Method for moving carrier on transfer surface and distribution system

Abstract

To provide: a method for controlling a distribution system which enables improved, further efficient and highly reliable transfer of a carrier on a transfer surface of the distribution system; and a distribution system.SOLUTION: This method is for moving carriers 12 ands 14 on a transfer surface 20, and a distribution system 10 is also provided. The distribution system 10 comprises: at least one first carrier 12 and at least one second carrier 14; the transfer surface 20 that includes a plurality of movement positions; driving means adapted to move the respective carriers to the movement positions; and a control device adapted to control the driving means. The control device 24 planes movement of each carrier, checks the planned movement, and plans new movement before the carrier moves on the transfer surface when necessary.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a method and a dispensing system for moving a carrier on a transfer surface, particularly for moving a carrier capable of transferring laboratory containers on a laboratory dispensing system. The disclosed method and dispensing system can also be applied to move a carrier capable of transferring payloads such as articles, warehouse goods, products manufactured at a manufacturing site, or other objects on a transfer surface.

Background Art

[0002] In a diagnostic laboratory system, articles such as test sample containers, test reagent containers, or test consumable containers are transferred between multiple laboratory stations such as a pre-analysis station, an analysis station, and a post-analysis station according to a predetermined laboratory workflow. Typically, such laboratory containers are transferred on a carrier. In a fully automated diagnostic laboratory system, the carrier is moved on the transfer surface of the dispensing system according to a planned route to distribute laboratory containers to connected pre-analysis, analysis, and post-analysis stations capable of performing different sample processing steps such as preparation, analysis, or storage of test samples.

[0003] Distribution systems and methods for transporting carriers on a transport surface are well known in the art. For example, laboratory distribution systems are described, for example, in European Patent No. 3095739, European Patent No. 3537159, or in International Publication No. 2012158541. These publications describe laboratory sample distribution systems having passive or self-propelled carriers on a transport surface. International Publication No. 2008148513 describes a storage or transport system comprising one or more transport devices, in particular a movable pallet, a car, or an electromagnetic planar motor for moving containers mounted on wheels or rolls. International Publication No. 2017186825 describes a robotic load handler adjustment system comprising a robotic load handler capable of traversing multiple cells arranged in a grid formation when in use.

[0004] The increased throughput, faster turnaround times, and larger test portfolios of automated diagnostic laboratory stations are leading to a greater number of items being transported and corresponding routes, as well as increased complexity of routes on the laboratory distribution system. The risk of carriers blocking or colliding with each other in the course of their movement on the transport surface increases as traffic density and complexity on the transport surface increase.

[0005] Therefore, it is necessary to move the carrier on the transport surface in an improved, more efficient, and reliable manner. [Overview of the project]

[0006] The purpose of this disclosure is to provide a method for controlling a distribution system and a distribution system that enables improved, more efficient, and reliable transport of carriers on the transport surface of the distribution system.

[0007] This disclosure relates to a method for a distribution system for moving carriers on a transport surface. The distribution system comprises at least one first carrier and at least one second carrier, each adapted to carry articles. The distribution system further comprises a transport surface including a plurality of moving positions from which each carrier can start moving, move, stop, wait, and / or change its direction of movement, and drive means adapted to move each carrier to a moving position. The distribution system further comprises a control device adapted to control the drive means. The method comprises the following steps, namely: a) The control device plans the movement of each carrier from a first movement position to a second movement position, and determines the reserved movement positions for each carrier adjacent to the planned second movement position. b) The control device checks whether the planned second movement position of at least one first carrier is located at the determined reserved movement position of at least one second carrier. c) If the planned second movement position of at least one first carrier is located at a determined reserved movement position of at least one second carrier, the control device plans a new movement for at least one first carrier to a new second movement position that is not located at a determined reserved movement position of at least one second carrier. d) The control device controls the drive means to move at least one first carrier to its planned new second movement position, and move at least one second carrier to its planned second movement position. Includes. This disclosure also relates to a distribution system, -Each comprising at least one first carrier and at least one second carrier, adapted to carry goods, - A transport plane including multiple movement positions from which each carrier can start moving, move, stop, wait, and / or change its direction of movement, - A drive mechanism adapted to move each carrier to a movable position, - A control device adapted to control the drive means, This relates to a distribution system that includes the following features.

[0008] Furthermore, the distribution system is configured to perform the steps of the method described herein.

[0009] This disclosure further relates to a computer program product which includes instructions for causing the distribution system described herein to perform steps of the method described herein.

[0010] This disclosure further relates to a computer-readable storage medium storing the computer program products described herein. Detailed explanation

[0011] This disclosure relates to a method for a distribution system for moving carriers on a transport surface. The distribution system comprises at least one first carrier and at least one second carrier, each adapted to carry articles. The distribution system further comprises a transport surface including a plurality of moving positions from which each carrier can start moving, move, stop, wait, and / or change its direction of movement, and drive means adapted to move each carrier to a moving position. The distribution system further comprises a control device adapted to control the drive means. The method comprises the following steps, namely: a) The control device plans the movement of each carrier from a first movement position to a second movement position, and determines the reserved movement positions for each carrier adjacent to the planned second movement position. b) The control device checks whether the planned second movement position of at least one first carrier is located at the determined reserved movement position of at least one second carrier. c) If the planned second movement position of at least one first carrier is located at a determined reserved movement position of at least one second carrier, the control device plans a new movement for at least one first carrier to a new second movement position that is not located at a determined reserved movement position of at least one second carrier. d) The control device controls the drive means to move at least one first carrier to its planned new second movement position, and move at least one second carrier to its planned second movement position. Includes.

[0012] As used herein, the term “carrier” relates to a support structure for supporting and transporting articles or payloads. A carrier is provided with appropriate retaining means, in particular, for supporting an object in a required manner and orientation and, if necessary, for securing it. In one embodiment, a carrier is configured to receive, hold, transport, and / or release articles or payloads, such as laboratory containers. A carrier can be self-propelled or propelled by a transport surface and moved on a transport surface. For example, a carrier may have motor-driven wheels. Carriers with motor-driven wheels are well known in the art and can be designed as described in U.S. Patent No. 9,182,419. In another example, a carrier may have at least one magnetic device that interacts with a magnetic field such that a magnetic force is applied to the carrier. Carriers with at least one magnetically active device that interacts with a magnetic field are well known in the art and can be designed as described in European Patent Application Publication No. 2988,134 or European Patent Application Publication No. 3070,479.

[0013] In one embodiment, at least one first carrier has a lower priority than at least one second carrier. The priority of each carrier can be determined by the priority of the articles being transported. For example, the articles of at least one second carrier are laboratory containers containing test samples for which the test results are required with a higher degree of urgency compared to the test samples in laboratory containers transported by at least one first carrier. Therefore, in step c), the control device plans a new move for at least one first carrier but not for at least one second carrier.

