EP4226303A1 - Procédé de traitement assisté par ordinateur d'un changement d'état d'un support de marchandises dans un système de stockage et de préparation de commandes et système de stockage et de préparation de commandes - Google Patents

Procédé de traitement assisté par ordinateur d'un changement d'état d'un support de marchandises dans un système de stockage et de préparation de commandes et système de stockage et de préparation de commandes

Info

Publication number
EP4226303A1
EP4226303A1 EP21805345.2A EP21805345A EP4226303A1 EP 4226303 A1 EP4226303 A1 EP 4226303A1 EP 21805345 A EP21805345 A EP 21805345A EP 4226303 A1 EP4226303 A1 EP 4226303A1
Authority
EP
European Patent Office
Prior art keywords
goods
digital
status
carrier
real
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21805345.2A
Other languages
German (de)
English (en)
Inventor
Markus Winkler
Pascal MÖLLER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
TGW Logistics Group GmbH
Original Assignee
TGW Logistics Group GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by TGW Logistics Group GmbH filed Critical TGW Logistics Group GmbH
Publication of EP4226303A1 publication Critical patent/EP4226303A1/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G06Q10/0835—Relationships between shipper or supplier and carriers
    • G06Q10/08355—Routing methods

Definitions

  • the invention relates to a method for computer-aided processing of a change in the status of a goods carrier in a storage and picking system, the goods carrier having a goods holder for storing and/or conveying at least one product in the storage and picking system, and several of these being in the storage and picking system Goods are stored, conveyed and commissioned.
  • a digital or virtual storage and conveying area is generated and stored in a computer, which corresponds to a digital, two- or three-dimensional model of a real or physical storage and conveying area of the storage and picking system.
  • digital or virtual goods carriers are generated and stored in the computer, which digital goods carrier models correspond to the real or physical goods carriers.
  • status information relating to a physical status of a first real goods carrier of the real goods carriers is detected and provided with the aid of at least one sensor, and/or status information relating to a status of a control program for the first real goods carrier is provided by the control program that is in a controller of the first real goods carrier expires.
  • the invention relates to a storage and picking system for storing, conveying and picking a number of goods, comprising a real or physical storage and conveying area and a number of real or physical goods carriers, each with a goods holder for storing and/or conveying at least one of the goods in each case Storage and picking system.
  • the storage and picking system includes a computer in which a digital or virtual storage and conveying area can be generated and stored, which corresponds to a digital, two- or three-dimensional model of the real, physical storage and conveying area.
  • the computer is also designed to generate and store digital or virtual goods carriers in the digital storage and conveying area, which digital goods carrier models correspond to the real, physical goods carriers.
  • the storage and com- missioning system at least one sensor for detecting and providing status information relating to a physical status of a first real goods carrier of the real goods carriers and/or a controller for the first real goods carrier, in which a control program for the first real goods carrier can be executed, through which status information relating to a status of the same can be provided.
  • the comprehensive control of the most diverse facilities in a storage and picking system and the communication between these facilities should be improved.
  • the object of the invention is achieved with a method of the type mentioned in the introduction, in which the first digital goods carrier of the digital goods carriers, which is assigned to the first real goods carrier, has status information provided at different points in time of this first real goods carrier or status change information which describes a change in the provided status information of this first real goods carrier (i.e. in particular ascertained or received) and this status information or this status change information or status change information derived from the status information to a second digital goods carrier that provides digital goods carriers (i.e. in particular transmitted to them or stored for them).
  • the object of the invention is achieved by a warehousing and order-picking system of the type mentioned in the introduction, in which a program can be executed in the computer in order to view status information provided at different times for this first real goods carrier or status change information which indicates a change in the status information provided for this first real goods carrier describes obtaining (i.e. in particular determining or receiving) this status information or this status change information or status change information derived from the status information in the first digital goods carrier of the digital goods carrier which is assigned to the first real goods carrier to make the digital goods carrier available to a second digital goods carrier (i.e. in particular to transmit it to it or to deposit it for it).
  • a program can be executed in the computer in order to view status information provided at different times for this first real goods carrier or status change information which indicates a change in the status information provided for this first real goods carrier describes obtaining (i.e. in particular determining or receiving) this status information or this status change information or status change information derived from the status information in the first digital goods carrier of the digital goods carrier which
  • the proposed measures ensure that the communication between goods carriers in a storage and picking system is decoupled from the physical level and the limitations that prevail there are no longer relevant or are circumvented. Accordingly, in particular, communication between goods carriers that come from different manufacturers and only offer proprietary control and communication options is possible. This means that the proposed measures enable communication between goods carriers in particular, which work according to the manufacturer's own and non-standard protocols and therefore cannot communicate with one another in the real world. In concrete terms, the notification of a status change in a first real product carrier is sent to a second digital product carrier. This simplifies the overall control of a wide variety of devices in a storage and picking system, or even makes it possible in the first place.
  • goods can be delivered and accepted at a goods receipt, for example, and then repacked if necessary and stored in a warehouse.
  • the goods can also be commissioned according to an order, i.e. removed from the warehouse, assembled into an order and made available at the goods issue for transport.
  • the goods are not substantially changed between goods receipt and goods issue, in contrast to a manufacturing process.
  • picking is to be understood as meaning the assembling of order goods for a picking order.
  • Goods are generally objects of goods trading and are delivered to goods receipt and transported away to a customer at goods issue in accordance with an order.
  • a “goods” is understood to mean, in particular, an individually handleable object or a individually handleable group of objects.
  • a good can be, for example, a piece of clothing, for example a "shirt, white, size 42" or “jeans, size 34/34", a foodstuff, for example a package of "Tagliatelle, 1 kg” or a bottle of "tomato sauce”.
  • electronic device e.g. a mobile phone, or can be a commodity of another kind.
  • a “storage and conveying area” serves to store and/or convey goods.
  • this includes warehouses with stacker cranes, stationary conveyor systems and driveways for manned conveyor vehicles and (unmanned) autonomous conveyor vehicles.
  • Rooms or areas that are not used for storing and/or conveying goods are not part of the storage and conveying area.
  • Such rooms are, for example, offices, sanitary facilities, break rooms, rooms with operational systems (eg rooms with electrical switch cabinets, air conditioning units, compressors and the like).
  • a distinction is made between a “real storage and conveying area” and its digital model or image, for which the term “digital storage and conveying area” or also “virtual storage and conveying area” is used within the scope of this disclosure.
  • the model of the real storage and conveying area corresponds in essential properties to the real storage and conveying area. It can be constructed in two or three dimensions.
  • the digital storage and conveying area can also be represented in graphic form in the computer.
  • the creation of the model of the real storage and conveying area can generally include measuring the real storage and conveying area, for example with a laser scanner, with a measuring tape or with a laser distance measuring device.
  • construction data of the storage and picking system eg CAD data
  • a model of the storage and conveying area based on measurements is compared with the design data of the storage and picking system (eg with CAD data).
  • the model of the storage and conveying area determined by measurement is brought into agreement (as far as possible) with design data of the same.
  • measurement errors can be corrected, but also deviations of the real storage and order-picking system from a plan of the storage and order-picking system based on design data.
  • the term “goods carrier” is to be interpreted broadly and includes any device that has a goods receptacle for storing and/or conveying at least one item. Therefore, in particular all types of stationary conveyors (especially belt conveyors, roller conveyors, vertical conveyors, lifts, paternosters and the like), mobile conveyors, especially stacker cranes (single-level and multi-level stacker cranes), manned conveyor vehicles or unmanned (autonomous) conveyor vehicles, and the like, and /or storage shelves.
  • goods carriers can also be designed as loading aids (trays, containers, cartons, pallets and the like). Goods carriers can also transport goods on several hierarchical levels.
  • goods can lie on a tray (first hierarchical level), which is transported on an autonomous conveyor vehicle (second hierarchical level), which in turn is transported vertically by a lift (third hierarchical level).
  • first hierarchical level which is transported on an autonomous conveyor vehicle (second hierarchical level), which in turn is transported vertically by a lift (third hierarchical level).
  • second hierarchical level which in turn is transported vertically by a lift
  • third hierarchical level a "real goods carrier” and its digital model or image, for which the term “digital goods carrier” or “virtual goods carrier” is used within the scope of this disclosure.
  • digital images or models are also known under the term “digital twin” or "digital twin”.
  • the model of the real goods carrier corresponds in essential properties to the real goods carrier. It can be constructed in two or three dimensions.
  • the position and location of the real goods carrier in the real storage and conveying area are continuously compared or synchronized with the position and location of the digital goods carrier in the digital storage and conveying area.
  • a change of position and position of the real goods carrier entails a corresponding change in the position and position of the digital goods carrier and vice versa.
  • a digital goods carrier can also be displayed in graphic form on the computer.
  • the model of the real goods carrier includes in particular its dimensions, but can also include other parameters, such as the weight of the goods carrier, the position of a lifting fork of the goods carrier (retracted/extended), a position of steerable wheels, and much more. The level of accuracy in creating the model depends on how closely the virtual world is intended to replicate the real world and the computing power available to do so.
  • the synchronization mentioned above can also include these other states, for example the position of a lifting fork of the goods carrier, a position of steerable wheels, and much more.
  • a "goods holder” is usually a flat receiving surface on which goods can be placed or another goods carrier can be placed (compare the hierarchy levels mentioned above).
  • the receiving surface can also be shaped differently and can also be variable in terms of its shape, as is the case with hanging bags, for example.
  • a goods receptacle can also be formed, for example, by the gripper of a robot.
