REMOTELY OPERATED VEHICLE WITH ARRAY FOR PROVIDING ADVANCE WARNING AND TRACKING OF VEHICLE'S LOCATION - Patent application

Abstract

1. A remotely operated vehicle comprising an array for providing advance warning and tracking of the vehicle's position as it follows a path of travel relative to a track deployed on rails in x and y directions on a rail system, the vehicle having first and second sets of wheels connected to drives for moving the vehicle in corresponding x and y directions on the rail system, the array comprising at least three sensors: a first sensor oriented toward the rails in the x direction, a second sensor oriented toward the rails in the y direction, and a third sensor oriented at a corner of an intersection between the rails in the x and y directions, the sensors each oriented downward toward the rails in the x and y directions to determine the position of the vehicle relative to the rails.

Description

[Technical field]

[0001] The present invention relates to an automated warehouse system for the storage and retrieval of containers, and more particularly to a remotely operated vehicle and method for advance warning and tracking of the position of a vehicle following a travel path relative to rails deployed on a frame structure in the x and y directions. [Background technology]

[0002] FIG. 1 discloses a typical prior art automated warehouse system 1 with a framework structure 100, and FIGS. 2 and 3 disclose two different prior art container handling vehicles 201, 301 suitable for operating on such a system 1.

[0003] The skeleton structure 100 comprises upright members 102, horizontal members 103 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102 and the horizontal members 103. In these storage columns 105, storage containers 106, also known as receptacles, are stacked on top of each other to form a stack 107. The members 102, 103 may typically consist of metal, for example extruded aluminum profiles.

[0004] The framework structure 100 of the automated warehouse system 1 comprises a rail system 108 arranged across the top of the framework structure 100, on which a plurality of container handling vehicles 201, 301 are operated to lift storage containers 106 from, lower storage containers 106 into, and transport storage containers 106 up the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 201, 301 in a first direction X across the top of the framework structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 for guiding movement of the container handling vehicles 201, 301 in a second direction Y that is perpendicular to the first direction X. The containers 106 stored in the columns 105 are accessed by container handling vehicles through access openings 112 in the rail system 108. The container handling vehicles 201, 301 can move laterally above the storage columns 105, i.e. in a plane that is parallel to the horizontal XY plane.

[0005] The uprights 102 of the skeletal structure 100 may be used to guide the storage containers during lifting of the containers out of and lowering of the containers into the columns 105. The stacks 107 of containers 106 are typically freestanding.

[0006] Each prior art container handling vehicle 201, 301 comprises a body 201a, 301a and a first and second set of wheels 201b, 301b, 201c, 301c that allow lateral movement of the container handling vehicle 201, 301 in the X and Y directions, respectively. In Figures 2 and 3, two wheels in each set are fully visible. The first set of wheels 201b, 301b is arranged to engage two adjacent rails of the first set of rails 110, and the second set of wheels 201c, 301c is arranged to engage two adjacent rails of the second set of rails 111. At least one of the sets of wheels 201b, 301b, 201c, 301c can be raised and lowered so that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c can be engaged with a respective set of rails 110, 111 at any one time.

[0007] Each prior art container handling vehicle 201, 301 also comprises a lifting device (not shown) for vertical transport of the storage container 106, e.g. lifting the storage container 106 from the storage column 105 and lowering it into the storage column 105. The lifting device comprises one or more gripping / engagement devices adapted to engage the storage container 106 and by which the gripping / engagement device can be lowered from the vehicle 201, 301 such that the position of the gripping / engagement device relative to the vehicle 201, 301 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. A part of the gripping device of the container handling vehicle 301 is shown in Figure 3 and indicated with reference number 304. The gripping device of the container handling device 201 is located in the vehicle body 301a of Figure 2.

[0008] Conventionally, and for purposes of this application, Z=1 identifies the top layer of storage containers, i.e., the layer immediately below the rail system 108, Z=2 identifies the second layer below the rail system 108, Z=3 identifies the third layer, and so on. In the exemplary prior art disclosed in FIG. 1, Z=8 identifies the bottommost layer of storage containers. Similarly, X=1...n and Y=1...n identify the position of each storage column 105 in the horizontal plane. As a result, using the Cartesian coordinate system X, Y, Z as an example and shown in FIG. 1, the storage container identified as 106' in FIG. 1 may be said to occupy storage location X=10, Y=2, Z=3. The container handling vehicles 201, 301 may be said to travel in layer Z=0, and each storage column 105 may be identified by its X and Y coordinates.

[0009] The storage volume of the skeleton structure 100 is often referred to as a grid 104, and the possible storage locations within this grid are referred to as storage cells. Each storage column may be identified by a position in the X and Y directions, while each storage cell may be identified by a container number in the X, Y, and Z directions.

[0010] Each prior art container handling vehicle 201, 301 comprises a storage compartment or space for receiving and housing the storage container 106 as it is transported across the rail system 108. The storage space may comprise a cavity centrally arranged within the vehicle body 201a, as shown in FIG. 2 and described, for example, in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference.

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

[0012] 2 may have a footprint covering an area with dimensions in the X and Y directions generally equal to the lateral extent of a storage column 105, as described, for example, in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" may mean "horizontal."

[0013] Alternatively, the central hollow container handling vehicle 101 may have a footprint that is larger than the lateral area defined by the storage columns 105, for example as disclosed in WO2014 / 090684A1.

[0014] Rail system 108 typically comprises rails with grooves in which the vehicle wheels run. Alternatively, the rails may comprise upwardly protruding elements and the vehicle wheels may comprise flanges to prevent derailment. These grooves and upwardly protruding elements are collectively known as tracks. Each rail may comprise one track, or each rail may comprise two parallel tracks.