[0014] As used herein, the term “transfer surface” refers to a two-dimensional plane, surface, bed, layer, platform, or flat base on which a carrier is placed so that the carrier can move along the surface in at least two dimensions. For example, a transfer surface may be a sliding surface installed in the ground of a diagnostic laboratory or manufacturing site or within a manufacturing hall. A transfer surface may be installed vertically or horizontally, including an inclined surface. Curved transfer surfaces are also possible. The carrier may be in contact with the transfer surface so that friction can be used to drive and control its movement, or the carrier may be moved non-contact by air or magnetic levitation, for example, providing a small gap between the carrier and the transfer surface. For three dimensions, the transfer surface may be formed to correspond to corresponding limits of upward and downward inclination, or some kind of levitation mechanism such as magnetic levitation or air cushion technology may be installed with limits corresponding to heights that can be reached without losing control. For three-dimensional vertical transfer, an elevator / pattern star mechanism may also be installed.

[0015] As used herein, the term “moving position” refers to a predetermined position on a transport surface from which a carrier can begin, move, stop, wait, and / or change direction. In systems such as those described in European Patent No. 2566787 or International Publication No. 2013098202, the drive means define these moving positions by the limitations of its hardware. In these systems, the moving positions are typically defined above the electromagnetic coil. At these moving positions, the carrier can begin, move, stop, wait, and change direction. On other transport surfaces, moving positions may be defined as necessary or required to form a useful set of intersections, junctions, starting positions, and stopping positions.

[0016] As used herein, the term “driving means” refers to a system configured to move a carrier on a transport surface. The driving means can be implemented on the carrier itself, for example, a wheel connected to an electric motor to which a battery and electronics are connected. Another possibility is a linear motor. Passive carriers are also possible. For example, a magnetic device is fixed within the carrier, and a magnetic force is provided by a magnetically active drivable element such as a magnetic coil, and the resulting electromagnetic field forces the carrier to move. The coil can be installed below, above, laterally, or within the transport surface. For example, the arrangement of a magnetic coil below the transport surface is described, for example, in European Patent No. 2566787 or International Publication No. 2013098202.

[0017] As used herein, the term “control device” encompasses any physical or virtual processing device that can be configured to control drive means so that carriers are moved to planned moving positions on a transport surface. The control device can receive information from a data management unit about which carriers need to be moved to a certain moving position and at what time. Based on this information, the control device can determine a path that includes one or more moves of carriers on the transport surface of the distribution system from their starting position to their final destination position. The control device can control the distribution system to move and / or stop carriers to right-hand moving positions on the transport surface of the distribution system. The control device can be embodied, for example, as a programmable logic controller adapted to run a computer-readable program containing instructions for performing the movements of carriers on the transport surface.

[0018] In one embodiment, the control device comprises a first sub-device configured to perform steps a) to c) and a second sub-device configured to perform step d), the second sub-device being communicatively connected to the first sub-device and the drive means.

[0019] In one embodiment, the control device is included in the distribution system. In another embodiment, the control device is an external control device that is communicatively connected to the distribution system.

[0020] In one embodiment, the second movement position is a movement position where the carrier can wait for a predetermined waiting time. For example, the carrier waits at the second movement position until the next movement becomes feasible. The waiting time may depend on the current traffic conditions or traffic density on the transport surface.

[0021] As used herein, the term “reserved movement position” refers to a movement position that cannot become a second movement position. Thus, a determined reserved movement position is a movement position adjacent to a second movement position of a carrier that cannot become a second movement position that can move or position another carrier at any given time. In other words, a determined reserved movement position adjacent to a second movement position of a carrier cannot be occupied by another carrier. Thus, when a carrier is located at its second movement position, the carrier always has at least two free movement positions around it, and as a result, the carrier can be moved away from its second movement position by subsequent movements. Thus, a carrier always has a certain amount of free movement space on the transport plane and is never possible to be completely blocked or surrounded by other carriers on the transport plane, and as a result, deadlock situations in which carriers block each other from performing their movements can be reduced or prevented. In one embodiment, the determined reserved movement position of at least one first carrier overlaps with the determined reserved movement position of at least one second carrier. Therefore, the number of determined reserved movement positions on the transport surface can be minimized, while at the same time, the number of movement positions available for planning further carrier movements can be maximized. For example, multiple carriers share a common determined reserved movement position to form a route of reserved movement positions between the multiple carriers. In one embodiment, the determined reserved movement positions of a carrier do not lie on its planned movement. Thus, a carrier always has at least two free movement positions located forward and / or laterally, so that when the carrier is located at its second movement position, the carrier can be moved forward or laterally by a subsequent movement from that second movement position.

[0022] In one embodiment, the determined reserved movement position is a movement position that cannot become the second movement position for a predetermined time. Therefore, the determined reserved movement position is reserved for a specific carrier for a predetermined time. For example, the predetermined time is the time required to execute the planned movement from the first movement position to the second movement position. After the predetermined time, the determined reserved movement position is released and can be used for further movement in step a) or for planning further new movement in step c).

[0023] In one embodiment, the determined reserved movement position is a movement position that cannot become the second movement position until a predetermined event occurs. For example, the predetermined event is when the carrier is located on the transfer surface or passes through a predetermined movement position or any other predetermined position. After the event, the determined reserved movement position is released and can be used for further movement in step a) or for planning further new movement in step c).

[0024] In one embodiment, the determined reserved movement position of each carrier includes at least one reserved movement position located before its planned second movement position and at least one reserved movement position located on at least one side of its planned second movement position with respect to the direction of its planned movement. Therefore, at least two movement positions adjacent to the second movement position of the carrier cannot be occupied by other carriers. This arrangement of the determined reserved movement positions around the second movement position allows the carrier to always have at least one free movement position in front and at least one free movement position next to it with respect to the direction of the carrier's planned movement when the carrier is placed at its second movement position. Therefore, in subsequent movements, the carrier can move straight forward or change its movement direction by 90°.

[0025] In a further embodiment, each carrier's determined reserved movement position includes two reserved movement positions that form an L-shaped line of reserved movement positions, together with at least one reserved movement position located in front of its planned second movement position and on one side of the planned second movement position with respect to the direction of the planned movement. This arrangement of determined reserved movement positions around the second movement position ensures that when the carrier is in its second movement position, it always has at least two free movement positions in front of it and at least one adjacent movement position. Thus, the number of possible movement directions for the carrier's subsequent movement is improved.

[0026] In a further embodiment, each carrier's determined reserved movement position includes three reserved movement positions that form an L-shaped line of reserved movement positions, together with at least one reserved movement position located in front of its planned second movement position and on one side of the planned second movement position with respect to the direction of the planned movement. This arrangement of determined reserved movement positions around the second movement position ensures that when the carrier is in its second movement position, it always has at least three free movement positions in front of it and at least one adjacent movement position. Thus, the number of possible directions of movement for the carrier's subsequent movement is further improved.

[0027] In one embodiment, in step c), planning a new move to a new second move position includes shortening or extending the planned move. In one embodiment, if the planned move cannot be shortened, for example, if the new second move position is still located at a determined reserved move position for the carrier, or if the carrier is already located at the new second move position, the planned move is extended. Alternatively, if the planned move cannot be extended, for example, if the new second move position is still located at a determined reserved move position for the carrier, or if the carrier is already located at the new second move position, the planned move is shortened.

