The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 24, 2024
Filed:
Nov. 30, 2023
Autostore Technology As, Nedre Vats, NO;
AutoStore Technology AS, Nedre Vats, NO;
Abstract
A method, control systemand computer program for routing and rerouting of container handling vehicleshandling storage containersin an automated storage and retrieval system comprising a framework structureforming a three-dimensional storage grid structurefor storing the storage containersin storage columns, the framework structure including a grid-based rail systemarranged above the storage columnswith the rail systemproviding available routes for the container handling vehicleshandling and transferring the storage containersto and from the storage columns, and wherein each container handling vehiclecomprises a first set of wheels configured to move the vehicle along a first lateral direction (X) of the grid-based rail system and a second set of wheels configured to move the vehicle along a second lateral direction (Y) of the grid-based rail system (), the second direction (Y) being perpendicular to the first direction (X), the movements of the container handling vehicles being controlled by a control system, that determines which tasks are to be done by specified container handling vehicles, destination locations for performing the tasks and which routes the container handling vehiclesare to travel on the rail system. The method comprises the following steps performed by the control systemwhen executing the computer program: runninga multi-agent pathfinding algorithm, MAPF, in the control systemfor establishing and assigning routes on the rail systemfor the container handling vehiclesfrom their current locations to assigned tasks at destination locations; determininghow far the container handling vehiclescan travel on a first part of the assigned routes within a set time interval, the first part being shorter than the assigned routes to the destinations; lockingthe first parts of the assigned routes that the container handling vehiclescan travel within the set time interval; instructingthe container handling vehiclesto move from their current locations to an end location on the assigned locked routes; repeating steps above.