[0015] WO2018146304 (the contents of which are incorporated herein by reference) illustrates an exemplary configuration of a rail system 108 that includes rails and parallel tracks in both the X and Y directions.

[0016] In the skeleton structure 100, the majority of the columns 105 are storage columns 105, i.e., columns 105 in which the 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 container handling vehicles 201, 301 for unloading and / or loading the storage containers 106 so that they can be accessed from outside the skeleton structure 100 or transported to an access station (not shown) where the storage containers 106 can be transferred out of or into the skeleton structure 100. Within the art, such locations are usually referred to as "ports" and the columns in which the ports are located can be referred to as "port columns" 119, 120. The transport to the access station may be in any direction, being horizontal, diagonal, and / or vertical. For example, storage containers 106 may be placed in random or dedicated columns 105 in the skeletal structure 100 and then loaded by any container handling vehicle and transported to port columns 119, 120 for further transport to an access station. Note that the term "diagonal" refers to the transportation of storage containers 106 having a general transport orientation somewhere between horizontal and vertical.

[0017] In FIG. 1 , the first port column 119 may be, for example, a dedicated loading port column where the container handling vehicles 201, 301 may unload storage containers 106 to be transported to an access or transfer station, and the second port column 120 may be a dedicated loading port column where the container handling vehicles 201, 301 may load storage containers 106 being transported from an access or transfer station.

[0018] An access station may typically be a picking or stockpiling station where product items are removed from or placed into a storage container 106. At a picking or stockpiling station, the storage container 106 is typically not removed from the automated storage system 1, but once accessed, is placed back into the backbone structure 100 again. Ports can also be used to transfer storage containers to another storage facility (e.g., to another backbone structure or to another automated storage system), to a transport vehicle (e.g., a train or lorry), or to a production facility.

[0019] A conveyor system, comprising conveyors, is typically employed to transport storage containers between the port columns 119, 120 and the access stations.

[0020] If the port columns 119, 120 and the access stations are located at different levels, the conveyor system may include a lifting device with a vertical component for vertically transporting the storage containers 106 between the port columns 119, 120 and the access stations.

[0021] The conveyor system may be arranged to transport the storage containers 106 between different skeletal structures, for example as described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0022] 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 is commanded to retrieve the target storage container 106 from its location and transport it to the unloading port column 119. This operation involves moving the container handling vehicle 201, 301 to a location above the storage column 105 in which the target storage container 106 is located, and using a lifting device (not shown) of the container handling vehicle 201, 301 to retrieve the storage container 106 from the storage column 105 and transport the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., with one or more other storage containers 106 positioned above the target storage container 106, the operation also involves temporarily moving the storage container located above prior to raising the target storage container 106 out of the storage column 105. This step, sometimes referred to within the art as "digging out," may be performed using the same container handling vehicle used to subsequently transport the target storage container to the unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively, or in addition, the automated warehouse system 1 may have container handling vehicles dedicated to the task of temporarily removing storage containers from the storage columns 105. Once the target storage container 106 has been removed from the storage columns 105, the temporarily removed storage container may be repositioned in the original storage column 105. However, the removed storage container may alternatively be relocated to another storage column.

[0023] When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201, 301 is commanded to load the storage container 106 from the load port column 120 and transport it to a location above the storage column 105 where it is to be stored. After any storage container located at or above the target location in the storage column stack 107 is removed, the container handling vehicles 201, 301 position the storage container 106 in the desired location. The removed storage container may then be lowered back into the storage column 105 or relocated to another storage column.

[0024] To monitor and control the automated warehouse system 1, for example, to monitor and control the locations of the individual storage containers 106 within the skeletal structure 100, the contents of each storage container 106, and the movements of the container handling vehicles 201, 301 so that the desired storage containers 106 may be delivered to the desired locations at the desired times without the container handling vehicles 201, 301 colliding with each other, the automated warehouse system 1 typically includes a control system 500 that is computerized and typically includes a database for tracking the storage containers 106.

[0025] As the vehicle travels on the track, it is controlled to accelerate from a start position and decelerate to a stop position. The start and stop positions will depend on the route set for the vehicle prior to loading a container from one storage column in a storage grid and placing it in another storage column. The set route for the vehicle will typically include several start positions and stop positions. The route for a particular vehicle will be set by a management system that has control of all storage containers and their contents and the location of the vehicle that will load and unload the container.

[0026] When operating and controlling vehicles that follow set paths relative to tracks deployed on a frame structure forming a grid, it is crucial to keep track of all operating vehicles and their positions at all times. The position of the vehicles can be obtained in different ways. One way is to track the position of the vehicles relative to the tracks on the frame structure. The position can be obtained using a tracking device located outside the vehicle or by a device integrated into the vehicle.

[0027] Another method of tracking the vehicle's position is for an integrated tracking device to track the number of crossings traversed in the x and y directions against a trajectory laid out as a grid structure.

[0028] The use of an integrated tracking device would allow the vehicle to track its own location, however, an integrated tracking device is a very complex system and not necessarily very precise.

[0029] Publication No. WO2018 / 082972 A1 describes a method and a remotely operated vehicle for tracking the position of a vehicle following a set path relative to a track deployed on a frame structure forming a grid.

[0030] The method includes receiving information on the number of track crossings to pass between a start position and a stop position in an x-direction and a y-direction along a set path, directing a sensor mounted on the vehicle to a track along the path of the vehicle, detecting and monitoring the track crossings passed when moving the vehicle in the x-direction and the y-direction along the set path, transmitting a signal to a controller, and controlling the drive of the wheels of the vehicle when the number of track crossings passed is close to a total number of track crossings to pass between the start position and the stop position in each of the x-direction and the y-direction along the set path. The system uses sensors to detect and monitor the track crossings along the track in the x-direction and the y-direction.

