Dynamic adaptation of down drop

Abstract

A method and system for optimizing a cleaning time following excavation of containers in a grid of an automated storage and retrieval system, the grid comprising a grid-based track system as part of a frame structure wherein the track system comprises a first set of parallel tracks and a second set of parallel tracks, a first set of parallel rails is arranged to guide the container handling vehicle to move across the top of the frame structure in a first direction (X), and a second set of parallel rails is arranged perpendicular to the first set of rails to guide the container handling vehicle to move in a second direction (Y) perpendicular to the first direction (X), the first and second sets of parallel tracks divide the track system into a plurality of units, the frame structure comprising upright members defining within the frame structure a storage column for storing containers, a central computer system having a dispenser program for dispensing tasks to the container handling vehicle being configured to compute the method, the method comprises the following steps: a central computer system calculates the void percentage of an automatic storage and retrieval system; the central computer system provides information about the density of the container handling vehicles on the grid; the central computer system provides information about the workspace; using at least one of the following parameters: void percentage, density of container handling vehicles on the grid and / or workspace, how many resources should be used for cleaning after the containers are excavated in the storage and retrieval unit is calculated in a distributor portion of the central computer system.

Description

Technical Field

[0001] The present invention relates to an automatic storage and retrieval system for storing and retrieving containers, and more particularly to a system and method for adjusting resources for cleaning after containers have been dug after they have been buried in the lower part of a row. Background Art

[0002] FIG. 1 discloses a typical prior art automated storage and retrieval system having 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 .

[0003] 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 referred to as containers) are stacked one on top of the other to form stacks 107. The members 102 may generally be made of metal, such as extruded aluminum profiles.

[0004] The frame structure 100 of the automatic storage and retrieval system 1 includes a rail system 108 arranged across the top of the frame structure 100, on which a plurality of container handling vehicles 201, 301, 401 can be operated to lift storage containers 106 from the storage row 105, lower the storage containers 106 into the storage row, and transport the storage containers 106 above the storage row 105. The rail system 108 includes a first set of parallel rails 110 and a second set of parallel rails 111, the first set of parallel rails being arranged to guide the container handling vehicles 201, 301, 401 to move across the top of the frame structure 100 in a first direction X, and the second set of parallel rails being arranged perpendicular to the first set of rails 110 to guide the container handling vehicles 201, 301, 401 to move in a second direction Y perpendicular to the first direction X. The containers 106 stored in the row 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 be moved laterally above the storage row 105 , ie in a plane parallel to the horizontal XY plane.

[0005] Upright members 102 of frame structure 100 may be used to guide storage containers during the process of raising and lowering containers from and into row 105. Stack 107 of containers 106 is generally self-supporting.

[0006] Each prior art container handling vehicle 201, 301, 401 comprises a body 201a, 301a, 401a and a first and a second set of wheels 201b, 301b, 201c, 301c, 401b, 401c, which wheels enable the container handling vehicle 201, 301, 401 to move laterally in the X direction and in the Y direction, respectively. In Figures 2, 3 and 4, the two wheels in each set are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent tracks of the first set of tracks 110, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent tracks of the second set of tracks 111. At least one set of wheels 201b, 201c, 301b, 301c, 401b, 401c can be raised and lowered so that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can engage with the corresponding track set 110, 111 at any time.

[0007] Each prior art container handling vehicle 201, 301, 401 further comprises a lifting device for vertically transporting storage containers 106, for example lifting and lowering storage containers 106 from and into the storage row 105. The lifting device comprises one or more clamping / engaging devices adapted to engage the storage containers 106 and which can be lowered from the vehicle 201, 301, 401 so that the position of the clamping / engaging devices relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. Components of the clamping devices of the container handling vehicle 301, 401 are indicated by reference numerals 304, 404 in FIGS. 3 and 4. The clamping devices of the container handling device 201 are located within the vehicle body 201a in FIG. 2.

