Charging container handling vehicles operating on an automated storage and retrieval system

Abstract

A method, system, control system and computer program product configured to control charging of power sources of a plurality of container handling vehicles operating on an automated storage and retrieval system, where charging is controlled by defining a vehicle subset comprising one or more uniquely identified container handling vehicles, defining a charger subset comprising one or more uniquely identified chargers, assigning the container handling vehicles in the vehicle subset to chargers in the charger subset, and controlling a container handling vehicle in the vehicle subset needing charging to drive to and connect to a charger in the charger subset.

Description

CHARGING CONTAINER HANDLING VEHICLES OPERATING ON AN AUTOMATED STORAGE AND RETRIEVAL SYSTEMFIELD OF THE INVENTION

[0001] The present invention relates to charging container handling vehicles operating on an automated storage and retrieval system, in particular to a method, system, control system and computer program product for charging power sources of a plurality of container handling vehicles.BACKGROUND AND PRIOR ART

[0002] Fig. 1 discloses a prior art automated storage and retrieval system 10 with a framework structure 100 and Figs. 2, 3 and 4 disclose three different prior art container handling vehicles 201,301,401, also called robots, suitable for operating on such a system 10.

[0003] The framework 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 known as bins, are stacked one on top of one another to form stacks 107. The members 102 may typically be made of metal, e.g. extruded aluminum profiles. The framework structure 100 of the automated storage and retrieval system 10 comprises a rail system 108 arranged across the top of framework structure 100, on which rail system 108 a plurality of container handling vehicles 201,301,401 maybe operated to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails no arranged to guide movement of the container handling vehicles 201,301,401 in a first direction X across the top of the frame structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails no to guide movement of the container handling vehicles 201,301,401 in a second direction Y which is perpendicular to the first direction X. Containers 106 stored in the columns 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 move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.

[0004] The upright members 102 of the framework structure 100 may be used to guide the storage containers during raising of the containers out from andlowering of the containers into the columns 105. The stacks 107 of containers 106 are typically self-supporting.

[0005] Each prior art container handling vehicle 201,301,401 comprises a vehicle body 201a, 301a, 401a and first and second sets of wheels 201b, 201c, 301b, 301c, 401b, 401c which enable the lateral movement of the container handling vehicles 201,301,401 in the X direction and in the Y direction, respectively. In Figs. 2, 3 and 4 two wheels in each set are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails of the first set no of rails, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent rails of the second set 111 of rails. At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be lifted and lowered, so that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can be engaged with the respective set of rails no, 111 at any one time.

[0006] Each prior art container handling vehicle 201,301,401 also comprises a lifting device for vertical transportation of storage containers 106, e.g. raising a storage container 106 from, and lowering a storage container 106 into, a storage column 105. The lifting device comprises one or more gripping / engaging devices which are adapted to engage a storage container 106, and which gripping / engaging devices can be lowered from the vehicle 201,301,401 so that the position of the gripping / engaging devices with respect to the vehicle 201,301,401 can be adjusted in a third direction Z which is orthogonal the first direction X and the second direction Y. Parts of the gripping device of the container handling vehicles 301,401 are shown in Figs. 3 and 4 indicated with reference number 304,404. The gripping device of the container handling device 201 is located within the vehicle body 201a in Fig. 2 and is thus not shown. Conventionally, and also for the purpose of this application, Z=i identifies the uppermost layer available for storage containers below the rails 110,111, i.e. the layer immediately below the rail system 108, =2 the second layer below the rail system 108, =3 the third layer etc. In the exemplary prior art disclosed in Fig. 1, =8 identifies the lowermost, bottom layer of storage containers.Similarly, X=i...n and Y=i...n identifies the position of each storage column 105 in the horizontal plane. Consequently, as an example, and using the Cartesian coordinate system X, Y, Z indicated in Fig. 1, the storage container identified as 106’ in Fig. 1 can be said to occupy storage position X=i , Y=i, Z=6. The container handling vehicles 201,301,401 can be said to travel in layer Z=o, and each storage column 105 can be identified by its X and Y coordinates. Thus, thestorage containers shown in Fig. 1 extending above the rail system 108 are also said to be arranged in layer Z=o.

