System, method and computer program product for determining a position of a container handling vehicle in a grid-based automated storage and retrieval system
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- AUTOSTORE TECH AS
- Filing Date
- 2022-06-20
- Publication Date
- 2026-06-26
Smart Images
Figure CN117580785B_ABST
Abstract
Description
[0001] This invention relates to an automated storage and retrieval system for storing and retrieving containers, and more particularly to a system and method for determining the position of a container transport vehicle within the automated storage and retrieval system. Background Technology
[0002] Figure 1 discloses a typical prior art automated storage and retrieval system 1 with a frame structure 100. Figures 2, 3 and 4 disclose three different prior art container handling vehicles 201, 301 and 401 suitable for operation on such system 1.
[0003] The frame structure 100 includes upright members 102 and storage volumes comprising storage columns 105 arranged in rows between the upright members 102. Storage containers 106, also referred to as boxes, are stacked on top of each other in these storage columns 105 to form a stack 107. The members 102 can typically be made of metal, such as extruded aluminum profiles.
[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged across the top of the frame structure 100, on which multiple container handling vehicles 201, 301, 401 can be operated to raise and lower storage containers 106 from storage columns 105 into storage columns 105, and also to transport storage containers 106 above storage columns 105. The track system 108 includes a first set of parallel tracks 110 arranged to guide the container handling vehicles 201, 301, 401 along a first direction X across the top of the frame structure 100, and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 201, 301, 401 along a second direction Y perpendicular to the first direction X. Containers 106 stored in columns 105 are accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the track system 108. Container handling vehicles 201, 301, and 401 can move laterally above storage column 105, that is, move in a plane parallel to the horizontal XY plane.
[0005] The upright members 102 of the frame structure 100 can be used to guide the storage containers during the process of raising and lowering the containers into the column 105. The stack 107 of the containers 106 is typically self-supporting.
[0006] Each prior art container handling vehicle 201, 301, 401 includes a body 201a, 301a, 401a, and a first set of wheels 201b, 301b, 401b and a second set of wheels 201c, 301c, 401c, which respectively enable the container handling vehicle 201, 301, 401 to move laterally in the X and Y directions. In Figures 2, 3, and 4, two wheels in each set are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage two adjacent tracks of the first set of tracks 110, and the second set of wheels 201c, 301c, 401c is arranged to engage two adjacent tracks of the second set of tracks 111. At least one set of wheelsets 201b, 301b, 401b, 201c, 301c, and 401c can be raised and lowered such that the first set of wheelsets 201b, 301b, and 401b and / or the second set of wheelsets 201c, 301c, and 401c can engage with the corresponding set of tracks 110 and 111 at any given time.
[0007] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device for vertically transporting the storage container 106, such as raising the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column 105. The lifting device includes one or more clamping / engaging devices adapted to engage the storage container 106, and these clamping / engaging devices are lowerable from the vehicles 201, 301, 401 such that the position of the clamping / engaging devices relative to the vehicles 201, 301, 401 is adjustable in a third direction Z orthogonal to the first direction X and the second direction Y. A portion of the clamping device of the container handling vehicles 301, 401 is indicated by reference numerals 304, 404 in Figures 3 and 4. The clamping device of the container handling device 201 is located within the vehicle body 201a in Figure 2.
[0008] Typically, and for the purposes of this application, Z=1 represents the uppermost layer of the storage container, i.e., the layer directly below the track system 108; Z=2 represents the second layer below the track system 108; Z=3 represents the third layer, and so on. In the exemplary prior art disclosed in FIG1, Z=8 represents the lowest layer of the storage container. Similarly, X=1…n and Y=1…n represent the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z indicated in FIG1, the storage container identified as 106' in FIG1 can be said to occupy storage position X=17, Y=1, Z=6. The container transport vehicles 201, 301, 401 can be said to travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. Therefore, the storage container extending above the track system 108 shown in FIG1 is also referred to as being arranged in layer Z=0.
[0009] The storage volume of the frame structure 100 is typically referred to as grid 104, and the possible storage locations within this grid are referred to as storage cells. Each storage column can be identified by its position in the X and Y directions, while each storage cell can be identified by its container number in the X, Y, and Z directions.
[0010] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or space for receiving and loading the storage container 106 when transporting it across the track system 108. The storage space may include a cavity centrally arranged within the vehicle body 201a, as shown in Figures 2 and 4, and the contents of which are incorporated herein by reference, as described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1.
