Container Handling Vehicle Train Queues for Faster Port Movement
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Solution Overview
Problem
Existing automated storage and retrieval systems experience delays and inefficiencies due to the need for confirmation messages and instructions when container handling vehicles queue up around ports, particularly affecting operations near access stations.
Innovation Solution
A method and system where container handling vehicles form a 'train' by maintaining physical contact and applying a controlled push force to maintain alignment, allowing them to move bumper-to-bumper without waiting for confirmation messages, optimizing movement around ports.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If container handling vehicles queue up around ports using traditional confirmation message protocols, then system reliability is maintained through centralized control, but operational delays increase by approximately 1.5 seconds per operation
Solution Approach 1:
The patent applies preliminary action by pre-establishing physical contact between vehicles in the queue before movement is required. The push force mechanism is pre-configured through mechanical coupling, allowing vehicles to be pushed into position without waiting for confirmation messages. This anticipatory mechanical arrangement eliminates the time delay caused by sequential communication protocols while maintaining centralized control through the control system's ability to monitor and manage the queue formation.
2Reliability
If container handling vehicles move independently with confirmation protocols, then collision avoidance is ensured through centralized coordination, but productivity decreases by 12.5% for ports handling 300 containers per hour
Solution Approach 1:
The patent merges multiple vehicles into a coupled queue formation where vehicles are physically connected through push force mechanisms. This combining of vehicles into a coordinated unit allows them to move together as a group, eliminating the need for individual confirmation messages for each vehicle. The merged queue maintains collision avoidance through the physical coupling that prevents overlapping movements, while simultaneously increasing productivity by reducing communication overhead and enabling faster collective movement.
3Speed
If container handling vehicles apply push force to maintain physical contact, then movement speed increases by eliminating confirmation delays, but force control complexity increases
Solution Approach 1:
The patent applies self-service by designing the push force mechanism to automatically maintain physical contact between vehicles through their own movement dynamics. The vehicles' drive systems naturally generate the push force needed to maintain coupling, eliminating the need for complex external force control mechanisms. The control system simply needs to monitor and manage queue formation, while the mechanical coupling and vehicle dynamics handle the force application automatically, thus increasing speed without proportionally increasing control complexity.
Data Source
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AI summary
The present invention relates to a system and method of controlling movement of a plurality of container handling vehicles 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, and where the following steps are performed by a control system which is in communication with a local controller in each container handling vehicle: - 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, and - 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.