Method and system for moving automated vehicle of automated storage system

Abstract

A method and system for controlling movement of a plurality of automated vehicles (150) running on an automated storage and retrieval system (10) comprising a frame structure (100) and a track system (108) arranged to guide movement of the plurality of automated vehicles (150) between storage rows (105) made up of upright members (102) of the frame structure (100). The automatic storage and retrieval system is controlled by a system controller (205), each automated vehicle (150) includes a vehicle body (310), first and second sets of wheels enabling the automated vehicle (150) to move laterally in X and Y directions on a track system (108), components and parts connected to a local controller (320) for autonomous operation, a communication device connected to the local controller (320) for communicating with and receiving movement instructions from the system controller (205); and a short range communication device (330) arranged to communicate with a nearby automated vehicle (150). The method comprises the following steps: sending, by the system controller (205), control signals to at least two designated automated vehicles (150) for movement in groups on the track system (108) in the same direction of travel; sending, by the system controller (205), a control signal to a selected automated vehicle (150) in the group to cause the selected automated vehicle to act as a leading automated vehicle (150) of other automated vehicles (150) in the group and to travel to a target location; transmitting, by the selected guided vehicle (150), a short-range signal informing other vehicles (150) in the group to follow the guided vehicle (150); detecting, by an automated vehicle (150) in the group, the transmitted short-range signal; communicating the detected short-range signal between the automated vehicles (150) in the group; the guided automated vehicle (150) is caused to travel towards the target location while a movement signal is transmitted by the short-range device (330) and other automated vehicles (150) in the group are caused to move following the guided automated vehicle (150) upon detecting the transmitted movement signal.

Description

Technical Field

[0001] The present invention relates to an automated storage and retrieval system for storing and retrieving storage containers by handling by an automated vehicle, and more particularly, to a method, system, and computer program for controlling the movement of a plurality of automated vehicles moving in a group. Background Art

[0002] Figure 1 The prior art automated storage and retrieval system 10 is disclosed, which includes a frame structure 100 and an automated vehicle 150 that transports storage containers 106 on the system.

[0003] The frame structure 100 includes upright members 102 and a storage volume that includes storage rows 105 arranged in rows between the upright members 102. In these storage rows 105, storage containers 106 (also referred to as boxes) are stacked one on top of the other to form a stack 107 that extends in the Z direction as shown in the accompanying drawings. The upright members 102 can typically be made of metal (e.g., extruded aluminum profiles).

[0004] The frame structure 100 of the automated storage and retrieval system 10 includes a track system 108 arranged across the top of the frame structure 100. The track system 108 can also be arranged below the frame structure 100. The automated vehicle 150 can then transport the storage containers in the storage rows 105 at different levels where the track system 108 is installed in the Z direction.

[0005] A plurality of automated vehicles 150 can operate to raise or lower the containers 106 from and into the storage rows 105 and transport the storage containers 106 above and below the storage rows 105. The track system 108 includes: a first set of parallel tracks 110 arranged to guide the automated vehicle 150 to move across the top of the frame structure 100 in a first direction X; and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide the automated vehicle 150 to move in a second direction Y perpendicular to the first direction X. Track intersections are formed at positions where the tracks extending in the X direction intersect the tracks extending in the Y direction, and the automated vehicle 150 can change direction at these track intersections.

[0006] The storage containers 106 stored in the rows 105 are accessed by the automated vehicle 150 through access openings 112 in the track system 108.

[0007] Each autonomous vehicle 150 includes a vehicle body and a first set of wheels and a second set of wheels that enable the autonomous vehicle 150 to move laterally in the X-direction and Y-direction, respectively. The vehicle body also includes a plurality of mechanical components and electrical parts, such as transmitters, receivers, sensors, and power sources, to enable autonomous operation.

