METHOD AND SYSTEM FOR MOVING AUTOMATED VEHICLES OF AN AUTOMATED STORAGE SYSTEM

1 .- 20 . (canceled)

21 . A method of controlling movements of a plurality of automated vehicles operating an automated storage and retrieval system comprising a framework structure and a rail system configured to guide the plurality of automated vehicles between storage columns made by upright members of the framework structure, wherein the automated storage and retrieval system is controlled by a system controller, wherein each automated vehicle comprises a vehicle body, first and second sets of wheels enabling lateral movement of that automated vehicle in an X and Y direction on the rail system, components and parts connected to a local controller enabling autonomous operation, a communication means connected to the local controller for communicating with the system controller and receiving movements instructions from the system controller, and a short-range communication device configured to communicate signals with nearby automated vehicles; the method comprising:

transmitting a first control signal from the system controller to at least two identified automated vehicles to move as a group in a same driving direction on the rail system;

transmitting a second control signal from the system controller to a selected automated vehicle in the group to act as a guiding automated vehicle for other automated vehicles in the group and to drive to a target position;

transmitting a short-range signal from the guiding automated vehicle, signaling to other automated vehicles in the group to follow the guiding automated vehicle;

detecting the transmitted short-range signal by the automated vehicles in the group;

relaying detected short-range signals between the automated vehicles in the group; and

driving the guiding automated vehicle to the target position while transmitting movements signals from the short-range communication device and letting the other automated vehicles in the group follow the movements of the guiding automated vehicle as long as the movements signals are detected.

22 . The method according to claim 21 , where transmission of a control signal from the system controller to the automated vehicles to move as a group comprises activating the short-range communication devices of the automated vehicles in the group.

23 . The method according to claim 21 , comprising using a short-range communication device where a light source is used for communication.

24 . The method according to claim 23 , comprising using LED-light or IR-light as the light source.

25 . The method according to claim 21 , comprising connecting the short-range communication device to each of four sides, extending parallel to one of the X or Y directions, of the vehicle body of each automated vehicle.

26 . The method according to claim 21 , comprising aligning the automated vehicles in the group such that they are arranged as a train running on a same pair of tracks after each other with the guiding automated vehicle in front.

27 . The method according to claim 26 , comprising transmitting a light signal from a light source facing an opposite direction of the driving direction, from the guiding automated vehicle, and detecting the transmitted light signal, by a light sensor facing the driving direction of an automated vehicle in the group next to the guiding automated vehicle, and forwarding the detected light signal to the light source facing the opposite direction of the driving direction of the automated vehicle, and repeating detection and forwarding of the light signals to and from following automated vehicles in the group.

28 . The method according to claim 27 , comprising measuring distance between automated vehicles in the group and controlling the automated vehicles to drive at a set distance from each other.

29 . The method according to claim 27 , comprising transmitting light-signals defining number of grid cells to move for each automated vehicle in the train.

30 . The method according to claim 26 , comprising controlling the automated vehicles to be in physical contact with each other, and where contact is confirmed when a change in applied drive force is detected.

31 . The method according to claim 28 , where a position of each automated vehicle in the group is determined from a position of the guiding automated vehicle as determined by the system controller, and measured distances between each following automated vehicle.

32 . The method according to claim 31 , where identifications and distances between automated vehicles are transmitted to the guiding automated vehicle for forwarding this information to the system controller.

33 . The method according to claim 21 , comprising defining several logical groups each comprising multiple automated vehicles and directing each group to move in a defined direction.

34 . The method according to claim 33 , comprising transmitting short-range signals that are unique for each logical group.

35 . An automated storage and retrieval system comprising a plurality of automated vehicles operable to handle storage containers on a rail system configured to guide a plurality of automated vehicles between storage columns made by upright members of a framework structure, the automated storage and retrieval system is controlled by a system controller, wherein each automated vehicle comprises a vehicle body, first and second sets of wheels enabling lateral movement of the automated vehicles in an X and Y direction on the rail system, components and parts connected to a local controller enabling autonomous operation, a communication means connected to the local controller for communicating with the system controller and receiving movements instructions from the system controller, and where a short-range communication device is configured to communicate signals with nearby automated vehicles, where the system controller is configured to:

transmit a control signal to at least two identified automated vehicles to move as a group in same driving direction on the rail system,

transmit a control signal to a selected automated vehicle in the group to act as a guiding automated vehicle for other automated vehicles in the group and to drive to a target position, and where the local controller is configured to:

control transmission of a short-range signal from the short-range communication device to the automated vehicles in the group to follow the guiding automated vehicle,

detect the short-range signal transmitted by the automated vehicles in the group,

relay detected short-range signals between automated vehicles,

drive the guiding automated vehicle to the target position while transmitting movements signals from the short-range communication device, and

control the automated vehicles in the group to follow movements of the guiding automated vehicle as long as the movements signals are detected.

36 . The automated storage and retrieval system according to claim 35 , where the short-range communication device is a light source used for communication.

37 . The automated storage and retrieval system according to claim 36 , where the light source is LED-light or IR-light.

38 . The automated storage and retrieval system according to claim 35 , where the short-range communication device is connected on a top part of a vehicle body to have a view in X and Y directions.

39 . The automated storage and retrieval system according to claim 35 , where the short-range communication device is connected to each of four sides, extending parallel to one of X or Y directions, of the vehicle body of each automated vehicle.

40 . A computer program product, that when being executed in local controllers of automated vehicles of an automated storage and retrieval system performs the method according to claim 21 for moving a group of automated vehicles along a rail system of the automated storage and retrieval system.