Method and control system for preparing orders for merchandise stored in an automated storage system - Patents.com

Abstract

A method, system, and computer program for preparing orders for items stored in storage containers in an automated storage and retrieval system. The ordered items are prepared and delivered to a pickup point when the ordered items can be picked up. This optimizes use of the storage capacity of the automated storage and retrieval system and minimizes the need for temporary storage space at the pickup point. The method includes ranking multiple orders in an order list.

Description

[Technical field]

[0001] The present invention relates to a method, a control system and a computer program for preparing an order for goods stored in storage containers in an automated storage and retrieval system. The ordered goods are prepared and delivered to a pick-up point when the ordered goods can be picked up. This optimizes the use of the storage capacity of the automated storage and retrieval system and minimizes the need for temporary storage space at the pick-up point. [Background technology]

[0002] There are different types of storage and retrieval systems in which goods are stored until they can be retrieved and transported to another location. In automated storage systems, goods of the same type are typically stored within the same storage container or vessel.

[0003] An order typically specifies different types of goods. When an order with different types of goods is received, the goods from different storage containers are retrieved and collected. The retrieval of goods according to an order may be automated and performed by robots or may be performed manually by people. The ordered goods are usually ready from the storage and retrieval system as soon as the order is received.

[0004] A robot with access to the storage and retrieval system may, for example, retrieve ordered items from different bins and place the items into one or more bins for further handling, such as controlling the retrieved items to correspond to the order, packing the items into boxes, applying address labels, etc.

[0005] Today, storage and retrieval systems are typically operated by a combination of people and collaborative robots. Goods from an automated storage system can also be made accessible at a pick-up station (where pick-up from containers holding different types of goods is performed) as the containers storing the goods pass by the pick-up station according to an order. Once the goods are picked and prepared for shipping, they are transferred to a pick-up point (where the goods are picked up by a receiving entity, e.g., a vehicle, and transported for transport to a destination).

[0006] Transport of goods between the storage and retrieval system and the pick-up station, and from the pick-up station to the receiving point, may be accomplished by, for example, conveyor belts or autonomous vehicles.

[0007] 1 shows one example of a prior art compact automated storage and retrieval system 10. The storage and retrieval system includes a framework structure 100 and a container handling vehicle 150 for handling storage containers 106 containing goods.

[0008] The framework structure 100 defines a storage grid 104 comprising storage columns 105 arranged in rows in which storage containers 106 are stacked on top of each other to form stacks 107 .

[0009] The automated storage and retrieval system 10 includes a rail system 108 for guiding container handling vehicles 150. The rail system 108 is arranged in a grid pattern over the top of the storage grid 104. The container handling vehicles 150 extend over the rail system 108 and are operable to lower storage containers 106 into and lift storage columns 105, and to transfer storage containers 106 over the rail system 108. The horizontal extent of one of the grid cells 122 that make up the grid pattern is marked in the figure by a bold line.

[0010] The rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 150 in a first direction X across the top of the frame structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 and guiding movement of the container handling vehicles 150 in a second direction Y perpendicular to the first direction X. The rail system 108 thus defines a grid column, above which the container handling vehicles 150 can move laterally above the storage columns 105, i.e. in a plane parallel to the horizontal XY plane.

[0011] The figure further shows two delivery columns 119 and 120 used to retrieve or store the storage containers 106. The first delivery column 119 may, for example, include a dedicated delivery port where the container handling vehicle 150 can deliver the storage containers 106 through the delivery column 119 for further transport to the retrieval station 200 or transfer station (shown in FIG. 2), and the second delivery column 120 may include a dedicated receiving port where the container handling vehicle 150 can receive the storage containers 106 transferred from the access station or transfer station through the delivery column 120.

[0012] Each container handling vehicle 150 comprises a vehicle body and a wheel arrangement of eight wheels 201, with a first set of four wheels allowing lateral movement of the container handling vehicle 150 in the X direction and the remaining four wheels in a second set allowing lateral movement in the Y direction. One or both sets of wheels in the wheel arrangement can be raised and lowered so that the first set of wheels and / or the second set of wheels can be engaged with respective sets of rails 110, 111 (which is defined by a controller controlling the drive means in the container handling vehicle 150 for controlled directional movement of the container handling vehicle 150).