[0031] It is an object of the present invention to provide precise tracking and verification of a vehicle's position while mounted on a grid cell.

[0032] Another object of the present invention is to provide an advance warning arrangement that notifies a vehicle of the remaining distance until a set location is reached while the vehicle can react. [Prior art documents] [Patent documents]

[0033] [Patent Document 1] International Publication No. 2015 / 193278 [Patent Document 2] International Publication No. 2014 / 090684 Summary of the Invention [Means for solving the problem]

[0034] The present invention is directed to a remotely operated vehicle with an apparatus for providing advance warning and tracking of the vehicle's position following a path of travel relative to a track deployed on a rail structure in x, y directions on a rail system, the vehicle having first and second sets of wheels connected to a drive for moving the vehicle in corresponding x, y directions on the rail system.

[0035] The remotely operated vehicle, also referred to as a vehicle, may be a container handling vehicle or a delivery vehicle configured for operation on a rail system.

[0036] The array includes at least three sensors, namely: a first sensor oriented towards the rail in the x-direction; a second sensor oriented toward the rail in the y direction; a third sensor oriented at a corner of the intersection between the rails in the x-direction and the y-direction; , each of which is pointed downwards towards the rail in the x, y directions to determine the position of the vehicle relative to the rail.

[0037] The position is the set position of the travel path on the track deployed on the rail structure in the x, y direction on the rail system. The rail is also called the rail structure.

[0038] The sensors may be oriented downwards at an angle so that they can detect the track and / or rails in either the x or y direction.

[0039] The sensors may be oriented vertically downwards so that they detect the rail structure of the rail system.

[0040] The first sensor, the second sensor, and the third sensor may be arranged in a sensor module.

[0041] The sensor module may be mounted in the structure of the vehicle at an angular position, at least partially behind the wheels of the vehicle.

[0042] Before reaching the set position, the first sensor or the second sensor may detect the rail structure in the corresponding traveling direction and provide an advance warning of the remaining distance to the set position.

[0043] At the set position, the first and second sensors may detect their respective rails and confirm the vehicle is at the set position. For example, if either the first or second sensors do not detect their respective rails, the controller will indicate that the vehicle is not precisely at the set position.

[0044] Furthermore, in the set position, the third sensor will not detect any obstacles since it is located at the corner at the intersection between the rails in the x and y directions. However, if the third sensor in the set position detects the rail structure, the controller will know that the vehicle is not exactly in the set position.

[0045] The arrangement may comprise two sensor modules, i.e., a first sensor module arranged at an angular position of the vehicle and a second sensor module arranged directly opposite the angular position of the vehicle, such that corresponding sensors of the first and second sensor modules are evenly spaced from their angular positions.

[0046] The first sensor module may be defined as a front sensor relative to the vehicle's direction of travel, and the second sensor module may be defined as a rear sensor module.

[0047] The first and second sensor modules may each comprise at least three sensors, a first sensor, a second sensor and a third sensor, each oriented / directed vertically downwards towards the rail to determine the position of the vehicle. The sensors are arranged to detect any obstacle that breaks the beam so that the controller can be notified each time the vehicle passes the rail in the x or y direction.

[0048] The third sensor may be located on the respective first and second sensor modules such that the third sensor of the second sensor module may provide advance warning of the remaining distance to the set position when moving in the x-direction or y-direction. Thus, when the third sensor of the second sensor module detects the rail structure of the grid cell of the set position, the controller will know that the remaining distance for the vehicle to travel to the set position corresponds to the width of the rail structure. The output of the sensor may be used in a feedback loop in the controller to provide a signal that causes additional or less deceleration of the vehicle.

[0049] The arrangement may further comprise a fourth sensor configured to provide advance warning of the remaining distance to reach of the vehicle at the location by detecting either the rails in the x or y direction.

[0050] The fourth sensor location may be located such that it detects the rail when the vehicle is moving towards the set position. According to the location of the fourth sensor relative to the vehicle, the sensor may detect and pre-warn a predetermined remaining distance to the set position. For example, if a preferred pre-warning distance prior to the vehicle's arrival at the set position is 10 cm, the fourth sensor is accordingly located relative to the vehicle. The output of the fourth sensor may be used in a feedback loop in the controller to provide a signal that causes additional or less deceleration of the vehicle.

[0051] The fourth sensor may be arranged in a sensor module along with the first, second, and third sensors. All sensors may be provided in a sensor module that may be adapted to be plugged into the structure of the vehicle behind the wheels.

[0052] The first and second sensor modules may each include a first, second, third, and fourth sensor. The first and second sensor modules may be identical modules, but may be arranged to be mounted at opposite corners of the vehicle.

[0053] The first and second modules may be mounted within a structure of the vehicle and at least partially behind the wheels of the vehicle at diametrically opposite corners of the vehicle such that corresponding sensors of the first and second modules are evenly spaced from the angular positions.

[0054] The first and second sensor modules need to be of sufficient surface area to support all four sensors, with the sensors spaced as necessary relative to the underside of the vehicle. Any variation in how the modules are attached to the vehicle may have ramifications regarding the accuracy of the sensors and the ability of the signals to provide reliable position data. The modules may be mounted to the underside of the vehicle nested in right angle corners of the vehicle base, which will help ensure that the modules are accurately mounted relative to the vehicle. Also, all sensors mounted and secured within the body of the module will mean that the relative positions of the sensors can be accurately glued once the mounting position of the module can be ensured.

