Autonomous Container Vehicle Routing With Synchronized Rail Traffic Rules
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Solution Overview
Problem
Current automated storage and retrieval systems require massive continuous radio communication between a central controller and multiple container handling vehicles, which is prone to noise and interference, especially in large systems with vehicles operating above and below the grid structure.
Innovation Solution
Implementing a method where each container handling vehicle operates autonomously, using a common map defining rail layout and traffic rules, and synchronizing vehicle controllers to a common clock, allowing vehicles to determine their own routes and adjust movements based on traffic rules and distance to other vehicles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a central controller continuously communicates with multiple container handling vehicles via radio, then centralized control and coordination is achieved, but radio communication is prone to noise and interference especially in large systems
Solution Approach 1:
The patent divides the centralized control system into autonomous vehicle-level control units. Each vehicle controller independently determines routes and controls movements based on local sensor data and map information, eliminating the need for continuous centralized radio communication. This segmentation reduces radio communication frequency and susceptibility to interference while maintaining system coordination through standardized traffic rules.
Solution Approach 2:
Each container handling vehicle is equipped with autonomous control capabilities including route determination, obstacle detection, and conflict resolution. The vehicle controllers independently make decisions based on real-time sensor data and pre-loaded map information, without requiring continuous instructions from a central controller. This self-service approach reduces radio communication dependency and improves reliability in noisy environments.
2Speed
If continuous radio communication is used for controlling vehicle movements, then real-time control is achieved, but communication overhead and processing complexity increases
Solution Approach 1:
The system pre-loads map data defining the storage facility layout, rail system configuration, and traffic rules into each vehicle controller before operation begins. This preliminary action enables vehicles to perform real-time route determination and conflict resolution locally without requiring complex real-time communication protocols, reducing both communication overhead and processing complexity while maintaining fast response speeds.
3Productivity
If autonomous vehicle control is implemented, then radio communication is reduced, but vehicles must independently determine routes and avoid collisions
Solution Approach 1:
The patent implements standardized traffic rules that apply uniformly to all container handling vehicles in the system. All vehicles use the same route determination algorithms, conflict resolution protocols, and communication formats. This homogeneity simplifies the autonomous control complexity by providing consistent decision-making frameworks across all vehicles, making the system more manageable while maintaining high productivity.
Data Source
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AI summary
A method 200, computer program product and system for controlling movements of container handling vehicles 150 operating in a storage and retrieval system 10 comprising a grid structure with storage columns 105 and a corresponding rail system 108 above the storage columns 105 for guiding movements of the vehicles 150 adapted for transferring storage containers 106 to and from the storage columns 105, where each vehicle 150 comprises a vehicle controller 410 connected to driving means 420 and sensors 430 for controlling movements of the vehicle 150 along the rail system 108 relative to movements of other vehicles 150. The method comprises different steps performed in the vehicle controller 410 of each vehicle 150. The steps comprises using a map 210 defining rail layout and traffic rules for where and when vehicles 150 can move on the rail system 108, and where the map is the same for all vehicles 150 operating in the storage and retrieval system 10; synchronizing 220 the vehicle controller 410 to a clock common for all vehicles 150; receiving an instruction from a master controller 400 instructing the vehicle 150 to move to a specified destination 230 on the rail system 108 relative to the map; letting the vehicle controller 410 determine a route to follow 240 on the rail system 108 from a current position of the vehicle 150 to the specified destination based on the map, the traffic rules, distance to other vehicles 150 and movements of the other vehicles 150; controlling the movements 260 of the vehicle 150 along the rails system 108 from its current position to the specified destination according to the determined route, and repeating the steps until the vehicle 150 has reached the specified destination.