DE102019205001A1 - Control device for a storage and picking system, storage and picking system as well as methods for storage and picking with an article-dependent movement profile - Google Patents

Abstract

The invention relates to a control device (20) and a method for controlling the transport of storage goods carriers (3) equipped with at least one article (2) along at least one transport path (4) of a storage and / or order-picking system (6) and a storage and picking system / or order-picking system (6) with such a control device (20). Increasingly higher demands are placed on the performance and energy efficiency of storage and / or order picking systems (6). Modern storage and / or order-picking systems (6) not only have to convey the articles (2) as quickly as possible and with the lowest possible energy consumption, they also have to handle a large number of very different articles (2). The object is achieved by an article-dependent movement profile that is determined by the control device (20). The article characteristic is representative of at least one article (2) with which a storage goods carrier (3) is equipped. The article characteristic preferably represents a logical combination of at least two article parameters such as article geometry, article ID code (2), article weight and / or number of articles on the storage goods carrier (3). The movement profile comprises at least one, for example, linear or rotary, positive or negative acceleration.

Description

The invention relates to a control device for controlling the transport of storage goods carriers equipped with at least one article along at least one transport path of a storage and / or commissioning system, a storage and / or commissioning system with such a control device, a method for transporting goods equipped with at least one article Storage goods carriers along a transport route of a storage and / or order-picking system as well as a computer program or computer-readable storage medium which comprises commands which, when the program is executed by a computer, cause the computer to carry out such a method.

In the intralogistics area, goods carriers - also known as handling units - are moved through a wide variety of transport and storage systems. Increasingly higher performance is required of the transport and storage systems. This means that the transport speeds should be increased as far as technically possible and therefore movements in different directions should no longer be carried out one after the other, but rather simultaneously. At the same time, the diversity of the goods to be moved increases.

The invention is therefore based on the object of providing a control device, a storage and order-picking system and a method for storage and order-picking with a high article turnover despite the most varied articles.

This object is achieved for the control device mentioned above in that the control device is designed to detect an article characteristic representative of the at least one article and to set a movement profile of the storage goods carrier equipped with the at least one article as a function of the article characteristic.

The storage and / or order-picking system is provided according to the invention with a transport device for transporting the storage goods carrier equipped with at least one article along at least one transport path, a storage area with a plurality of storage locations for storing the storage goods carriers and with such a control device.

The method according to the invention has the following method steps to achieve the object: Preferably automatic detection of at least one article characteristic representative of the at least one article and setting of at least one movement parameter of the storage goods carrier equipped with the at least one article as a function of the article characteristic.

The solution according to the invention makes it possible to adjust the movement profile of the storage goods carrier to the article or articles transported thereon. This differs from known solutions, according to which the parameters for acceleration, speed and deceleration of an entire system are reduced globally as soon as, for example, a heavy load carrier is on the transport route.

The article-dependent movement profile according to the invention enables an exact adaptation of the individual movement behavior to the article or articles transported on a storage goods carrier. According to an advantageous embodiment, the control device is equipped to assign different movement profiles to different load carriers with the same total weight and in particular to different articles placed thereon, and in particular to control a conveyor device so that the different load carriers are moved with different accelerations. The same total weight can be assumed here if the total weight is within a specified deviation, for example within ± 20% or ± 10%.

For example, a load carrier with an article that contains a liquid can be moved differently thanks to the solution according to the invention than another load carrier with an article of the same weight that only contains solids in order to avoid sloshing. The load carrier with the liquid can, for example, have longer acceleration and deceleration distances in order to avoid excessive accelerations and decelerations than the load carrier with solids. The overall performance of the storage and order picking system is not impaired despite the careful transport of individual storage goods carriers thanks to the item-dependent control of the movement profile of a storage goods carrier.

Another example of an article-dependent movement profile is to define the transport routes as a function of the article characteristics. Thus, according to the invention, the control device can define a transport route in which the number of accelerations and / or decelerations is reduced or minimized for goods carriers whose articles only allow slight accelerations or decelerations, for example because of a high center of gravity or because of the liquids contained. This is significant, for example, when the number of transport devices when the articles are stored or retrieved varies depending on the location of the storage location Performs rotational movements and thus different numbers of acceleration and / or deceleration movements.