[0008] Conventionally, and for the purposes of this application, Z=1 identifies the uppermost layer of storage containers, i.e., the layer directly below the rail system 108, Z=2 identifies the second layer below the rail system 108, Z=3 identifies the third layer, etc. In the exemplary prior art disclosed in FIG. 1 , Z=8 identifies the lowest layer of storage containers. Similarly, X=1…n and Y=1…n identify the position of each storage column 105 in a horizontal plane. Thus, as an example, using the Cartesian coordinate system X, Y, Z shown in FIG. 1 , the storage container identified as 106 'in FIG. 1 can be said to occupy storage position X=17, Y=1, Z=6. The container handling vehicles 201, 301, 401 can be said to travel in the Z=0 layer, 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 can also be said to be arranged in the Z=0 layer.

[0009] The storage volume of the frame structure 100 is generally referred to as a grid 104, wherein the possible storage positions within the grid are referred to as storage cells. Each storage column can be identified by a position in the X and Y directions, and each storage cell can be identified by a 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 the storage container 106 across the track system 108. The storage space may include a cavity arranged inside the vehicle body 201a, as shown in Figures 2 and 4, and as described, for example, in WO 2015 / 193278A1 and WO 2019 / 206487A1, the contents of which are incorporated herein by reference.

[0011] Figure 3 shows an alternative configuration of a container handling vehicle 301 having a cantilever structure. Such a vehicle is described in detail in NO 317366, for example, the contents of which are also incorporated herein by reference.

[0012] The cavity container handling vehicle 201 shown in Figure 2 may have a footprint covering an area having dimensions in the X and Y directions, which area is generally equal to the lateral extent of the storage row 105, for example, as described in WO 2015 / 193278A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein may mean "horizontally".

[0013] Alternatively, the footprint of the cavity container handling vehicle 401 can be larger than the lateral area defined by the storage row 105 shown in Figures 1 and 4, for example, as disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] The track system 108 generally includes a track with a groove, and the wheels of the vehicle travel in the groove. Alternatively, the track can include an upwardly protruding element, where the wheels of the vehicle include a flange to prevent derailment. These grooves and upwardly protruding elements are collectively referred to as slide rails. Each track can include a slide rail, or each track can include two parallel slide rails.

[0015] WO 2018 / 146304 A1 shows a general configuration of a rail system 108 , the contents of which are incorporated herein by reference, which includes rails in the X and Y directions and parallel slides.

[0016] In the frame structure 100 , the majority of the rows 105 are storage rows 105 , ie rows 105 in which storage containers 106 are stored in stacks 107 .

[0017] However, some columns 105 may have other purposes. In FIG. 1 , columns 119 and 120 are special purpose columns used by container handling vehicles 201, 301, 401 to unload and / or pick up storage containers 106 so as to transport the storage containers to an access station (not shown) where the storage containers 106 may be accessed from the outside of the frame structure 100 or the storage containers may be transferred out of the frame structure 100 or transferred into the frame structure 100. In the art, such locations are generally referred to as "ports" and the columns in which the ports are located may be referred to as "port columns" 119, 120. Transportation to the access station may be in any direction, i.e., horizontal, inclined and / or vertical. For example, a storage container 106 may be placed in a random or dedicated column 105 within the frame structure 100 and then picked up and transported to a port column 119, 120 by any container handling vehicle for further transportation to the access station. Note that the term "inclined" refers to the transportation of storage containers 106 having a general transportation direction between horizontal and vertical.

[0018] In Figure 1, the first port column 119 can be, for example, a dedicated unloading port column, where the container handling vehicles 201, 301 can unload the storage containers 106 to be transported to the access station or the transfer station, and the second port column 120 can be a dedicated pickup port column, where the container handling vehicles 201, 301, 401 can pick up the storage containers 106 that have been transported from the access station or the transfer station.