[0028] In one embodiment, a planned movement is extended by extending a planned movement in the same direction as the planned movement or in a direction perpendicular to the direction of the planned movement. In one embodiment, if it is not possible to extend a planned movement in the same direction as the planned movement, for example, if a new second movement position is still located at a determined reserved movement position, or if the carrier is already located at a new second movement position, the planned movement is extended in a direction perpendicular to the direction of the planned movement. Extending a planned movement in a direction perpendicular to the direction of the planned movement may include adding a movement position or movement to the planned movement in a direction perpendicular to the direction of the planned movement. If a movement is added to the planned movement in a direction perpendicular to the direction of the planned movement, the added movement includes a first movement position which is the second movement position of the planned movement in step a) and a new second movement position.

[0029] In one embodiment, the planned movement of each carrier includes a first movement position, a second movement position, and a plurality of movement positions located between the first and second movement positions. The new movement of at least one first carrier is shortened if there are fewer movement positions located between its first movement position and the new second movement position compared to the planned movement of at least one first carrier. The new movement of at least one first carrier is extended if there are more movement positions located between its first movement position and the new second movement position compared to the planned movement of at least one first carrier. In other words, the movement is shortened by removing movement positions located between the first and second movement positions, and extended by adding movement positions located between the first and second movement positions. In one embodiment, shortening or extending the planned movement involves minimizing the difference between the number of movement positions located between the first and second movement positions of the planned movement and the number of movement positions located between the first and second movement positions of the new movement. Thus, the deviation from the planned movement in step a) is minimized.

[0030] In one embodiment, the planned movement of each carrier includes a first movement position, a second movement position, and a plurality of movement positions located between the first and second movement positions. The determined reserved movement position of each carrier does not lie on the plurality of movement positions located between the first and second movement positions of the planned movement of each carrier.

[0031] In one embodiment, the number of moving positions located between a first moving position and a second moving position, or between a first moving position and a new second moving position, ranges from 0 to the maximum number of moving positions between the first and second moving positions, or between the first and new second moving positions. This maximum number of moving positions can be given by hardware limitations of the distribution system, such as the size of the transport surface and / or the density of moving positions on the transport surface. In one embodiment, the transport surface includes at least two opposing boundaries or edges. Multiple moving positions are located between the two boundaries or edges, and the maximum number of moving positions between the first and second moving positions, or between the first and new second moving positions, is the number of moving positions located between the two boundaries or edges, but less than two. For example, the transport surface is a square plane enclosed by four edges and includes 36 moving positions arranged like a 6x6 grid or chessboard of moving positions. Therefore, the maximum number of possible movement positions between the first movement position and the second movement position, or between the first movement position and the new second movement position, is 4.

[0032] In one embodiment, in step a), the control device further plans the subsequent movement of at least one first carrier from its planned second movement position to a third movement position. In step c), planning a new movement to a new second movement position includes minimizing the number of movement positions located between the new second movement position and the planned third movement position. Thus, deviations from the planned arrival time of the carrier at the third movement position can be reduced or prevented.

[0033] In one embodiment, in step c), planning a new move to a new second move position further includes determining a new reserved move position adjacent to the planned new second move position for at least one first carrier, and maximizing the overlap between the newly determined reserved move positions of at least one first carrier and the determined reserved move positions of at least one second carrier. Thus, at least one first carrier and at least one second carrier have common determined reserved move positions after the movement of at least one first carrier has been replanned. Thus, the number of determined reserved move positions on the transport plane can be minimized, and at the same time, the number of move positions available for planning further carrier movements can be maximized. In one embodiment, the new determined reserved move positions of at least one first carrier that do not overlap with the determined reserved move positions of at least one second carrier are arranged adjacent to each other.

[0034] In one embodiment, in step a), the control device plans the movement and simultaneously determines the reserved movement positions of at least one first carrier and at least one second carrier. Therefore, the time required to plan the movement can be reduced.

[0035] In one embodiment, in step a), the control device uses a routing algorithm to plan the movement. As used herein, the term “routing algorithm” is an algorithm that determines or calculates the path of each carrier on the transport plane from a starting position to a final destination position. As used herein, the term “path” refers to the path a carrier takes to travel from a starting position to a final destination position on the transport plane. A path may consist of only one movement; for example, the carrier may travel directly from a starting position to a final destination position. In this case, the first movement position is the starting position, and the second movement position is the final destination position. A path may consist of two or more movements; for example, the carrier may travel from a starting position to a final destination position via one or more intermediate destination positions. In this case, the first movement position is the starting position or an intermediate final position, and the second movement position is an intermediate final position or a final destination position. Thus, the path of a carrier from a starting position to a final destination position on the transport plane may be divided into one or more movements via one or more intermediate destination positions. The starting position is the movement position on the transport plane where the carrier is located when the algorithm begins to determine or calculate its path. The final destination position is a moving position on the transport surface to which the carrier must be headed. The final destination position is a moving position on the transport surface that has a particularly special function, for example, to which a laboratory container, a portion of a test sample, or consumables are transferred from the transport surface to, for example, an analysis station or a pre- or post-analysis station, or from an analysis station or a pre- or post-analysis station to the transport surface. In the case of a manufacturing site, the final destination position is, in particular, a moving position corresponding to a machine station that performs some manufacturing process on a semi-finished product. The starting position of one carrier can also be, in particular, the final destination position of another carrier, or in particular, multiple final destination positions of the same carrier. In one embodiment, the first moving position is the starting position of the path or an intermediate destination position of the path. The second moving position is an intermediate destination position or a final destination position of the path. In one embodiment, the carrier can wait at an intermediate destination position or a final destination position for a predetermined time.For example, the carrier waits at an intermediate final position until a subsequent move can be performed, which may depend on the current traffic conditions or traffic density on the transport surface. Alternatively, the carrier waits at the final destination position so that the test sample can be aspirated from the test sample container for analysis at the analysis station. In one embodiment, the final destination position may be located in a dedicated area (buffer area) on the transport surface for the temporary placement or retention of the carrier. In one embodiment, a third movement position is an intermediate destination position in the route or the final destination position in the route.

[0036] Routing algorithms typically determine or calculate multiple linear movements for each path, starting from the carrier's current position at a destination location as the starting point, to an intermediate or final destination location. Intermediate and final destination locations are also destination locations. Each movement can have a start and a stop at a destination location. The final stop of a path is either an intermediate or final destination location.

[0037] In certain embodiments, the routing algorithm is an A* algorithm or a windowed hierarchical cooperative A* algorithm. Such routing algorithms are well known in the art.

[0038] For example, European Patent No. 3537159 discloses a laboratory distribution system and method for planning a route using an informed search algorithm, in particular an improved A* algorithm, such as the A* algorithm or the D* algorithm.

[0039] "Ma Tao, A. Elssamadisy, N. Flann and B. Abbott, "Optimal route re-planning for mobile robots: a massively parallel incremental A* algorithm," Proceedings of International Conference on Robotics and Automation, Albuquerque, NM, USA, 1997, pp. 2727-2732 vol. 3, doi: 10.1109 / ROBOT.1997.619372," discloses the main advantages of the incremental A* algorithm for pre-calculating and maintaining routes for mobile robot vehicles, namely the completeness and optimality of this method.

