DE202019102253U1 - Device for verifying storage goods positions in intralogistic storage systems - Google Patents

Abstract

Apparatus for verifying finely resolved positions of stored goods (24) relative to associated storage bins (24) in an intralogistics storage system (10), the apparatus for verifying comprises:
a controller (12); and
a plurality of sensors (32) which can be integrated into a plurality of storage machines (18) and / or load carriers, wherein the storage machines (18) and / or load carriers are arranged along transport paths (26) for the purpose of loading / unloading the stored goods (24 ) are moved past the storage bins (22), and
wherein the controller (12) is arranged to perform the following steps:
Selecting a storage location (22) which is to be checked for an actual position of a storage facility (24) assigned to this storage facility (22);
to cause movement of at least one of the sensors (32) mounted on one of the storage machines (18) or mounted on a load carrier carried by the storage machine (18) along a transport path (26) past the storage place (22) to be inspected;
to initiate a scan of the bin (22) to be inspected including the associated stock (24) while the stocker (18) is being moved past the bin (22) to be inspected to produce corresponding sample data;
Extracting an actual position of the assigned storage product (24) from the sampling data, preferably based on a previously stored dimension of the stored product (24), wherein the extracted actual position is finely resolved;
Comparing the extracted actual position of the assigned storage product (24) with a pre-stored desired position; and
Updating the target position to the extracted actual position if the comparison reveals that the extracted actual position deviates from the current target position.

Description

The present invention relates to an apparatus and a method for verifying finely resolved (accuracy of less than or equal to 10 mm) positions of, preferably freestanding, stored goods relative to their associated storage locations in intralogistical storage systems.

In order to be able to reliably carry out storage and retrieval of the stored goods in an automated manner, it is essential to know actual positions of the stored goods in relation to their associated storage bins. The automated storage and retrieval takes place by means of load handling devices of storage machines. The storage machines are usually (guided) storage and retrieval machines.

During normal operation of the storage systems, the stored goods may "wander" with respect to their storage bins. This means that an actual position deviates from a desired position (for example, storage position) of the stored goods, because the stored goods have moved unintentionally and unintentionally during a period of storage. Such unwanted and unintentional movements may be caused by vibrations transmitted to the shelves by (shelf) operator panels during normal operation. Furthermore, it may happen that the stacker cranes inadvertently collide with the shelves, e.g. when retracting and extending telescopic load handler.

When the stored goods move, it is necessary to redetermine the actual position or restore the target position. For this purpose, employees are usually sent to the rack aisles to verify the positions of the stored goods. During this time, the aisles can not be operated. For safety reasons, these rack aisles must be switched off as long as the employees are there.

In general, faults may occur if the stored goods are not located in the positions stored in the management system (software). So it is e.g. possible that the storage machine can not access a outsourced storage goods, which in turn can lead to disturbances of the overall system. The stored goods can be damaged.

These disadvantages should be avoided.

Furthermore, automated inventory systems are known in which the positions of the stored goods are automatically roughly determined in order to carry out an inventory. This means that a binary information is delivered. Either the storage bin is occupied or it is not occupied. Possibly. Also, a type and a number of stored goods in a storage bin can be determined automatically. However, these systems are not able to determine the actual position of a stored material with respect to the storage location with a sufficient resolution or accuracy. This means that the conventional inventory systems only determine coarse positions that are not suitable for storage / retrieval. The existing inventory systems are therefore not able to determine the position of the stored goods finely resolved.

It is therefore an object of the present invention to provide a practicable and inexpensive device for verifying finely resolved positions of stored goods.