[0019] The access station can generally be a picking station or an inventory station, where product items are removed from or placed into the storage container 106. In the picking station or inventory station, the storage container 106 is usually not removed from the automatic storage and retrieval system 1, but is returned to the frame structure 100 again after being accessed. The port can also be used to transfer the storage container to another storage facility (e.g., another frame structure or another automatic storage and retrieval system), a transport vehicle (e.g., a train or truck), or a production facility.

[0020] A conveying system including a conveyor is typically employed to transport the storage containers between the port rows 119, 120 and the access station.

[0021] If the port rows 119, 120 and the access station are located at different levels, the conveying system may include a lifting device with a vertical component for vertically transporting the storage container 106 between the port rows 119, 120 and the access station.

[0022] The conveying system may be arranged to transfer storage containers 106 between different frame structures, for example as described in WO 2014 / 075937 A1, the contents of which are incorporated herein by reference.

[0023] 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 take out the target storage container 106 from its position and transport it to the unloading port column 119. This operation involves moving the container handling vehicle 201, 301 to a position above the storage column 105 where the target storage container 106 is located, taking out the storage container 106 from the storage column 105 using the lifting device (not shown) of the container handling vehicle 201, 301, 401, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep in the stack 107, i.e., one or more other storage containers 106 are placed above the target storage container 106, the operation also involves temporarily moving the storage container located above before lifting the target storage container 106 from the storage column 105. This step is sometimes referred to in the art as "digging" and can be performed with the same container handling vehicle or one or more other cooperating container handling vehicles that are subsequently used to transport the target storage container to the unloading port column 119. Alternatively or in addition, the automated storage and retrieval system 1 can have container handling vehicles 201, 301, 401 that are specifically designed for the task of temporarily removing storage containers 106 from the storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container 106 can be relocated to the original storage column 105. However, alternatively, the removed storage container 106 can be relocated to other storage columns 105.

[0024] When a storage container 106 is to be stored in one of the rows 105, one of the container handling vehicles 201, 301, 401 is instructed to pick up the storage container 106 from the pickup port row 120 and transport the storage container to a position above the storage row 105 where it is to be stored. After any storage container 106 placed at or above the target position within the stack 107 is removed, the container handling vehicle 201, 301, 401 places the storage container 106 at the desired position. The removed storage container 106 can then be lowered back into the storage row 105 or relocated to another storage row 105.

[0025] In order to monitor and control the automatic storage and retrieval system 1, such as monitoring and controlling the positions of the corresponding storage containers 106 within the frame structure 100, the contents in each storage container 106, and the movement of the container handling vehicles 201, 301, 401, so as to deliver the desired storage container 106 to the desired location at the desired time without causing the container handling vehicles 201, 301, 401 to collide with each other, the automatic storage and retrieval system 1 includes a control system 500, which is generally computerized and generally includes a database for tracking the storage containers 106.

[0026] As a container handling vehicle is digging up a row to access containers stored towards the bottom of the row, containers stored above the above containers are placed around the row being dug.

[0027] After digging upwards, the container handling vehicle returns the container to its original position and then transports the container to the port.

[0028] This cleaning takes a lot of time, while the main goal of the system is to deliver the containers to the port so that the items can be picked from them. Therefore, it is beneficial to adjust the cleaning time spent after the digging instead of the time of transporting the containers to the port. However, cleaning is necessary to maintain the order of the containers in the stack. In addition, delayed cleaning will complicate further digging in the same area.

[0029] In current advanced systems, there is no way to solve this problem. Summary of the invention

[0030] The invention is set forth and characterized in the independent claim, while the dependent claims describe further characteristics of the invention.