In the following, advantageous developments of the solution according to the invention are described, which can each be combined independently of one another.

According to a first embodiment, the article characteristic can include at least one article parameter from the group article weight, article number, article geometry, at least one optical article property, degree of filling of the at least one article, position of the at least one article on or in the storage goods carrier, an ID identifier of the at least one article , a shape of the at least one article and a total weight of the article or articles on or in the storage goods carrier. If a storage goods carrier is equipped with several articles, according to a further embodiment, the control device is designed to select an article that determines the storage goods carrier with the articles on the basis of the individual article characteristics.

The article geometry can in particular comprise at least one geometric parameter from the group containing or consisting of at least one article dimension, height, width, depth, footprint, an aspect ratio, a ratio of the footprint to the height and an orientation of the article. The at least one optical property of the at least one article can comprise at least one optical property from the group of color, transparency, reflectivity and absorption. The ID identifier of the at least one article can be an alphanumeric identifier that is recorded, for example, using a contact-free readable code, for example an optical code such as a barcode or a QR code, and / or an electromagnetically readable cache, for example an RFID or transponder identifier is.

It is particularly advantageous if the article characteristic has a logical link between at least two article parameters. In this way, the at least one article on the storage goods carrier can be classified particularly well and reliably with regard to the movement profile. For example, a combination of two geometric parameters, such as the article height and the article footprint, indicates the stability of the article. A logical link is, for example, an element from the group equal to, less than, equal to, greater than or equal to, and, or, either or (xor), not, not and (nand), nor and xnor. A logical link can be formulated, for example, in the form of "Article footprint <x and article height> y" or, alternatively or cumulatively, "Article footprint / article height <z", where x is a predetermined upper limit value for a footprint that can be changed during operation, y a predetermined one or a lower limit value for the height that is variable during operation and z is an indefinite or during operation variable limit value for the ratio of the article footprint to the article height.

If an article fulfills the logical linking of the article characteristic, the control device assigns a corresponding movement profile, here for example a movement profile with low acceleration values to prevent tilting, to this and preferably only to this storage goods carrier. If there are several storage goods carriers, the movement profile of the storage goods carrier is preferably determined by the article whose article characteristics create the greatest restrictions on the movement profile. For example, if a storage goods carrier is equipped with two or more articles, each with a different ratio of footprint to height, in this embodiment the movement profile assigned to the article with the smallest ratio can be assigned to the storage goods carrier, because this article is at risk of tipping over.

When liquids are transported, an optical property such as the transparency or color of a liquid transported in a transparent container, the article weight and / or an article characteristic representative of the degree of filling can be determined using a logical link using the ID code. Such a logical link can, for example, take the form “ID identifier = n and article weight <m” or, alternatively or cumulatively, “ID identifier = n and transparency <o”, where n can be an alphanumeric string and m and o can be numerical values.

With certain degrees of filling there is a risk of the liquid sloshing in the event of excessive accelerations, so that the movement profile is adjusted accordingly in order to prevent such accelerations. The control device preferably has an article database in which one or more article parameters are assigned to an ID identifier. For example, the article dimensions, the article weight and / or handling instructions such as “fragile” or “tiltable” can be contained in the article database. The viscosity of a liquid can also be assigned to the ID code of an article in the article database.

The movement profile preferably comprises at least one element from the group of linear acceleration and rotational acceleration. The movement profile can also include at least one element from the group of linear speed and rotational speed.

In this context, acceleration is to be understood as meaning both a positive and a negative (deceleration) acceleration, which can also be contained as separate values in the movement profile, for example as linear acceleration, linear deceleration, rotational acceleration and / or rotational deceleration. Since forces only act on an article during acceleration, it is sufficient, according to one embodiment, that the movement profile only specifies accelerations, in particular upper limits for accelerations. A specification of an acceleration is also to be seen here when the control device specifies that an upper limit is reached for a speed after a certain time or after a certain distance, because this indirectly corresponds to a definition of the acceleration.

The control device can comprise hardware and / or software. For example, the control device can be implemented as software on a computer such as an industrial PC or a PLC controller. However, the control device can also have special hardware components, such as one or more ASICs.

