Methods and systems for scheduling orders in automated storage and retrieval systems

Abstract

A method, system, controller, and computer program product configured to schedule item orders in an automated storage and retrieval system. For each order, the location of a set of storage containers storing the items listed in the order is identified. The total time required to gather the order at each available port is calculated, and the order is scheduled by assigning a port that requires the least time to deliver the items listed in the order.

Description

Technical Field

[0001] The present invention relates to a method, system, and computer program product for retrieving items from a storage container of an automated storage and retrieval system, and more particularly to automatically scheduling items listed in an order for assembly by assigning ports to the order. Background Technology

[0002] Figure 1 An existing automated storage and retrieval system 10 with a frame structure 100 is disclosed, and Figure 2 , Figure 3 and Figure 4 Three different prior art devices suitable for container handling vehicles 201, 301, and 401 operating on such system 10 are disclosed.

[0003] The frame structure 100 includes upright members 102 and storage volumes comprising storage rows 105 arranged between the upright members 102. In these storage rows 105, storage containers 106, also referred to as boxes, are stacked one on top of another to form a stack 107. 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 10 includes a guide rail system 108 arranged on top of the frame structure 100, through which multiple container handling vehicles 201, 301, and 401 can operate to raise and lower storage containers 106 from storage columns 105 into the storage columns, and also transport storage containers 106 above the storage columns 105. The guide rail system 108 includes a first set of parallel guide rails 110 and a second set of parallel guide rails 111. The first set of parallel guide rails is arranged to guide the container handling vehicles 201, 301, and 401 to move along a first direction X on top of the frame structure 100, and the second set of parallel guide rails is arranged perpendicular to the first set of guide rails 110 to guide the container handling vehicles 201, 301, and 401 to move in a second direction Y perpendicular to the first direction X. The containers 106 stored in column 105 are accessed by container transport vehicles 201, 301, and 401 through access openings 112 in the guide rail system 108. The container transport vehicles 201, 301, and 401 can move laterally above the storage column 105, that is, laterally in a plane parallel to the horizontal XY plane.

[0005] The upright members 102 of the frame structure 100 can guide the storage containers during the lifting of containers from column 105 and the lowering of containers into column. The stack 107 of containers 106 is typically self-supporting.

[0006] Each container handling vehicle 201, 301, 401 includes a body 201a, 301a, 401a and a first set of wheels and a second set of wheels 201b, 201c, 301b, 301c, 401b, 401c, which enable the container handling vehicles 201, 301, 401 to move laterally in the X and Y directions, respectively. Figure 2 , Figure 3 and Figure 4 In this configuration, two wheels in each group are fully visible. The first group of wheels 201b, 301b, and 401b are arranged to engage with two adjacent rails in the first group of guide rails 110, and the second group of wheels 201c, 301c, and 401c are arranged to engage with two adjacent rails in the second group of guide rails 111. At least one group of wheels 201b, 201c, 301b, 301c, 401b, and 401c can be raised and lowered, such that the first group of wheels 201b, 301b, and 401b and / or the second group of wheels 201c, 301c, and 401c can engage with the corresponding group of guide rails 110 and 111 at any time.

[0007] Each container handling vehicle 201, 301, 401 also includes a lifting device for vertically transporting the storage container 106, for example, raising the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column. 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 perpendicular to the first direction X and the second direction Y. Figure 3 and 4 Parts of the clamping devices of container handling vehicles 301 and 401 are shown in the figure, indicated by reference numerals 304 and 404. Figure 2 The clamping device of the container handling device 201 is located inside the vehicle body 201a and is therefore not shown.

[0008] Z=1 indicates the top layer below guide rails 110 and 111 that can be used for storage containers, that is, the layer immediately below guide rail system 108; Z=2 indicates the second layer below guide rail system 108; Z=3 indicates the third layer, and so on. Figure 1 In the exemplary prior art disclosed herein, Z=8 represents the bottommost 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. Therefore, as an example, and using in Figure 1 The Cartesian coordinate system X, Y, Z shown can be said to be in Figure 1The storage container marked 106 occupies storage positions X=17, Y=1, Z=6. It can be said that container handling vehicles 201, 301, and 401 travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. Therefore, Figure 1 The storage container shown extending above the guide rail system 108 is also referred to as being arranged in layer Z=0.