[0011] Figure 3 shows an alternative construction of the container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail in, for example, NO317366, the contents of which are also incorporated herein by reference.
[0012] The cavity container transport vehicle 201 shown in Figure 2 may have a coverage area that is approximately equal in size to the lateral extent of the storage column 105 in the X and Y directions, for example, as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein may mean “horizontal”.
[0013] Alternatively, the cavity container transport vehicle 101 may have a coverage area larger than the lateral area defined by the storage column 105, as shown in Figures 1 and 4, for example, as disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.
[0014] Track system 108 typically includes a track with grooves in which the wheels of a vehicle run. Alternatively, the track may include upwardly projecting elements, with the vehicle wheels including flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track may include one guide rail, or each track may include two parallel guide rails. In other track systems 108, each track may include one guide rail in one direction (e.g., the X direction) and each track may include two guide rails in another perpendicular direction (e.g., the Y direction). Each track 110, 111 may also include two guide rail members fastened together, each guide rail member providing one of the pair of guide rails provided by each track.
[0015] WO2018 / 146304A1, the contents of which are incorporated herein by reference, shows a typical construction of a track system 108, which includes a track and parallel guide rails in the X and Y directions.
[0016] In frame structure 100, most columns 105 are storage columns 105, i.e., columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may serve other purposes. In Figure 1, columns 119 and 120 are dedicated columns used by container handling vehicles 201, 301, 401 to drop 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 frame structure 100, or transferred out of or into frame structure 100. In the art, such a location is commonly referred to as a “port,” and the columns where the ports are located may be referred to as “port columns” 119, 120. Transport to the access station can be in any direction, i.e., horizontal, inclined, and / or vertical. For example, storage container 106 can be placed in a random or dedicated column 105 within the frame structure 100, and then picked up by any container handling vehicle and transported to port columns 119, 120 for further transport to the retrieval station. It should be noted that the term "inclined" means the transport of storage container 106 having a general transport direction somewhere between horizontal and vertical.
[0017] In Figure 1, the first port column 119 may be a dedicated unloading port column, where container handling vehicles 201, 301 can unload the storage container 106 to be transported to the storage station or transfer station, and the second port column 120 may be a dedicated pickup port column, where container handling vehicles 201, 301, 401 can pick up the storage container 106 that has been transported from the storage station or transfer station (not shown).
[0018] The storage and retrieval station can typically be a pick-up station or a storage station, where product items are removed from or located within storage container 106. At the pick-up station or storage station, storage container 106 is not typically removed from the automated storage and retrieval system 1, but is instead returned to the frame structure 100 once retrieved. The port can also be used to transfer 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 truck), or to a production facility.
[0019] Storage containers are typically transported between port columns 119, 120 and the access station using a transmitter system that includes a transmitter.
[0020] If port columns 119, 120 and access stations are located at different heights, the conveyor system may include a lifting device with vertical components for vertically transporting storage container 106 between port columns 119, 120 and access stations.
[0021] The transport system can be arranged to transfer storage container 106 between different frame structures, for example, as described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.
[0022] When access is required for a storage container 106 stored in one of the columns 105 shown in Figure 1, one of the container handling vehicles 201, 301, and 401 is instructed to remove the target storage container 106 from its position and transport it to the unloading port column 119. This operation includes moving the container handling vehicles 201 and 301 to a position above the storage column 105 where the target storage container 106 is located, removing the storage container 106 from the storage column 105 using the lifting device (not shown) of the container handling vehicles 201, 301, and 401, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, the operation also includes temporarily moving the storage container located above the target storage container 106 before lifting the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as “digging,” can be performed using the same container handling vehicle subsequently used to transport the target storage container to unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 specifically for the task of temporarily removing storage containers 106 from storage columns 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container 106 can be repositioned back into the original storage column 105. However, the removed storage container 106 can alternatively be repositioned to another storage column 105.
[0023] When storage container 106 is to be stored in a column 105, one of container handling vehicles 201, 301, and 401 is instructed to pick up storage container 106 from pick-up port column 120 and transport it to the storage container's intended storage location above storage column 105. After any storage container 106 located at or above the target location within stack 107 has been removed, container handling vehicles 201, 301, and 401 position the storage container 106 in the desired location. The removed storage container 106 can then be lowered back into storage column 105 or repositioned to another storage column 105.