[0013] Each container handling vehicle 150 further comprises a lifting device (not shown) for vertical transfer of the storage containers 106, e.g., lifting the storage containers 106 from the storage columns 105 and lowering the storage containers 106 into the storage columns 105. The lifting device comprises one or more gripping / engagement devices (not shown) adapted to engage the storage containers 106. The gripping / engagement devices can be lowered from the vehicle 150 by the lifting device to adjust the positioning of the gripping / engagement devices in a third direction Z orthogonal to the first and second directions X, Y.

[0014] Each container handling vehicle 150 comprises a storage compartment or space (not shown) for receiving and storing the storage containers 106 as they are transported across the rail system 108. The storage space may comprise a centrally arranged cavity within the vehicle body, for example, as described in WO2014 / 090684A1. Alternatively, the container handling vehicles 150 may have a cantilever structure, as described in NO317366.

[0015] Each storage container 106 can typically hold multiple product items / goods of the same type. The described structure of the automated storage and retrieval system provides compact and space-saving storage of goods and is highly suitable for deployment in locations having little floor space for storage.

[0016] 2 illustrates one example of a prior art delivery rail system 190 extending from a location inside the storage grid 104 to a location outside the storage grid 104, in this case, a pick station 200. The example further illustrates an autonomous vehicle 210 transferring a storage container to the pick station 200.

[0017] At the pick-up station, goods are picked from different storage containers 106 according to the order. The picked goods may be placed in the same storage container 106 for further transport to a packing station where the ordered goods are packed and prepared for shipment. The picked goods may also be packed and prepared for shipment at the pick-up station 200. In addition, a conveyor 195 may be arranged at or near the same location as the delivery rail system 190. The conveyor 195 may be used to transport goods prepared for shipment to a receiving point.

[0018] To monitor and control the automated storage and retrieval system 10, the system includes a control system (not shown), which is typically computerized and includes a database that tracks the locations of the storage containers 106 and the storage containers 106 that are to be loaded at any given time according to an order. The control system monitors and controls the location of each storage container 106 within the storage grid 104, the contents of each storage container 106, and the positions and movements of the container handling vehicles 150 so that the required storage containers 106 can be retrieved and transported to the specific locations at the desired times.

[0019] When a storage container 106 stored within the grid 104 disclosed in FIG. 1 is to be accessed, the control system commands one of the container handling vehicles 150 to retrieve the storage container 106 from its current position within the grid 104 and transfer it to or through the first delivery column 119. This operation involves moving the container handling vehicle 150 to a grid location above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using a lifting device (not shown) of the container handling vehicle, and transferring the storage container 106 to the first delivery column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers are located above the target storage container 106, the operation includes temporarily moving the upper positioned storage container 106 prior to raising the target storage container 106 out of the storage column 105. This step, sometimes referred to in the art as "searching," may be performed using the same container handling vehicle 150 used to subsequently transfer the target storage container 106 to the delivery column, or using one or more other cooperating container handling vehicles 150. Alternatively, or in addition, the automated storage and retrieval system 10 may have a container handling vehicle 150 dedicated to the task of temporarily removing the storage container 106 from the storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container 106 may be repositioned in the original storage column 105. However, the removed storage container may alternatively be relocated to another storage column 105.

[0020] Preparing the goods from the storage containers 106 according to the specifications in the order may take time. Traditionally, ordered goods are removed and prepared for shipment when the order is received. If not collected immediately at the receiving point, boxes with goods prepared for shipment occupy floor space until they are collected.

[0021] One problem with this is that the floor space required to be occupied by the boxes may not be available in facilities with limited floor space. Another problem is that some types of goods, e.g., food, should be stored at a particular temperature and therefore cannot remain at a receiving point having another temperature for an extended period of time.

[0022] Because goods prepared for collection at a receiving point occupy floor space until they are collected, it is desirable to keep the goods in an automated storage and retrieval system until the goods are ready to be received for transport to another location, e.g., the destination of the ordered goods. However, estimating when an ordered good will be collected can be difficult. This problem exists for both smaller and larger automated storage and retrieval systems. Smaller systems are typically deployed in locations that have little storage space at their receiving point, while larger systems have high activity with many orders prepared for shipment. Accumulation of goods can occur if they are not received when expected, e.g., if a truck does not show up on time.