[0007] The storage volume of the framework structure 100 has often been referred to as a grid 104, where the possible storage positions within this grid are referred to as storage grid cells. Each storage column may be identified by a position in an X- and Y-direction, while each storage grid cell may be identified by a container number in the X-, Y- and Z-direction.

[0008] Each prior art container handling vehicle 201,301,401 comprises a storage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 across the rail system 108. The storage space may comprise a cavity arranged internally within the vehicle body 201a, 401a as shown in Figs. 2 and 4 and as described in e.g. WO2O15 / 193278A1 and W02019 / 206487A1, the contents of which are incorporated herein by reference.

[0009] Fig. 3 shows an alternative configuration of a container handling vehicle 301 with a cantilever construction. Such a vehicle is described in detail in e.g. NO317366, the contents of which are also incorporated herein by reference.

[0010] The cavity container handling vehicle 201 shown in Fig. 2 may have a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a storage column 105, e.g. as is described in WO2O15 / 193278A1, the contents of which are incorporated herein by reference. The term ‘lateral’ used herein may mean ‘horizontal’.Alternatively, the cavity container handling vehicles 401 may have a footprint which is larger than the lateral area defined by a storage column 105 as shown in Fig. 1 and 4, e.g. as is disclosed in WO2O14 / 090684A1 or W02019 / 206487A1.

[0011] The rail system 108 typically comprises rails with grooves in which the wheels of the vehicles run. Alternatively, the rails may comprise upwardly protruding elements, where the wheels of the vehicles comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively known as tracks. Each rail may comprise one track, or each rail 110,111 may comprise two parallel tracks. In other rail systems 108, each rail in one direction (e.g. an X direction) may comprise one track and each rail in the other, perpendicular direction (e.g. a Y direction) may comprise two tracks. Eachrail 110,111 may also comprise two track members that are fastened together, each track member providing one of a pair of tracks provided by each rail.[ooi2] W02018 / 146304A1, the contents of which are incorporated herein by reference, illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both X and Y directions.

[0013] In the framework structure 100, most of the columns 105 are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In Fig. 1, columns 119 and 120 are such special-purpose columns used by the container handling vehicles 201,301,401 to drop off and / or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside of the framework structure 100 or transferred out of or into the framework structure 100. Within the art, such a location is normally referred to as a ‘port’ and the column in which the port is located maybe referred to as a ‘port column’ 119,120. The transportation to the access station maybe in any direction, that is horizontal, tilted and / or vertical. For example, the storage containers 106 maybe placed in a random or dedicated column 105 within the framework structure 100, then picked up by any container handling vehicle and transported to a port column 119,120 for further transportation to an access station. The transportation from the port to the access station may require movement along various directions, by means such as delivery vehicles, trolleys, or other transportation lines. Note that the term ‘tilted’ means transportation of storage containers 106 having a general transportation orientation somewhere between horizontal and vertical.

[0014] In Fig. 1, the first port column 119 may for example be a dedicated drop-off port column where the container handling vehicles 201,301,401 can drop off storage containers 106 to be transported to an access or a transfer station, and the second port column 120 may be a dedicated pick-up port column where the container handling vehicles 201,301,401 can pick up storage containers 106 that have been transported from an access or a transfer station.

[0015] The access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers 106. In a picking or a stocking station, the storage containers 106 are normally not removed from the automated storage and retrieval system 10 but are returned into the framework structure 100 again once accessed. A port can alsobe used for transferring storage containers to another storage facility (e.g. to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.

[0016] A conveyor system comprising conveyors is normally employed to transport the storage containers between the port columns 119,120 and the access station.