[0008] To monitor and control the automated storage and retrieval system 10, the system includes a system controller 205 having a database for continuously tracking the location of each storage container 106 and which storage container 106 is to be transported. Accordingly, the system controller 205 continuously updates the latest overview of the location and movement of all autonomous vehicles 150 operating on the track system 108. This latest overview can be utilized to control the traffic flow of all autonomous vehicles 150, i.e., by sending movement instructions from the system controller 205 to the autonomous vehicle 150 to transport a particular storage container 106 from one location to another without collisions.

[0009] In addition to movement information, the communication between the system controller 205 and the autonomous vehicle 150 also includes status information sent from the autonomous vehicle 150 to the system controller 205. This status information may include the current location, battery level, and relevant data generated by sensors built into the autonomous vehicle 150. All communication between the system controller 205 and the autonomous vehicle 150 is performed via a wireless network, which is vulnerable to interference and suffers from time delays.

[0010] When multiple autonomous vehicles 150 need to move in the same direction, the system controller 205 can control each autonomous vehicle 150 such that the autonomous vehicles are aligned in a platoon configuration, i.e., multiple autonomous vehicles 150 are arranged closely in series and move in a group. The assembly of the platoon is accomplished by means of sensors built into the autonomous vehicle 150, relative position information about the autonomous vehicle 150 held by the system controller, or a combination of both. However, the position of the autonomous vehicle 150 on the track system can only be determined when the autonomous vehicle passes through a track intersection, after which the position of each autonomous vehicle 150 is sent to the system controller for processing of this information. Accordingly, the updated position information may cause a delay. In addition, since the position information needs to be transmitted and processed by the system controller 205, a further delay is expected. Therefore, this may result in inefficient platoon driving of the autonomous vehicle 150.

[0011] WO 2022 / 106318A1 (the content of which is incorporated herein by reference) describes a storage system that avoids latency issues by having container handling vehicles travel in a "platoon" formation when in physical contact with each other. This is achieved by having the last vehicle in the "platoon" travel slightly faster than the vehicles in front, thus achieving physical contact.

[0012] The solution of the present invention provides an alternative way for autonomous vehicles to travel in a group in the same direction (i.e., in a "platoon" formation).

[0013] The solution is simple, efficient, and cost - effective, and can be easily retrofitted and adjusted according to existing systems. In addition to solving the mentioned latency problem, the solution also reduces the communication volume between the system controller and the autonomous vehicles defined in the group traveling in the same direction. SUMMARY OF THE INVENTION

[0014] The present invention is set forth and characterized in the independent claims, while the dependent claims describe other features of the present invention.

[0015] According to a first aspect, the present invention is defined by a method for controlling the movement of a plurality of autonomous vehicles operating on an automated storage and retrieval system, the automated storage and retrieval system including a frame structure and a track system configured to guide the plurality of autonomous vehicles to move between storage columns formed by the upright members of the frame structure. The track system can be mounted on top of the frame structure, below the frame structure, or inside the frame structure.

[0016] The automated storage and retrieval system is controlled by a system controller, wherein each autonomous vehicle includes: a vehicle body, a first set of wheels and a second set of wheels enabling the autonomous vehicle to move laterally in the X - direction and the Y - direction on the track system, components and parts connected to a local controller to enable autonomous operation, a communication device connected to the local controller for communicating with the system controller and receiving movement instructions from the system controller, and a short - range communication device configured to communicate with nearby autonomous vehicles. The short - range communication device can be any device suitable for short - distance communication, such as a communication device using light, or other devices with low power output that do not interfere with the radio communication between the system controller and the autonomous vehicles.

[0017] The first step of the method is for the system controller to send control signals to at least two specified autonomous vehicles to move in a group in the same driving direction on the rail system, and for the system controller to send control signals to the selected autonomous vehicles in the group to make the selected autonomous vehicles act as the leading autonomous vehicles for the other autonomous vehicles in the group and drive to the target position. The leading autonomous vehicle communicates with the system controller and receives control instructions from the system controller, while the other autonomous vehicles in the group are controlled by the leading vehicle, thereby reducing the communication volume between each vehicle in the group and the system controller.