In order to detect the article characteristic, according to a further advantageous embodiment, the control device can have a sensor device. The sensor device can, for example, detect at least one scale, at least one camera system, at least one scanner, at least one RFID reader, at least one optical sensor such as a photo sensor, at least one capacitive sensor and / or at least one magnetic sensor. The camera system can have an IR, NIR, IRGB, CCD, a multispectral and / or a hyperspectral camera. The scanner can be a laser scanner. The sensor device can be designed to recognize the filling level and / or the filling edge of an article filled with a liquid.

The individual elements of the sensor device are preferably combined at a detection point along the transport route. In this way, several article parameters can be recorded simultaneously at one point on the transport route. For example, the number of articles, the article geometry, the at least one optical property, the position of the at least one article on or in the storage goods carrier, an ID identifier and / or an article shape can be detected by means of the at least one camera or an image processing module of the control device. The total weight of the load carrier can be determined using a scale. The at least one camera is preferably stereoscopic, or more than one camera can be used in order to carry out a three-dimensional detection of the articles on or in the storage goods carrier. The ID code does not have to be read via the at least one camera, but can, depending on the type of code and the preferred equipment, also be made via a laser scanner or an RFID reader, which can be part of a control device.

According to a further advantageous embodiment, the detection or, synonymously, metering point can coincide with a reporting point. A reporting point is a point along the transport route at which the warehouse management software, for example Extended Warehouse Management, and the control device exchange data.

In particular, the sensor device is located on or in an access station of a storage unit. The access station is used to store and / or retrieve articles. Such an access station is, for example, in automatic rack storage systems or paternoster systems, a housing opening in the storage unit through which the storage goods carrier is channeled into or out of the storage unit. The access station can be integrated into the storage unit. In such a case, the access station can be surrounded, for example, at least in sections by a storage rack and / or operated by a conveying device, for example a storage and retrieval unit, departing a storage rack of the storage unit. An access station is used to transfer a storage goods carrier from outside the storage unit to the conveyor of the storage unit.

According to a further embodiment, the at least one transport path can have a multiplicity of alternative storage and / or retrieval paths which extend from the at least one access station to different storage locations. The storage spaces can for example be provided one above the other and / or next to one another in one or more shelf columns.

The storage and / or order-picking system can also have one or more conveying devices which transport the goods carriers from the at least one access station to the plurality of storage locations. The conveyor device can have a vertical conveyor and / or aisle conveyor. The conveyor can only perform a linear conveyor movement or combinations of linear and rotary movements. For example, the rotation of a storage goods carrier between the storage location and the access station may be necessary in order to adapt the orientation of the storage goods carrier to an access station that may be oriented differently from the storage location.

The control device is preferably designed, a storage and / or retrieval section from a plurality of storage and / or storage To determine retrieval routes depending on the article characteristics and / or the movement profile. The article-dependent determination of the storage and / or retrieval route enables improved performance to be achieved. Thus, the control device can in particular be designed to determine a storage and / or retrieval route depending in particular on its temporal and / or spatial length and on the article characteristic and / or the movement profile. For example, the control device can be designed to define a transport path that is shorter in terms of space or time than in the case of a lighter storage goods carrier for a storage goods carrier equipped with heavy articles. Storage carriers loaded with heavy articles, which can only be accelerated with a high expenditure of energy, can thus be conveyed more energy-efficiently and faster to the retrieval to the access station and to the storage from the access station to the storage location. The same applies to articles at risk of tipping, in which, for example, the ratio of standing area and height falls below a predetermined value and / or in which the standing area falls below a predetermined value and the height exceeds a predetermined value. Similar to a heavy article, such an article at risk of tipping can only be conveyed with low maximum accelerations. Here, too, it is advantageous to store an article at risk of tipping in a storage space arranged near the access station.