[0040] "Cooperative pathfinding" (Silver, D., 2005, "Cooperative pathfinding", Young, RM, and Laird, JE, eds., AIIDE, 117-122. AAA I Press) discloses an algorithm for solving the so-called multi-agent pathfinding problem, in which agents must find paths to separate destinations given complete information about the paths of other agents. The algorithm is suitable for use in real-time strategy games and other real-time environments. The proposed algorithm assumes that a grid represents space and uses the so-called Manhattan distance as the basis for calculating the cost function. They use a windowed search with a limited, fixed cooperative search depth called windowed hierarchical cooperative A* (WHCA*).

[0041] In one embodiment, in step a), the control device further plans the subsequent movement of at least one second carrier from its planned second movement position to a third movement position. Between step a) and step b), the control device checks whether at least one first carrier and at least one second carrier will block each other at their planned second movement positions in order to perform their planned subsequent movements within a predetermined time. If at least one first carrier and at least one second carrier will not block each other at their planned second movement positions and will perform their planned subsequent movements within a predetermined time, the control device does not perform steps b) through d), and controls the drive means to move at least one first carrier to its planned second movement position and at least one second carrier to its planned second movement position. Thus, steps b) through d) of the method are performed only if the control device determines or identifies that the carriers are blocking each other, and as a result there is no possibility of performing their planned subsequent movements within a predetermined time. This minimizes or avoids the occurrence of deadlocks, which mean the carriers are blocked on the transport surface. In certain embodiments, the predetermined time is in the range of 2 to 60 seconds or 2, 5, or 10 seconds.

[0042] In one embodiment, step b) is performed before the control unit controls the drive means to move the carriers according to the planned moves of step a). Therefore, in step b), each planned move is checked to see whether the second move position of at least one first carrier lies on a determined reserved move position of at least one second carrier. If the second move position of at least one first carrier lies on a determined reserved move position of at least one second carrier, steps c) to d) are performed. In one embodiment, after step b), steps c) to d) are not performed, and if the planned second move position of at least one first carrier lies on a determined reserved move position of at least one second carrier, the control unit controls the drive means to move at least one first carrier to its planned second move position and at least one second carrier to its planned second move position according to the planned moves of step a).

[0043] In one embodiment, steps b) to d) of the method are performed on carriers located on or in part of the transport surface, regardless of the current traffic conditions or traffic density on the transport surface.

[0044] In one embodiment, steps b) through d) of the method are performed only for carriers located on or on the transport surface when the traffic density on or on the transport surface exceeds a certain threshold. If the risk of deadlock situations, the risk of reduced transport performance, or the risk of carrier collisions increases with increasing traffic density on the transport surface, steps b) through d) of the method are performed only when the traffic density exceeds a certain threshold. In other words, the traffic density on the transport surface can be used to trigger steps b) through d) of the method. Such traffic density can be determined as described in the following embodiments.

[0045] In one embodiment, the transport surface includes a first region containing a plurality of move positions. In step a), the control device further calculates the proportion of move positions in the first region that are planned second move positions. If the calculated proportion of move positions exceeds a predetermined threshold, the control device performs steps b) through d) for carriers in which the second move position is planned within the first region. Thus, steps b) through d) are performed only when a traffic density exceeding a certain threshold is detected or determined based on the proportion of move positions that are planned second move positions is detected or determined.

[0046] In another embodiment, the transport surface includes a first region containing a plurality of moving positions. In step a), the control unit further calculates the proportion of moving positions in the first region that are either planned second moving positions or located between the first and second moving positions. If the calculated proportion of moving positions exceeds a predetermined threshold, the control unit performs steps b) through d) for carriers in which the second moving position is planned within the first region. Thus, steps b) through d) are performed only when a traffic density exceeding a certain threshold is detected or determined based on the proportion of moving positions that are either planned second moving positions or located between the first and second moving positions.

[0047] In another embodiment, the transport surface includes a first region and a second region, each containing a plurality of move positions. In step a), the control unit further calculates the proportion of move positions in the first region, which are the planned second move positions. If the calculated proportion of move positions exceeds a predetermined threshold, the control unit performs steps b) through d) for carriers in the second region where the second move position is planned. Thus, the traffic density determined based on the move positions, which are the planned second move positions in the first region, is used to trigger steps b) through d) for carriers in the second region where the second move position is planned.

[0048] In another embodiment, the transport surface includes a first region and a second region, each containing a plurality of travel positions. In step a), the control unit calculates the proportion of travel positions in the first region that are either planned second travel positions or located between the first travel positions and the second travel positions located in the first and / or second regions. If the calculated proportion of travel positions exceeds a predetermined threshold, the control unit performs steps b) through d) for carriers in which the second travel position is planned within the second region. Thus, the traffic density determined based on the travel positions that are planned second travel positions within the first region, or travel positions located between the first travel positions and the second travel positions located within the first and / or second regions, is used to trigger steps b) through d) for carriers in which the second travel position is planned within the second region.

[0049] In another embodiment, the transport surface includes a plurality of first regions and one or more second regions. In step a), the control device calculates for each of the plurality of first regions the proportion of a planned second move position or a move position that lies between a first move position and a second move position located in one or more of the first regions and / or one or more of the second regions. If the calculated proportion of a predetermined number of move positions in the plurality of first regions exceeds a predetermined threshold, the control device performs steps b) to d) for carriers in which a second move position is planned within one or more second regions.

[0050] In one embodiment, the transport surface includes a first region containing a plurality of moving positions. The distribution system further includes a carrier detection system configured to detect carriers in the first region, determine the number of detected carriers in the first region, and transmit the value of the determined number of detected carriers in the first region to a control device. Prior to step b), the control device receives the value of the determined number of detected carriers in the first region and calculates, based on the received value, the percentage of moving positions in the first region occupied by detected carriers. The control device performs steps b) through d) for the detected carriers in the first region if the calculated percentage of moving positions occupied by detected carriers exceeds a predetermined threshold. Thus, steps b) through d) are performed only if a traffic density exceeding a certain threshold is detected or determined based on the percentage of moving positions occupied by detected carriers.

[0051] As used herein, the term “carrier detection system” refers to a system for detecting and locating carriers on a transport surface. Non-limiting examples include sensors such as optical sensors, magnetic sensors, capacitive sensors, or inductive sensors embedded in the transport surface. Another option may be a camera system with image analysis software for detecting and locating carriers.

[0052] In another embodiment, the transport surface includes a first region and a second region, each containing a plurality of move positions. The distribution system further includes a carrier detection system configured to detect carriers in the first region or in the first and second regions, determine the number of detected carriers in the first region, and transmit the determined number of detected carriers in the first region to the control device. Prior to step b), the control device receives the determined number of detected carriers in the first region and calculates, based on the received value, the percentage of move positions in the first region occupied by detected carriers. If the calculated percentage of move positions occupied by detected carriers in the first region exceeds a predetermined threshold, the control device performs steps b) through d) for carriers in the second region that have a planned second move position or carriers detected in the second region.

[0053] In one embodiment, the transport surface includes a plurality of first regions and one or more second regions. In step a), the control device calculates for each of the plurality of first regions the proportion of the travel positions occupied by the carriers detected as described above. If the calculated proportion of a predetermined number of travel positions in the plurality of first regions exceeds a predetermined threshold, the control device performs steps b) to d) for the carriers detected in the one or more second regions.

