PL3997536T3 - Sposób i układ autonomicznego sterowania ruchem pojazdów do obsługi pojemników pracujących w zautomatyzowanym układzie do przechowywania i pobierania pojemników - Google Patents

Sposób i układ autonomicznego sterowania ruchem pojazdów do obsługi pojemników pracujących w zautomatyzowanym układzie do przechowywania i pobierania pojemników

Info

Publication number
PL3997536T3
PL3997536T3 PL20729720.1T PL20729720T PL3997536T3 PL 3997536 T3 PL3997536 T3 PL 3997536T3 PL 20729720 T PL20729720 T PL 20729720T PL 3997536 T3 PL3997536 T3 PL 3997536T3
Authority
PL
Poland
Prior art keywords
movements
container handling
automated storage
handling vehicles
vehicles operating
Prior art date
Application number
PL20729720.1T
Other languages
English (en)
Inventor
Ingvar FAGERLAND
Original Assignee
Autostore Technology AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Autostore Technology AS filed Critical Autostore Technology AS
Publication of PL3997536T3 publication Critical patent/PL3997536T3/pl

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions [2D]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0464—Storage devices mechanical with access from above
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance
    • G05D1/633—Dynamic obstacles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/693—Coordinated control of the position or course of two or more vehicles for avoiding collisions between vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/698—Control allocation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2101/00—Details of software or hardware architectures used for the control of position
    • G05D2101/10—Details of software or hardware architectures used for the control of position using artificial intelligence [AI] techniques

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
PL20729720.1T 2019-07-12 2020-05-29 Sposób i układ autonomicznego sterowania ruchem pojazdów do obsługi pojemników pracujących w zautomatyzowanym układzie do przechowywania i pobierania pojemników PL3997536T3 (pl)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20190884A NO20190884A1 (en) 2019-07-12 2019-07-12 A method and system for autonomous controlling of movements of container handling vehicles operating in an automated storage and retrieval system
PCT/EP2020/064940 WO2021008766A1 (en) 2019-07-12 2020-05-29 A method and system for autonomous controlling of movements of container handling vehicles operating in an automated storage and retrieval system

Publications (1)

Publication Number Publication Date
PL3997536T3 true PL3997536T3 (pl) 2024-01-29

Family

ID=70922050

Family Applications (2)

Application Number Title Priority Date Filing Date
PL20729720.1T PL3997536T3 (pl) 2019-07-12 2020-05-29 Sposób i układ autonomicznego sterowania ruchem pojazdów do obsługi pojemników pracujących w zautomatyzowanym układzie do przechowywania i pobierania pojemników
PL23191512.5T PL4254123T3 (pl) 2019-07-12 2020-05-29 Sposób i system do autonomicznego sterowania ruchami pojazdów do obsługi kontenerów działających w zautomatyzowanym systemie magazynowania i pobierania

Family Applications After (1)

Application Number Title Priority Date Filing Date
PL23191512.5T PL4254123T3 (pl) 2019-07-12 2020-05-29 Sposób i system do autonomicznego sterowania ruchami pojazdów do obsługi kontenerów działających w zautomatyzowanym systemie magazynowania i pobierania

Country Status (11)