According to a further advantageous embodiment, the control device can be designed to include a storage and / or retrieval section as a function of the number of sections of the storage and / or retrieval section in which a linear and / or rotary acceleration acts on the storage goods carrier, and as a function to be determined by the article characteristics and / or the movement profile. In this embodiment, the number of such sections can therefore be dependent on the movement profile and / or the article characteristics. For example, in the case of an article at risk of tipping or for an article containing a liquid, the control device can be equipped to determine a storage and / or retrieval route that contains a smaller number of accelerations. The control device can thus be equipped to define a storage location for such an article in which the number of rotational movements of the conveyor device is reduced compared to another article that is not at risk of tipping and / or does not contain liquids. In the case of heavy articles, the control device can be designed to determine a storage and / or retrieval route which has fewer partial routes with accelerations acting on the article than in the case of a storage goods carrier with lighter articles.

In the following, the invention is explained by way of example on the basis of exemplary embodiments and with reference to the figures. For the sake of simplicity, the same reference numerals are used in the figures for elements which correspond to one another in terms of structure and / or functions.

In accordance with the above statements, a feature shown in the exemplary embodiments can be omitted if the technical effect of this feature in a specific application is not important. Likewise, in an exemplary embodiment, a feature that is not present can be added should its technical effect be advantageous for a particular application.

• 1: eine schematische Perspektivdarstellung eines Logistikzentrums mit von einer oder mehreren Steuervorrichtungen gesteuerten Lager- und/oder Kommissioniersystemen;
• 2: eine schematische Draufsicht auf einen Teil eines von einer Steuervorrichtung gesteuerten Lager- und/oder Kommissioniersystems;
• 3: eine schematische Ansicht eines Lagergutträgers und einer Sensoreinrichtung zur Erfassung einer Artikelcharakteristik;
• 4: eine schematische Ansicht eines Lagergutträgers und einer Sensoreinrichtung zur Erfassung einer Artikelcharakteristik;
• 5: eine schematische Ansicht eines Lagergutträgers und einer Sensoreinrichtung zur Erfassung einer Artikelcharakteristik;
• 6: eine schematische Darstellung eines Ablaufplans für ein Verfahren zur Steuerung eines Lager- und/oder Kommissioniersystems.

Show it:

• 1 : a schematic perspective illustration of a logistics center with storage and / or picking systems controlled by one or more control devices;
• 2 : a schematic plan view of part of a storage and / or order-picking system controlled by a control device;
• 3 : a schematic view of a storage goods carrier and a sensor device for detecting an article characteristic;
• 4th : a schematic view of a storage goods carrier and a sensor device for detecting an article characteristic;
• 5 : a schematic view of a storage goods carrier and a sensor device for detecting an article characteristic;
• 6th : a schematic representation of a flow chart for a method for controlling a storage and / or order picking system.

1 shows schematically a logistics center 1 for storage and / or order picking of articles 2 , with which cargo carriers 3 are equipped. The load carriers 3 can be designed in different ways, for example as trays, as small parts containers, as pallets or in any other form that is known or used for handling units in the field of logistics. Those with one or more articles 2 equipped storage goods carrier 3 are along transport routes 4th transported.

The logistics center 1 has one or more storage and / or picking systems 6th on that for the storage and / or retrieval of the articles 3 and / or serve for their picking according to existing picking orders. A storage and / or picking system 6th has at least one storage unit 8th on where the article 2 especially in or on the storage goods carriers 3 stored are. Storage units can be high shelves with aisle conveyors, vertical lifts, paternoster systems and / or carousel systems that are automated.

At access stations 10 become the load carriers 3 or the articles 2 into the storage and / or picking system 6th or in a storage unit 8th introduced or discharged from this. An access station 10 can in a storage unit 8th for example integrated in the housing or on the storage unit 8th be set. The transport routes 4th extend into the storage units 8th where they are used as storage and / or retrieval routes 14th are designated. A storage and / or retrieval route is thus part of a transport route 4th .

For the promotion of the load carriers 3 or the article 2 along the transport routes 4th are differently designed funding facilities 16 , for example overhead conveyors, conveyor belts, automated floor conveyors, storage lifts, aisle conveyors, lifting beams etc. are provided.

Instead of or in addition to human order pickers 12 robots can too 18th can be used.

The automated storage units 8th are also internally with funding institutions 16 provided in 1 are not shown.

Via a control device 20th , for example a PLC control, industrial computers or PCs, which can be part of a warehouse management system, become the conveyor systems 16 controlled.

How 1 shows the different transport routes 4th be connected to each other. Are articles and / or storage goods carriers 3 along part of the transport routes 4th Transported slowly, this network also has an impact on the other transport routes.

