55²) for allowing entry of at least part of a container handling vehicle into the enclosed area, wherein the second vehicle barrier is movable between an open state and a closed state, and optionally wherein the robotic picking vehicle further comprises a second transfer position (555”) arranged in the enclosed area (510), and wherein the second vehicle barrier (552) is movable between:

- the open state in which the second vehicle barrier (552) allows entry of a container handling vehicle (301) through the container handling vehicle access point (515) into the enclosed area (510) such that the container handling vehicle (301) can position a storage container (106) on the second transfer position (555”) and retrieve a storage container (106) from the second transfer position (555’), and

- the closed state in which the second vehicle barrier (552) prevents entry of a container handling vehicle (301) through the container handling vehicle access point (515) and into the enclosed area (510), wherein the personnel barrier (520’) is moved into its unlocked state only when the vehicle barrier (551) and second vehicle barrier (552) are in their closed states, and wherein the vehicle barrier (551) and second vehicle barrier (552) are configured to remain in their closed states while a person is in the enclosed area (510).

13. The robotic picking vehicle (501) according to claim 12, wherein the picking device (550) is configured to pick an item (556) from or put an item into a storage container (106) positioned on the first transfer position (555’) and pick an item (556) from or put an item into a storage container (106) positioned on the second transfer position (555”).

14. The robotic picking vehicle (501) according to claim 12 or 13, wherein the robotic picking vehicle (501) comprises a first conveyor (557) arranged in the enclosed area (510) and wherein the first transfer position (555’) is arranged at a first end of the first conveyor (557) and the second transfer position (555”) is arranged at a second end of the first conveyor (557).

15. The robotic picking vehicle (501) according to claim 12 or 13, wherein the first vehicle barrier (551) and the first transfer position (555’) are arranged next to the second vehicle barrier (552) and the second transfer position (555”)-

16. The robotic picking vehicle (501) according to claim 14 or 15, wherein the robotic picking vehicle (501) comprises a second conveyor (558) arranged in the enclosed area (510).

17- The robotic picking vehicle (501) according to claim 16, wherein the second conveyor (558) comprises a third transfer position (555’, 555”, 555”’, 555””) and a fourth transfer position (555’, 555”, 555’”, 555””)-

18. The robotic picking vehicle (501) according to any of the preceding claims, wherein the robotic picking vehicle (501) comprises a means for turning off the picking device (550).

19. An automated storage and retrieval system (1) comprising:

- a robotic picking vehicle (501) according to any of claims 1-18; and

- a plurality of container handling vehicles (20i;30i;40i).

20. The automated storage and retrieval system (1) according to claim 19, further comprising: a rail system (108) comprising a first set of parallel rails (110) extending in the first direction (X) across the top of a frame structure (100) formed by a plurality of upright members (102), and a second set of parallel rails (111) in the horizontal plane arranged in the second direction (Y) perpendicular to the first set of parallel rails (110), to guide movement of container handling vehicles (20153015401) in the first direction (X) and the second direction (Y), and wherein the rail system (108) comprises an operating area (20); wherein the plurality of container handling vehicles (20153015401) are for operating on the rails (110,111) in the operating area (20).

21. The automated storage and retrieval system (1) according to claim 19 or 20, wherein the automated storage and retrieval system (1) comprises:

- a second area (305610), partitioned from the operating area (20), wherein the second area comprises a second area personnel access point (395611) comprising an opening;

- a second area personnel barrier (525612) operable between: an unlocked state in which the second area personnel barrier (525612) is configured to allow access for personnel through the second area personnel access point (395611) into the second area (305610); a locked state in which the second area personnel barrier (525612) is configured to prevent access of personnel through the second area personnel access point (395611) and into the second area (305610).

22. The automated storage and retrieval system (1), according to claim 21, wherein the second area (610) is within a transport vehicle (601) movable on the rail system (108).

23. The automated storage and retrieval system (i) according to claim 21, wherein the second area is within a service area (30).

24. The automated storage and retrieval system (1) according to any of claims 19- 23, wherein the automated storage and retrieval system (1) comprises a locking assembly (33) in the form of a mechanical locking assembly (33), a combination of an electric and mechanical locking assembly (60), a magnetic locking assembly or an electro-magnetic locking assembly providing the physical prevention.

25. The automated storage and retrieval system (1) according to claim24, wherein the locking assembly (33) is configured to lock a docking probe (502), and wherein:

- the locking assembly (33) is arranged at or in the second area (305610) and the docking probe (502) extends outwardly from the robotic picking vehicle (501), or

- the locking assembly (33) is arranged at or in the robotic picking vehicle (501) and the docking probe (502) extends outwardly from the second area (305610).