[0055] The sensors may also be able to share some of the signal processing electronics.

[0056] The four sensors of the first and second sensor modules may each be configured to provide advance warning of the remaining distance to arrival of the vehicle at a location by detecting either the rail structure in the x-direction or the y-direction.

[0057] The output of any of the first, second, third, or fourth sensors is used in a feedback loop in the controller to provide a signal that causes additional or less deceleration of the vehicle. The additional or less deceleration may be provided as needed based on a predetermined change in the speed profile or a model thereof that is stored in the memory of the controller.

[0058] For example, a vehicle may have different mass (weight) between loaded and unloaded storage containers, and the change in required propulsion may be difficult to predict accurately. Thus, the signal that the sensor gives during the acceleration phase may provide information whether the vehicle is loaded with heavy or light storage containers. This information may be used to guide the vehicle to a more precise stop during the deceleration phase.

[0059] The sensor may be an optical sensor, detecting the reflection of light from the rail. Other or additional sensors, such as acoustic sensors, may also be used to detect the rail and / or track for position determining and advance warning. A sensor with a narrow beam may be advantageous in terms of the signal it needs to output in order to provide a stronger peak / trough signal.

[0060] The vehicle may further comprise means for receiving instructions with information on the number of rail crossings to pass between the start and stop positions in the x and y directions according to the set route.

[0061] The light is reflected from the rail when the vehicle is moving along the track in the x or y direction. When the vehicle passes the rail in either the x or y direction, the light will be reflected so that the controller receives information of the rail passing.

[0062] The vehicle may further comprise a controller for controlling actuation of the vehicle according to the number of rails in the x and y directions traversed, and when this approaches the total number of rails to traverse between the start and stop positions in the respective x and y directions along the set path, the controller may initiate deceleration of the vehicle.

[0063] Signals transmitted to the controller can be used to implement precise control of the deceleration and acceleration of the vehicle to follow a set path along the x and y directions. The controller may, for example, control this precise deceleration prior to an upcoming rail crossing where the vehicle should change direction.

[0064] The following describes one embodiment of how a remotely operated vehicle may be operated.

[0065] Tracks laid out on a rail structure in the x and y directions forming a grid can be addressed similarly to cells in a spreadsheet. For example, if a storage grid comprises 100 columns or cells for storing containers, each cell can be given a unique identification. A grid with 10 cells in the x direction and 10 cells in the y direction would create a two-dimensional track configuration that extends over the 100 cells.

[0066] When the movement of the vehicle is controlled, the controller will keep track of the cell from which the robot should load the container and the cell in which to place the container. Based on this, the controller will set the path that the vehicle should follow.

[0067] For example, if a vehicle should load a container from cell C2 and place it in cell H8, and cells C8 and H2 are blocked by other vehicles, the following path may be set by the controller: The first leg of the path is from C2 to C5, the next leg is from C5 to H5, and the last leg is from H5 to H8. Following the path, the vehicle must start and stop three times. It will drive first in the y direction, then in the x direction, and finally in the y direction. The vehicle will receive the number of rails (and tracks) to cross to pass between each start and stop position according to the path.

[0068] Sensors mounted on the vehicle and detection means provided within the vehicle can detect the number of rail and track crossings traversed in each direction. When the number of crossings traversed is close to the total number of rail crossings to pass on each leg, a signal is transmitted to a controller controlling the movement of the vehicle. In this way, the controller will know exactly when deceleration should commence and the rate and duration of acceleration.

[0069] The present invention is also directed to a method for advance warning and tracking of the position of a remotely operated vehicle following a path of travel relative to a track deployed on the rails in x, y directions on a rail system (108). The vehicle has first and second sets of wheels connected to a drive for moving the vehicle in corresponding x, y directions on the rail system.

[0070] The vehicle is equipped with at least three sensors, namely: a first sensor oriented towards the rail in the x-direction; a second sensor oriented toward the rail in the y direction; and a third sensor oriented at a corner of the intersection between the rails in the x-direction and the y-direction; The array includes:

[0071] The method comprises: moving the vehicle on the rail in x and y directions towards the position according to a travel path; receiving an output from the sensor upon detecting the rail in an x-direction or a y-direction of the rail, which defines a grid cell of locations; using the output in a feedback loop to a controller; providing signals to the wheels for additional or lesser deceleration, as necessary, based on a predetermined change in speed profile or a model thereof stored in a memory of the controller; detecting, controlling, and verifying a position of the vehicle based on the measured data from the first, second, and third sensors; Includes.

[0072] The array may comprise a fourth sensor configured to provide advance warning of the remaining distance to arrival of the vehicle at a set location by detecting the rail structure in either the x or y direction.

[0073] The first, second, third and fourth sensors may be arranged in a sensor module.