[0023] The present invention addresses this problem and provides a solution where ordered goods are prepared and delivered to the pick-up point when a receiving entity, e.g. a vehicle, is ready to pick up the goods. This is achieved by ranking orders for goods and preparing and delivering the orders to the pick-up point according to the ranking and estimated pick-up time. This is performed in real-time and is continually updated. [Prior art documents] [Patent documents]

[0024] [Patent Document 1] International Publication No. 2014 / 090684 Summary of the Invention [Means for solving the problem]

[0025] The invention is defined in the independent claims, with additional features being defined in the dependent claims. More specifically, the invention is defined by a method for preparing and delivering an order for goods from an automated storage and retrieval system to a pick-up point when the goods are ready to be picked up at the pick-up point, the method comprising the following steps: - receiving a plurality of orders in an order list; - ranking a plurality of orders in an order list; - allocating each order to one of a plurality of receiving entities; - estimating, for each order, a preparation time for preparing the order and delivering it to a pick-up point for pick-up by the allocated pick-up entity; - for each order, estimating a pick-up time when the allocated receiving entity will be ready to pick up the order based on information about the allocated receiving entity; - comparing, for each order, the estimated preparation time with the estimated receipt time; - updating the ranking of the orders in the order list such that each order is delivered for collection at the collection point at a time within a predetermined time interval that overlaps the estimated collection time; - preparing and delivering to a pick-up point an order for the goods according to its ranking in the order list; Includes.

[0026] According to one embodiment, the estimated pick-up time for a receiving entity is revised based on new information about the receiving entity, and the ranking of the orders in the order list is then updated based on the revised estimated pick-up time.

[0027] The estimate of the pick-up time for the pick-up entity may be based on information about the location of the pick-up entity, expected travel time to the pick-up location involving the pick-up point, expected delays or cancellations, and / or historical data.

[0028] When an item is prepared to be ordered, the estimation, updating and ranking are all performed in real-time.

[0029] Information about the location of the receiving entity may be generated by one or more of the following methods: receiving location data from the receiving entity, for example from a tracking device or GPS in the receiving entity, detecting an RFID tag in or on the receiving entity as it passes an RFID reader, visually detecting the receiving entity at a location, determining the cell to which a mobile phone associated with the receiving entity's activity is connected, or manually receiving location information from a person by voice or data input.

[0030] Ranking the multiple orders may include determining the urgency of the orders based on one or more of the following criteria described in the detailed description below: the time the order was received, the type of items in the order, the location within the storage and retrieval system of the items in the order, and / or the priority of the order.

[0031] According to one embodiment of the method, the ranking of the orders in the order list is changed based on updated information of the receiving entity and / or when the orders are updated with new priorities.

[0032] According to one embodiment, new orders are continually added to the order list.

[0033] According to one embodiment, the preparation time for preparing the order and delivering it to the pick-up point for pick-up by the allocated receiving entity is communicated to the receiving entity. This may be useful if the receiving entity is ready to receive the order, but the order is not prepared and will be ready for pick-up in, for example, 30 minutes. The receiving entity can then use this time efficiently by completing other tasks first.

[0034] According to one embodiment, information related to orders, including order preparation times, linked entities, pick-up times, and rankings, is persistently registered and machine learning is used to optimize order preparation for a particular storage and retrieval facility. This is useful because different facilities typically store different types of goods, have different configurations and pick-up points, and they may operate differently. By learning how a particular automated storage and retrieval system is operated and the traffic flow of orders stored within the system, the preparation of orders from a particular facility can be optimized and improved over time.

[0035] The receiving entity used to transport the ordered goods from the receiving point to the destination, e.g., the destination, may be one or more of the following: a vehicle, a boat, a plane, a train, a drone, a bicycle, or a person.

[0036] The invention is also defined by a computer program product which, when executed by a processor in a controller of the automated storage and retrieval system, performs the above described method for preparing an order for goods. The computer program can be implemented as an add-on software module of a control system which controls and executes all operations of the automated storage and retrieval system.