  • Receiving areas in the storage and picking system, on which goods can in principle be placed, but which are not intended for this purpose, are not goods receptacles within the meaning of the invention.
  • goods could be placed on a railing in the storage and picking system, which is not intended for storing goods or for transporting goods.
  • the railing therefore has no goods receiving and therefore does not form a goods carrier.
  • the definition of the receiving of goods or the goods carrier necessarily includes the intended use for goods storage and/or goods transport, the mere potential possibility of this is not sufficient.
  • a "computer” refers to a computer that can communicate (bidirectionally) with devices in the storage and picking system, in particular with real goods carriers and/or real devices for influencing the conveyance of goods, and can control them. Communication can be wireless or wired. There is therefore a communication connection between the computer and the real goods carriers and/or a communication connection between the computer and the real devices for influencing the goods transport.
  • a communication network in particular a wireless communication network, can be provided for this purpose.
  • the real goods carriers and/or devices for influencing the conveyance of goods can include sensors, and the sensor signals can be transmitted to the computer.
  • the real goods carriers and/or devices for influencing the conveyance of goods can also include drives, and the computer can transmit control signals to the drives and receive feedback from them.
  • the storage and picking system is also virtualized on the computer. Said control and communication as well as the virtualization does not necessarily run in a single processor or computer, but can also run in multiple processors or computers.
  • the term "computer” can therefore also be understood as a computer network or a computer network, which can also include cloud solutions in particular.
  • the "computer” can also be used for order entry and/or order placement in the storage and picking system.
  • a “control for a goods carrier” refers to a local electronic control which is assigned to a single goods carrier and with which the computer communicates.
  • control tasks can be hierarchically divided.
  • the controller for the goods carrier takes over basic tasks such as speed control or collision avoidance, whereas the higher-level computer indicates, for example, where goods are to be picked up and where they are to be transported.
  • the route can be planned in the computer or in the controller of the goods carrier.
  • the program running in the controller of the goods carrier to carry out the tasks mentioned is the "control program".
  • the route planning preferably takes place in the controller of the goods carrier, but can also be carried out by the computer if required.
  • the computer discards or overwrites the route planned by the controller of the goods carrier, if necessary.
  • a "state" of the goods carrier can relate to various aspects of the goods carrier, on the one hand sensor-detected states, on the other hand states of a control program of the goods carrier.
  • states of the goods carrier that can be detected by sensors are a pose of the goods carrier, an electric current of a drive of the goods carrier, a charge level of a battery of the goods carrier, a filling level of a fuel tank of the goods carrier, a switching position of a switch of the goods carrier, and so on.
  • states concerning a control program of the goods carrier can be specified, for example, whether the control program is currently in a run-up sequence (boot sequence), the control software is being updated (updated) or the goods carrier is in normal operation.
  • the "status information” is information about the status, for example, a notification or description regarding the pose of the goods carrier, the charging status of a battery of the goods carrier, the order assignment of the goods carrier, and so on.
  • the notification or description can be in text form or with the help of symbols and the like.
  • a "status change” is a change in status, e.g. a change in the pose of the goods carrier, a change in the state of charge of a battery in the goods carrier, a change in the order assignment, and so on.
  • “Status change information” is information about a status change, such as a notification or description regarding a change in the pose of the goods carrier, a change in the state of charge of a battery of the goods carrier, a change in the order booking, and so on.
  • the notification or description can in turn be in text form or with the help of symbols and the like.
  • the status change information does not necessarily have to represent special information derived from a status, but can also be the mere combination of two or more status information items which represent a status at two or more different points in time. This means that the provision of two pieces of status information, which represents a state at two different points in time, in a memory, in a message or in a message corresponds within the scope of the invention to the provision of a piece of status change information.
  • status change information can therefore be present as “implicit status change information", which designates the combination of two or more status information items that represent a status at two or more different times without explicitly informing about a status change.
  • status change information can also be present as “explicit status change information” that provides direct information about a recognized status change.
  • status change information is only generated within the framework of the method presented if there is actually a status change.
  • explicit status change information is only generated in this case if a change in status is detected.
  • implicit status change information is only updated when there is a status change.
  • Such status change information is referred to within the scope of the invention as “dedicated status change information”, specifically as “dedicated implicit status change information” and “dedicated explicit status change information”.
  • active status change information can also be used.
  • the "determination" of status information or status change information includes the active procurement of the relevant information and can do so be active reading of provided information or active inquiries and based thereon mean the subsequent receipt of this information.
  • receiving status information or status change information includes obtaining the relevant information, both based on an active request and without such an explicit request.
  • obtaining status information or status change information is the generic term for "determining” and “receiving” and can therefore mean both the active procurement of status information or status change information or the receipt of status information or status change information within the framework of a be transmission.
  • the "transmission" of status information or status change information includes the active sending of the information in question to an addressee (e.g. to a digital product carrier or to a digital device for influencing the transport of goods), both based on a request from the addressee as well as without such a request. Transmission to an indefinite group of recipients (“broadcasting") would also be conceivable.
  • the "reporting" of status information or status change information includes the active transmission of the relevant information to an addressee without an associated, explicit request. So “report” is a special case of "transmit”.
  • the term "storing" status information or status change information means that the relevant information is made available for another party (e.g. for a digital goods carrier or for a digital device for influencing the goods transport) to be read out or to be read out for is made available, in particular for an indefinite other party.
  • the information can be stored in a memory of the depositing institution or in another memory to which the depositing institution transfers the relevant information. If the first real goods carrier is the depositing device, status information or status change information can be stored in a memory of the controller of the first real goods carrier or in a central message s memory, which is available to several goods carriers.
  • providing” status information or status change information is the generic term for “transmitting” and “storing” and can therefore be both the active sending of status information or status change information and the depositing of status information or status change information.
  • “recognition” or “evaluation” includes, in particular, recognizing a change in status by comparing the status information determined or received at two different points in time.
  • the “recognition” or “evaluation” includes the derivation or the generation of a dedicated status change information. For this purpose, in particular sensor signals or states of the control program are evaluated.
  • a status or a status change can be detected and status information or status change information can be provided by the sensor or the control program itself or by a query from outside the real goods carrier.
  • a recurring (ie multiple) query can be cyclic or event-driven ("event-based"), for example when a specific condition occurs or when an interrupt occurs.
  • the cyclic querying of sensor signals is also known under the term "polling”.
  • Status information or status change information which relates to a status of the control program, can be provided, for example, when a specific condition occurs or also with the aid of interrupts.
  • the first digital goods carrier can recognize a change in the status of the first real goods carrier in that it receives status change information from the first real goods carrier, that it receives status information from the first real goods carrier at different times and compares this with one another, that it receives status information or data (i.e. sensor signals or program states) at different points in time from the first real goods carrier or queries and compares them with one another or by reading state change information from the first real goods carrier or queries them.
  • An active notification of a change in status on the part of the first real goods carrier does not have to take place immediately after the change in status has occurred, but it can also be provided that the first real goods carrier reports the changes in status occurring in a time interval (for example also originating from several sensors) cyclically in a collected form.
  • polling can also deliver several status changes.
  • the determination of status information or status change information by the first digital goods carrier means reading a data record from a sensor or the controller of the first real goods carrier or requesting a corresponding message from the first real Goods carrier can mean.
  • a current sensor a voltage sensor, a position sensor, an acceleration sensor, a gyro sensor, a rotary encoder, a camera, a depth sensor, an ultrasonic sensor, a laser scanner, a light barrier, a force sensor or a Consider weight sensor.
  • a combination of different sensors is also possible. Again, the listing is for illustrative purposes only, and the states are not limited to the examples given.
  • the detection of the status or a change in status is also in no way dependent on this or this being detected with a sensor which is arranged on or in the goods carrier. Rather, detection with external sensors that are separate from the goods carrier is also conceivable. For example, cameras arranged in the (real) storage and picking system can be used to record the position and location of a goods carrier or the distance and direction to an obstacle.
  • the “conveyor technology” is generally used for the transport of goods with or without loading aids.
  • the conveyor technology can be divided into different, functional areas, for example a “storage conveyor technology”, which is used to transport goods from goods receipt to a storage area, a “removal conveyor technology”, which is used to transport goods from the storage area to a picking station, etc.
  • Conveyor technology can include “fixed/stationary conveyors” and/or “mobile conveyors”.
  • the “mobile conveyor devices” are formed by conveyor vehicles.
  • “Fixed conveyors” require permanently installed equipment to transport goods.
  • Stationary conveyor devices are to be understood in particular as roller conveyors, belt conveyors, chain conveyors, lifts, paternosters and the like.
  • “conveyor vehicles” are in particular self-propelled driverless conveyor vehicles or autonomous industrial trucks (English: “automated guided vehicle”, “AGV” for short or “automated mobile robot”, “AMR” for short) for transporting goods with or without loading aids to understand which are driving along fixed paths or which are guided freely, i.e. without fixed lane guidance.
