	US 12,151,891 B2
	Method, a computer program and a device for transporting pallets
Christer Larsson, Smalandsstenar (SE); and Stefan Kjellstrom, Smalandsstenar (SE)
Assigned to EAB Aktiebolag, Smalandsstenar (SE)
Appl. No. 17/295,332
Filed by EAB Aktiebolag, Smalandsstenar (SE)
PCT Filed Nov. 21, 2019, PCT No. PCT/EP2019/082126 § 371(c)(1), (2) Date May 19, 2021, PCT Pub. No. WO2020/109139, PCT Pub. Date Jun. 4, 2020.
Claims priority of application No. 1851467-9 (SE), filed on Nov. 27, 2018.
Prior Publication US 2022/0017305 A1, Jan. 20, 2022
Int. Cl. B65G 1/137 (2006.01); B65G 1/04 (2006.01)

CPC B65G 1/1375 (2013.01) [B65G 1/0471 (2013.01); B65G 1/0492 (2013.01); B65G 2201/0267 (2013.01)]

15 Claims

1. A computer implemented method for determining a transport instruction for an automated vehicle which transports a pallet with goods in a pallet rack channel, wherein the pallet rack channel is a shelf in a pallet rack which accepts a plurality of pallets to be stored sequentially along one direction between a load end of the pallet rack channel and a far end of the pallet rack channel, wherein the automated vehicle is a vehicle which can automatically transport the pallet from the load end to a pallet position, wherein the pallet position is a position of the pallet along the one direction between the load end and the far end, and wherein the transport instruction is an instruction to the automated vehicle to transport the pallet to the pallet position, the method comprising:

determining a pallet depth, wherein the pallet depth is a measure of a space that the pallet with goods will occupy along the one direction of the pallet rack channel when the pallet is stored in the pallet rack channel;

determining a first pallet position, wherein the first pallet position is the pallet position furthest from the load end which is free to accept a pallet to be stored;

determining a firebreak zone, wherein the firebreak zone is a region along the one direction of the pallet rack channel in which no pallet with goods should extend;

calculating a second pallet position from the determined pallet depth, the determined first pallet position and the determined firebreak zone, such that the second pallet position lies between the load end and the first pallet position and such that the pallet with the pallet depth does not extend into the firebreak zone when it is stored at the second pallet position; and

forming the transport instruction based on the second pallet position such that the automated vehicle can transport the pallet to the second pallet position.