[0037] The invention is further defined by a control system for controlling the operation of a container handling vehicle to handle storage containers holding goods stored in an automated storage and retrieval system, the control system being adapted to control the preparation and delivery of orders for the goods to a pick-up point when they are ready to be picked up, the control system comprising input means, memory means and processing means arranged to receive a plurality of order and pick-up entity information and store same in the memory means; The processing means is arranged to execute a computer program which, when executed, performs the following steps: receiving each order and allocating it to one of the entities; ranking a plurality of orders in the order list; estimating, for each order, a preparation time for preparing the order and delivering it to a pick-up point for pick-up by an allocated pick-up entity; for each order, estimating a pick-up time when the allocated receiving entity will be ready to pick up the order based on information about the allocated receiving entity; comparing the estimated preparation time with the estimated receipt time for each order; updating the ranking of the orders in the order list such that each order is delivered to the pickup point at a time within a predetermined time interval that overlaps the estimated pickup time; preparing the orders according to their ranking in the order list; Implemented the following: The controller is adapted to control the automated storage and retrieval system according to a ranking of the orders in the order list. The present invention provides, for example: (Item 1) A method (300) for preparing and delivering an order for merchandise from an automated storage and retrieval system (10) to a pick-up point when the order is ready to be picked up at the pick-up point, comprising: Receiving (310) a plurality of orders in an order list; Allocating (320) each order to one of a plurality of receiving entities; ranking (330) the plurality of orders within the order list; estimating (350) for each order a preparation time for preparing the order and delivering it to a pick-up point for pick-up by the assigned pick-up entity; For each order, estimating (380) a receiving time when the allocated receiving entity will be ready to receive the order based on information about the allocated receiving entity; comparing (370) the estimated preparation time to the estimated receipt time for each order; updating (400) the rankings of the orders in the order list such that each order is delivered to the pickup location at a time within a predetermined time interval that overlaps the estimated pickup time; preparing and delivering (430) orders for said products to said pick-up points according to their ranking in said order list; A method comprising: (Item 2) revising the estimated receipt time for a receiving entity based on new information about the receiving entity; and updating the ranking of the orders in the order list based on the revised estimated receipt time; The method according to item 1, comprising: (Item 3) 3. The method of claim 1 or 2, wherein estimating the pick-up time for a pick-up entity is based on information about the location of the pick-up entity, an expected travel time to the pick-up point, expected delays, and / or historical data. (Item 4) Item 4. The method of item 3, wherein information about the location of the receiving entity is generated by one or more of the following methods: receiving location data from the receiving entity; receiving location data by detecting an RFID tag in or on the receiving entity as it passes an RFID reader; visually detecting the receiving entity at a location; and determining a cell to which a mobile phone associated with an operation of the receiving entity is connected. (Item 5) 5. The method of any one of claims 1 to 4, wherein ranking the plurality of orders includes determining an urgency of an order based on one or more of the following criteria: a time the order was received, a type of item in the order, a location of the item in the order within the storage and retrieval system, and / or a priority of the order. (Item 6) 6. The method according to any one of items 1 to 5, comprising changing the priority of an order. (Item 7) 7. The method according to any one of items 1 to 6, further comprising adding a new order to the order list. (Item 8) 8. The method of any one of items 1 to 7, comprising using one or more of the following receiving entities: a vehicle, a boat, a plane, a train, a drone, a bicycle, or a person. (Item 9) 9. The method of any one of claims 1 to 8, wherein the preparation time for preparing an order and delivering it to a pick-up point for pick-up by the allocated pick-up entity is communicated to the pick-up entity. (Item 10) 10. The method of any one of claims 1 to 9, comprising persistently registering information related to orders, including order preparation times, linked entities, pick-up times, and rankings, and using machine learning to optimize order preparation for a particular storage and retrieval facility. (Item 11) A computer program product which, when executed by a processor in a controller of an automated storage and retrieval system, performs the method of preparing an order for goods and delivering it from the automated storage and retrieval system to a pick-up point according to any one of items 1 to 10. (Item 12) a control system connected to the automated storage and retrieval system (10) for controlling the preparation and delivery of orders for merchandise from the automated storage and retrieval system (10) to a pick-up point when the merchandise is ready to be picked up at said pick-up point, said control system comprising input means, memory means and processing means arranged to receive information of a plurality of ordering and pick-up entities and to store said information in said memory means; The processing means is arranged to execute a computer program which, when executed, performs the following steps: allocating (320) each order to one of the receiving entities; ranking (330) a plurality of orders in the order list; estimating (350) for each order a preparation time for preparing the order and delivering it to a pick-up point for pick-up by the allocated pick-up entity; for each order, estimating (380) a receiving time when the allocated receiving entity will be ready to receive the order based on information about the allocated receiving entity; comparing (370) the estimated preparation time to the estimated receipt time for each order; updating (400) the rankings of the orders in the order list such that each order is delivered to the pickup location at a time within a predetermined time interval that overlaps the estimated pickup time; preparing (430) said orders according to their ranking in said order list; Implemented the following: The controller is adapted to control (430) the automated storage and retrieval system (10) according to the ranking of the orders in the order list. [Brief description of the drawings]