This object is achieved by a device for verifying finely resolved positions of stored goods relative to their associated storage locations in intralogistic storage systems. The device for verification comprises a controller and a plurality of sensors. The sensors are integrated into the storage machines or load carriers that are moved by the storage machines. The storage machines and / or load carriers are moved past, in particular fixed and predefined, transport paths for the purpose of loading / unloading the stored goods at the storage locations. The controller is set up to carry out the following steps: selecting a storage bin that is to be checked for an actual position of a stored product assigned to this storage bin; cause a movement of at least one of the sensors, which is attached to one of the storage machines or which is attached to a carrier, which is transported by the storage machine, along a transport path, which passes the storage space, which is to be checked; to initiate a scan of the bin to be inspected, including the associated stock, while the stocker is passing the bin that is to be inspected, to generate corresponding sample data; Extracting an actual position of the assigned stored material from the sampling data, preferably based on a previously stored dimension of the stored product, wherein the extracted actual position is finely resolved; Comparing the extracted actual position of the assigned stored goods with a previously stored desired position; and updating the target position to the extracted actual position if the comparison reveals that the extracted actual position deviates from the current target position.

The scan data can be generated recurrently during operation. The storage machines happen again and again a variety from storage locations during their journey to destination storage locations, so that it is possible to continuously and continuously generate sampling data from storage locations that are close to the destination storage locations. In this sense, the sensors generate recurring current maps of the stored goods distribution within the storage system. These maps are generated with a sufficient resolution, so that the knowledge gained from this can be used for the storage and retrieval of the stored goods. Useful in this context means that the positions are so finely resolved that the load-carrying means of the storage machines can safely store and retrieve the stored goods. Safe storage and retrieval means that the stored goods do not collide with other stored goods during storage and retrieval. This also means that the stored goods are not damaged during removal and do not collide with other stored goods during storage. Downtimes and maintenance times can be reduced in this way.

Furthermore, it is preferable if the step of scanning is carried out after it has come to an accident, in particular to an accidental collision between a storage facility, which includes the storage space to be checked, and one of the storage machines.

In particular, the step of scanning occurs during each movement of the at least one sensor along the transport path, which passes the storage location, which is to be checked.

Further, it is advantageous if the actual position is extracted with an accuracy that makes it possible to grip the stored goods, in particular safely, reliably and without damage, with a load-receiving means of a storage machine.

Preferably, the actual position is extracted with a resolution of at least 10 mm at a movement speed of the storage machine of up to 4 m / s and at a sampling rate of the at least one sensor of up to 400 Hz.

Furthermore, it is advantageous if the at least one sensor is implemented by two laser distance sensors which face the storage location to be checked, the sampling data being subjected to data fusion in order to determine the actual position.

It is understood that the features mentioned above and those yet to be explained below can be used not only in the particular combination given, but also in other combinations or in isolation, without departing from the scope of the present invention.

• 1 zeigt ein Blockdiagramm eines schematisch dargestellten intralogistischen Lagersystems;
• 2 zeigt eine Draufsicht auf ein Regalfach (2A) und auf einen Paletten-Stellplatz (2B);
• 3 zeigt einen Ausschnitt einer Regalgasse und veranschaulicht eine Abtastung von Lagerplätzen seitlich zur Regalgasse;
• 4 zeigt eine exemplarische, tatsächliche Anordnung von Lagergütern und Hindernissen in einem Lagersystem (4A) und die daraus errechnete Anordnung (4B);
• 5 zeigt einen Ausschnitt aus 4B;
• 6 zeigt eine alternative Anordnung; und
• 7 zeigt berechnete Karten der Anordnung der 6 bei verschiedenen Sensorauflösungen;

Embodiments of the invention are illustrated in the drawings and are explained in more detail in the following description. Show it:

• 1 shows a block diagram of a schematically illustrated intralogistic storage system;
• 2 shows a plan view of a shelf ( 2A) and on a pallet parking space ( 2 B) ;
• 3 shows a section of a rack aisle and illustrates a sampling of storage bins laterally to the aisle;
• 4 shows an exemplary, actual arrangement of stored goods and obstacles in a storage system ( 4A) and the arrangement calculated therefrom ( 4B) ;
• 5 shows a section 4B ;
• 6 shows an alternative arrangement; and
• 7 shows calculated maps of the layout of the 6 at different sensor resolutions;

1 shows a block diagram of a schematically illustrated intralogistic storage system 10 , the following also briefly only as a system 10 will be designated.