A logistics center 1 , like it 1 shows, can serve, for example, as a shipping center for a mail order company that deals in a wide variety of goods. That in the storage units 8th The range of goods stored can therefore be very different. In order to ensure a high throughput and high energy efficiency despite the different items, the logistics center 1 according to the invention a storage and / or order-picking system as described below by way of example 6th on.

2 shows a schematic representation of a storage and / or order-picking system 6th as it is in a logistics center 1 can be located.

A transport route 4th , along the load carrier 3 that with articles 2 are loaded, are transported, extends into the storage unit 8th .

The storage unit 8th is an automatic storage unit, it has, for example, one or more shelves 22nd on. In a shelf aisle 24 between two shelves or shelf columns 22nd transports one or more conveyors 16 , here storage and retrieval machines, the storage goods carriers between one or more access stations 10 who have the storage unit here 8th limit, and storage bins 26th in which the load carriers 3 are stored. In a shelf column 22nd are preferably several levels of storage locations 26th arranged one above the other. The entirety of the shelf spaces 26th a storage unit 8th gives its storage area 27 .

The conveyor 16 is in 2 in three different positions I. , II and III. The conveyor 16 the storage unit 8th has for example one along the shelf aisle 24 movable mast 28 on, along which in the vertical direction one around the vertical longitudinal axis of the mast 28 rotatable lifting carriage is vertically movable. The conveyor 16 is controlled by the control device 20th controlled like this in 2 through the data transmission link 30th is represented symbolically. The data transmission route 30th can be wired or wireless.

Inside the storage unit 8th includes the transport route 4th a multitude of storage and / or retrieval routes 14th , each between the at least one access station 10 and the individual storage locations 26th extend. The storage and retrieval routes 14th are from the stacker crane 16 the storage unit 8th gone.

The individual storage and / or retrieval routes 14th point depending on the distance of the storage place 26th from the access station 10 a different length. Depending on the orientation of the load carriers 3 in the access station 10 can also rotate the load carrier 3 along a storage and / or retrieval route 14th to be necessary. The rotation of the load carrier 3 for example along the section 32 leads to an on the load carrier due to the rotational acceleration 3 and the articles arranged therein 2 acting force.

Further forces act on the load carriers 3 and articles 2 on parts of the route when driving off, when the load carrier is accelerated (positively), and when braking, when the load carrier is accelerated or decelerated negatively.

About the efficiency and performance of the storage and / or order picking system 6th to improve, is the control device 20th configured, a movement profile of a conveyor 16 sponsored, with at least one article 2 equipped storage goods carrier 3 to be controlled depending on the item.

For example, the control device 20th configured, depending on one for the at least one article 2 representative article characteristics of a storage and / or retrieval route 14th determine along which the number of partial routes 32 is minimized. This is useful, for example, when articles that are heavy, are at risk of tipping and / or contain liquids 2 on a storage goods carrier 3 are located. Alternatively or cumulatively, the control device is 20th designed, the length of the sections 32 a storage and / or retrieval route 14th for every load carrier 3 to change depending on the article characteristics. For example, in the case of an article that is heavy, at risk of tipping over and / or containing liquids 2 the leg 32 can be extended so that, despite a lower acceleration, the same or even a higher final speed as with a shorter section for a stable article 2 is achieved. The same naturally also applies to sections along which a delay takes place. Alternatively or cumulatively, the control device 20th be designed, a storage and / or retrieval route 14th with a length depending on the article characteristics 33 to determine. For example, a load carrier 3 with one or more heavy items in one storage location 26th which is closer to the access station 10 located as the storage place 26th another, with lighter articles 2 equipped storage goods carrier 3 , i.e. a storage or retrieval route 14th with a shorter length 33 having.

To make this possible is the control device 20th configured, depending on the article characteristics, a movement profile of the storage goods carrier 3 to determine. The movement profile includes, for example, at least one movement parameter from the group of linear acceleration, rotational acceleration, linear deceleration, rotational deceleration, linear speed, rotational speed, length of the transport route, number of partial routes 32 with positive and / or negative acceleration.