  • Each autonomous industrial truck comprises a chassis with a drive unit and a goods pick-up arranged on the chassis for picking up, delivering and transporting goods with or without loading aids.
  • the goods holder can also be formed by a hanging rod or overhead track for holding hanging bags or hanging goods hung on goods transport carriers and/or clothes hangers.
  • the goods holder can be fixed to the conveyor vehicle, but the goods holder can also be vertical and/or lateral relative to a chassis l of the conveyor vehicle to be movable, for example, to store goods in a storage rack and to be able to auslagem from the storage rack.
  • At least one of the wheels of the drive unit can be steered if the autonomous conveyor vehicle does not have wheels that can also be used to move sideways (eg Mecanum wheels).
  • An autonomous industrial truck also includes sensors for detecting the surroundings of the industrial truck and for orientation in space. Different technologies are generally known for navigating autonomous industrial trucks.
  • each industrial truck is equipped with a laser scanner that detects stationary or natural reference points in the area and uses the detected environmental features to navigate the industrial truck.
  • the autonomous industrial truck can also be located, for example, by triangulation, distance measurement or transit time measurement, for example with the help of IndoorGPS (Global Positioning System), Bluetooth or WLAN (Wireless Local Area Network).
  • IndoorGPS Global Positioning System
  • WLAN Wireless Local Area Network
  • the position of the industrial truck is determined by measuring the distance to reference points whose position is known, by measuring the propagation time of a (radio) signal between the industrial truck and such reference points and/or by measuring an angle to such reference points.
  • the distance to this reference point can in turn be calculated from the propagation time of a signal, since the signal speed is known.
  • the reference point can be formed by a transmitting and/or receiving station for a (radio) signal and can work in particular according to the GPS, Bluetooth or WLAN standard.
  • An acceleration sensor can be used, for example, to determine curvatures of the path (eg curves, switches, inclines, etc.). In principle, however, a distance measurement would also be possible with the acceleration sensor if the sensor signal is integrated accordingly over time.
  • goods carriers that are transported on a stationary conveyor device can also be located in the above-mentioned ways.
  • goods carriers can also be located with the help of rotary signals that are detected in motor drives of the conveyor device (e.g. via a Hall sensor of a brushless DC motor, via the control signals for a drive motor or via a rotary encoder in the drive motor or in the drive train).
  • path signals can in turn be calculated over the circumference of a rotating conveyor roller of a conveyor device using the rotation signals.
  • light barriers, cameras, barcode readers and/or RFID readers can also be used for locating the goods carriers, which are arranged along the conveyor system.
  • Stationary light barriers, cameras, barcode readers and RFID readers are primarily used to determine the absolute position of the goods carriers, while displacement and rotation signals are used to determine the relative position of the goods carriers based on a reference point.
  • the reference point can be given in particular by a stationary installed light barrier or camera or by a stationary installed barcode reader or RFID reader.
  • a “storage and retrieval device” within the scope of the invention is an automated conveyor vehicle that travels on rails and can be designed as a single-level storage and retrieval device (also called “shuttle") or as a multi-level storage and retrieval device.
  • a “mobile shelf” is a movable shelf that is not fixed to a specific location.
  • a mobile shelf can include wheels for easier transport.
  • a “hanging rail” is a rail on which hanging bags or goods transport carriers can be stored and/or transported hanging.
  • a “storage monorail” is therefore one Overhead conveyor on which hanging bags or goods transport carriers can be stored hanging.
  • a “transport overhead conveyor” is an overhead conveyor over which hanging bags or goods transport carriers can be transported hanging.
  • a “mobile storage monorail” is a mobile monorail that is not fixed to a specific location. A mobile storage monorail can in particular be constructed similarly to a mobile shelf and also have wheels for easier transport.
  • the first digital goods carrier repeatedly obtains the provided status information of the assigned first real goods carrier and makes this available to the second digital goods carrier of the digital goods carriers and if the second digital goods carrier repeatedly obtains the status information provided by the first digital goods carrier and recognizes a status change of the first real goods carrier due to a change in the status information between two points in time, or b) the first digital goods carrier repeatedly obtains the status information provided for the assigned first real goods carrier, derives assigned status change information from this, and this status change information to the second digital goods carrier the digital goods carrier provides or c) the first digital goods carrier the status change information, which is a change in the provided status information of this first real product carrier describes, obtained and provides this to the second digital product carrier of the digital product carrier.
  • status information is passed on from the first real goods carrier via the first digital goods carrier to the second digital goods carrier, which can subsequently detect a change in the status of the first real goods carrier through a change in the status information between two points in time.
  • status change information is derived from the status information provided by the first digital product carrier and this information is forwarded to the second digital product carrier.
  • status change information is provided directly by the first real goods carrier and forwarded to the second digital goods carrier via the first digital goods carrier.
  • the first real goods carrier transmits the status information to the first digital goods carrier at different times and the first digital goods carrier receives this status information or the first real goods carrier stores the status information at different times and the first digital goods carrier determines this status information or the first real goods carrier transmits the status change information to the first digital goods carrier and the first digital goods carrier receives this status change information or the first real goods carrier stores the status change information and the first digital goods carrier determines this status change information.
  • This embodiment thus describes advantageous options for information transmission between the first real goods carrier and the first digital goods carrier, specifically the active transmission of status information or status change information to the first digital goods carrier and the active determination of status information or status change information by the first digital goods carrier.
  • first digital goods carrier transmits the status information to the second digital goods carrier at different times and the second digital goods carrier receives this status information or the first digital goods carrier stores the status information at different times and the second digital goods carrier determines this status information or the first digital goods carrier transmits the status change information to the second digital goods carrier and the second digital goods carrier receives this status change information or the first digital goods carrier stores the status change information and the second digital goods carrier determines this status change information.
  • This embodiment therefore describes advantageous possibilities for information transmission between the first digital product carrier and the second digital product carrier, specifically the active transmission of status information or status change information to the second digital product carrier and the active determination of status information or status change information by the second digital product carrier goods carrier. It is advantageous if the first digital product carrier in case b) only derives status change information and provides this status change information to the second digital product carrier of the digital product carriers if the first digital product carrier detects a status change of the first real product carrier by a Change in the status information between two points in time recognizes. In other words, only dedicated status change information is provided to the second digital goods carrier. As a result, the outlay for the provision of status change information is kept low, since dedicated status change information is only provided if there is actually a status change.
  • the first digital goods carrier determines the status information of the assigned first real goods carrier repeatedly (cyclically or event-controlled) and recognizes a change in the status of the first real goods carrier by a change in the status information between two queries.
  • This embodiment offers advantages in particular when real goods carriers are purchased whose control software cannot be changed or can only be changed to a very limited extent, because the proposed procedure requires practically no changes to the real goods carrier. Instead, a status change is actively recognized and, if necessary, corresponding status change information is provided in the digital goods carrier, i.e. the digital twin.
  • the second digital goods carrier repeatedly (cyclically or event-controlled) determines the status change information of the first digital goods carrier. This means that an active transmission of status change information on the part of the first digital goods carrier is not necessary in this embodiment.
  • This embodiment follows the principle that units or participants interested in a status change (for example a digital product carrier or a digital device for influencing the transport of goods) must actively inquire about this. Determining status change information of the first digital product carrier can mean reading out a data record from the first digital product carrier or requesting corresponding information from the first digital product carrier.
  • the second digital product carrier can also collect the stated status change information from a central message s memory, in which the first digital product carrier stores status change information.
  • both the first digital goods carrier repeatedly (cyclically or event-controlled) determines the status information of the assigned first real goods carrier and a change in the status of the first real goods carrier through a change in the status information between two queries, and the second digital goods carrier recognizes the status change -Information of the first digital product carrier is determined recurrently (cyclically or event-controlled). Both are preferably done by reading out the data by the requesting unit or by the requesting subscriber. This means that the first digital product carrier preferably reads the status information of the assigned first real product carrier, and the second digital product carrier preferably also reads out the status change information of the first digital product carrier. In this case, there is no need for an active response from the requested unit/the requested participant.
  • the first physical goods carrier does not need to send a message to the first digital goods carrier, and the first digital goods carrier does not need to send a message to the second digital goods carrier either.
  • the distribution of status information or status change information therefore follows a uniform principle within the system presented. It is also particularly advantageous that the control of the first real goods carrier does not have to be reprogrammed, or only slightly so.
  • the proposed embodiment variant is therefore particularly suitable for applications in heterogeneous systems, for example in systems with real goods carriers from different manufacturers, each of which is based on proprietary control software.
  • the first digital goods carrier repeatedly (cyclically or event-controlled) determines the status information of the assigned first real goods carrier and the second digital goods carrier repeatedly (cyclically or event-controlled) determines the status information of the first digital goods carrier and a change in the status of the first digital Goods carrier recognized by a change in status information between two queries.
  • the first digital product carrier preferably reads the status information of the assigned first real product carrier, and the second digital product carrier preferably also reads the status information of the first digital product carrier.