[0031] In one aspect, the present invention relates to a method for optimizing cleanup time after scooping a container in a grid of an automated storage and retrieval system, the grid comprising a grid-based track system as part of a frame structure, wherein the track system comprises a first set of parallel tracks and a second set of parallel tracks, the first set of parallel tracks being arranged to guide a container handling vehicle to move across a top of the frame structure in a first direction (X), the second set of parallel tracks being arranged perpendicular to the first set of tracks to guide the container handling vehicle to move in a second direction (Y) perpendicular to the first direction (X), the first set of parallel tracks and the second set of parallel tracks dividing the track system into a plurality of units, the frame structure comprising upright members defining storage columns for storing containers within the frame structure, and having an assigner program (Assigner) for assigning tasks to container handling vehicles. A central computer system of a program) is configured to calculate the method, which includes: the central computer system calculates the hole percentage of the automatic storage and retrieval system; the central computer system provides information about the density of container handling vehicles on the grid; the central computer system provides information about the workspace; using at least one of the following parameters: the hole percentage, the density of container handling vehicles on the grid and / or the workspace, calculating in the distributor part of the central computer system how much resources should be used for cleaning after digging out the container in the storage and retrieval unit.

[0032] Additionally, the present invention may include adjusting for time of day when calculating the number of container handling vehicles to clean up after scooping the container, and may include adjusting for height of the stack when calculating the number of container handling vehicles to clean up after scooping the container.

[0033] Furthermore, the present invention may include making adjustments based on the number of picking orders when calculating the number of container handling vehicles used to clean up after scooping the containers.

[0034] If the working space on the storage and retrieval system is large, the distributor can reduce the number of container handling vehicles used for cleaning after digging the containers.

[0035] If the working space on the storage and retrieval system is small, the distributor can increase the number of container handling vehicles used for cleaning after digging the containers.

[0036] The present invention may use workspace to adjust resources for cleaning the grid after mining a container, or use hole percentage to adjust resources for cleaning the grid after mining a container, or use robot density to adjust resources for cleaning the grid after mining a container.

[0037] A second aspect of the present invention relates to a system for optimizing the cleaning time after digging out containers in a grid of an automatic storage and retrieval system, the grid comprising a grid-based track system as part of a frame structure, the track system comprising a first set of parallel tracks and a second set of parallel tracks, the first set of parallel tracks being arranged to guide a container handling vehicle to move across the top of the frame structure in a first direction (X), the second set of parallel tracks being arranged perpendicular to the first set of tracks to guide the container handling vehicle to move in a second direction (Y) perpendicular to the first direction (X), the first set of parallel tracks and the second set of parallel tracks dividing the track system into a plurality of grid units, the frame structure comprising upright members defining storage columns for storing containers within the frame structure, characterized in that a distributor for assigning tasks to the container handling vehicles is configured to: calculate the number of the container handling vehicles for cleaning up after digging out the containers, and use (density of container handling vehicles on the grid)*(number of free spaces) / (number of grid units) to calculate the working space for the container handling vehicles.

[0038] As the workspace increases over time, the allocator in the central computer system allocates fewer container handling vehicles for cleaning up after scooping up the containers.

[0039] If the working space is reduced, the allocator in the central computer system allocates more container handling vehicles for cleaning after digging out the containers.

[0040] A third aspect of the present invention relates to a computer program product, comprising instructions which, when executed on a computer, cause a distributor to perform the method mentioned in the first aspect of the present invention.

[0041] The present invention solves the above problems by allowing a central computer system to determine how much resources should be used to clean up after digging containers in a storage and retrieval system based on the workspace, or even based on the percentage of holes or density of container handling vehicles on the grid of the storage and retrieval system. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The following drawings are attached to facilitate understanding of the present invention. The drawings illustrate embodiments of the present invention which will now be described by way of example only, wherein:

[0043] FIG. 1 is a perspective view of a frame structure of a prior art automatic storage and retrieval system.

[0044] 2 is a perspective view of a prior art container handling vehicle having an internally disposed cavity for carrying storage containers therein.

[0045] 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.

[0046] 4 is a perspective view (from below) of a prior art container handling vehicle having an internally disposed cavity for carrying storage containers therein.

[0047] Figure 5 is a flow chart of the decisions made by the allocator regarding resources used to clean up after scooping up a container.