[0038] Certain embodiments of the present invention will now be described, by way of example only, with reference to the drawings.

[0039] [Figure 1] FIG. 1 shows one example of a typical prior art automated storage and retrieval system in which a container handling vehicle is loading and unloading a storage container.

[0040] [Diagram 2] FIG. 2 shows another example of a prior art storage and retrieval system connected to a retrieval station.

[0041] [Diagram 3] FIG. 3 is a flow chart illustrating the different steps of a method for preparing an order for goods from an automated storage and retrieval system.

[0042] [Figure 4A] FIG. 4A is a table in which the orders are organized sequentially according to time of receipt.

[0043] [Figure 4B] FIG. 4B is a table in which orders are sorted by receiving entity and priority.

[0044] [Figure 4C] FIG. 4C is a table in which orders are sorted according to estimated receipt time.

[0045] [Figure 4D] FIG. 4D is a table in which the orders are sorted according to each order's estimated receipt time and priority. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0046] FIG. 1 shows one example of a typical prior art automated storage and retrieval system 10 that can be made very compact and adapted to available floor space. The features of the system are explained in the background above. Such an automated storage and retrieval system 10 is therefore very suitable for deployment in connection with, for example, shopping malls, centers, or stores. Such locations often have limited floor space reserved for storage. The available floor space is usually reserved for displaying merchandise so that customers can see it more closely. This is a typical scenario for a store that offers merchandise via a web page and additionally has a physical location, for example a store where merchandise for sale can be viewed and ordered merchandise can be picked up.

[0047] To avoid orders being prepared for shipment piling up and taking up valuable floor space, it is desirable to keep the ordered items stored within the automated storage and retrieval system 10 until they are ready to be picked up.

[0048] Different types of goods are typically stored in storage containers 106 that are stored at different levels below other storage containers 106, in different grid cells 122. Retrieval of goods may be performed by specialized retrieval vehicles above or below the storage grid 104, or at dedicated retrieval stations connected to the storage grid 104. Independent of how retrieval of goods is performed, it will take some time to assemble the orders, depending on the number and type of goods ordered and the size of the automated storage and retrieval system 10.

[0049] 2 shows another embodiment of a prior art storage and retrieval system. The figure illustrates a retrieval station connected to an automated storage and retrieval system 10, which is also described in more detail in the Background section above.

[0050] Once the goods are picked and packed into boxes prepared for shipment to the destination, the goods are transported to a receiving point, typically at a facility equipped with an automated storage and retrieval system. At the receiving point, the goods are transported to a receiving entity that will ship them to their destination. The goods may, for example, be loaded onto a vehicle that will ship the ordered goods to the order's destination.

[0051] A method for preparing an order for goods from an automated storage and retrieval system will now be described with reference to Fig. 3, which is a flow chart illustrating the different steps 300 performed. The method is performed by a control system, which has a global overview of the inventory of goods stored in the different storage containers 106 in the automated storage and retrieval system 10, and which controls all the operation of the container handling vehicles 150 which service the storage containers 106.

[0052] According to the method, an order is received and added to an order list comprising a plurality of orders 310. Each order comprises information about the time of receipt and the ordered item 330. Additionally, it may comprise information about the priority, e.g., "low", "normal", or "high" priority. First, the orders are ranked according to the time of receipt. Based on the orders, the elapsed time to prepare and deliver the order to a pick-up point is estimated 350.

