Optimal utilization of the operating capacity of container handling vehicles assigned to interact with the same port for transferring stored containers to and from the automated storage and retrieval system.

Abstract

A method, control system (500), and computer program for utilizing the operating capacity of a container handling vehicle (201) when assigned the task of delivering or retrieving an identified storage container (106) at the same port (119') of an automated storage and retrieval system (1) having a skeletal structure (100) defining a storage grid (104) for storing storage containers (106) in storage columns (105), wherein the storage container (106) is handled by the container handling vehicle (201) running on top of the storage grid (104), and the port (119') is used to transfer the storage container (106) to and from the storage and retrieval system (1).

Description

[Technical Field]

[0001] FIELD OF THE INVENTION The present invention relates to an automated storage and retrieval system for the storage and retrieval of storage containers handled by container handling vehicles, and more particularly to a method, system, and computer program for optimizing the operating capacity of container handling vehicles designated to deliver or retrieve storage containers at the same ports used to move the storage containers into and out of the automated storage and retrieval system. [Background technology]

[0002] (background) FIG. 1 discloses a typical prior art automated storage and retrieval system 1 with a framework 100 on which container handling vehicles 201 operate.

[0003] The skeletal structure 100 comprises upright members 102, horizontal members 103, and a storage volume comprising storage columns 105 arranged side by side 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 stacks 107. The members 102, 103 may typically be made from metal, for example extruded aluminum profiles.

[0004] The skeleton structure 100 of the automated storage and retrieval system 1 includes a rail system 108 arranged across the top of the skeleton structure 100, on which a plurality of container handling vehicles 201 operate to lift storage containers 106 from storage columns 105, lower storage containers 106 into storage columns 105, and transport storage containers 106 up storage columns 105.

[0005] The rail system 108 comprises a first set 110 of parallel rails arranged to guide movement of the container handling vehicle 201 in a first direction X across the top of the frame structure 100, and a second set 111 of parallel rails arranged perpendicular to the first set of rails 110 for guiding movement of the container handling vehicle 201 in a second direction Y that is perpendicular to the first direction X.

[0006] Also shown in Figure 1 are a first rail 110a in a first direction X, a second rail 110b in a first direction X, a first rail 111a in a second direction Y, and a second rail 111b in a second direction Y. The container handling vehicle 201 moves laterally above the storage columns 105, i.e., moves in a plane parallel to the horizontal XY plane.

[0007] Storage containers 106 are stored in columns 105 that define a third direction Z that is orthogonal to the first direction X and the second direction Y. The storage containers 106 are accessed by container handling vehicles 201 through access openings 112 in a rail system 108 that is arranged on a skeleton structure 100 that defines the perimeter of each access opening 112 at the top of each storage column 105. Uprights 102 of the skeleton structure 100 may be used to guide the storage containers as they are lowered out of and into the columns 105. The stacks 107 of containers 106 are typically freestanding.

[0008] The storage volume of the skeletal structure 100 is often referred to as a grid 104, and the possible storage locations in storage columns 105 within this grid are referred to as storage cells. Each storage column 105 may be identified by its position in the X and Y directions, while each storage cell may be identified by its container number in the X, Y, and Z directions.

[0009] In the skeleton structure 100, the majority of the columns 105 are storage columns 105, i.e., columns 105 in which storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes.

[0010] In FIG. 1 , columns 119 and 120 are dedicated columns used by container handling vehicles 201 to unload and / or load storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside the framework structure 100 or transported in and out of the framework structure 100.

[0011] In the art, columns for transferring storage containers into and out of a storage system are commonly referred to as port columns 119, 120 or transfer columns. Storage containers are transferred to and from the port columns 119, 120 via ports 119', 120', which are typically located at openings at the ends of the port columns 119, 120; i.e., storage containers enter or exit the port columns 119, 120 at the ports 119', 120'. Ports may also be located elsewhere, such as on the middle or ground levels of the port columns 119, 120.