The system 10 has a controller 12 , a variety of storage facilities 14 (eg shelves 16 , Pitches of a ground storage, etc.) and a variety of storage machines 18 on. Each storage facility 14 includes one or more storage bins 22 , The storage machines 18 can be achieved, for example, by rail-guided stacker cranes 20 be implemented that the bins 22 with stored goods not shown here 24 (eg containers, boxes, trays, items without load carriers, etc.) supply. The storage machines 18 are furnished, the stored goods 24 in the bins 22 to store and from the storage bins 22 outsource.

The system 10 also has a plurality of sensors 32 for sensing an environment such as steered or rigid laser proximity sensors.

The control 12 has a data processing device not shown in detail and designated, a data storage device or storage device (such as a database) and communication interfaces on, for example, with the storage machines 18 to communicate. A communication of data can be in the system 10 Generally wireless and / or wired. The control 12 can be distributed centrally or decentralized.

The control 12 can also be used to perform intralogistics functions (eg Material flow control, warehouse management, order management, etc.).

The storage machines 18 can not only by positively driven, rail-bound storage and retrieval equipment 20 be implemented. The storage machines 18 For example, it may also be implemented by stationary vertical conveyors (not shown) (such as lifts), rail-guided shift carriages, or the like. Furthermore, the storage machines 18 be realized by autonomous driverless transport vehicles (not shown), which are fixed along by the controller 12 predetermined paths through the system 10 can move.

In the 1 are on the right shelf 16 by way of example, some (rack) storage bins 22 are shown in closer detail, which serve to buffer the stored goods 24 be used. The storage machines 18 store the stored goods 24 with their load-carrying devices (not shown) (eg telescopic arms or forks) into the storage bins 22 in and out of the storage areas 22 out. For this purpose, the storage machines 18 along, preferably fixed, transport routes 26 to the storage places 22 to and from the storage areas 22 transported away. The transport routes 26 are for the stacker cranes 20 For example, firmly defined by their rails.

Generally, being under a transport route 26 understood a way or a path along which the storage machine 18 through the system 10 emotional. These paths are set in advance and in the memory device of the controller 12 deposited, as well as the layout of the system 10 , Below a layout is a map of the system 10 to understand the geographical locations, alignments and dimensions of the storage facilities 14 , the storage machinery 18 , the bins 22 , the transport routes 26 and the like in the frame of reference of the system 10 reproduces.

The bins 22 make surfaces (eg a parking space 46 in a ground storage, where eg a pallet 48 can be turned off, cf. 2 B) or rooms (eg a shelf 50 in one of the shelves 16 , see. 2 B) The places or coordinates and the dimensions (length, width and possibly height) of the storage bins 22 are also in the memory device of the controller 12 deposited.

Basically, the storage bins 22 not static, but to be controlled as needed 12 dynamically dimensioned and positioned. This means, for example, that a shelf of a shelf 16 (or a parking space) considered over time in different sized and / or positioned storage bins 22 is divisible. Size and position can change.

The same applies to the locations and dimensions of the stored goods 24 which represent storage units (goods, articles, containers, piece goods, etc.) with or without load carriers (boxes, boxes, trays, pallets, containers, etc.). The (storage) locations and / or dimensions of the stored goods 24 So are also in the data storage device of the controller 12 deposited.

Every stored product 24 that is new to the system 10 (for example, via a goods receipt, not shown), is introduced by a warehouse management software one of the storage bins 24 assigned by data. This assignment represents a rough position of the respective stored goods 24 within the system 10 , This information (storage space management) is usually in the storage device of the controller 12 deposited.

For storage brings one of the storage machines 18 the "new" stored goods 24 eg in the goods receipt of the system 10 after a technical data collection of the stored goods 24 it moves with the storage machine 18 along a transport path set in advance by a material flow controller 26 (eg also by means of a continuous conveyor) to a storage place 22 , this storage goods 24 is assigned, and stores the stored goods 24 there, for example by means of the lifting device of a storage machine 18 , on.