[0017] If the port columns 119,120 and the access station are located at different levels, the conveyor system may comprise a lift device with a vertical component for transporting the storage containers 106 vertically between the port column 119,120 and the access station.

[0018] The conveyor system may be arranged to transfer storage containers 106 between different framework structures, e.g. as is described in W02014 / 075937A1, the contents of which are incorporated herein by reference.

[0019] 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 retrieve the target storage container 106 from its position and transport it to the drop-off port column 119. This operation involves moving the container handling vehicle 201,301,401 to a location above the storage column 105 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the container handling vehicle’s 201,301,401 lifting device (not shown), and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within a stack 107, i.e. with one or a plurality of other storage containers 106 positioned above the target storage container 106, the operation also involves temporarily moving the abovepositioned storage containers prior to lifting the target storage container 106 from the storage column 105. This step, which is sometimes referred to as “digging” within the art, may be performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port column 119, or with one or a plurality of other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201,301,401 specifically dedicated to the task of temporarily removing storage containers 106 from a storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storagecontainers 106 can be repositioned into the original storage column 105.However, the removed storage containers 106 may alternatively be relocated to other storage columns 105.

[0020] When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201,301,401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a location above the storage column 105 where it is to be stored. After any storage containers 106 positioned at or above the target position within the stack 107 have been removed, the container handling vehicle 201,301,401 positions the storage container 106 at the desired position. The removed storage containers 106 may then be lowered back into the storage column 105 or relocated to other storage columns 105.

[0021] For monitoring and controlling the automated storage and retrieval system 10, e.g. monitoring and controlling the location of respective storage containers 106 within the framework structure 100, the content of each storage container 106, and the movement of the container handling vehicles 201,301,401 so that a desired storage container 106 can be delivered to the desired location at the desired time without the container handling vehicles 201,301,401 colliding with each other, the automated storage and retrieval system 10 comprises a central control system 500 which typically is computerized and which typically comprises a database for keeping track of the storage containers 106 and container handling vehicles 201,301,401.

[0022] The above system comprises charging stations for charging power sources, typically batteries, of the container handling vehicles. For larger storage and retrieval systems 1, several charging stations, accessible for the container handling vehicles 201,301,401, are typically placed at different locations on the storage and retrieval system.

[0023] In current systems any container handling vehicle can charge at any of the charging stations. This has some drawbacks. One drawback is that it is difficult to test new software, hardware, or firmware on only a limited number of charging stations and / or container handling vehicles.

[0024] Another drawback is that it is difficult to determine whether a battery issue is caused by a problem with the container handling vehicle 201,301,401 or a charger it has used. Since any container handling vehicles 201,301,401 cancharge at any charger, every combination of the container handling vehicle 201,301,401 and charger can be used, and it is difficult to determine which charger or container handling vehicles 201,301,401 is faulty, for instance caused by a faulty connector. A defective charging connector on a charger could affects all container handling vehicles 201,301,401 in the system, if each uses the defective charger.

[0025] Another drawback is that some charging stations may be used more frequently compared to other charging stations, leading to higher wear and tear on more frequently used charging stations.

[0026] The solution disclosed herein addresses drawbacks that may occur with today’s charging systems when charging power supplies of container handling vehicles 201,301,401.SUMMARY OF THE INVENTION

[0027] This summary is provided to introduce in simplified form a selection of concepts that are further described herein. The summary is not intended to identify key or essential features of the invention.

[0028] The present invention is set forth and characterized in the independent claims, while the dependent claims describe optional features of embodiments the of the invention.

[0029] More specifically, and in a first aspect, the invention is defined by a method of charging power sources of a plurality of container handling vehicles operating on an automated storage and retrieval system, each container handling vehicle comprising a power source, vehicle controller and driving means configured for providing operation of each container handling vehicle.

[0030] The operation is typically autonomous.

[0031] According to one embodiment, the automated storage and retrieval system comprises a framework structure comprising a plurality of upright members with a grid rail system arranged at least partially across the framework structure, the plurality of container handling vehicles are operable on the rail system to handle storage containers stored in storage columns of the automated storage and retrieval system, and a plurality of charging stations are installed at locations accessible to the container handling vehicle via the rail system.