  • the first physical goods carrier does not need to send a message to the first digital goods carrier, and the first digital goods carrier does not need to send a message to the second digital goods carrier either.
  • the distribution of status information therefore follows a uniform principle within the system presented. It is also particularly advantageous that the control of the first real goods carrier does not have to be reprogrammed, or only slightly so.
  • the proposed embodiment variant is therefore particularly suitable for applications in heterogeneous systems, for example in systems with real goods carriers from different manufacturers, each of which is based on proprietary control software.
  • the first digital product carrier in case b) only reports the presence (or the existence) of the status change or limited status change information to the second digital product carrier in a first step and the second digital product carrier reports a comprehensive or more extensive status change - Provides information in a subsequent second step, in particular after a corresponding request (request) from the second digital goods carrier.
  • This procedure is advantageous if the amount of data that is distributed within the system is to be reduced, because only those recipients who have actively requested it will receive (comprehensive/extensive) status change information.
  • the notification of the presence of a status change or restricted status change information can be made in a very short form.
  • the restricted state change information can indicate its type.
  • the restricted status change information can be "position update” if the status change relates to a change in the position of the first physical product carrier or "battery status update” if the status change relates to a change in the charge level of the battery of the first real product carrier.
  • abbreviated symbols can also be used for this purpose, for example "PA” for the position update and "BA” for the battery status update.
  • the comprehensive state change information may be "Battery state changed to 85%". The comprehensive/extensive status change information thus offers more information content than the restricted status change information.
  • the second digital product carrier after receiving the notification of the existence of the status change or after obtaining the limited status change information, sends a query (request) including additional request information to the first digital product carrier, which includes or more extensive status information and/or which comprehensive status change information is to be provided by the first digital goods carrier.
  • a query request
  • the position and location or orientation of the real goods carrier can be determined by a position and location sensor, whereas for the second goods carrier only the position may be of interest. Therefore, if the second digital goods carrier has been informed of the existence of a status change, it can use the additional request information to indicate which information (here, for example, the position) is of interest to it.
  • the position of the first real goods carrier is provided by the first digital goods carrier, but not its orientation.
  • the status change information can also relate to signals from a number of different sensors.
  • status information and/or status change information can be requested by means of the request additional information for which no change has taken place at all.
  • the state change it would be possible for the state change to indicate the state of charge of a battery of the first re- alen goods carrier is concerned. Since this is not relevant for the second goods carrier in this example, no status information and/or status change information is provided to the second digital goods carrier by the first digital goods carrier. However, the sending of an (empty) confirmation can be provided.
  • the second digital goods carrier does not react to the notification of an existing status change, in particular if it can see from limited status change information that the status change is not of interest to it.
  • a digital device for influencing the conveyance of goods which corresponds to a digital model of a real device for influencing the conveyance of goods, is generated in the digital storage and conveying area, with the digital device for influencing the conveyance of goods also being stored in the computer and wherein the real device for influencing the conveyance of goods is suitable for influencing the conveyance of the goods in the storage and picking system, but does not include receiving goods, and a detection of a change in status of the real device for influencing the conveyance of goods and an exchange of information between a device for influencing the conveyance of goods and a goods carrier takes place in the same way as between two goods carriers.
  • An example of such a "device for influencing the conveyance of goods” is a door or a gate, which blocks the way for the autonomous conveying vehicle(s) when it is closed, and allows the autonomous handling vehicle(s) to pass when it is open.
  • a closing/opening contact for example, which indicates whether the door is open or closed, is particularly suitable as a sensor for a door.
  • the use of a rotary encoder would also be conceivable in order to be able to evaluate the angular position of a (rotatably mounted) door leaf. If the door is a sliding door, a linear measuring device can provide information about the position of the door leaf.
  • the position and/or location of the real device for influencing the conveyance of goods is continuously compared or synchronized with the position and/or location of the digital device for influencing the conveyance of goods.
  • a change in the position and/or location of the real device for influencing the conveyance of goods entails a corresponding change in the position and/or location of the digital device for influencing the conveyance of goods and vice versa.
  • the synchronization can also include other states of the device for influencing the conveyance of goods.
  • Other examples of devices for influencing the conveyance of goods are barrier tapes or barrier devices, barriers, traffic lights, traffic signs, traffic cones, diversion signs, warning signs and information signs.
  • these devices can also only be installed temporarily in the storage and conveying area, for example to draw attention to cleaning or maintenance work, such as contamination of the conveying area.
  • spilled oil on the runway cannot usually be detected directly by the autonomous industrial trucks, but this is possible with the help of the signs (put up by the operating personnel).
  • detour s signs or barriers can be designed in such a way that their meaning is immediately recognizable to participants in the real world (especially to humans) due to the visual design.
  • a detour sign directly shows an intended alternative direction. This meaning inherent in the detour sign can be transferred to the digital world in that its position and orientation is determined by sensors and is generated and stored in the digital storage and conveying area. As a result, the diversion sign also has an effect on the digital goods carrier.
  • devices for influencing the conveying of goods are only installed in the digital storage and conveying area and act on the digital goods carriers.
  • Purely digital devices for influencing the conveying of goods are not directly recognizable in the real storage and conveying area, but they also have an effect there, since the movements of the real and digital goods carriers are synchronized.
  • a person it would be conceivable for a person to be shown purely digital devices for influencing the conveyance of goods, for example via data glasses with the help of augmented reality.
  • status information relating to a physical status of the real device for influencing the goods transport is recorded and provided with the aid of at least one sensor and/or status information relating to a status of a control program for the real device for influencing the goods transport, which is in a control - tion of the real device for influencing the transport of goods takes place, is provided by the control program and the digital device for influencing the transport of goods, which is assigned to the real device for influencing the transport of goods, provided status information of this real device for influencing the transport of goods or a status change at different times Information that describes a change in the provided status information of this real device for influencing the conveyance of goods, obtained and provides this status information or this status change information or status change information derived from the status information to a second digital goods carrier of the digital goods carriers.
  • the digital device for influencing the conveying of goods repeatedly obtains the status information provided by the assigned real device for influencing the conveying of goods and makes this available to the second digital goods carrier of the digital goods carriers and if the second digital goods carrier receives the information from the digital device for Influencing the goods transport provided status information is obtained repeatedly and a change in the status of the real device for influencing the goods transport is recognized by a change in the status information between two points in time or ii) the digital device for influencing the goods transport repeatedly acquires the provided status information of the associated real device for influencing the goods transport, derives an associated status change information from this, and this status change information to the second digital goods carrier the digital n goods carrier provides or iii) the digital device for influencing the goods transport obtains the status change information, which describes a change in the provided status information of this real device for influencing the goods transport, and provides this to the second digital goods carrier of the digital goods carriers.
  • the real device for influencing the conveyance of goods forwards the status information to the digital device for influencing the conveyance of goods at different points in time.
  • the digital device for influencing the transport of goods receives this status information or the real device for influencing the transport of goods stores the status information at different points in time and the digital device for influencing the transport of goods determines this status information or the real device for influencing the transport of goods the status change information transmitted to the digital device for influencing the transport of goods and the digital device for influencing the transport of goods receives this status change information or the real device for influencing the transport of goods stores the status change information and the digital device for influencing the transport of goods determines this status change information.
  • the digital device for influencing the goods transport transmits the status information to the second digital goods carrier at different points in time and the second digital goods carrier receives this status information or the digital device for influencing the goods transport stores the status information at different points in time and the second digital goods carrier determines this status information or the digital device for influencing the goods transport transmits the status change information to the second digital goods carrier and the second digital goods carrier receives this status change information or the digital device for influencing the goods transport stores the status change information and the second digital Goods carrier determined this change of state information.
  • the digital device for influencing the goods transport in case ii) only derives status change information and provides this status change information to the second digital goods carrier of the digital goods carriers when the digital device for influencing the goods transport detects a change in the status of the real device for influencing the transport of goods by a change in status information between two points in time. It is also favorable if the change in status of the real device for influencing the conveyance of goods is reported by the second digital goods carrier to the second real goods carrier assigned to it.
  • the digital device for influencing the goods transport repeatedly determines the status information of the assigned real device for influencing the goods transport and recognizes a status change of the real device for influencing the goods transport by a change in the status information between two queries.