The stored goods 24 is of course equal to or smaller than the assigned storage bin 24 dimensioned so that the stored goods 24 within the storage area 22 itself assumes a specific, relative position (fine position). This relative position also becomes in the data storage device of the controller 12 deposited it to later one of the storage machines 18 to allow the stored goods 24 outsource by storing the goods 24 is gripped or lifted with the load-bearing device of the storage machine. For this it is necessary that the relative position, ie the position of the stored goods 24 in relation to the assigned storage bin 22 , knows with a sufficient accuracy. Sufficient (positional) accuracies are, for example, on the order of less than or equal to 10 mm.

2A shows the actual position of a stored good 24 , by the coordinates X1l, Z1l, X2l, Z2l the front corners of the stored goods 24 can be defined. The stored goods 24 the 2A can eg during a regular storage period within the shelf 50 Be "wandered", ie its desired position (target position) in relation to the storage bin 22 may have changed unintentionally over time. Such a migration can be caused for example by vibrations that the storage machine 18 during its normal operation to the shelf 16 transfer. It can also become unwanted Collisions between the storage machines 18 , the stored goods 24 and / or the storage facilities 14 come that cause undesirable position changes.

A resolution A is to be chosen so that positional differences of less than or equal to 10 mm can be detected so that the load handling devices of the storage machines 18 the stored goods 24 safe storage and retrieval, especially without adjacent stored goods 24 to move.

A nominal position of the stored goods 24 is in 2A indicated by a dot-dash line. The target position has the coordinates X1S . Z1S . X2S and Z2S ,

2 B shows a parking space 46 in a ground store, where a pallet 48 is stored. The nominal position and the actual position are correct in the 2 B match.

3 shows a schematic section of a plan view of a storage system 10 , In 3 is a section of a rack alley 28 shown between two shelves 16 - 1 and 16 - 2 along a longitudinal orientation X the shelves 16 (and the system 10 ).

The storage machine 18 is in 3 exemplary implemented in the form of a shuttle (a single-level storage and retrieval unit) 30, which is parallel to the rack aisle 28 can move the transport route 26 the shuttle 30 Are defined.

Furthermore, in the 3 exemplary two bins 22 - 1 and 22 - 2 shown in detail, each for receiving several stored goods 24 are set up. The first storage place 22 - 1 is on the first shelf 16 - 1 arranged. The storage place 22 - 2 is in the adjacent second shelf 16 - 2 arranged.

Under a storage place 22 is generally an area or space to understand where one or more stored goods 24 be buffered. Dimensions and location coordinates of the storage bins 22 are known and are in control 12 (see. 1 ) deposited. The dimensions and other characterizing properties of the stored goods 24 are known and in control 12 deposited, as mentioned above.

In 3 is the first storage place 22 - 1 exemplary with six stored goods 24 stocked. The second storage place 22 - 2 in the opposite shelf 16 - 2 is empty.

In 3 is the shuttle 30 exemplary with two sensors 32 - 1 and 32 - 2 provided firmly with the shuttle 30 are connected and on opposite sides of the shuttle 30 are arranged around the opposite shelves 16 - 1 and 16 - 2 to be able to feel. scanning 34 are in 3 indicated. It is understood that each of the storage machines 18 with one or more of the sensors 32 can be equipped. Furthermore, it is understood that the sensors 32 have different fields of view. In the 3 are sensors 32 shown, the larger areas (eg fan-shaped) simultaneously scan.

Even linear scanners can be considered the sensors 32 be used.

Preferably, laser scanners are used.

Alternatively to mounting the sensors 32 directly at the storage machines 18 can the sensors 32 Also in ordinary load carriers (eg containers, pallets, trays, boxes and the like) are integrated to (temporarily) from the storage machines 18 or of continuous conveyors along the transport routes 26 through the system 10 at the storage areas 22 to be transported or moved over.