[0074] The arrangement comprises two sensor modules, i.e., a first sensor module arranged at an angular position of the vehicle and a second sensor module arranged directly opposite the angular position of the vehicle, such that corresponding sensors of the first and second sensor modules are evenly spaced from their angular positions. The present invention provides, for example, the following: (Item 1) a remotely operated vehicle (201, 301) comprising an arrangement for providing advance warning and tracking of the position of said vehicle following a travel path relative to a track deployed on a rail in x, y directions (110, 111) on a rail system (108), said vehicle (201, 301) having first and second sets of wheels (201b, 301b, 201c, 301c) connected to a drive for moving said vehicle (201, 301) in corresponding x, y directions on said rail system (108); The array includes at least three sensors, namely: a first sensor (83) directed towards the rail in the x-direction (110); a second sensor (84) oriented towards the rail in the y direction (111); a third sensor (85) oriented at a corner of an intersection between the rails in the x- and y-directions (110, 111); Equipped with the sensors (83, 84, 85) are each oriented downwards towards the rails (110, 111) in x and y directions (110, 111) to determine the position of the vehicle (201, 301) relative to the rails (110, 111); A remotely operated vehicle (201, 301). (Item 2) 2. The remotely operated vehicle of item 1, wherein the first sensor (83), the second sensor (84), and the third sensor (85) are arranged within a sensor module (81, 82). (Item 3) 3. A remotely operated vehicle as described in item 2, wherein the sensor modules (81, 82) are mounted at least partially within a structure of the vehicle (201, 301) at an angular position behind the wheels (201b, 301b, 201c, 301c) of the vehicle (201, 301). (Item 4) A remotely operated vehicle as described in any one of items 2 or 3, wherein the arrangement comprises two sensor modules, namely a first sensor module (81) arranged at an angular position of the vehicle and a second sensor module (82) arranged diametrically opposite the angular position of the vehicle (201, 301), such that corresponding sensors (83, 84, 85) of the first and second sensor modules (81, 82) are evenly spaced from their angular positions. (Item 5) 5. The remotely operated vehicle of any one of claims 1-4, wherein the arrangement comprises a fourth sensor (86) configured to provide advance warning of the remaining distance to reach of the vehicle (201, 301) at the location by detecting any of the rails in the x- or y-direction (110, 111). (Item 6) 6. The remotely operated vehicle of item 5, wherein the fourth sensor (86) is arranged within the sensor module (81, 82) together with the first, second, and third sensors (83, 84, 85). (Item 7) A remotely operated vehicle as described in any one of the preceding items, wherein the outputs of the sensors (83, 84, 85, 86) are used in a feedback loop in a controller to provide a signal causing additional or less deceleration of the vehicle (201, 301). (Item 8) A method for advance warning and tracking of the position of a remotely operated vehicle (201, 301) following a travel path relative to a track deployed on a rail in x, y directions (110, 111) on a rail system (108), said vehicle (201, 301) having first and second sets (201b, 301b, 201c, 301c) of wheels connected to a drive for moving said vehicle (201, 301) in corresponding x, y directions on said rail system (108), The vehicle is equipped with at least three sensors, namely: a first sensor (83) directed towards the rail in the x-direction (110); a second sensor (84) oriented towards the rail in the y direction (111); a third sensor (85) oriented at a corner of an intersection between the rails in the x- and y-directions (110, 111); and an array comprising: The above method is moving said vehicle (201, 301) on rails in said x-direction and y-direction (110, 111) towards said position along said travel path; receiving an output from said sensor (83, 84, 85) when said sensor (83, 84, 85) detects a rail in an x-direction or a y-direction (110, 111) of said rail that defines a grid cell of said location; using the output in a feedback loop to a controller; providing a signal to said wheels (201b, 301b, 201c, 301c) for additional or lesser deceleration, as required, based on a predetermined change in speed profile or a model thereof stored in a memory of said controller; detecting, controlling and verifying the position of said vehicle (201, 301) based on measured data from the first, second and third sensors (83, 84, 85); A method comprising: (Item 9) 9. The method according to claim 8, wherein the array comprises a fourth sensor (86) configured to provide advance warning of the remaining distance to reach of the vehicle (201, 301) at the set position by detecting the rail structure in either the x-direction or the y-direction (110, 111). (Item 10) 10. The method according to claim 9, wherein the first, second, third and fourth sensors (83, 84, 85, 86) are arranged within a sensor module (81, 82). (Item 11) The method according to item 10, wherein the arrangement comprises two sensor modules, i.e. a first sensor module (81) arranged at an angular position of the vehicle and a second sensor module (82) arranged diametrically opposite the angular position of the vehicle (201, 301), such that corresponding sensors (83, 84, 85, 86) of the first and second sensor modules (81, 82) are evenly spaced from their angular positions. [Brief description of the drawings]

[0075] The following drawings are included by way of example only to facilitate an understanding of the invention:

[0076] [Figure 1] FIG. 1 is a perspective view of a prior art automated warehouse system including a plurality of container handling vehicles. [Diagram 2] 2 and 3 show an example of a prior art container handling vehicle capable of operating the system. [Diagram 3] 2 and 3 show an example of a prior art container handling vehicle capable of operating the system. [Figure 4] FIG. 4 shows a sensor module comprising multiple sensors. [Diagram 5] FIG. 5 shows the sensor modules mounted in corners on the underside of the remotely operated vehicle relative to the rails in the x and y directions. [Figure 6] FIG. 6 shows the sensor module mounted in a corner on the underside of a remotely operated vehicle. [Figure 7] FIG. 7 shows the rail system with the rails in the x and y directions as the vehicle moves in the y direction, and with the positions of the sensors relative to the rails. [Figure 8] FIG. 8 shows the sensor module mounted in a corner on the underside of a remotely operated vehicle from yet another angle. [Figure 9]FIG. 9 shows the rail system with the rails in the x and y directions as the vehicle moves in the y direction, and with the positions of the sensors relative to the rails. [Figure 10] FIG. 10 shows the sensor module and the four sensors in the intersection from above relative to the rail in the x and y directions. [Figure 11] FIG. 11 shows a remotely operated vehicle with first and second sensor modules arranged diametrically opposite the angular position of the vehicle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0077] Detailed Description of the Invention In the following, embodiments of the invention will be discussed in more detail with reference to the accompanying drawings, in which it will be understood, however, that the drawings are not intended to limit the invention to the subject matter depicted therein.