  • the digital device for influencing the conveyance of goods in case ii) only reports the presence of the status change or limited status change information to the digital goods carrier in a first step and comprehensive or more extensive status change information to the second digital goods carrier in one step provides the following second step, in particular after a corresponding request from the second digital goods carrier.
  • the second digital goods carrier after receiving the message about the existence of the status change or after obtaining the limited status change information, sends a request including additional request information to the digital device for influencing the goods transport, which comprehensive/extensive Status information and/or which comprehensive/extensive status change information is to be transmitted or made available by the digital device for influencing the conveyance of goods.
  • Fig. 3 shows an example of the provision of status information in a warehouse
  • FIG. 6 shows an example for the active determination of status information or status change information in a warehousing and picking system
  • FIG. 8 shows an illustrative representation of possible devices of a storage and picking system that are virtualized in the computer.
  • the position information selected in the description is related to the directly described and illustrated figure and, in the event of a change of position, is to be transferred to the new position.
  • 1 shows an exemplary storage and picking system 1, which includes a building 2 that has incoming goods 3a and 3b and outgoing goods 4a and 4b.
  • the storage and order-picking system 1 also includes a first storage area 5 and a second storage area 6 , which together are part of the warehouse 7 .
  • the first storage area 5 includes storage racks 8 and stacker cranes 9a and 9b moving between the storage racks 8 .
  • Goods 10a..10e can be stored directly or using first transport loading aids 11a..11c in the storage shelves 8.
  • the first transport loading aids 11a..11c can be designed in particular as trays or containers with a solid base and side walls.
  • the second storage area 6 includes storage overhead conveyors 12, on which goods 10f..l0h can be stored directly or with the help of second transport loading aids 13a..13c, here with the help of hanging bags 13a..13c. If the goods 10f are stored directly on the storage overhead conveyors 12, the goods 10f are in the form of hanging goods, for example in the form of items of clothing that hang on clothes hooks. If the goods 10g..10h are stored in the hanging pockets 13a..13c, they can be in practically any form.
  • the storage and picking system 1 also includes a storage conveyor 14, which in this example has a first storage section 15a, a second storage section 15b and a third storage section 15c.
  • the first storage section 15a connects the goods receipt 3a to a transfer robot 16.
  • the second storage section 15b and the third storage section 15c connect the transfer robot 16 to the stacker cranes 9a and 9b.
  • On the first storage section 15a two goods 10a, 10b are transported without first transport loading aids 11a..11c, two other goods 10c, 10d with a first transport loading aid 11a.
  • a retrieval conveyor 17 is provided at that end of the shelf aisles which is opposite the storage conveyor 14, which in this example has a first retrieval section 18a, which connects the storage and retrieval devices 9a and 9b to a picking station 19 in terms of conveyor technology.
  • the storage conveyor system 14 also includes a fourth storage section 15d and a fifth storage section 15e, which connect the goods receipt 3b to the second storage area 6.
  • the retrieval conveyor 17 comprises a second delivery section 18b, which connects the storage overhead conveyors 12 with the picking station 19 in terms of conveyor technology.
  • the storage and order-picking system 1 also includes a goods-out conveyor system 20, which connects the order-picking station 19 to the goods-out points 4a and 4b.
  • the outgoing goods conveyor system 20 includes an outgoing goods section 22 on which a shipping package (a target loading aid) 23 is transported.
  • the storage and order-picking system 1 has some autonomous industrial trucks 2 la..2 le, which
  • Goods 10i..10k can be transported from goods receipt 4a to stacker cranes 9a and 9b or goods 10i..l0k from goods receipt 4b to the fourth storage section 15d or fifth storage section 15e and thus form part of the storage conveyor system 14 and/or
  • Goods 10i..l0k can be transported from the stacker cranes 9a and 9b to the picking station 19 or goods 10i..l0k from the second delivery section 18b to the picking station 19 and thus form part of the outsourcing conveyor system 17 and/or
  • Goods 10i..10k can be transported from incoming goods 4a or 4b to the picking station 19 and thus form both a part of the storage conveyor 14 and the outsourcing conveyor 17 (transport of cross-docking goods) and/or
  • Shipping packages 23 can transport from the picking station 19 to the outgoing goods 4a, 4b and thus form part of the outgoing goods conveyor system 20.
  • the storage and order-picking system 1 includes a transfer conveyor system (not shown in FIG. 1) between the first storage area 5 and the second storage area 6, with which goods 10a.
  • goods 10a..10k can be removed from a first transport loading aid 11a..11c, for example a container, and reloaded into a second transport loading aid 13a..13c, preferably a hanging bag, or vice versa.
  • the relocation conveyor technology can include stationary conveyor devices and/or autonomous industrial trucks 21a..21e.
  • the storage and picking system 1 shown in FIG. 1 also includes a door 24 and a lift 25.
  • the door 24 forms a device for influencing the goods transport.
  • a computer 26 is shown in FIG. 1 by way of example, which can communicate with and control devices of the storage and picking system 1, in particular with goods carriers and/or devices for influencing the conveyance of goods.
  • the computer 26 can be used in particular with the stacker cranes 9a, 9b, the storage conveyor 14, the transfer robot 16, the retrieval conveyor 17, the picking station 19, the goods issue conveyor 20, the autonomous industrial trucks 21, 21a..21e and the lift 25, which are thus part of the said facilities of the storage and order-picking system 1, communicate and control them.
  • wireless communication is indicated in FIG. 1, although wired communication is of course also conceivable.
  • the storage and picking system 1 is also virtualized in the computer 26 (see also FIGS. 3 to 5).
  • the control and communication as well as the virtualization are not tied to a specific, physical computer 26, but the computer 26 can also symbolically stand for a computer network or a computer network, which in particular can also include cloud solutions.
  • the function of the storage and picking system 1 shown in FIG. 1 is as follows:
  • Goods 10a For storage in the first goods area 5, the goods 10a and 10b are placed directly on the first storage section 15a of the storage conveyor 14, and/or goods 10c and 10d are placed on said first storage section 15a using a first transport loading aid 11a . The goods 10a . In a further step, the goods 10a .
  • the associated goods 1Oe are removed from the storage rack 8 using the storage and retrieval device 9a or 9b, transferred to the outsourcing section 18a of the outsourcing conveyor 17 and transported to the outsourcing section 18a to the picking station 19.
  • the goods 10e are transferred/packed into shipping packaging 23, and as a result the shipping packaging 23 is transported via the outgoing goods section 22 of the outgoing goods conveyor system 20 to the outgoing goods 4a.
  • the procedure for storing, storing, retrieving and picking goods 10f..l0h is designed in a similar way to storing, storing, retrieving and picking goods 10a..10e.
  • Goods 10f can be transported via the fourth storage section 15d or the fifth storage section 15e onto one of the storage overhead conveyors 12 of the second storage area 6 and stored there.
  • the goods 1Of can be transported directly on the overhead conveyors of the fourth storage section 15d or the fifth storage section 15e or stored on the storage overhead conveyors 12 or with the help of a second transport loading aid 13a..13c, as shown in Fig. 1 for goods 10g and 10h.
  • the second transport loading aid 13a..13c is designed as a hanging bag in this example.
  • the assigned goods 10h or the hanging bag 13c are transported via the second retrieval section 18b of the retrieval conveyor system 17 to the picking station 19.
  • the goods 10h are transferred/packed into a shipping packaging 23 .
  • the shipping packaging 23 is in turn transported via the goods issue section 22 of the goods issue conveyor system 20 to the goods issue 4a.
  • the goods 10a..10h can be transported, as described above, via the conveyor system with stationary conveyor devices or else with the aid of autonomous industrial trucks 21a..21e, as shown in FIG.
  • goods 10f..l0h can be transported using an industrial truck 21a from goods receipt 3b to the fourth storage section 15d or the fifth storage section 15e.
  • Goods 10k can also be transported from the first storage area 5 or from the second storage area 6 to the picking station 19 using an autonomous industrial truck 2le. It would also be conceivable for goods 10i to be transported directly from goods receipt 3a or 3b to picking station 19 with an autonomous industrial truck 21b (cross-docking goods).
  • a shipping package 23 is transported by an industrial truck 21d from the picking station 19 to the goods issue 4a or 4b.
  • the goods 10i..l0k can be transported by the industrial trucks 21a..21e, as stated above, without first transport loading aids 11a..11c or without second transport loading aids 13a..13c or with first transport loading aids 11a..11c or with second transport loading aids 13a..13c are transported.
  • one area of the storage and picking system 1 can be separated from another.
  • goods 10a..10k can be transported from one level of the storage and picking system 1 to another level of the storage and picking system 1 with or without a first transport loading aid 11a..11c or a second transport loading aid 13a..13c.
  • the autonomous industrial trucks 21a . . . 21e can be transported from one level of the storage and picking system 1 to another level of the storage and picking system 1 .
  • Goods 10a..10k can also be transported manually in the storage and picking system 1, for example goods 10a..10k can be carried by one person, with a pallet truck or, for example, with the help of a manned forklift. People can also be in the storage and picking system 1 for other tasks, for example repair or cleaning work.
  • the autonomous industrial truck 21 comprises a chassis 27 with a drive unit and a goods receptacle or loading platform 28 arranged on the chassis 27 for receiving, delivering and transporting goods 10a .. 10k (not shown in this figure) or a first transport loading aid 11a .. 11c (not shown in this figure). It would also be conceivable that the autonomous industrial truck 21 additionally or alternatively comprises a hanging bar that acts as a goods holder, with which hanging bags 13a..13c or hanging goods can be transported on goods transport carriers with hangers or hangers with the hanging goods.
  • the drive unit comprises wheels 29, 30 rotatably mounted on the chassis 27, of which at least one of the wheels 29 is coupled to a drive (not shown) and at least one of the wheels 30 can be steered. Both wheels 29 can also be coupled to the drive and driven by it.
  • the autonomous industrial truck 21 can also have four wheels, two of which wheels can be steered.
  • the goods receptacle 28 is mounted on the chassis 27 so that it can be adjusted between an initial position (shown in solid lines) and a transport position (shown in dashed lines).
  • goods 10a..10k or a first transport loading aid 11a..11c can be driven under in order to pick them up. If the goods receptacle 28 is moved from the initial position in the direction of the transport position, the goods 10a..10k or the first transport loading aid 11a..11c can be lifted and then transported. If the goods receptacle 28 is moved from the transport position back towards the starting position, the goods 10a..10k or the first transport loading aid 11a..11c can be parked or handed over again.
  • the autonomous industrial truck 21 also includes a controller 31, shown schematically in dashed lines, for controlling/regulating the movements of the autonomous industrial truck 21.
  • the controller 31 can also include means for (wireless) data transmission to and from the autonomous industrial truck 21. In this way, the autonomous industrial truck 21 or its controller 31 can communicate with the higher-level computer 26, that is, receive commands from it and transmit data to it.
  • the autonomous industrial truck 21 includes sensors for detecting the surroundings of the autonomous industrial truck 21 and for orientation in space.