The sensors 32 the 3 are generally furnished, reflections of the scanning beams on the goods in storage 24 capture. In the 3 are examples of corresponding reflection points 36 on the surfaces of objects, such as the stored goods 24 Shelf posts and the like, where the scanning beams 34 that from the sensors 32 be sent out, reflected and sent to the sensors 32 be sent back. The reflection points 36 are, for example, on a back wall 38 the bins 22 ,

At the in 3 shown sensors 32 they may be so-called solid-state laser scanners, which are set up to measure several (reflection) points simultaneously, whereby no rotating components, such as deflection mirrors or the like, are used. In this sense, so the sides of the objects are scanned flat.

In this case, those of the sensors 32 generated sample data preferably processed by SLAM method. Simultaneous Localization and Mapping (SLAM) is well-known in robotics when a mobile robot needs to simultaneously create a map of its environment and estimate its position within that map. A basic ability of such mobile robots is to be able to orient themselves alone. The mobile robot needs to know what its environment looks like and where it is located. If there is a map of the environment (warehouse layout), the robot can use its sensors 32 (eg Ultrasound or lidar) in it. If the absolute position of the robot is known, a card can always be set up. In this case, the robot measures the position of possible obstacles relative to itself and, with its known position, can then determine the absolute position of the obstacles, which are then entered into the map.

For many mobile robot sites, there are no maps and no way to estimate the absolute position (e.g., via GPS). This is where the SLM process comes into play. Since the robot can normally only see part of the environment, the map is built up incrementally. Initially there is no map and the position of the robot defines the origin of its coordinate system. Thus, trivially, the absolute position of the robot is known and the first measurement of the environment can be entered directly into the map. Then the robot moves and measures its surroundings again. If the robot has not moved too far, it will again measure part of the already known environment, but also measure a previously unknown area for the first time. From the overlapping of the new measurement with the previous map, the movement of the robot can be calculated, so that the absolute position is known again and thus the new measurement can be integrated into the map. In this procedure, the card is incrementally expanded until the entire environment is measured.

Since the determination of the movement of the robot between two measurements is usually not exact, the calculated position of the robot will always deviate from the true, which also reduces the quality of the map. In order for the map to remain consistent, the algorithm should be able to detect when an already known part of the environment is re-measured (source: Wikipedia).

It goes without saying that the above also applies to the storage machines 18 applies, whose position is usually known, in particular because the map of the storage system 10 is known.

The solution of a SLAM problem thus requires the solution of a data association problem, i. It must be determined which (environmental) features correspond to each other. This problem is especially difficult when features can not be extracted with absolute certainty. Scanmatching methods do not have any features, because they take into account entire scans or point sets and then use graph-based techniques.

4A schematically shows an arrangement of obstacles or barriers 40 and stored goods 24 within a system 10 where a storage machine 18 (here a driverless transport vehicle) along a transport route 26 at several warehouses 24 passes by while the surroundings of the storage machine 18 with scanning beams 34 is detected.

It is understood that the sensors not shown here 32 are preferably aligned in all spatial directions, and in particular laterally of the transport path 26 Can capture objects.

4B shows the same scene as 4A However, the representation of the 4B based on a calculated evaluation of the measured data obtained from the sensor 32 from the actual scenery of the 4A be generated. The "card" of 4B was calculated using a SLAM method. The resolution is 10 mm. This means that every pixel that comes with a solid-state laser scanner 32 according to the 4A was taken, corresponds to 10 mm. However, the computing time (about 13 minutes) is relatively high compared to the detection time (28 seconds). Nevertheless, the SLAM method could be used successfully. The map of 4B could be set up with a resolution of 10 mm at a running speed of the storage machine of 1 m / s.

A reduction in the pixel size (eg to 7 mm) results in a significant increase in the computing time (44 min) for the same recording duration or travel speed of the storage machine 18 , However, a lower calculation time is to be expected when determining the position of the bearing machine 18 or the sensor 32 is replaced by a measured position, so that only the relative position of the scanned objects must be determined in a known per se environment.

5 shows the area surrounded by a dashed line IV in 4B , There are two stored goods 24 partially shown. The reflective surfaces or edges of the stored goods 24 are clear and sharp to determine the position of each (recognized) stored goods 24 to carry out.