[0032] Each charging station typically comprises a charging controller.

[0033] The following steps are performed by a central control system which is in communication with the vehicle controller of each of the container handling vehicles: defining a first vehicle subset comprising one or more uniquely identified container handling vehicles selected from the plurality of container handling vehicles; defining a first charger subset comprising one or more uniquely identified charging stations selected from the plurality of charging stations; assigning the container handling vehicle(s) in the first vehicle subset to the charger(s) in the first charger subset; controlling a container handling vehicle in the first vehicle subset needing charging to drive to and connect to a charging station in the first charger subset.

[0034] According to one embodiment, the invention comprises defining a plurality of vehicle subsets and a plurality of charger subsets in addition to the first vehicle subset and the first charger subset, each of the plurality of vehicle subsets comprising uniquely identified container handling vehicles and each of the plurality of charger subset comprising uniquely identified charging stations, and assigning each vehicle subset to only one charger subset.

[0035] According to one embodiment, the method comprises setting the number of container handling vehicles in the first vehicle subset to be a predetermined number of container handling vehicles. This means that the number of container handling vehicles in the subset is unchanged.

[0036] According to one embodiment, the method comprises setting the number of container handling vehicles in the first vehicle subset and the additional vehicle subsets to be predetermined numbers of container handling vehicles in each vehicle subset. This means that the number of container handling vehicles in all subsets are unchanged.

[0037] According to one embodiment, the method comprises setting the number of charging stations in the first charger subset to be a predeterminednumber of charging stations. This means that the number of charging stations in the subset is unchanged.

[0038] According to one embodiment, the method comprises setting the number of charging stations in the first charger subset and the additional charger subsets to be predetermined numbers of charging stations in each charger subset. This means that the number of charging stations in all subsets are unchanged.

[0039] According to one embodiment, the method comprises changing the number of container handling vehicles and / or charging stations defined in vehicle subsets and charger subsets according to current needs, such as for instance maintenance of container handling vehicles or charging stations.

[0040] According to one embodiment, the method comprises defining each vehicle subsets to comprise same type of uniquely identified container handling vehicles or operation mode. A same type of container handling vehicles may for instance be cantilever robots. Operation mode may for instance be container handling vehicles assigned to perform digging operations by temporarily moving above-positioned storage containers prior to lifting a target storage container from a storage column and making it accessible to other container handling vehicles. Each container handling vehicle can be identified by one or more of unique ID, operation mode and type of vehicle.

[0041] In a second aspect, the invention concerns a system for providing charging of power sources of a plurality of container handling vehicles configured to operate in an automated storage and retrieval system, each container handling vehicle comprises a power source, vehicle controller and driving means configured for providing operation of each container handling vehicle, the plurality of container handling vehicles are operable to handle storage containers stored in storage columns of the automated storage and retrieval system, a plurality of charging stations are installed at locations accessible to the container handling vehicles, the automated storage and retrieval system comprises a central control system configured to be in communication with the vehicle controller of each container handling vehicle. The central control system is configured to:define a first vehicle subset comprising one or more uniquely identified container handling vehicles selected from the plurality of container handling vehicles; define a first charger subset comprising one or more uniquely identified charging stations selected from the plurality of charging stations; assign the container handling vehicle(s) in the first vehicle subset to the charging stations(s) in the first charger subset; control a container handling vehicle in the first vehicle subset needing charging to drive to and connect to a charging station in the first charger subset.

[0042] According to one embodiment, the automated storage and retrieval system comprises a framework structure comprising a plurality of upright members with a grid rail system arranged at least partially across the framework structure, the plurality of container handling vehicles are operable on the rail system to handle storage containers stored in storage columns of the automated storage and retrieval system, and the plurality of charging stations are installed at locations accessible to the container handling vehicle via the rail system.