[0012] The transportation and transfer of storage containers 106 to the access station may be horizontal, diagonal, and / or vertical. For example, storage containers 106 may be placed in random or dedicated columns 105 within the framework structure 100 and then loaded by any container handling vehicle 201 and transported to port columns 119, 120 for further transport to the access station. Note that the term "diagonal" refers to the transportation of storage containers 106 having a rough transport orientation somewhere between horizontal and vertical.

[0013] In FIG. 1 , the first port column 119 may be, for example, a dedicated loading port column where a container handling vehicle 201 can unload a storage container 106 to be transported to an access or transfer station, and the second port column 120 may be a dedicated loading port column where a container handling vehicle 201 can load a storage container 106 being transported from an access or transfer station.

[0014] The access stations may typically be picking or stocking stations where product items are removed from or placed into storage containers 106. At picking or stocking stations, storage containers 106 are not typically removed from the automated storage and retrieval system 1, but are accessed and then placed back into the backbone structure 100. The port columns 119, 120 may also be used to transfer storage containers to another storage facility (e.g., another backbone structure or another automated storage and retrieval system), a transport vehicle (e.g., a train or lorry), or a production facility.

[0015] When a particular storage container 106 stored in one of the columns 105 disclosed in FIG. 1 is to be retrieved, one of the container handling vehicles 201 is assigned and commanded to retrieve the storage container 106 from its location and transport it to port 119′ of the port column 119. This action involves moving the container handling vehicle 201 to a location above the storage column 105 in which the storage container 106 is located, retrieving the storage container 106 from the storage column 105 using a lifting device (not shown) on the container handling vehicle 201, and transporting the storage container 106 to port 119′ of the port column 119.

[0016] 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 above-positioned storage container(s) prior to raising or lowering the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as “digging,” may be performed using the same container handling vehicle 201 that will subsequently be used to transport the target storage container to the unloading port column 119, or using one or more other cooperating container handling vehicles 201. Alternatively, or in addition, the automated storage and retrieval system 1 may have a dedicated container handling vehicle 201 dedicated to the task of temporarily removing storage containers from the storage column 105. Once the target storage container 106 is removed from the storage column 105, the temporarily removed storage container 106 can be repositioned within the original storage column 105. However, the removed storage container 106 may alternatively be relocated to another storage column 105 .

[0017] When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201 is commanded to load the storage container 106 from port 120′ of port column 120, which transports storage containers from the access or transfer station, and transport it to a position above the storage column 105 where it is to be stored. After any storage containers positioned at or above the target location in the storage column stack 107 are removed, the container handling vehicle 201 positions the storage container 106 in the desired location. The removed storage container 106 may then be lowered back into the storage column 105 or relocated to another storage column.

[0018] In addition to referencing the contents of each storage container 106, the location of each storage container 106 within the skeletal structure 100 and the location and movement of each container handling vehicle 201 operating on the storage and retrieval system are continuously monitored and controlled by the control system 500 so that the desired storage container 106 can be delivered to the desired location at the desired time without the container handling vehicles 201 colliding with each other.

[0019] An example of a typical control system 500 is shown in Figure 2 and includes a master controller 220, a database 210 that tracks storage containers 106, a routing planner 200 used to find optimal routes for container handling vehicles 201, and a transmitter / receiver 225 for communicating instructions to each container handling vehicle 201. The control system 500 communicates with a vehicle controller 230 in each container handling vehicle 201 and controls the traffic flow of the container handling vehicles 201 according to the routing planner 200.

[0020] In the above description, separate port columns 119, 120 are described for transferring storage containers to and from the storage and retrieval system 1. This provides an efficient solution. However, only one of the port columns 119, 120 may be used for both transferring storage containers to and from the storage and retrieval system.

[0021] The automated storage and retrieval system 1 is typically operated by two or more container handling vehicles 201 serving the same port 119' of the port column 119 for transferring storage containers to access stations. Each container handling vehicle 201 is assigned and tasked by receiving commands transmitted from the control system 500. A task may be, for example, to retrieve a particular storage container 106 from the storage column 105 where it is located, to drive a set distance in a set direction, to deliver the storage container 106 at the port 119', etc.