[0009] The storage volume of the frame structure 100 is often referred to as grid 104, and the possible storage locations within this grid are referred to as storage grid cells. Each storage column can be identified by its position in the X and Y directions, and each storage grid 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 on the guide rail system 108. The storage space may include a cavity arranged internally within the vehicle body 201a, such as... Figure 2 and Figure 4 As shown and as described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0011] Figure 3 An alternative construction of a container handling vehicle 301 with a cantilever structure is shown. Such a vehicle is described in detail, for example, in NO317366, the contents of which are also incorporated herein by reference.

[0012] Figure 2 The cavity container transport vehicle 201 shown 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 coverage area of ​​the cavity container transport vehicle 401 can be larger than the lateral area defined by the storage column 105, such as by Figure 1 and Figure 4 As shown, for example, as disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] When container handling vehicles 201, 301, and 401 need to move storage containers 106 from a specific grid cell, the exact destination or stopping position of the container handling vehicles 201, 301, and 401 depends on the floor space occupied by the controlled container handling vehicles 201, 301, and 401. For Figure 2 In the cavity container transport vehicle 201 shown, the specific location of the grid cell will be the stopping position of the vehicle body 201a. For Figure 3 The cantilever container transport vehicle 301 shown here stops at any grid cell that is adjacent to and overlaps with the particular grid cell, such that the cantilever portion of the transport storage container 106 is directly above the particular grid cell.

[0015] The guide rail system 108 typically includes guide rails with grooves in which the wheels of a vehicle run. Alternatively, the guide rails may include upwardly projecting elements, wherein the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as tracks. Each guide rail may include one track, or each guide rail 110, 111 may include two parallel tracks. In other guide rail systems 108, each guide rail in one direction (e.g., the X direction) may include one track, while each guide rail in another perpendicular direction (e.g., the Y direction) may include two tracks. Each guide rail 110, 111 may also include two track members fastened together, each track member providing one of the tracks in a pair provided by each guide rail.

[0016] The contents of WO2018 / 146304A1, which is incorporated herein by reference, illustrate a common construction of a guide rail system 108, which includes a guide rail and parallel tracks in both the X and Y directions.

[0017] In the frame structure 100, most columns 105 are storage columns 105, that is, columns 105 where storage containers 106 are stored in the form of stacks 107. However, some columns 105 may serve other purposes. Figure 1 Columns 119 and 120 are dedicated columns used by container handling vehicles 201, 301, and 401 to unload and / or pick up storage containers 106, enabling the containers to be transported to retrieval stations accessible from outside the frame structure 100, or to be moved out of or into the frame structure 100. Such locations are commonly referred to as “ports” in the art, and the columns containing the ports may be referred to as “port columns” 119 and 120. Transport to the retrieval stations can be in any direction, i.e., horizontal, inclined, and / or vertical. For example, storage containers 106 may be placed in random or dedicated columns 105 within the frame structure 100 and then picked up and transported by any container handling vehicle 201, 301, or 401 to port columns 119 and 120 for further transport to the retrieval stations. Transport from ports to retrieval stations may require movement in various directions, via means such as transport vehicles, trolleys, or other transport lines. Note that the term "inclined" means that the transport of storage container 106 has a general transport direction between horizontal and vertical.

[0018] exist Figure 1 In this configuration, the first port column 119 can be a dedicated unloading port column, through which container transport vehicles 201, 301, and 401 can unload storage containers 106 to be transported to the storage station or transfer station, and the second port column 120 can be a dedicated picking port column, through which container transport vehicles 201, 301, and 401 can pick up storage containers 106 that have been transported from the storage station or transfer station.

[0019] The retrieval station can typically be a pick-up station or a storage station where product items are removed from or placed into storage container 106. At the pick-up station or storage station, storage container 106 is typically not removed from the automated storage and retrieval system 10, but is returned to the frame structure 100 after retrieval. The port can also be used to transfer storage containers to another storage facility (e.g., to another frame structure or another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0020] A transport system, including a transmitter, is typically used to transport storage containers between port columns 119, 120 and the access station.