[0024] In order to monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of the respective storage containers 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container transport vehicles 201, 301, 401, so that the desired storage container 106 can be delivered to the desired location at the desired time, and the container transport vehicles 201, 301, 401 do not collide with each other, the automated storage and retrieval system 1 includes a control system 121, which is typically computerized and typically includes a database for tracking the storage containers 106.
[0025] Container handling vehicles 201, 301, and 401 may lose their position on track system 108 and will be unable to report their position to control system 121. This could result in other container handling vehicles 201, 301, and 401 potentially colliding with the lost container handling vehicle. If this occurs, the entire automated storage and retrieval system 1 must be shut down, and operators will need to enter track system 108 to locate the lost container handling vehicle and restart the system.
[0026] A solution is needed that allows the system to automatically determine the location of lost container handling vehicles 201, 301, and 401 on the track system 108. In view of the above, it is desirable to provide an automated storage and retrieval system and a method for operating such a system, which solves or at least mitigates one or more of the aforementioned problems associated with the use of prior art storage and retrieval systems. Summary of the Invention
[0027] The invention is set forth and characterized in the independent claims, while the dependent claims describe other features of the invention.
[0028] In a first aspect, the present invention relates to a method for determining the position of a container handling vehicle on a track system of a grid-type automated storage and retrieval system, the grid-type automated storage and retrieval system comprising...
[0029] - A frame structure, including upright members and a track system, the track system comprising a grid of horizontal tracks positioned at the upper ends of the upright members, the frame structure defining a storage volume comprising storage columns arranged adjacent to each other below the horizontal tracks, the grid defining multiple grid locations.
[0030] Multiple storage containers are stacked one on top of the other in a storage column to form multiple stacks within the storage column.
[0031] - A container handling vehicle, including a lifting device that can be lowered from the container handling vehicle to pick up storage containers.
[0032] - The control system includes recording the grid coordinates for each grid location of a stack comprising storage containers and the height (level) of the storage containers in the stack corresponding to that grid location, wherein...
[0033] For at least one grid location, the height of the storage containers in the stack is determined by lowering the lifting device of the first container handling vehicle until the storage container is detected by the lifting device in a vertical position.
[0034] The grid position of the first container handling vehicle is determined by matching the detected vertical position with records of the grid positions of storage containers of the same height in the stack using the control system.
[0035] The first advantage of the invention is that the position of a lost container transport vehicle on the track system can be automatically determined by the system without human intervention.
[0036] In one embodiment, the method may include determining a vertical position while the lifting device holds the storage container.
[0037] In one embodiment, the method may further include lowering the lifting device at a first speed until it reaches a first vertical position, and lowering the lifting device at a second speed slower than the first speed when the height of the storage container in the stack is determined.
[0038] In one implementation, the first vertical position can be determined based on the expected maximum height of the storage container at the expected grid position.
[0039] In one embodiment, the method may include instructing a second container transport vehicle to move storage containers from or to a grid location to create a unique height for the storage containers at the grid location. The grid location of the first container transport vehicle can be determined by lowering the lifting device of the first container transport vehicle to detect the unique height of the storage containers set by the second container transport vehicle.
[0040] In one implementation, the method may include updating the records of the control system using the determined grid position of the first container transport vehicle.
[0041] In a second aspect, the present invention relates to a system for determining the grid position of a container handling vehicle on a track system of a grid-based automated storage and retrieval system, the grid-based automated storage and retrieval system comprising:
[0042] - A frame structure, including upright members and a track system, the track system comprising a grid of horizontal tracks positioned at the upper ends of the upright members, the frame structure defining a storage volume comprising storage columns arranged adjacent to each other below the horizontal tracks, the grid defining multiple grid locations.
[0043] Multiple storage containers are stacked one on top of the other in a storage column to form multiple stacks within the storage column.
[0044] - Multiple container handling vehicles, including a lifting device that can be lowered from the container handling vehicles to pick up storage containers.
[0045] - A control system, including recording the grid coordinates for each grid location of a stack comprising storage containers and the height of the storage containers in the stack corresponding to that grid location, and the system is adapted to
[0046] For at least one grid location, the height of the storage containers in the stack is determined by lowering the lifting device of the first container handling vehicle until the storage container is detected by the lifting device in a vertical position.