[0018] According to one embodiment, the step of the system controller sending control signals to the autonomous vehicles to move in a group includes: activating the short-range devices of the autonomous vehicles in the group.

[0019] According to one embodiment, the short-range device communicates using a light source. The light source can be visible light or IR light. The visible light can be provided by an LED light source, and the IR light can be provided by an IR source.

[0020] In one embodiment, the short-range communication device can be connected to each of the four sides of the vehicle body of each autonomous vehicle that extends parallel to one of the X direction or the Y direction.

[0021] The next step is for the selected leading autonomous vehicle to send a short-range signal, such as an IR signal, to notify the other autonomous vehicles in the group to follow the leading autonomous vehicle to move. Therefore, this is a movement signal. The IR signal can be sent by an IR transmitter of the leading container vehicle facing the direction opposite to the driving direction.

[0022] The next step is for the autonomous vehicles in the group to detect the emitted short-range signal. When using IR sensors connected to each side of the vehicle body, the IR signal sent is detected by the IR sensor of the autonomous vehicle immediately adjacent to the leading autonomous vehicle in the group and facing the driving direction.

[0023] The detected short-range signal is transmitted between the autonomous vehicles in the group. This means that the detected signal is forwarded to the signal source of the autonomous vehicle in the group facing the direction opposite to the driving direction.

[0024] Then, the leading autonomous vehicle is made to drive towards the target position while sending a movement signal through the short-range device, and the other autonomous vehicles in the group are made to follow the leading autonomous vehicle once the sent movement signal is detected.

[0025] According to one embodiment, the distance between the autonomous vehicles in the group is measured, and the autonomous vehicles are controlled to drive at a set distance from each other.

[0026] The signal sent by the guiding automated vehicle may also define the number of grid cells that the automated vehicle needs to move past before stopping.

[0027] In one embodiment, the position of each automated vehicle in the group is determined based on the position of the guiding automated vehicle determined by the system controller and the measured distance between each of the following automated vehicles.

[0028] In one embodiment, the identification information of the automated vehicles and the distance between the automated vehicles are sent to the guiding container vehicle for forwarding this information to the system controller.

[0029] According to another embodiment, the automated vehicles are controlled to be in physical contact with each other, and wherein contact is confirmed when a change in the applied driving force is detected.

[0030] In one embodiment of the method, a plurality of logical groups are defined, each logical group including a plurality of automated vehicles, and wherein each group is controlled to move in a specific direction. In this embodiment, the short-range signal sent is unique for each logical group. The indication includes, for example, a group of seven automated vehicles moving past eight grid cells in the X direction, while the indication includes another group of five container handling vehicles moving past six grid cells in the Y direction.

[0031] The present invention is also defined by a computer program product that, when running in the local controller of an automated vehicle of an automated storage and retrieval system, performs the method described above to cause a group of automated vehicles to move along the track system of the automated storage and retrieval system.

[0032] According to a second aspect, the present invention is defined by an automated storage and retrieval system including a plurality of automated vehicles that are operable on a track system to transport storage containers, the track system being arranged to guide the plurality of automated vehicles to move between storage columns formed by upright members of a frame structure.

[0033] The automatic storage and retrieval system is controlled by a system controller. Each automatic vehicle includes: a vehicle body, a first set of wheels and a second set of wheels that enable the automatic vehicle to move laterally in the X and Y directions on a rail system, components and parts connected to a local controller to achieve autonomous operation, a communication device connected to the local controller for communicating with the system controller and receiving movement instructions from the system controller, and a short-range communication device configured to perform signal communication with nearby automatic vehicles. The system controller is configured to send control signals to at least two specified automatic vehicles to move in the same driving direction in a group on the rail system, and send control signals to a selected automatic vehicle in the group to cause the selected automatic vehicle to act as a guiding automatic vehicle for other automatic vehicles in the group and travel to a target position.