[0078] Furthermore, even if some of the features of the present invention are described in relation to a rail system of a warehouse system 1 with a skeleton structure 100 in combination with container handling vehicles 201, 301 suitable for operating on such a system, it will be apparent that the features of the present invention are also valid in relation to other rail systems (such as delivery rail systems) and vehicles (such as delivery vehicles), and vice versa.

[0079] 1, the storage grids 104 of each storage structure 1 form a skeleton 100 of 143 grid columns 112 in total, with the skeleton's width and length corresponding to 13 and 11 grid columns 112 widths and lengths, respectively. The top layer of the skeleton 100 is a rail system 108 upon which a plurality of container handling vehicles 200, 300 operate.

[0080] The skeleton 100 of the storage system 1 is constructed in accordance with the prior art skeleton 100 described above, i.e., a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102, which further include a rail system 108 of parallel rails 110, 111 in the X and Y directions, respectively, arranged across the top of the storage column 105. The horizontal area of ​​a single grid cell 122, i.e., along the X and Y directions, may be defined by the distance between adjacent rails 110 and 111, respectively.

[0081] The rail system 108 allows the container handling vehicles 201 , 301 to move horizontally between different grid locations, each of which is associated with a grid cell 122 .

[0082] In Fig. 1, the storage grid 104 is shown with a height of eight cells. However, it should be understood that the storage grid 104 could in principle be of any size. In particular, it should be understood that the storage grid 104 could be significantly wider and / or longer than that disclosed in Fig. 1.

[0083] The storage container vehicles 201, 301 may be of any type known in the art, for example any one of the automated container handling vehicles disclosed in WO2014 / 090684A1, NO317366 or WO2015 / 193278A1.

[0084] The rail system 108 may comprise a single track system. Alternatively, the rail system 108 may be a dual track system. The rail system 108 may also be a combination of a single track and a dual track system.

[0085] FIG. 4 shows an arrangement of sensors for advance warning and tracking of the position of a remotely operated vehicle (not shown) following a travel path relative to a track deployed on the rails in x, y directions on a rail system (not shown).

[0086] The array comprises a first sensor 83 oriented at the rail in the x-direction 110, a second sensor 84 oriented at the rail in the y-direction 111, and a third sensor 85 oriented at the corner of the intersection between the rails in the x and y directions 110, 111.

[0087] The arrangement also comprises a fourth sensor arranged to detect either the rails in the x or y direction 110, 111, thereby providing advance warning of the remaining distance to the arrival of the vehicle 201, 301 at the position.

[0088] 4, 5, 6, 8, 10, and 11, the beams of sensors 83, 84, 85, 86 are shown to illustrate the location of the sensors and the direction of their beams. During operation, the vehicle's beams may also be visible to the human eye.

[0089] Sensors 83, 84, 85 may be pointed downwards towards the rails in the x, y directions to determine the position of the vehicle relative to the rails 110, 111, respectively.

[0090] The sensors may be arranged on a sensor module as shown in FIG.

[0091] The module may be mounted within the structure of the vehicle 201, 301 and at least partially behind the wheels of the vehicle, as shown in FIG.

[0092] An arrangement of the present invention may comprise a first sensor module or a second sensor module 81, 82. Each sensor module 81, 82 comprises one or more sensors 83, 84, 85, 86 oriented vertically downwards towards the rail to determine the position of the vehicle 201, 301 relative to the rail (as shown in FIG. 11).

[0093] The first and second sensor modules 81, 82 may be one type of sensor module with the same pre-arrangement of sensors provided in the sensor module. Each sensor module 81, 82 may be adapted to be arranged in diametrical opposition to the angular position of the vehicle for pre-warning and tracking of the vehicle's position along its travel path relative to a track deployed on a rail structure in the x, y directions 110, 111 on the rail system 108. The travel direction of the vehicle 201, 301 may define which of the first and second sensor modules 81, 82 is the one.

[0094] The sensor module 81, 82 may comprise at least three sensors, a first sensor 83 oriented at the rail in the x-direction 110 and a second sensor 84 oriented at the rail in the y-direction 111, the first and second sensors 81, 82 being evenly spaced from the angular position of the vehicle 201, 301 such that they detect either the rail in the x-direction and / or the y-direction 110, 111. The third sensor 85 is oriented at the corner of the intersection between the rail structures in the x-direction 110 and the y-direction 111.

[0095] The sensor modules 81, 82 may further comprise a fourth sensor 86 configured to provide advance warning of the remaining distance to the vehicle's arrival at a position by detecting the rail structure in the x- or y-direction 110, 111.

[0096] 4, 5, 6, 8, 10 and 11 show sensor modules 81, 82 each comprising four sensors 83, 84, 85, 86 located at predetermined locations on the sensor module 81, 82 for detecting and reading the position of the vehicle 201, 301, respectively.

[0097] The first and second sensor modules 81, 82 are mounted within the structure and at least partially behind the wheels 201b, 301b, 201c, 301c of the vehicle 201, 301 such that the corresponding sensors 83, 84, 85, 86 of the first and second sensor modules 81, 82 are evenly spaced from the angular position.

[0098] 7 shows the rail system 108 from above and the sensors 83, 84, 85, 86 of a vehicle 201, 301 moving in the y-direction on the rail system 108. The vehicle (not shown) comprises a first sensor system 81 located at the front corner in the direction of movement of the vehicle 201, 301 and a second sensor module 82 located at the diametrically opposite corner position at the rear of the vehicle 201 in the direction of movement.