26. The automated storage and retrieval system (1) according to claim 25, wherein the locking assembly (33) comprises: an outer member (34) has a U-shape forming a receiving portion (37) within the U-shape and wherein an outer upper end (34’) and an outer lower end (34”) of the outer member (34) are securely connected to an inside of a side (81,82,83,84) which forms the enclosure (E); and an inner member (35) which is movable within the receiving portion (37) of the outer member (34), wherein the inner member (35) has a U-shape forming a receiving portion (38) of the inner member (35) oriented in the same direction as the outer member (34), and wherein the U-shape of the inner member (35) has an upper end (35’) and lower end (35”); wherein the side (81,82,83,84) comprises a hole (530) which is flush with the receiving portion (38) of the inner member (35) to allow passage of the docking probe (502) therethrough.

27. The automated storage and retrieval system (1) according to claim 26, wherein the inner member (35) is connected to the outer member (34) by a pretension spring or springs (36) which exert a force on the inner member (35) in a direction towards the hole (530) in the side (81,82,83,84).

28.The automated storage and retrieval system (i) according to claim 27, wherein the personnel barrier (520’) comprises lock members (540’, 540”) which protrude sideways as an extension of the personnel barrier (520’) and wherein each of the lock members (540’, 540”) comprises an opening (54i’,54i”) such that each of the lock member (540’, 540”) is configured to receive the respective upper end (35’) and lower end (35”) of the inner member (35) such that the personnel barrier (520’) is locked when the inner member (35) is in an extended position.

29. The automated storage and retrieval system (1) according to any of claims 25- 28, wherein the docking probe (502) comprises pretensioned latching mechanism (504) which is pivotably arranged at pivot point (505) inside the docking probe (502).

30. The automated storage and retrieval system (1) according to claim 26, wherein the latching mechanism (504 ) is configured such that when an outer force from the personnel barrier (520’) is not exerted on the latching mechanism (504), the latching mechanism (504) is in an extended position where it extends sideways beyond an outer periphery of the docking probe (502), and when the outer force from the personnel barrier (520’) is exerted on the latching mechanism (504), the pretensioned force is overcome and the latching mechanism (504) is forced to a retracted position inside an outer periphery of the docking probe (502).

31. The automated storage and retrieval system (1) according to claim 30, wherein, when the outer force from the personnel barrier (520’) is not exerted on the latching mechanism (504), a back end (506) of the latching mechanism (504) is configured to abut the side (81,82,83,84).

32. The automated storage and retrieval system (1) according to any of claims 27 or 28, wherein a portion of the inner member (35) which is in contact with the pretension spring or springs (36) has an upper part (35”’) with a first thickness (Ti) and a lower part (35””) with a second thickness (T2), wherein the first thickness (Ti) is thicker than the second thickness (T2), and wherein the docking probe (502) is initially in contact with the lower part (35””).

33. The automated storage and retrieval system (1) according to claim 32, wherein, upon vertical downwards movement of the locking assembly (33) relative the docking probe (502), the docking probe (502) is configured to be in contact with the upper part (35”’) instead of the lower part (35””) thereby compressing the spring or springs (36) which involves that the upper and lower end (35’, 35”) of the inner member (35) are moved out of the locking relationship with the openings (541’, 541”) of the lock member (540’, 540”).

34. The automated storage and retrieval system (1) according to claim 33, wherein a locking member (511) is connected to the side (81,82,83,84) of the robotic picking vehicle (501) to a side of the locking assembly (33), the locking member (511) is pretensioned by a lock spring (512) and comprises a wedge member (513) arranged at or below a lowermost elevation of the docking probe (502) such that when the personnel barrier (520’) is locked, the wedge member (513) is arranged to the side of the docking probe (502) and cannot influence vertical movement of the locking assembly (33) relative the docking probe (502), and when the personnel barrier (520’) is unlocked, the wedge member (513) is arranged between the docking probe (502) and the inner member (35) such that it prevents relative vertical movement of the locking assembly (33) relative the docking probe (502) thereby preventing that the robotic picking vehicle (501) may move when the personnel barrier (501) is unlocked.

35. The automated storage and retrieval system (1) according to claim 34, wherein the personnel barrier (520’) comprises a push member (508) arranged on the opposite side of the locking assembly (33) compared to the locking member (511), and wherein the push member (508) is configured to exert a force on the locking member (511) to move the wedge member (513) from between the docking probe (502) and the inner member (35) to the side of the docking probe (502).

36. A method of personnel entry and exit into and out of a robotic picking vehicle (501) according to any of claims 1-18, wherein the method comprises:

- controlling whether the vehicle barrier (551) is in the open state or the closed state and, if the vehicle barrier (551) is in the open state, removing any container handling vehicles which are present in the enclosed area (510) and moving the vehicle barrier (551) to the closed state;

- unlocking the personnel barrier (520’) and allowing access for personnel through the personnel access point (514) into the enclosed area (510).

37. A computer program comprising executable instructions which, when executed by at least one processor, implements the method of claim 36.