[0047] The grid position of the first container handling vehicle is determined by matching the detected vertical position with records of the grid positions of storage containers of the same height in the stack using the control system.
[0048] In one embodiment, the system can be adapted to detect the vertical position while the lifting device holds the storage container.
[0049] In one embodiment, the system may also be adapted to lower the lifting device at a first speed until it reaches a first vertical position, and to lower the lifting device at a second speed slower than the first speed when determining the height of the storage container in the stack.
[0050] In one implementation, the first vertical position can be determined based on the expected maximum height of the storage container at the expected grid position.
[0051] In one embodiment, the control system may also be adapted to instruct a second container handling vehicle to move storage containers from or to grid locations to create a unique height for the storage containers at the grid locations.
[0052] In one implementation, the grid position of the first container transport vehicle is determined when the lifting device of the first container transport vehicle is lowered to detect the unique height of the storage container set by the second container transport vehicle. The control system can also be adapted to update the records of the control system using the determined grid position of the first container transport vehicle.
[0053] In a third aspect, the present invention relates to a computer program product for a control system 121, wherein the computer program product includes instructions that, when executed on the control system 121, perform the method according to the first aspect of the invention. Attached Figure Description
[0054] The following figures are provided to facilitate understanding of the present invention. The figures illustrate embodiments of the invention, which will now be described by way of example only, wherein:
[0055] Figure 1 is a perspective view of the framework structure of the automatic storage and retrieval system.
[0056] Figure 2 is a perspective view of a prior art container handling vehicle having a cavity for carrying an internal arrangement of storage containers therein.
[0057] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever for supporting storage containers underneath.
[0058] Figure 4 is a perspective view of a prior art container handling vehicle having a lifting device for carrying storage containers in an internally arranged cavity.
[0059] Figure 5 This is a side view of an exemplary automatic storage and retrieval system according to an embodiment of the present invention.
[0060] Figure 6 This is a side view of an exemplary automatic storage and retrieval system according to an embodiment of the present invention.
[0061] Figure 7 This is a side view of an exemplary automatic storage and retrieval system according to an embodiment of the present invention.
[0062] Figure 8 This is an exemplary flowchart according to an embodiment of the present invention.
[0063] Figure 9 This is an exemplary flowchart according to an embodiment of the present invention. Detailed Implementation
[0064] In the following, embodiments of the invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the invention to the subject matter depicted therein.
[0065] The frame structure 100 of the automatic storage and retrieval system 1 is constructed according to the prior art frame structure 100 described above in conjunction with Figures 1 to 4, that is, it includes a plurality of upright members 102, and the frame structure 100 also includes a first upper track system 108 in the X and Y directions.
[0066] The frame structure 100 also includes storage compartments arranged in the form of storage columns 105 between the members 102, wherein storage containers 106 can be stacked in the form of stacks 107 within the storage columns 105.
[0067] The frame structure 100 can be of any size. In particular, it should be understood that the frame structure can be much wider and / or much longer and / or much deeper than disclosed in Figure 1. For example, the frame structure 100 can have a horizontal range of more than 700 × 700 columns and a storage depth of more than twelve containers.
[0068] Now refer to Figures 5 to 9 An embodiment of the automatic storage and retrieval system according to the present invention will be discussed in more detail.
[0069] Figure 5 Multiple storage containers 106 are shown stacked on top of each other in storage columns 105 to form multiple stacks 107 within the storage columns. A first container handling vehicle 501 can be any of the container handling vehicles 201, 301, or 401 described above, and includes a lifting device 502 that can be lowered from the first container handling vehicle 501 to pick up the storage containers 106. A control system 121 maintains a record for each of the multiple stacks 107, including the grid position (X) of the stack 107. i Y j (Using a coordinate system based on the grid cells of the grid-based orbital system 108) and values indicating how many storage containers 106 are in the stack 107 or how many storage containers can still be stored in the stack, such as the amount of available height.
[0070] This value can be a measurement of the height of the storage containers, the number or quantity of storage containers, the height of the stacked containers, the amount or quantity of available free space for the containers in the stack, or the depth of that free space. The term “height” as used herein may be used interchangeably with any of these measurements in the following discussion, whether measured in units of storage containers, as an absolute height from a reference height indicating the bottom of the stack, as available height or available storage height, or in some other manner.