[0099] Each sensor module 81, 82 comprises four sensors: a first sensor 83, directed to the rail in the x-direction 110; a second sensor 84, directed to the rail in the y-direction 111; a third sensor 85, directed to the corner of the intersection between the rail structures in the x-direction and the y-direction 110, 111; and a fourth sensor, located at a predefined location and configured to provide advance warning of the remaining distance to the arrival of the vehicle 201, 301 at the location by detecting the rail structures in the x-direction or the y-direction 110, 111. The "remaining distance" may vary according to the location of the fourth sensor 86 relative to the vehicle 201, 301. The first sensor 83 and the second sensor 84 are spaced apart from the corner location so that they may simultaneously detect the rail in the x-direction and the y-direction while located at the set position, so that the set position may be confirmed with reference to the rail in the x-direction and the y-direction 110, 111.

[0100] While the vehicle 201, 301 is moving in the y-direction of the rail system towards the set location on the grid cell 122, the second sensor 84 continuously detects the rail in the y-direction 111 (the sensor follows the rail in the y-direction). The fourth sensor 86 of the second sensor module 82 is located at a location relative to the vehicle such that when the sensor 86 detects the rail structure in the x-direction 110 of the grid cell 122 of the set location, it sends a signal to the controller to pre-warn the remaining distance to the set location. Thus, the remaining distance to the set location is defined by the location of the fourth sensor 86 relative to the vehicle 201, 301. As shown in FIG. 7, the remaining distance may be set to about 10 cm. If a longer "remaining distance" is preferred, the fourth sensor 86 may be moved closer towards the center of the vehicle so that the remaining distance may be incremented accordingly. The fourth sensor may be integrated into the sensor module 81, 82 or it may be located separately on the underside of the vehicle 201, 301.

[0101] Furthermore, when the vehicle 201, 301 arrives at the set position located on the grid cell 122 of the rail system 108, the first sensor 83 of the first and second sensors 81, 82 detects the rail in the x direction 110, the second sensor 84 of the first and second sensors 81, 82 detects the rail in the y direction 111, and the third sensor 85 of the first and second sensors 81, 82 detects that there is no obstacle because it is located at the corner at the intersection between the rail structures in the x and y directions 110, 111. If the third sensor 85 detects an obstacle (i.e., a rail structure), the controller will know that the vehicle 201, 301 is located at an offset position (and therefore not exactly at the set position on the grid cell). While at the set position on the grid cell 122, the first, second, and third sensors 83, 84, 85 confirm that the vehicle is at the set position.

[0102] The first and second sensor systems 81, 82 will act in an identical manner when the vehicles 201, 301 are moving in opposite y directions on the rail system 108. The first sensor module 81 may be defined as the front sensor module of the vehicle in the direction of movement of the vehicles 201, 301. When the vehicles 201, 301 move in the opposite direction, the aforementioned second sensor module 82 becomes the first sensor module 81.

[0103] 9 shows sensors 83, 84, 85, 86 of a first and second sensor module 81, 82 in a vehicle 201, 301 moving in the x-direction of the rail system 108. Thus, the first sensor module 83 is located at the front corner of the vehicle 201, 301 and the second sensor module 82 is located at the diametrically opposite corner position at the rear of the vehicle 201, 301 (seen in the direction of vehicle movement).

[0104] Each sensor module 81, 82 comprises four sensors: a first sensor 83 oriented to the rail in the x-direction 110, a second sensor 84 oriented to the rail in the y-direction 111, a third sensor 85 oriented to the corner of the intersection between the rail structures in the x-direction and the y-direction 110, 111, and a fourth sensor 86 configured to provide advance warning of the remaining distance to the arrival of the vehicle at the position by detecting the rail structure in the x-direction or the y-direction 110, 111. The first sensor 83 and the second sensor 84 are spaced apart from the corner position such that they can detect the rail in the respective x-direction and y-direction 110, 111. The first and second sensor modules 81, 82 may be equally spaced apart from the corner position on the vehicle 201, 301, respectively.

[0105] While moving in the x-direction of the rail system 110 towards the set location on the grid cell 122, the first sensor 83 continuously detects the rail in the x-direction 110 as the vehicle 201, 301 moves along the rail in the x-direction. The fourth sensor 86 of the second sensor module 82 is located such that when the sensor 86 detects the rail structure in the y-direction 111 of the grid cell 122 of the set location, it sends a signal to the controller to pre-warn the remaining distance to the set location. Thus, the remaining distance to the set location is defined by the location of the fourth sensor 86 relative to the vehicle 201, 301. As shown in FIG. 9, the remaining distance may be set to about 10 cm. Any pre-preferred distance may be obtained by moving the location of the fourth sensor 86 relative to the vehicle.

[0106] Furthermore, when the vehicle 201, 301 arrives at the set position, located on the grid cell 122 of the rail system 108, the first sensor 83 of the first and second sensor modules 81, 82 detects the rail in the x-direction 110, the second sensor 84 of the first and second sensor modules 81, 82 detects the rail in the y-direction 111, and the third sensor 85 of the first and second sensor modules 81, 82 detects that there is no obstacle because it is located at the corner at the intersection between the rail structures in the x-direction and y-direction 110, 111. If the third sensor 85 detects an obstacle (i.e., a rail structure), the controller will know that the vehicle 201, 301 is at an offset position (and therefore not exactly at the set position on the grid cell). The first, second, and third sensors 83, 84, 85 detect and confirm the position of the vehicle 201, 301.

[0107] Hence, the sensors 83, 84, 85, 86 of the first and second sensor systems 81, 82 will act in an identical manner when the vehicles 201, 301 are moving in opposite x-directions of the rail system 108. The first sensor module 81 may be defined as the front sensor module in the direction of movement of the vehicles 201, 301. When the vehicles 201, 301 move in the opposite direction, the aforementioned second sensor module 82 becomes the first sensor module 81.