6 shows an alternative arrangement, where exemplarily fourteen identically dimensioned storage goods 24 on a total of five storage bins 22 - 1 to 22 - 5 are turned off. The bins 22 - 1 to 22 - 5 can be the same size. Furthermore, in the 6 a back wall 38 as well as several shelf posts 42 indicated.

The Regal Alley 28 is the storage places 22 and the back wall 38 arranged opposite. The transport route 26 again runs in the aisle 28 , The storage machine 18 is in 6 Not shown.

Each of the four bins 22 - 1 to 22 - 4 is each with three of the stored goods 24 stocked. The fifth storage place 22 - 5 is only with two stored goods 24 stocked. The stored goods 24 the bins 22 - 1 to 22 - 4 are in the 6 with decreasing relative distances (from 80 mm to 10 mm) from right to left arranged to each other. The stored goods 24 the bins 22 - 1 to 22 - 4 are positioned as they are by the storage machine 18 were stored. This means that a position of the stored goods 24 in the storage areas 22 - 1 to 22 - 4 has not changed over time. Something else is the case for the two stored goods 24 in the campsite 22 - 5 , The stored goods 24 in the campsite 22 - 5 were eg when outsourcing an originally existing, third stored goods 24 (not shown in 6 ) through the storage machine 18 (unintentionally) postponed. This means that the stored goods 24 in the campsite 22 - 5 are no longer aligned as the stored goods 24 in the storage areas 22 - 1 to 22 - 4 that are aligned as originally.

The 7A to 7B show maps of stored goods calculated from sampling data 24 the 6 , where the calculated maps were obtained with different sensor sampling rates. 7A shows the map according to the arrangement 6 at a sampling rate of 50 Hz. 7B shows the map of 6 at a sampling rate of 200 Hz. 7C shows the card at a sampling rate of 400 Hz. A linear laser scanner of the Dx50 type from Sick was used. The cards of 7A to 7C All were at a driving speed of 1 m / s of the storage machine 18 generated. The storage machine 18 was on each side with two each of these linear laser distance sensors 32 provided with the linear sensors 32 were aligned slightly obliquely to the vertical on the transport route.

The 7A to 7C in particular show the extracted from the measured data surfaces of the stored goods 24 as well as the distances between them. The distances are in the 7A to 7C through (point) lines 44 indicated. These dotted lines 44 illustrate gaps between the stored goods 24 ,

From the map of 7A you realize that gaps 44 in a range of 30 mm to 40 mm can already be detected well. At the higher 200 Hz sampling according to the 7B can fill gaps 44 in the order of 30 mm can already be detected well and safely. At a sampling of 400 Hz according to the 7C Gaps of the order of 20 mm can be easily recognized under unchanged conditions.

It is understood that other sensor types can be used to achieve the desired-actual comparison for the positions of the stored goods 24 to perform with sufficient accuracy. For example, cameras could also be used to determine positions by means of photogrammetry.

An advantage is to be seen in the sensors 32 directly at the storage machines 18 are attached. The storage machines 18 Thus, during a normal operation (in / outsourcing) scan data from all storage locations 22 and stored goods 24 generate the storage machines 18 happen during normal operation. So it can be checked recurrently, if the stored goods 24 are at their desired positions. In contrast, an update of the desired position to the actual position can be performed.

This procedure is particularly advantageous when there is a collision between a storage machine 18 and a storage facility 14 came in a change in the target positions of stored there warehouses 24 has resulted. The storage machine determines the actual positions of changed stored goods 24 in passing. It is not necessary for an employee to use the system 10 (eg the camp lane 28 ) enters. This also works with multi-depth storage. First, the positions of the stored goods at the first depth are determined. These stored goods 24 can then be outsourced automatically. Then the positions of the stored goods 24 in the other (second, third, etc.) depth determined to cause the automated outsourcing (and / or repositioning).