[0022] According to the prior art, the emphasis was on delivering storage containers 106 to the port 119′ as quickly as possible. When several container handling vehicles 201 are engaged at the same port 119′ to interact with storage containers 106 by delivering them to or retrieving them from the port 119′, they may be simultaneously present at the port 119′ or may simultaneously drive toward the port 119′. This may introduce inefficiency issues at the port 119′. The container handling vehicles 201 may need to wait in a queue before they can interact with the port 119′, i.e., before delivering or retrieving storage containers 106 from the port. In this approach, the operating capacity of each container handling vehicle 201 is not optimally utilized.

[0023] In order to fully utilize the operating capacity of container handling vehicles 201 designated to serve the same port 119', ideally each container handling vehicle 201 arrives at port 119' immediately after another container handling vehicle 201 has finished its interaction with the port, i.e., immediately after delivering or retrieving a storage container to or from port 119'.

[0024] If the container handling vehicle 201 begins driving towards the port 119' too early, the operating capacity of the container handling vehicle 201 may not be optimally utilized because other container handling vehicles 201 interacting with the port 119' or simultaneously moving towards the port 119' to deliver or retrieve storage containers 106 may have to wait to deliver the storage containers 106 to the port 119'.

[0025] The present invention addresses and solves this problem by ensuring that port 119' is served by container handling vehicles 201 with minimal waiting time at port 119', thereby reducing the probability that container handling vehicles 201 have to wait in queue at port 119'.

[0026] Rather than waiting in a queue and standing by until other container handling vehicles 201 have finished interacting with the port, the container handling vehicles 201 are instructed to perform other intermediate tasks before delivering or retrieving the storage container 106 to or from the port. Summary of the Invention [Means for solving the problem]

[0027] (Summary of the Invention) According to the prior art, the emphasis was on delivering storage containers to the port as soon as possible. However, this can delay container handling vehicles serving the same port because they may be at the port or driving toward the port at the same time. Some container handling vehicles may then need to wait in a queue at the port before being able to interact with it, i.e., before delivering or retrieving the storage container to or from the port. In this approach, the operating capacity of each container handling vehicle is not optimally utilized.

[0028] In accordance with the present invention, the operating capacity of each container handling vehicle designated to serve the same port is better utilized by preferably having each container handling vehicle arrive at the port just before another container handling vehicle concludes its interaction with the port.

[0029] The present invention is defined by a method for utilizing the operational capacity of container handling vehicles when assigned the task of delivering or retrieving identified storage containers at the same port of an automated storage and retrieval system comprising a skeletal structure defining a storage grid for storing storage containers in storage columns, the storage containers being handled by the container handling vehicles running on top of the storage grid, the port being used for transferring the storage containers to and from the storage and retrieval system.

[0030] Where the port is located is irrelevant to the solution according to the invention. As mentioned above, the port can be located in a port column used to transfer storage containers at a consolidation station. The port can also be located at a consolidation station or a picking station. What is relevant to the solution is the time limit within which the container handling vehicle needs to be at the port.

[0031] The method is: - assigning tasks without deadlines and tasks with deadlines for container handling vehicles that are to arrive at the port; - calculating the end time and end position of the container handling vehicle when the assigned task without a deadline is completed; - verifying whether the container handling vehicle can meet the deadline after first completing a task without a deadline; - ranking the tasks assigned to the container handling vehicle, where tasks that can meet their deadlines are ranked at the top after tasks without deadlines are finished first, and further ranked according to the arrival time of the container handling vehicle at the port; - executing the tasks by communicating instructions to the container handling vehicles according to the ranking of the tasks; These are implemented by a control system in communication with a vehicle controller within each container handling vehicle.

