PL4254123T3 - Sposób i system do autonomicznego sterowania ruchami pojazdów do obsługi kontenerów działających w zautomatyzowanym systemie magazynowania i pobierania - Google Patents

Sposób i system do autonomicznego sterowania ruchami pojazdów do obsługi kontenerów działających w zautomatyzowanym systemie magazynowania i pobierania

Info

Publication number
PL4254123T3
PL4254123T3 PL23191512.5T PL23191512T PL4254123T3 PL 4254123 T3 PL4254123 T3 PL 4254123T3 PL 23191512 T PL23191512 T PL 23191512T PL 4254123 T3 PL4254123 T3 PL 4254123T3
Authority
PL
Poland
Prior art keywords
pick
movements
container handling
autonomous control
automated storage
Prior art date
Application number
PL23191512.5T
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 PL4254123T3 publication Critical patent/PL4254123T3/pl

Links

Classifications

    • 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
    • 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
    • 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
    • G05D1/0268—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
    • 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

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

Applications Claiming Priority (1)

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

Publications (1)

Publication Number Publication Date
PL4254123T3 true PL4254123T3 (pl) 2025-08-18

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 Before (1)

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

Country Status (11)

Country Link
US (1) US12384623B2 (pl)
EP (3) EP4597247A2 (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 (9)

* 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
KR102745351B1 (ko) * 2019-11-15 2024-12-20 엘지전자 주식회사 컨테이너 기반의 차량 시스템에서 심리스 컨테이너 업데이트
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
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

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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
JP6256783B2 (ja) * 2014-09-10 2018-01-10 村田機械株式会社 一時保管システムと、これを用いた搬送システム、及び一時保管方法
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
WO2017186825A1 (en) * 2016-04-26 2017-11-02 Ocado Innovation Limited Robotic load handler coordination system, cell grid system and method of coordinating a robotic load handler
NO20161734A1 (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
EP3997536A1 (en) 2022-05-18
JP7706601B2 (ja) 2025-07-11
EP4254123A2 (en) 2023-10-04
JP7482211B2 (ja) 2024-05-13
ES2961859T3 (es) 2024-03-14
JP2022540476A (ja) 2022-09-15
JP2024096243A (ja) 2024-07-12
NO20190884A1 (en) 2021-01-13
CN118534818A (zh) 2024-08-23
KR20220035177A (ko) 2022-03-21
DK3997536T3 (da) 2023-11-06
US12384623B2 (en) 2025-08-12
CN114402269A (zh) 2022-04-26
EP4254123A3 (en) 2024-01-17
US20220258978A1 (en) 2022-08-18
EP4254123B1 (en) 2025-04-16
CN114402269B (zh) 2024-06-21
PL3997536T3 (pl) 2024-01-29
WO2021008766A1 (en) 2021-01-21
CA3146795A1 (en) 2021-01-21
EP4597247A2 (en) 2025-08-06
ES3030585T3 (en) 2025-06-30
EP4254123C0 (en) 2025-04-16
EP3997536B1 (en) 2023-09-27
CN118655892A (zh) 2024-09-17

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