Container Handling Vehicle Push-Train Control for Port Queuing

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Solution Overview

Problem

In automated storage and retrieval systems, container handling vehicles experience delays due to the need for confirmation messages and instructions to move, particularly around ports, leading to queuing and inefficiencies.

Innovation Solution

Container handling vehicles are instructed to form a 'train' by physically contacting each other, with the trailing vehicle applying a push force to maintain contact and move without waiting for confirmation messages, allowing them to queue up mechanically and move in tandem.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If container handling vehicles wait for confirmation messages and instructions to move, then control reliability is improved, but productivity deteriorates due to queuing and waiting delays

Engineering Contradiction:

Improvecontrol reliabilityVSAvoidport operation efficiency

Core Design Contradiction:

ReliabilityVSProductivity

Solution Approach 1:

Vehicles pre-position themselves at target grid cells before being instructed to perform operations. The system instructs vehicles to move to and occupy target positions in advance, so that when operations are assigned, vehicles are already in position and can execute immediately without waiting for movement commands, thereby eliminating queuing delays while maintaining controlled movement through preliminary positioning instructions

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system introduces an intermediary coordination mechanism where vehicles communicate their readiness status and position information to the control system. This intermediary information exchange allows the control system to optimize task allocation and instruct multiple vehicles to move to different target positions simultaneously, preventing conflicts and enabling parallel operations that improve overall port throughput

Inventive Principle:

Principle #24Intermediary (Mediator)

2Reliability

If multiple vehicles operate independently with confirmation protocols, then collision avoidance is improved, but loss of time increases due to sequential movement and waiting

Engineering Contradiction:

Improvecollision avoidanceVSAvoidwaiting time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

Vehicles provide feedback to the control system regarding their position, readiness status, and operational completion. The control system uses this feedback to dynamically adjust and optimize task allocation, instructing vehicles on when to move to target grid cells and when to perform operations, ensuring coordinated movement that prevents collisions while minimizing waiting time through real-time adaptive scheduling

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system performs preliminary coordination by instructing vehicles to move to target positions before operations are assigned. This preliminary positioning action ensures that when operational tasks are given, vehicles are already in the correct positions and can execute operations immediately, eliminating the need for time-consuming sequential movement and waiting while maintaining safety through controlled, pre-planned positioning

Inventive Principle:

Principle #10Preliminary action

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

This method reduces waiting times and increases efficiency by approximately 12.5% around ports, saving around 1.5 seconds per operation and 450 seconds per hour for ports receiving 300 storage containers, by enabling vehicles to move continuously without needing confirmation messages.

Implementation Method 1

the second container handling vehicle after contact applies a push force on the first container handling vehicle to maintain physical contact

Methodology Applied

Scientific EffectPush force: Mechanical Force

Data Source

PatentUS20230384796A1Method, system and computer program product for controlling movement of a plurality of container handling vehicles

Publication Date: 2023.11.30 AUTOSTORE TECH AS

AI summary

A plurality of container handling vehicles operate on a rail system arranged at least partially across a top of framework structure of an automated storage and retrieval system, on which rail system the plurality of container handling vehicles are operable to handle storage containers. A control system is in communication with a local controller in each container handling vehicle and performs a method of controlling movement of the plurality of container handling vehicles. The method includes instructing a first container handling vehicle to move in a first direction towards a grid cell designated as a first target position on the rail system, instructing a second container handling vehicle to move in the first direction towards the first target position such that the second container handling vehicle physically contacts the first container handling vehicle, and the second container handling vehicle after contact applies a push force on the first container handling vehicle to maintain physical contact.