[0021] If port columns 119, 120 and access stations are located at different horizontal 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.

[0022] 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.

[0023] When you need to access the stored Figure 1When a storage container 106 is located in one of the multiple columns 105 disclosed herein, one of the container handling vehicles 201, 301, and 401 is instructed to remove the target storage container 106 from its location and transport it to the unloading port column 119. This operation includes moving the container handling vehicles 201, 301, and 401 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 port, in this case, the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., above one or more other storage containers 106, the operation also includes temporarily moving the storage containers located above it 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 201, 301, 401 subsequently used to transport the target storage container 106 to the unloading port column 119, or using one or more other cooperating container handling vehicles 201, 301, 401. Alternatively or additionally, the automated storage and retrieval system 10 may have container handling vehicles 201, 301, 401 specifically for the task of temporarily removing the storage container 106 from the storage column 105. After the target storage container 106 is removed from the storage column 105, the temporarily removed storage container 106 can be repositioned back into the initial storage column 105. However, the removed storage container 106 can alternatively be repositioned into another storage column 105.

[0024] When a storage container 106 is to be stored in one of a plurality of columns 105, one of the container handling vehicles 201, 301, and 401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a position above the storage column 105 where the storage container is to be stored. After any storage container 106 located at or above a target position within the stack 107 has been removed, the container handling vehicle 201, 301, and 401 positions the storage container 106 in the desired position. The removed storage container 106 can then be lowered back into the storage column 105 or repositioned to another storage column 105.

[0025] In order to monitor and control the automated storage and retrieval system 10, 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 a desired time without the container transport vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 10 includes a control system 121, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0026] Tasks are assigned to container handling vehicles 201, 301, and 401 to move and transport storage containers 106 from one location to another while operating on the guide rail system 108. When an instruction to perform a task is received, container handling vehicles 201, 301, and 401 typically move from their current location and along the path to the destination for delivering or retrieving storage containers 106.

[0027] Larger automated storage and retrieval systems 10 typically include multiple ports located at different locations on the storage and retrieval system 10. Product items are stored in storage containers 106, which are stored in storage columns 105 distributed throughout the storage volume of the automated storage and retrieval system 10.

[0028] Typically, the items listed in an order are delivered to a port selected by the operator, who is unaware of the location of the storage container 106 containing the items. This means that the storage container 106 may need to travel a relatively long distance to reach the selected port before the items can be assembled by manual intervention or a special robotic manipulator to complete the order. Traveling the storage container 106 a relatively long distance to the selected port can affect and delay the delivery of the storage container 106 to the port, and also hinder the traffic flow of all container handling vehicles 201, 301, 401 operating on the automated storage and retrieval system 10.

[0029] This invention seeks to overcome or at least improve upon the problems associated with the prior art. Summary of the Invention

[0030] According to a first aspect, a method is provided for scheduling an order of items in an automated storage and retrieval system, the automated storage and retrieval system including a grid structure with storage columns forming storage volumes for maintaining a stack of storage containers, wherein the grid structure has a corresponding guide rail system above the storage columns for guiding the movement of container handling vehicles adapted to transfer storage containers between the storage columns and multiple ports of the automated storage and retrieval system, the order consisting of a combination of items stored in storage containers at different locations within the storage volumes, the method comprising: - For each order, identify the location of a set of storage containers in the storage volume that hold the items required to make up the given order; - For each order, calculate the total time required to gather the order at each of the multiple ports, based on the location of each storage container in the group within the storage volume and the time required for the available container transport vehicles to deliver the group of storage containers to different ports to retrieve the ordered items. - By assigning a port to an order to schedule the orders to be combined, the available container processing vehicle used in the time calculation step delivers the storage container to the port, enabling the orders to be assembled in the shortest possible time.

[0031] This method provides an efficient way to select a port for delivering storage containers containing ordered items. The selected port is based on the minimum cost of bringing the storage containers to the port. This will typically be the port where the items in the order can be gathered in the shortest amount of time.

[0032] This method can reduce the travel distance and time of container handling vehicles because these vehicles will be more often assigned to an area of ​​the grid, thus reducing their entry into other areas that might cause traffic conflicts. This has the potential to reduce the time spent moving storage containers for stored orders.