In general, the controller 12 be adapted to recognize that a stored product after a scan and determination of different actual positions 24 - regardless of the target / actual comparison - can no longer be outsourced automatically in normal mode, for example, because the distance to (directly) adjacent storage goods 24 too small, because the range of the lifting device is too low, because by tilting the stored material 24 the gripping width of the load receiving means is insufficient, and the like.

The control 12 can also be arranged by controlling the load-receiving means and the traction drive of the storage machine 18 suitably the stored goods 24 , which is in a position that does not allow automated unloading in normal mode, to bring automated in a removable position by the stored goods 24 contacted with the load handling device and moved. The success of the position correction can be done by a subsequent repositioning.

In the alternative, a camera may be attached to a load carrier or the storage vehicle, which transmits a live image to an operator who, by means of manually inputable control commands for the storage vehicle, obtains the desired position manipulation of the stored goods 24 performs.

For the automated or manual change in position of a stored goods, the logical storage location and dimensioning of the manipulated stored goods and their neighboring stored goods can be temporarily or permanently changed.

From the above description it is clear that the invention can be seen in particular in a device that controls 12 and the sensors 32 includes. The control 12 is realized by hardware and software that works together with the sensors 32 as a product can be purchased commercially. Whether the sensors 32 directly on (existing) storage machines 18 be attached or integrated into load carriers, which are then from the storage machinery 18 through the system 10 to be moved is of secondary importance. The device can be used to retrofit existing storage systems 10 be used or from the beginning in a system to be rebuilt 10 to get integrated.

LIST OF REFERENCE NUMBERS

10

storage system

12

control

14

Storage facilities

16

shelf

18

Lagermaschine

20

Storage and retrieval unit

22

campsite

24

stored goods

26

Dolly

28

aisle

30

shuttle

32

sensor

34

scanning beam

36

reflection points

38

Back wall of 22

40

barrier

42

uprights

44

Gaps between 24

46

parking space

48

palette

50

shelf

Claims (6)

Apparatus for verifying finely resolved positions of stored goods (24) relative to associated storage bins (24) in an intralogistics storage system (10), the apparatus for verifying comprises: a controller (12); and a plurality of sensors (32) which can be integrated into a plurality of storage machines (18) and / or load carriers, wherein the storage machines (18) and / or load carriers are arranged along transport paths (26) for the purpose of loading / unloading the stored goods (24 ) are moved past the storage bins (22), and wherein the controller (12) is arranged to perform the following steps: Selecting a storage location (22) which is to be checked for an actual position of a storage facility (24) assigned to this storage facility (22); to cause movement of at least one of the sensors (32) mounted on one of the storage machines (18) or mounted on a load carrier carried by the storage machine (18) along a transport path (26) past the storage place (22) to be inspected; to initiate a scan of the bin (22) to be inspected including the associated stock (24) while the stocker (18) is being moved past the bin (22) to be inspected to produce corresponding sample data; Extracting an actual position of the assigned storage product (24) from the sampling data, preferably based on a previously stored dimension of the stored product (24), wherein the extracted actual position is finely resolved; Comparing the extracted actual position of the assigned storage product (24) with a pre-stored desired position; and Updating the target position to the extracted actual position if the comparison reveals that the extracted actual position deviates from the current target position. Device after Claim 1 wherein the step of scanning is performed after it has come to an accident, in particular to an accidental collision between a storage facility, which includes the storage space to be checked, and one of the storage machines. Device after Claim 1 or 2 wherein the step of scanning during each movement of the at least one sensor (32) along the transport path (26) passing by the storage bin (22) to be inspected. Device according to one of Claims 1 to 3 in that the actual position is extracted with a resolution which makes it possible to grasp the stored goods (24) with a load-receiving means of the one storage machine (18). Device according to one of Claims 1 to 4 , wherein the actual position with a resolution of at least 10 mm at a movement speed of the bearing machine (18) of up to 4 m / s and at a sampling rate of the at least one sensor (32) of up to 400 Hz is extracted. Device according to one of Claims 1 to 5 wherein the at least one sensor (32) is implemented by two laser distance sensors facing the storage location to be inspected, the sample data being subjected to data fusion to determine the actual position.

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