[0054] In one embodiment, the predetermined threshold is greater than 15% or greater than 20%. Thus, the control device performs steps b) to d) if greater than 15% or greater than 20% of the moving positions in one or more first regions of the transport surface are planned second moving positions, moving positions located between the first and second moving positions, and / or moving positions occupied by detected carriers.

[0055] In one embodiment, the number of moving positions within the first region is less than or equal to the number of moving positions on the transport surface. Therefore, the first region can contain all or some of the moving positions on the transport surface.

[0056] In one embodiment, the number of moving positions in the first region is less than the number of moving positions on the transport surface. The number of moving positions in the second region is less than or equal to the number of moving positions on the transport surface. Therefore, the first region may include some of the moving positions on the transport surface, and the second region may include all or some of the moving positions on the transport surface. Consequently, if the second region includes all of the moving positions on the transport surface, the moving positions in the first region will overlap with the moving positions in the second region.

[0057] In one embodiment, the number of moving positions in the first region is less than the number of moving positions on the transport surface. The number of moving positions in the second region is less than the number of moving positions on the transport surface. Therefore, the first region includes a portion of the moving positions on the transport surface, and the second region includes a portion of the moving positions on the transport surface. The portion of the moving positions in the first region and the portion of the moving positions in the second region may be adjacent to each other, spatially separated, or partially overlapping.

[0058] This disclosure also relates to a distribution system, -Each comprising at least one first carrier and at least one second carrier, adapted to carry goods, - A transport plane including multiple movement positions from which each carrier can start moving, move, stop, wait, and / or change its direction of movement, - A drive mechanism adapted to move each carrier to a movable position, - A control device adapted to control the drive means, This relates to a distribution system that includes the following features.

[0059] Furthermore, the distribution system is configured to perform the steps of the method described herein.

[0060] In one embodiment, the distribution system is a laboratory distribution system. As used herein, the term “laboratory distribution system” refers to a system designed to transport or distribute carriers to connected laboratory stations, such as pre-analysis stations, analysis stations, or post-analysis stations, in a diagnostic laboratory system. A laboratory distribution system can form a fully automated diagnostic laboratory system with one or more operablely connected laboratory stations. A pre-analysis station can typically be used for pre-processing of laboratory containers or their contents, such as test samples. An analysis station can be designed to use a test sample or a portion of a test sample and test reagents to generate a measurable signal, for example, on which an analyte can be determined, if necessary, whether or not an analyte is present and, if required, at what concentration. A post-analysis station is used for post-processing of test samples or test sample containers, such as storage of their contents, such as laboratory containers or test samples. Such pre-analysis stations, analysis stations, post-analysis stations, and apparatus are well known in the art.

[0061] In one embodiment, the article is a laboratory container. As used herein, the term “laboratory container” relates to an apparatus suited to receiving, storing, transporting, and / or releasing contents such as test reagents (e.g., reagents for histological, immunochemical, clinical chemistry, coagulation, hematological, or molecular biological tests), test specimens (e.g., tissue, blood, urine, serum, plasma, or liquefied biopsy specimens), and laboratory consumables (e.g., pipette tips, cuvettes, glass slides, microwell plates). Thus, a laboratory container may be a test reagent container, a test specimen container, or a laboratory consumable container. Depending on the contents of the laboratory container, the processing steps of the test specimen, and the manufacturer, the material and dimensions of the laboratory container, such as diameter, side length, height, and shape, may vary.

[0062] A carrier can move along a predetermined path on the transport surface of a laboratory distribution system. The carrier can move directly from a starting position to a final destination position, or via one or more intermediate destination positions between the starting and final destination positions. In the latter case, the path defines the sequence of intermediate destination positions that the carrier passes through on the path from the starting position to the final destination position. Typically, the starting and final destination positions are located at connected pre-analysis stations, analysis stations, or post-analysis stations so that test sample processing steps are performed according to a predetermined laboratory workflow. For example, the starting position may be located at a pre-analysis station from which a test sample container containing a pre-treated test sample can be removed. The final destination position may be located at a connected analysis station from which the pre-treated test sample is aspirated from the test sample container for analysis of the test sample. Alternatively, the final destination position may be located at a post-analysis station or a dedicated area on the transport surface for temporarily placing or dwelling the carrier and its corresponding laboratory container (buffer area).

[0063] In one embodiment, the laboratory distribution system comprises a number of stationary electromagnetic actuators or electromagnetic coils positioned below the transport surface and adapted to generate a magnetic field for moving carriers. The carriers are provided with magnetically active devices that can interact with the magnetic field so that a magnetic force is applied to the carriers to move them on the transport surface. Such laboratory distribution systems are well known in the art and can be designed as described by reference numeral 100 in Figure 1 of European Patent No. 2566787 and the corresponding description.

[0064] In one embodiment, the transport surface includes a first region comprising a plurality of moving positions. The distribution system further comprises a carrier detection system configured to detect carriers in the first region, determine the number of detected carriers in the first region, and transmit the value of the determined number of detected carriers in the first region to a control device. The distribution system is also configured to perform steps of the method described herein.

[0065] In one embodiment, the transport surface includes a first region and a second region, each containing a plurality of moving positions. The distribution system further includes a carrier detection system configured to detect carriers in the first region or in the first and second regions, determine the number of detected carriers in the first region, and transmit the value of the determined number of detected carriers in the first region to a control device. The distribution system is configured to perform the steps of the method described herein.

[0066] This disclosure further relates to a computer program product which includes instructions for causing the distribution system described herein to perform steps of the method described herein.

[0067] This disclosure further relates to a computer-readable storage medium storing the computer program products described herein. [Brief explanation of the drawing]

[0068] [Figure 1] A schematic diagram of an embodiment of the distribution system is shown. [Figure 2] Figures 2A to 2C show schematic diagrams of embodiments of a transport surface and a method for moving a carrier on the transport surface. [Figure 3] Figures 3A to 3C show schematic diagrams of an embodiment of the transfer surface. [Figure 4] A flowchart shows an embodiment of a method for a distribution system for moving carriers on a transport surface. [Modes for carrying out the invention]

[0069] Figure 1 shows a schematic diagram of an embodiment of the distribution system (10). The illustrated distribution system (10) comprises a first carrier (12) and a second carrier (14), each adapted to carry articles (16, 18), and a transport surface (20) including a plurality of moving positions (22, A1 to F6) from which each carrier (12, 14) can start moving, move, stop, wait, and / or change its direction of movement. In the illustrated embodiment, the transport surface (20) is a square plane enclosed by four edges and includes 36 moving positions (22, A1 to F6) arranged as a square grid of 6 × 6 moving positions (22, A1 to F6).

[0070] The first carrier (12) is located at moving position D6, and the second carrier (14) is located at moving position C1, and both carriers (12, 14) carry articles (16, 18). The articles may be laboratory containers containing test reagents, test samples, or laboratory consumables such as pipette tips or cuvettes. The carriers (12, 14) can also be moved without articles, for example, to pick up laboratory containers containing test samples, when moving to moving positions (22, D1, F1, F5) located in front of a operably connected pre-analysis station (62), analysis station (64), or post-analysis station (66).