[0033] Alternatively, the time required for a container transport vehicle to deliver a set of storage containers to different ports can be determined based on the distance the container transport vehicle needs to travel to retrieve items from an order.

[0034] Optionally, the step of identifying the location of a set of storage containers within the storage capacity that hold the items required for a given order includes identifying the X, Y, and Z grid positions of the set of storage containers. This means, for example, determining the location within the grid that the container transport vehicle needs to travel to, and the depth of the containers within the grid. The amount of excavation required to remove the containers can also be taken into account.

[0035] Optionally, if multiple locations of storage containers storing the same item in an order are identified, the storage container that can gather the order at the port in the shortest time is selected.

[0036] Optionally, the step of calculating the time required to collect orders at each port is based on real-time system data, which includes one or more of the following: item inventory data, location data of storage containers storing items, location data, status of container transport vehicles, port location, and port status.

[0037] Optionally, prepared orders are reviewed before being dispatched to determine the preparation order of items in the order. By doing so, storage containers holding items listed in consecutive orders do not need to be returned to storage, but can be placed near the port allocated for the next order.

[0038] Optionally, the order of scheduling orders is set such that storage containers holding the same items listed in different orders are processed consecutively. For example, if an item is listed in two consecutive orders, a storage container holding multiple such items can be delivered to the port last in the first order and first in the next order. This can be time-saving for the second order.

[0039] Alternatively, if two or more orders include the same item, and if different storage containers contain the same item, a container handling vehicle can be used to retrieve the same item from different storage containers for different orders. This can help avoid conflicts with other orders.

[0040] Optionally, multiple ports are arranged at intervals around the perimeter of the grid structure. This allows container transport vehicles to move easily relative to each other and avoids potential conflicts regarding vehicle routing.

[0041] In a second aspect, a system for scheduling item orders in an automated storage and retrieval system is provided. This system includes a grid structure with storage columns forming storage volumes for maintaining stacks of storage containers. The grid structure has a corresponding guide rail system above the storage columns for guiding the movement of container handling vehicles adapted to transfer storage containers between the storage columns and multiple ports of the automated storage and retrieval system. Orders consist of combinations of items stored in storage containers at different locations within the storage volumes. The system includes a control system connected to a port selector system configured to: - For each order, identify the location of a set of storage containers in the storage volume that hold the items required to make up the given order; - For each order, calculate the total time required to gather the order at each of the multiple ports, based on the location of each storage container in the group within the storage volume and the time required for the available container transport vehicles to deliver the group of storage containers to different ports to retrieve the ordered items. - By assigning a port to an order to schedule the orders to be combined, the available container processing vehicle used in the time calculation step delivers the storage container to the port, enabling the orders to be assembled in the shortest possible time.

[0042] Optionally, the control system is configured to allow available container handling vehicles used in the control time calculation step to remove storage containers from the storage volume and deliver the storage containers to ports assigned by the port selector system.

[0043] Optionally, real-time system data is sent to the control system, and the real-time system data includes one or more of the following: item inventory data, location data of storage containers storing items, location data, status of container transport vehicles, port location, and port status.

[0044] Optionally, the control system is configured to perform a method according to the first aspect or any of its optional features.

[0045] According to a third aspect, a computer program product is provided for a port selector system according to a second aspect, wherein the computer program product includes instructions that, when executed on the port selector system, perform a method according to the first aspect or any optional feature thereof. Attached Figure Description

[0046] The following figures are attached to aid in understanding the invention. These figures illustrate embodiments of the invention, which will now be described by way of example only.

[0047] Figure 1 This is a three-dimensional diagram of the framework structure of an existing automatic storage and retrieval system.

[0048] Figure 2 This is a perspective view of a prior art container handling vehicle, which has internal cavities arranged therein for carrying storage containers.

[0049] Figure 3 This is a perspective view of a conventional container handling vehicle, which has cantilever arms for supporting storage containers below.

[0050] Figure 4 This is a perspective view of a prior art container handling vehicle, viewed from below, with internal cavities arranged to hold storage containers.