[0043] According to one embodiment of the system, the power source is a battery.

[0044] According to one embodiment of the system, the central control system is configured to define a plurality of vehicle subsets and a plurality of charger subsets in addition to the first vehicle subset and the first charger subset, each of the plurality of vehicle subsets comprising uniquely identified container handling vehicles and each of the plurality of charger subset comprising uniquely identified charging stations, and assigning each vehicle subset to only one charger subset.

[0045] According to one embodiment of the system, the central control system is configured to setting the number of container handling vehicles in the first vehicle subset to be a predetermined number of container handling vehicles.

[0046] According to one embodiment of the system, the central control system is configured to setting the number of container handling vehicles in thefirst vehicle subset and the additional vehicle subsets to be predetermined numbers of container handling vehicles in each vehicle subset.

[0047] According to one embodiment of the system, the central control system is configured to setting the number of charging stations in the first charger subset to be a predetermined number of charging stations.

[0048] According to one embodiment of the system, the central control system is configured to setting the number of charging stations in the first charger subset and the additional charger subsets to be predetermined numbers of charging stations in each charger subset.

[0049] According to one embodiment of the system, the central control system is configured to define each of the plurality of vehicle subsets to comprise same type of uniquely identified container handling vehicles or operation mode.

[0050] In a third aspect, the invention is directed to a central control system or controller for controlling charging of power sources of a plurality of container handling vehicles configured to operate in an automated storage and retrieval system, each container handling vehicle comprises a power source, vehicle controller and driving means configured for providing operation of each container handling vehicle, the plurality of container handling vehicles are operable to handle storage containers stored in storage columns of the automated storage and retrieval system, and a plurality of charging stations are installed at locations accessible to the container handling vehicle.

[0051] According to one embodiment, the automated storage and retrieval system comprises a framework structure comprising a plurality of upright members with a grid rail system arranged at least partially across the framework structure, the plurality of container handling vehicles are operable on the rail system to handle storage containers stored in storage columns of the automated storage and retrieval system, and the plurality of charging stations are installed at locations accessible to the container handling vehicle via the rail system.

[0052] The central control system or controller is configured to be in communication with the vehicle controller of each container handling vehicle, and to:define a first vehicle subset comprising one or more uniquely identified container handling vehicles selected from the plurality of container handling vehicles; define a first charger subset comprising one or more uniquely identified charging stations selected from the plurality of charging stations; assign the container handling vehicle(s) in the first vehicle subset to the charging station(s) in the first charger subset; control a container handling vehicle in the first vehicle subset needing charging to drive to and connect to a charging station in the first charger subset.

[0053] In a fourth aspect, the invention is directed to a computer program product for the central control system or controller according to the third aspect, wherein the computer program product comprises instructions that when performed on the central control system or controller performs the method according to the first aspect of the invention.BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Following drawings are appended to facilitate the understanding of the invention. The drawings show embodiments of the invention, which will now be described by way of example only, where:

[0055] Fig. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.

[0056] Fig. 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0057] Fig. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.

[0058] Fig. 4 is a perspective view, seen from below, of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0059] Fig. 5 is a schematic top view of an exemplary rail system, container handling vehicles and a plurality of charging stations assigned to different container handling vehicles.

[0060] Fig. 6 is a flow chart illustrating the different steps involved when performing the method.

[0061] Fig. 7 illustrates container handling vehicles communicating with a central control system configured to perform the disclosed method.DETAILED DESCRIPTION

[0062] In overview, a method, system, control system and computer program product configured to control charging of power sources of a plurality of container handling vehicles operating on an automated storage and retrieval system. Charging is controlled by defining a vehicle subset comprising one or more uniquely identified container handling vehicles, defining a charger subset comprising one or more uniquely identified chargers, assigning the container handling vehicles in the vehicle subset to chargers in the charger subset, and controlling a container handling vehicle in the vehicle subset needing charging to drive to and connect to a charger in the charger subset.