[0071] The distribution system (10) further comprises drive means (not shown) adapted to move each carrier (12, 14) to a moving position (22, A1 to F6). In the illustrated embodiment, the drive means comprises a plurality of stationary electromagnetic actuators or electromagnetic coils positioned below the transport surface (20) and adapted to generate a magnetic field for moving the carriers (12, 14). The carriers (12, 14) are equipped with magnetic devices that can interact with the magnetic field so that a magnetic force is applied to the carriers (12, 14) in order to move the carriers (12, 14) on the transport surface (20).

[0072] The distribution system (10) further comprises a control device (24) which is communicatively connected to the drive means and adapted to control the drive means, as shown by the dashed line. The illustrated distribution system (10) further comprises a carrier detection system (46) in the form of a camera. The carrier detection system (46) is configured to detect carriers (12, 14) on the transport surface (20), determine the number of detected carriers (12, 14) on the transport surface (20), and transmit the value of the determined number of detected carriers (12, 14) to the control device (24), which is communicatively connected to the carrier detection system (46), as shown by the dashed line. This transmitted value of detected carriers can be used to detect or determine a specific traffic density on the transport surface (20) at a particular time.

[0073] Figures 2A and 2C show schematic diagrams of embodiments of a transfer surface (20) and a method (52) for moving carriers (12, 14) on the transfer surface (20). Figure 2A shows the same transfer surface as shown in Figure 1, where the first carrier (12) is positioned at a first moving position (30, D6) and the second carrier (14) is positioned at a first moving position (32, C1). In the first step a)(54) of method (52), as indicated by the arrows in Figure 2A, the control device (24) plans the movement (26) of the first carrier (12) from the first moving position (30, D6) to the second moving position (34, D4). The control device (24) also plans the movement (28) of the second carrier (14) from the first moving position (32, C1) to the second moving position (36, C3). The control device further determines reserved movement positions (38, C3, D3, E3, E4) adjacent to the planned second movement position (34, D4) for the first carrier (12), as indicated by the dotted box, and further determines reserved movement positions (40, B3, B4, C4, D4) adjacent to the planned second movement position (36, C3) for the second carrier (14), as indicated by the shaded box. In the illustrated embodiment, the determined reserved movement position (38) of the first carrier (12) includes three reserved movement positions (38, C3, D3, E3) that form an L-shaped line of reserved movement positions together with at least one reserved movement position (38, E4) located in front of the planned second movement position (34) and on one side of the planned second movement position (34) with respect to the direction of the planned movement (26). Furthermore, the determined reserved movement position (40) of the second carrier (12) includes three reserved movement positions (40, B4, C4, D4) that form an L-shaped line of reserved movement positions together with at least one reserved movement position (40, B3) located in front of the planned second movement position (36) and on one side of the planned second movement position (36) with respect to the direction of the planned movement (28). Alternatively, the determined reserved movement position includes one reserved movement position located in front of the planned second movement position and at least one reserved movement position located on at least one side of the planned second movement position.Alternatively, the determined reserved movement position may include only two reserved movement positions that are located in front of the planned second movement position and that form an L-shaped line of reserved movement positions with respect to the direction of the planned movement, together with at least one reserved movement position located on one side of the planned second movement position.

[0074] Next, in step b)(56) of method (52), the control device (24) checks whether the planned second movement position (34, D4) of the first carrier (12) lies on the determined reserved movement position (40, B3, B4, C4, D4) of the second carrier (14). In the illustrated embodiment, the planned second movement position (34, D4) of the first carrier (12) lies on the determined reserved movement position (40, B3, B4, C4, D4) of the second carrier (14), i.e., on movement position D4. Therefore, the control device (24) plans a new movement (42) for the first carrier (12) to a new second movement position (44, D5) that does not lie on the determined reserved movement position (40, B3, B4, C4, D4) of the second carrier (14), as indicated by the arrow in Figure 2B. In the illustrated embodiment, planning a new move (42) to a new second move position (44, D5) includes shortening the planned move (26). Alternatively, planning a new move (42) to a new second move position includes extending the planned move (26) to a new second move position located, for example, on D3. Whether the planned move (26) is shortened or extended may depend on further planned moves of further carriers on the transport surface (20) or a third move position of subsequent moves of the first carrier (30). The planned move (26) of the first carrier (12) includes a first move position (30), a second move position (34), and a move position (22) located between the first move position (30) and the second move position (34). The new move (42) of the first carrier (12) is shortened compared to the planned move (26) because there are fewer move positions (22) between its first move position (30) and its new second move position (44). As further shown in Figure 2B, after planning the new move (44) to the new second move position (44, D4), some of the newly determined reserved move positions (39, C4, D4, E4, E5) of the first carrier (12) overlap with the determined reserved move positions (40, B3, B4, C4, D4) of the second carrier (14), as shown by the gridded boxes.

[0075] Finally, the control device (24) controls the drive means to move the first carrier (12) to its new second movement position (44, D5) and the second carrier (14) to its planned second movement position (36, C3), as shown in Figure 2C.

[0076] Figures 3A to 3C show schematic diagrams of embodiments of the transport surface (20). The three transport surfaces (20) shown in Figures 3A to 3C are rectangular planes enclosed by four edges and contain 72 transport positions (22, A1 to F12) arranged as a rectangular grid of 6 × 12 transport positions (22, A1 to F12). The transport surface (20) shown in Figure 3A includes a first region (48) that contains all of the transport positions (22, A1 to F12). Alternatively, the first region (48) may contain only a portion of the transport positions (22) of the transport surface (20). The transport surfaces (20) shown in Figures 3B and 3C each include a first region (48) and a second region (50) that each contain a specific number of transport positions (22). The number of transport positions (22) in the first region (48) is less than the number of transport positions (22) in the transport surface (20). The number of movement positions (22) of the second region (50) may be less than or equal to the number of movement positions (22) of the transport surface (20).

[0077] For example, as shown in Figure 3B, the first region (48) has 36 movement positions (22, A1 to F6) arranged as a 6x6 square grid of movement positions (22, A1 to F6), and the second region (50) has 36 movement positions (22, A7 to F12) arranged as a 6x6 square grid of movement positions (22, A7 to F12). Therefore, the first region (48) and the second region (50) have the same number of movement positions (22) and are adjacent to each other.

[0078] The transport surface (20) shown in Figure 3C also includes a first region (48) and a second region (50). The first region (48) contains 18 transport positions (22, D4 to F9) arranged as a rectangular grid of 3 × 6 transport positions (22, D4 to F9), and the second region (50) contains all 72 transport positions (22, A1 to F12) of the transport surface (20) arranged as a rectangular grid of 6 × 12 transport positions (22, A1 to F12). Therefore, some of the transport positions (22, D4 to F9) in the first region (48) overlap with the transport positions (22, A1 to F12) in the second region (50). However, any geometric form of the first region (48) and the second region (50), as well as any number of moving positions (22) within the first region (48) and the second region (50), are possible. The first region (48) and the second region (50) may be adjacent to each other, spatially separated, or partially overlapping.