[0034] The local controller is configured to control the short-range communication device to send short-range signals to the automatic vehicles in the group to move following the selected guiding automatic vehicle; detect the short-range signals sent by the automatic vehicles in the group; transmit the detected short-range signals among the automatic vehicles in the group; cause the guiding automatic vehicle to travel towards the target position while sending movement signals through the short-range communication device; and control the automatic vehicles in the group to follow the guiding automatic vehicle once the sent movement signals are detected.

[0035] According to one embodiment, the short-range communication device is a light source, such as LED light or IR light.

[0036] In one embodiment, the short-range communication device is connected to the top of the vehicle body so as to be observable in the X and Y directions.

[0037] In another embodiment, the short-range communication device is connected to each of the four sides of the vehicle body of each automatic vehicle that extends parallel to one of the X or Y directions.

[0038] According to a third aspect, the present invention is defined by a computer program product that, when running in the local controller of an automatic vehicle of an automatic storage and retrieval system, executes the method according to the first aspect of the present invention to cause a group of automatic vehicles to move along the rail system of the automatic storage and retrieval system (10). BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The following drawings are attached for easy understanding of the present invention. The drawings illustrate embodiments of the present invention, which will now be described only by way of example. In the drawings:

[0040] Figure 1 is a perspective view of the frame structure of a prior art automatic storage and retrieval system.

[0041] Figure 2It is a flowchart of a method for moving autonomous vehicles together in a group.

[0042] Figure 3 It shows the principle of controlling and moving autonomous vehicles together in a group.

[0043] Figure 4 It shows using an IR sensor as a light source to control and move autonomous vehicles together in a group. Detailed implementation

[0044] In the following description, the present invention will be described in more detail only by way of example and with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings.

[0045] As mentioned above in the background art section with reference to Figure 1 a typical prior art automated storage and retrieval system 10 having a frame structure 100 was described.

[0046] The frame structure 100 can have any size, and it should be understood that the frame structure can be wider and / or longer and / or deeper than the frame structure disclosed in Figure 1 For example, the frame structure 100 can have a horizontal extent of more than 700 x 700 storage columns 105 and a storage depth for storing more than eight stacked storage containers 106, and wherein the storage containers 106 are carried by hundreds of autonomous vehicles 150 traveling on a rail system 108. The rail system can be installed on top of the frame structure 100 and / or in the middle of the frame structure 100 and / or below the frame structure 100. Then, the autonomous vehicles can carry the storage containers 106 in the storage columns 105 at different positions where the rail system is installed in the Z direction.

[0047] In addition, the frame structure 100 can be deeper than the frame structure disclosed in Figure 1 For example, the frame structure 100 can have a depth of more than eight grid cells 122 (i.e., in the Z direction as shown in Figure 1 )

[0048] To monitor and control the automated storage and retrieval system 10, a system controller 205 having a database continuously tracks the position of each storage container 106 and which storage container 106 is to be carried. The system controller 205 also controls each autonomous vehicle 150 by sending control instructions and receiving confirmation signals. The system controller 105 sends control instructions to each autonomous vehicle 150 to move it from one grid cell 122 to another.

[0049] For a large system that includes hundreds or even thousands of autonomous vehicles 150, real-time communication between the autonomous vehicles 150 and the system controller 205 can be very burdensome and vulnerable to interference and latency. The quality of wireless communication is also limited by the available bandwidth.

[0050] When two autonomous vehicles 150 are parked side by side and both want to move in the same direction, the first autonomous vehicle 150 will start moving, and the other autonomous vehicle 150 must wait for a period of time before it can move into the grid cell 122 previously occupied by the first autonomous vehicle 150. This waiting time causes latency, and this latency increases with each additional autonomous vehicle 150 parked side by side and wanting to move in the same direction.