[0048] Figure 6 is an alternative solution to using workspace parameters to adjust the resources used to clean up after digging storage and retrieving containers in the system. DETAILED DESCRIPTION

[0049] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. It should be understood, however, that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings.

[0050] The frame structure 100 of the automatic storage and retrieval system 1 is constructed in a similar manner to the frame structure 100 of the prior art described above in conjunction with Figures 1 to 3. That is, the frame structure 100 includes a series of upright members 102 and includes a first upper track system 108 extending in the X direction and the Y direction.

[0051] The frame structure 100 further comprises storage compartments in the form of storage rows 105 arranged between the components 102 , wherein storage containers 106 are stackable in stacks 107 within the storage rows 105 .

[0052] The frame structure 100 may be of any size. In particular, it will be appreciated that the frame structure may be much wider and / or longer and / or deeper than that disclosed in FIG1. ​​For example, the frame structure 100 may have a horizontal extent of more than 700×700 columns and a storage depth of more than twelve containers.

[0053] Now refer to Figure 5 One embodiment of the present invention for an automatic storage and retrieval system according to the present invention is discussed in more detail.

[0054] Figure 5 is a flow chart of decisions made regarding resources used to clean up after mining a container.

[0055] In container storage and retrieval systems, container handling vehicles sometimes have to dig containers upward from the bottom of the container stack if the container is placed at the bottom of the stack. In order to reach the bottom container, the container handling vehicle must lift and move all containers above the container in order to reach the bottom container. This is called digging. The container that has been lifted upward is placed on top of the column of containers around the container being dug.

[0056] The current system involves transporting the containers to a port after they have been dug up so that they can be put back into the train. This requires a lot of time and effort to clean up after digging.

[0057] However, using the time to clean up after scooping may not be the best use of system capacity. A more efficient use may be to transport the target container directly to the port and let the container handling vehicle continue to the next task instead of cleaning up immediately. Cleaning up can be done at a time when the system is less busy.

[0058] Therefore, the present invention proposes a solution to calculate how much time should be used to clean up after digging up (digging down).

[0059] The time spent digging down must be calculated for each site or grid. To calculate this, we use the percentage of holes and the workspace of vehicles processed by each container as important characteristics of the grid. Both characteristics can be used to modify the behavior of the router to allow different behavior for different sites / grids.

[0060] In the allocator we need to select how many container handling vehicles we want to use for going to the port and how many we want to use for digging down.

[0061] When deciding how much digging down will be done, we can also include the number of containers per stack. The number of containers per stack dictates how much free space is needed to dig up the containers.

[0062] The allocator needs to decide which work should be done. In many cases we can choose between transporting containers to the port and cleaning the grid. The digging down work is the most important work to clean the grid. We should always force a certain amount of digging down on containers to ensure that we have enough space to dig up additional containers. Usually, the storage and retrieval system sets the task of cleaning up after digging higher than the task of transporting containers to the port. This is to ensure that the grid is as clean as possible to avoid locking the area for additional digging up, but it is also impossible to put containers returning from the port in these locations because there are temporary containers here and we can't use these units for anything else (temporary containers are containers that need to be cleaned up after digging).

[0063] Also, do not hinder the maneuverability of the container handling vehicles. However, time spent cleaning up after scooping is wasted when it comes to the most important part of what the system does, which is to complete as many picking orders as possible. Therefore, it is better not to clean up after scooping and allow some untidiness on the grid to ensure that the containers are transported to the port as quickly as possible. This will make the storage and retrieval system work better by increasing the number of containers that arrive at the port.

[0064] However, in order to decide how much resources should be used for cleanup after scooping up a container, several parameters need to be considered.

[0065] These parameters are the percentage of holes, the density of container processing vehicles operating on the grid, and the workspace of each container processing vehicle on the grid.

[0066] The void percentage is calculated by dividing the free space by the number of cells and multiplying by 100. This describes the percentage of the grid that is filled with containers. For example, if we have an average of 15 containers per stack, but only enough containers to fill each stack with 14 containers, then our void percentage is 100%. If we fill each stack with an average of 14.5 containers, then our void percentage is 50%.