[0079] The proportion of the movement positions (22) in the first region (48) that are located between the first movement positions (30, 32) and the second movement positions (34, 36), which is the planned second movement position (34, 26), or that are occupied by detected carriers (12, 14), can be used as a trigger to perform steps b)(56) through d)(60) of method (52) for carriers located in the first region (48) and / or the second region (50). In other words, the traffic density within the first region (48) can be used as a trigger to perform steps b)(56) through d)(60) of method (52) for carriers located in the first region (48) and / or the second region (50).

[0080] In one embodiment, steps b)(56) to d)(60) of method (52) are performed only if the percentage of the moved position (22) exceeds a predetermined threshold. For example, the predetermined threshold is 20%.

[0081] As shown in Figure 3A, 18 of the 72 moving positions (22) in the first region (48) are planned second moving positions, as indicated by the gray boxes. Thus, 25% of the moving positions (22) in the first region (48) are planned second moving positions that indicate a high traffic density in the first region (48). Therefore, steps b)(56) through d)(60) of method (52) are performed by the control device (24) for the carriers located in the first region (48) of the transport surface (20).

[0082] As shown in Figure 3B, the carrier detection system (46) detected six carriers at six of the 36 moving positions (22) in the first region (48), as indicated by the gray boxes. Thus, approximately 16% of the moving positions (22) in the first region (28) are occupied by the detected carriers (12, 14), indicating a low traffic density in the first region (48). Therefore, steps b)(56) through d)(60) of method (52) are not performed by the control device (24) for carriers located in the first region (48) and / or the second region (50). However, the control device (24) controls the drive means to move at least one first carrier (12) to its planned second moving position and at least one second carrier (14) to its planned second moving position according to the planned movement of step a).

[0083] As shown in Figure 3C, nine of the eighteen moving positions (22) in the first region (48) are located between the first and second moving positions in the first region (48) and the second region (50), as indicated by the gray boxes. Thus, 50% of the moving positions (22) in the first region (28) are located between the first and second moving positions. Therefore, steps b)(56) to d)(60) of method (52) are performed by the control device (24) for carriers located in the first region (48) and / or the second region (50). In this case, only a portion of the transport surface (20) is considered to determine the traffic density of the transport surface (20).

[0084] Figure 4 shows a flowchart of an embodiment of a method (52) for a distribution system (10) for moving carriers (12, 14) on a transfer surface (20). As shown in Figure 1, the distribution system (10) comprises at least one first carrier (12) and at least one second carrier (14), each adapted to carry articles (16, 18); a transfer surface (20) including a plurality of moving positions (22) from which each carrier (12, 14) can start moving, move, stop, wait, and / or change its direction of movement; a drive means adapted to move each carrier (12, 14) to a moving position (22); and a control device (24) adapted to control the drive means.

[0085] In step a)(54) of method (52), the control device (24) plans a movement (26, 28) for each carrier (12, 14) from a first movement position (30, 32) to a second movement position (34, 36), and determines a reserved movement position (38, 40) adjacent to the planned second movement position (34, 36) for each carrier (12, 14).

[0086] Subsequently, in step b)(56) of method (52), the control device (24) checks whether the planned second movement position (34) of at least one first carrier (12) lies on the determined reserved movement position (40) of at least one second carrier (14).

[0087] In step c)(58) of method (52), if the planned second movement position (34) of at least one first carrier (12) is located on a determined reserved movement position (40) of at least one second carrier (14), the control device (24) plans a new movement (42) for at least one first carrier (12) to a new second movement position (44) that is not located on a determined reserved movement position (40) of at least one second carrier (14). In step c)(58) of method (52), the planning of the new movement (42) to the new second movement position (44) may include shortening the planned movement (26) or extending the planned movement (26). The planned movement (26) may be extended by extending the planned movement (26) in the same direction as the planned movement (26) or in a direction perpendicular to the direction of the planned movement (26).

[0088] After planning a new move (42) to a new second move position (44) for at least one first carrier (12), the control device (24) controls the drive means in step d)(60) of method (52) to move at least one first carrier (12) to its planned new second move position (44) and move at least one second carrier (14) to its planned second move position (36).

[0089] In one embodiment, after step b), steps c) through d) are not performed, and the control device (24) controls the drive means to move at least one first carrier (12) to its planned second move position (36) and at least one second carrier (14) to its planned second move position (34) if the planned second move position (34) of at least one first carrier (12) is not located on the determined reserved move position (40) of at least one second carrier (14).

[0090] The preceding description and diagrams provide many specific details to give a complete understanding of this disclosure. However, it will be clear to those skilled in the art that it is not necessary to use these specific details to carry out this teaching. In other examples, well-known materials or methods are not described in detail to avoid obscuring this disclosure.

[0091] In particular, modifications and alterations of the disclosed embodiments are certainly possible in light of the above description. Therefore, it should be understood that the present invention can be carried out in ways other than those specifically described in the above examples, within the scope of the appended claims.

[0092] Furthermore, throughout this specification, any reference to “one embodiment,” “an embodiment,” “an example,” or “an example” means that a particular feature, structure, or characteristic described in relation to an embodiment or example is included in at least one embodiment. Therefore, the appearance of the phrases “in one embodiment,” “in an embodiment,” “an example,” or “an example” in various places throughout this specification does not necessarily all refer to the same embodiment or example. [Explanation of symbols]

[0093] 10 Distribution System 12. First Career 14. Second Career 16 The first article 18 The second article 20 Transfer surface 22 Move position 24 Control device 26. First Carrier Movement 28. Move to a second carrier 30. First movement position of the first carrier 32. First movement position of the second carrier 34. Second movement position of the first carrier 36. Second carrier's second movement position 38. First carrier's determined booking transfer location 39 Newly determined reservation relocation locations 40. Second carrier's determined booking transfer location 42. New moves for the first carrier 44. The new second migration location of the first carrier 46. ​​Carrier detection system 48. First Domain 50 Second Domain 52. Methods for a distribution system to move carriers on a transport surface. 54 Step a of the method) 56 Step b of the method) Step c) of Method 58 Step d of Method 60 62 Pre-analysis Station 64 Analysis Stations 66 Post-Event Analysis Station

Claims

1. A method (52) for moving carriers (12, 14) on a transport surface (20) in a distribution system (10), said distribution system (10) comprising at least one first carrier (12) and at least one second carrier (14), each adapted to carry an article (16, 18), a transport surface (20) including a plurality of transfer positions (22) at which each carrier (12, 14) can start, move, stop, wait and / or change its direction of movement, drive means adapted to move each carrier (12, 14) to said transfer positions (22), and a control device (24) adapted to control said drive means, said method comprising the following steps (54, 56, 58, 60), namely: a) the controller (24) plans, for each carrier (12, 14), a move (26, 28) from a first move location (30, 32) to a second move location (34, 36) and determines, for each carrier (12, 14), a reserved move location (38, 40) adjacent the planned second move location (34, 36); b) the control device (24) checking whether the planned second transfer position (34) of the at least one first carrier (12) is located on the determined reserved transfer position (40) of the at least one second carrier (14); c) if the planned second transfer position (34) of the at least one first carrier (12) is located on the determined reserved transfer position (40) of the at least one second carrier (14), the control device (24) plans, for the at least one first carrier (12), a new transfer (42) to a new second transfer position (44) that is not located on the determined reserved transfer position (40) of the at least one second carrier (14); d) the control device (24) controls the drive means to move the at least one first carrier (12) to its new planned second transfer position (44) and to move the at least one second carrier (14) to its new planned second transfer position (36). A method (52) comprising:

2. 2. The method (52) of claim 1, wherein the determined reserved move positions (38, 40) of each carrier (12, 14) include at least one reserved move position located before its planned second move position (34, 36) and at least one reserved move position located on at least one side of its planned second move position (34, 36) relative to the direction of its planned move (26, 28).