[0051] The solution of the present invention solves this problem and can reduce latency and the demand for bandwidth when controlling multiple autonomous vehicles 150 to travel in the same direction across the track system. These vehicles are assigned to the same group, and one autonomous vehicle 150 in the group is selected as the group leader and guiding autonomous vehicle 150 for the other autonomous vehicles 150. The group leader communicates with the system controller 205, and the other autonomous vehicles in the group are guided and controlled by the group leader.

[0052] The autonomous vehicle 150 can be any type of autonomous vehicle operating on the automated storage and retrieval system 10, such as an autonomous vehicle that retrieves a storage container 106 from a storage column 105 and transports the storage container to a destination location, or an autonomous vehicle that picks up a storage container and places the storage container in a storage column 105.

[0053] The autonomous vehicle 150 can also be a drone that transports storage containers 106 between storage columns 105, or a picking robot that picks up items and places the items in a storage container 106. It can also be a service vehicle that is configured to provide services to other types of autonomous vehicles 150.

[0054] Different types of autonomous vehicles 150 can travel on a track system 108 installed at different levels of the automated storage and retrieval system, such as installed on top of a frame structure 100, in the middle of the frame structure 100, or below the frame structure 100.

[0055] Figure 2 It is a flowchart 100 of a method for moving multiple autonomous vehicles in a group. The system controller has an overview of each autonomous vehicle and its position when the automated storage and retrieval system 10 is running. When it is determined that multiple autonomous vehicles 150 need to travel in the same direction, the system controller assigns a designated autonomous vehicle 150 to move in a group in the same direction across the track system 108 (step 110).

[0056] Designate one of the automated vehicles 150 in the group as the group leader (step 120), and the other automated vehicles 150 in the group move following the group leader. Then, the system controller 205 sends a control signal to the group leader (step 130), and this control signal controls the movement of the vehicle to the target position on the track system 108.

[0057] Then, the group leader sends a short-range signal (step 140). After the automated vehicle 150 close to the group leader detects the short-range signal (step 150), it forwards the detected short-range signal to the other automated vehicles 150 in the group. Then, all the automated vehicles 150 in the group will move following the group leader after detecting the short-range signal (step 170).

[0058] The signal sent by the group leader can define the number of grid cells 122 that the automated vehicles 150 in the train should move through. After moving through the defined number of grid cells 122, the automated vehicle 150 disconnects from the group leader, which means the system controller will take over the control of each automated vehicle 150.

[0059] The number of grid cells 122 that need to be moved through can be specified for a specific automated vehicle in the train. These signals can, for example, specify that the first five automated vehicles 150 behind the group leader move through eight grid cells 122, while the last three vehicles move through five grid cells 122.

[0060] Alternatively, the signal sent can only indicate that the automated vehicle 150 should move following the group leader when detecting the signal. Once the short-range signal cannot be detected, the automated vehicle 150 stops moving following the group leader. The automated vehicle will then stop at the nearest grid cell 122, and the system controller 205 will take over the control of each automated vehicle 150.

[0061] Figure 3 Illustrates the principle of controlling automated vehicles to move together in a group. In this instance, there are three automated vehicles 150 aligned in a train traveling on the same parallel track 111.

[0062] When it is decided to make the three automated vehicles 150 move together in a group, the system controller 205 sends control signals to the three automated vehicles 150 respectively identified with the information of the first vehicle body 310(1), the second vehicle body 310(2), and the third vehicle body 310(3). Since the vehicle body 310(1) is the first automated vehicle 150 in the traveling direction, the system controller selects the vehicle body 310(1) as the group leader and the guiding automated vehicle 150 for the other two vehicles in the train.

[0063] A short-range signal is sent by the selected short-range communication device 330 of the leading autonomous vehicle 150 to notify the other two autonomous vehicles 150 in the group to follow the leading autonomous vehicle 150 to move.

[0064] This short-range signal is detected by a second autonomous vehicle 150 (vehicle body 310(2)) close to the leading autonomous vehicle 150 (vehicle body 310(1)).