[0108] 10 shows an intersection section of the remotely operated vehicle 201, 301 taken horizontally through the first or second sensor module 81, 82. The sensor module 81, 82 comprises a first sensor 83, a second sensor 84, a third sensor 85, and a fourth sensor 86, each oriented vertically downward to detect the rail structure. The vehicle 201, 301 is located in a set position such that the first sensor 83 detects the rail in the x-direction 110 and the second sensor 84 detects the rail in the y-direction 111. The third sensor is mounted at the corner of the intersection between the x-rail 110 and the y-rail 111 to detect the absence of obstacles.

[0109] 11 shows a first sensor module 81 and a second sensor module 82 depending on the direction of travel for the vehicles 201, 301. The sensor modules 81, 82 are arranged at diametrically opposite corner positions of the vehicles 201, 301. The sensor modules 81, 82 may each be the first sensor module 81 depending on the direction of travel of the vehicles 201, 301.

[0110] Reference Number: [ka] [ka]

Claims

1. A remotely operated vehicle (201, 301), comprising an arrangement for providing advance warning and tracking of the position of the vehicle following a travel path relative to a track deployed on a rail in x, y directions (110, 111) on a rail system (108), the vehicle (201, 301) having first and second sets of wheels (201b, 301b, 201c, 301c) connected to a drive for moving the vehicle (201, 301) in corresponding x, y directions on the rail system (108) to arrive at a predetermined position, The sequence is At least one sensor module, said at least one sensor module including at least four sensors, namely: a first sensor (83) oriented vertically downward to detect the rail in the x-direction (110) on the sensor module; a second sensor (84) oriented vertically downward to detect the rail in the y-direction (111) on the sensor module; a third sensor (85) oriented vertically downward and positioned on the sensor module to detect an angle of intersection between the rails in the x- and y-directions (110, 111); a fourth sensor (86), configured to detect the rail in the x-direction (110) when traveling in the y-direction (111) and to detect a remaining distance to the predetermined position by detecting the rail in the y-direction (111) when traveling in the x-direction (110), the fourth sensor (86) being installed at a predetermined position on the sensor module; a controller provided on the vehicle to receive the output from at least one of the first, second, third and fourth sensors (83, 84, 85, 86) and provide advance warning of a remaining distance to the predetermined location; At least one sensor module is provided. A remotely operated vehicle comprising:

2. 2. The remotely operated vehicle of claim 1, wherein the sensor module (81, 82) is mounted in a structure of the vehicle (201, 301) at an angular position at least partially behind the wheels (201b, 301b, 201c, 301c) of the vehicle (201, 301).

3. 3. The remotely operated vehicle of claim 2, wherein the arrangement comprises two sensor modules, a first sensor module (81) arranged at an angular position of the vehicle and a second sensor module (82) arranged diametrically opposite the angular position of the vehicle (201, 301), such that corresponding first, second, third and fourth sensors (83, 84, 85, 86) of the first and second sensor modules (81, 82) are evenly spaced from their angular positions.

4. 4. A remotely operated vehicle as described in any one of claims 1 to 3, wherein the outputs of the first, second, third and fourth sensors (83, 84, 85, 86) are used in a feedback loop in a controller to provide a signal that causes additional or less deceleration of the vehicle (201, 301).

5. A method for advance warning and tracking of the position of a remotely operated vehicle (201, 301) following a travel path relative to a track deployed on a rail in x, y directions (110, 111) on a rail system (108), said vehicle (201, 301) having a first and a second set of wheels (201b, 301b, 201c, 301c) connected to a drive for moving said vehicle (201, 301) in corresponding x, y directions on said rail system (108) to arrive at a predetermined position, the vehicle comprising an array of at least one sensor module; The at least one sensor module includes at least four sensors, namely: a first sensor (83) oriented vertically downward to detect the rail in the x-direction (110) on the sensor module; a second sensor (84) oriented vertically downward to detect the rail in the y-direction (111) on the sensor module; a third sensor (85) oriented vertically downward and positioned on the sensor module to detect an angle of intersection between the rails in the x- and y-directions (110, 111); a fourth sensor (86), configured to detect the rail in the x-direction (110) when traveling in the y-direction (111) and to detect a remaining distance to the predetermined position by detecting the rail in the y-direction (111) when traveling in the x-direction (110), the fourth sensor (86) being installed at a predetermined position on the sensor module; a controller provided on the vehicle, the controller configured to execute the method; and The method comprises: moving the vehicle (201, 301) on rails in the x and y directions (110, 111) towards the predetermined position according to the travel path; receiving outputs from the first, second and third sensors (83, 84, 85) when the first, second and third sensors (83, 84, 85) detect a rail in an x-direction or a y-direction (110, 111) of the rail that defines a grid cell of the predetermined location; using the output in a feedback loop to a controller; providing a signal to said wheels (201b, 301b, 201c, 301c) for additional or lesser deceleration, as required, based on a predetermined change in speed profile or a model thereof stored in a memory of said controller; detecting, controlling and verifying the position of the vehicle (201, 301) based on measured data from the first, second and third sensors (83, 84, 85); A method comprising:

6. 6. The method of claim 5, wherein the arrangement comprises two sensor modules, a first sensor module (81) arranged at an angular position of the vehicle and a second sensor module (82) arranged diametrically opposite the angular position of the vehicle (201, 301), such that corresponding first, second, third and fourth sensors (83, 84, 85, 86) of the first and second sensor modules (81, 82) are evenly spaced from their angular positions.

Images