[0063] Embodiments of the invention will now be described in greater detail and by way of example only with reference to the figures. It should be understood, however, that the drawings are not intended to limit the invention to the subject-matter depicted in the drawings.

[0064] The framework structure 100 of the automated storage and retrieval system 10 is constructed in a similar manner to the prior art framework structure 100 described above in connection with Fig. 1. That is, the framework structure 100 comprises several upright members 102, and comprises a first, upper rail system 108 extending in the X direction and Y direction. Examples of container handling vehicles 201, 301, 401 running on the rail system 108 are illustrated in Figs. 2-4.

[0065] The framework structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102 wherein storage containers 106 are stackable in stacks 107 within the storage columns 105.

[0066] The framework structure 100 can be of any size. It is understood that the framework structure can be considerably wider and / or longer and / or deeper than disclosed in Fig. 1. For example, the framework structure 100 may have ahorizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.

[0067] Large automated storage and retrieval system 1 will typically comprise a plurality of container handling vehicles handling storage containers 106. It will further typically comprise a plurality of charging stations accessible at different locations for the container handling vehicles 201, 301, 401.

[0068] The solution disclosed herein addresses drawbacks that may occur with today’s automated storage and retrieval systems 1 comprising a plurality of container handling vehicles 201, 301, 401 and a plurality charging stations 450 when charging power supplies of container handling vehicles. This is achieved by configuring and providing the central control system with features controlling how charging is performed.

[0069] The method will now be explained by referring to an embodiment as illustrated in Figs. 5 to 7.

[0070] Fig. 5 illustrates a top view of an automated storage and retrieval system 1 comprising grid cells. A grid rail system 108 is arranged across the framework structure 100 of the automated storage and retrieval system 1. The figure illustrates a part of a larger automated storage and retrieval system 1 comprising a plurality of uniquely identified container handling vehicles 201, 301, 401 and charging stations 450.

[0071] Fig. 6 is a flowchart describing the different steps performed by the method 500 for charging power sources of a plurality of container handling vehicles 201,301, 401 operating on an automated storage and retrieval system 1.

[0072] In step 510, a first vehicle subset A is defined. This will be one or more uniquely identified container handling vehicles 201, 301, 401 selected from a plurality of container handling vehicles 201, 301, 401 operating on the automated storage and retrieval system 1. In Fig. 5, the first vehicle subset A is indicated as container handling vehicles 201 identified as 02A, 07A, 10A and 16A. In this example, the container handling vehicles 201 are of same type, e.g. cantilever robot.

[0073] In step 520, a first charger subset A is defined, each comprising one or more uniquely defined charging stations 450. In Fig. 5, a first charger subset A is indicated as charger #1 and #5.

[0074] In step 530, the container handling vehicles 201 in the first vehicle subset A are assigned to charging stations 450 in the first charger subset A.

[0075] In step 540, the container handling vehicles 201 needing charging in the first vehicle subset A are controlled to charge only at assigned charging stations 450 comprised in the first charger subset A.

[0076] In addition to the first vehicle subset A and the first charger subset A, Fig. 5 illustrates two more vehicle subsets B and C and two more charger subset B and C. The container handling vehicles 301 in subset B are identified as 03B, 05B, 08B 13B, 15B, while the container handling vehicles 401 in subset C are identified as 01C, 04C, 06C, 09C, 11C and 14C. Charger subset B comprises chargers #2 and #3, and charger subset C comprises chargers #4 and #6.

[0077] The container handling vehicles 301 needing charging in vehicle subset B are controlled to charge only at assigned charging stations 450 comprised in charger subset B, and the container handling vehicles 401 needing charging in vehicle subset C are controlled to charge only at assigned charging stations 450 comprised in charger subset C.

[0078] For a plurality of vehicle subsets, 1st to nth, and a plurality of charger subsets, 1st to nth, the first vehicle subset is assigned to the first charger subset, the second vehicle subset is assigned to the second charger subset, and the nth vehicle subset is assigned to the nth charger subset.