[0051] Figure 5 This is a schematic top view of an exemplary rail system and a container handling vehicle assigned to deliver items to selected ports from multiple ports.

[0052] Figure 6 This is a flowchart illustrating the different steps involved in performing the method.

[0053] Figure 7 The signal path between the port selector system, the central control system, the container handling vehicle, and the selected port is shown. Detailed Implementation

[0054] Embodiments of the invention will now be described in more detail, and by way of example only, with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the invention to the subjects depicted therein.

[0055] The automatic storage and retrieval system 10 described herein is constructed in conjunction with the above. Figure 1 The frame structure 100 is similar to that described in the prior art. That is, the frame structure 100 includes a plurality of upright members 102 and includes a first upper guide rail system 108 extending in the X and Y directions. Examples of container handling vehicles 201, 301, 401 running on the guide rail system 108 are described in... Figures 2 to 4 As shown in the image.

[0056] The frame structure 100 also includes storage compartments disposed between the members 102 in the form of storage columns 105, wherein storage containers 106 can be stacked into a stack 107 within the storage columns 105.

[0057] The frame structure 100 can be of any size. It should be understood that the frame structure can be larger than... Figure 1 The frame structure 100 is much wider and / or much longer and / or much deeper than shown in the diagram. For example, the frame structure 100 may have a horizontal range of more than 700 × 700 columns and a storage depth of more than twelve containers.

[0058] Large automated storage and retrieval system 10 typically includes container handling vehicles 201, 301, 401 for transporting and storing containers 106. It also typically includes charging stations and multiple ports 450 located at different locations for the container handling vehicles 201, 301, 401 to deliver and retrieve the storage containers 106.

[0059] When the automated storage and retrieval system 10 receives an order to be processed, it locates the storage container 106 containing the items listed in the order and selects and instructs container handling vehicles 201, 301, and 401 to retrieve the storage container 106 from its position in the storage volume and bring it to port 450. At this port, the items are assembled to complete the order through manual intervention or a special robotic manipulator. The port 450 to which the storage container 106 containing the items listed in the order is delivered is typically selected by the operator, who is unaware of the location of the storage container 106 containing the items in the order.

[0060] The solution disclosed herein provides an efficient solution for automatically selecting port 450 of storage container 106 for delivering items stored in an order.

[0061] This solution can reduce the travel distance and usage time of container handling vehicles 201, 301, and 401 because these vehicles will be more frequently assigned to one area of ​​the grid, thus reducing traffic conflicts caused by entering other areas. This is achieved through a port selector system configured to assign port 450 to items in an order.

[0062] Now refer to, as follows Figures 5 to 7 The implementation shown explains the solution in detail.

[0063] Figure 5 A top view of an automated storage and retrieval system 10 is shown, comprising grid cells containing storage containers 106 for stored items. A grid rail system 108 is arranged above the frame structure 100 of the automated storage and retrieval system 10. This figure shows a portion of a larger automated storage and retrieval system 10, which includes multiple uniquely identified container handling vehicles 201, 301, 401 and multiple ports 450 at which storage containers are delivered by container handling vehicles 201, 301, 401 moving along tracks 110, 111 of the grid rail system 108. The figure shows the locations of different types of identified container handling vehicles 201, 301, 401 on the rail system. Different grid cells are labeled. A grid cell labeled "Item 1.1" means that the grid cell contains storage container 106 for item 1 of order 1. A grid cell labeled "Item 1.2" means that the grid cell contains storage container 2 for item 2 of order 1, and so on. Similarly, a grid cell labeled "Item 2.1" means that the grid cell includes the storage container 106 for Item 1 of Order 2. A grid cell labeled "Item 2.2" means that the grid cell includes the storage container for Item 2 of Order 2, and so on.

[0064] Figure 6 It is a flowchart describing the different steps performed by method 500 in the automated storage and retrieval system 10 when scheduling item orders and allocating delivery ports 450 to storage containers 106 for the items listed in the storage orders.

[0065] The first step 510 of the method is to identify the location of a set of storage containers 106 in the storage volume section that hold the items required to make up a given order.

[0066] Figure 5 The visualization example shows the item locations for two different orders, each with five listed items: Order 1 lists items 1 through 5 (1.1 - 1.5) and Order 2 lists items 1 through 5 (2.1 - 2.5).