  • the autonomous industrial truck 21 includes a purely illustrative arranged in the controller 31 position and location sensor 32, and connected to the controller 31 ultrasonic sensor 33. With the help of the position and location sensor 32, the controller 31 can Position and location or orientation of the autonomous industrial truck 21 are determined. Obstacles in the route of the autonomous industrial truck 21 can be detected with the aid of the ultrasonic sensor 33 .
  • the controller 31 is connected to the drive and the steering of the autonomous industrial truck 21 .
  • the method presented uses a digital (or virtual) storage and conveying area, which corresponds to a digital, two-dimensional or three-dimensional model of a real (physical) storage and conveying area of the storage and picking system 1 .
  • the storage and conveyor area includes practically the entire storage and picking system 1. However, this does not have to be the case if the storage and picking system 1 (as is usual in reality) also includes offices, sanitary facilities, break rooms, rooms with operational systems (e.g. electrical control cabinets, air conditioning units, compressors and the like). Rooms that are not intended for storing and/or conveying goods 10a..10k are not included in the said storage and conveying area.
  • the method presented also uses digital (or virtual) goods carriers, which correspond to digital goods carrier models of the real (physical) goods carriers, in the digital storage and conveying area.
  • the term goods carrier is to be interpreted broadly and includes all facilities of the storage and order-picking system 1 which have a goods holder 28 for the intended storage and/or promotion of at least one product 10a..10k in the storage and order-picking system 1.
  • this includes one or more of the following facilities: the storage racks 8, the stacker cranes 9a, 9b, the first transport-loading aids 11a..l, 1c, the storage overhead conveyors 12, the second transport-loading aids 13a..13c, the storage conveyor system 14, in particular with the storage sections l5a ..l5e the transfer robot 16 the retrieval conveyor system 17, in particular with the retrieval section 18a the picking station 19 the outgoing goods conveyor system 20 / the outgoing goods section 22 the autonomous industrial trucks 21, 21a..21e the target loading aid 23 the lift 25
  • the digital storage and conveying area is generated and stored in the computer 26 .
  • digital goods carriers are generated and stored in the computer 26 .
  • the digital goods carriers are located in the virtual storage and conveyor area, in a "virtual world" so to speak.
  • the virtual storage and conveying area can include all goods carriers located in the real storage and conveying area. However, this is not a mandatory condition, and the virtual storage and conveying area can also include only some of the goods carriers located in the real storage and conveying area.
  • FIG. 3 This digital representation of the real world is shown in FIG. 3 using the autonomous industrial trucks 21a..21c, which serve as illustrative examples for goods carriers.
  • the procedure presented below can also be applied to other types of goods carriers, in particular to the types of goods carriers listed above.
  • the real storage and conveying area A with the real autonomous industrial trucks 21a..21c is shown, in the upper area the digital storage and conveying area A' with the digital autonomous industrial trucks 21a'..21c'.
  • the real world is thus shown in the lower area of FIG. 3, and the digital model or image thereof existing in the computer 26 is shown in the upper area.
  • the disclosed method deals with the detection of status information relating to a goods carrier and the distribution of information on a status change of a first real goods carrier in the system. This is shown in FIGS. 3 to 7 using the example of the autonomous industrial truck 21a.
  • the first digital goods carrier 21a' (here the digital autonomous industrial truck 21a') obtains the provided status information Z of the assigned first real goods carrier 21a (here the real autonomous industrial truck 21a) at several points in time , so recurring.
  • the first digital goods carrier 21a' provides the status information Z to the second digital goods carrier 21b' (here the digital autonomous industrial truck 21b '), and the second digital goods carrier 21b' obtains the status information Z provided by the first digital goods carrier 21a' again at several points in time, ie also recurring.
  • the second digital goods carrier 21b′ recognizes a change in the status of the first real goods carrier 21a due to a change in the status information between two points in time.
  • FIG. 4 shows a case b) which is somewhat modified compared to case a).
  • the first digital goods carrier 21a′ obtains the provided status information Z of the assigned first real goods carrier 21a again at a number of points in time, that is to say repeatedly. Deviating from case a), the first digital goods carrier 21a′ derives from this an assigned status change information item ZA and makes this status change information item ZA available to the second digital goods carrier 21b′.
  • FIG. 5 shows a case c) that is somewhat modified compared to case b).
  • the status change information ZA is provided directly by the first real goods carrier 21a.
  • the digital goods carrier 21a' provides the status change information ZA, which describes a change in the provided status information of this first real goods carrier (21a), to the second digital goods carrier 21b'.
  • the status change information ZA which describes a status change of the first real goods carrier (here the real autonomous industrial truck 21a), in the cases a) to c) illustrated in FIGS. 3 to 5, from the second digital goods carrier ( here the digital autonomous industrial truck 21b ′) to the second real goods carrier of the real goods carriers assigned to it (here the real autonomous industrial truck 21b).
  • the detected status change can relate to a change in a physical status of the first real goods carrier (here the real autonomous industrial truck 21a), which is detected with a sensor.
  • a sensor can be a sensor on the autonomous industrial truck 21a itself, for example the position and attitude sensor 32 or the ultrasonic sensor 33 of the autonomous industrial truck 21a.
  • the physical state of the autonomous industrial truck 21a may be a position and attitude thereof.
  • the physical state of the autonomous industrial truck 21a can also be the distance and direction to an obstacle in the route.
  • a change of state is therefore, for example, a change in position and location of the autonomous industrial truck 21a or a change in distance and direction to an obstacle lying in the route.
  • the detection of the state or a change in state is by no means tied to the fact that this and this is detected with a sensor 32, 33 which is arranged on or in the autonomous industrial truck 21a. Rather, detection with external sensors is also conceivable.
  • cameras arranged in the (real) storage and order-picking system 1 can be used to record the position and orientation of the autonomous industrial truck 21a or the distance and direction to an obstacle in the route.
  • the detected status information can also relate to a status of a control program for the autonomous industrial truck 21a that is running in the controller 31 .
  • a control program for the autonomous industrial truck 21a For example, it can be specified whether the industrial truck 21a is currently in a run-up sequence (boot sequence), the control software is being updated, or the autonomous industrial truck 21a is in normal operation. It can also be specified, for example, whether the autonomous industrial truck 21a is currently carrying out a delivery order (transport order) for the delivery of goods 10a..10k or is available for such.
  • the first real goods carrier 21a transmits the status information Z to the first digital goods carrier 21a' at different times and the first digital goods carrier 21a' receives this status information Z or the first real goods carrier 21a stores the status information Z at different times and the first digital goods carrier 21a' determines this status information Z or the first real goods carrier 21a transmits the status change information ZA to the first digital goods carrier 21a' and the first digital goods carrier 21a' receives this status change information ZA or the first real goods carrier 21a receives the status change Information ZA is stored and the first digital goods carrier 21a' determines this status change information ZA.
  • the first digital product carrier 21a' transmits the status information Z to the second digital product carrier 21b' at different points in time and the second digital product carrier 21b' receives this status information Z or the first digital product carrier 21a' receives the status information Z at different points in time stored and the second digital goods carrier 21b' determines this status information or the first digital goods carrier 21a' transmits the status change information ZA to the second digital goods carrier 21b' and the second digital goods carrier 21b' receives this status change information ZA or the first digital goods carrier 21a 'stores the status change information ZA and the second digital goods carrier 21b' determines this status change information ZA.
  • the first real goods carrier 21a can store the status information Z at different points in time and the first digital goods carrier 21a' can determine this status information Z, and the first digital goods carrier 21a' can transmit the status change information ZA to the second digital goods carrier 21b', and the second digital goods carrier 21b' can receive this status change information ZA.
  • the status information Z or the status change information ZA can only be forwarded to a specific recipient, or also to all, that is to all digital autonomous industrial trucks 21b', 21c' .
  • FIG. 6 is a diagrammatic representation of FIG. 6
  • the real autonomous industrial truck 21a itself can generate status change information ZA and make it available to the associated digital autonomous industrial truck 21a'. This then only needs to provide the status change information ZA to the second digital goods carrier 21b′. This procedure is again symbolized in FIG. 6 by the arrow ZA.
  • the real autonomous industrial truck 21a only provides the digital autonomous industrial truck 21a' with status information Z, as already shown in FIGS.
  • the digital autonomous industrial truck 21a' can detect a change in status due to a change in the status information Z between two points in time, derive status change information ZA from this and make it available to the digital autonomous industrial truck 21b'.
  • the digital autonomous industrial truck 21a' can provide status information Z to the digital autonomous industrial truck 21b'.
  • the first digital goods carrier here the digital autonomous industrial truck 21a'
  • the first digital goods carrier repeatedly determines the status information Z of the assigned first real goods carrier (here the real autonomous industrial truck 21a) and a change in status of the first real goods carrier by a change in the status information between recognizes two queries.
  • Determining status information Z or status change information ZA of the real autonomous industrial truck 21a can therefore mean reading out a data set from a sensor 33 or the controller 31 of the real autonomous industrial truck 21a or receiving corresponding status information Z or status change information ZA from the real autonomous industrial truck 21a.
  • Said status information Z or status change information ZA can actively emanate from the real autonomous industrial truck 21a or based on a request from the associated digital autonomous industrial truck 21a'.
  • the digital autonomous industrial truck 21b' repeatedly determines the status information Z or status change information ZA of the digital autonomous industrial truck 21a'. The determination can mean reading out a data set from the digital autonomous industrial truck 21a' or requesting a corresponding provision from the digital autonomous industrial truck 21a'. This procedure is symbolized in FIG. 6 by the arrow P2. It would also be conceivable that the digital autonomous industrial truck 21b 'the said status change information ZA from a central message s memory picks up, in which the digital autonomous industrial truck 21a 'state change information stored.
  • the first digital goods carrier here the digital autonomous industrial truck 21a'
  • reports to the second digital goods carrier here the digital autonomous industrial truck 21b'
  • Concrete and comprehensive status change information ZA′′ is made available to the second digital goods carrier 21b′ in a subsequent second step.