3. 3. The method according to claim 1 or 2, wherein in step c), the planning of the new movement (42) to a new second movement position (44) comprises shortening the planned movement (26) or lengthening the planned movement (26).

4. 4. The method of claim 3, wherein the planned movement (26) is extended by extending the planned movement (26) in the same direction as the planned movement (26) or in a direction perpendicular to the direction of the planned movement (26).

5. 4. The method of claim 3, wherein in step a), the control device (24) further plans a subsequent move for the at least one first carrier (12) from its planned second move position (34) to a third move position, and in step c), the planning of the new move (42) to the new second move position (44) includes minimizing a number of move positions (22) located between the new second move position (44) and the planned third move position.

6. 4. The method of claim 3, wherein in step c) the planning of the new move (42) to a new second move location (44) further comprises: determining, for the at least one first carrier (12), a new reserved move location (39) adjacent to its planned new second move location (44); and maximizing an overlap between the newly determined reserved move location (39) of the at least one first carrier (12) and the determined reserved move location (40) of the at least one second carrier (14).

7. 3. The method according to claim 1, wherein the transport surface (20) comprises a first region (48) including a plurality of transfer positions (22), and in step a), the control device (24) further calculates a proportion of transfer positions (22) in the first region (48) that are planned second transfer positions (34, 36), and the control device executes steps b) to d) for carriers (12, 14) for which second transfer positions (34, 36) are planned in the first region (50) if the calculated proportion of transfer positions (22) is above a predetermined threshold.

8. 3. The method according to claim 1, wherein the transport surface (20) comprises a first region (48) and a second region (50) each including a plurality of transfer positions (22), and wherein in step a), the control device (24) further calculates a proportion of the transfer positions (22) in the first region (48) that are planned second transfer positions (34, 36), and if the calculated proportion of the transfer positions (22) exceeds a predetermined threshold, the control device executes steps b) to d) for carriers (12, 14) for which second transfer positions (34, 36) are planned in the second region (50).

9. The transport surface (20) includes a first area (48) including a plurality of transfer positions (22), and the distribution system (10) further includes a carrier detection system (46) configured to detect carriers (12, 14) in the first area (48), determine a number of the detected carriers (12, 14) in the first area (48), and transmit a value of the determined number of the detected carriers (12, 14) in the first area (50) to the control device (24), and prior to step b), the control device (24) detects the first area ( 3. The method according to claim 1, further comprising: receiving the value of the determined number of detected carriers (12, 14) in the first region (48) (50); calculating a percentage of movement positions (22) in the first region (50) occupied by detected carriers (12, 14) based on the received value; and the control device performing steps b) to d) for detected carriers (12, 14) in the first region (48) if the calculated percentage of movement positions (22) occupied by detected carriers (12, 14) exceeds a predetermined threshold.

10. The transport surface (20) includes a first area (48) and a second area (50) each including a plurality of moving positions (22), the distribution system (10) further includes a carrier detection system (46) configured to detect carriers (12, 14) in the first area (48) or the first area (48) and the second area (50), determine a number of the detected carriers (12, 14) in the first area (48), and transmit a value of the determined number of the detected carriers (12, 14) in the first area (50) to the control device (24), and prior to step b), the control device (24) detects the determined number of the detected carriers (12, 14) in the first area (50), and transmits a value of the determined number of the detected carriers (12, 14) in the first area (50) to the control device (24).

3. The method according to claim 1, further comprising: receiving the value of the number of detected carriers; calculating a percentage of the movement positions (22) in the first region (50) occupied by the detected carriers (12, 14) based on the received value; and performing steps b) to d) for carriers (12, 14) for which a second movement position (34, 36) is planned in the second region (50) or for carriers (12, 14) detected in the second region (50) if the calculated percentage of the movement positions (22) occupied by the detected carriers (12, 14) in the first region (48) exceeds a predetermined threshold.

11. A distribution system (10), comprising: at least one first carrier (12) and at least one second carrier (14), each adapted to carry an article (16, 18); a transport surface (20) including a number of movement positions (22) at which each carrier (12, 14) can start, move, stop, wait and / or change its direction of movement; - drive means adapted to move each carrier (12, 14) to said transfer position (22); a control device (24) adapted to control said drive means, A distribution system (10), configured to perform the steps (54, 56, 58, 60) of the method (52) of claim 1 or 2.

12. A distribution system (10), comprising: at least one first carrier (12) and at least one second carrier (14), each adapted to carry an article (16, 18); a transport surface (20) including a number of movement positions (22) at which each carrier (12, 14) can start, move, stop, wait and / or change its direction of movement; - drive means adapted to move each carrier (12, 14) to said transfer position (22); a control device (24) adapted to control said drive means, 10. A distribution system (10) according to claim 9, wherein the transport surface (20) includes a first area (48) including a plurality of moving positions (22), the distribution system (10) further comprises a carrier detection system (46) configured to detect carriers (12, 14) in the first area (48), determine a number of the detected carriers (12, 14) in the first area (48), and transmit a value of the determined number of the detected carriers (12, 14) in the first area (50) to the control device (24), and the distribution system (10) is configured to perform the steps of the method according to claim 9.

13. A distribution system (10), comprising: at least one first carrier (12) and at least one second carrier (14), each adapted to carry an article (16, 18); a transport surface (20) including a number of movement positions (22) at which each carrier (12, 14) can start, move, stop, wait and / or change its direction of movement; - drive means adapted to move each carrier (12, 14) to said transfer position (22); a control device (24) adapted to control said drive means, 11. A distribution system (10), wherein the transport surface (20) includes a first region (48) and a second region (50) each including a plurality of moving positions (22), and the distribution system (10) further includes a carrier detection system (46) configured to detect carriers (12, 14) in the first region (48) or the first region (48) and the second region (50), determine a number of the detected carriers (12, 14) in the first region (48), and transmit a value of the determined number of the detected carriers (12, 14) in the first region (50) to the control device (24), and the distribution system (10) is configured to perform the steps of the method of claim 10.

14. A computer program product comprising instructions for causing a distribution system (10) to perform the steps of the method according to claim 1 or 2, The distribution system (10) comprises: at least one first carrier (12) and at least one second carrier (14), each adapted to carry an article (16, 18); a transport surface (20) including a number of movement positions (22) at which each carrier (12, 14) can start, move, stop, wait and / or change its direction of movement; - drive means adapted to move each carrier (12, 14) to said transfer position (22); - a control device (24) adapted to control said drive means.

15. 15. A computer readable storage medium having stored thereon the computer program product of claim 14.

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