[0067] The second step 520 is to calculate the total time required to gather the order at each of the multiple ports 450. This calculation is based on the identified location of each storage container 106 in the group containing the items listed in the order within the storage volume, and the time required for the available container transport vehicles 201, 301, 401 to deliver this group of storage containers 106 to the different ports 450 to retrieve the ordered items.

[0068] The third step 530 of the method is to schedule the orders to be collected by allocating a port for the orders. At the port, the available container processing vehicles 201, 301, and 401 used in the time calculation step deliver the storage container 106 to the port 450, so that the orders can be collected in the shortest possible time.

[0069] exist Figure 5 In the diagram, the dashed lines surrounding the two sets of container handling vehicles 201, 301, and 401 represent the container handling vehicles 201, 301, and 401 assigned to deliver storage container 106 to the corresponding port 450. The assigned container handling vehicles 201, 301, and 401 are typically the currently available vehicles and those closest to the grid cell where the storage container 106 containing the items listed in the order is located. This requires minimal time to reach the grid cell.

[0070] Group 1 specifies container handling vehicles 201, 301, and 401 assigned to deliver the required storage containers for items 1 to 5 listed in Order 1 to Port 6, while Group 2 specifies container handling vehicles 201, 301, and 401 assigned to deliver the storage containers for items 1 to 5 listed in Order 2 to Port 3.

[0071] Container transport vehicle 201, numbered 07A, was selected to retrieve storage container 106 containing item 3 of order 1. Container transport vehicle 301, numbered 15B, was selected to retrieve storage container 106 containing item 2 of order 1, and so on. Similarly, container transport vehicle 201, numbered 02A, was selected to retrieve storage container 106 containing item 2 of order 2. Container transport vehicle 401, numbered 14C, was selected to retrieve storage container 106 containing item 4 of order 2, and so on.

[0072] For each assigned container handling vehicle 201, 301, 401 in the group, calculate its arrival time at each available port 450, and calculate the arrival time of all container handling vehicles 201, 301, 401 in the group at each port 450. Based on the time calculation results, the port 450 assigned to deliver the storage container 106 containing the ordered items is the port in the group that requires the least time to deliver and combine the items listed in the order to port 450.

[0073] The time taken to bring storage container 106 to port 450 may include the time available for the excavation operation. This is the case if the required storage container 106, which holds the ordered item, is located further down in the stack of storage containers. In this case, the storage containers stacked above the required storage container 106 must be removed first.

[0074] Figure 7 The signal path between the port selector system 125, the central control system 121, the container handling vehicle 106 (robot), and the selected port 450 is shown in the reference above. Figure 5 and Figure 6 As explained in the described example, the method of scheduling orders of items to be combined by assigning ports to orders is performed by a computer program product executed by the port selector system 125. When an order with listed items (e.g., orders A and B) is received, real-time data 130 is input and used to determine the location of the storage container 106 containing the listed items, the location of available container transport vehicles 201, 301, and 401, and the location of available ports. The real-time data may also include the current allocation status of container transport vehicles 201, 301, and 401. This indicates whether container transport vehicles 201, 301, and 401 are about to complete a task and will soon be available to transport the items listed in the order to be combined from the storage container 106.

[0075] It should be understood that the above description is intended to be illustrative and not restrictive. Many other implementations will be apparent to those skilled in the art upon reading and understanding the above description. While this disclosure has been described with reference to specific exemplary implementations, it should be recognized that this disclosure is not limited to the described implementations, but can be modified and varied within the spirit and scope of the appended claims. Therefore, the specification and drawings should be considered illustrative and not restrictive. The scope of this disclosure should therefore be determined by reference to the appended claims and the full scope of their equivalents.