[0065] After detecting the short-range signal, the short-range communication device 330 of the second autonomous vehicle 150 re-transmits the received short-range signal. This re-transmitted signal is detected by the third autonomous vehicle 150.

[0066] When the leading autonomous vehicle 150 receives an instruction to move to a target position from the system controller and starts to make the short-range device 330 send a movement signal, the train of vehicles with all three autonomous vehicles 150 starts to move. The other two autonomous vehicles 150 in the group will follow the movement of the leading vehicle after detecting the movement signal.

[0067] Figure 4 An embodiment of this solution is shown, in which IR sensors (each IR sensor includes an IR transmitter and an IR receiver) are used as the short-range device 330 for controlling autonomous vehicles when the autonomous vehicles 150 move in groups together. In the embodiment shown in this example, IR sensors are connected to each of the four sides of the vehicle body 310 of each autonomous vehicle 150. The IR sensors can be connected to the outside of the vehicle body 310 or connected to the inside of the vehicle body 310. In this case, the sensor elements can be observed through small holes in the vehicle body 310.

[0068] To further protect the IR sensors, the holes can be closed with covers when the IR sensors are not enabled, and the holes can be opened when the IR sensors are enabled. Alternatively, the IR sensors can be mounted on the top of the autonomous vehicle 150 so that their sensor areas are perpendicular to the sides of the vehicle body 310, thus pointing in the X direction and the Y direction.

[0069] By placing a light source in a mask and focusing the light with a lens, the directivity of light sources such as LED light or IR light can be controlled.

[0070] The first step of the method of this example is the same as the basic principle described above with reference to Figure 3 Three autonomous vehicles 150 (vehicle bodies 310(1), 310(2), 310(3)) are selected and assigned by the system controller 205 to move in groups in the same driving direction. If these autonomous vehicles are not aligned on the same parallel track 111, control these autonomous vehicles to move from their current positions to be aligned with each other, thus forming a train configuration.

[0071] When the autonomous vehicle 150 is enabled, the IR sensor connected to the autonomous vehicle 150 can remain enabled, or the IR sensor can be enabled when the autonomous vehicle 150 is assigned to move together in a group.

[0072] When the autonomous vehicles 150 assigned to the same group are aligned, the system controller 205 selects one of the autonomous vehicles 150 in the group as the group leader. The group leader is the first autonomous vehicle 150 in the driving direction. The group leader acts as a guiding autonomous vehicle that receives instructions from the system controller 205 to drive to a target position on the track system 108. This target position will determine the driving direction of all the autonomous vehicles 150 in the group.

[0073] After the guiding autonomous vehicle 150 receives an instruction to move to a target destination, its IR transmitter (the direction of whose detection area is opposite to the driving direction) will emit a "Follow Me" signal. The simplest form can be to continuously emit IR light or emit IR light in a blinking mode. The emitted IR light is detected by an IR sensor having a field of view area of the guiding autonomous vehicle 150, that is, the IR sensor of the second autonomous vehicle 150 in the train configuration that points to the guiding autonomous vehicle 150. The detected "Follow Me" IR signal is transmitted to the IR sensor of the second autonomous vehicle 150 that points in the direction opposite to the driving direction. Thereby enabling the "Follow Me" IR signal to be transmitted from one autonomous vehicle 150 in the group to the following autonomous vehicles 150.

[0074] After all the autonomous vehicles 150 in the group detect the "Follow Me" IR signal, they will follow the guiding autonomous vehicle 150 to move. In this way, all the autonomous vehicles defined in the same group will follow the guiding autonomous vehicle 150 driving in front of the train. The guiding autonomous vehicle 150 stops emitting the "Follow Me" IR signal after reaching its destination. The following autonomous vehicles 150 then disconnect from the group, and the system controller 205 will take over the control of these autonomous vehicles 150.

[0075] The IR sensor can also be used to measure the distance between two autonomous vehicles 150. The IR light transmitted from one autonomous vehicle 150 and reflected in another autonomous vehicle 150 can be detected, and the distance can be estimated based on the time-of-flight principle. Other sensors can also be used for more accurate distance measurement.