[0053] Each order is linked 320 to a receiving entity that is assigned to receive the order and deliver it to the destination. The receiving entity may be, for example, a person or a vehicle that comes to pick up the ordered goods packed in a box installed at the receiving point. Information about the entity is then received 340. This information forms the basis for determining when the receiving entity of the order will arrive at the receiving point. The information may comprise the current location and traffic conditions, for example whether there is normal traffic or a queue 360. Based on this, the arrival time of the receiving entity of the order is estimated 380.

[0054] The estimated arrival time may also be transmitted directly from the assigned receiving entity or through the operating functions of an app or software module. If applicable, the arrival time is transmitted to the control system, which has the overall overview and controls all operations of the container handling vehicles 150 and storage containers 106.

[0055] The estimated arrival time of the receiving entity at the receiving point is then compared with the estimated time to prepare the orders linked to the receiving entity 370. Based on this, the ranking of the orders is updated 400 according to the time to prepare and deliver the ordered goods to the receiving point, the estimated time when the goods may be received at the receiving point, and the priority of the orders.

[0056] If the time when the order can be received at the pick-up point is earlier than the time when the ordered goods are prepared, i.e. picked, packed and delivered at the pick-up point, the order will be fulfilled and prepared immediately, which is the case when the priority of the order is set to "normal".

[0057] Prioritization and modification of orders according to different types of ordered goods may be useful. For example, food that is to be kept cold should be received and transported to the receiving point as soon as the food is prepared and arrives at the receiving point. For example, if three different orders can be received simultaneously by the same or different vehicle(s), they are ranked in the order list in a sequence according to a timestamp that defines when each order is received. However, if three different orders are registered with different priorities, e.g., in one scenario where the first order with the latest timestamp comprises food and is set to "high", the second order with the first timestamp comprises shoes and is set to "low", and the third order comprises appliances that is set to "normal", the ranking of the order list is then updated accordingly, i.e., the first order is picked up first (so that the food can be stored in a controlled temperature environment in the receiving entity), then the third order, then the second order. Priorities may change according to updated information of type of goods and expected receiving time.

[0058] The ranking of an order in the order list may be changed 410 if it is determined that a new priority should be set for the order. An order that is currently ranked as #11 in the order list may, for example, be changed and ranked as #1 in the updated order list. The reason for doing this may be, for example, that a new entity has been assigned to receive an order and this entity, e.g., a vehicle, is already located at a pick-up point and ready to receive the order.

[0059] Orders for VIP customers or rush orders may also be marked as "high priority."

[0060] High priority orders, such as food items that should be kept cold, can in another embodiment be handled so that these orders are prepared last of several different orders that are linked to a receiving vehicle. In this way, the food items can be kept at a controlled temperature in the storage and retrieval system for as long as possible until the linked receiving vehicle arrives at the receiving point. This method can be used when the temperature-controlled environment provided by the storage system is likely to be better than that of the receiving entity, and therefore the longer the goods remain stored in the system, the better potentially. If they are prepared last, there is less risk of the goods waiting in the receiving area due to local delays from the receiving entity, and they are also the first to be unloaded from the receiving entity at the delivery destination.

[0061] The preparation of the orders is performed 430 according to the ranking of the orders in the order list. Each order that is executed, i.e. prepared and received from the receiving point, is removed from the order list. Furthermore, it is also checked 440 whether a new order is to be registered. If this is the case, the new order is added to the order list 310 and the method is repeated from step 310. If no order is added, the existing order list is updated 390 by again proceeding to steps 340 and 350 described above, i.e. by receiving updated information of the receiving entity and updating the ranking of the orders in the order list by comparing this with the elapsed time for preparing the order.

[0062] The method described above is repeated until all orders in the order list have been executed.

[0063] 4A-4D illustrate an example in which ten orders are ranked and prepared according to the method of the present invention.

[0064] FIG. 4A is a table listing orders organized sequentially according to receipt time. Each order is time-stamped and the time to prepare the order is estimated, i.e., to pick the ordered items, pack them, and transport them to the receiving point. Additionally, each order is linked to a receiving entity. The entity to which an order is linked depends on where it should be shipped. In the figure, Order #01, Order #02, and Order #07 are linked to the same receiving entity A, e.g., a vehicle going to the same destination for the orders. Order #05, Order #09, Order #04, and Order #10 are linked to receiving entity B, while Order #03, Order #08, and Order #06 are linked to receiving entity C.