[0079] Fig. 7 illustrates container handling vehicles 201, 301, 401, Robots 01 to n-i are wirelessly connected to a central control system 500 controlling the operation of the container handling vehicles 201, 301, 401, and charging of the container handling vehicles 201, 301, 401 according to the inventive method disclosed herein. In this illustration, each container handling vehicle comprises a battery 405 as the power source, driving means 420, vehicle controller 410 and sensors 430. The figure further illustrates three charger subsets A, B and C comprising uniquely identified charging stations 450. The central control system 500 may communicate with each charging station, for instance receiving status or error messages. If errors are detected the central control system can exclude a charger from a defined charger subset.List of prior art reference numbers (Figs. 1-4):

Claims

CLAIMS1. A method of charging power sources of a plurality of container handling vehicles (201,301, 401) operating on an automated storage and retrieval system (1), each container handling vehicle (201, 301, 401) comprising a power source (405), vehicle controller (410) and driving means (420) configured for providing operation of each container handling vehicle (201, 301, 401), the plurality of container handling vehicles (201, 301, 401) are operable to handle storage containers (106) stored in storage columns (105) of the automated storage and retrieval system (1), a plurality of charging stations (450) are installed at locations accessible to the container handling vehicles (201, 301, 401), the automated storage and retrieval system (1) comprises a central control system (500) which is in communication with the vehicle controller (410) of each container handling vehicle (201, 301, 401), wherein the method comprises the following steps performed by the central control system (500):- defining a first vehicle subset comprising one or more uniquely identified container handling vehicles (201, 301, 401) selected from the plurality of container handling vehicles (201, 301, 401);- defining a first charger subset comprising one or more uniquely identified charging stations (450) selected from the plurality of charging stations (450);- assigning the container handling vehicle(s) in the first vehicle subset to the charger(s) in the first charger subset;- controlling a container handling vehicle (201, 301, 401) in the first vehicle subset needing charging to drive to and connect to a charging station (450) in the first charger subset.

2. The method according to claim 1, comprising defining a plurality of vehicle subsets and a plurality of charger subsets in addition to the first vehicle subset and the first charger subset, each of the plurality of vehicle subsets comprising uniquely identified container handling vehicles (201, 301, 401) and each of the plurality of charger subset comprising uniquely identified charging stations (450), and assigning each vehicle subset to only one charger subset.

3. The method according to claim 1, comprising setting the number of container handling vehicles (201, 301,401) in the first vehicle subset to be a predetermined number of container handling vehicles (201, 301, 401).

4. The method according to claim 2, comprising setting the number of container handling vehicles (201, 301,401) in the first vehicle subset and the additional vehicle subsets to be predetermined numbers of container handling vehicles (201, 301, 401) in each vehicle subset.

5. The method according to claim 1, comprising setting the number of charging stations (450) in the first charger subset to be a predetermined number of charging stations (450).

6. The method according to claim 2, comprising setting the number of charging stations (450) in the first charger subset and the additional charger subsets to be predetermined numbers of charging stations (450) in each charger subset.

7. The method according to any of the previous claims, comprising defining each vehicle subsets to comprise same type of uniquely identified container handling vehicles (201, 301, 401) or operation mode.

8. A system for providing charging of power sources of a plurality of container handling vehicles (201, 301, 401) configured to operate in an automated storage and retrieval system (1), each container handling vehicle (201, 301, 401) comprises a power source (405), vehicle controller (410) and driving means (420) configured for providing operation of each container handling vehicle (201, 301, 401), the plurality of container handling vehicles (201, 301, 401) are operable to handle storage containers (106) stored in storage columns (105) of the automated storage and retrieval system (1), a plurality of charging stations (450) are installed at locations accessible to the container handling vehicle (201, 301, 401), the automated storage and retrieval system (1) comprises a central control system (500) configured to be in communication with the vehicle controller (410) of each container handling vehicle (201, 301, 401), wherein the central control system (500) is configured to:- define a first vehicle subset comprising one or more uniquely identified container handling vehicles (201, 301, 401) selected from the plurality of container handling vehicles (201, 301, 401),- define a first charger subset comprising one or more uniquely identified charging stations (450) selected from the plurality of charging stations (450),- assign the container handling vehicle(s) in the first vehicle subset to the charging stations(s) (450) in the first charger subset.- control a container handling vehicle (201, 301, 401) in the first vehicle subset needing charging to drive to and connect to a charging station (450) in the first charger subset.