  • FIG. 7 again shows the possible variants for determining a status change, specifically: the provision of status change information ZA from the real autonomous industrial truck 21a for the assigned digital autonomous industrial truck 21a', the provision of status information Z from the real autonomous industrial truck 21a for the assigned digital autonomous industrial truck 21a' and the determination of status information Z or status change information ZA by the digital autonomous industrial truck 21a' (see arrow PI).
  • the status change information ZA in a first step, the presence or existence of a status change or restricted status change information ZA′ is reported, followed by the query A1 or request from the second digital goods carrier 21b′ and finally a specific one is provided and comprehensive status change information ZA" based on the query A1.
  • the status change information ZA can in turn be reported to the second real goods carrier assigned to it (here to the real autonomous industrial truck 21b).
  • This procedure is advantageous if the amount of data that is distributed within the system is to be reduced, because comprehensive status change information ZA" is only given to those recipients who have also actively requested it. It is also in this context advantageous if the second digital goods carrier (here the digital auto- nome industrial truck 21b') sends request additional information to the first digital goods carrier (here the digital autonomous industrial truck 21a') in its request Al regarding the comprehensive status change information ZA", which comprehensive status information Z" from a large number of status information Z and/or which comprehensive status change information ZA" is to be provided from a large number of status change information ZA from the first digital goods carrier 21a'.
  • the second digital goods carrier here the digital auto- nome industrial truck 21b'
  • the first digital goods carrier here the digital autonomous industrial truck 21a'
  • the position and location or orientation of the autonomous industrial truck 21a can be determined by the position and location sensor 32, for
  • the second digital goods carrier 21b' and/or the second real goods carrier 21b may only be interested in the position. Therefore, with the comprehensive status information Z' and/or comprehensive status change information ZA", for example, only the position of the autonomous floor conveyor r Wegs 21a transmitted, but not its orientation. In this way, the amount of data distributed within the system can be further reduced.
  • the comprehensive status change information ZA" can also relate to signals from a number of different sensors. It is also conceivable that the request additional information can be used to request comprehensive status information Z' and/or comprehensive status change information ZA" for which there is no change at all is. For example, it would be possible for the state change to relate to the state of charge of a battery of the first real goods carrier 21a. Since the loading status is not relevant for the second digital goods carrier 21b' and/or the second real goods carrier 21b in this example, no comprehensive status information Z" and/or comprehensive status change information ZA" is sent from the first digital goods carrier 21a' to the second digital Goods carrier 21b 'transmitted. However, the sending of an (empty) confirmation can be provided.
  • the comprehensive status change information ZA" is stored by the first digital goods carrier 21a' on the second digital goods carrier 21b', i.e. made available for reading. Active transmission of the information in question is then not necessary.
  • This procedure wise is similar to the reading of a data record from the digital autonomous industrial truck 21a' by the digital autonomous industrial truck 21b', indicated by the arrow P2 in FIG -Information ZA' brought to the attention will. This avoids the reading out of a data record from the digital autonomous industrial truck 21a' which does not provide the digital autonomous industrial truck 21b' with any new information.
  • the first digital product carrier 21a' only derives status change information ZA and provides this status change information ZA to the second digital product carrier 21b' when the first digital product carrier 21a' of the first real product carrier 21a changes which recognizes status information between two points in time.
  • both the digital autonomous industrial truck 21a' determines the status information Z of the assigned real autonomous industrial truck 21a recurringly (cyclically or event-controlled) PI and recognizes a status change of the real autonomous industrial truck 21a through a change in the status information Z between two queries, and the digital autonomous industrial truck 21b' repeatedly (cyclically or event-controlled) determines the status change information ZA of the digital autonomous industrial truck 21a' P2. Both are preferably done by reading out the data from the requesting unit.
  • the digital autonomous industrial truck 21a' preferably reads the status information Z of the assigned real autonomous industrial truck 21a
  • the digital autonomous industrial truck 21b' preferably also reads the status change information ZA of the digital autonomous industrial truck 21a'.
  • the real autonomous industrial truck 21a does not need to send status information Z or status change information ZA to the digital autonomous industrial truck 21a', and the digital autonomous industrial truck 21a' also does not need to transmit any status change information ZA to the digital autonomous industrial truck 21b'.
  • the distribution of status information Z or status change information ZA therefore follows a uniform principle within the system presented. It is also particularly advantageous that the controller 31 of the real autonomous industrial truck 21a does not have to be reprogrammed, or only slightly so.
  • the proposed embodiment variant is therefore particularly suitable for applications in heterogeneous systems, for example in systems with real autonomous industrial trucks 21a..21c from different manufacturers, each of which is based on proprietary control software. As already explained for FIGS.
  • the status change information ZA can also in the cases shown in FIGS. 6 and 7 optionally be sent from the second digital goods carrier (here the digital autonomous industrial truck 21b ′) to the second real goods carrier assigned to it real goods carrier (here the real autonomous industrial truck 21b) are reported.
  • devices for influencing the conveyance of goods can also be provided in the storage and picking system 1 . These have the effect of influencing the conveyance of the goods in the storage and order-picking system 1, but do not include a goods receptacle 28.
  • An example of such a device for influencing the conveyance of goods is formed by the door 24 in FIG.
  • the door can be, for example, a fire door or a door to a cold room/freezer room. This blocks the way for the autonomous industrial trucks 21a..21e when it is closed, and allows the autonomous industrial trucks 21a..2le to pass when it is open.
  • a digital device for influencing the conveyance of goods which corresponds to a digital model of a real, physical device for influencing the conveyance of goods, is generated in the digital storage and conveying area A', with the digital device for influencing the conveyance of goods also being in the computer 26 is saved.
  • a change in the state of the real device for influencing the conveyance of goods is recognized and information about the change in state is distributed in the same way as with a goods carrier.
  • the options presented in FIGS. 3 to 7 can therefore be used without restriction on devices for influencing the conveyance of goods, with the door 24 taking the place of the autonomous industrial truck 21a, for example.
  • Receivers of status information Z or status change information ZA or reading units for such remain primarily the goods carriers (ie in Figures 3 to 7 the autonomous industrial trucks 21b, 21c). However, it is also conceivable for status information Z or status change information ZA to be provided to other devices for influencing the conveyance of goods or for them to read out a data set.
  • a change in state for example, a change in the pose of the first real goods carrier 21a, a change in an electric current of a drive of the first real goods carrier 21a, a change in the state of charge of a battery in the first real goods carrier 21a, a change in the filling level of a fuel tank in the first real goods carrier 21a, a change in the switching position of a switch on the first real goods carrier 21a or a change in a sensor signal from a sensor on the first real goods carrier 21a be provided.
  • the examples mentioned also apply analogously to a device for influencing the conveyance of goods.
  • a combination of status changes can of course also be recognized, in particular in a single step.
  • a status change relating to the position of a goods carrier and a status change relating to the position of the goods carrier together form the basis for status change information relating to the pose of the goods carrier.
  • a current sensor, a voltage sensor, a position sensor, an acceleration sensor, a gyro sensor, a rotary encoder, a camera, a depth sensor, an ultrasonic sensor, a laser scanner are generally used as sensors (i.e. both for the goods carriers and for the devices for influencing the goods transport).
  • sensors i.e. both for the goods carriers and for the devices for influencing the goods transport.
  • a light barrier, a force sensor or a weight sensor can also be used, and in particular a combination of sensors can be used to determine and provide a (single) item of status information.
  • a location sensor and a position sensor can be used to detect and provide status information relating to the pose of a goods carrier.
  • a closing/opening contact for example, which indicates whether the door 24 is open or closed, is particularly suitable as a sensor for a door 24 .
  • the use of a rotary encoder would also be conceivable in order to be able to evaluate the angular position of a (rotatably mounted) door leaf. If the door 24 is a sliding door, a linear measuring device can provide information about the position of the door leaf.
  • barrier tapes or barrier devices for influencing the transport of goods are barrier tapes or barrier devices, barriers, traffic lights, traffic signs, traffic cones, diversion signs, warning signs and information signs.
  • these devices can also only be installed temporarily in the real storage and conveying area A and/or digital storage and conveying area A′, for example to indicate cleaning or maintenance work, such as contamination of the conveying area.
  • can Leaked oil on the runway cannot usually be recognized directly by the autonomous industrial trucks 21a..21e, but this is possible with the help of the signs (put up by the operating personnel).
  • FIGS. 3 to 7 are intended to illustrate that not only the autonomous industrial trucks 21a..21c used as an example in FIGS. 3 to 7 can be part of the proposed method, but also a large number of different goods carriers and devices for influencing the goods transport can be part of the method.
  • an autonomous industrial truck 21 and the lift 25 are illustrated as examples of goods carriers and a roller door 34 and a detour sign 35 as examples of devices for influencing the conveyance of goods.
  • the computer 26 is shown there as a computer network.
  • the devices for influencing the conveyance of goods can also have sensors.
  • the diversion sign 35 can have a position and position sensor 32, whereby the digital image of the storage and conveying area A' in the computer 26 shows where the diversion sign 35 is placed and where it is pointing.
  • a camera in the storage and conveying area A to recognize the installation location of the detour sign 35 and its orientation.
  • a separate position and position sensor 32 in the detour sign 35 can then be omitted. If the diversion sign 35 is detected in a storage room, for example, it can be marked as inactive and only then activated for the traffic control of the autonomous industrial trucks 21a..21e when it is set up in the storage and conveying area A.
  • the states of the real goods carrier 21a .. 21c and the real devices for influencing the goods conveyor 24, 34, 35 in the real storage and conveyor area A continuously with the states of the digital goods carrier 21a '.. 21c' and the digital Devices for influencing the conveyance of goods in the digital storage and conveying area A' can be compared or synchronized.
  • a change in the status of a real goods carrier 21a..21c and a real device for influencing the goods transport 24, 34, 35 entails a corresponding change in the status of a digital goods carrier 21a..21c and a digital device for influencing the goods transport and vice versa.
  • the synchronization takes place in the manner already described by providing status information Z or a status change ZA.
  • the devices shown can also include more or fewer components than shown.
  • the devices shown or their components may also be shown not to scale and/or enlarged and/or reduced.