Country Link
US (1) US12384623B2 (pl)
EP (3) EP4254123B1 (pl)
JP (2) JP7482211B2 (pl)
KR (1) KR20220035177A (pl)
CN (3) CN114402269B (pl)
CA (1) CA3146795A1 (pl)
DK (1) DK3997536T3 (pl)
ES (2) ES2961859T3 (pl)
NO (1) NO20190884A1 (pl)
PL (2) PL3997536T3 (pl)
WO (1) WO2021008766A1 (pl)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO20190884A1 (en) 2019-07-12 2021-01-13 Autostore Tech As A method and system for autonomous controlling of movements of container handling vehicles operating in an automated storage and retrieval system
EP4060482B1 (en) * 2019-11-15 2025-08-27 LG Electronics Inc. Seamless container update in container-based vehicle system
NO346304B1 (en) * 2020-06-25 2022-05-30 Autostore Tech As System and method of operating an automated storage and retrieval system
GB202011000D0 (en) 2020-07-16 2020-09-02 Ocado Innovation Ltd A controller and method for transporting devices
US12145800B1 (en) * 2020-11-25 2024-11-19 Amazon Technologies, Inc. Structured field map generation for inventory system
NO346601B1 (en) * 2021-02-08 2022-10-24 Autostore Tech As Grid Survey Module
JP7704108B2 (ja) * 2022-09-01 2025-07-08 株式会社ダイフク 物品搬送設備
JP7426748B1 (ja) * 2022-10-21 2024-02-02 建ロボテック株式会社 自走式作業ロボットの走行制御方法及び走行制御システム
JP2025125269A (ja) * 2024-02-15 2025-08-27 沖電気工業株式会社 情報処理システム、情報処理方法、プログラムおよび情報処理装置
DE102024113019B3 (de) 2024-05-08 2025-08-21 Ssi Schäfer Automation Gmbh GridBot

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2817200B2 (ja) * 1989-05-29 1998-10-27 神鋼電機株式会社 移動ロボット
NO317366B1 (no) 1999-07-01 2004-10-18 Autostore As Lagringsanlegg med fjernstyrte vogner med to hjulsett og heisinnretning for drift på skinner anlagt i kryss over kolonner av lagringsenheter som er adskilt med vertikale profilstolper
US7912574B2 (en) * 2006-06-19 2011-03-22 Kiva Systems, Inc. System and method for transporting inventory items
US8532862B2 (en) * 2006-11-29 2013-09-10 Ryan A. Neff Driverless vehicle
US8315736B2 (en) * 2008-04-25 2012-11-20 Fanuc Robotics America, Inc. Method and apparatus for picking/packing applications
NO335839B1 (no) 2012-12-10 2015-03-02 Jakob Hatteland Logistics As Robot for transport av lagringsbeholdere
US9785911B2 (en) * 2013-07-25 2017-10-10 I AM Robotics, LLC System and method for piece-picking or put-away with a mobile manipulation robot
GB201409883D0 (en) 2014-06-03 2014-07-16 Ocado Ltd Methods, systems, and apparatus for controlling movement of transporting devices
CN106573728B (zh) * 2014-09-10 2019-09-24 村田机械株式会社 临时保管系统、使用了它的输送系统和临时保管方法
US9864371B2 (en) 2015-03-10 2018-01-09 John Bean Technologies Corporation Automated guided vehicle system
JP6634787B2 (ja) 2015-11-18 2020-01-22 富士通株式会社 ロボット制御プログラム、ロボット制御方法、ロボット、及び搬送システム
EP3449434A1 (en) * 2016-04-26 2019-03-06 Ocado Innovation Limited Robotic load handler coordination system, cell grid system and method of coordinating a robotic load handler
NO341707B1 (en) * 2016-11-02 2018-01-02 Autostore Tech As Track sensors for detecting position of vehicle relative to tracks
US11117743B2 (en) * 2017-09-28 2021-09-14 Symbotic Llc Storage and retrieval system
NO20190884A1 (en) 2019-07-12 2021-01-13 Autostore Tech As A method and system for autonomous controlling of movements of container handling vehicles operating in an automated storage and retrieval system
US11738447B2 (en) * 2019-07-29 2023-08-29 Nimble Robotics, Inc. Storage systems and methods for robotic picking