[0065] FIG. 4B is a table with a reordered list in which orders are grouped and sorted by linked receiving entity and priority.

[0066] FIG. 4C is a table in which orders are sorted according to their estimated pick-up time. The table shows the preparation sequence for different orders according to the estimated pick-up times of three different pick-up entities A, B, and C at the pick-up point. The estimated pick-up times are continuously updated and may vary, for example, depending on traffic conditions. The pick-up time is the main factor that defines the preparation sequence of the orders in order to avoid accumulation of prepared goods at the pick-up point. It is expected that the pick-up time is more accurately estimated the closer the pick-up entity is to the pick-up point. In the example shown in the table, the pick-up entity C arrives at the pick-up point first, then the pick-up entity B, and finally the pick-up entity A.

[0067] In the example illustrated in FIG. 4C, it is decided to prepare and deliver the order to the pick-up point 5 minutes before the estimated pick-up time. The table shows the preparation sequence for orders linked to a pick-up entity. The column "Start time to prepare" indicates the start time at which a particular order should be prepared to arrive at the pick-up point 5 minutes before the estimated pick-up time of the pick-up entity. Following the sequence listed in the table, order #06 is prepared first, then order #03, then order #08.

[0068] Preparation of orders may begin so that each order arrives at and is delivered to the pick-up point with a 10 second interval to avoid collisions at the pick-up point. This is illustrated in Table 4D where the priority of the orders is also taken into account.

[0069] For orders containing food that should be kept cold, it may be desirable to transport the order to a receiving entity as soon as it is prepared and arrives at the pick-up point. The receiving entity linked to such an order may be, for example, a vehicle with refrigeration means. Such an order may be flagged as "high priority." As mentioned above, orders that are set with "high priority" may be treated differently depending, for example, on the refrigeration facilities of the linked pick-up vehicle.

[0070] 4D is a table in which orders are sorted according to estimated pick-up time and priority. In this example, it is determined that the linked pick-up entity should arrive at the pick-up point 5 minutes before the arrival of the linked prepared goods. In this way, orders with food items flagged as "high priority" can be immediately transported, for example, to a vehicle with cooling means.

[0071] An order may be partially packed. For example, it may comprise different types of goods, such as clothes and food, and the clothes of the "order" may be collected and temporarily stored in some place other than the receiving area (a buffer area where the partially packed order can be stored), and then, when the system knows that the receiving entity has arrived, the food part of the order or the high priority part is added to it at the last moment before loading on the receiving entity. In this way, packing the order may start when it is known that the receiving entity will arrive in, for example, 15 minutes, and then the time-critical goods are added when the receiving entity arrives, taking into account the delays incurred locally by the receiving entity while fully packing the order, which would cause a change in the ranking of that last part of the order.

[0072] According to the method described herein, the preparation sequence is continuously updated according to the estimated pick-up time, the preparation time of the order, and the priority. In an automated storage and retrieval system, the elapsed time to prepare an order for shipment can be estimated very accurately. By continuously estimating the pick-up time of the linked pick-up entity, prepared orders do not accumulate at the pick-up point, for example, when the linked pick-up vehicle does not show up.

[0073] In this manner, items stored within the automated storage and retrieval system remain stored until they are ready to be received and shipped to their destination.

[0074] By preparing and delivering orders for goods to pick-up points according to a ranked list of orders defined by the present invention, available floor space is used in the most efficient way, as are the personnel and robots that load and unload the orders. The continuously updated ranked list acts as a filter and can be used to handle peak periods of the day, thereby avoiding the accumulation of orders, e.g. only orders with "high" priority are prepared during the peak periods. This means that the workload is distributed more evenly throughout the day.

[0075] During periods of little activity, orders can be prepared in advance and returned for storage in the storage and retrieval system. In this way, the storage and retrieval system acts as a buffer zone for orders that have already been removed and collected in the same bin. These orders are then prepared and delivered to the pick-up point at a faster rate when they are ready to be picked up.

