Abstract
An automated storage and retrieval system includes a storage grid provided by a framework structure arranged in a building under a ceiling. The framework structure includes a rail system arranged at an upper level of the framework structure. The rail system includes a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction. The first and second sets of rails form a grid pattern in the horizontal plane including a plurality of adjacent access openings/grid cells. The storage grid defines a plurality of storage columns. Each storage column being arranged to store a respective stack of storage containers. The storage columns are located beneath the rail system. Each storage column is located vertically below a respective access opening/grid cell. Container handling vehicles operate on the rail system to collect and return storage containers to and from storage columns. A control system monitors and controls the automated grid storage and retrieval system. A method for monitoring the automated storage and retrieval system includes: launching a flying drone equipped with a camera to an altitude in an airspace located between an upper surface of framework structure and the ceiling or roof obstacle beneath the ceiling, navigating the drone to a suspected location of an anomaly in the system or other aspect of the system in need of inspection, using the drone to locate the anomaly or aspect of the system in need of inspection, and performing a visual inspection of the anomaly or aspect of the system in need of inspection using the camera of the flying drone. The control system includes an exception handler module responsible for identifying and attempting to correct anomalies in the operation of the storage system, and a flight control module responsible for controlling the flight of the drone. The flight control module directs the flight of the drone in response to instructions received from the exception handler module.