# US 12,179,806 B2 · Method of operating an automated storage and retrieval system

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- Number: US 12,179,806 B2
- Document ID: US12179806B2
- Status: Granted
- Kind: B2
- Application number: 15/734,868
- Filed: 2019-06-11
- Published: 2021-08-05
- Granted: 2024-12-31
- Earliest claimed: 2018-06-12
- Assignees: Autostore Technology AS
- Applicants: Autostore Technology AS
- Inventors: Jørgen Djuve Heggebø; Ole Alexander Mæhle; Synnøve Matre; Ingvar Fagerland; Ragnar Stuhaug
- Web page: https://patentgrep.com/patent/US12179806B2

## CPC

- B61B 13/00: Other railway systems
- B65G 1/0414: {provided with satellite cars adapted to travel in storage racks}
- B65G 1/0457: {with suspended load carriers}
- B65G 1/0464: {with access from above}
- B65G 1/0471: {with access from beneath}
- B65G 1/0478: {for matrix-arrangements}
- B65G 1/0485: {Check-in, check-out devices}
- B65G 1/0492: {with cars adapted to travel in storage aisles}
- B65G 1/065: {with self propelled cars}
- B65G 1/1375: {the orders being assembled on a commissioning stacker-crane or truck}
- B65G 47/06: from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines (de-stacking devices B65G59/00)
- B65G 47/52: Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices (loading or unloading by means not incorporated in, or not operatively associated with, conveyors B65G65/00; transfer of workpieces during metal rolling B21B41/00)
- B65G 57/03: from above
- B65G 63/06: with essentially-vertical transit
- B65G 65/23: Devices for tilting and emptying of containers
- B65G 67/24: Unloading land vehicles
- B66F 9/063: {Automatically guided}
- B66F 9/19: Additional means for facilitating unloading
- G05D 1/0011: {associated with a remote control arrangement}
- G05D 1/021: {specially adapted to land vehicles}
- G05D 1/0291: {Fleet control (monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127)}
- G05D 1/221: Remote-control arrangements
- G05D 1/223: Command input arrangements on the remote controller, e.g. joysticks or touch screens
- G05D 1/69: Coordinated control of the position or course of two or more vehicles
- G05D 1/692: involving a plurality of disparate vehicles
- B60W 50/0098: {Details of control systems ensuring comfort, safety or stability not otherwise provided for}
- B60W 2710/06: Combustion engines, Gas turbines
- B60W 2720/10: Longitudinal speed
- B60W 2720/24: Direction of travel
- B65G 1/1378: {the orders being assembled on fixed commissioning areas remote from the storage areas}
- B65G 43/00: Control devices, e.g. for safety, warning or fault-correcting
- B65G 63/004: {for containers}
- B65G 2201/0235: Containers
- B65G 2201/0258: Trays, totes or bins
- B65G 2203/0283: Position of the load carrier
- B65G 2203/042: Sensors
- G05D 1/02: Control of position or course in two dimensions
- G05D 1/0229: {in combination with fixed guiding means}
- G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)}
- G05D 1/0259: {using magnetic or electromagnetic means}
- G05D 1/0289: {with means for avoiding collisions between vehicles (vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93)}
- G05D 1/2244: {Optic}
- G05D 1/24: Arrangements for determining position or orientation
- G05D 1/243: Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals (using passive navigation aids external to the vehicle G05D1/244; using signals from positioning sensors located off-board the vehicle G05D1/249)
- G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
- G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras
- G05D 1/43: Control of position or course in two dimensions [2D]
- G05D 1/611: Station keeping, e.g. for hovering or dynamic anchoring
- G05D 1/639: Resolving or avoiding being stuck or obstructed
- G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path
- G05D 1/693: for avoiding collisions between vehicles
- G05D 2111/10: Optical signals
- B61B: RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR (lifts or hoists, elevators, escalators, moving walkways B66B)
- B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D)
- B66F: HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT

## Abstract

A method of operating an automated storage and retrieval system includes: a rail system including a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the horizontal plane including a plurality of adjacent grid cells, a central control unit configured to receive, transmit and process data signals of a plurality of container handling vehicles for handling storage containers of the automated storage and retrieval system. Each container handling vehicle includes a vehicle body, a wheel assembly provided on the vehicle body, the wheel assembly being configured to move the vehicle along the rail system in both of the first direction and the second direction, a vehicle control unit configured to receive data signals from, transmit data signals to and process data signals of the central control unit, and a proximity sensor system configured to detect another container handling vehicle of said plurality of container handling vehicles and determine whether or not it is within a predetermined distance. The method includes detecting with the central control unit that access of a first container handling vehicle to a target cell, which is one of the plurality of grid cells, is blocked by a second container handling vehicle, transmitting a data signal from the central control unit to the vehicle control unit of the first container handling vehicle commanding the first container handling vehicle to move into the target cell when the second container handling vehicle is beyond said predetermined distance.

## Claims

### Claim 1

A method of operating an automated storage and retrieval system, the automated storage and retrieval system comprising:
a rail system comprising a first set of parallel rails arranged in a horizontal plane and extending in a first direction (X), and a second set of parallel rails arranged in the horizontal plane and extending in a second direction (Y) which is orthogonal to the first direction (X), which first and second sets of rails form a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells,
a central control unit configured to receive, transmit and process data signals of a plurality of container handling vehicles for handling storage containers of the automated storage and retrieval system,
each container handling vehicle comprising:
a vehicle body,
a wheel assembly provided on the vehicle body, the wheel assembly being configured to move the vehicle along the rail system in both of the first direction (X) and the second direction (Y),
a vehicle control unit configured to receive data signals from, transmit data signals to and process data signals of the central control unit, and
a proximity sensor system configured to detect another container handling vehicle of said plurality of container handling vehicles and determine whether or not it is within a predetermined distance,
wherein the method comprises:
detecting with the central control unit that access of a first container handling vehicle to a target cell, which is one of the plurality of grid cells, is blocked by a second container handling vehicle,
transmitting a data signal from the central control unit to the vehicle control unit of the first container handling vehicle commanding the first container handling vehicle to move into the target cell when the second container handling vehicle is beyond said predetermined distance.