Claims

1. A method (300) of preparing orders for goods stored in storage containers (106) of an automated storage and retrieval system (10) and delivering the prepared goods to a receiving point when the goods are ready to be picked up by a receiving entity at the receiving point, the automated storage and retrieval system being controlled by a control system, the control system comprising input means, memory means and processing means, the control system being arranged to receive a plurality of orders and information of receiving entities, the processing means comprising a computer program for carrying out the method, the method comprising: Receiving (310) a plurality of orders in an order list; allocating (320) each order to one of the receiving entities; ranking (330) the orders in the order list according to time of receipt and type of product in each order; estimating (350) for each order a preparation time for preparing said order and delivering it to a pick-up point for pick-up by said allocated pick-up entity; for each order, estimating (380) a receiving time when the allocated receiving entity will be ready to receive the order based on information about the allocated receiving entity; comparing (370) the estimated preparation time with the estimated receipt time for each order; updating (400) the rankings of the orders in the order list such that each order is delivered to the pickup point at a time within a predetermined time interval that overlaps with the estimated pickup time of the allocated pickup entity; controlling (430) the automated storage and retrieval system (10) by the control system to prepare and deliver the product orders to the pick-up points in accordance with the updated rankings of the orders in the order list; A method comprising:

2. revising the estimated receipt time for a receiving entity based on new information about the receiving entity; and updating the ranking of the orders in the order list based on the revised estimated receipt time; The method of claim 1 , comprising:

3. The method of claim 1 or 2, wherein estimating the pick-up time for a pick-up entity is based on information about the location of the pick-up entity, expected travel time to the pick-up point, expected delays, and / or historical data.

4. 4. The method of claim 3, wherein information about the location of the receiving entity is generated by one or more of the following methods: receiving location data from the receiving entity, receiving location data by detecting an RFID tag in or on the receiving entity as it passes an RFID reader, or visually detecting the receiving entity at a location.

5. 5. The method of claim 1, wherein ranking the plurality of orders comprises determining an urgency of an order based on one or more of the following criteria: a time the order was received, a type of item in the order, a location of the item in the order within the storage and retrieval system, and / or a priority of the order.

6. A method as described in any one of claims 1 to 5, further comprising changing the priority of an order and updating the ranking of the order in the order list.

7. A method as described in any one of claims 1 to 6, further comprising adding a new order to the order list and updating the ranking of the order in the order list.

8. The method of any one of claims 1 to 7, further comprising using one or more receiving entities: a vehicle, a boat, a plane, a train, a drone, a bicycle, or a person.

9. The method of any one of claims 1 to 8, wherein the preparation time for preparing an order and delivering it to a pick-up point for pick-up by the allocated pick-up entity is communicated to the pick-up entity.

10. 10. The method of any one of claims 1 to 9, comprising persistently registering information related to orders including order preparation times, linked entities, collection times, and rankings, and using machine learning to optimize order preparation for a particular storage and retrieval facility.

11. A computer program product which, when executed by a processor in a controller of an automated storage and retrieval system, performs the method of preparing an order for goods and delivering it to a pick-up point from said automated storage and retrieval system according to any one of claims 1 to 10.

12. a control system connected to the automated storage and retrieval system (10) for controlling preparation of orders for goods stored in storage containers (106) of the automated storage and retrieval system (10) and delivery of the prepared goods to said receiving point when ready to be picked up by a receiving entity at said receiving point, said control system comprising input means, memory means and processing means, said control system being arranged to receive information of a plurality of ordering and receiving entities and to store said information in said memory means; The processing means is arranged to execute a computer program which, when executed, performs the following steps: Receiving (310) a plurality of orders in an order list; allocating (320) each order to one of the receiving entities; ranking (330) the orders in the order list according to time of receipt and type of product in each order; estimating (350) for each order a preparation time for preparing said order and delivering it to a pick-up point for pick-up by said allocated pick-up entity; for each order, estimating (380) a receiving time when the allocated receiving entity will be ready to receive the order based on information about the allocated receiving entity; comparing (370) the estimated preparation time with the estimated receipt time for each order; updating (400) the rankings of the orders in the order list so that each order is delivered to the pickup location at a time within a predetermined time interval that overlaps the estimated pickup time; Implemented the following: The processing means is adapted to control (430) the automated storage and retrieval system (10) to prepare the orders according to the updated ranking of orders in the order list.

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