[0032] According to one embodiment, the end time and end location of the container handling vehicle when the assigned task without a deadline is completed is: - Driving time from the current location of the container handling vehicle to the task, - other traffic, including possible obstructions to the route of the container handling vehicle from the location to the task; - the time when container handling vehicles are available; - Battery level of container handling vehicles The parameter is calculated according to one or more of the following parameters:

[0033] According to one embodiment, whether the container handling vehicle can meet the deadline is verified based on the calculated end position and end time of the container handling vehicle after first completing a task without a deadline.

[0034] According to one embodiment, container handling vehicles that are able to meet the deadline are given bonus points, while container handling vehicles that are unable to meet the deadline are given penalty points, and ranking is carried out according to the points awarded.

[0035] According to one embodiment of the method, the likelihood that an assigned task without a deadline will cause the container handling vehicle to miss the deadline of an assigned task with a deadline is calculated, and then assigned roles with an earlier deadline are ranked than assigned roles without a deadline, thereby performing the tasks with deadlines first, followed by the tasks without deadlines.

[0036] According to one embodiment, assigned but unfinished tasks without deadlines are reassigned to a different container handling vehicle that has the capacity within its schedule to complete the reassigned tasks without deadlines.

[0037] The present invention is further defined by a control system for utilizing the operational capacity of container handling vehicles when assigned the task of delivering or retrieving identified storage containers at the same port of an automated storage and retrieval system comprising a skeletal structure defining a storage grid for storing storage containers within storage columns. The storage containers are handled by the container handling vehicles running on top of the storage grid, and the port is used to transfer the storage containers to and from the storage and retrieval system. The system comprises a control system in communication with a vehicle controller in each container handling vehicle. The control system comprises a processor arranged to run a computer program which, when executed, implements the method described above.

[0038] The present invention is further defined by a computer program which, when executed by a processor in a control system of an automated storage and retrieval system, implements the above-described method for utilizing the operating capacity of container handling vehicles when assigned the task of delivering or retrieving identified storage containers at the same port of the automated storage and retrieval system. The present specification also provides, for example, the following: (Item 1) 1. A method for utilizing the operational capacity of a container handling vehicle (201) when assigned the task of delivering or retrieving identified storage containers (106) at the same port (119′) of an automated storage and retrieval system (1) comprising a framework (100) defining a storage grid (104) for storing storage containers (106) in storage columns (105), wherein the storage containers (106) are handled by the container handling vehicle (201) running on top of the storage grid (104), and the port (119′) is used to transfer the storage containers (106) to and from the storage and retrieval system (1); - assigning tasks without deadlines and tasks with deadlines to the container handling vehicles (201) that are to arrive at the port (119'); - calculating the end time and end position of said container handling vehicle (201) when said assigned task without a deadline is completed; - verifying whether the container handling vehicle (201) can meet the deadline after first completing a task without a deadline; - ranking the tasks assigned to the container handling vehicle (201), where tasks that can meet the deadline are ranked at the top after tasks without deadlines are completed first, and further according to the arrival time of the container handling vehicle (201) at the port (119'); - executing tasks by communicating instructions to said container handling vehicles (201) according to said ranking of tasks; is implemented by a control system (500) in communication with a vehicle controller (230) in each container handling vehicle (201). (Item 2) The end time and end location of the container handling vehicle (201) when the assigned task without a deadline is completed are: - the driving time from the current location of the container handling vehicle (201) to said task; - other traffic, including possible obstructions of the route of the container handling vehicle (201) from its location to said task; - the time during which the container handling vehicle (201) is available for use; - Battery level of container handling vehicle (201) Item 1. The method according to item 1, wherein the calculated value is calculated according to parameters based on one or more of the following: (Item 3) The method according to item 1 or 2, wherein verifying whether the container handling vehicle (201) can meet the deadline is based on the calculated end position and end time of the container handling vehicle (201) after first completing a task without a deadline. (Item 4) A method according to any of the preceding items, wherein a container handling vehicle (201) that is able to meet the deadline is given bonus points, while a container handling vehicle (201) that is unable to meet the deadline is given penalty points, and ranking is carried out according to the points given. (Item 5) A method according to any preceding item, wherein the likelihood that the assigned task without a deadline will cause the container handling vehicle to miss the deadline of the assigned task with a deadline is calculated, and then the assigned roles with an earlier deadline are ranked than the assigned roles without the deadline, thereby performing the task with the deadline first, followed by the task without the deadline. (Item 6) 5. The method of any one of items 1 to 4, wherein an assigned but unfinished task without a deadline is reallocated to a different container handling vehicle, the different container handling vehicle having the capacity within its schedule to complete the reallocated task without a deadline. (Item 7) A control system (500) for utilizing the operational capacity of a container handling vehicle (201) when assigned the task of delivering or retrieving an identified storage container (106) at the same port (119') of an automated storage and retrieval system (1) comprising a framework (100) defining a storage grid (104) for storing storage containers (106) in storage columns (105), wherein the storage container (106) is handled by the container handling vehicle (201) running on top of the storage grid (104), and the port (119') is configured to transport the storage container (106) to the storage and retrieval system (1) and to transport the storage container (106) to the previous port (119'). 1. A control system (500) for use in transporting containers from a storage and retrieval system (1), the control system (500) comprising a master controller (220), a database (210) for tracking the storage containers (106), a routing planner (200) for finding optimal routes for the container handling vehicles (201), and a transmitter / receiver (225) for communicating instructions to each container handling vehicle (201), the control system (500) further comprising a processor arranged to run a computer program, when executed, that implements the method described in items 1 to 6. (Item 8) A computer program that, when executed by a processor in a control system (500) of an automated storage and retrieval system (1), implements the method described in items 1 to 6 for utilizing the operating capacity of a container handling vehicle (201) when assigned the task of delivering or retrieving an identified storage container (106) at the same port (119') of the automated storage and retrieval system (1). [Brief explanation of the drawings]