[0076] The distance measurement device can be used to keep the distance between the autonomous vehicles 150 constant when the autonomous vehicles are driving in a train configuration. The distance measurement device can also be used to determine the position of the autonomous vehicle 150 following the guiding autonomous vehicle based on the currently known position of the guiding autonomous vehicle 150.

[0077] IR sensors can also be used to transfer information between the autonomous vehicles 150 in the same group traveling in a platoon. In this embodiment, the identification of the autonomous vehicles and the distance between the autonomous vehicles are sent to the lead container vehicle, which can forward this information to the system controller.

[0078] The solution disclosed herein provides a simple and effective way for multiple autonomous vehicles to travel in a group in a platoon configuration. Short-range sensors such as IR sensors can be retrofitted and adjusted according to existing systems. Communication with the system controller 205 is reduced, and delays that may occur when the system controller 205 controls each autonomous vehicle 150 to move in the same direction are avoided.

Claims

1. A method for controlling the movement of a plurality of automated vehicles (150) operating on an automated storage and retrieval system (10), the automated storage and retrieval system comprising a frame structure (100) and a track system (108), the track system being arranged to guide the plurality of automated vehicles (150) to move between storage columns (105) formed by upright members (102) of the frame structure (100), the automated storage and retrieval system (10) being controlled by a system controller (205), wherein, Each autonomous vehicle (150) includes: a vehicle body (310), a first set of wheels and a second set of wheels that enable the autonomous vehicle (150) to move laterally in the X and Y directions on the rail system (108), components and parts connected to a local controller (320) to achieve autonomous operation, a communication device connected to the local controller (320) for communicating with the system controller (205) and receiving movement instructions from the system controller (205), and a short-range communication device (330) configured to perform signal communication with nearby autonomous vehicles (150), and the method includes the following steps: - The system controller (205) sends control signals to at least two designated autonomous vehicles (150) to move in a group in the same driving direction on the rail system (108), - The system controller (205) sends a control signal to a selected autonomous vehicle (150) in the group to make the selected autonomous vehicle act as a leading autonomous vehicle (150) for the other autonomous vehicles (150) in the group and travel to a target position, - The selected leading autonomous vehicle (150) sends a short-range signal to notify the other autonomous vehicles (150) in the group to follow the leading autonomous vehicle (150) to move, - The autonomous vehicles (150) in the group detect the sent short-range signal, - The detected short-range signal is transmitted among the autonomous vehicles (150) in the group, - The leading autonomous vehicle (150) travels towards the target position while sending a movement signal through the short-range device (330), and the other autonomous vehicles (150) in the group follow the leading autonomous vehicle (150) to move once the sent movement signal is detected.

2. The method according to claim 1, wherein, The step of the system controller (205) sending control signals to the autonomous vehicles (150) to move in a group includes: activating the short-range communication devices (330) of the autonomous vehicles (150) in the group.

3. The method according to claim 1 or 2, comprising: Use a short-range communication device (330) that communicates using a light source.

4. The method according to claim 3, comprising: Use LED light or infrared light as the light source.

5. The method according to any one of the preceding claims, comprising: One short-range communication device (330) is connected to each of the four sides of the vehicle body (310) of each autonomous vehicle (150) that extends parallel to one of the X direction or the Y direction.

6. The method according to any one of the preceding claims, comprising: Align the autonomous vehicles (150) in the group so that the autonomous vehicles are arranged to travel one by one in a train formation on the same pair of rails, where the leading autonomous vehicle (150) is located at the front.

7. The method according to any one of claims 3 to 6, comprising: Send an optical signal by a light source of the guided container vehicle facing a direction opposite to the traveling direction; detect the sent optical signal by an optical sensor of the automated vehicle (150) in the group that is adjacent to the guided automated vehicle (150) and faces the traveling direction; forward the detected optical signal to a light source of the automated vehicle (150) facing a direction opposite to the traveling direction; and repeat the steps of detecting the optical signal and forwarding the optical signal to the automated vehicle (150) at the rear in the group.