Also Published As

Publication number Publication date
CN114402269A (zh) 2022-04-26
EP4597247A2 (en) 2025-08-06
EP3997536B1 (en) 2023-09-27
US20220258978A1 (en) 2022-08-18
CN118534818A (zh) 2024-08-23
JP2024096243A (ja) 2024-07-12
EP3997536A1 (en) 2022-05-18
DK3997536T3 (da) 2023-11-06
CN118655892A (zh) 2024-09-17
CN114402269B (zh) 2024-06-21
EP4254123C0 (en) 2025-04-16
JP2022540476A (ja) 2022-09-15
EP4254123A3 (en) 2024-01-17
WO2021008766A1 (en) 2021-01-21
ES3030585T3 (en) 2025-06-30
US12384623B2 (en) 2025-08-12
NO20190884A1 (en) 2021-01-13
JP7482211B2 (ja) 2024-05-13
JP7706601B2 (ja) 2025-07-11
EP4597247A3 (en) 2026-01-21
ES2961859T3 (es) 2024-03-14
KR20220035177A (ko) 2022-03-21
PL4254123T3 (pl) 2025-08-18
CA3146795A1 (en) 2021-01-21
EP4254123A2 (en) 2023-10-04
EP4254123B1 (en) 2025-04-16

Similar Documents

Publication Publication Date Title
PL3997536T3 (pl) Sposób i układ autonomicznego sterowania ruchem pojazdów do obsługi pojemników pracujących w zautomatyzowanym układzie do przechowywania i pobierania pojemników
PL3784604T3 (pl) Zautomatyzowany układ magazynowania i pobierania ze stacją ładującą do ładowania wymiennego źródła zasilania pojazdu do obsługi pojemników
PL3887293T3 (pl) Pojemnik magazynowy do zautomatyzowanego układu do przechowywania i pobierania
NO343848B1 (en) Automated Storage and Retrieval System Comprising a Container Handling Station
NO345060B1 (en) Method and control system for preparing orders of goods stored in an automated storage system
PL3877297T3 (pl) Zdalnie sterowany pojazd do zautomatyzowanego systemu magazynowania i pobierania
EP4541737A3 (en) An automated storage and retrieval system and a method of transporting storage containers between an automated storage and retrieval grid and a second location
SG11202007973XA (en) Systems and methods for automated operation and handling of autonomous trucks and trailers hauled thereby
PL3918433T3 (pl) Systemy i sposoby zautomatyzowanego załadunku i rozładunku na stanowisku dokowania
NO20181658A1 (en) Automated storage and retrieval system, a storage facility and a method thereof
EP3793782C0 (en) AUTONOMOUS ROBOTIC VEHICLE FOR CHECKING AND COUNTING WAREHOUSE STOCK
SI3429947T1 (sl) Sistem iz naprave za strego regalov in transportnega in predajalnega sistema za dajanje v skladišče in jemanje iz njega ali premeščanje standardnih zabojnikov v visokoregalnih skladiščih
IL286123A (en) Transportation robot and automatic parking method
ES3063516T3 (en) Improved storage units and robotic storage/retrieval vehicles for a three-dimensional storage system
EP4005745A4 (en) AUTONOMOUS ROBOT TOOLING SYSTEM, CONTROL SYSTEM, CONTROL METHOD AND STORAGE MEDIUM
WO2018046125A3 (de) Vorrichtung zur automatisierten be- und entladung einer freifliegenden autonom gesteuerten drohne
NO20190219A1 (en) System and a method for harvesting energy from a container handling vehicle.
NO344995B1 (en) Support vehicle for performing support operations in an automated storage and retrieval system
GB202005087D0 (en) A cargo picking and handling trolley for intelligent warehouse
PL3807181T3 (pl) Sposób obsługiwania nieprawidłowo działających pojazdów na systemie szynowym oraz system składowania i pobierania wykorzystujący taki sposób
GB2588227B (en) Method and system for handling object pallets in storage facilities
PL3838802T3 (pl) Układ składowania w stosach i sposób obsługi układu składowania w stosach
NO348058B1 (en) Controlling storage locations of products stored in storage containers in an automated storage and retrieval system
NO20190834A1 (en) Remotely operated delivery vehicle and automated storage and retrieval system
NO20211040A1 (en) A container handling vehicle for handling a delivery container stored within a storage container and a method thereof.