The article characteristic comprises at least one article parameter from the group of article weight, number of articles, article geometry, at least one optical property of the at least one article, degree of filling of the at least one article, position of the at least one article on or in the storage goods carrier 3 , an ID identifier of the at least one article, an article shape and a total weight of the storage goods carrier. The article geometry preferably comprises at least one article parameter from the group of article dimensions, article height, article width, article footprint, an aspect ratio of the article and a ratio formed from the footprint of the article to the article height or another article parameter representative of the tipping safety. The ID identifier of the at least one article preferably comprises an ID identifier that can be read out contactlessly, for example a barcode, a QR code, an RFID and / or a transponder. The control device 20th can be an article database 34 have, through which one or more article parameters are assigned to an ID identifier of an article. For example, the article parameter for the article geometry can be contained in the database. Other article parameters in the article database can be the article weight, an article description and physical properties of the article, such as viscosity.

The article characteristic preferably has a logical link between at least two article parameters. By means of such a logical link, an article can be classified with regard to its movement behavior and an article-specific movement profile can be determined.

To detect the article characteristic, the control device 20th and / or the storage and / or picking system 6th at least one sensor device 36 on that over a data link 38 with the control device 20th can be connected. The data transmission route 38 can be wired and / or wireless.

The sensor device 36 is along the transport route 4th , preferably at one end of a storage and / or retrieval section 14th and more preferably at an access station 10 arranged. The sensor device 36 represents a detection point 40 of the storage and / or picking system 6th dar, who prefers with a reporting point 42 coincides.

As already explained above, the control device is 20th designed, a storage goods carrier 3 depending on the article characteristics of at least one article 2 with which the load carrier 3 is equipped, a certain storage and / or retrieval route 14th within the storage unit 8th assign. The assignment is made individually for each storage goods carrier depending on its articles 2 independent of the other storage goods carriers 3 . Because of the articles alone 2 dependent movement profiles can be two load carriers 3 , which have essentially the same total weight, different movement profiles are assigned. So can a carrier 3 , which is equipped with articles standing on edge, a lower upper limit for a rotary and / or linear acceleration by the control device 20th be assigned as a warehouse goods carrier 3 with flat articles. A load carrier 3 , an article containing a liquid 2 preferably has a lower permissible acceleration in its movement profile than a storage goods carrier with an article of approximately the same size and / or weight 2 that do not contain liquid.

With the help of 3 to 5 structure and function of a sensor device 36 for detecting the article characteristics of at least one article 2 of a storage goods carrier 3 explained in more detail.

3 shows an embodiment of the sensor device 36 with a camera system 43 . The camera system 43 has at least one, here two cameras 44 on. The camera 44 can be a CCD, NIR, IR, multispectral or hyperspectral camera. At least one camera 44 is with the control device 20th connected to transmit data. The control device 20th is with a module 46 for image data processing of image data from the at least one camera 44 Mistake. The control device 20th is designed in particular by means of the at least one camera 44 an optically readable ID label 48 read in and evaluate and via the ID label 48 ID identifier received, further article parameters of the article provided with the ID label 2 from the database 34 to investigate. Additionally or instead of a camera system 43 can also have one or more optical sensors 49 , for example light-sensitive electronic components such as photo sensors, e.g. B. phototransistors, be part of the sensor device.

The control device 20th is also designed, an arrangement and alignment of several articles 2 on or in the storage goods carrier 3 to investigate. With a storage goods carrier 3 with multiple articles 2 the movement profile can be derived from the article characteristics of that article 2 determine which leads to the lowest upper limits of the individual parameters of a motion profile. For example, the load carrier 3 an upper limit for an acceleration and / or speed and / or a length of a transport route and / or partial routes can be assigned by the control device, which is the smallest upper limit for this acceleration of the movement profiles of all articles 2 of the storage goods carrier 3 corresponds.