[0071] The control system 121 can maintain the grid position (X) of each stack 107 on the track system 108 in a database, for example, stored in a writable drive or other storage device in a computer system. i Y j ( ) and the record of the height of the storage container 106 in the stack 107 for each stack.
[0072] In the figure, the first container transport vehicle 501 has an unknown grid position (X) on the track system 108. i Y j The first container handling vehicle 501 is adapted for at least one grid location (X) on the track system 108. i Y jThe height of the stack 107 within the storage column is determined, for example, by lowering the lifting device 502 until the lifting device 502 detects that the storage container is in a vertical position. k By relating to the grid position (X) i Y j The storage container 106 at the top of the stack is in contact with the storage container 106 at the top of the stack.
[0073] Control system 121 checks the grid position (X) of the storage container 106, which has the same height as the determined storage container 106. i Y j ).
[0074] exist Figure 5 In the given information, there exist two stacks of storage containers, (X2, Y1) and (X3, Y1), with unique quantities. For example... Figure 5 As shown, when the control system 121 detects the vertical position Z... k Upon a unique match with the record of the grid position (X3, Y1) of the storage container 106 at the same height in stack 107, the system determines the grid position of the container transport vehicle 401 on track system 108 as (X3, Y1). Control system 121 updates its records with the determined coordinates of the first container transport vehicle 501. Control system 121 can also update the memory of the first container transport vehicle 501 using the determined coordinates.
[0075] On the other hand, if we try to determine the grid position (X) i Y j If the coordinates are already in (X4, Y1), then there will be no unique solution, and the control system 121 will instruct the container transport vehicle 401 to move to another grid location (X4, Y1). i Y j Then, the container handling vehicle 401 determines the height of the storage containers (106) in the stack (107) at the new grid location, and the control system 121 rechecks the grid location (X) where the height of the storage containers 106 is the same as the determined height of the storage containers 106 at the new grid location. i Y j ).
[0076] When the first container transport vehicle 501 has lost its position, the control system 121 typically possesses the following information: the position of the first container transport vehicle 501 on the track system 108 at the time of an error in the trajectory that caused it to lose its position; the direction in which the first container transport vehicle was moving; and the speed at which it was moving. The first container transport vehicle 501 may also have a log stored in memory showing its position, direction, and speed at the time of the error, which can be uploaded to the control system 121. The control system 121 can use information about the historical position and movement of the first container transport vehicle 501 to predict the most likely grid position (X) of the first container transport vehicle 501. i Y j ).
[0077] To enable the first container transport vehicle 501 to determine the height of the storage containers 106 in the stack 107 by lowering the lifting device 502, the first container transport vehicle 501 is aligned with the access opening 112 in the track system 108. In one embodiment, the control system 121 may instruct the first container transport vehicle 501 to move in a given direction, typically opposite to the direction the container transport vehicle 501 was traveling when it lost its position on the track, until the first container transport vehicle 501 detects that it is within the access opening 112. The first container transport vehicle 501 may include sensors to detect track intersections on the track system 108, thereby determining when the first container transport vehicle 501 is within the access opening 112.
[0078] The first container handling vehicle 501 can detect its vertical position Z by contact with the lifting device 502 itself. k (For example Figure 5 (as shown), or while holding storage container 106 (e.g.) Figure 6 and Figure 7 (As shown), for example, when a container transport vehicle happens to be carrying a storage container at this time.
[0079] In one embodiment, the first container transport vehicle 501 may be adapted to lower the lifting device 502 at a first speed until it reaches the vertical position Z. s And when the height of the storage container 106 in the stack 107 is determined, the lifting device 502 is lowered at a second speed slower than the first speed. In one exemplary embodiment, based on the expected grid position (X i Y j The vertical position Z is determined by the expected maximum height of the storage container. sThis allows for rapid lowering of the lifting device 502 while avoiding the possibility of the lifting device 502 colliding with the upper storage container of the stack at excessive speed, thereby potentially damaging the lifting device 502, the storage container 106, and any contents of the storage container 106.
