Service vehicle with a vehicle pen

A method of gaining access to a remotely operated vehicle using a service vehicle for operating on a rail system of a storage and retrieval grid, the service vehicle being configured for retrieving a remotely operated vehicle for service, wherein the service vehicle comprises:

• a first vehicle area in which the remotely operated vehicle can be received by the service vehicle while the remotely operated vehicle is still on the rail system, and
• a second vehicle area in which the remotely operated vehicle can be supported by the service vehicle for servicing,
• wherein the first vehicle area is configured as a vehicle pen for holding the remotely operated vehicle before entry to the second vehicle area, and wherein the first vehicle area is linked to the second vehicle area for passage of the remotely operated vehicle via the vehicle pen,
• wherein the vehicle pen comprises:
• an entry barrier to regulate entry of the remotely operated vehicle into the service vehicle and the vehicle pen, and
• an exit barrier on exit from the vehicle pen into the second vehicle area to regulate the passage of the remotely operated vehicle through the first vehicle area and into the second vehicle area, wherein the entry and exit barriers comprise moveable barriers, each moveable between an open position in which the moveable barrier allows passage of the remotely operated vehicle, and a closed position in which the moveable barrier restricts passage of the remotely operated vehicle, and wherein the entry and exit barriers are regulated such that the entry barrier can be opened only when the exit barrier is closed, and vice versa, wherein the method comprises:
• moving the service vehicle across the rail system towards the remotely operated vehicle requiring service,
• opening the entry barrier of the vehicle pen after being confirmed by one or more sensors, that the exit barrier is closed,
• moving the remotely operated vehicle past the entry barrier of the vehicle pen or moving the service vehicle such that the remotely operated vehicle passes the entry barrier of the vehicle pen to enter the vehicle pen,
• closing the entry barrier while the remotely operated vehicle is located in the vehicle pen,
• confirming by means of the one or more sensors that the entry barrier is in the closed or locked position,
• unlocking or opening the exit barrier,
• moving the remotely operated vehicle past the exit barrier and into the second vehicle area of the service vehicle, and
• closing the exit barrier.