9. The system according to claim 8, wherein the central control system (500) is configured to define a plurality of vehicle subsets and a plurality of charger subsets in addition to the first vehicle subset and the first charger subset, each of the plurality of vehicle subsets comprising uniquely identified container handling vehicles (201, 301, 401) and each of the plurality of charger subset comprising uniquely identified charging stations (450), and assigning each vehicle subset to only one charger subset.

10. The system according to claim 8, wherein the central control system (500) is configured to setting the number of container handling vehicles (201, 301,401) in the first vehicle subset to be a predetermined number of container handling vehicles (201, 301, 401).

11. The system according to claim 9, wherein the central control system (500) is configured to setting the number of container handling vehicles (201, 301,401) in the first vehicle subset and the additional vehicle subsets to be predetermined numbers of container handling vehicles (201, 301, 401) in each vehicle subset.

12. The system according to claim 8, wherein the central control system (500) is configured to setting the number of charging stations (450) in the first charger subset to be a predetermined number of charging stations (450).13- The system according to claim 9, wherein the central control system (500) is configured to setting the number of charging stations (450) in the first charger subset and the additional charger subsets to be predetermined numbers of charging stations (450) in each charger subset.

14. The system according to any of the claims 9 to 13, wherein the central control system (500) is configured to define each of the plurality of vehicle subsets to comprise same type of uniquely identified container handling vehicles (201, 301, 401) or operation mode.

15. The system according to any of the claims 8 to 14, wherein the power source is a battery.

16. A central control system (500) for controlling charging of power sources of a plurality of container handling vehicles (201, 301, 401) configured to operate in an automated storage and retrieval system (1), each container handling vehicle (201, 301, 401) comprises a power source (405), vehicle controller (410) and driving means (420) configured for providing operation of each container handling vehicle (201, 301, 401), the plurality of container handling vehicles (201, 301, 401) are operable to handle storage containers (106) stored in storage columns (105) of the automated storage and retrieval system (1), a plurality of charging stations (450) are installed at locations accessible to the container handling vehicle (201, 301, 401), and wherein the central control system (500) is configured to be in communication with the vehicle controller (410) of each container handling vehicle (201, 301, 401), and to:- define a first vehicle subset comprising one or more uniquely identified container handling vehicles (201, 301, 401) selected from the plurality of container handling vehicles (201, 301, 401);- define a first charger subset comprising one or more uniquely identified charging stations (450) selected from the plurality of charging stations (450);- assign the container handling vehicle(s) in the first vehicle subset to the charging station(s) (450) in the first charger subset; control a container handling vehicle (201, 301, 401) in the first vehicle subset needing charging to drive to and connect to acharging station (450) in the first charger subset.17- The method, system or central control system according to any preceding claim, wherein the automated storage and retrieval system (i) comprises a framework structure (100) comprising a plurality of upright members (102) with a grid rail system (108) arranged at least partially across the framework structure (100), wherein the plurality of container handling vehicles (201, 301, 401) are operable on the rail system (108) to handle storage containers (106) stored in storage columns (105) of the automated storage and retrieval system (1), and wherein the plurality of charging stations (450) are installed at locations accessible to the container handling vehicle (201, 301, 401) via the rail system,18. A computer program product for a central control system (500) according to claim 16, wherein the computer program product comprises instructions that when performed on the central control system (500) performs the method according to any of claims 1 to 7.

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