[0039] BRIEF DESCRIPTION OF THE DRAWINGS The following drawings are included to facilitate an understanding of the invention: The drawings illustrate embodiments of the invention, which are described herein by way of example only.

[0040] [Figure 1] FIG. 1 is a perspective view of the skeletal structure of a prior art automated storage and retrieval system. [Figure 2]FIG. 2 illustrates a control system for controlling container handling vehicles operating on an automated storage and retrieval system. [Figure 3] FIG. 3 is a flow chart illustrating the different steps of a method for utilizing the operating capacity of a container handling vehicle. [Figure 4] Figure 4 is a table showing the tasks assigned to container handling vehicles. [Figure 5] Figure 5 is a table showing the task rankings and assigned vehicles.

[0041] (Reference number) 1 - Automated storage and retrieval system 100 - Skeletal Structure 102 - Upright members of the skeletal structure 103 - Horizontal members of the framework 104 - Storage Grid Structure 105 - Storage column 106 - Storage Container 106'- Specific location of storage container 107 - Stack 108 - Rail System 110 - Parallel rail in the first direction (X) 110a - first rail in first direction (X) 110b - second rail in the first direction (X) 111 - Parallel rail in the second direction (Y) 111a - first rail in second direction (Y) 111b - second rail in second direction (Y) 112 - Access opening 119 - First Port Column 119'- First Port 120 - Second port column 120'- Second port 200 - Routing Planner 201 - Container handling vehicle 210 - Database 220 - Master Controller 225 - Transmitter / Receiver 230 - Vehicle Controller X - primary direction Y - Secondary direction Z - the third direction 500 - Control Systems DETAILED DESCRIPTION OF THE INVENTION

[0042] (Detailed Description of the Invention) In the following description, the invention will be explained in more detail with reference to the accompanying drawings, however, it will be understood that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

[0043] A typical prior art automated storage and retrieval system 1 with a skeletal structure 100 was described in the background section above with reference to FIG.

[0044] It should be understood that skeletal structure 100 can be of any size and can be significantly wider and / or longer and / or deeper than that disclosed in Figure 1. For example, skeletal structure 100 may have a horizontal extent of more than 700 x 700 columns and a storage depth of more than 12 containers.