Landscapes

  • Business, Economics & Management (AREA)
  • Engineering & Computer Science (AREA)
  • Economics (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Business, Economics & Management (AREA)
  • Quality & Reliability (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Operations Research (AREA)
  • Development Economics (AREA)
  • Strategic Management (AREA)
  • Tourism & Hospitality (AREA)
  • Human Resources & Organizations (AREA)
  • Marketing (AREA)
  • Accounting & Taxation (AREA)
  • Finance (AREA)
  • Mechanical Engineering (AREA)
  • Computer Hardware Design (AREA)
  • Evolutionary Computation (AREA)
  • Geometry (AREA)
  • General Engineering & Computer Science (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un procédé de traitement assisté par ordinateur d'un changement d'état d'un support de marchandises (21a) dans un système de stockage et de préparation de commandes (1), une zone de stockage et de transport (A) du système de stockage et de préparation de commandes (1) ainsi que des supports de marchandises (21a..21c) se trouvant sur celle-ci étant virtualisés dans un ordinateur (26). Des informations de changement d'état (ZA) concernant un changement d'un état physique d'un support de marchandise (21a) et/ou concernant un changement d'un état d'un programme de commande pour le support de marchandises (21a) sont préparées par un jumeau numérique associé du support de marchandises (21a) et pour des jumeaux numériques d'autres supports de marchandises (21b, 21c). L'invention a également pour objet un système de stockage et de préparation de commandes (1) pour mettre en œuvre ce procédé.
EP21805345.2A 2020-10-07 2021-10-06 Procédé de traitement assisté par ordinateur d'un changement d'état d'un support de marchandises dans un système de stockage et de préparation de commandes et système de stockage et de préparation de commandes Pending EP4226303A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA50858/2020A AT524243A1 (de) 2020-10-07 2020-10-07 Verfahren zum rechnergestützten Verarbeiten einer Zustandsänderung eines Warenträgers in einem Lager- und Kommissioniersystem sowie Lager- und Kommissioniersystem
PCT/AT2021/060363 WO2022073052A1 (fr) 2020-10-07 2021-10-06 Procédé de traitement assisté par ordinateur d'un changement d'état d'un support de marchandises dans un système de stockage et de préparation de commandes et système de stockage et de préparation de commandes

Publications (1)

Publication Number Publication Date
EP4226303A1 true EP4226303A1 (fr) 2023-08-16

Family

ID=78535912

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21805345.2A Pending EP4226303A1 (fr) 2020-10-07 2021-10-06 Procédé de traitement assisté par ordinateur d'un changement d'état d'un support de marchandises dans un système de stockage et de préparation de commandes et système de stockage et de préparation de commandes

Country Status (5)

Country Link
US (1) US20240020632A1 (fr)
EP (1) EP4226303A1 (fr)
AT (2) AT524243A1 (fr)
DE (1) DE112021005315A5 (fr)
WO (1) WO2022073052A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113741442B (zh) * 2021-08-25 2022-08-02 中国矿业大学 一种基于数字孪生驱动的单轨吊车自动驾驶系统及方法
DE102022113574A1 (de) 2022-05-30 2023-11-30 Jungheinrich Aktiengesellschaft Vorrichtung zum Erkennen eines auf einem Unterfahr-Shuttle getragenen Lastträgers
CN116703116B (zh) * 2023-06-28 2024-01-16 中武(福建)跨境电子商务有限责任公司 一种海运集装箱的3d智能配载系统

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018215560A1 (de) 2018-08-28 2020-03-05 Robert Bosch Gmbh Verfahren zum Koordinieren und Überwachen von Objekten
US10399778B1 (en) * 2018-10-25 2019-09-03 Grey Orange Pte. Ltd. Identification and planning system and method for fulfillment of orders

Also Published As

Publication number Publication date
DE112021005315A5 (de) 2023-07-27
AT17769U1 (de) 2023-02-15
US20240020632A1 (en) 2024-01-18
WO2022073052A1 (fr) 2022-04-14
AT524243A1 (de) 2022-04-15

Similar Documents

Publication Publication Date Title
EP4226303A1 (fr) Procédé de traitement assisté par ordinateur d'un changement d'état d'un support de marchandises dans un système de stockage et de préparation de commandes et système de stockage et de préparation de commandes
EP3468898B1 (fr) Système de préparation de commandes comprenant un robot de transport destiné à passer sous des rayonnages individuels et des chariots de transport
EP3571020B1 (fr) Procédé et dispositif de préparation de commandes de marchandises
EP3887917B1 (fr) Chariot de manutention autonome
CN107512515A (zh) 无人化智能密集仓储管理方法和仓储系统
DE112020000009T5 (de) Robotersystem mit Koordinationsmechanismus und Verfahren zum Betreiben dieses Systems
DE102020100610A1 (de) Steuerung und steuerungsverfahren für robotersystem
CN105923334B (zh) 一种超高速卷烟机的辅料自动配送系统
WO2016009423A1 (fr) Système d'entrepôt automatique
CN109911499A (zh) 无人智能车间控制系统
EP3810530B1 (fr) Système d'emmagasinage et de préparation de commandes et procédé de préparation de commandes d'articles commandés provenant d'un sac suspendu et d'un autre moyen de chargement
WO2015070841A1 (fr) Procédé et dispositif d'assemblage dans une large mesure automatisée de livraisons de marchandises dans des entrepôts
CN102707718A (zh) 自动制导系统控制工业车辆的通信方法
WO2003019425A1 (fr) Systeme d'entreposage intermediaire de marchandises identifiees et procede de transfert de marchandises commandees
CN108792360A (zh) 一种污物回收系统及方法
DE10039629B4 (de) Verfahren zur automatischen Be- und Entladung von Transporteinheiten, insbesondere von Einheiten zum Transportieren von Gütern
DE102018206131A1 (de) Verfahren zur Auslieferung von Paketen und/oder Waren
CN106542249A (zh) 一种输电铁塔的分拣、入库、存储、出库系统
DE112022000929T5 (de) Automatisierte einheitslast-abfertigungsverfahren und -systeme
CN108516276A (zh) Ds-pps栈板式密集存储货到人系统
WO2021030852A1 (fr) Système de transport et de manipulation et procédé de transport de supports de chargement
EP3956250A1 (fr) Système d'entreposage et de préparation de commandes, unité mobile d'acquisition de valeurs mesurées et procédé d'acquisition améliorée de valeurs mesurées dans un système d'entreposage et de préparation de commandes
DE112021005097T5 (de) Robotergestütztes lagerhaltungssystem mit hoher dichte
DE102018112012B4 (de) Verfahren und Vorrichtung zum Markieren eines Lagerplatzes
EP3809228A1 (fr) Procédé de navigation d'un chariot de manutention

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20230505

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230919

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)