	US 12,078,978 B2
	Automated storage and retrieval system and control system thereof
Melanie Ziegler, Andover, MA (US); Russell G. Barbour, Natick, MA (US); and Matt Earl, Burlington, MA (US)
Assigned to Symbotic LLC, Wilmington, MA (US)
Filed by Symbotic LLC, Wilmington, MA (US)
Filed on Jun. 20, 2023, as Appl. No. 18/337,596.
Application 18/337,596 is a continuation of application No. 16/996,658, filed on Aug. 18, 2020, granted, now 11,681,270.
Application 16/996,658 is a continuation of application No. 16/182,460, filed on Nov. 6, 2018, granted, now 10,747,204, issued on Aug. 18, 2020.
Application 16/182,460 is a continuation of application No. 15/677,309, filed on Aug. 15, 2017, granted, now 10,120,370, issued on Nov. 6, 2018.
Application 15/677,309 is a continuation of application No. 14/229,004, filed on Mar. 28, 2014, granted, now 9,733,638, issued on Aug. 15, 2017.
Claims priority of provisional application 61/809,188, filed on Apr. 5, 2013.
Prior Publication US 2023/0333537 A1, Oct. 19, 2023
Int. Cl. G05B 19/418 (2006.01); B65G 1/137 (2006.01); G05B 19/414 (2006.01); G06Q 10/08 (2024.01); G06Q 10/087 (2023.01)

CPC G05B 19/4148 (2013.01) [B65G 1/137 (2013.01); G05B 19/4185 (2013.01); G06Q 10/08 (2013.01); G06Q 10/087 (2013.01)]

20 Claims

1. An automated storage and retrieval system comprising:

a storage space with storage locations defined therein;

an automated transport system connected to the storage space and comprising vertical lifts configured to vertically transport store units for storage in the storage locations and retrieval from the storage locations; and

a control system disposed for managing throughput performance of the automated storage and retrieval system, the control system having a distributed hierarchical arrangement comprising one or more high level controllers, one or more lower level vertical transport controllers communicably connected to the one or more high level controllers, and one or more base lift controllers communicably connected to the lower level vertical transport controllers, the one or more lower level vertical transport controllers intervening between the one or more base lift controllers and the one or more high level controllers, where at least one of the lower level vertical transport controllers manages throughput performance of a common group of the vertical lifts for a common group of output store units independent of another common group of output store units, the throughput performance being optimized responsive to request aspects of the common group of the vertical lifts that are based on and separate and distinct from each request to output store units from the storage locations;

wherein the one or more high level controllers is configured for generating high level tasks effecting throughput performance and managing the high level tasks, wherein optimization of vertical throughput performance is effected at least at one of the one or more of the high level controllers and the one or more lower level vertical transport controllers.

11. A method for managing throughput performance of an automated storage and retrieval system, the method comprising:

providing a storage space with storage locations defined therein;

vertically transporting store units for storage in the storage locations and retrieving the store units from the storage locations with vertical lifts of an automated transport system;

managing throughput performance of the automated storage and retrieval system, with a control system, the control system having a distributed hierarchical arrangement comprising one or more high level controllers, one or more lower level vertical transport controllers communicably connected to the one or more high level controllers, and one or more base lift controllers communicably connected to the lower level vertical transport controllers, the one or more lower level vertical transport controllers intervening between the one or more base lift controllers and the one or more high level controllers, where at least one of the lower level vertical transport controllers manages throughput performance of a common group of the vertical lifts for a common group of output store units independent of another common group of output store units, the throughput performance being optimized responsive to request aspects of the common group of the vertical lifts that are based on and separate and distinct from each request to output store units from the storage locations; and

generating, with the one or more high level controllers, high level tasks effecting throughput performance and managing, with the one or more high level controllers, the high level tasks, wherein optimization of vertical throughput performance is effected at least at one of the one or more of the high level controllers and to the one or more lower level vertical transport controllers.