[0045] Also, the storage grid 104 may be significantly deeper than that disclosed in Figure 1. For example, the storage grid 104 may be greater than 12 grid cells 122 in depth, i.e., in the Z direction as illustrated in Figure 1.

[0046] The container handling vehicle 201 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.

[0047] A rail system 108 arranged across the top of the skeletal structure 100 allows container handling vehicles 201 to move horizontally between the storage columns 105 and the first and second ports 119', 120' with which they interact (i.e., they are commanded to deliver or retrieve storage containers 106 to or from the ports 119', 120').

[0048] When describing the present invention below, port 119' is used as an example of a port 119' that is assigned to interact with a set number of container handling vehicles 201. For example, the number of vehicles may be between 4 and 8.

[0049] The present invention provides a method and control system for avoiding queues at ports 119' by better controlling each container handling vehicle 201 commanded to interact with the same port 119'.

[0050] 3 is a flow chart illustrating different steps of a method for utilizing the operating capacity of container handling vehicles 201 assigned the task of delivering or retrieving identified storage containers 106 at the same port of an automated storage and retrieval system 1 comprising a skeleton structure 100. The skeleton structure defines a storage grid 104 for storing the storage containers 106 in storage columns 105. The storage containers 106 are handled by container handling vehicles 201 running on top of the storage grid 104. In this example, a port 119′ is located at the opening of the port column 119 used to transfer the storage containers 106 to and from the storage and retrieval system 1. Some steps are performed by a control system 500 in communication with a vehicle controller 230 in each container handling vehicle 201.

[0051] Each container handling vehicle 201 is assigned a task. For example, the assigned task may be to deliver a particular storage container at port 119' or to move a storage container from one location to another.

[0052] Some tasks have a higher priority than others. High priority tasks are assigned with deadlines, while other tasks are assigned without deadlines. Tasks with deadlines are typically tasks that require a specific storage container to be transferred into port 119'.

[0053] The first step of the method 300 according to the present invention is to assign 310 tasks without deadlines and 320 tasks with deadlines to container handling vehicles 201. Which container handling vehicle 201 is assigned to handle a particular storage container 106 is based on cost parameters. Examples of cost parameters are the distance and drive time from the current location of the container handling vehicle 201 to the location of the particular storage container 106, digging time, traffic conditions including other container handling vehicles 201 that may block the route to the location of the storage container 106, the time the container handling vehicle 201 is available for use, the battery level of the container handling vehicle 201, etc.

[0054] The dig time is the time used by the container handling vehicle 201 to remove other storage containers 106 positioned above the target storage container 106 in the storage column 105. The dig can be performed using the same container handling vehicle 201 used to transport the target storage container 106 to the port 119′. Alternatively, the dig can be performed by a dedicated container handling vehicle 201 used only for digging. In this case, the dig time can be ignored, or at least reduced, for the container handling vehicle 201 assigned to the task (i.e., to deliver the particular storage container 106 at the port 119′).

[0055] The next step is to calculate 330 the end time and end location of the container handling vehicle 201 when the assigned task without a deadline is completed based on the cost parameters.

[0056] As stated, this can be calculated according to cost parameters based on one or more of the elapsed time it takes to drive from the current location of the container handling vehicle 201 to the new location where the task is to be completed, other traffic that affects the container handling vehicle 201 when driving from its current location to the task, the time the container handling vehicle 201 is available for use, and the battery level of the container handling vehicle 201.

[0057] The next step in the method is to verify whether the container handling vehicle 201 can complete the assigned task with a deadline after first completing the task without a deadline. This verification is performed by calculating the elapsed time for the container handling vehicle 201 to perform the task with a deadline when starting from its location after first completing the task without a deadline.

[0058] In one embodiment, the verifying results in bonus points or penalty points being awarded to the container handling vehicle 201. If the verifying concludes (340) that the container handling vehicle 201 cannot meet the deadline, it is awarded penalty points (345). If the verifying concludes (340) that the container handling vehicle 201 can meet the deadline, it is awarded bonus points (350).