[0080] Figure 6 The diagram illustrates a scenario where there is no stack 107 with a unique height for the storage container 106. In this case, the control system 121 can be adapted to instruct a second container handling vehicle 503, which can be any of the aforementioned types of container handling vehicles 201, 301, 401, 501, from the grid position (X). i Y j Move one or more storage containers 106, or move one or more storage containers to the grid location, so as to be at the grid location (X). i Y j The unique height of storage container 106a is obtained at ( ). Figure 7 An exemplary scenario is shown where a storage container 106 has been moved from (X2, Y1) to (X1, Y1) to create two new, unique stacks (X2, Y1) and (X1, Y1). As described above, the control system 121 can use information about the historical position and movement of the first container transport vehicle 501 to predict the most likely grid position (X2, Y1) of the first container transport vehicle 501. i Y j The control system 121 can instruct the second container transport vehicle 503 to move from the grid position (X) closest to the most likely grid position. i Y j Move one or more storage containers 106, or move one or more storage containers to the grid location. When the second storage container transport vehicle 503 moves from the grid location (X) i Y j When moving one or more storage containers 106, or moving one or more storage containers to that grid location, for each grid location (X) i Y j Update grid coordinates (X) i Y j ) and the grid position (X) i Y j The height of the storage container 106 in the stack 107 of the corresponding storage column 105 is recorded in the control system 121. In one embodiment, when the lifting device 502 of the first container transport vehicle 501 is lowered to detect the unique height of the storage container 106 set by the second container transport vehicle 503, the grid position (X) of the first container transport vehicle 501 is determined. i Y j ).
[0081] Figure 8 The above reference is shown. Figures 5 to 7 An exemplary flowchart of method 800 for determining the positions of container transport vehicles 201, 301, 401, and 501 on a system for determining the grid positions of container transport vehicles in a grid-based automated storage and retrieval system 1. Method 800 begins at step 801, i.e., for at least one grid position (X... i Y j The lifting device 502 of the first container handling vehicle 501 is lowered until it is in the vertical position Z. k The height of storage container 106 in stack 107 is determined by detecting the storage container. Then, in step 802, the height of storage container 106 in stack 107 is determined by the detected vertical position Z using the control system 121. k The grid position (X) of the storage container 106 with the same height as the stack 107. i Y j The records are matched to determine the grid position (X) of the first container transport vehicle 501. i Y j If a unique matching grid location (X) is found i Y j If the method continues to step 803, the determined grid position (X) of the first container transport vehicle 501 is used. i Y j To update the records of control system 121. If no unique matching grid position (X) is found. i Y j If the process continues to step 804, where the control system 121 instructs the first container transport vehicle 501 to move to the new grid position (X). i Y j Method 800 then returns to step 801.
[0082] Determine the vertical position Z k The steps can be performed while the lifting device 502 holds the storage container 106 (e.g.) Figure 6 and Figure 7 (as shown), or performed by the lifting device 502 itself (e.g. Figure 5 (As shown).
[0083] In one embodiment, the method further includes lowering the lifting device 502 at a first speed until it reaches a first vertical position Z. s And when the height of the storage container 106 in the stack 107 is determined, the lifting device 502 is lowered at a second speed slower than the first speed. First vertical position Z s It can be based on the expected grid location (X) i Yj The expected maximum height of the storage container 106 is determined.
[0084] In some cases, for example Figure 6 As shown, there is no stack 107 of storage containers 106 with a unique height. In this case, method 800 cannot detect the vertical position Z. k The grid position (X) of the storage container 106 with the same height as the stack 107. i Y j The records are matched to determine the grid position (X) of the first container handling vehicle 501. i Y j Therefore, in one embodiment, method 800 may include method 900 prior to step 801. Figure 9 An exemplary flowchart of method 900 is shown. In the first step 901, for example, by checking each grid position (X) in the control system 121... i Y j The records are used to determine whether there are any grid locations (X) of a stack 107 with a unique height for storage container 106. i Y j In some implementations, a single grid location or a combination of multiple adjacent grid locations can provide a unique depth pattern (UDP), which can be used to determine the grid location (X) of the first container transport vehicle 501. i Y j If UDP is determined to exist, the method continues to step 801 as described above. If no UDP is determined to exist, the method continues to step 902. In step 902, the second container transport vehicle 503 is instructed to move from the grid location (X). i Y j Move storage container 106, or move the storage container to the grid position, so that at the grid position (X) i Y j A unique height or UDP for storage container 106 is generated at the location. Once the unique height or UDP for storage container 106 has been generated, method 900 continues to step 801 as described above. In doing so, the grid position (X) of the first container transport vehicle 501 is determined when the lifting device 502 of the first container transport vehicle 501 is lowered to detect the unique height of storage container 106 set by the second container transport vehicle 503. i Y j ).