The sensor direction 36 can be a scale 50 to determine the total weight of the storage goods carrier 3 exhibit. Such a total weight can also be assigned a movement profile by the control device as an article parameter 20th influence. That from the scales 50 The total weight determined can also be used to check for errors. For example, the sum of the ID code from the database 34 read out individual weights of the individual articles 2 of a storage goods carrier 3 and the weight of the empty load carrier 3 with the one from the scales 50 measured total weight can be compared. A deviation of these two values can lead to the output of an error signal by the control device 20th to lead. The individual weights of the articles 2 can be updated dynamically, for example only parts of an article 2 can be removed. The load carrier 3 is preferably also with an ID label 48 Mistake. Parameters of the storage goods carrier 3 how his weight can also be in the database 34 be saved. In this respect, the carrier can 3 like an article 2 be handled.

In 4th is shown that the control device 20th can be configured by means of at least one camera system 43 the filling level of an article 2 of the storage goods carrier 3 with a liquid 52 to investigate. The item 2 is preferably a transparent container. The sensor device 36 can do this with a light source 54 exhibit. The camera 44 is designed to have at least one optical property of the article 2 to record, for example the color or transparency of the liquid 52 . Alternatively and additionally, the scales 50 the total weight of the tray 3 determine and through the database 34 and the ID label 48 of the article 2 the weight of the completely with the liquid 52 determine the filled container.

The sensor device 36 can be designed to recognize the degree of filling and / or a filling edge, that is to say the position of the liquid surface. The camera system, in particular 43 and / or an optical sensor 49 can be used.

The difference can only be made using the scales 50 the filling level of the article 2 be determined. However, this procedure is not possible if the load carrier 3 with multiple articles containing liquid 2 is equipped. In this case, the degree of filling can, for example, via the transparency or color with the help of the camera system 43 be determined. A darker color or a less transparent container 2 is, for example, representative of a high degree of filling. The lighter the liquid 52 in the article 2 is, the lower the degree of filling. In general, the degree of filling and / or the filling edge can be determined via a brightness recognition, a color recognition, a contrast recognition and / or an image recognition. The movement profile of such an article can be dependent on the article parameters article height and degree of filling. In the case of high accelerations, in particular with medium filling levels, there is the risk that the liquid 52 in the article 2 sloshes back and forth and overturns it. The Control device 20th is thus designed to be a load carrier 3 one of the filling level of an article 2 assign dependent movement profile.

In 5 is an article 2 of a storage goods carrier 3 shown with a bulk material 56 , for example small hardware items such as nuts or bolts. Here, too, the degree of filling can be optically displayed using the at least one camera 44 and / or via a scale 50 determine. In 5 is also an example of an ID label 48 shown, which is designed as an RFID tag or transponder. A scanner 58 , for example an RFID reader, or a laser scanner for reading in optical ID labels is connected to the control device 20th connected and is used to read the ID code of the article 2 .

The following is the method of transporting at least one item 2 stocked goods carriers 3 along the transport route 4th with the help of the flow chart of 6th explained. In a first step 60 are for example by means of the sensor device 36 individual article parameters determined. In one step 61 at least two of these article parameters are logically linked to one another. The logical connection results in an article characteristic that is representative of the respective article 2 or its restrictions when transporting along the transport route 4th are. In step 61 individual article parameters can also be taken from the article database 34 to be determined.

In one step 62 an article characteristic becomes a movement profile 62 assigned. Is just an article 2 on the storage goods carrier 3 arranged, then corresponds to the movement profile of the load carrier 3 the movement profile of this article 2 . Are multiple articles 2 on the storage goods carrier 3 arranged, the movement profile can be made up of individual movement parameters of the individual movement profiles of the articles 2 of the storage goods carrier 3 put together or a movement profile of one of the articles 2 correspond. In particular, the movement profile of the storage goods carrier 3 from the smallest or largest movement parameters of the movement profiles of the individual articles 2 be composed, for example of the respective lowest upper limit for the rotational acceleration and the respective lowest upper limit for the linear acceleration over the movement profiles of the articles 2 .

In step 63 becomes one of the movement profile and thus of the at least one article 2 of the storage goods carrier 3 dependent transport route for the load carrier 3 certainly. A cost function can be minimized to determine the transport route. For example, a transport route can be determined which minimizes the number of accelerations and / or the length of the transport route.

This in 6th illustrated method is controlled by the control device 20th executed.

List of reference symbols

1.

Logistics center

2.

items

3.

Storage goods carrier

4th

Transport route

6th

Storage and / or picking system

8th.

Storage unit

10.

Access station

12.