[0067] Therefore, a higher void percentage is more likely to create a good excavation area.

[0068] The density of container handling vehicles is simply the number of computational cells divided by the number of container handling vehicles. This describes how dense the grid is relative to the number of container handling vehicles.

[0069] This indicates how much traffic there is and how many route conflicts there will be between container handling vehicles.

[0070] The workspace per container handling vehicle is calculated by multiplying the container handling vehicle density by the void percentage, which describes how many units each container handling vehicle hole must work on (scooping, carrying out of the port, etc.).

[0071] Having a low working space will force us to use less than ideal excavation areas and the need to clean the mesh becomes a priority.

[0072] Figure 6 An alternative solution is to use workspace parameters to adjust the resources used for cleaning up after digging a container in a storage and retrieval system to a specific system based on the workspace of that system.

[0073] Workspace is an important parameter because it can be used to adjust many different parameters of the storage and retrieval system. Different storage and retrieval systems vary in terms of storage capacity and space. Therefore, there is a big difference between systems with large workspaces and systems with small workspaces. Therefore, it can be concluded that the ideal operating differences between systems with large workspaces and systems with small workspaces are also quite different. Systems with large workspaces can allow for reduced resources used to clean up after digging out containers in the storage and retrieval system. Therefore, storage and retrieval systems with small workspaces need to use a lot of resources to clean up after digging out containers in the storage and retrieval. If systems with small workspaces do prioritize cleaning up after digging out containers in the storage and retrieval system, then the workspace of the container handling vehicles will become very small, slowing down the operation of storage and retrieval. Therefore, workspace can be used to adapt different things on the grid, such as adjusting the cleanup work after digging out containers in the storage and retrieval system.

[0074] The workspace is relatively constant across a grid, but will vary greatly from grid to grid, since the owner of a system typically wants as many containers in the system as possible. This will result in some storage and retrieval systems having a small workspace due to the many containers in the grid, and some storage and retrieval systems having a large workspace due to the large storage and retrieval system. Therefore, with the same amount of resources used to clean up after digging out containers in a storage and retrieval system, the workspace will be relatively constant within a storage and retrieval system, but it will vary greatly within the storage and retrieval system. Examples of events that will change the workspace in a storage and retrieval system are robots being taken out for maintenance, containers being added / removed from the system, robots being sent to recharge, etc.

[0075] 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. For ease of explanation, specific numbers, systems, and configurations are listed to provide a comprehensive understanding of the system and its working principles. However, this description 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 are obvious to those skilled in the art to which the disclosed subject matter belongs are considered to fall within the scope of the present invention.

[0076] List of reference numbers

[0077] Prior art (Figures 1 to 4):

[0078] 1. Automatic storage and retrieval system of the prior art

[0079] 100 Frame structure

[0080] 102 Vertical members of frame structure

[0081] 104 Storage Grid

[0082] 105 Storage Rows

[0083] 106 Storage Container

[0084] Specific location of 106' storage container

[0085] 107 Stacking

[0086] 108 Track System

[0087] 110 Parallel tracks in the first direction (X)

[0088] 112 Access opening

[0089] 119 First port column

[0090] 120 Second port column

[0091] 201 Prior Art Container Handling Vehicles

[0092] 201a: body of container handling vehicle 201

[0093] 201b Drive device / wheel arrangement / first set of wheels in first direction (X)

[0094] 201c Drive device / wheel arrangement / second set of wheels in second direction (Y)

[0095] 301 Prior Art Cantilever Container Handling Vehicles

[0096] 301a: body of container handling vehicle 301

[0097] 301b Driving device in first direction (A) / first set of wheels

[0098] 301c Driving device in the second direction (Y) / second set of wheels

[0099] 304 clamping device

[0100] 401 PRIOR ART CONTAINER HANDLING VEHICLES

[0101] 401a The body of the container handling vehicle 401

[0102] 401b Driving device in the first direction (X) / first set of wheels

[0103] 401c Driving device in the second direction (Y) / second set of wheels

[0104] 404 Clamping device

[0105] 404a Lifting belt

[0106] 404b Clamp

[0107] 404c Guide pin

[0108] 404d Lifting Frame

[0109] 500 Control System

[0110] X first direction

[0111] Y Second direction

[0112] Z third direction.

