NO347388B1 - Method, system and computer program product for determining a route for a container handling vehicle - Google Patents

Method, system and computer program product for determining a route for a container handling vehicle Download PDF

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Publication number
NO347388B1
NO347388B1 NO20220391A NO20220391A NO347388B1 NO 347388 B1 NO347388 B1 NO 347388B1 NO 20220391 A NO20220391 A NO 20220391A NO 20220391 A NO20220391 A NO 20220391A NO 347388 B1 NO347388 B1 NO 347388B1
Authority
NO
Norway
Prior art keywords
grid position
grid
determining
container handling
zones
Prior art date
Application number
NO20220391A
Other languages
English (en)
Norwegian (no)
Other versions
NO20220391A1 (https=
Inventor
Vegard Syre-Aaker
Øystein Myrmo
Original Assignee
Autostore Tech 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 Tech As filed Critical Autostore Tech As
Priority to NO20220391A priority Critical patent/NO347388B1/en
Priority to CN202380044228.8A priority patent/CN119317811A/zh
Priority to US18/850,874 priority patent/US20250216861A1/en
Priority to EP23715800.1A priority patent/EP4500111A1/en
Priority to PCT/EP2023/057835 priority patent/WO2023186802A1/en
Publication of NO20220391A1 publication Critical patent/NO20220391A1/en
Publication of NO347388B1 publication Critical patent/NO347388B1/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • 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
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • 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
    • G05D1/644—Optimisation of travel parameters, e.g. of energy consumption, journey time or distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C13/00—Locomotives or motor railcars characterised by their application to special systems or purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/10—Operations, e.g. scheduling or time tables
    • B61L27/16—Trackside optimisation of vehicle or train operation
    • 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
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • 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
    • G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G06Q10/08355—Routing methods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L2201/00—Control methods
    • 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
    • G05D2101/22—Details of software or hardware architectures used for the control of position using off-board distributed computer resources for performing calculations, e.g. cloud-based
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/20—Specific applications of the controlled vehicles for transportation
    • G05D2105/28—Specific applications of the controlled vehicles for transportation of freight

Landscapes

  • Engineering & Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Resources & Organizations (AREA)
  • Mechanical Engineering (AREA)
  • Economics (AREA)
  • Automation & Control Theory (AREA)
  • Strategic Management (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Tourism & Hospitality (AREA)
  • Marketing (AREA)
  • Operations Research (AREA)
  • Quality & Reliability (AREA)
  • Development Economics (AREA)
  • General Business, Economics & Management (AREA)
  • Theoretical Computer Science (AREA)
  • Game Theory and Decision Science (AREA)
  • Transportation (AREA)
  • Educational Administration (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
NO20220391A 2022-03-30 2022-03-30 Method, system and computer program product for determining a route for a container handling vehicle NO347388B1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
NO20220391A NO347388B1 (en) 2022-03-30 2022-03-30 Method, system and computer program product for determining a route for a container handling vehicle
CN202380044228.8A CN119317811A (zh) 2022-03-30 2023-03-27 用于确定容器处理车辆的路线的方法、系统和计算机程序产品
US18/850,874 US20250216861A1 (en) 2022-03-30 2023-03-27 Method, system and computer program product for determining a route for a container handling vehicle
EP23715800.1A EP4500111A1 (en) 2022-03-30 2023-03-27 Method, system and computer program product for determining a route for a container handling vehicle
PCT/EP2023/057835 WO2023186802A1 (en) 2022-03-30 2023-03-27 Method, system and computer program product for determining a route for a container handling vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
NO20220391A NO347388B1 (en) 2022-03-30 2022-03-30 Method, system and computer program product for determining a route for a container handling vehicle

Publications (2)

Publication Number Publication Date
NO20220391A1 NO20220391A1 (https=) 2023-10-02
NO347388B1 true NO347388B1 (en) 2023-10-09

Family

ID=85979675

Family Applications (1)

Application Number Title Priority Date Filing Date
NO20220391A NO347388B1 (en) 2022-03-30 2022-03-30 Method, system and computer program product for determining a route for a container handling vehicle

Country Status (5)

Country Link
US (1) US20250216861A1 (https=)
EP (1) EP4500111A1 (https=)
CN (1) CN119317811A (https=)
NO (1) NO347388B1 (https=)
WO (1) WO2023186802A1 (https=)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB202107884D0 (en) * 2021-06-02 2021-07-14 Ocado Innovation Ltd A grid framework structure
CN121002521A (zh) * 2023-04-28 2025-11-21 自动存储科技股份有限公司 控制车辆
EP4724874A1 (en) * 2023-06-08 2026-04-15 AutoStore Technology AS Method, system and computer program product for determining non-conflicting routes for container handling vehicles
EP4728336A1 (en) * 2023-06-15 2026-04-22 AutoStore Technology AS Path planning for determining routes for container handling vehicles

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015185628A2 (en) * 2014-06-03 2015-12-10 Ocado Innovation Limited Methods, systems and apparatus for controlling movement of transporting devices
US20190152057A1 (en) * 2016-04-26 2019-05-23 Ocado Innovation Limited Robotic load handler coordination system, cell grid system and method of coordinating a robotic load handler
WO2021099474A1 (en) * 2019-11-20 2021-05-27 Autostore Technology AS A method, system and computer program for controlling an automated storage and retrieval system during rebuilding its physical design
WO2021260004A1 (en) * 2020-06-25 2021-12-30 Autostore Technology AS Multiposition search
WO2022043404A1 (en) * 2020-08-26 2022-03-03 Autostore Technology AS Routing of container handling vehicles operating an automated storage system

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130302132A1 (en) * 2012-05-14 2013-11-14 Kiva Systems, Inc. System and Method for Maneuvering a Mobile Drive Unit
NO334806B1 (no) 2012-11-13 2014-06-02 Jakob Hatteland Logistics As Lagringssystem
NO335839B1 (no) 2012-12-10 2015-03-02 Jakob Hatteland Logistics As Robot for transport av lagringsbeholdere
NO337544B1 (no) 2014-06-19 2016-05-02 Jakob Hatteland Logistics As Fjernstyrt kjøretøysammenstilling for å plukke opp lagringsbeholdere fra et lagringssystem
NO20170216A1 (en) 2017-02-13 2018-08-14 Autostore Tech As Rail arrangement for wheeled vehicles in a storage system
US11377298B2 (en) 2018-04-25 2022-07-05 Autostore Technology AS Container handling vehicle with first and second sections and lifting device motor in second section

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015185628A2 (en) * 2014-06-03 2015-12-10 Ocado Innovation Limited Methods, systems and apparatus for controlling movement of transporting devices
US20190152057A1 (en) * 2016-04-26 2019-05-23 Ocado Innovation Limited Robotic load handler coordination system, cell grid system and method of coordinating a robotic load handler
WO2021099474A1 (en) * 2019-11-20 2021-05-27 Autostore Technology AS A method, system and computer program for controlling an automated storage and retrieval system during rebuilding its physical design
WO2021260004A1 (en) * 2020-06-25 2021-12-30 Autostore Technology AS Multiposition search
WO2022043404A1 (en) * 2020-08-26 2022-03-03 Autostore Technology AS Routing of container handling vehicles operating an automated storage system

Also Published As

Publication number Publication date
WO2023186802A1 (en) 2023-10-05
CN119317811A (zh) 2025-01-14
NO20220391A1 (https=) 2023-10-02
EP4500111A1 (en) 2025-02-05
US20250216861A1 (en) 2025-07-03

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