### Claim 2 (depends on 1)

The method according to claim 1, wherein the method comprises:
transmitting a data signal from the central control unit to the vehicle control unit of the second container handling vehicle commanding the second container handling vehicle to move clear of the target cell.

### Claim 3 (depends on 2)

The method according to claim 2, wherein the method comprises:
transmitting a data signal from the central control unit to the vehicle control unit of the second container handling vehicle commanding the second container handling vehicle to move clear of the target cell and to another location of the rail system.

### Claim 4 (depends on 2)

The method according to claim 2, wherein the method comprises:
transmitting a data signal from the central control unit to the vehicle control unit of the second container handling vehicle (3) commanding the second container handling vehicle to move in a direction (X,Y) parallel to the direction (X,Y) between the target cell and the first container handling vehicle.

### Claim 5 (depends on 4)

The method according to claim 4, wherein the method comprises:
continuously monitoring with the proximity sensor system of the first container handling vehicle as it moves into the target cell to detect if the second container handling vehicle is within a predetermined distance.

### Claim 6 (depends on 2)

The method according to claim 2, wherein the method comprises:
transmitting a data signal from the central control unit to the vehicle control unit of the second container handling vehicle commanding the second container handling vehicle to move in a direction (X,Y) orthogonal to the direction (X,Y) between the target cell and the first container handling vehicle.

### Claim 7 (depends on 1)

The method according to claim 1, where the proximity sensor system of the first container handling vehicle measures the predetermined distance (D) from a side surface of a plurality of side surfaces of the first container handling vehicle and wherein the predetermined distance is defined in a direction (X,Y) of the rails.

### Claim 8 (depends on 7)

The method according to claim 7, wherein the method comprises:
determining with the vehicle control unit from which side surface of the first container handling vehicles to detect the second container handling vehicle.

### Claim 9 (depends on 1)

The method according to claim 1, wherein the method comprises:
transmitting a data signal from the central control unit to the vehicle control unit of the first container handling vehicle to specify the predetermined distance.

### Claim 10

An automated storage and retrieval system comprising:
a rail system comprising a first set of parallel rails arranged in a horizontal plane and extending in a first direction (X), and a second set of parallel rails arranged in the horizontal plane and extending in a second direction (Y) which is orthogonal to the first direction (X), which first and second sets of rails form a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells;
a central control unit configured to receive, transmit and process data signals of a plurality of container handling vehicles for handling storage containers of the automated storage and retrieval system,
each container handling vehicle comprising:
a vehicle body,
a wheel assembly provided on the vehicle body, the wheel assembly being configured to move the vehicle along the rail system in at least one of the first direction (X) and the second direction (Y),
a vehicle control unit configured to receive, transmit and process data signals of the central control unit;
each of said plurality of container handling vehicles comprises a proximity sensor system configured to detect another container handling vehicle of said plurality of container handling vehicles and determine whether or not it is within a predetermined. distance,
wherein the central control unit is configured to:
detect that access of a first container handling vehicle to a target cell, which is one of the plurality of grid cells, is blocked by a second container handling vehicle
transmit a data signal from the central control unit to the vehicle control unit of the first container handling vehicle commanding the first container handling vehicle to move into the target cell when the second container handling vehicle is beyond said predetermined distance.

### Claim 11 (depends on 10)

The system according to claim 10, where the predetermined distance is measured from a side surface of a container handling vehicle in a direction (X,Y) of the rails.

### Claim 12 (depends on 11)

The system according to claim 11, where each container handling vehicle comprises four vertical side surfaces:
a first side surface facing a positive first direction (X+), a second side surface facing a negative first direction (X−), a third side surface facing a positive second direction (Y+) and a fourth side surface facing a negative second direction (Y−), wherein the positive and negative directions are opposite of each other;
and where the first side surface and the second side surface extend between the third side surface and the fourth side surface such that the side surfaces form a rectangular cross section in a horizontal plane.

### Claim 13 (depends on 12)

The system according to claim 12, wherein the proximity sensor system comprises at least any of:
a first part sensor system (4X+) directed outwards from the first side surface in the positive first direction (X+) and being capable of detecting another container handling vehicle within said predetermined distance from the first side surface, and
a second part sensor system (4X−) directed outward from the second side surface in the negative first direction (X−) and being capable of detecting another container handling vehicle within said predetermined distance from the second side surface,
a third part sensor system (4Y+) directed outwards from the third side surface in the positive second direction (Y+) and being capable of detecting another container handling vehicle within said predetermined distance from the third side surface, and
a fourth part sensor system (4Y−) directed outwards from the fourth side surface in the negative second direction (Y−) and being capable of detecting another container handling vehicle within said predetermined distance from the fourth side surface.

### Claim 14 (depends on 12)

The system according to claim 12, wherein the proximity sensor system comprises at least two proximity sensors, wherein each of the at least two proximity sensors are arranged to detect another container handling vehicle at boundaries of any of the side surfaces in the horizontal plane.

### Claim 15 (depends on 12)

The system according to any of claim 12, wherein the rectangular cross section of any of the first or second container handling vehicles corresponds to an integer multiple of grid cells.

### Claim 16 (depends on 12)

The system according to claim 12, wherein the rectangular cross section of any of the first or second container handling vehicles corresponds to more than one grid cell.