Order picker

14th

Storage and / or retrieval route

16.

Conveyor

18th

robot

20th

Control device

22nd

Shelf or shelf column

24.

Shelf aisle

26th

Storage place

27.

storage area

28.

mast

30th

Data transmission path

32.

Section

33.

Length of a transport route or a storage and / or retrieval route

34.

Article database

36.

Sensor device

38.

Data transmission path

40.

Acquisition point

42.

Reporting point

43.

Camera system

44.

camera

46.

Image processing module

48. I.

D label

49.

optical sensor

50.

Libra

52.

liquid

54.

Light source

56.

Bulk material

60.

Determination of the article parameters

61.

Linking the article parameters

62.

Assignment of a movement profile

63.

Determination of a transport route

Claims (15)

Control device (20) for controlling the transport of storage goods carriers (3) equipped with at least one article (2) along at least one transport path (4) of a storage and / or order-picking system (6), the control device (20) being designed, one for to detect the at least one article (2) representative article characteristics and to set a movement profile of the storage goods carrier (3) equipped with the at least one article (2) as a function of the article characteristics. Control device (20) after Claim 1 , the article characteristic at least one article parameter from the group - article weight, - article number, - article geometry, - at least one optical property of the article, - degree of filling of the article, - position of the article on or in the storage goods carrier, - ID identifier of the at least one article - the shape of the at least one article and - the total weight of the storage goods carrier. Control device (20) after Claim 2 , wherein the article characteristic has a logical combination of at least two article parameters. Control device (20) according to one of the Claims 1 to 3 wherein the at least one movement profile comprises at least one movement parameter from the group - a linear acceleration, - a linear speed, - a rotational acceleration and - a rotational speed. Control device (20) according to one of the Claims 1 to 4th wherein the control device (20) has a sensor device (36) for detecting an article parameter of the article characteristic. Storage and / or order-picking system (6) with a conveyor device (16) for transporting storage goods carriers (3) equipped with at least one article (2) along at least one transport route (4), a storage area (27) with a large number of storage locations (26) ) for storing the load carriers (3) and with a control device (20) according to one of the Claims 1 to 5 . Storage and / or picking system (6) according to Claim 6 , wherein at least one access station (10) is provided for the storage and / or retrieval of articles (2), the at least one transport path (4) having a plurality of storage and / or retrieval paths (14) which extend from the at least an access station (10) extending to different storage locations (26), and wherein the control device (20) is designed to determine a storage and / or retrieval route (14) depending on the article characteristics and / or the movement profile. Storage and / or picking system (6) according to Claim 7 wherein the control device (20) is designed to determine a length (33) of the storage and / or retrieval route (14) as a function of the article characteristics and / or the movement profile. Storage and / or picking system (6) according to Claim 7 or 8th , wherein the control device (20) is designed, the storage and / or retrieval route (14) depending on the number of sections (32) of a storage and / or retrieval route (14) in which a storage goods carrier (3) a Acceleration acts, and to be determined depending on the article characteristics and / or the movement profile. Storage and / or picking system (6) according to one of the Claims 6 to 9 , at least one detection point (40) being present at which a sensor device (36) of a control device (20) follows Claim 5 is located. Storage and / or picking system (6) according to Claim 10 , the detection point (40) being at or in an access station (10) for storing and / or removing articles (2). Method for transporting storage goods carriers (3) equipped with at least one article (2) along a transport path (4) of a storage and / or order-picking system (6), comprising the following method steps: - detecting at least one for the at least one article (2) representative article characteristic; - Setting at least one movement profile of the storage goods carrier (3) equipped with the at least one article (2) as a function of the article characteristics. Procedure according to Claim 12 , wherein a shorter transport route (4) is automatically set for a heavy load carrier (3) than for a lighter load carrier (3). Procedure according to Claim 12 or 13 , wherein for a storage goods carrier (3) with a high and / or liquid-filled article (2) automatically a transport route (4) with a smaller number of sections (32), in which an acceleration acts on the article, is selected than for a lower and / or not liquid-filled article (2). Computer program or computer-readable storage medium, comprising instructions which, when the program is executed by a computer, cause the computer to use the method according to one of the Claims 12 to 14th execute.

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