[0059] In one embodiment, assigned but unfinished tasks without deadlines are reassigned to a different container handling vehicle 201 that has the capacity in its schedule to complete the reassigned tasks without deadlines. In this manner, the container handling vehicle 201 can prioritize tasks with deadlines.

[0060] The next step is then to rank 360 the tasks assigned to the container handling vehicle 201 according to bonus and penalty points and estimated arrival time at the port. Tasks that can be performed within a deadline are ranked highest, with tasks without deadlines being completed first, and further ranked according to the arrival time of the container handling vehicle 201 at the port 119'. An example is described below with reference to Figures 4 and 5.

[0061] The final step of the method is to execute the tasks by communicating instructions to the container handling vehicles 201 according to the ranking of the tasks. The instructions include information on where to load the storage containers and which storage containers 106 are to be delivered and which ports they are to be delivered to.

[0062] FIG. 4 is a table showing example tasks assigned to container handling vehicles 201. Tasks without deadlines are labeled 1.1 through 6.1, while tasks with deadlines are labeled 1.2 through 6.2. The table also indicates whether the assigned container handling vehicle 201 can complete assigned tasks without deadlines and still perform tasks with deadlines. If "yes," the tasks without deadlines are performed before tasks with deadlines. If "no," the tasks with deadlines are performed before tasks without deadlines. This is reflected in the task priority column in the figure; for example, for assigned vehicle 010, task 1.1 without deadlines is performed before task 1.2 with deadlines. The final column shows example arrival times for each designated container handling vehicle 201 at the same designated port to which the storage container 106 is to be delivered, i.e., arrival times at port 119' before the deadlines for tasks with deadlines.

[0063] Figure 5 is a table showing the resulting task rankings and assigned vehicles when tasks are being executed as instructions to container handling vehicles 201. The resulting rankings are based on the task priorities and arrival times inferred in Figure 4. The container handling vehicles 201 that arrive at port 119' first are ranked highest, and the container handling vehicles 201 that arrive at the port just before the deadline are ranked lowest.

[0064] The assigned tasks for the vehicles are performed and instructions are sent to each container handling vehicle 201 according to the ranked list. In this manner, the operating capacity of each container handling vehicle 201 is better utilized, since tasks without deadlines can be performed before tasks with deadlines if the container handling vehicle 201 is still able to perform its assigned tasks within the set deadlines. This in turn reduces the likelihood that container handling vehicles 201 assigned to interact with the same port 119' will have to wait until each has finished interacting with the port, i.e., in delivering or retrieving storage containers 106 to or from the port 106'.

[0065] The present invention is further defined by a control system 500 for utilizing the operating capacity of a container handling vehicle 201 when assigned the task of delivering or retrieving an identified storage container 106 at the same port 119', 120' of an automated storage and retrieval system 1, such as that described above with reference to Figure 1.

[0066] The control system 500 is described above with reference to Figure 2 and comprises a master controller 220, a database 210 that tracks the current locations of the storage containers 106, a routing planner 200 for finding optimal routes for the container handling vehicles 201 based on cost parameters as also described above, and a transmitter / receiver 225 for communicating, preferably wirelessly, instructions to each container handling vehicle 201. The control system 500 further comprises a processor arranged to run a computer program that, when executed, performs the method described above, thereby utilizing the operating capacity of the container handling vehicles 201 when assigned tasks with and without deadlines.

[0067] The present invention addresses and solves the problem of container handling vehicles having to wait in queue at port 119'. Instead, port 119' is engaged by container handling vehicles 201 with minimal waiting time at port 119', and container handling vehicles 201 are instructed to perform other intermediate tasks before delivering or retrieving storage containers 106 to or from port 119', if possible, within the deadline.