[0085] In the foregoing description, various aspects of the delivery vehicle and automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. Specific figures, coordinate systems, systems, and configurations have been set forth for illustrative purposes to provide a full understanding of the system and its operation. However, this specification is not intended to be interpreted in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, that will be apparent to those skilled in the art to which the disclosed subject matter pertains, are considered to fall within the scope of the claims.
[0086] List of reference numerals in the attached figures
[0087] 1. Existing automated storage and retrieval systems
[0088] 100 frame structure
[0089] 102. Upright members of the frame structure
[0090] 104 storage grids
[0091] 105 storage columns
[0092] 106 storage containers
[0093] Specific location of 106' storage container
[0094] 107 stacks
[0095] 108 orbital system
[0096] 110 Parallel track in the first direction (X)
[0097] 110a First orbit in the first direction (X)
[0098] 110b Second orbit in the first direction (X)
[0099] 111 Parallel track in the second direction (Y)
[0100] 111a First track in the second direction (Y)
[0101] 111b Second orbit in the second direction (Y)
[0102] 112 Access Opening
[0103] 119 First Port Column
[0104] 120 Second Port Column
[0105] 121 Control System
[0106] 201 Prior art storage container vehicles
[0107] 201a storage container vehicle 201 body
[0108] 201b Drive unit / wheel arrangement in the first direction (X)
[0109] 201c Drive unit / wheel arrangement in the second direction (Y)
[0110] 301 Prior art cantilevered storage container vehicles
[0111] 301a storage container vehicle body 301
[0112] 301b Drive device in the first direction (X)
[0113] 301c Drive device in the second direction (Y)
[0114] 304 clamping device
[0115] 401 Prior art storage container vehicles
[0116] 401a Storage Container Vehicle 401 Body
[0117] 401b Drive unit / wheel arrangement in the first direction (X)
[0118] 401c Drive unit / wheel arrangement in the second direction (Y)
[0119] X First Direction
[0120] Y second direction
[0121] Z Third-party direction
[0122] X i Y j Grid position on the orbital system
[0123] Z k Vertical position
[0124] Z s Vertical position for velocity change
[0125] 501 Storage Container Transport Vehicle
[0126] 502 Lifting Device
[0127] 503 Storage Container Transport Vehicle
Claims
1. A method for determining the position of a first container handling vehicle on a track system (108) of a grid-type automated storage and retrieval system (1), the grid-type automated storage and retrieval system (1) comprising: The control system (121) includes a grid location ((X) for each grid position of a stack (107) including storage containers (106). i Y j )) grid coordinates ((X) i Y j The method includes recording the height of the storage container (106) in the stack (107) corresponding to the grid position ((Xi, Yj)) and the height of the storage container (106) in the stack (107) corresponding to the grid position ((Xi, Yj)). Step (801), for at least one grid location ((X) i Y j By lowering the lifting device (502) of the first container handling vehicle (501) until the lifting device (502) is in a vertical position (Z). k The storage container (106) is detected at point (106) to determine the height of the storage container (106) in the corresponding stack (107) of the storage containers; and Step (802), using the control system (121), by detecting the vertical position (Z) k ) and the grid position of the storage container (106) with the same height in the corresponding stack (107) ((X i Y j The records of the first container handling vehicle (501) are matched to determine the grid position ((X) of the first container handling vehicle (501). i Y j )).
2. The method according to claim 1, wherein, The method includes determining the vertical position (Z) while the lifting device (502) holds the storage container (106). k ).
3. The method according to any one of the preceding claims, wherein, The method further includes: lowering the lifting device (502) at a first speed until it reaches a first vertical position (Z). s ), and when the height of the storage container (106) in the stack (107) is determined, the lifting device (502) is lowered at a second speed slower than the first speed.
4. The method according to claim 3, wherein, The first vertical position (Zs) is determined based on the expected maximum height of the storage container (106) at the expected grid position ((Xi, Yj)).
5. The method according to any one of claims 1-2 further includes instructing a second container transport vehicle (503) to move the storage container (106) from the grid location ((X) i Y j Move out of or to a grid position, so that at the grid position ((X) i Y j The unique height of the storage container (106) is generated at the location.