Claims

1. A method for optimizing the cleanup time after scooping a container in a grid of an automated storage and retrieval system, the grid comprising a grid-based track system as part of a frame structure, wherein: The track system comprises a first set of parallel tracks arranged to guide a container handling vehicle to move across the top of the frame structure in a first direction (X), and a second set of parallel tracks arranged perpendicular to the first set of tracks to guide the container handling vehicle to move in a second direction (Y) perpendicular to the first direction (X), the first set of parallel tracks and the second set of parallel tracks dividing the track system into a plurality of units, the frame structure comprising upright members defining storage columns for storing containers within the frame structure, a central computer system having an allocator program for allocating tasks to the container handling vehicles being configured to calculate the method, the method comprising: The central computer system calculates the void percentage of the automatic storage and retrieval system, the central computer system provides information about the density of the container handling vehicles on the grid, The central computer system provides information about the workspace, Calculating in the allocator part of the central computer system how much resources should be used for cleaning after digging a container in a storage and retrieval unit using at least one of the following parameters: percentage of holes, density of the container handling vehicles on the grid and / or the workspace.

2. The method according to claim 1, wherein: The method includes adjusting for time of day when calculating the number of container handling vehicles to use for cleanup after scooping a container.

3. The method according to claim 1 or 2, wherein: The method includes making an adjustment for the height of the stack when calculating the number of container handling vehicles to be used for cleaning up after scooping out the container.

4. The method according to claim 1, 2 or 3, wherein: The method includes making adjustments based on the number of picking orders when calculating the number of container handling vehicles used to clean up after scooping containers.

5. A method according to any one of the preceding claims, wherein: If the working space on the storage and retrieval system is large, the distributor reduces the number of the container handling vehicles used for cleaning after digging out the containers.

6. A method according to any one of the preceding claims, wherein: If the working space on the storage and retrieval system is small, the distributor increases the number of the container handling vehicles used for cleaning after digging out the containers.

7. The method of claim 1, using a workspace to adjust the resources for cleaning the grid after mining a container.

8. The method of claim 1, using a hole percentage to adjust the resources applied to clean up the grid after mining a container.

9. The method of claim 1, using robot density to adjust the resources suitable for cleaning the grid after mining containers.

10. A system for optimizing cleanup time after scooping containers in a grid of an automated storage and retrieval system, the grid comprising a grid-based track system as part of a frame structure, the track system comprising a first set of parallel tracks and a second set of parallel tracks, the first set of parallel tracks being arranged to guide a container handling vehicle to move across the top of the frame structure in a first direction (X), the second set of parallel tracks being arranged perpendicular to the first set of tracks to guide the container handling vehicle to move in a second direction (Y) perpendicular to the first direction (X), the first set of parallel tracks and the second set of parallel tracks dividing the track system into a plurality of grid cells, the frame structure comprising upright members defining storage rows for storing containers within the frame structure, characterized in that The allocator for allocating tasks to the container handling vehicles is configured to calculate the number of the container handling vehicles for cleaning after digging the container, and calculate the working space for the container handling vehicles using the following formula:

11. The system according to claim 7, wherein: As the work space increases, the allocator in the central computer system allocates fewer of the container handling vehicles for cleaning after digging out containers.

12. The system according to claim 7 or 8, wherein: The allocator in the central computer system allocates more of the container handling vehicles for cleaning after digging out containers.

13. A computer program product comprising instructions which, when executed on a computer, cause a distributor to perform the method of any one of claims 1 to 9.

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