Method and system for autonomous controlling of movements of container handling vehicles operating in an automated storage and retrieval system

Abstract

A storage and retrieval system includes a grid structure with storage columns and a corresponding rail system above the storage columns for guiding movements of the vehicles adapted for transferring storage containers to and from the storage columns. Each vehicle includes a vehicle controller connected to driving unit and sensors for controlling movements of the vehicle along the rail system relative to movements of other vehicles. A method for autonomous controlling movements of the vehicles, performed in the vehicle controller of each vehicle, includes: a) using a map defining rail layout and traffic rules for where and when vehicles can move on the rail system, and wherein the map is the same for all vehicles operating in the storage and retrieval system; b) synchronizing the vehicle controller to a clock common for all vehicles; c) receiving an instruction from a master controller instructing the vehicle to move to a specified destination on the rail system relative to the map; d) letting the vehicle controller determine a route to follow on the rail system from a current position of the vehicle to the specified destination based on the map, the traffic rules, distance to other vehicles and movements of the other vehicles; e) controlling the movements of the vehicle along the rails system from the current position of the vehicle to the specified destination according to the determined route; and f) repeating steps d) and e) until the vehicle has reached the specified destination.