6. The method according to claim 5, wherein, When the lifting device (502) of the first container transport vehicle (501) is lowered to detect the unique height of the storage container (106) set by the second container transport vehicle (503), the grid position ((X) of the first container transport vehicle (501) is determined. i Y j )).
7. The method according to any one of claims 1-2 further includes utilizing the determined grid position ((X) of the first container transport vehicle (501). i Y j To update the records of the control system (121).
8. The method according to any one of claims 1-2, wherein, The grid-based automatic storage and retrieval system (1) further includes: - A frame structure (100) includes an upright member (102) and a track system (108), the track system including a grid of horizontal tracks (110) disposed at the upper end of the upright member (102), the frame structure (100) defining a storage volume, the storage volume including storage columns (105) arranged adjacent to each other below the horizontal tracks (110), the grid defining a plurality of grid locations ((Xi, Yj)); - Multiple storage containers (106) are stacked one on top of the other in the storage column (105) to form multiple stacks (107) in the storage column (105); and - A first container transport vehicle, including a lifting device (502) that can be lowered from the first container transport vehicle to pick up a storage container (106).
9. A system for determining the grid position of a first container transport vehicle on a track system (108) of a grid-based automated storage and retrieval system (1), the grid-based automated storage and retrieval system (1) comprising: The control system (121) includes a grid location ((X) for each grid position of a stack (107) including storage containers (106). i Y j )) grid coordinates ((X) i Y j )) and the grid position ((X) i Y j The record of the height of the storage container (106) in the corresponding stack (107), The system is suitable for: Step (801), for at least one grid location ((X) i Y j By lowering the lifting device (502) of the first container handling vehicle (501) until the lifting device (502) is in a vertical position (Z). k The storage container (106) is detected at point (106) to determine the height of the storage container (106) in the corresponding stack (107) of the storage containers; and Step (802), using the control system (121), by detecting the vertical position (Z) k ) and the grid position of the storage container (106) with the same height in the corresponding stack (107) ((X i Y j The records of the first container handling vehicle (501) are matched to determine the grid position ((X) of the first container handling vehicle (501). i Y j )).
10. The system according to claim 9, wherein, The system is adapted to determine the vertical position (Z) when the lifting device (502) holds the storage container (106). k ).
11. The system according to any one of claims 9 to 10, wherein, The system is also adapted to lower the lifting device (502) at a first speed until it reaches a first vertical position (Z). s ), and when the height of the storage container (106) in the stack (107) is determined, the lifting device (502) is lowered at a second speed slower than the first speed.
12. The system of claim 11, wherein the first vertical position (Zs) is determined based on the expected maximum height of the storage container (106) at the expected grid position ((Xi, Yj)).
13. The system according to any one of claims 9 to 10, wherein, The control system (121) is also adapted to instruct a second container handling vehicle (503) to move the storage container (106) from the grid location ((X) i Y j Move out of or to a grid position, so that at the grid position ((X) i Y j The unique height of the storage container (106) is generated at the location.
14. The system according to claim 13, wherein, When the lifting device (502) of the first container transport vehicle (501) is lowered to detect the unique height of the storage container (106) set by the second container transport vehicle (503), the grid position ((X) of the first container transport vehicle (501) is determined. i Y j )).
15. The system according to any one of claims 9 to 10, wherein, The control system (121) is also adapted to utilize the determined grid position ((X) of the first container transport vehicle (501) i Y j To update the records of the control system (121).
16. The system according to any one of claims 9 to 10, wherein, The grid-based automatic storage and retrieval system (1) further includes: - A frame structure (100) includes an upright member (102) and a track system (108), the track system including a grid of horizontal tracks (110) disposed at the upper end of the upright member (102), the frame structure (100) defining a storage volume, the storage volume including storage columns (105) arranged adjacent to each other below the horizontal tracks (110), the grid defining a plurality of grid locations ((Xi, Yj)); - Multiple storage containers (106) are stacked one on top of the other in the storage column (105) to form multiple stacks (107) in the storage column (105); and - A plurality of first container transport vehicles, including a lifting device (502) that can be lowered from the first container transport vehicles to pick up storage containers (106).
17. A computer program product for a control system (121), wherein, The computer program product includes instructions that, when processed by the control system, will execute the method according to any one of claims 1 to 8.