Claims

1. A method for scheduling an order of items in an automated storage and retrieval system (10), the automated storage and retrieval system comprising a grid structure having storage columns (105) forming storage volumes for holding a stack of storage containers (106), wherein the grid structure has a corresponding guide rail system (108) above the storage columns (105) for guiding the movement of container handling vehicles (201, 301, 401) adapted to transfer the storage containers (106) between the storage columns (105) and a plurality of ports (450) of the automated storage and retrieval system (10), the order being a combination of items stored in the storage containers (106) at different locations in the storage volumes, the method comprising: - For each order, identify the location of a set of storage containers (106) in the storage volume containing the items required to make up the given order; - For each order, based on the location of each storage container (106) in the set within the storage volume and the time required for the available container handling vehicles (201, 301, 401) to deliver the set of storage containers (106) to different ports (450) to retrieve the items of the order, calculate the total time required to gather the order at each of the plurality of ports (450); - By scheduling orders to be combined by assigning a port (450) to the orders, at the port, the storage container (106) is delivered to the port (450) using the available container processing vehicles (201, 301, 401) used in the time calculation step, the orders can be assembled in the shortest possible time.

2. The method according to claim 1, wherein, The time required for the available container transport vehicles (201, 301, 401) to deliver the set of storage containers (106) to different ports (450) is determined based on the distance the available container transport vehicles need to travel to retrieve the items in the order.

3. The method according to claim 1 or 2, wherein, The step of identifying the location of a set of storage containers (106) in the storage volume that hold the items required for a given order includes: identifying the X, Y and Z grid positions of the set of storage containers.

4. The method according to any one of the preceding claims, wherein, If multiple locations of storage containers (106) containing the same item for the order are identified, the storage container (106) that can gather the order at the port in the shortest time is selected.

5. The method according to any one of the preceding claims, wherein, The step of calculating the time required to collect the order at each port (450) is based on real-time system data (130), which includes one or more of the following: item inventory data, location data of the storage container holding the item, location data, status of the container transport vehicle, port (450) location, and port (450) status.

6. The method according to any one of the preceding claims, wherein, Prepared orders are reviewed before being dispatched to determine the order in which items in the order are prepared.

7. The method according to any one of the preceding claims, wherein, The order of scheduling orders is set so that storage containers containing the same items listed in different orders are processed consecutively.

8. The method according to any one of the preceding claims, wherein, If two or more orders include the same item, and if different storage containers contain the same item, the available container handling vehicle retrieves the same item from different storage containers for different orders.

9. The method according to any one of the preceding claims, wherein, The plurality of ports are arranged at intervals around the perimeter of the mesh structure.

10. A system for scheduling an order of items in an automated storage and retrieval system (10), the automated storage and retrieval system comprising a grid structure having storage columns (105) forming storage volumes for holding a stack of storage containers (106), wherein the grid structure has a corresponding guide rail system (108) above the storage columns (105) for guiding the movement of container handling vehicles (201, 301, 401) adapted to transfer the storage containers (106) between the storage columns (105) and a plurality of ports (450) of the automated storage and retrieval system (10), the order being a combination of items stored in the storage containers (106) at different locations in the storage volumes, the system comprising a control system (121) connected to a port selector system (125) configured to: - For each order, identify the location of a set of storage containers (106) in the storage volume containing the items required to make up the given order; - For each order, based on the location of each storage container (106) in the set within the storage volume and the time required for the available container handling vehicles (201, 301, 401) to deliver the set of storage containers (106) to different ports (450) to retrieve the items of the order, calculate the total time required to gather the order at each of the plurality of ports (450); - By scheduling orders to be combined by assigning a port (450) to the orders, at the port, the storage container (106) is delivered to the port (450) using the available container processing vehicles (201, 301, 401) used in the time calculation step, the orders can be assembled in the shortest possible time.

11. The system according to claim 10, wherein, The control system (121) is configured to control the available container handling vehicles (201, 301, 401) used in the time calculation step to remove the storage container (106) from the storage volume and deliver the storage container to the port (450) assigned by the port selector system (125).

12. The system according to claim 10 or 11, wherein, Real-time system data is sent to the control system, and the real-time system data includes one or more of the following: item inventory data, location data of storage containers storing the items, location data, status of container transport vehicles, port location, and port status.

13. The system according to any one of claims 10 to 12, wherein, The control system is configured to perform the method according to any one of claims 1 to 9.

14. A computer program product for a port selector system (125), wherein, The computer program product includes instructions that, when executed on the port selector system (125), perform the method according to any one of claims 1 to 9.

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