8. The method according to claim 7, comprising: Measure the distances between the automated vehicles (150) in the group and control the automated vehicles (150) to travel at a set distance from each other.

9. The method according to claim 7, comprising: Send an optical signal defining the number of grid cells (122) that each automated vehicle 150 in the train needs to move through.

10. The method according to any one of claims 6 to 9, comprising: Control the automated vehicles (150) to be in physical contact with each other, and confirm contact when a change in the applied driving force is detected.

11. The method according to claim 8 or 9, wherein Determine the position of each automated vehicle (150) in the group based on the position of the guided automated vehicle (150) determined by the system controller (205) and the measured distances between each of the automated vehicles (150) at the rear.

12. The method according to claim 11, wherein, Send the identification information of the automated vehicle (150) and the distance between the automated vehicles to the guided automated vehicle (150) for forwarding this information to the system controller (205).

13. The method according to any one of the preceding claims, comprising: Define a plurality of logical groups and guide each group to move in a specific direction, where each logical group includes a plurality of automated vehicles (150).

14. The method according to claim 13, comprising: Send a unique short-range signal for each logical group.

15. An automatic storage and retrieval system (10) includes a plurality of automatic vehicles (150) that are capable of traveling on a track system (108) to transport storage containers (106), the track system being arranged to guide the plurality of automatic vehicles (150) to move between storage rows (105) formed by upright members (102) of a frame structure (100), and the automatic storage and retrieval system (10) is controlled by a system controller (205), wherein, Each automated vehicle (150) includes: a vehicle body (310), a first set of wheels and a second set of wheels enabling the automated vehicle (150) to move laterally in the X direction and the Y direction on the track system (108), components and parts connected to a local controller (320) to achieve autonomous operation, a communication device connected to the local controller (320) for communicating with the system controller (205) and receiving movement instructions from the system controller (205), and a short-range communication device (330) configured to perform signal communication with nearby automated vehicles (150). Wherein, the system controller (205) is configured to: - Send a control signal to at least two designated automated vehicles (150) to move in a group in the same traveling direction on the track system (108). - Send a control signal to a selected automated vehicle (150) in the group to cause the selected automated vehicle to act as the guided automated vehicle (150) for the other automated vehicles (150) in the group and travel to a target position. Wherein, the local controller (320) is configured to: - Control the short-range communication device (330) to send a short-range signal to the automated vehicles (150) in the group to follow the selected guided automated vehicle (150) to move. - Detect the sent short-range signal by the automated vehicles (150) in the group. - Transmit the detected short-range signals between the automated vehicles (150), - Cause the guided automated vehicle (150) to travel towards the target position while sending a movement signal through the short-range communication device (330), and - Control the automated vehicles (150) in the group to move following the guided automated vehicle (150) once the sent movement signal is detected.

16. The automated storage and retrieval system (10) according to claim 15, wherein, The short-range communication device (330) is a light source for communication.

17. The automated storage and retrieval system (10) according to claim 16, wherein, The light source is LED light or infrared light.

18. The automated storage and retrieval system (10) according to any one of claims 15 to 17, wherein, The short-range communication device (330) is connected to the top of the vehicle body (310) so as to be observable in the X direction and the Y direction.

19. The automated storage and retrieval system (10) according to any one of claims 15 to 17, wherein, The short-range communication device (330) is connected to each of the four sides of the vehicle body (310) of each automated vehicle (150) that extends in a direction parallel to one of the X direction or the Y direction.

20. A computer program product that, when running in the local controller (320) of an automated vehicle (150) of an automated storage and retrieval system (10), executes the method according to claims 1 to 14 to cause a group of automated vehicles (150) to move along the track system of the automated storage and retrieval system (10).

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