Claims

1. A method for utilizing the operational capacity of a plurality of container handling vehicles (201) when assigned the task of delivering or retrieving identified storage containers (106) at the same port (119') of an automated storage and retrieval system (1) comprising a skeletal structure (100) defining a storage grid (104) for storing storage containers (106) in storage columns (105), wherein the storage containers (106) are handled by the plurality of container handling vehicles (201) running on top of the storage grid (104), and the port (119') is used to transfer the storage containers (106) to and from the storage and retrieval system (1), - assigning tasks without deadlines and tasks with deadlines for the plurality of container handling vehicles (201) that are to arrive at the port (119'); - calculating the end time and end position of said plurality of container handling vehicles (201) when said assigned tasks without deadlines are completed; - verifying whether the container handling vehicles (201) can meet the deadline after first completing tasks without deadlines; - ranking the tasks assigned to the plurality of container handling vehicles (201), with tasks that can meet their deadlines being ranked at the top after tasks without deadlines are completed first, and further according to the respective arrival times of each of the plurality of container handling vehicles (201) at the port (119'); - executing tasks by communicating instructions to said plurality of container handling vehicles (201) according to said ranking of tasks; is implemented by a control system (500) in communication with a vehicle controller (230) in each container handling vehicle (201).

2. The end time and end location of the plurality of container handling vehicles (201) when the assigned task without a deadline is completed are: - the driving time from the current location of the container handling vehicle (201) to said task, other traffic, including possible obstructions of the route of the container handling vehicle (201) from its location to said task, - the time during which said container handling vehicle (201) is available for use, - Battery level of the container handling vehicle (201) The method of claim 1 , wherein the temperature is calculated according to parameters based on one or more of:

3. The method of claim 1 or claim 2, wherein verifying whether the plurality of container handling vehicles (201) can meet the deadline is based on the calculated end positions and end times of the plurality of container handling vehicles (201) after first completing the task without a deadline.

4. The method according to any one of claims 1 to 3, wherein a container handling vehicle (201) that is able to meet the deadline is given bonus points, while a container handling vehicle (201) that is unable to meet the deadline is given penalty points, and ranking is carried out according to the points given.

5. A method according to any one of claims 1 to 4, wherein a likelihood that the assigned tasks without deadlines will cause the multiple container handling vehicles to miss the deadlines of the assigned tasks with deadlines is calculated, and then the assigned roles with deadlines that are earlier than the assigned roles without deadlines are ranked, thereby performing the tasks with deadlines first, followed by the tasks without deadlines.

6. 5. A method according to any one of claims 1 to 4, wherein assigned but not completed tasks without deadlines are reallocated to a different container handling vehicle, the different container handling vehicle having the capacity within its schedule to complete the reallocated tasks without deadlines.

7. A control system (500) for utilizing the operational capacity of a plurality of container handling vehicles (201) when assigned the task of delivering or retrieving identified storage containers (106) at the same port (119') of an automated storage and retrieval system (1) comprising a skeletal structure (100) defining a storage grid (104) for storing storage containers (106) in storage columns (105), wherein the storage containers (106) are handled by the plurality of container handling vehicles (201) running on top of the storage grid (104), and the port (119') is responsible for transferring the storage containers (106) to the storage and retrieval system (1) and for storing the storage containers (106).

10. The method of claim 1, wherein the control system (500) is used to transfer containers from a storage container (106) to a collection system (1), the control system (500) comprising: a master controller (220); a database (210) for tracking the storage containers (106); a routing planner (200) for finding an optimal route for the plurality of container handling vehicles (201); and a transmitter / receiver (225) for communicating instructions to each container handling vehicle (201), the control system (500) further comprising a processor arranged to run a computer program, the computer program, when executed, implementing the method of any one of claims 1 to 6.

8. A computer program that, when executed by a processor in a control system (500) of an automated storage and retrieval system (1), implements the method of any one of claims 1 to 6 for utilizing the operational capacity of multiple container handling vehicles (201) when assigned the task of delivering or retrieving identified storage containers (106) at the same port (119') of the automated storage and retrieval system (1).

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